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Palm-type manipulator with double-drive crank-slider parallel mechanism with finger displacement and indexing

A crank-slider, dual-drive technology, applied in manipulators, program-controlled manipulators, joints, etc., can solve problems such as high cost, and achieve the effect of good size adaptability and rapid angular displacement

Active Publication Date: 2019-03-08
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, in addition to the anthropomorphic dexterous hands with high cost and many sensors, ordinary machines can only control the center distance of fingers to grasp circular or spherical objects of large and small diameters, or control finger transposition to grasp circular or spherical objects. Spherical objects are transformed into grasping rectangular objects, and the manipulator with fingers that can change positions and rotate angles has not been reported yet

Method used

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  • Palm-type manipulator with double-drive crank-slider parallel mechanism with finger displacement and indexing
  • Palm-type manipulator with double-drive crank-slider parallel mechanism with finger displacement and indexing
  • Palm-type manipulator with double-drive crank-slider parallel mechanism with finger displacement and indexing

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Experimental program
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Effect test

Embodiment approach 1

[0056] The first implementation mode is that when none of the five manual methods are used, only through the coordinated control of two stepping motors, it can be realized: Figure 25 As shown, it is the grasping effect of the palm-type manipulator of the parallel mechanism of the present invention to grasp the large rectangle with three fingers; Figure 26 As shown, it is the grasping effect of the three fingers of the parallel mechanism palm-type manipulator of the present invention to grasp the small rectangle; Figure 27 As shown, it is the grasping effect of the three fingers of the palm-type manipulator of the parallel mechanism of the present invention grabbing the small circle; as attached Figure 28 As shown, it is the grasping effect of the three fingers of the parallel mechanism palm-type manipulator of the present invention to grab the large circle; as attached Figure 29 Shown, for the present invention parallel mechanism palm type manipulator three fingers grasp...

Embodiment approach 2

[0057] Embodiment two is: manual adjustment, the short finger seat 18 and the middle finger seat 38 on the left and right side connecting rods rotate the same angle in the opposite direction, as attached Figure 31 As shown, it is the grasping effect of the two fingers of the parallel mechanism palm-type manipulator of the present invention to grab a large rectangle; Figure 32 As shown, it is the grasping effect of the palm-type manipulator with two fingers of the parallel mechanism of the present invention grasping the small rectangle.

Embodiment approach 3

[0058] The third embodiment is: manual adjustment, the eccentric distances of the two cranks are different, as attached Figure 33 As shown, it is a simplified schematic diagram of the state of unequal eccentricity of the crank of the palm-type manipulator of the parallel mechanism of the present invention, which can realize the grasping of asymmetrical objects.

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Abstract

In the present invention, the double-drive crank-slider parallel mechanism palm-type manipulator with finger displacement and indexing, the crank-slider mechanism on the left is an active drive structure, which is driven by two stepping motors respectively to generate crank angle displacement and change the connecting rod. Length; the crank slider mechanism on the right is a driven mechanism, which is driven by a pair of gears at a constant speed, and the rotation angle displacement of the left crank and the right crank is equal; the manipulator has three plate spring fingers, and the two fingers are installed on the left and right respectively. On the connecting rod on the side, through the synergy of two stepping motors; through manual adjustment, the eccentricity of the crank, the position and angle of the two fingers on the two connecting rods, and the position of the other fixed finger can be changed; The grasping power is also driven by two stepping motors, because the self-locking two stepping motors can be powered off during the grasping process. The manipulator of the invention has the advantages of large operating space, wide adaptability, low energy consumption, etc., and belongs to the field of logistics transportation equipment, manipulators and robots.

Description

technical field [0001] In the present invention, the double-drive crank-slider parallel mechanism palm-type manipulator with finger displacement and indexing, the crank-slider mechanism on the left is an active drive structure, which is driven by two stepping motors respectively to generate crank angle displacement and change the connecting rod. Length; the crank slider mechanism on the right is a driven mechanism, which is driven by a pair of gears at a constant speed, and the rotation angle displacement of the left crank and the right crank is equal; the manipulator has three leaf spring fingers, two of which are respectively installed on On the left and right connecting rods, through the synergy of two stepping motors; through manual adjustment, the eccentricity of the crank, the position and angle of the two fingers on the two connecting rods, and the position of the other fixed finger can be changed. The clamping and grasping power of the manipulator of the present invent...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/12B25J15/10B25J17/02
CPCB25J9/102B25J9/106B25J9/126B25J15/10B25J17/0266B25J15/022B25J15/103B25J15/12
Inventor 章军范晨阳沈坚周沛兴吕兵
Owner JIANGNAN UNIV
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