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Robot grasping assembly

A robot and component technology, applied in the field of robots, can solve the problems of easy failure, complex design, complex finger structure, etc., and achieve the effect of large grasping force, improved stability, and no breakage

Pending Publication Date: 2017-01-04
SHANGHAI XPARTNER ROBOTICS
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Problems solved by technology

It is characterized by the use of a planar link mechanism for transmission. The advantages are good rigidity, large output, strong load capacity, easy processing and manufacturing, and easy to obtain high precision. The contact between components can be realized by geometric closure, which can better realize multiple The requirements of the law of motion and the trajectory of motion, but the design is complex
[0005] There is another mechanical transmission method, the mechanical transmission is that the claw driver turns the rotation into a linear motion through the screw thread, and pulls the spring between the driver and the finger to drive the finger to produce action, but the disadvantage of this transmission method is the closing time of the finger Longer, the structure of the fingers is more complex, prone to failure

Method used

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Embodiment Construction

[0021] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that all the drawings of the present invention are in simplified form and use inaccurate scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

[0022] The robot grasping assembly of the present invention is as figure 1 and figure 2 as shown, figure 1 is the expanded state of the grabber component, figure 2 Is the working state of the grabbing component. The robot grabbing assembly includes a worm 1, four worm wheels 2, and four grippers 3, and the end of each gripper 3 is fixed at the axis of the worm wheel 2. The four worm gears 2 are disc-shaped worm gears, and the edges of the worm gears 2 are provided with worm teeth. The four worm w...

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Abstract

The invention provides a robot grasping system. Four worm wheels are driven by a worm, the worm wheels are connected with grippers, the four worm wheels are driven to rotate together in the same direction when the worm rotates, the grippers fixed to the worm wheels are driven by the worm wheels to be opened and closed, and then the article grasping purpose is achieved. Meanwhile, by means of the self-locking function of the worm wheels and the worm, the article grasping stability of the grippers can be improved.

Description

technical field [0001] The invention relates to a robot grasping component, which belongs to the technical field of robots. Background technique [0002] At present, the transmission modes of the manipulator mainly include tendon transmission (wire rope, rope, etc.) and connecting rod transmission. [0003] Tendons generally have high tensile strength and light weight, and are easy to achieve multi-degree-of-freedom and long-distance power transmission, saving space and cost, and are a compliant transmission method with zero backlash. However, the stiffness of the tendon itself is limited, which affects the position accuracy; a certain preload is required for control, which is prone to friction; the layout of the tendon is prone to coupling of torque and motion. All these factors increase the difficulty and complexity of grip control. [0004] Another type is the transmission mode that adopts connecting rod. It is characterized by the use of a planar link mechanism for tr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/10
Inventor 恽为民王玉勃邓寅喆庞作伟
Owner SHANGHAI XPARTNER ROBOTICS
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