Parallel driven flexible under-actuated clamp

Abstract

The invention provides a parallel driven flexible under-actuated clamp. The parallel driven flexible under-actuated clamp comprises two clamping arms and a drive part. The two clamping arms are arranged in mirror symmetry and connected with the drive part, and the drive part drives the two clamping arms to move to achieve clamping or opening motion. Each clamping arm comprises a fixing portion, aclamping rod vertically connected with the fixing portion, a connecting rod, a flexible hinge and a limiting part. The clamping rods are connected with the fixing portions through the flexible hinges,and the clamping rods are of segmented structures connected through the flexible hinges. One ends of the connecting rods are connected with the fixing portions through the flexible hinges, the otherends of the connecting rods are connected with the clamping rods through the flexible hinges, and the connecting rods are of segmented structures connected through the flexible hinges. The limiting parts are arranged opposite to the flexible hinges on the connecting rods to limit outward motion of the clamping rods. The clamp is high in flexibility and has certain flexibility, the capacity of self-adapting to the contour of a grasped object is high, and therefore the universality of the clamp is effectively improved. Meanwhile, the clamp can buffer thrust of a drive assembly.

Description

technical field [0001] The invention relates to the technical field of grippers, and more specifically, relates to a parallel-driven compliant underactuated gripper. Background technique [0002] A gripper is a device for manipulating an object by holding it. It can grip and release an object while performing certain actions. In a typical robot processing technology, the workpiece needs to be clamped, positioned, sorted and transported by the gripper. [0003] At present, the gripper is generally installed at the end of the robotic arm as a grasping tool, and the object is grasped and fixed by the gripper, and then transferred from the initial position to the target position or other operations are performed as required. At the present stage of production, the widely used rigid grippers have problems such as poor versatility, high manufacturing costs, and insufficient flexibility: [0004] (1) Poor versatility leads to the need to frequently replace the gripper to adapt to...

AI Technical Summary

Problems solved by technology

At the present stage of production, the widely used rigid grippers have problems such as poor versatility, high manufacturing costs, and insufficient flexibility:

[0004] (1) Poor versatility leads to the need to frequently replace the gripper to adapt to the characteristics of fast production change in hardware manufacturing and processing, which is not conducive to economy;

[0005] (2) High manufacturing cost is not conducive to industrial application;

[0006] (3) Insufficient flexibility causes the rigid holder to easily damage the surface of the hardware product, which affects the processing safety

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