Single-motor under-actuated robot end effector with mechanical self-locking function

Abstract

The invention discloses a single-motor under-actuated robot end effector with a mechanical self-locking function. The single-motor under-actuated robot end effector comprises an effector shell, a driving motor, a left clamping jaw assembly, a right clamping jaw assembly and a transmission system, wherein the transmission system drives the left clamping jaw assembly and the right clamping jaw assembly to complete clamping action by utilizing power of the driving motor; the transmission system comprises a speed reducing mechanism, a differential mechanism and worm and gear mechanisms; power of the driving motor is input into the differential mechanism after being subjected to speed reduction and torque increase through the speed reducing mechanism; the differential mechanism distributes thepower to the two worm and gear mechanisms and drives two worms to rotate; and worm gears of the worm and gear mechanisms are used for driving the left clamping jaw assembly or the right clamping jaw assembly to complete the clamping action. The end effector is driven by a single motor, clamping self-locking can be achieved, the end effector is matched with a binocular camera on the end effector, self-adaptive clamping in position and size is completed, and accurate placement and assembly can be achieved.

Description

technical field [0001] The invention relates to an underactuated robot end effector driven by a single motor with a mechanical self-locking function in the field of item sorting and parts assembly, in particular, it relates to a sorting or assembling using vision, which can realize self-adaptive adjustment clips An underactuated robot end effector with holding position and timely mechanical self-locking. Background technique [0002] Due to the increasing maturity of robot technology, the robotic arm has been widely used in the industrial field. In item sorting and parts assembly, the actuator at the end of the robotic arm often determines the specific use of the robotic arm. The existing end effectors of manipulators are limited by their quality and often only contain a limited number of degrees of freedom for light and small objects. In response to this phenomenon, there have been many studies on underactuated end effectors, such as the three-fingered dexterous hand with ...

AI Technical Summary

Problems solved by technology

The above-mentioned patents all use the underactuated mechanism to increase the operability and also have the ability to adapt to the shape of the object, but it is still limited to the quality of the end effector and reduces the standard of the work quality

In addition, the currently proposed underactuated mechanisms basically do not include self-locking mechanisms, which increases safety hazards, especially when the driving force of the end effector is insufficient.

The double self-locking gripper with patent publication number 201911205707.5 and the multi-degree-of-freedom lever thread self-locking structure with patent publication number 201610840243.5 are large in size and are not suitable for small robots or mechanical arms

In addition, due to the uncontrollable motion of the underactuated structure, the position of the clamped object cannot be clearly expressed, which limits the precise assembly

Images