Centripetal closing type clamp mechanical gripper

Abstract

The invention discloses a centripetal closing type clamp mechanical gripper. The centripetal closing type clamp mechanical gripper can achieve automatic gripping through autonomous control or parameter setting. The centripetal closing type clamp mechanical gripper comprises fixing machine frame guide rails. The lower ends of the fixing machine frame guide rails are coaxially and fixedly connectedwith a steering plate. The steering plate is coaxially and fixedly connected with a steering gear output shaft. The steering gear is connected with the fixing machine frame guide rails. The four corners of the steering plate are each hinged to one end of a connection rod. The other ends of the connection rods are hinged to four gripping jaws. The gripping jaws are connected to the guide rails. Thefour gripping jaws are arranged in four directions of the steering gear output shaft at equal intervals. The centripetal closing type clamp mechanical gripper is simple in structure, simple in control method and high in transportability. By controlling the flare angle, a spherical object can be stably gripped, and the shape of the object is not changed. During design of the centripetal closing type clamp mechanical gripper, the part wear problem is taken into full consideration, and parts are convenient to replace.

Description

Technical field [0001] The invention relates to a robot end clamping technology, in particular to a centripetal closed clamping mechanical claw. Background technique [0002] In the field of robotics, mechanical clamping devices can complete various sorting and handling tasks, so the design of the robot's end clamping system is particularly important. [0003] Chinese patent CN 206982703 U proposes a two-finger closed mechanical claw controlled by a steering gear and driven by a gear. The statement proposes that it can achieve the effect of clamping small spheres, but the clamping effect is not ideal in practical applications. Falling off; and the gear and the claw are in an integrated structure. The entire clamping claw needs to be replaced after the gear is worn. [0004] Most of the existing clamping mechanical claws have the effect of two-finger opening and closing movement on a two-dimensional plane to complete the placement and clamping of the object, and the clamping ability ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a centripetal closed clamping mechanical claw, which solves the problem of the dead point of the existing traditional mechanical claw and the difficulty of grabbing spherical objects

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