Electromagnetic clutch folding controllable multi-knuckle manipulator and working method
A manipulator claw and clutch-type technology, which is applied to the electromagnetic clutch-type folding and controllable multi-knuckle manipulator claw and the work field, can solve the problems of inability to fold and recycle each knuckle, and achieve the effect of compact structure, wide application range and small volume.
Active Publication Date: 2021-10-19
淮安新瑞电力设备有限公司
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- Description
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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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[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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The invention discloses an electromagnetic clutch type foldable controllable multi-finger manipulator, which includes under-actuated fingers, the knuckles of the under-actuated fingers are connected by connecting shafts, and the knuckles include an upper baffle plate and a lower baffle plate , the upper baffle and the lower baffle are provided with internal gears, the connecting shaft is equipped with an electromagnetic clutch control device, the electromagnetic clutch control device shown includes a clutch device, a driving device and a locking device, and the driving device It includes a driving gear and a driving pulley. The locking device and the driving gear are respectively installed on both sides of the clutch device. The clutch device drives the driving gear and the locking device to contact and separate from the internal gears of the upper and lower baffles, thereby controlling the rotation of the knuckles. And locking, the drive pulley is controlled by a rope to open and close the under-actuated fingers. The electromagnetic clutch control device of the present invention cooperates with the rope to control the folding and recovery of each knuckle, and controls the electromagnetic by closing or disconnecting the power supply, and can efficiently switch between the driving and locking states of the underactuated manipulator.
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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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