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Clamping jaw of bionic robot
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A bionic robot and gripper technology, applied in the direction of claw arm, chuck, manipulator, etc., can solve the problems of additional requirements for driver performance, single grasping function, large space occupation, etc., to reduce energy consumption, compact structure, reduce The effect of space occupation
Pending Publication Date: 2021-12-17
ZHENGZHOU UNIV
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Abstract
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Problems solved by technology
[0003] For the existing mechanical claw structure, only a single grabbing function can be realized. If you want to realize the telescopic function at the same time, you need to add an additional telescopic rod drive, which has additional requirements for the performance of the driver and controller. The structure is complex and takes up a lot of space. ,high cost
Method used
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Embodiment 1
[0046] Such as figure 1 with figure 2As shown, the gripper of the bionic robot is the foot gripper of the bionic robot, including a gripper base 10 , a first claw body 21 , a second claw body 22 and a telescopic drive device 31 .
[0047] The jaw base 10 includes a first base 11 , a second base 12 and a third base 13 . In order to facilitate the expression of the structure of this embodiment, the following figure 1 The up and down direction of the jaw is used as the up and down direction of the jaw. The first seat 11 , the second seat 12 and the third seat 13 are arranged sequentially from top to bottom, the first seat 11 and the second seat 12 are in the form of plates, and the third seat 13 is in the form of a cover. Such as image 3 with Figure 4 , the first seat 11 is used for mounting the jaws on corresponding bionic robots. The second base body 12 is spaced apart from the first base body 11 , and a support column 14 is arranged above the second base body 12 , and...
Embodiment 2
[0053] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, a guide hole is provided in the first claw body 21, and the second claw body 22 is guided and assembled in the guide hole; while in this embodiment In the example, the side of the first claw body 21 is provided with a guide groove, and the second claw body 22 is provided with a guide block, and the guide block is guided and assembled in the guide groove to realize the second claw body 22 on the first claw body 21. guide assembly.
Embodiment 3
[0055] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the telescopic driving device 31 is driven by a screw nut mechanism, and in this embodiment, the telescopic driving device 31 is driven by a hydraulic cylinder.
[0056] Of course, in other embodiments, the telescopic drive device 31 may also be in other forms, such as cylinder drive.
[0057] In addition, when the lead screw and nut mechanism is used to drive, the lead screw and nut mechanism can also be replaced by other forms, for example, the screw rod 33 is rotated and assembled on the jaw base 10, driven by a separate motor, and the screw rod 33 is put on the The provided nut is guided up and down and assembled on the jaw base 10 as the output end.
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Abstract
The invention relates to a clamping jaw of a bionic robot. The clamping jaw of the bionic robot comprises a clamping jaw base, first jaw bodies, second jaw bodies, a telescopic driving device and linkage rods; the clamping jaw base is used for allowing the clamping jaw to be mounted on the corresponding bionic robot; the roots of the first jaw bodies are hinged to the clamping jaw base, and the first jaw bodies are used for achieving the grabbing function when folded; the second jaw bodies are assembled on the first jaw bodies in the extending direction of the first jaw bodies in a guiding manner; the telescopic driving device is fixed to the clamping jaw base, driving connecting rods are arranged between the output end of the telescopic driving device and the first jaw bodies, the two ends of each driving connecting rod are hinged to the output end of the telescopic driving device and the corresponding first jaw body correspondingly, and the telescopic driving device is used for achieving folding and unfolding of the first jaw bodies during stretching and retracting; and the two ends of each linkage rod are hinged to the corresponding second jaw body and the clamping jaw base correspondingly, and the linkage rods are used for driving the second jaw bodies to stretch out and draw back when the first jaw bodies swing. According to the clamping jaw, the telescopic and grabbing functions of a mechanical jaw can be achieved at the same time through a simple structure.
Description
technical field [0001] The invention relates to a gripper of a bionic robot. Background technique [0002] The gripper of the bionic robot is a mechanical device that realizes the function of the machine replacing humans through mechanical structure design and electrical control. Clamping and loosening action. For robots and related instruments to work better in unstructured environments such as jungles, ravines, pipelines and ruins, the design of the claw joints is particularly important. In some cases, in addition to the grasping function, the gripper also needs to be able to meet the telescopic function. For example, for snake robots and inchworm robots, the grippers at the foot joints are used by such robots to stably complete various tasks. The premise of this kind of exercise is that the foot joints need to grab objects in the environment during the exercise, and if necessary, fully open the four jaws to support them on the object to play a supporting role. [0003]...
Claims
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Application Information
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