CN113183168A - Clamping mechanism - Google Patents
Clamping mechanism Download PDFInfo
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- CN113183168A CN113183168A CN202110435075.2A CN202110435075A CN113183168A CN 113183168 A CN113183168 A CN 113183168A CN 202110435075 A CN202110435075 A CN 202110435075A CN 113183168 A CN113183168 A CN 113183168A
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- clamping
- driving
- connecting rod
- link
- hinged
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- 230000007246 mechanism Effects 0.000 title claims abstract description 62
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 21
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000035945 sensitivity Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000002195 synergetic effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005070 sampling Methods 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
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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
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- 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
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping mechanism, which comprises a clamping part and a driving part, wherein the driving part 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 and a force measuring device, wherein the driving connecting rod structure is connected with the driving motor; the driving connecting rod structure is connected with the clamping part, and a first elastic element is arranged on the driving connecting rod structure; the force measuring device is used for acquiring the clamping force of the clamping part. According to the clamping mechanism provided by the invention, the force measuring device is arranged in the driving part, so that the clamping force to be transmitted to 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, the operation of the driving motor can be controlled in time according to the detected force, 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 facilitated to be simplified, and the sensitivity and the accuracy of the control process are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a clamping mechanism.
Background
Along with the improvement of the mechanical automation degree, the robot is applied more and more in various industries, and meanwhile, the requirements on various robot clamping mechanisms are higher and higher.
At present, an under-actuated clamping mechanism is a key execution component for realizing clamping operation of a robot, and has wide application prospects in the fields of industry, agriculture, medical treatment, food, deep sea sampling and the like.
The existing under-actuated clamping mechanism usually acquires clamping force by arranging a fingertip force position sensor at a clamping part, and the operation of the driving mechanism needs to be controlled according to the clamping force detected by the fingertip force position sensor in the operation process of the clamping mechanism, so that the control process is complex.
Disclosure of Invention
The invention solves the problem that the control process of the existing clamping mechanism is complex.
In order to solve the above problems, the present invention provides a clamping mechanism, which includes a clamping portion and a driving portion connected to the clamping portion and driving the clamping portion to move;
the driving part comprises a driving motor, a driving connecting rod structure and a force measuring device, wherein the driving connecting rod structure is connected with the driving motor;
the driving connecting rod structure is connected with the clamping part, and a first elastic element is arranged on the driving connecting rod structure;
the force measuring device is used for acquiring the clamping force of the clamping part.
The driving part is a serial elastic driving structure and drives the clamping part to act through a serial elastic driving principle; through setting up measuring force device in the drive division, the control process is more direct, quick, and detection error is little, reduces spare part, when simplifying fixture structure, is favorable to simplifying the control process, improves the sensitivity and the degree of accuracy of control process.
Optionally, the force measuring device includes a first displacement sensor and a second displacement sensor respectively disposed at two ends of the first elastic element. Through set up first displacement sensor and second displacement sensor at first elastic element's both ends, can acquire the deformation volume that first elastic element takes place, and then can obtain the clamping-force in the clamping part according to this deformation volume, simple structure.
Optionally, the first resilient element comprises a first spring.
Optionally, the force measuring device comprises a force gauge connected to the drive motor. The detection mode is direct, the detection error is small, and the control is more sensitive.
Optionally, the driving connecting rod structure comprises a first driving connecting rod and a second driving connecting rod, one end of the first driving connecting rod is connected with the driving motor, and the other end of the first driving connecting rod is connected with the middle part of the second driving connecting rod; and two ends of the second driving connecting rod are connected with the clamping part.
Optionally, the first elastic element is disposed on the first drive link. The compliance of the clamping process is increased by the first elastic element.
Optionally, the clamping portion comprises two oppositely arranged clamping subsections and a clamping base hinged to both clamping subsections; the clamping base is located between the two clamping subsections, the two clamping subsections are hinged to two ends of the second driving connecting rod respectively, and a clamping space is formed between the two clamping subsections.
Optionally, each of the clamping subsections comprises a clamping driving connecting rod, a clamping transmission connecting rod, a metamorphic connecting rod and a fingertip connecting rod which are hinged in sequence; the clamping transmission connecting rod is hinged with the clamping base; each clamping subsection further comprises an inner connecting rod, and the inner connecting rods are located on the inner sides of the metamorphic connecting rods; one end of the inner connecting rod is hinged with the clamping base, and the other end of the inner connecting rod is hinged with the fingertip connecting rod; wherein the clamping drive link is hinged to the second drive link.
Optionally, each of the clamping sections further includes a second elastic element, one end of the second elastic element is hinged to the clamping base, and the other end of the second elastic element is hinged to the metamorphic connecting rod.
The clamping part is an under-actuated clamping structure, and can automatically adapt to the shape of an object in the clamping process through the under-actuated clamping principle, so that the clamping part has self-adaptability, and the universality of the clamping mechanism is improved.
Optionally, the clamping driving link and the clamping transmission link, the clamping transmission link and the metamorphic link, the metamorphic link and the fingertip link, and the inner link and the fingertip link are hinged through flexible hinges. By adopting the principle of a compliant mechanism, the number of parts of the clamping mechanism is reduced, the transmission clearance is reduced, and the structure of the clamping part is simplified.
Compared with the prior art, the clamping mechanism provided by the invention has the following advantages:
according to the clamping mechanism provided by the invention, the force measuring device is arranged in the driving part, so that the clamping force to be transmitted to 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 controlled in time according to the detected force.
Drawings
FIG. 1 is a schematic view showing the internal structure of a clamping mechanism according to the present invention;
FIG. 2 is a view of the clamping mechanism of the present invention in an open position;
FIG. 3 is a clamping mechanism of the present invention in a closed position;
FIG. 4 is a schematic view of the internal structure of the clamping mechanism of the present invention;
fig. 5 is a schematic view showing the internal structure of the clamping mechanism according to the present invention.
Description of reference numerals:
1-a clamping part; 11-a clamping drive link; 12-a clamping transmission link; 13-a metamorphic linkage; 14-fingertip links; 15-inner connecting rod; 16-a second elastic element; 2-a drive section; 21-a drive motor; 22-drive link structure; 221-a first elastic element; 222-a first drive link; 223-a second drive link; 23-a force measuring device; 231-first displacement sensor; 232-a second displacement sensor; 233-dynamometer; 3-the object.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
In the description of the present invention, it is to be understood that the terms "first" and "second" are used merely for simplifying the description, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
When the robot clamps an object through the clamping mechanism, the clamping force applied to the object by the clamping mechanism needs to be controlled according to information such as the property of the clamped object, and therefore the clamping force applied to the clamped object by the clamping mechanism needs to be acquired in the clamping process; in the existing clamping mechanism, a plurality of fingertip force position sensors are arranged at a clamping end which is directly contacted with a clamped object to obtain clamping force; the method for acquiring the clamping force not only can lead the structure of the clamping mechanism to be complex due to the arrangement of the fingertip force position sensor, but also can lead the control sensitivity to be poor due to the fact that the fingertip force position sensor of the clamping portion sends the detected clamping force to the control module after the power output by the driving mechanism is transmitted to the clamping portion when the clamping force is controlled, the control module controls the operation of the driving part according to the clamping force, the control process can be realized only by simultaneously participating the clamping portion and the driving portion, the control process is complex, the detection error is large, the control path is long, the control process time is long, and the control sensitivity is poor.
In order to solve the problem that the structure of the conventional clamping mechanism is complex due to the fact that a fingertip force position sensor needs to be arranged, the invention provides the clamping mechanism, as shown in fig. 1-5, the clamping mechanism comprises a clamping part 1 used for clamping an object 3 and a driving part 2 which is connected with the clamping part 1 and drives the clamping part 1 to act, and the clamping part 1 is driven to act through the driving part 2 to clamp and release the object 3 by the clamping part 1; the driving part 2 in the present application comprises a driving motor 21, a driving link structure 22 connected with the driving motor 21 and a force measuring device 23; the driving connecting rod structure 22 is connected with the clamping part 1, and the power output by the driving motor 21 is transmitted to the clamping part 1 through the driving connecting rod structure 22 to drive the clamping part 1 to perform corresponding actions; further, in the present application, it is preferable that the first elastic element 221 is disposed on the driving link structure 22, so that the driving portion 2 is a serial elastic driving structure, and the clamping portion 1 is driven to perform corresponding actions by a serial elastic driving principle, so as to improve flexibility of the clamping mechanism in a clamping process, reduce impedance, and improve impact resistance; the driving motor 21 is preferably a micro motor; the force measuring device 23 in this application is used to obtain the clamping force of the clamping portion 1, so that the control module controls the operation of the drive motor 21 by means of the force detected by the force measuring device 23.
According to the clamping mechanism provided by the invention, the force measuring device 23 is arranged in the driving part 2, so that the clamping force to be transmitted into the clamping part 1 can be obtained through the force measuring device 23 before the power output by the driving motor 21 is transmitted to the clamping part 1, and the operation of the driving motor 21 can be controlled in time according to the detected force.
And, because this application can detect before drive power transmits to clamping part 1 to can control driving motor 21's operation according to this detection power, consequently, still can set up in the predetermined scope that is held the object 3 and corresponds in control system, when the power that detects is not in this predetermined scope, can judge this detection power too big or undersize, easily cause the damage to being held object 3, or cause consequences such as centre gripping unstability, drive motor 21 can be controlled in time and adjust the power of output, and then improve the accuracy of control, improve the stability and the security of clamping part 1 to object 3 centre gripping.
To obtain the clamping force, the force measuring device 23 in the present application includes a first displacement sensor 231 and a second displacement sensor 232 respectively disposed at two ends of the first elastic element 221.
In the operation process of the clamping mechanism, the power output by the driving motor 21 is transmitted to the clamping part 1 through the driving connecting rod structure 22; when the driving force output from the driving motor 21 is transmitted to the driving link structure 22, the first elastic element 221 provided in the driving link structure 22 is deformed, and the greater the driving force, the greater the amount of deformation; by providing the first displacement sensor 231 and the second displacement sensor 232 at both ends of the first elastic element 221, the amount of deformation generated by the first elastic element 221 can be obtained, and the clamping force in the clamping portion 1 can be obtained from the amount of deformation, which is simple in structure.
The first elastic element 221 may be any element that can deform when receiving a tensile force, and in the present application, the first elastic element 221 is preferably a first spring, so as to simplify the structure of the clamping mechanism and reduce the cost.
Referring to FIG. 4, the present application provides another force measurement approach; in the force measuring mode, the force measuring device 23 comprises a force measuring meter 233 connected with the driving motor 21, and preferably, the force measuring meter 233 is connected with the driving motor 21 in series, so that the driving force output by the driving motor 21 can be directly obtained through the force measuring meter 233, the clamping force in the clamping part 1 is further obtained, the detection mode is direct, the detection error is small, and the control is more sensitive.
In order to facilitate the transmission of the driving force output by the driving motor 21 to the clamping part 1, the driving link structure 22 in the present application includes a first driving link 222 and a second driving link 223, wherein one end of the first driving link 222 is connected to the driving motor 21, and the other end is connected to the middle part of the second driving link 223, and the first driving link 222 and the second driving link 223 are preferably vertically connected in the present application; both ends of the second driving link 223 are connected to the grip 1.
In the operation process of the clamping mechanism, the driving motor 21 applies a pulling force pointing to the driving motor 21 to the first driving connecting rod 222, or applies a pushing force pointing to one side of the clamping part 1, so that the first driving connecting rod 222 applies a pulling force or a pushing force to the second driving connecting rod 223 connected with the first driving connecting rod, the second driving connecting rod 223 further applies a pulling force or a pushing force to the clamping part 1, and the clamping part 1 performs a clamping or opening action under the action of the pulling force or the pushing force.
Further, the first elastic element 221 in the present application is disposed on the first driving link 222, so that the compliance of the clamping process is improved by the first elastic element 221.
In order to facilitate the clamping of the object 3, the clamping part 1 in this application comprises two oppositely arranged clamping sections and a clamping base (not shown in the figure) hinged to both clamping sections; the clamping base is located between two clamping subsections, which are hinged to two ends of the second drive link 223, respectively, forming a clamping space between the two clamping subsections.
When the object 3 needs to be clamped, after the object 3 enters the clamping space, under the driving force of the driving motor 21, the second driving link 223 applies a pushing force to one side of the driving portion 2 to the two oppositely arranged clamping portions, and under the action of the pushing force, the two clamping portions are closed to respectively apply forces in opposite directions to the object 3 located in the clamping space, so that the object 3 is clamped in the clamping space.
Specifically, each clamping branch in the application comprises a clamping driving connecting rod 11, a clamping transmission connecting rod 12, a metamorphic connecting rod 13 and a fingertip connecting rod 14 which are sequentially hinged; the clamping transmission connecting rod 12 is hinged with the clamping base; each clamping subsection further comprises an inner connecting rod 15, and the inner connecting rod 15 is positioned on the inner side of the metamorphic connecting rod 13; one end of the inner connecting rod 15 is hinged with the clamping base, and the other end is hinged with the fingertip connecting rod 14; wherein the clamping drive link 11 is articulated with the second drive link 223.
In the present application, it is preferable that the shape of the clamping transmission connecting rod 12 is a triangular structure, so that one end of the clamping transmission connecting rod 12 is hinged to the clamping base, and the position of the end connected to the clamping transmission connecting rod 12 is kept unchanged by the clamping base; meanwhile, one end of the other two ends of the clamping transmission connecting rod 12 is hinged with the clamping driving connecting rod 11, and the other end of the other two ends of the clamping transmission connecting rod is hinged with the metamorphic connecting rod 13; the fingertip connecting rod 14 is used for clamping the object 3, the shape of the fingertip connecting rod 14 can be determined according to the shape of the object to be clamped, the section of the fingertip connecting rod 14 is preferably an L-shaped structure in the application, wherein one side edge of the L-shaped structure clamps the object 3, and two ends of the other side edge are respectively hinged with the inner connecting rod 15 and the metamorphic connecting rod 13; one end of the inner connecting rod 15 is hinged with the fingertip connecting rod 14, the other end is hinged with the clamping base, and the position of the end hinged with the clamping base can be kept unchanged and only can be rotated by an angle.
When the object 3 needs to be clamped, thrust in the direction away from the driving part 2 is applied through the driving motor 21, the second driving connecting rod 223 pushes the clamping driving connecting rod 11 in the two oppositely-arranged clamping parts to move in the direction away from the driving part 2, at the moment, as the clamping driving connecting rod 12 and one end of the inner connecting rod 15 are kept unchanged through the clamping base, and the rest of the connection relations of all the connecting rods are hinged, under the action of the thrust, the two clamping parts are gradually folded, and the object 3 is clamped.
On the contrary, when the driving motor 21 applies a pulling force in a direction approaching the driving part 2, the second driving link 223 pulls the clamping driving link 11 in the two oppositely disposed clamping parts to move in a direction approaching the driving part 2, and at this time, since one end of the clamping driving link 12 and one end of the inner link 15 are both kept unchanged by the clamping base and the other connection relations of the respective links are all hinged, the two clamping parts are gradually separated from each other under the pulling force, and the clamping of the object 3 is released.
Further, each clamping section in the present application further comprises a second elastic element 16, one end of the second elastic element 16 is hinged with the clamping base, and the other end is hinged with the metamorphic connecting rod 13, and it is further preferable that the second elastic element 16 comprises a second spring, so that a restraining spring is formed by the second elastic element 16, and the relative rotational movement between the clamping transmission connecting rod 12 and the metamorphic connecting rod 13 is restrained by the restraining spring, thereby forming a stable movement state.
Referring to fig. 5, when the clamping mechanism provided by the present application clamps an irregularly-shaped object 3, the inner link 15 and the fingertip link 14 are simultaneously stressed, and the second elastic element 16 is stretched, so that the inner link 15 and the fingertip link 14 can automatically adapt to the shape of the irregularly-shaped object, the clamping mechanism can clamp objects 3 of various shapes, and the universality of the clamping mechanism is improved.
Further, the clamping mechanism is preferably made of flexible materials, and further preferably, the clamping driving connecting rod 11 and the clamping transmission connecting rod 12, the clamping transmission connecting rod 12 and the metamorphic connecting rod 13, the metamorphic connecting rod 13 and the fingertip connecting rod 14, and the inner connecting rod 15 and the fingertip connecting rod 14 are hinged through flexible hinges.
When the second driving link 223 pushes the two opposite clamping driving links 11 to move in the direction away from the driving portion 2, the flexible hinges between the clamping driving links 11 and the clamping transmission links 12, between the clamping transmission links 12 and the metamorphic link 13, between the metamorphic link 13 and the fingertip link 14, and between the inner link 15 and the fingertip link 14 all undergo significant elastic deformation, so that the clamping portion 1 can clamp a regular object or clamp an irregular object.
At present, the demands of few-batch and multi-variety operation caused by order form consumption and customized production are continuously increased, the man-machine interaction operation is tighter, and the requirements on the universality and the safety of various robot clamping mechanisms are continuously improved; the clamping mechanism provided by the application has the advantages that the clamping part 1 forms the under-actuated clamping mechanism through the synergistic effect of the connecting rods and the second elastic element 16, the extra clamping movement freedom degree is provided for the clamping mechanism through the under-actuated principle, the adaptability to the appearance of an object is improved, the clamping mechanism can clamp the object 3 with a regular shape as shown in 4, the object 3 with an irregular shape can be clamped as shown in figure 5, and the universality and the operation efficiency of clamping can be further improved.
In summary, in the clamping mechanism provided by the invention, the driving part 2 is a serial elastic driving structure, the clamping part 1 is an under-actuated clamping structure, and the clamping mechanism forms a serial elastic under-actuated flexible clamping mechanism through the synergistic effect of the driving part 2 and the clamping part 1, so that the force level self-sensing and driving integration is realized based on the serial elastic driving principle, a fingertip force level sensor is not needed, the structure is facilitated to be simplified, the control process is simplified, the control sensitivity is improved, and meanwhile, the clamping mechanism has the characteristics of driving flexibility and buffering impact resistance; the shape of the object 3 can be automatically adapted in the clamping process by an under-actuated clamping principle, so that the clamping part 1 has self-adaptability, and the universality of the clamping mechanism is improved; by the principle of a compliant mechanism, the number of parts of the clamping mechanism is reduced, the transmission clearance is reduced, and the structure of the clamping part 1 is simplified.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.
Claims (10)
1. The clamping mechanism is characterized by comprising a clamping part (1) and a driving part (2) which is connected with the clamping part (1) and drives the clamping part (1) to act;
the driving part (2) comprises a driving motor (21), a driving connecting rod structure (22) connected with the driving motor (21) and a force measuring device (23);
the driving connecting rod structure (22) is connected with the clamping part (1), and a first elastic element (221) is arranged on the driving connecting rod structure (22);
the force measuring device (23) is used for acquiring the clamping force of the clamping part (1).
2. Clamping mechanism according to claim 1, wherein the force measuring device (23) comprises a first displacement sensor (231) and a second displacement sensor (232) arranged at both ends of the first elastic element (221), respectively.
3. Clamping mechanism according to claim 2, wherein the first elastic element (221) comprises a first spring.
4. A fixture according to claim 1, wherein the force measuring device (23) comprises a force gauge (233) connected to the drive motor (21).
5. The clamping mechanism according to any one of claims 1 to 4, wherein the driving link structure (22) comprises a first driving link (222) and a second driving link (223), one end of the first driving link (222) is connected with the driving motor (21), and the other end is connected with the middle part of the second driving link (223); and two ends of the second driving connecting rod (223) are connected with the clamping part (1).
6. The clamping mechanism of claim 5, wherein said first elastic element (221) is arranged on said first drive link (222).
7. A clamping mechanism according to claim 5, wherein the clamping portion (1) comprises two oppositely arranged clamping sections and a clamping base hinged to both clamping sections; the clamping base is located between the two clamping subsections, the two clamping subsections are hinged to two ends of the second driving connecting rod (223) respectively, and a clamping space is formed between the two clamping subsections.
8. Clamping mechanism according to claim 7, wherein each of said clamping branches comprises a clamping drive link (11), a clamping transmission link (12), a metamorphic link (13) and a fingertip link (14) hinged in sequence; the clamping transmission connecting rod (12) is hinged with the clamping base; each clamping branch also comprises an inner connecting rod (15), and the inner connecting rod (15) is positioned on the inner side of the metamorphic connecting rod (13); one end of the inner connecting rod (15) is hinged with the clamping base, and the other end of the inner connecting rod is hinged with the fingertip connecting rod (14); wherein the clamping drive link (11) is articulated with the second drive link (223).
9. Clamping mechanism according to claim 8, characterized in that each clamping branch further comprises a second elastic element (16), one end of the second elastic element (16) being hinged to the clamping base and the other end being hinged to the metamorphic linkage (13).
10. The clamping mechanism according to claim 8, wherein the clamping drive link (11) and the clamping transmission link (12), the clamping transmission link (12) and the metamorphic link (13), the metamorphic link (13) and the fingertip link (14), and the inner link (15) and the fingertip link (14) are hinged by flexible hinges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110435075.2A CN113183168A (en) | 2021-04-22 | 2021-04-22 | Clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110435075.2A CN113183168A (en) | 2021-04-22 | 2021-04-22 | Clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113183168A true CN113183168A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110435075.2A Pending CN113183168A (en) | 2021-04-22 | 2021-04-22 | Clamping mechanism |
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| CN (1) | CN113183168A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833860A (en) * | 2022-06-13 | 2022-08-02 | 上海非夕机器人科技有限公司 | Gripper and robot |
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| CN107553523A (en) * | 2017-09-30 | 2018-01-09 | 佛山科学技术学院 | A kind of flexible holding device |
| CN108839046A (en) * | 2018-08-21 | 2018-11-20 | 佛山科学技术学院 | A kind of clamp assemblies and flexible retainer |
| CN112351869A (en) * | 2019-01-24 | 2021-02-09 | 非夕机器人科技有限公司 | Clamp with high-precision clamping force sensor |
| CN110539318A (en) * | 2019-09-10 | 2019-12-06 | 佛山科学技术学院 | Self-adaptive under-actuated gripper driven by master-slave power |
| CN210704891U (en) * | 2019-09-30 | 2020-06-09 | 佛山科学技术学院 | Flexible clamp holder |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833860A (en) * | 2022-06-13 | 2022-08-02 | 上海非夕机器人科技有限公司 | Gripper and robot |
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