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Variable palm type manipulator pawl capable of realizing passive enveloping

A flexible, palm-based technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problem that the manipulator can not meet the complex and changeable grasping requirements, etc., to reduce production costs, high grasping stability, and easy to control. effect with design

Active Publication Date: 2015-09-02
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the technical problem that the existing mechanical grippers cannot meet complex and changeable grasping requirements, and provides a variable palm-type flexible robotic gripper that can realize passive envelope, which has high flexibility and adaptability to objects with complex shapes. powerful

Method used

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  • Variable palm type manipulator pawl capable of realizing passive enveloping
  • Variable palm type manipulator pawl capable of realizing passive enveloping
  • Variable palm type manipulator pawl capable of realizing passive enveloping

Examples

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Embodiment 1

[0022] This embodiment provides a variable palm-type flexible manipulator gripper capable of realizing passive envelope, which mainly includes a driving platform, a guiding positioning platform, four passive fingers and four active branches. The four active branches will drive the platform, The guiding positioning platform is connected with four passive fingers.

[0023] The driving platform is composed of a symmetrical cross bar and a cylindrical bar perpendicular to the cross bar, and the cylindrical bar is fixedly connected to the symmetry center of the cross bar. The drive platform can rotate around the axis of the cylindrical rod under the drive of a motor.

[0024] The guiding and positioning platform is a symmetrical cross rod structure, and the cylindrical rod of the driving platform passes through the symmetric center of the cross rod structure vertically.

[0025] The four active branch chains have the same structure, and are evenly distributed in space with the cylindrica...

Embodiment 2

[0032] Such as Figure 1 to Figure 3 As shown, this embodiment provides a variable palm type flexible manipulator claw that can realize passive envelope, which is mainly composed of a variable palm and four passive fingers. The variable palm includes a driving platform 6, a guiding positioning platform 5, a first active branch 2, a second active branch 4, a third active branch 8 and a fourth active branch 10. The four passive fingers include a first passive finger 1, a second passive finger 3, a third passive finger 7 and a fourth passive finger 9.

[0033] The driving platform 6 is composed of a cross rod 17 and a cylindrical rod 16; the cross rod 17 is symmetrical in the center and is composed of two straight rods connected vertically; the cylindrical rod 16 is perpendicular to the plane where the cross rod 17 is located, and one end is fixedly connected At the center of symmetry of the cross bar 17. The cylindrical rod 16 is connected with a motor, and can drive the cross ro...

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Abstract

The invention discloses a variable palm type manipulator pawl capable of realizing passive enveloping. The variable palm type manipulator pawl comprises a driving platform, a guide positioning platform, four passive fingers and four active branch chains; four passive fingers are evenly distributed with an included angle at 90 degrees, every passive finger is composed of a flexible outline, a rigid rod and a rotating pair; both ends of the rigid rod are connected with the flexible outline through the rotating pair; one end of a link rod of each of the active branch chain is connected with the driving platform through the driving platform rotating pair, and the other end is connected with the finger fixing frame through a finger fixing frame rotating pair; the guide positioning platform is connected with the finger fixing frame through a guide positioning platform columnar pair, and the lower surface of the finger fixing frame is fixedly connected to the passive fingers. The variable palm type manipulator pawl is simple in structure and only needs to drive solely; the variable palm type manipulator pawl is strong in application flexibility, able to passively and flexibly envelop complex appearance articles, convenient to control and design, and widely applied to the places with complex passive and flexible enveloping appearance and fragile articles in mechanical manufacturing, light industry, medical treatment, and others.

Description

Technical field [0001] The invention relates to a manipulator claw, in particular to a flexible manipulator claw capable of realizing passive envelope. Background technique [0002] The manipulator claw can imitate certain functions and actions of human hands and arms, grab and carry objects according to preset procedures, and is an automatic operating device. It can replace manual operations for dangerous or heavy operations, ensure personal safety, and realize production mechanization and automation. Therefore, it is widely used in machinery manufacturing, light industry, electronics, metallurgy, and atomic energy. [0003] At present, common manipulator claws have a rigid structure and have a relatively complex configuration. When the shape of the object to be grasped is relatively fixed and the appearance is harder, this type of mechanical claw can grasp the object according to a preset force. However, when the grasped object is fragile, easily deformed, or has an unfixed shap...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/10
Inventor 孙涛贺志远宋轶民
Owner TIANJIN UNIV
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