Self-adaptive rigid gripper

A self-adaptive and rigid technology, applied in the field of robotics, can solve the problems of the gripper being difficult to adapt to different shapes, difficult to find suitable contact points, complicated control processes, etc., to reduce maintenance costs, low costs, and prolong life. Effect

Pending Publication Date: 2020-11-03
JIANGSU UNIV OF SCI & TECH IND TECH RES INST OF ZHANGJIAGANG
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the research and application of multi-fingered manipulators, joints are often connected in series, and each degree of freedom is equipped with a drive motor, which greatly increases the number of components and complicates the control process.
If rigid claws are used, it will be difficult for the claws to ad

Method used

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  • Self-adaptive rigid gripper
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  • Self-adaptive rigid gripper

Examples

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Example Embodiment

[0031] The present invention will be described in detail below with reference to the drawings and specific embodiments:

[0032] Such as Figure 1-Figure 7 As shown, an adaptive rigid gripper of the present invention includes a base 1 and a clamping part arranged on the base 1; the clamping part includes four clamping modules 2 distributed in a cross shape and driving four The driving module 3 of the clamping module 2 moves synchronously. The driving module 3 is arranged at the center of the enclosure of the four clamping modules 2. Among them, the clamping module 2 includes a transmission unit, a clamping jaw 4 arranged on the transmission unit, and a connection The torsion spring 5 between the transmission unit and the clamping jaw 4, the transmission unit is arranged on the base 1; the clamping jaw 4 and the transmission unit are arranged in the same vertical plane, and one end of the clamping jaw 4 is rotatably connected with the transmission unit; the torsion spring One end...

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Abstract

The invention discloses a self-adaptive rigid gripper which comprises a base and a clamping part arranged on the base. The clamping part comprises four clamping modules and a driving module, and the driving module is located at the center position defined by the four clamping modules; each clamping module comprises a transmission unit, a clamping jaw arranged on the transmission unit and a torsional spring connected between the transmission unit and the clamping jaw, and the transmission unit is arranged on the base; the clamping jaws and the transmission units are located in the same verticalplane, and one ends of the clamping jaws are rotationally connected with the transmission units; one ends of the torsional springs are fixed to the clamping jaws, and the other ends of the torsionalsprings are fixed to the transmission units, so that the clamping jaws elastically rotate towards one side of the enclosed center; the driving module comprises a first driving unit and a second driving unit, and the first driving unit is in transmission connection with the transmission units so as to drive every two opposite clamping jaws to move back and forth along a straight line; and the second driving unit is in transmission connection with the clamping jaws. The gripper has the advantages of a flexible gripper and a rigid gripper to a certain extent.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an adaptive rigid gripper. Background technique [0002] With the steady development of society and the rapid advancement of science and technology, the research on robots is gradually deepening. The demand for robots in all aspects has increased tremendously, and the scope of applications has become more and more extensive. [0003] As the executive part of the interaction between the robot and the environment, the gripper must coordinate the robot to complete various complex and delicate tasks. However, in the research and application of multi-fingered manipulators, joints are often connected in series, and each degree of freedom is equipped with a drive motor, which greatly increases the number of components and complicates the control process. If rigid claws are used, it will be difficult for the claws to adapt to objects of different shapes and sizes; it is difficult to find...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/00
CPCB25J15/10B25J15/00
Inventor 蔡李花陈鑫黄帅博曹晋李洋李琛黄希王振高进可方海峰徐磊
Owner JIANGSU UNIV OF SCI & TECH IND TECH RES INST OF ZHANGJIAGANG
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