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Flexible bionic manipulator

A manipulator and flexible technology, applied in the field of robotics, can solve problems such as low flexibility, single control mode, and limited application range, and achieve the effects of strong structural flexibility, improved practicability, and improved versatility

Pending Publication Date: 2020-04-21
广东省智行机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The bionic manipulators in the prior art usually have four direct finger mechanisms that can be freely bent or straightened and an independently working thumb mechanism, but due to the constraints of the structure and electrical system, there are poor load capacity, low flexibility and The shortcomings such as single control mode make it impossible to apply to the grasping and handling of objects with large mass or irregular shapes, which limits the scope of application. The existing bionic manipulators not only do not have the characteristics of anthropomorphism, but also Greatly reduced versatility and usefulness

Method used

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Examples

Experimental program
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Effect test

Embodiment 1

[0031] Such as Figure 1 to Figure 8 As shown, the flexible bionic manipulator of the present invention includes a palm 1, five fingers 2 rotatably connected to the palm 1, and a driving device, wherein the five fingers 2 are in a parallel structure, and each finger 2 is composed of a root unit 3, Two knuckle units 4 and fingertip units 5 are formed in series through the rotation shaft; in each finger 2, between the root unit 3 and the knuckle unit 4, between the knuckle unit 4 and between the knuckle unit 4 and the finger The tip units 5 are all driven by a driving device, so that the base unit 3 and the knuckle unit 4 move mutually, the knuckle units 4 move mutually, and the knuckle unit 4 and the fingertip unit 5 move mutually, realizing Finger 2 is bent or straightened.

[0032] Specifically, each phalanx unit 4 comprises a phalanx shell, and one end of the phalanx shell is provided with a hole 6 connected with the adjacent finger root unit 3, phalanx unit 4 or fingertip ...

Embodiment 2

[0041] The only difference between this embodiment and Embodiment 1 is that in actual use, the position of the fingers on the palm, the number of fingers, the number of units connected in series in each finger, and fingertip units of various shapes can all be adjusted according to requirements. Free combination makes the bionic manipulator have various functions and can meet the needs of various usage occasions.

[0042] Other structures of this embodiment are consistent with Embodiment 1.

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Abstract

The invention provides a flexible bionic manipulator. The flexible bionic manipulator comprises a palm, a plurality of fingers rotationally connected with the palm and driving devices. The fingers areconnected in parallel; each finger is composed of a finger root unit, a plurality of knuckle units and a fingertip unit which are connected in series through rotating shafts; in each finger, the finger root unit, the knuckle units and fingertip unit are all driven by the driving devices, so that the finger root unit and the knuckle units can move mutually, the knuckle units can move mutually, theknuckle units and the fingertip unit can move mutually, and therefore, the finger can be bent or straightened. The flexible bionic manipulator is high in flexibility and universality, can be suitablefor clamping objects of various shapes, can meet requirements for large loads, and is suitable for the carrying conditions of heavy objects.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a flexible bionic manipulator. Background technique [0002] With the continuous development of robot technology, humanoid robots continue to attract people's attention and attention. Humanoid robots are mostly used in industrial fields, medical fields, etc. Among them, the bionic manipulator of humanoid robots usually has the ability to simulate human hand movements. The palm structure imitates the movement of the human hand to achieve some gripping and moving actions to replace human work. [0003] Bionic manipulator technology occupies an important position in the field of robotics. Among them, the shape and structure of the bionic manipulator's palm have an important impact on the stable grasp of the bionic manipulator. The structure and distribution of the fingers of the bionic manipulator determine the working space of the bionic manipulator. The shape of th...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/10
CPCB25J15/00B25J15/0009B25J15/10
Inventor 赵永杰罗铁煊余洁谢伟凯卢新建张兴伟
Owner 广东省智行机器人科技有限公司
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