Rope-driven mechanical finger and manipulator with same

Abstract

The invention relates to a rope-driven mechanical finger, comprising a base, a rope driving device, a first finger segment, a second finger segment and a third finger segment. The base, the first finger segment, the second finger segment and the third finger segment are coaxially and serially connected in sequence. Each finger segment includes an upper platform, a lower platform, a center supportmechanism and a plurality of springs, two ends of the center support mechanism are fixed to the center of the upper platform and the center of the lower platform respectively, the center support mechanism can bend and rotate, and the springs are distributed evenly between the upper platform and the lower platform outside the center support mechanism. The rope driving device includes a traction rope, a winding wheel and a driving motor, the driving motor and the winding wheel are fixed to the base, the winding wheel is coaxially connected with an output shaft of the driving motor, the tractionrope is passed through the springs of the first, second and third finger segments, the first end of the traction rope is fixed to the upper platform of the third finger segment, and the second end ofthe traction rope is connected with the winding wheel. The rope-driven mechanical finger has small rotational inertia and high transmission precision and can bend continuously.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a rope-driven manipulator finger and its manipulator. Background technique [0002] With the continuous development of science and technology, the concepts of mechanization and automation continue to penetrate into people's production and life. As a common equipment, manipulators are widely used in industrial production, especially in large-scale assembly line operations. In the industrial field, the manipulator must not only be able to accurately and stably grasp the target object, but also have a certain degree of flexibility. In the development of manipulators, some are driven by servo motors. Although the problem of joint dexterity is solved, the problem of insufficient gripping force is common, and the cost is high; The problem of reduced flexibility. In contrast, the rope-driven method transmits the driver force to the joint through the rope, and there ar...

AI Technical Summary

Problems solved by technology

In the existing mechanical finger device, for example, the patent application number 201720673814.0 includes the mechanical finger mechanism composed of the upper bracket of the mechanical finger, the lower bracket of the mechanical finger, the wedge-shaped egg dragging plate, and the concave egg clamping plate. Although this patent can meet the The functional requirements of poultry egg picking, but the flexibility and applicability are low. It can only pick up poultry eggs, and the position of poultry eggs cannot be placed arbitrarily

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