A Manipulator Using Mechanical Structure to Realize Adaptive Object Shape

Abstract

The invention discloses a manipulator which utilizes a mechanical structure to realize an adaptive object shape, comprising two sets of manipulator mechanisms arranged symmetrically in a V shape, the two sets of manipulator mechanisms are completely consistent, including sixteen bearings and six resistances Mechanism, three positioning parts, four synchronous wheels, four synchronous belts and motor, the motor transmits the torque to the synchronous wheel through the support rod, the synchronous wheel transmits the torque to the next synchronous wheel through the synchronous belt, and the synchronous wheel passes the support bar The torque is transmitted to the resistance mechanism, and the resistance mechanism rotates under the action of the spring force. After the joint is blocked, it will slip and pre-tighten. Similarly, after all the mechanical arms adhere to the surface of the object. When the electromagnetic switch is energized, the fixing mechanism will lock the shape, so as to realize the function of automatically identifying the surface shape of the object and completing the tightening. The structure principle of the present invention is ingenious and simple, saves cost, and is suitable for popularization and application.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and relates to a manipulator which only utilizes a mechanical structure to realize adaptive object shapes. Background technique [0002] The current manipulator is usually a fixed grasping type, that is, when grasping different objects, the grasping type is mechanical and fixed during the grasping process, and the grasping type will not change according to the shape of the object, so it cannot be better attached. The surface of the composite object, and in the process of grasping, people are required to observe and stop the grasping operation after the grasping is completed, which will often cause the motor to stop for a while when it is powered on, causing the current to increase sharply and affecting the life of the motor . Another is to use sensors to transmit data in real time to achieve grabbing work. This kind of manipulator needs expensive sensors. The sensor is not only difficult t...

AI Technical Summary

Problems solved by technology

This kind of manipulator needs expensive sensors. The sensor is not only difficult to arrange on the manipulator, but also the circuit is particularly easy to age and break when the manipulator bends back and forth.

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