CN109434863A - Adaptive mechanical gripper - Google Patents
Adaptive mechanical gripper Download PDFInfo
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- CN109434863A CN109434863A CN201811482676.3A CN201811482676A CN109434863A CN 109434863 A CN109434863 A CN 109434863A CN 201811482676 A CN201811482676 A CN 201811482676A CN 109434863 A CN109434863 A CN 109434863A
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- Prior art keywords
- connecting rod
- grabbing assembly
- mechanical gripper
- driving mechanism
- adaptive mechanical
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 38
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- 229910052751 metal Inorganic materials 0.000 claims description 19
- 239000002184 metal Substances 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims 1
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- 238000013461 design Methods 0.000 description 5
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- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005057 finger movement Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000001095 motoneuron effect Effects 0.000 description 2
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- 229910001008 7075 aluminium alloy Inorganic materials 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 241000357437 Mola Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive mechanical grippers, including robot body, it further include grabbing assembly, transmission component, driving mechanism, control mechanism and power sector, it further include the pedestal being composed of upper cover and lower casing, single grabbing assembly includes rotating seat, minor details, middle section, finger tip, finger tip refill-unit, and transmission component includes last connecting rod, middle connecting rod leading portion connecting rod, middle pull rod, last pull rod and power rail.Small article is mainly by 3 finger grips, and the upper cover of pedestal can participate in grasping movement when gripper grabs big object and primarily serve supporting role, and finger and upper cover have interchangeable non-slip mat, are used for more accurate handgrip motion control.
Description
Technical field
The present invention relates to industrial automation productions and teaching and scientific research technical field, and in particular to a kind of adaptive manipulator
Pawl.
Background technique
The mechanical paw of common cognition is by executing agency, drive system, control system, position detecting device group at present
At.Most of handgrip only has simple executing agency and drive system on the market, wherein most typically retaining paw (grab by mechanism
Take) and absorption gripper (vacuum or magnetic force are drawn).
Clipping gripper is made of finger and driving mechanism, and finger is directly contacted with crawl object, is divided into translating type and is returned
Transition.The specific structure of finger depends on shape, size, crawl position and the weight of crawl article surface.Common finger-type has
Plane, disc, curved surface, groove profile；Method of clamping has outer hold and inner support；Index, which has, singly to be referred to, two fingers, refers to more.And the driving machine of gripper
Structure common are chute-type, link-type, ramp type, pinion and-rack, screw-type, gravity type etc..Common drive system has electricity
Machine and cylinder.
Absorption type gripper is mainly made of sucker, leans on negative pressure or electromagnetic field adsorbent article.Negative pressure gripper is common
In adsorbent sheet shape, smooth surface, light and small material；Electromagnetism gripper, which is usually used in absorption magnetizable metal or surface, the object of network interface
Product.
Since different articles have different shapes, usual gripper can only grab specific or same type of article, lead
It causes the adaptability of handgrip single, can not flexibly cope with changeable application demand.
Existing design causes each finger to be unable to self-movement, all fingers due to being three grippers of a motor driven
It will move synchronously and the motion profile of all fingers has symmetry.So handgrip can only grab the more symmetrical object of shape
Body, when the body form of handgrip crawl is changeable, such as ladder-like transmission shaft either the cone cell object, even crab of increasing radii
A kind of marine products, existing finger movement mode just can not accurately and steadily grab article.
The shortcomings that another existing scheme is that three fingers need the degree of unitary rotation 0 to 90 to adjust finger position to grab not
The object of similar shape, since the overall mechanism of each finger is huger, it is maximum up to 90 that a motor drives three fingers to carry out
The rotation of degree, since power of motor is too small, rotation amplitude is big, and finger needs long run duration to get to predetermined angle
Degree.
Existing scheme is a further disadvantage is that entirety is mechanical and electronic structure is exposed in working environment, industrial site
The pollutants such as dust, mist of oil, steam, the metal fragment of generation can invade inside handgrip mechanism, influence handgrip normal operation, reduce
Handgrip service life, and the accident collision in work can also make handgrip impaired.
Summary of the invention
In view of the deficiencies of the prior art, the present invention is intended to provide a kind of can complete complicated fine operation flexible and changeablely
, it is multivariant, can the dust-proof adaptive mechanical gripper to discharge water.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of adaptive mechanical gripper, including robot body further include grabbing assembly, transmission component, driving mechanism, control
Mechanism processed and power sector, grabbing assembly and transmission component are separately positioned on robot body, driving mechanism, control mechanism and
Power sector is separately positioned on the inside of robot body, and grabbing assembly is flexibly connected with transmission component, the output of driving mechanism
End is connect to drive grabbing assembly with transmission component, control mechanism and driving mechanism communication connection, power sector respectively with control
Mechanism and driving mechanism processed are electrically connected.
Further, the grabbing assembly is mechanical finger, and mechanical finger includes finger tip, middle section, minor details and rotating seat, is referred to
It is hinged that sharp, middle section and minor details pass through transmission component respectively, and minor details are arranged on rotating seat, and driving mechanism is arranged in rotating seat
Portion.The rotation angle of mechanical finger is 15 degree clockwise, 15 degree counterclockwise.
The driving mechanism of single mechanical finger is driven to be mounted in rotating seat, in practical applications, rotating seat can be metal
Rotating seat, metal rotation seat up to IP66, while the working environment of motor is effectively protected, drive the protection of driving mechanism
The heat that mechanism generates can carry out heat loss through conduction by rotating seat.
Further, the transmission component include middle connecting rod leading portion connecting rod, middle connecting rod, last connecting rod, middle pull rod, last pull rod and
Power rail, last connecting rod and rotating seat are hinged, and the minor details of middle connecting rod and mechanical finger are hinged, middle connecting rod leading portion connecting rod and mechanical finger
Middle section it is hinged, two power rails are arranged on rotating seat, and one end of two power rails is connect with driving mechanism, two power rails
The other end pass through respectively the last pull rods of last connecting rod and two one end it is hinged, the other end of two last pull rods passes through last connecting rod respectively
Hinged with one end of two middle pull rods, the other end of two middle pull rods is connect with middle connecting rod leading portion connecting rod respectively.Power rail and dynamic
Size is consistent between last pull rod and last pull rod between power bar, between middle pull rod and middle pull rod, and position is opposite in parallel.
Further, the driving mechanism includes motor, drive disk, turntable, worm gear, worm screw and conical gear, motor it is defeated
Outlet is sequentially connected by worm gear, worm screw and conical gear and drive disk, turntable and the driven connection of drive disk, the output shaft of turntable
It is connect with one end of power rail.Worm gear, worm screw cooperation conical gear can be while guaranteeing to increase motor output shaft torque, if grabbing
The article taken slips out of the hand or when the middle section of mechanical finger, minor details and finger tip in clamped condition, and conical gear stops operating, so that snail
Wheel, worm screw also stop operating, to shut down motor, have self-lock ability, can prevent the article of crawl from slipping out of the hand.
Further, the outside of the motor is provided with metal roller bearing.Metal roller bearing plays an exterior protection to motor
Effect, so that the IP degree of protection of motor can reach IP66.
Further, the adaptive mechanical gripper further includes pedestal, and pedestal includes upper cover and lower casing, and rotating seat setting exists
On the upper lid of pedestal, lower casing and upper cover airtight connection, lower casing are connect by flange with robot body, and lower casing is also set up
There is aviation plug.The upper cover of pedestal can participate in grasping movement when adaptive mechanical gripper grabs big object and primarily serve support
Effect.The angle that folds of the minor details of finger is 90 degree, and upper cover can be touched by folding rear finger tip, does not generate crawl gap, even if
The paper for being placed on upper cover can also grab.Pedestal is unitary design, machining by CNC by block of metal, is had anti-
While the ability of the anti-mechanical collision of the anti-spilling of dirt, there is good heat radiating ability.
External power can be obtained by aviation plug to charge to adaptive mechanical gripper, robot body can also be connected
I/O interface is to receive external demand signal control robot body manipulation adaptive mechanical gripper.
Further, the adaptive mechanical gripper is provided with 3 grabbing assemblies, 3 transmission components, 4 control mechanisms
With 4 driving mechanisms, each grabbing assembly is hinged with a transmission component respectively, hinged transmission component corresponding with grabbing assembly
It is connect with a driving mechanism, a driving mechanism and a control mechanism communication connection, the setting of two of them grabbing assembly exists
The same side, two are arranged between the grabbing assembly of the same side and are additionally provided with a driving mechanism.
Since each mechanical finger is driven by single motor, each mechanical finger can freely complete grasping movement,
Even if body form is changeable, such as ladder-like transmission shaft either the cone cell object, the even marine products of crab one kind of increasing radii
Body surface and envelope crawl can also be adapted to automatically.Two mechanical fingers that the same side is arranged in can rotate simultaneously to be revolved to unilateral side
Turn and rotates the angular dimension same direction on the contrary, mechanical finger can be allowed to make and refer to and divide the movement referred to.
Further, the adaptive mechanical gripper further includes having non-slip mat, and non-slip mat is arranged in grabbing assembly and pedestal
On upper lid, non-slip mat is detachable.Non-slip mat is separately positioned on the middle section and minor details of mechanical finger and the upper cover of pedestal.It is anti-skidding
Pad can increase the surface roughness of the middle section of mechanical finger, minor details and upper cover, can increase the frictional force contacted with object, prevent object
Body is slipped out of the hand.
Further, the adaptive mechanical gripper further includes pressure sensor, pressure sensor setting in grabbing assembly and
On base upper cover, pressure sensor and control mechanism communication connection.Pressure sensor be separately positioned on mechanical finger middle section and
On the upper lid of minor details and pedestal.Pressure sensor can precisely detect the pressure of the object of mechanical finger and base upper cover, and
After pressure signal is transmitted to control mechanism, control mechanism issues corresponding instruction control driving mechanism and drives mechanical finger crawl
Object, to reach more accurate mechanical finger motion control.
Further, the outside of the adaptive mechanical gripper is provided with metal shell.Metal shell plays dust-proof, anti-
Spilling, the effect of preventing scrap and anticollision improve the degree of protection in internal mechanism.
The working principle of the invention:
The present invention has 11 freedom degrees, and one of finger has 3 freedom degrees, other two is located at the hand of the same side
Refer to that respectively there are 4 freedom degrees, the freedom degree that driving link number is less than mechanism is known as Qian Qu mechanism.Qian Qu mechanism can simplify the internal structure of an organization,
Increase the dexterity and adaptivity of mechanism.
Advantageous effects of the invention:
1, driven due to mechanical finger by individual motor, finger can adapt to automatically the crawl surface shape of article, size,
Position and hardness, the chucking power of mechanical finger are 3 times of existing scheme, can grab more heavy articles, and crawl article is also stronger,
Greatly increase flexibility ratio；
2, mechanical finger can hold small article with lateral rotation, and angle needed for mechanical finger closure and rotation is reduced, this
The response speed of invention crawl object is faster；
3, output cooperation worm gear, worm screw and the conical gear of motor are driven, and are guaranteeing have while increasing torque
Self-lock ability prevents the article of crawl to be also possible to prevent motor overload while slipping out of the hand；
4, the pedestal of unitary design is machining by CNC by block of metal, and there is the dust-proof anti-anti- machinery of spilling to touch
While the ability hit, good heat radiating ability is also had both.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is side view of the invention；
Fig. 3 is use state Fig. 1 of hair invention；
Fig. 4 is use state Fig. 2 of the invention.
Appended drawing reference
Finger tip 1；Middle section 2；Minor details 3；Rotating seat 4；Finger refill-unit 5；Middle connecting rod leading portion connecting rod 6；Middle connecting rod 7；Last connecting rod
8；Middle pull rod 9；Last pull rod 10；Power rail 11；Motor 12；Drive disk 13；Turntable 14；Worm gear 15；Conical gear 16；Upper cover 17；
Lower casing 18；Aviation plug 19；Non-slip mat 20；Circuit board 21；Worm screw 22.
Specific embodiment
Below with reference to attached drawing, the invention will be further described, it should be noted that following embodiment is with this technology
Premised on scheme, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to this
Embodiment.
A kind of adaptive mechanical gripper, as shown in Figs 1-4, including robot body, it further include grabbing assembly, transmission group
Part, driving mechanism, control mechanism and power sector, grabbing assembly and transmission component are separately positioned on robot body, driving
Mechanism, control mechanism and power sector are separately positioned on the inside of robot body, and grabbing assembly is flexibly connected with transmission component,
The output end of driving mechanism is connect to drive grabbing assembly, control mechanism and driving mechanism communication connection, power supply with transmission component
Mechanism is electrically connected with control mechanism and driving mechanism respectively.
Further, the grabbing assembly is mechanical finger, and mechanical finger includes finger tip 1, middle section 2, minor details 3 and rotating seat 4,
Finger tip 1, middle section 2 and minor details 3 are hinged by transmission component respectively, and minor details 3 are arranged on rotating seat 4, and driving mechanism setting is being revolved
Inside swivel base 4.The rotation angle of mechanical finger is 15 degree clockwise, 15 degree counterclockwise.Particularly, it can be installed on finger tip 2
Finger tip refill-unit 5.
The driving mechanism of single mechanical finger is driven to be mounted in rotating seat 4, in practical applications, rotating seat can be metal
Rotating seat, metal rotation seat up to IP66, while the working environment of motor is effectively protected, drive the protection of driving mechanism
The heat that mechanism generates can carry out heat loss through conduction by rotating seat.
Further, the transmission component includes middle connecting rod leading portion connecting rod 6, middle connecting rod 7, last connecting rod 8, middle pull rod 9, end drawing
Bar 10 and power rail 11, last connecting rod 10 and rotating seat are hinged, and the minor details 3 of middle connecting rod 7 and mechanical finger are hinged, and middle connecting rod leading portion connects
The middle section 2 of bar 6 and mechanical finger is hinged, and two power rails 11 are arranged on rotating seat 4, one end of two power rails 11 and driving
Mechanism connection, one end that the other end of two power rails 11 passes through last connecting rod 8 and two last pull rods 10 respectively is hinged, two Gen Mola
One end that the other end of bar 10 passes through last connecting rod 8 and two middle pull rods 9 respectively is hinged, the other end of two middle pull rods 9 respectively with
Middle connecting rod leading portion connecting rod 6 connects.Between power rail 11 and power rail 11, between middle pull rod 9 and middle pull rod 9 and last pull rod 10 and end
Size is consistent between pull rod 10, and position is opposite in parallel.
Further, the driving mechanism includes motor 12, drive disk 13, turntable 14, worm gear 15, worm screw 22 and conical gear
16, the output end of motor 12 is sequentially connected by worm gear 15, worm screw 22 and conical gear 16 and drive disk 13, turntable 14 and driving
The driven connection of disk 13, the output shaft of turntable 14 are connect with one end of power rail 11.Worm gear 15, worm screw 22 cooperate 16 energy of conical gear
While guaranteeing to increase 12 output shaft torque of motor, if the article of crawl is slipped out of the hand or the middle section 2 of mechanical finger, minor details 3 and is referred to
When point 1 is in clamped condition, conical gear 16 stops operating, so that worm gear 15, worm screw 22 also stop operating, to shut down motor
12, there is self-lock ability, can prevent the article of crawl from slipping out of the hand.
Further, the outside of the motor is provided with metal roller bearing.Metal roller bearing plays an exterior protection to motor
Effect, so that the IP degree of protection of motor can reach IP66.
Further, the adaptive mechanical gripper further includes pedestal, and pedestal includes upper cover 17 and lower casing 18, and rotating seat is set
It sets in the upper cover 17 of pedestal, lower casing 18 and 17 airtight connection of upper cover, lower casing 18 are connect by flange with robot body,
Lower casing 18 is additionally provided with aviation plug 19.The upper cover 17 of pedestal can participate in grabbing when adaptive mechanical gripper grabs big object
It acts and primarily serves supporting role.The angle that folds of the minor details 3 of mechanical finger is 90 degree, and folding rear finger tip 1 can touch
Upper cover 17 does not generate crawl gap, can grab being placed on the paper of upper cover 17.
Pedestal is unitary design, machining by CNC by block of metal, has the dust-proof anti-anti- mechanical collision of spilling
Ability while, have good heat radiating ability.Pedestal degree of protection is up to IP54.In practical applications, the lower casing of pedestal
18 are formed by 7075 aluminium alloy overall processings, flange thickness 10mm, wall thickness 4mm, are effective against 10kg in industrial production and are loaded
Shock under the constant speed operation of six-joint robot.
External power can be obtained by aviation plug 19 to charge to adaptive mechanical gripper, robot body can also be connected
I/O interface with receive external demand signal control robot body manipulation adaptive mechanical gripper.
Further, the adaptive mechanical gripper is provided with 3 grabbing assemblies, 3 transmission components, 4 control mechanisms
With 4 driving mechanisms, each grabbing assembly is hinged with a transmission component respectively, hinged transmission component corresponding with grabbing assembly
It is connect with a driving mechanism, a driving mechanism and a control mechanism communication connection, the setting of two of them grabbing assembly exists
The same side, two are arranged between the grabbing assembly of the same side and are additionally provided with a driving mechanism.In practical applications, machine is controlled
Structure is circuit board 21.
Since each mechanical finger is driven by single motor 12, it is dynamic that each mechanical finger can freely complete crawl
Make, even if body form is changeable, such as ladder-like transmission shaft either the cone cell object, the even sea of crab one kind of increasing radii
Production can also adapt to body surface and envelope crawl automatically.Two mechanical fingers that the same side is arranged in can be rotated simultaneously to unilateral side
Rotation and the rotation angular dimension same direction are on the contrary, can allow mechanical finger to be made and refer to and divide the movement referred to.After 3 finger expansion
Finger tip 1 is apart from for 172mm, and exhibition is highly 214.5mm away from for 246mm, width 132mm.
Further, the adaptive mechanical gripper further includes having non-slip mat 20, and non-slip mat 20 is screwed respectively
On the middle section 2 of mechanical finger and minor details 3 and the upper cover 17 of pedestal, non-slip mat 20 are detachable.Non-slip mat 20 can increase machinery
The surface roughness of the middle section 2 of finger, minor details 3 and upper cover 17, can increase the frictional force contacted with object, prevent object from slipping out of the hand.
Further, the adaptive mechanical gripper further includes pressure sensor, and pressure sensor is separately positioned on manipulator
On the middle section 2 and minor details 3 and the upper cover of pedestal 17 referred to, pressure sensor and control mechanism communication connection.Pressure sensor can
The pressure of the object of mechanical finger and base upper cover 17 is precisely detected, and after pressure signal is transmitted to control mechanism, control
Mechanism issues corresponding instruction control driving mechanism and mechanical finger is driven to grab object, to reach more accurate mechanical finger movement
Control.
Further, the outside of the adaptive mechanical gripper is provided with metal shell.Metal shell plays dust-proof, anti-
Spilling, the effect of preventing scrap and anticollision improve the degree of protection in internal mechanism.
Embodiment 1
If finger tip 1 first touches object, power rail 11 passes through last connecting rod 8 and connect with end pull rod 10, during last pull rod 8 passes through
Connecting rod 7 is connect with middle pull rod 9, and middle pull rod 9 is connect by middle connecting rod leading portion connecting rod 6 with finger tip 1, forms stable support knot
Structure, control mechanism start motor 12, drive drive disk 13 rotate so that turntable 14 rotate, be arranged on rotating seat 4 with turntable 4
Output end connection power rail 11 correspondingly rotate displacement so that all chucking powers are applied to grip objects on finger tip.
It is motionless that middle section 2 and the minor details guarantor 3 of mechanical finger holds existing position.
Embodiment 2
If the middle section 2 of mechanical finger first touches object, the minor details 3 of mechanical finger are slack, control mechanism starting
Motor 12 drives drive disk 13 to rotate so that turntable 14 rotates, connecting with the output end of turntable 14 on rotating seat 4 is arranged in
Power rail 11 correspondingly rotates displacement, so that the finger tip 1 of mechanical finger continues to move to, until touching body surface and grabbing
Tightly.
Embodiment 3
When the minor details 3 of mechanical finger first touch object, control mechanism starts motor 12, and the rotation of drive disk 13 is driven to make
It obtains turntable 14 to rotate, the power rail 11 connecting with the output end of turntable 14 being arranged on rotating seat 4 correspondingly rotates position
It moves, so that the middle section 2 and finger tip 1 of mechanical finger continue to move to, and form envelope to object, object is pressed on the upper cover of pedestal
17, object is securely grabbed；When the same side mechanical finger and refer to clamping, 1 side of finger tip of mechanical finger touches
When object, middle section 2, minor details 3 and the finger tip 1 of mechanical finger keep current form constant, and finger tip 1 applies chucking power to object and clamps
Object.
For those skilled in the art, it can be provided various corresponding according to above technical solution and design
Change and modification, and all these change and modification, should be construed as being included within the scope of protection of the claims of the present invention.
Claims (10)
1. a kind of adaptive mechanical gripper, including robot body, which is characterized in that including grabbing assembly, transmission component, driving
Mechanism, control mechanism and power sector, grabbing assembly and transmission component are separately positioned on robot body, driving mechanism, control
Mechanism processed and power sector are separately positioned on the inside of robot body, and grabbing assembly is flexibly connected with transmission component, driving machine
The output end of structure is connect to drive grabbing assembly, control mechanism and driving mechanism communication connection, power sector point with transmission component
It is not electrically connected with control mechanism and driving mechanism.
2. adaptive mechanical gripper according to claim 1, which is characterized in that the grabbing assembly is mechanical finger, machine
Tool finger includes finger tip, middle section, minor details and rotating seat, and it is hinged that finger tip, middle section and minor details pass through transmission component respectively, minor details setting
On rotating seat, driving mechanism is arranged inside rotating seat.
3. adaptive mechanical gripper according to claim 1, which is characterized in that the transmission component includes middle connecting rod leading portion
Connecting rod, middle connecting rod, last connecting rod, middle pull rod, last pull rod and power rail, middle connecting rod leading portion connecting rod, middle connecting rod and last connecting rod respectively with
Grabbing assembly connection, power rail are arranged on grabbing assembly, and one end of power rail is connect with driving mechanism, the other end of power rail
One end by last connecting rod and last pull rod is hinged, and the other end of last pull rod is hinged by one end of middle connecting rod and middle pull rod, middle drawing
The other end of bar and middle connecting rod leading portion connecting rod are hinged.
4. adaptive mechanical gripper according to claim 1, which is characterized in that the driving mechanism includes motor, driving
The output end of disk, turntable, worm gear, worm screw and conical gear, motor is connected by worm gear, worm screw and conical gear and drive disk transmission
It connects, turntable and the driven connection of drive disk, turntable are connect with grabbing assembly.
5. adaptive mechanical gripper according to claim 4, which is characterized in that the outside of the motor is provided with metal rolling
Axis.
6. adaptive mechanical gripper according to claim 1, which is characterized in that the adaptive mechanical gripper further includes bottom
Seat, pedestal includes upper cover and lower casing, and transmission component is set on the base, and lower casing and upper cover airtight connection, lower casing pass through
Flange is connect with robot body, and lower casing is additionally provided with aviation plug.
7. adaptive mechanical gripper according to claim 1, which is characterized in that the adaptive mechanical gripper is provided with 3
A grabbing assembly, 3 transmission components, 4 control mechanisms and 4 driving mechanisms, each grabbing assembly respectively with a transmission group
Part is hinged, and hinged transmission component corresponding with grabbing assembly is connect with a driving mechanism, a driving mechanism and a control
Mechanism communication connection, two of them grabbing assembly are arranged in the same side, and two are arranged between the grabbing assembly of the same side and also set
It is equipped with a driving mechanism.
8. adaptive mechanical gripper according to claim 4, which is characterized in that the adaptive mechanical gripper further includes having
Non-slip mat, non-slip mat are arranged on grabbing assembly and base upper cover, and non-slip mat is detachable.
9. adaptive mechanical gripper according to claim 1, which is characterized in that the adaptive mechanical gripper further includes pressure
Force snesor, pressure sensor are arranged on grabbing assembly and base upper cover, pressure sensor and control mechanism communication connection.
10. adaptive mechanical gripper according to claim 1, which is characterized in that the outside of the adaptive mechanical gripper
It is provided with metal shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482676.3A CN109434863A (en) | 2018-12-05 | 2018-12-05 | Adaptive mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482676.3A CN109434863A (en) | 2018-12-05 | 2018-12-05 | Adaptive mechanical gripper |
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| Publication Number | Publication Date |
|---|---|
| CN109434863A true CN109434863A (en) | 2019-03-08 |
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ID=65557658
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811482676.3A Pending CN109434863A (en) | 2018-12-05 | 2018-12-05 | Adaptive mechanical gripper |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
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| CN110103250A (en) * | 2019-05-31 | 2019-08-09 | 广西大学 | A kind of adaptive more finger joint unit manipulators |
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| CN115229836A (en) * | 2022-06-28 | 2022-10-25 | 宁波送变电建设有限公司 | Mine clearance clamping jaw based on transformer substation nest is clear away |
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| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
| CN110102691A (en) * | 2019-05-31 | 2019-08-09 | 安特（惠州）工业有限公司 | Automatic charging kludge |
| CN110103250A (en) * | 2019-05-31 | 2019-08-09 | 广西大学 | A kind of adaptive more finger joint unit manipulators |
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| CN110774309B (en) * | 2019-11-12 | 2024-04-19 | 华南理工大学 | Single-drive three-finger mechanical gripper |
| CN111805566A (en) * | 2020-07-28 | 2020-10-23 | 五邑大学 | Novel single-degree-of-freedom two-finger coupling clamping manipulator |
| CN112589824A (en) * | 2021-03-04 | 2021-04-02 | 天津德沃尔智能科技有限公司 | High-torque humanoid manipulator with self-locking function |
| CN114772272A (en) * | 2022-06-16 | 2022-07-22 | 江苏凤坡工程机械有限公司 | Ore snatchs manipulator for mining |
| CN114772272B (en) * | 2022-06-16 | 2022-08-26 | 江苏凤坡工程机械有限公司 | Ore snatchs manipulator for mining |
| CN115229836A (en) * | 2022-06-28 | 2022-10-25 | 宁波送变电建设有限公司 | Mine clearance clamping jaw based on transformer substation nest is clear away |
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