Single motor driving lifting high-precision grabbing and releasing mechanical hand and control method thereof

Abstract

The invention relates to a single motor driving lifting high-precision grabbing and releasing mechanical hand. The single motor driving lifting high-precision grabbing and releasing mechanical hand comprises a driving module, an execution module and a control module, wherein the driving module uses a single motor as a unique power device; the execution module comprises a mechanical hand part and amechanical hand movement mechanism; the mechanical hand part comprises four arms; the four arms are pairwise connected by limiting shafts in parallel; the linkage of the four arms is realized throughsprings and two engaged semi-gears; the mechanical hand movement mechanism comprises a cam unit and multiple levers; the cam unit comprises two disc cams which are coaxially arranged and are parallelto each other; a large cam (7) is used for driving the multiple arms to simultaneously carry out inward clamping and outward stretching; a small cam (8) is used for driving the hand part to drop andlift; and the control module comprises two sensory feedback devices which are respectively used for positioning the lifting position of the mechanical hand part and judging whether an object is grabbed by the mechanical hand part. The single motor driving lifting high-precision grabbing and releasing mechanical hand is simple in structure, easy to control, is accurate in grapping and releasing andhas high reliability.

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to a manipulator driven by a single motor and a control method thereof. Background technique [0002] The manipulator is an automatic operation device that can imitate the functions of the human hand and arm to complete certain predetermined actions. Its structure and performance have both the advantages of the human body and the machine, that is, flexibility and endurance, and can replace manual operations to a large extent. It is widely used in machinery manufacturing, metallurgy, electronics, light industry and even atomic energy, especially because it can work for a long time in a harmful working environment (poisonous, strong acid and alkali, radiation, etc.) to protect personal safety. and other fields. [0003] The manipulator is mainly composed of three parts: execution module, drive module and control module. The executive module is composed of a hand (the i...

AI Technical Summary

Problems solved by technology

However, in the published Chinese patent literature, no relevant technical revelations have been found for a single power-driven, high-precision pick-and-place manipulator

Images