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Flexible mechanical hand claw capable of achieving passive enveloping

A kind of manipulator claw, flexible technology, applied in the direction of manipulator, program control manipulator, chuck, etc., can solve the problem that the manipulator claw can not meet the complex and changeable grasping requirements, etc., to reduce the production cost, strong application flexibility, mechanism structure simple effect

Active Publication Date: 2015-09-09
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 gripper cannot meet the complex and changeable grasping requirements, and provides a flexible robotic gripper capable of realizing passive envelope, which has high flexibility and strong adaptability to objects with complex shapes

Method used

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  • Flexible mechanical hand claw capable of achieving passive enveloping
  • Flexible mechanical hand claw capable of achieving passive enveloping
  • Flexible mechanical hand claw capable of achieving passive enveloping

Examples

Experimental program
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Embodiment 1

[0022] This embodiment provides a flexible robotic gripper capable of passive enveloping, which mainly includes a driving platform, a driven platform, and three passive fingers with identical structures and identical connection methods.

[0023] The drive platform includes a centrally symmetrical shell structure, which can usually be shaped like a regular triangle, regular hexagon, or regular dodecagon. The line passing through the center of symmetry of the shell structure and perpendicular to the top surface of the shell structure is called the drive platform axis.

[0024] The driven platform includes a center-symmetric flat plate structure, the shape of which can usually be a regular triangle, regular hexagon or regular dodecagon, etc., and the flat plate structure is located inside the shell structure of the driving platform. The line passing through the center of symmetry of the plate structure and perpendicular to the plane where the plate structure is located is called ...

Embodiment 2

[0031] Such as figure 1 and figure 2 As shown, the present embodiment provides a flexible robotic gripper that can realize passive enveloping, which is mainly composed of a driving platform 3, a driven platform 6 and three passive fingers, and the three passive fingers include a first passive finger 7, a second passive finger 4 and the third passive finger 5.

[0032] The driving platform 3 includes a regular hexagonal shell structure 1 and a cylindrical rod body 2. The regular hexagonal shell structure 1 is composed of a regular hexagonal top surface and six identical side walls connected to the top surface. The cylindrical rod body 2 The top surface of the vertical shell structure 1 is fixed at its geometric center. The rod body 2 is connected with a linear driver, and under the action of the linear driver, the housing structure 1 can be driven to move linearly along the axis e of the rod body 2 together.

[0033] The driven platform 6 is located inside the housing struc...

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Abstract

The invention discloses a flexible mechanical hand claw capable of achieving passive enveloping. The flexible mechanical hand claw comprises a driving platform, a driven platform and three identical passive fingers. The three passive fingers are evenly distributed at included angles of 120 degrees. Each passive finger is formed by a flexible contour, rigid rods and a rotating pair. A plurality of rigid rods are positioned in the flexible contour, the two ends of the rigid rods are connected with the flexible contour through the rotating pair. A finger root part of each passive finger is connected to the driven platform through a first driven platform rotating pair, a finger middle part is connected to the driving platform through a first driving platform rotating pair, and a fingertip part extends to the outer portion of the driving platform. The flexible mechanical hand claw capable of achieving passive enveloping is simple in structure, only needs single driving, is high in application flexibility, can achieve passive flexible enveloping of an article with the complex shape, is convenient to control and design and can be widely applied to the occasions of mechanical manufacturing, light industry and medical treatment where the passive flexible enveloping of articles that are complex in shape and fragile is required.

Description

technical field [0001] The invention relates to a manipulator gripper, in particular to a flexible manipulator gripper capable of realizing passive envelope. Background technique [0002] The mechanical claw can imitate certain functions and movements of the human hand and arm, and grasp and carry objects according to the preset program. It is an automatic operation device. It can replace manual operation for dangerous or heavy work, ensure personal safety, and realize production mechanization and automation, so it is widely used in machinery manufacturing, light industry, electronics, metallurgy and atomic energy and other fields. [0003] At present, common robotic grippers are rigid in structure and have relatively complex configurations. When the shape of the grasped object is relatively fixed and the appearance is relatively hard, this type of robotic gripper can grasp the object according to a preset force. However, when the grasped items are fragile, easily deformed,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J15/12B25J15/10
CPCB25J9/08B25J15/0028B25J15/10B25J15/12
Inventor 孙涛贺志远宋轶民
Owner TIANJIN UNIV
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