A humanoid wrist-type robot claw and its grasping method

A robot claw and wrist-type technology, applied in the field of robotics, can solve the problems of time-consuming, energy-consuming, asynchronous shedding, etc., and achieve the effects of reduced cost, good synchronization, and large envelope radius

Active Publication Date: 2022-03-08
HANGZHOU DIANZI UNIV
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Many traditional mechanical claws use multiple motors to drive different claws, or some transmission pairs such as screw pairs, which consume time and energy, and often appear out of sync during the grasping process.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A humanoid wrist-type robot claw and its grasping method
  • A humanoid wrist-type robot claw and its grasping method
  • A humanoid wrist-type robot claw and its grasping method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0019] The present invention will be further described below in conjunction with accompanying drawing.

[0020] like figure 1 , 2 , 3, 4 and 5, a humanoid wrist-type robot claw, including claw piece 1, steel wire rope 2, connecting block 3, motor sleeve 4, motor 5, claw disc 6 and rope winding shaft 7; motor sleeve 4 The connecting block 3 is fixed on the top, and the claw plate 6 is fixed on the bottom; the housing of the motor 5 is fixed in the motor sleeve 4, and the output shaft of the motor 5 is connected with the rope winding shaft 7 through a coupling; the rope winding shaft 7 passes through The center hole of the claw plate 6. like figure 2 Shown, claw piece 1 comprises bar one 1-1, bar two 1-2, bar three 1-3, bar four 1-4, torsion spring one 1-6, torsion spring two and pin 1-7; The two ends of -1 are respectively hinged with one end of bar two 1-2 and bar four 1-4 by pin 1-7, and the other end of bar two 1-2 and bar four 1-4 is respectively connected with an end ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a humanoid wrist robot claw and a grasping method thereof. Traditional mechanical claws use multi-power, screw pair, etc., which are time-consuming and energy-consuming. The motor sleeve of the present invention is fixed to the claw plate; the motor is fixed in the motor sleeve to drive the rope winding shaft; the claw sheet includes four rods; the two ends of the rod one are hinged with the ends of the rod two and the rod four respectively, and the rod two and the rod four Four other ends are respectively hinged with the first end of rod three and the middle part of rod three; torsion spring one is provided at the joint between rod two and rod three; two fixed pulleys are hinged at the middle part of rod four, and there is a mounting hole one; claws are provided with n pieces , the mounting hole 1 of each claw is connected with a mounting hole 2 of the claw plate through a bolt and a nut; the bolt is sleeved with a torsion spring 2; the winding shaft and the middle rods of the n claws are respectively fixed by a steel wire rope , each steel wire rope goes around two fixed pulleys corresponding to a claw piece in turn. The invention uses one motor to simultaneously control four claws, which has good synchronization and high positioning accuracy; the claws are reset by torsion springs and elastic ropes, and the efficiency is high.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a humanoid wrist robot claw and a grasping method thereof. Background technique [0002] As the last link and executive part of the interaction between the robot and the environment, the robot gripper is not only a sensor that actively perceives the information of the working environment, but also the final actuator. It is a highly integrated electromechanical device with multiple sensing functions and intelligence. system. Many traditional mechanical grippers use multiple motors to drive different grippers, or use transmission pairs such as screw pairs, which consumes time and energy, and often asynchronously falls off during the grasping process. Therefore, it is necessary to design a mechanical claw with simple structure, high synchronization and convenient operation. Contents of the invention [0003] The purpose of the present invention is to provide a humanoi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 张巨勇刘若愚尹爱国许嘉钦沈亚文方铁锋严琦森李蓉
Owner HANGZHOU DIANZI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap