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Electromagnetic clutch type folding controllable multi-knuckle mechanical gripper and working method

A mechanical gripper and clutch-type technology, which is applied to the electromagnetic clutch-type foldable and controllable multi-knuckle robotic gripper and the working field, can solve the problems of inability to fold and recycle each knuckle, and achieve the effect of compact structure, small size and wide application range

Active Publication Date: 2020-02-28
淮安新瑞电力设备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Purpose of the invention: The purpose of the invention is to provide an electromagnetic clutch-type foldable and controllable multi-knuckle manipulator to solve the problem that the existing manipulators cannot fold and recycle each knuckle

Method used

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  • Electromagnetic clutch type folding controllable multi-knuckle mechanical gripper and working method
  • Electromagnetic clutch type folding controllable multi-knuckle mechanical gripper and working method
  • Electromagnetic clutch type folding controllable multi-knuckle mechanical gripper and working method

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] Such as figure 1 As shown, the mechanical gripper described in the patent of the present invention includes three fingers 32 and a palm 31 .

[0036] Such as Figure 2-3 As shown, the upper baffle plate 1 and the lower baffle plate 2 of the first knuckle are connected to the palm 31 through the first connecting shaft 7 , and the first connecting shaft 7 is fixed on the palm 31 through the countersunk head screw 40 . The first finger joint can rotate around the first connection axis 7 . The second knuckle upper baffle 3 and the second knuckle lower baffle 4 are connected to the first knuckle through the second connecting shaft 8 . The second connecting shaft 8 is fixed on the first knuckle by screws, and the second knuckle can rotate around the second connecting shaft 8 . The upper baffle plate 5 of the third knuckle and the lower baffle plate 6 of the third ...

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Abstract

The invention discloses an electromagnetic clutch type folding controllable multi-knuckle mechanical gripper which comprises under-actuated fingers. Knuckles of the under-actuated fingers are connected through connecting shafts. Each knuckle comprises an upper baffle and a lower baffle, internal gears are arranged inside the upper baffle and the lower baffle, an electromagnetic clutch control device is installed on each connecting shaft and comprises a clutch device, a driving device and a locking device, the driving device comprises a driving gear and a driving belt wheel, the locking deviceand the driving gear are installed on the two sides of the clutch device, the clutch device drives the driving gear and the locking device to make contact with or be separated from the internal gearsinside the upper baffle and the lower baffle, then rotation and locking of the knuckles are controlled, and the driving belt wheel controls the corresponding under-actuated finger to unfold and fold through a rope. According to the mechanical gripper, the electromagnetic clutch control device cooperates with the rope, folding and contracting of each knuckle can be controlled, electromagnetism is controlled by turning on or off a power source, and the driving state and the locking state of the under-actuated mechanical gripper can be efficiently switched.

Description

technical field [0001] The invention relates to a manipulator and a working method, in particular to an electromagnetic clutch type foldable controllable multi-knuckle manipulator claw and a working method. Background technique [0002] Driven by Industry 4.0, various robotic grippers have been applied to different fields. Most of the existing multi-knuckle robotic grippers do not consider the folding and recycling of knuckles after the work of grabbing objects, which makes it easy to cause collisions between the gripper and the arm, and between the gripper and other objects during the process of recycling the entire robotic arm. , causing damage to the mechanical claw, and the danger to other objects will also increase. Chinese patent CN103786161 discloses a shape-adaptive underactuated mechanical finger, which is driven by a linkage rod and has good flexibility. Since the driving element occupies the internal space, it is difficult to fold and retract the finger. Conten...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/10B25J15/02
CPCB25J15/0009B25J15/0206B25J15/0233B25J15/10
Inventor 殷宝吉王海军沈东孙维松李伟达陈雅妮袁昭阳梁永浩
Owner 淮安新瑞电力设备有限公司
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