Parallel two-finger mechanical gripper and method for recognizing types of grabbed objects through parallel two-finger mechanical gripper

A mechanical claw and object technology, applied in the field of robotic arms, can solve problems such as uneven force on objects, objects slipping, and fragile objects that cannot control the size of the force well, and achieve the effect of stable air pressure and low resolution.

Inactive Publication Date: 2021-06-29
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

Compared with the multi-finger structure, the parallel structure of the mechanical claw has a larger contact area, but the existing parallel structure of the mechanical arm is only suitable for grabbing regular, non-fragile, and non-deformable objects. Objects, it is easy to cause uneven force on the object, so that the object will slip, and it is impossible to control the size of the force when grasping fragile objects

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  • Parallel two-finger mechanical gripper and method for recognizing types of grabbed objects through parallel two-finger mechanical gripper
  • Parallel two-finger mechanical gripper and method for recognizing types of grabbed objects through parallel two-finger mechanical gripper
  • Parallel two-finger mechanical gripper and method for recognizing types of grabbed objects through parallel two-finger mechanical gripper

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Embodiment Construction

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0043] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.

[0044] It is to be understood that the terms "length", "width", "top", "bottom", "front"...

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Abstract

The invention discloses a parallel two-finger mechanical gripper which comprises a driver and two parallel clamping jaws paralleled mutually. The two clamping jaws are connected onto the driver; the driver is used for driving at least one clamping jaw to move; multiple elastic protruding parts are arranged on the opposite inner sides of the two clamping jaws in an array mode; and a cavity is formed in each elastic protruding part, so that the stressed elastic protruding parts can contract inwards when the two clamping jaws clamp an object. The invention further discloses a method for recognizing the types of grabbed objects through the parallel two-finger mechanical gripper. The parallel two-finger mechanical gripper provided by the invention has good stability and adaptability when being used for grabbing objects in different shapes.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a parallel two-finger mechanical claw and a method for identifying the type of a grasped object. Background technique [0002] With the rapid development of science and technology, robots have gradually moved from traditional industrial applications to a new field of "collaboration with people". Since the environment in which ordinary people live is often an unstructured environment, this poses a great challenge to the perception and compliance of robots. The actuator (manipulator) is an important guarantee for the robot to realize various complex operations. Therefore, the design of new mechanical grippers is of great significance for the development of robotics. [0003] According to the structure, the current mechanical grippers can be divided into gear grippers, parallel grippers, bionic multi-finger grippers and other structures. Compared with the multi-finger str...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 王学谦梁斌李寿杰朱晓俊叶林奇
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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