Manipulator joint

Abstract

The invention belongs to the technical field of manipulators, in particular to a manipulator joint. A plurality of manipulator joints are hingedly connected to form a joint chain; a tracking vehicle is arranged on the joint chain; a locking shaft and a locking piece are arranged on the manipulator joint; the locking piece is provided with a locking piece driving member; the locking piece driving member is rotationally driven by a magnetic wheel; a second magnetic wheel is disposed inside the tracking vehicle; the second magnetic wheel is disposed corresponding to the magnetic wheel; a fittingfan is arranged on each side of the vehicle body; the tracking vehicle slides from the top to the bottom along a side wall of a clay pot, so that the joint chains form a curve which fits the outer wall of the clay pot and automatically adapts to the curve of the surface of the clay pot; and a gripping structure with a tightening lower end is formed to avoid additional pressure on the clay pot andto lock the shape of the joint chain, thereby gripping the clay pot. The manipulator joint has the flexibility of a flexible manipulator and the strength of a rigid manipulator to achieve the grip ofthe clay pot.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a manipulator joint. Background technique [0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; ...

AI Technical Summary

Problems solved by technology

[0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; 2. The strength itself is not enough. In order to complete the bending, the manipulator uses flexible materials, which are easily deformed when subjected to external forces, resulting in unstable grasping;

[0003] Since the handmade clay pots are fragile, the external curves of each pot are different, and the manipulators in the prior art cannot complete the grasping of the pots in the production of pots

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