A three-finger electric gripper

Abstract

The invention relates to a three-finger electric gripper. The three-finger electric gripper comprises a flange base and a palm fixed on the flange base, wherein two rotation bases driven by a steering mechanism to synchronously and reversely rotate and one fixed finger are arranged on the palm; each of the rotation bases is provided with a rotary finger; both the two rotary fingers and the fixed finger comprise near knuckles and far knuckles, a finger driving mechanism is connected to each of the near knuckles and is in drive connection with a driving motor in the palm through a clutch mechanism, and a rope coupling mechanism driving the far knuckle to move in parallel is arranged between each far knuckle and the corresponding knuckle. The three-finger electric gripper is reasonable in structure design, finger control is convenient, numerous conflicts between multi-degree-of-freedom control of the fingers and motor control are well solved, complicated gripping motion is realized by use of a simple structure, and the three-finger electric gripper is high in gripping adaptability, lower in cost and easy to popularize.

Description

Technical field: [0001] The invention belongs to the field of industrial robots, in particular to a three-finger electric gripper. Background technique: [0002] With the rapid development of robot technology and industrial automation, grippers and dexterous hands are used as the end of manipulators. More and more companies and universities are conducting in-depth research on this, so various grippers and dexterous hands have emerged. . For example, a new type of rope-driven three-finger dexterous hand disclosed in the Chinese patent library (application number CN201510596473.7), the patent has a total of seven motors and three fingers, each finger has two motors to control stretching and bending, and the last one The motor controls two fingers to achieve palm-to-palm movement. Although complex grasping movements can be realized, there are problems such as numerous motors and supporting firmware, bulky dexterous hands, complex structure, and high cost; Finger joint steel w...

AI Technical Summary

Problems solved by technology

For example, a new type of rope-driven three-finger dexterous hand disclosed in the Chinese patent library (application number CN201510596473.7), the patent has a total of seven motors and three fingers, each finger has two motors to control stretching and bending, and the last one The motor controls two fingers to achieve palm-to-palm movement. Although complex grasping movements can be realized, there are problems such as numerous motors and supporting firmware, bulky dexterous hands, complex structure, and high cost; Finger joint steel wire coupling transmission mechanism (application number CN200710072566.5), this patent uses an "8"-shaped coupling mechanism to realize 1:1 movement of two finger joints in the same direction, but the structure is very complicated and cannot be reversed Movement, that is, the distal knuckle of the two knuckles cannot be moved in parallel

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