Rigidity-variable clamping device and industrial robot
A variable stiffness and stiffness technology, applied in the field of robot end effectors, can solve problems such as deformation and insufficient stiffness
Active Publication Date: 2021-06-04
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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[0004] The main purpose of the present invention is to provide a clamping device with variable stiffness and an industrial robot, so as to overcome the deficiency that the clamping fingers in the non-clamping direction will have large deformation due to insufficient stiffness in the prior art
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[0032] Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a teaching to one skilled in the art that, in fact, any suitably detailed embodiment may differ in any suitably detailed embodiment. The manner employs the representative basis of the present invention.
[0033] A clamping device with variable stiffness disclosed in the present invention adds a second guide mechanism so that the stiffness of the clamp finger in the non-clamping direction will not change with the change of the variable stiffness mechanism, so that the clamp finger can adapt to Vertical, inclined, horizontal and other posture operations.
[0034] to combine figure 1 and figure 2 As shown, a clamping device wi...
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The invention discloses a variable-rigidity clamping device and an industrial robot. The device comprises a moving module, a variable-rigidity module, a second guide mechanism and two clamping fingers, wherein the moving module is connected with the two clamping fingers through the variable-rigidity module and used for achieving opening and closing movement of the clamping fingers and achieving variable-rigidity movement of the two clamping fingers through the variable-rigidity module, and each clamping finger is further arranged on a lateral supporting plate fixedly connected with a sliding seat of the moving module in a sliding mode through a second guide mechanism, so that the rigidity of the clamping fingers in the non-clamping direction is not changed. According to the device, the second guide and lateral support design is additionally arranged on the side surfaces of the clamping fingers, so that the rigidity of the clamping fingers in the non-clamping direction cannot be changed along with the rotation of a flexible shaft, and the clamping fingers can adapt to various posture operations such as vertical operation, inclined operation, horizontal operation and the like.
Description
technical field [0001] The invention belongs to the technical field of robot end effectors, and in particular relates to a clamping device with variable stiffness and an industrial robot. Background technique [0002] Whether it is pneumatic or electric, the traditional robot end grippers are mainly rigid grippers, which are mainly suitable for the gripping of rigid objects, and lack the necessary flexibility and flexibility. In recent years, the research and application of flexible grippers have gradually increased, and they are mainly suitable for occasions that require precision clamping and precision assembly. The existing flexible grippers generally have functions such as small variable stiffness range, slow response, complex structure, and difficulty in parallel clamping. [0003] Patent No. CN201810616196.5 discloses a flexible gripping device with variable stiffness. The device changes the stiffness of the clamping direction by rotating the angle of the flexible sha...
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IPC IPC(8): B25J15/02B25J15/08
CPCB25J15/026B25J15/08
Inventor 熊次远杨桂林张驰方灶军廉宏远
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI