A translational robot flexible gripper

A robot, translational technology, applied in the field of robots, can solve the problems of lack of flexibility, transmission error, complex structure, etc., and achieve the effects of convenient maintenance, novel design and simple operation.

Active Publication Date: 2019-04-23
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional manipulators are mostly composed of rigid joint connections, with complex structures, transmission errors, and lack of flexibility in the process of clamping objects.
[0003] For example, the patent CN103624792A discloses a parallel opening and closing manipulator with claws. The manipulator adopts a traditional linkage mechanism, which can realize the function of parallel opening and closing. However, due to the use of a traditional mechanical mechanism, there is a transmission error and the flexibility

Method used

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  • A translational robot flexible gripper
  • A translational robot flexible gripper
  • A translational robot flexible gripper

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0016] A flexible gripper of a translational robot, including a gripper part, a housing part and a flexible driving part;

[0017] The claw part uses a flexible hinge as a kinematic joint and is provided with a parallelogram structure to form two fingers with no external friction, no transmission gap and an integrated structure, and the two fingers are symmetrically distributed; the fingers include fixed Knuckle 1, first flexible hinge 2, first transmission knuckle 3, second flexible hinge 4, second transmission knuckle 5, third flexible hinge 6, fourth flexible hinge 7, clamping knuckle 8, fifth Flexible hinge 9, third transmission knuckle 10, sixth flexible hinge 11, fourth transmission knuckle 12, seventh flexible hinge 13, driving surface 14; one end of the first transmission knuckle 3 passes through the first flexible hinge 2 and the fixed finger joint 1, and the other end connects to the clamping knuckle 8 through the third flexible hinge 6, and the first flexible hinge ...

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Abstract

The invention discloses a flexible claw of a translational motion type robot and belongs to the technical field of robots. The flexible claw structurally comprises a claw portion, a shell portion and a driving portion. The claw portion comprises two fingers for executing clamping motion and is of an integrated structure. Each joint portion is in a flexible hinge connection way. Each finger is of a parallelogram structure, and therefore translational motion of clamping knuckles is achieved. The shell portion is in a semi-closed structural shape, manufactured from stainless steel materials and used as an installation component of the claw and meanwhile achieves a certain protection effect on the claw portion. In the driving portion, an air cylinder is used as an actuator to drive the claw to move. The flexible claw has the beneficial effects that flexible hinges are used as motion joints, and no external friction or motion gap is produced; the parallelogram structure is arranged, and translational motion of the clamping knuckles can be achieved; and the claw is compact in overall structure, novel in design, easy to operate and convenient to maintain, and meanwhile has certain flexibility and precision.

Description

technical field [0001] The invention provides a translational robot flexible gripper, which belongs to the technical field of robots. Background technique [0002] The robot gripper is a component used to clamp workpieces or objects, and is one of the important actuators for robot operation. Traditional manipulators are mostly composed of rigid joints, with complex structures, transmission errors, and lack of flexibility in the process of clamping objects. [0003] For example, the patent CN103624792A discloses a parallel opening and closing manipulator with claws. The manipulator adopts a traditional linkage mechanism, which can realize the function of parallel opening and closing. However, due to the use of a traditional mechanical mechanism, there is a transmission error and the does not have a certain degree of flexibility. However, the gripper part of the present invention includes two fingers for performing the clamping action, and is designed as an integrated struct...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/12
CPCB25J15/12
Inventor 梁延德王瑞锋何福本张红哲苏猛猛
Owner DALIAN UNIV OF TECH
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