Force-sensor-based flexible mechanical paw and using method

A mechanical gripper and flexible technology, applied in the field of mechanical structure, can solve the problems of difficult installation and maintenance, many parts and high production cost

Inactive Publication Date: 2018-05-25
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] 2. Underactuated robotic grippers: Due to the large number of joints that need to be controlled by the robotic grippers, and the compact structure of the grippers, in order to reduce the number of motors driving the joints, people usually use underactuated methods to control the motors. The most commonly used robotic grippers are The mechanical gripper driven by the four-link principle uses a lead screw or a transmission gear to transmit the rotational power of the motor to the action of th

Method used

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  • Force-sensor-based flexible mechanical paw and using method

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Embodiment Construction

[0013] The mechanism principle and working principle of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0014] see figure 1 , the present invention is made up of several mechanisms.

[0015] Initialization process: Confirm that the installation is complete and the components are in good condition, and control the motor to reversely rotate at a certain angle so that the fingers can automatically return to their positions;

[0016] The grasping process adjusts the output torque of the steering gear through the pressure feedback of the finger surface, and the steering gear rotates to tighten the winch (5), so that the fixed pulley (7)-fixed pulley (8)-fixed pulley (23)-fixed rod ( 24) the tendon rope is tightened, thereby driving the transfer element (22) to move downward, and the downward movement of the transfer element (22) drives the synchronous downward movement of the three movable pulleys (20) (21) (6), and ...

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Abstract

The invention provides a force-sensor-based flexible under-actuation mechanical paw and a using method and belongs to the technical field of mechanical structures. The force-sensor-based flexible under-actuation mechanical paw comprises an interface module, a steering engine driving device, an under-actuation transmission device, an interface base, a pressure sensor module and a finger module. Theforce-sensor-based flexible under-actuation mechanical paw is accurate in control, easy to install, structured in design, easy to use and maintain, and capable of being effectively used for various lightweight-level grabbing occasions.

Description

technical field [0001] The invention provides a force-sensitivity-based flexible mechanical gripper and a using method thereof, which belong to the technical field of mechanical structures. Background technique [0002] As the end effector of robots, robotic grippers are widely used in industrial palletizing and sorting, medical rehabilitation, household grasping and other environments. However, traditional manipulators are mostly made of metal, with high manufacturing costs, long cycle times, and complex structures. , the cost of repair and maintenance costs are high. [0003] For traditional robotic grippers, there are currently several directions: [0004] 1. The shape and structure imitate the humanoid hand claw: Relying on bionics technology, imitating the structural model of the human hand, combined with mechanical technology, to create an actuator that can realize both envelope-type grasping and fingertip grasping, and the degree of freedom of finger joints Usually ...

Claims

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Application Information

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IPC IPC(8): B25J15/02B25J15/10
CPCB25J15/0206B25J15/10
Inventor 陈盛张建喜高翔徐国政戴建邦徐梁宬
Owner NANJING UNIV OF POSTS & TELECOMM
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