Multi-mode self-adaptive mechanical gripper

Abstract

The invention discloses a multi-mode self-adaptive mechanical gripper. The multi-mode self-adaptive mechanical gripper comprises fingers, finger driving modules and a central driving module, and the fingers and the finger driving modules are installed on a shell of the central driving module. The finger driving modules are connected with the driving module through sliding groove structures. Each finger and the corresponding finger driving module form a connecting rod mechanism, wherein the finger is connected to the finger driving module through two hinges. The self-adaptive object surface flexible grabbing effect is achieved, the aim of flexibly changing the number of the fingers and the relative positions of the fingers according to actual requirements is achieved through the detachability of the fingers and cooperation of a gear connecting rod mechanism, and therefore the grabbing modes are flexibly switched, the self-adaptive grabbing effect is achieved, and the current situation that most of existing grippers are used singly is changed. The detachability of the fingers is achieved through the sliding groove mechanisms, the gear connecting rod mechanism can accurately enable the fingers to rotate by a fixed angle through parameter calculation, and therefore the grabbing modes are accurately switched.

Description

technical field [0001] The invention relates to the field of assembly production lines, in particular to a multi-mode self-adaptive mechanical gripper. Background technique [0002] With the development of social productivity, customers' personalized needs are getting higher and higher. Taking the cosmetics industry as an example, the sales volume of the cosmetics industry has been growing steadily year by year in recent years. According to incomplete statistics, cosmetics currently on the market are divided into six categories and hundreds of subcategories. Different types of cosmetics have different shapes and weights. Therefore, a variety of new manufacturing models such as mixed-line production and flexible manufacturing have emerged as the times require. [0003] At present, in most production lines, one production line can only produce and assemble one product, and the assembly and handling grippers used in different production lines are also different. Most of the e...

AI Technical Summary

Problems solved by technology

Taking the cosmetics production line as an example, the gantry manipulator is used on the empty bottle handling production line; the four-claw manipulator is used on the canning production line; the pneumatic suction cup is used on the packaging production line; different production lines The use of different grippers will undoubtedly increase production costs and cause inconvenience in management and operation and maintenance

[0004] At the same time, most of the existing grippers do not use an under-actuated structure, which makes the gripper rigidity too large, which is easy to cause damage to the surface of the object when gripping the object, resulting in an increase in the scrap rate of the product, which in turn increases the production cost

Most of the existing flexible grippers are pneumatic, and the rigidity is too low, mainly relying on friction to grasp. When the surface of the object is too smooth or the weight is heavy, the grasping effect is not good

Images