A mechanical claw that is convenient for adjusting the gripping force of the claw
A technology of a mechanical claw and an adjustment mechanism, applied in the field of mechanical claw, can solve the problems affecting the clamping efficiency and clamping reliability, the complex structure of the mechanical grasping device, and the difficulty in controlling the clamping force, etc., and achieves good adjustment and simple structure. , The effect of preventing excessive clamping force
Active Publication Date: 2020-12-01
GUILIN UNIV OF AEROSPACE TECH
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Problems solved by technology
[0003] The structure of the existing mechanical grabbing device is complicated, and it is difficult to adjust the gripping force of the jaws during grabbing. In the actual grabbing process, it is not only difficult to grip according to the shape of the workpiece, but also difficult to control the gripping force. Excessive force can easily damage the workpiece, affecting clamping efficiency and clamping reliability
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Embodiment Construction
[0030] see Figure 1-8 , in an embodiment of the present invention, a mechanical claw that is convenient for adjusting the gripping force of the claw includes a main base 1, a jaw mechanism, a lifting and sliding adjustment mechanism and a gripping force control claw 19, wherein the main base 1 is Hollow cylindrical structure, and the jaw mechanism is installed in the main base using the lifting and sliding adjustment mechanism, so as to adjust the length or height of the jaw mechanism protruding downward through the lifting and sliding adjustment mechanism The jaw mechanism includes N sets of clamping jaw assemblies in a circumferential array, where N is an integer greater than or equal to 3; it is characterized in that the actions of each group of the clamping jaw assemblies can be individually controlled; and
[0031] Each set of clamping claw assemblies includes two clamping claws 18 arranged at intervals and a gripping force control claw 19, and the gripping force control...
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The invention relates to the technical field of mechanical grippers, in particular to a mechanical gripper capable of conveniently adjusting grip force of clamping jaws. The mechanical gripper capableof conveniently adjusting the grip force of the clamping jaws is characterized in that action of all groups of clamping jaw assemblies can be independently controlled, the clamping jaw assemblies caneffectively realize clamping for workpieces in different shapes, and meanwhile action of grip force control jaws is controlled by grip force drive control assemblies arranged in interval cavities, force limiting assemblies can limit the grip force of the grip force control jaws so as to enable the grip force to be not larger than limiting threshold force, and accordingly large clamping force canbe prevented well, and meanwhile the limiting threshold force is set in an adjustable mode, and then can be adjusted according to actual demands, and control ability of the mechanical gripper is improved. The mechanical gripper capable of conveniently adjusting the grip force of the clamping jaws can arrange pressure sensors on the grip force control jaws, performs feedback through pressure valuesof the pressure sensors, realizes feedback drive of drive heads, and guarantees control of the grip force.
Description
technical field [0001] The invention relates to the technical field of mechanical claws, in particular to a mechanical claw that is convenient for adjusting the gripping force of the claws. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields. The manipulator is a complex system with uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to form the terminal pose in cascade. Compared with the rigid manipulator, the flexible manipulator has a light structure. , high load or self-weight ratio. [0003] The...
Claims
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IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 赵宏旺刘晓刚林德民
Owner GUILIN UNIV OF AEROSPACE TECH