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Under-actuated clamping device, robot and method for clamping object

A gripper and underactuated technology, which is applied in the field of robots, can solve problems such as clamping falling off and damaging the clamped object, and achieve the effects of avoiding falling off, uniform force, and stable and reliable clamping force

Pending Publication Date: 2021-11-26
清瑞博源智能科技河北有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the fingers at the end of the gripper are parallel, there is a risk of falling off during gripping when gripping some special-shaped objects, and in the process of increasing the gripping driving force, the gripped object may be damaged

Method used

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  • Under-actuated clamping device, robot and method for clamping object
  • Under-actuated clamping device, robot and method for clamping object
  • Under-actuated clamping device, robot and method for clamping object

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Embodiment Construction

[0033] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0034] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. EXAMPLE LIMITATIONS.

[0035] In the prior art, when clamping with a flat clamp clamp, the surface of the clamp is in contact with the object to be clamped. When clamping, the object is fixed by force, and the situation of...

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PUM

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Abstract

The invention relates to an under-actuated clamping device which comprises a machine frame, and further comprises a clamping finger driving assembly, an elastic assembly and a driving assembly. The clamping finger driving assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a clamping finger rod, wherein the first connecting rod, the second connecting rod, the third connecting rod and the clamping finger rod form a parallel four-rod structure. The elastic assembly is restrained between the machine frame and the second connecting rod. The driving assembly is used for driving the third connecting rod to move when the under-actuated clamping device executes a clamping task. The invention further relates to a robot and a method for clamping an object. Self-adaption of flat clamping and wrapping clamping can be achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an underactuated gripper, a robot and a method for gripping an object. Background technique [0002] In robot operation and grasping, it is usually necessary to deal with objects of different shapes, sizes, and materials. Conventional grippers generally use a parallel gripper structure. The two finger surfaces of the gripper are arranged in parallel and symmetrically, and move in parallel at the same time to perform opening and closing actions to grip objects. Since the fingers at the end of the gripper are parallel, there is a risk of falling off during clamping when clamping some special-shaped objects, and the clamped object may be damaged during the process of increasing the clamping driving force. Contents of the invention [0003] In order to overcome the problem that the parallel gripper in the prior art can only grip the special-shaped object, there is a risk of falling...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0033
Inventor 孙富春方斌旷静涂修佳齐春鹏
Owner 清瑞博源智能科技河北有限责任公司
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