A robot grabbing device

A technology for grabbing devices and robots, which is applied in the field of robots, can solve problems such as few and few, and achieve the effect of compact structure

Active Publication Date: 2015-12-02
江苏吉聚纺织有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the negative pressure adsorption grasping method is difficult to implement, such as when it is necessary to use robots to grasp and place space objects with special-shaped geometries, or when the negative pressure grasping scheme is difficult to implement under dangerous conditions and extreme environments, How to design and equip the robot grasping execution system, there are very few seen so far

Method used

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Embodiment Construction

[0028] The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

[0029] like Figure 1 to Figure 7 As shown, a robot grabbing device of the present invention includes a gripper frame 1, a clamping link group 3 hinged with the gripper frame 1 and a linear motion and is connected with the clamping link group 3 to drive it to act The power input part 2 of the swinging motion, the clamping link group 3 is composed of three rods hinged sequentially, and the rods at both ends of the clamping link group 3 are hinged with the gripper frame 1, so that each clamping link group 3 hands The claw frame 1 can form a four-bar linkage mechanism, and there are at least three s...

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PUM

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Abstract

The invention discloses a robot gripping device which comprises a gripper frame, a plurality of three clamping connecting rod sets and power input components. The clamping connecting rod sets are hinged with the gripper frame, the power input components moving linearly are connected with the clamping connecting rod sets via keyseats so as to drive the same to move in swaying, and the clamping connecting rod sets are composed of three rod pieces sequentially hinged and are evenly distributed outside the power input components along the circumferential direction. By the cooperation of the clamping connecting rod sets arranged on the gripper device, the clamping connecting rod sets are capable of contacting inwards to clamp objects or opening outwards to release the objects under the driving action of the power input components, and requirements on gripping spatial objects with abnormal geometrical shapes can be met; the robot gripping device is compact in structure; three-point clamping which is more stable than two-point clamping can be realized, and the robot gripping device is especially suitable for occasions where a negative-pressure adsorption gripping method is hard to implement.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular, the invention relates to a robot grabbing device. Background technique [0002] At present, with the development of space mechanism and electromechanical control technology, all kinds of robots represented by series and parallel robots have been widely used in industrial automation; at the same time, with the continuous extension of human activity space, facing dangerous conditions and extreme Environmental robotics is also becoming a research hotspot. [0003] Robots used in industrial automation and in dangerous conditions and extreme environments generally need to control the servo motor to drive the original moving parts through software algorithms based on the forward or inverse solution of robot kinematics, so that the end effector can move according to the expected trajectory, and finally The determined posture reaches its working position point, and then completes its f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10
Inventor 高洪纪拓肖平方涛洪峥文潇
Owner 江苏吉聚纺织有限公司
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