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A continuous rotating multifunctional three-finger mechanical gripper

A robotic gripper and multi-functional technology, applied in the field of continuous rotation multi-functional three-finger robotic gripper, can solve problems such as the inability to screw hexagon socket screws, and achieve the effects of easy promotion, low cost and simple control

Active Publication Date: 2020-11-10
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] And at present, most traditional manipulator claws cannot realize the function of screwing hexagon socket screws

Method used

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  • A continuous rotating multifunctional three-finger mechanical gripper
  • A continuous rotating multifunctional three-finger mechanical gripper
  • A continuous rotating multifunctional three-finger mechanical gripper

Examples

Experimental program
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Embodiment Construction

[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0028] The present invention continuously rotates the multifunctional three-finger mechanical gripper, such as figure 1 As shown, it includes a three-finger robot gripper wrist 1 , a robot finger 2 , a three-finger opening and closing drive mechanism 3 and a wrist rotation drive mechanism 4 . Wherein, the wrist part 1 of the three-finger manipulator has a cylindrical structure, and a stator shaft 101 is installed inside through a bearing, such as figure 2 As shown; the front end surface of the three-finger manipulator claw wrist 1 is coaxially installed with an annular three-finger end cover 102 for installing the mechanical finger 2 . There are three mechanical fingers 2, all adopting the existing four-link structure mechanical fingers, with finger ends 201 and knuckles 202, which are arranged symmetrically in a triangle at the front end of the three-finge...

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Abstract

The invention discloses a continuous rotation multifunctional three-finger mechanical paw. A physical mechanical structure comprises a wrist part and a paw part. On the basis of the physical mechanical structure, a control system and a sensing system of the three-finger mechanical paw are constructed. The wrist part comprises a rotation freedom degree and is used for rotation of the three-finger paw. The paw part comprises an opening and closing freedom degree and is used for opening and closing of the three-finger paw. The control system of the three-finger mechanical paw comprises two motordrivers. The sensing system is composed of two touch switches, and the paw opening and closing extreme position is detected. Through the finger tip part mechanical structure design, the function similar to the function that an inner hexagon wrench screws an inner hexagon screw can be achieved. The continuous rotation multifunctional three-finger mechanical paw has the beneficial effects that the grabbing, operating and continuous rotating functions are combined, and the operation functions of inner hexagon screw and outer hexagon nut screwing can be achieved.

Description

technical field [0001] The invention patent designs a continuously rotating multifunctional three-finger mechanical gripper, which belongs to the fields of robotics, mechanics, mechanical design and the like. Background technique [0002] The robotic gripper is a robot part used to clamp workpieces or tools, and it is one of the important robot actuators. The end effectors of robots are mainly divided into two categories, one is a special gripper, and the other is a human-like multi-fingered dexterous hand. Robotic grippers can be classified as specialized grippers. The mechanical gripper usually has one or two degrees of freedom, and is generally driven by one or two motors. It is relatively simple to manufacture, relatively low in cost, and simple and reliable in control. However, the human-like multi-fingered dexterous hand is relatively difficult to manufacture and relatively expensive due to its many finger joints, large number of degrees of freedom, and complex motio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 徐坤裴梦晖丁希仑姜水清高翔宇高莹
Owner BEIHANG UNIV
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