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Clamping mechanism

A clamping mechanism and clamping technology, applied in the field of robotics, can solve the problems of complex control process of the clamping mechanism, achieve the effects of improving sensitivity and accuracy, small detection error, and simplifying the control process

Pending Publication Date: 2021-07-30
CHANGZHOU INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The problem solved by the present invention is that the control process of the current clamping mechanism is complicated

Method used

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Embodiment Construction

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limitations to the present invention. Based on the embodiments of the present invention, those skilled in the art do not make creative work All other embodiments obtained below all belong to the protection scope of the present invention.

[0031] In the description of the present invention, it should be understood that the terms "first" and "second" are only used to simplify the description, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of indicated technical features . Thus,...

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Abstract

The invention provides a clamping mechanism. The clamping mechanism comprises a clamping part and a driving part which is connected with the clamping part and drives the clamping part to act; the driving part comprises a driving motor, a driving connecting rod structure connected with the driving motor and a force measuring device; the driving connecting rod structure is connected with the clamping part, and a first elastic element is arranged on the driving connecting rod structure; and the force measuring device is used for acquiring the clamping force of the clamping part. According to the clamping mechanism, the force measuring device is arranged in the driving part, so that the clamping force to be transmitted into the clamping part can be obtained through the force measuring device before the power output by the driving motor is transmitted to the clamping part, and the operation of the driving motor can be timely controlled according to the detected force; and the control process is more direct and rapid, the detection error is small, the number of parts is reduced, the structure of the clamping mechanism is simplified, the control process is simplified, and the sensitivity and accuracy of the control process are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a clamping mechanism. Background technique [0002] With the improvement of mechanical automation, more and more robots are used in various industries. At the same time, the requirements for various robot clamping mechanisms are also getting higher and higher. [0003] At present, the underactuated clamping mechanism is the key executive component for the robot to realize the clamping operation, and it has broad application prospects in the fields of industry, agriculture, medical treatment, food and deep-sea sampling. [0004] The existing under-actuated clamping mechanism usually obtains the clamping force by setting a fingertip force sensor on the clamping part. During the operation of the clamping mechanism, it is necessary to control the drive according to the clamping force detected by the fingertip force sensor. The operation and control process of the organization is comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J19/00B25J15/00G01L5/22
CPCB25J13/082B25J19/0095B25J15/00G01L5/226
Inventor 华洪良廖振强王晓军黄成吴世鸿刘雨航
Owner CHANGZHOU INST OF TECH
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