An integrated mechanism of manipulator and gripper

A manipulator and gripper technology, applied in the field of industrial robots, can solve the problems of increasing the quality of the end effector, affecting the positioning accuracy of the manipulator, complex structure of the gripper and must be arranged on the end effector of the manipulator, etc., to achieve lightweight , the effect of reducing weight

Active Publication Date: 2021-09-03
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the manipulator disclosed in the patent CN110216704A, the driving mechanism of the gripper and the clamping device are all together, which will increase the inertia of the end effector of the manipulator, thereby affecting the positioning accuracy of the manipulator
In order to improve the flexibility of the claw grasping process, the patent CN110154077A proposes an adaptive flexible mechanical gripper structure, the gripper includes electromagnets, permanent magnets, fixed bodies and traction mechanisms, etc., and the fixed body is rotatably connected with driving gears and driven gears. The gear, the driving gear and the driven gear are meshed. The gripper uses some characteristics of the magnet to achieve flexible grasping, and at the same time prevents the motor from burning out when lifting heavy objects upwards. However, the gripper has a complex structure and must be arranged on the manipulator On the end effector, it will also increase the mass of the end effector

Method used

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  • An integrated mechanism of manipulator and gripper
  • An integrated mechanism of manipulator and gripper
  • An integrated mechanism of manipulator and gripper

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] Such as figure 1 , figure 2 with image 3 As shown, a mechanism integrating a manipulator and a claw includes a fixed platform 9 and a moving platform 8, and three main drive branch chains connected in parallel between the fixed platform 9 and the moving platform 8; it is characterized in that it also includes setting The claw driving mechanism on the main drive branch chain, the claw 15 and the torsion spring 14 arranged on the moving platform 8;

[0022] The three main drive branch chains have the same structure, including drive motor 10, speed reducer 11, master arm 2 and slave arm assembly, and are connected in sequence; one end of the master arm 2 is connected to the fixed platform 9 through a rotating pair, and the other end It is connected with the driven arm assembly; the driven arm assembly is connected with the moving platform 8; the driving motor 10 and the speed reducer 11 are fixed on the fixed platform 9, and the driving motor 10 drives the main arm 2 t...

Embodiment 2

[0026] Such as Figure 4 with Figure 5 As shown, the difference between this embodiment and Embodiment 1 is that the three branch chains are fixed on the semicircle of the platform 9 at 90°; The drive motor 12 rotating shafts of the claw driving mechanism of the first branch chain and the driving motor 12 rotating shafts of the claw driving mechanism of the second branch chain are respectively arranged on the driving motor 10 rotating shaft of the main driving branch chain of the first branch chain, the second The top of the drive motor 10 rotating shaft of the main drive branch chain of the two branch chains; the number of the claw drive mechanism, the claw 15 and the torsion spring 14 arranged on the main drive branch chain is 2 sets, symmetrically arranged on the moving platform 8 both sides; the main drive branch chain and the claw drive mechanism are the same as in embodiment 1; the claws 15 and torsion spring 14 arranged on the moving platform 8 are the same as in embo...

Embodiment 3

[0028] Such as Image 6 , Figure 7 with Figure 8 As shown, the difference between this embodiment and Embodiment 2 is that one of the three branch chains is provided with a claw drive mechanism, and the drive motor 12 of the first branch chain is arranged on the second axis. Above the rotating shaft of the drive motor 10 of the main drive branch chain of a chain; the driven arm assembly adopts a plane 4R parallelogram mechanism, that is, the connecting rods 6c and 6d are connected with the connecting rods 6c and 6d through a rotating pair; The active arm 2 is connected with the upper link 6a through a rotary pair, and the axis of the rotary pair is parallel to the axis of the rotary pair where the active arm 2 is connected with the fixed platform 9; the lower link 6b is connected with the moving platform 8 through a rotary pair, the The axis of the rotating pair coincides with the axis of the lower connecting rod 6b; the arrangement of the three branch chains is the same a...

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Abstract

The invention discloses a mechanism integrating a manipulator and a gripper, comprising a fixed platform, a moving platform, and three branch chains connected in parallel between the fixed platform and the moving platform; the fixed platform is composed of a driving motor and a reducer The driving device drives the main driving branch chain, and the driving device composed of a driving motor and a reducer is placed to drive the claw driving mechanism on the main driving branch chain; the main driving branch chain is connected with the moving platform and the fixed platform respectively, Form a space closed-loop parallel mechanism, drive the movement of the main drive branch chain through the drive device on the main drive branch chain, so as to realize the three-dimensional translation of the moving platform in space; the gripper driving mechanism is respectively connected with the fixed platform and the gripper The hand claw is driven to rotate around an axis on the fixed platform through a series mechanism, so as to realize the opening and closing of the hand claw; the said hand claw is connected to the second swinging rod through a torsion spring, so as to realize flexible grasping of objects.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a mechanism integrating a manipulator and a gripper. Background technique [0002] For the structure of the manipulator and the manipulator claw, a large number of scholars have studied this aspect, but they are basically studied separately. The structure of the manipulator and the hand claw is relatively independent. The hand claw is generally arranged on the end effector of the manipulator. The control of the hand claw It is also relatively independent from the control of the manipulator. For example, in the manipulator disclosed in patent CN110216704A, the driving mechanism of the gripper and the clamping device are all together, which will increase the inertia of the end effector of the manipulator, thereby affecting the positioning accuracy of the manipulator. In order to improve the flexibility of the claw grasping process, the patent CN110154077A proposes an ada...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08B25J15/00
CPCB25J15/0052B25J15/08
Inventor 彭斌彬刘亚非邱文利
Owner NANJING UNIV OF SCI & TECH
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