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Self-adaption mechanical gripper

A manipulator claw and self-adaptive technology, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of large rotation range, low motor power, and damage to the gripper, so as to achieve firm grasping of objects, good heat dissipation capacity, and increased The effect of flexibility

Pending Publication Date: 2019-03-08
广东科佩克机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Because different objects have different shapes, usually the claws can only grab specific or the same type of objects, resulting in a single adaptability of the gripper, which cannot flexibly respond to changing application requirements
[0006] In the existing design, because one motor drives three claws, each finger cannot move independently, and all fingers must move synchronously, and the motion trajectories of all fingers are symmetrical.
Therefore, the gripper can only grasp objects with relatively symmetrical shapes. When the shape of the objects grasped by the gripper is changeable, such as a stepped transmission shaft with increasing radius or a cone-shaped object, or even seafood such as crabs, the existing finger The movement mode cannot grasp the object accurately and stably
[0007] Another disadvantage of the current solution is that the three fingers need to be rotated as a whole from 0 to 90 degrees to adjust the position of the fingers to grab objects of different shapes. Since the overall mechanism of each finger is relatively large, one motor drives the three fingers to move up to 90 degrees. Because the power of the motor is too small and the range of rotation is large, it takes a long time for the finger to reach the predetermined angle.
[0008] Another disadvantage of the existing solution is that the overall mechanical and electronic structures are exposed to the working environment, and pollutants such as dust, oil mist, water vapor, and metal debris generated on the industrial production site will invade the gripper mechanism and affect the normal operation of the gripper. Reduce the service life of the gripper, and accidental collisions during work will also damage the gripper

Method used

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  • Self-adaption mechanical gripper

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] If the fingertip 1 touches the object first, the power rod 11 is connected to the last tie rod 10 through the last link 8, the last tie rod 8 is connected to the middle tie rod 9 through the middle link 7, and the middle tie rod 9 is connected to the front link 6 of the middle link. Connected with the fingertip 1, a stable support structure is formed. The control mechanism starts the motor 12, drives the drive plate 13 to rotate, and makes the turntable 14 rotate. The rotational displacement allows all the gripping force to be applied to the fingertip to grip the object. The middle joint 2 and the distal joint 3 of the mechanical finger keep the existing position still.

Embodiment 2

[0055] If the middle section 2 of the mechanical finger touches the object first, the last section 3 of the mechanical finger stops, and the control mechanism starts the motor 12, drives the drive plate 13 to rotate and makes the turntable 14 rotate, and the connection between the turntable 14 and the turntable 14 is arranged on the rotating seat 4. The power rod 11 connected to the output end undergoes a corresponding rotational displacement, so that the fingertip 1 of the mechanical finger continues to move until it touches the surface of the object and grasps it.

Embodiment 3

[0057] When the end section 3 of the mechanical finger touches the object first, the control mechanism starts the motor 12, drives the drive plate 13 to rotate to make the turntable 14 rotate, and the power rod 11 connected to the output end of the turntable 14 arranged on the rotating base 4 produces a corresponding The rotation displacement makes the middle section 2 and fingertip 1 of the mechanical finger continue to move, and forms an envelope on the object, pressing the object on the upper cover 17 of the base to firmly grasp the object; when the mechanical fingers on the same side are together Finger clamping, when the side of the fingertip 1 of the mechanical finger touches the object, the middle segment 2, the distal segment 3 and the fingertip 1 of the mechanical finger maintain the current shape, and the fingertip 1 exerts a clamping force on the object to clamp the object.

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PUM

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Abstract

The invention discloses a self-adaption mechanical gripper comprising a robot body and further comprising grabbing assemblies, a transmission assembly, a driving mechanism, a control mechanism and a power mechanism. The self-adaption mechanical gripper further comprises a base formed by combining an upper cover and a lower shell. Each single grabbing assembly comprises a rotary seat, a tail joint,a middle joint, a fingertip and a fingertip replacement. The transmission assembly comprises a tail connecting rod, a middle connecting rod front section connecting rod, a middle pull rod, a tail pull rod and a power rod. A small article is grabbed mainly by three fingers. The upper cover of the base takes part in grabbing motion and mainly achieves a support effect when the gripper grabs a largearticle, and the fingers and the upper cover are each provided with a replaceable antiskid pad used for more precise gripper motion control.

Description

technical field [0001] The invention relates to the technical fields of industrial automation production, teaching and scientific research, in particular to an adaptive mechanical gripper. Background technique [0002] The currently generally recognized robotic gripper is composed of an actuator, a drive system, a control system, and a position detection device. Most grippers on the market only have simple actuators and drive systems, the most typical of which are clamping grippers (mechanism gripping) and adsorption grippers (vacuum or magnetic suction). [0003] The clamping gripper is composed of fingers and a driving mechanism. The fingers are in direct contact with the grasping object, and are divided into translation type and rotary type. The specific structure of the fingers depends on the shape, size, grasping location and weight of the surface of the grasped object. Commonly used finger types include flat, round, curved, and groove types; clamping methods include ...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02B25J15/10B25J19/00
CPCB25J15/0009B25J15/0213B25J15/10B25J19/0075
Inventor 杜润鸣
Owner 广东科佩克机器人有限公司