A multi-mode adaptive mechanical gripper

Abstract

The invention discloses a multi-mode self-adaptive mechanical claw, comprising a finger, a finger driving module and a central driving module, wherein the finger and the finger driving module are installed on the shell of the central driving module. The finger drive module is connected with the drive module through the chute structure. The finger and the finger actuating module form a linkage mechanism, and the finger is connected to the finger actuating module through two hinges. It realizes the effect of flexible grasping of the surface of the adaptive object. Using the detachability of the fingers and the cooperation of the gear linkage mechanism, the purpose of flexibly changing the number of fingers and the relative position of the fingers according to the actual needs is achieved, so as to flexibly switch the grasping mode to achieve It improves the effect of self-adaptive grasping and changes the current situation of "single-claw single-use" for most existing grippers. The detachability of the fingers is realized by the chute mechanism, and the gear linkage mechanism can accurately rotate the fingers by a fixed angle after parameter calculation, thereby accurately switching the grasping mode.

Description

technical field [0001] The invention relates to the field of assembly production lines, in particular to a multi-mode self-adaptive manipulator. Background technique [0002] With the development of social productivity, the personalized needs of customers are getting higher and higher. Taking the cosmetics industry as an example, the sales volume of the cosmetics industry has been increasing steadily year by year in recent years. According to incomplete statistics, cosmetics currently on the market are divided into six categories and hundreds of subcategories, and different types of cosmetics have different shapes and weights. Therefore, various new manufacturing modes such as mixed-line production and flexible manufacturing have also emerged as the times require. [0003] At present, in most production lines, a production line can only produce and assemble one product, and the assembling and handling claws used in different production lines are also different. Most of the...

AI Technical Summary

Problems solved by technology

Taking the cosmetics production line as an example, the gantry manipulator is used on the empty bottle handling production line; the four-claw manipulator is used on the canning production line; the pneumatic suction cup is used on the packaging production line; different production lines The use of different grippers will undoubtedly increase production costs and cause inconvenience in management and operation and maintenance

[0004] At the same time, most of the existing grippers do not use an under-actuated structure, which makes the gripper rigidity too large, which is easy to cause damage to the surface of the object when gripping the object, resulting in an increase in the scrap rate of the product, which in turn increases the production cost

Most of the existing flexible grippers are pneumatic, and the rigidity is too low, mainly relying on friction to grasp. When the surface of the object is too smooth or the weight is heavy, the grasping effect is not good

Images