End Gripper with Spatial Link Mechanism

Abstract

The end gripper using the space link mechanism involves the end mechanism of the three-branch robot, which includes the steering gear, the steering gear rack, the rotation conversion linear motion space linkage mechanism, the crank and the hinge mechanism, and the steering gear is installed on the steering gear The upper part of the frame; the hinge mechanism includes the active link, the driven link and the claw; the rack bar is connected with the steering gear frame, and two sets of hinge mechanisms are arranged on each rack bar, the active link and the driven link One end of one end is respectively hinged with the rack bar, and the other end of the driving link and the driven link are respectively hinged with the jaws, and the driving link, the rack bar, the driven link and the jaws form a parallel four-bar mechanism; The rotating part of the conversion linear motion mechanism is installed on the output end of the steering gear, the active connecting rod is hinged with the crank, and the crank is connected with the linear motion part of the rotation conversion linear motion mechanism. The invention has good reliability, meets the requirements of clamping force and clamping speed, and has the advantages of relatively large posture tolerance.

Description

Technical field [0001] The present invention relates to a three-branching machine end mechanism, and more particularly to a terminal gripper using a spatial link mechanism, which belongs to the field of mechanical electronic engineering. Background technique [0002] The holder is a component mounted on the end of the robot and has a clamping function. With the continuous development of sensing technology, information processing, electronic engineering, computer engineering and control technology, mobile robot technology is constantly improving, its application is greatly expanded, and it is very good in industrial, agriculture, medical, service and other industries. Applications. For example, in the industry, it has the advantages of improving production efficiency, improve product quality, improve labor conditions, and can help to complete the rail assembly, pollution cleaning, observation and inspection, orbit cleaning and orbit transfer and module replacement in the aerospace...

AI Technical Summary

Problems solved by technology

However, before the gripper is clamped, it is necessary to control the steering gear to rotate accurately to a certain angle. At the same time, errors such as gaps in the rotating pair of the four-bar mechanism will affect the accuracy.

It is difficult to guarantee the stability during the clamping process

At the same time, because the clamping movement track of the claw is a circular arc, the size range of the clampable object is small, and it does not meet the demand for a large tolerance.

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