Redundancy self-locking type manipulator gripper with precisely controlled clamping force

Abstract

The invention relates to a redundancy self-locking type manipulator gripper with a precisely controlled clamping force. The redundancy self-locking type manipulator gripper comprises a hand claw, a transmission mechanism, a locking mechanism, a power mechanism and a power loop, wherein the transmission mechanism and the shaft of the hand claw are coaxially arranged; the locking mechanism and the shaft of the hand claw are coaxially arranged; the power mechanism is combined with the transmission mechanism and provides a driving force to the hand claw; the power loop is used for conducting the driving force; when the hand claw needs to stop action, the locking mechanism and a power lock in the power loop cooperate with each other to complete dual locking of the position and the clamping force of the manipulator gripper. The manipulator gripper is applicable to situations that the clamping force needs to be precisely controlled, in addition, after the driving force is released, a ratchetwheel lock is matched with a hand claw clamping force locking spring, so that the energy is saved, and a self-locking effect is improved. With the combination of a swinging motor, a proportional overflow valve and a torque sensor, precise control on an output clamping force is completed, and the energy utilization efficiency is remarkably improved.

Description

technical field [0001] The invention belongs to the field of mechanical claws, in particular to a redundant self-locking mechanical claw whose clamping force can be precisely controlled. Background technique [0002] With the rapid development of the field of mechanical automation, mechanical claws are increasingly replacing manpower for repetitive and dangerous work. The precise control, safety and stability of mechanical claws, and energy saving have always been the direction of people's pursuit of improvement. However, most of the existing mechanical claws cannot accurately control the maximum clamping force, and after the driving force is released, the position of the mechanical claw and the clamping force cannot be locked or the locking effect through a purely rigid mechanical structure is not ideal. For example, the patent CN1864939A discloses a manipulator with force feedback, which can set the size of the force used when picking up objects, but does not involve how ...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies of the prior art, the present invention provides a redundant self-locking mechanical gripper whose clamping force can be precisely controlled, which mainly solves the problem that the existing mechanical gripper cannot accurately control the maximum clamping force, and the clamping force cannot be maintained after the driving force is released. or keep suboptimal issues

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