An integrated mechanism of manipulator and gripper

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...

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

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