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A double-thread underactuated multi-fingered robot end effector driven by a single motor and method thereof

An end effector, single-motor drive technology, which is applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of replacing different end effectors, achieve the effect of improving the load-to-weight ratio, solving jamming, and simplifying the mechanism and structure

Active Publication Date: 2020-02-11
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a single-motor-driven double-threaded underactuated multi-finger robot end effector and its method, and to solve the problem that the existing robot end effector needs to grasp shape changes Objects, need to replace the end effector of different specifications

Method used

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  • A double-thread underactuated multi-fingered robot end effector driven by a single motor and method thereof
  • A double-thread underactuated multi-fingered robot end effector driven by a single motor and method thereof
  • A double-thread underactuated multi-fingered robot end effector driven by a single motor and method thereof

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Embodiment Construction

[0034] Aiming at the deficiencies of the prior art, the present invention proposes a double-threaded underactuated multi-fingered robot end effector driven by a single motor and a method thereof. A single motor drives a double-threaded transmission rod to complete the gathering, loosening and grasping and releasing of the end effector. This kind of action solves the problem that the existing end effector grabs the object with single diameter and complex structure. It has a single motor to realize two-dimensional movement, and the driving system is simple. It can use one end effector to achieve a wide range of grabbing diameters. The advantages of the object, the present invention will be explained and illustrated in more detail below in conjunction with the accompanying drawings.

[0035] Such as figure 1 Shown is an overall view of the end effector of a double-threaded underactuated multi-fingered robot driven by a single motor; figure 2 Shown is a view of the motor in the ...

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Abstract

Provided are a single-motor driven double-thread under-actuated multi-fingered robot end effector and method. The single-motor driven double-thread under-actuated multi-fingered robot end effector comprises at least two robot fingers, a finger grabbing range adjusting device and a finger grabbing and opening device; and the finger grabbing range adjusting device controls the robot fingers to transversely move to adjust the grabbing range of the robot fingers, and the finger grabbing and opening device controls the robot fingers to longitudinally move so that the robot fingers can grab tightly or be opened.

Description

technical field [0001] The invention relates to a single-motor-driven double-thread underactuated multi-fingered robot end effector and a method. Background technique [0002] The end effector of the robot is installed on the end flange of the robot, and realizes simple grasping actions through electric drive or pneumatic means, and is used to grasp the grasped objects and perform related action tasks. The range of motion of the grasping action of the existing robot end effector is fixed, and it can only grasp objects of a fixed size. When it is necessary to grasp larger or smaller objects, it is necessary to replace the robot end effector with other specifications. Contents of the invention [0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a single-motor-driven double-threaded underactuated multi-finger robot end effector and its method, and to solve the problem that the existing robot end effector...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02B25J15/10
CPCB25J15/0009B25J15/0206B25J15/103
Inventor 邓松波李科张栩曼王燕波张科蔡赫王妍
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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