Parallel crank guide rod self-rotating positioning mechanical arm

Abstract

The invention provides an autorotation location manipulator of a parallel crank guide, which comprises an interface frame, driving location, a parallel crank guide clamping mechanism and autorotation location fingers, wherein, the interface frame comprises a fixed disc 13 and a manipulator interface mechanism 8 arranged on the fixed disc; the driving location part comprises a motor 11 arranged on the fixed disc, a motor code disc 10 arranged at the back of the motor and a travel switch 5 at the terminal end of the guide 6; the parallel crank guide clamping mechanism comprises a guide 6, an autorotation revolute joint 7, a crank revolute joint 9 and a crank disc 12 connected with the motor output shaft. The guide 6 is articulated with the crank disc 12 by the crank revolute joint 9 and the autorotation revolute joint 7 is arranged between the fixed disc 13 and the guide 6. The autorotation location manipulator has the advantages of autorotation location and low dependence on the noumenon location of robots. The clamping gesture of objects in the manipulator is adjusted by autorotation location fingers. The manipulator is reliable in clamping and simple in structure.

Description

(1) Technical field [0001] The invention relates to a manipulator, in particular to a manipulator especially suitable for clamping cylindrical dense objects. (2) Background technology [0002] At present, in the field of robotics, there are many operations that use manipulators to achieve many goals, but most manipulators use traditional design methods, and most of them use the classic pliers structure and screw nuts to design manipulators. The patent application number is 01257105.9 (publication number CN2498583Y), the patent application number is 02139446.6 (publication number CN1401550A), the patent application number is 02153489.6 (publication number CN1410233A), the patent application number is all disclosed in the patent documents of 200710038707.1 (publication number CN101032818A) similar technical solutions. [0003] Pliers-type manipulators are not stable enough when gripping overlapping objects, and to increase stability, additional structures are necessary to com...

AI Technical Summary

Problems solved by technology

[0003] Pliers-type manipulators are not stable enough when gripping overlapping objects, and to increase stability, additional structures are necessary to complicate the mechanism

The screw nut type manipulator itself requires very high design precision, and the manipulator moves slowly when picking up objects, and the efficiency is low.

Moreover, the positioning accuracy of traditional manipulators is low, the positioning methods are limited, and the grasping of light-weight and large target objects is not stable enough

In particular, it cannot be positioned by the manipulator itself, and the positioning accuracy of the robot body is high, which increases the difficulty of controlling the robot body

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