Flexible gripper with two fingers

Abstract

The invention relates to a two-finger clamper, which is formed by a mechanical body, a driving device, a transmission device and a driving unit. Wherein, the driving device, transmission device and driving unit are mounted on the finger base of mechanical body; said mechanical body comprises a finger base, a left-and-right slide element, and a left-and-right finger element; said driving device is formed by a motor and a code disc; said transmission device is formed by a large gear wheel, a small gear wheel and a leading screw; and said driving unit is formed by a sensor, a single chip and a driving circuit. The invention uses single chip to send control signal to the driving circuit to control the clamper; at the same time, the signals of sensors at different parts of clamper via the driving plate are transmitted to the single chip, to be checked and realize loop-closed control; the mechanical body is powered by motor, to rotate leading screw after being reduced speed via gear wheel, therefore, the left-and-right finger element can be translated; and the clamper can be opened and closed.

Description

technical field [0001] The invention relates to an automatic clamping device, more particularly, to a two-finger dexterous clamper for clamping precision instruments which can automatically detect the clamping force. Background technique [0002] At present, in the automatic operation of industrial production, the grippers used for gripping objects have some shortcomings: first, it is difficult to measure the clamping force, and it is difficult to form a feedback system; second, it will be damaged when gripping more precise devices. The surface of the object may deform the object; in addition, the gripper is generally processed by plate to form a sheet structure, which is not conducive to the bonding of the ordinary strain gauge and the gripper body. If the strain wire is used, it is greatly affected by the external environment, which is not conducive to For the acquisition of the motion state of the body, because there is no corresponding force sensor, it is still impossibl...

AI Technical Summary

Problems solved by technology

[0002] At present, in the automatic operation of industrial production, the grippers used for gripping objects have some shortcomings: first, it is difficult to measure the clamping force, and it is difficult to form a feedback system; second, it will be damaged when gripping more precise devices. The surface of the object may deform the object; in addition, the gripper is generally processed by plate to form a sheet structure, which is not conducive to the bonding of the ordinary strain gauge and the gripper body. If the strain wire is used, it is greatly affected by the external environment, which is not conducive to For the acquisition of the movement state of the body, and because there is no corresponding force sensor, it is still impossible to measure its clamping force. Such a clamp only belongs to open-loop control.

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