Grabbing and lifting adaptation robot arm

Abstract

The invention discloses a grabbing and lifting adaptation robot arm and belongs to the technical field of robot arms. The grabbing and lifting adaptation robot arm comprises a worm, a worm wheel, a roller, an end opening cover, fixed pulleys, a steel rope, springs I, a base, a base disc I, a fixing support, a base disc II, clamping rods, a lifting hook, springs II, springs III and a traction rope. The grabbing and lifting adaptation robot arm is used by a robot for grabbing objects, a self-adaptation grabbing function not limited to object shapes is achieved, the multiple grabbing rods are used for obtaining the self-adaptation effect on the object sizes and shapes, the worm wheel and the worm are driven to tightly pull the traction rope through the lifting hook, extrusion force obtained in the manner that the multiple clamping rods are gathered towards the center is achieved, a multidirectional grabbing effect on the objects is achieved, the lifting hook can also be directly used for lifting the objects, the structure is simple, energy consumption is low, grabbing or lifting is fast, reliability is good, the service life is long, and under the assistance of the unidirectional drive of the worm wheel and the worm, grabbing is stable and safety is high.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and relates to a grasping and hanging adaptive robot hand. Background technique [0002] Robotic hands are widely used in the field of robotics. They are used to temporarily connect and fix robots with objects, and can be released at an appropriate time to achieve grasping and releasing objects. Some robotic hands are made to reduce costs It is divided into two relatively moving parts to facilitate the simplest realization of the grab and release function. The adaptability of the robot hand means that it does not know the shape and size of the object to be grasped before grasping, and it does not detect the grasped object during grasping, but it can grasp it adaptively. This kind of automatic adaptation to the shape and size of objects enables the robot hand to achieve a wider range of grasping different objects without increasing the demand for sensing and control. [0003] The robot hand ...

AI Technical Summary

Problems solved by technology

[0003] Robotic hands have many structures that imitate human hands, designed to have more fingers and several joints on the fingers, but that will use mechanical systems, sensing systems, control systems and control algorithms, which increases complexity and high cost

[0004] The existing grippers have poor grasping stability, and the grasping force on the target object is generated by the closing of the clamping arms. Only the force of the grasping force can be used to close the grasping object, and there is a lack of better enveloping closed grasping effect , because force-closed grasping of objects does not necessarily produce form-closed grasping, but form-closed grasping must include force-closed grasping, so the grasping stability is best to achieve form-closed

The traditional gripper cannot achieve multi-directional gripping. When the gripping force is applied to the target object, the gripping force can only produce a one-dimensional gripping mode, and the gripping effect is poor. For long strips placed in a specific direction When the target object is perpendicular to the direction and the target object is greater than the length of the clamping arm in this direction, the clamping cannot be achieved. For example, it cannot be achieved when grasping a spherical object. The clamping arm and the twist The joint parts are exposed to the working environment. In the factory workshop environment full of dust and flying catkins, small foreign objects are easy to be caught between the joint parts, and they will not be able to rotate due to the accumulation of dust fibers. Various effects and reductions There are many factors affecting the service life. In dusty food, textile, mining and other factory workshops, dust is adsorbed and accumulated in the long rod and chute, which greatly affects the sliding effect of the gripper on the basis of the spliced ​​part, and even Faults occur, and the reliability of long-term use is poor

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