Adaptive underactuated robotic gripper

An adaptive and robotic technology, applied in the field of robot grippers, can solve problems such as complex mechanical structure and control system, increased degrees of freedom and drives, and reduced grasping force, achieving compact structure, large grasping range, and powerful effect

Active Publication Date: 2020-03-31
SHENZHEN DH ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Correspondingly, due to the increase in the degrees of freedom and drives of these grippers, the mechanical structure and control system become more complex, the stiffness decreases, the gripping force becomes smaller, and the cost increases significantly

Method used

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  • Adaptive underactuated robotic gripper
  • Adaptive underactuated robotic gripper
  • Adaptive underactuated robotic gripper

Examples

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Embodiment Construction

[0052] In order to describe the present invention more clearly, the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments. What is illustrated here is that the exemplary embodiment of the present invention is a two-finger robot gripper, but the present invention is not limited to two Finger robot grippers also include other similar multi-finger robot grippers, as long as the working methods and principles disclosed in the present invention are used, they all belong to the protection scope of the present invention.

[0053] see figure 1 and figure 2, the invention discloses an adaptive underactuated robot gripper, comprising a gripper housing 1, a drive module 2 and a finger module 3; the gripper housing 1 includes a gripper front case 4, a gripper rear case 5 and The fixed flange 6, the jaw front shell 4 is connected with the jaw rear shell 5, and is connected with the fixed flange 6 by bolts; the driving mo...

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Abstract

Disclosed is a self-adaptive underactuated robot clamping claw, comprising a clamping claw shell (1), a drive module (2), and finger modules (3). The clamping claw shell (1) comprises a front clamping claw shell body (4), a rear clamping claw shell body (5), and a fixing flange (6), the front clamping claw shell body (4) and the rear clamping claw shell body (5) being connected and further being in bolt connection with the fixing flange (6). The drive module (2) is provided in the clamping claw shell (1) and comprises an electric drive motor (10), a power transmission device (11) and a drive rod (12), the electric drive motor (10) being used for driving the drive rod (12) to perform a synchronous linear motion and for transmitting torque via the power transmission device (11). The finger modules (3) comprise a first finger module (39) and a second finger module (40), the first finger module (39) and the second finger module (40) each being provided with a first finger section (15) and a second finger section (16). The first finger section (15) and the second finger section (16) are hinged to the drive rod (12) via a self-adaptive linkage (17) and a parallel linkage (18), and are driven to move by the drive rod (12). The clamping claw can grab objects in different ways according to the different shapes of the objects, is suited to the requirements of different occasions, has a wide clamping range and a large clamping force, and can grab the objects more conveniently.

Description

technical field [0001] The invention belongs to the field of robot grippers, in particular to an adaptive underactuated robot gripper. Background technique [0002] Most of the existing industrial grippers adopt the clamping method with parallel ends. This kind of clamping method has stable grip and low processing cost. However, they often can only grab specific types of objects with few degrees of freedom. The clamping method is a One-to-one grippers cannot grip other types of items; in order to solve this problem, grippers with adaptive gripping functions have emerged as the times require. The adaptive robotic gripper is designed to be more flexible. When grasping an object, it can perform parallel grasping or envelope grasping according to the geometric shape and location of the target object. Parallel gripping refers to the grasping of small-sized objects or larger objects with opposing surfaces, with the end segments of the gripper fingers kept parallel for gripping; e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08B25J15/10B25J15/00
CPCB25J15/00B25J15/0009B25J15/08B25J15/10B25J15/022B25J15/0266B25J15/103
Inventor 康熙宋亚庆罗荻洲闫浩
Owner SHENZHEN DH ROBOTICS TECH CO LTD
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