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Self-adaptive mechanical arm clamp based on pressure strain gauges

A strain gauge, self-adaptive technology, applied in the field of self-adaptive manipulator fixtures based on pressure strain gauges, can solve problems such as poor effects, achieve the effects of reducing clamping stress, improving rotation efficiency, and ensuring stability

Pending Publication Date: 2022-03-01
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Objects that appear in daily life present a variety of shapes and structures. Traditional mechanical fixtures can only hold regular objects such as squares and cylinders. For irregular objects such as spheres, cones, prisms, and regular tetrahedrons, etc. object works poorly

Method used

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  • Self-adaptive mechanical arm clamp based on pressure strain gauges
  • Self-adaptive mechanical arm clamp based on pressure strain gauges
  • Self-adaptive mechanical arm clamp based on pressure strain gauges

Examples

Experimental program
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Effect test

Embodiment Construction

[0017] The present invention will be further introduced below in conjunction with the accompanying drawings and specific embodiments.

[0018] to combine Figure 1-Figure 5 , an adaptive manipulator fixture based on pressure strain gauges in this embodiment, consists of a base A, three mechanical fingers B, C, D and a control system, the structural design of the three mechanical fingers and the way they are connected to the base A are the same. to combine figure 2 Ear-shaped brackets 1, 2, 3, the upper surface of the base A is a circular section for connecting with the manipulator, and the lower surface is a triangular configuration for setting; the upper end is arranged at equal intervals of 120 degrees. Ear-shaped brackets 1 , 2, 3. to combine image 3 , the mechanical finger includes a first finger link 4, a second finger link 5, and a third finger link 6. The mechanical finger is connected to the base A through a joint reduction motor 7, and the drive shaft of the red...

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PUM

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Abstract

The invention discloses a self-adaptive mechanical arm clamp based on pressure strain gauges. The self-adaptive mechanical arm clamp comprises a base, three mechanical fingers arranged at equal intervals and a control system. The mechanical finger comprises a first finger connecting rod, a second finger connecting rod, a third finger connecting rod and a base, and the first finger connecting rod, the second finger connecting rod and the third finger connecting rod are rotationally connected through a gear motor in sequence; the first finger connecting rod is connected with a driving motor connected with the base and used for driving the mechanical fingers to contract or release; the driving motor of the second finger connecting rod and the third finger connecting rod is used for driving the third finger connecting rod to contract or release; driving motors of the first finger connecting rod and the second finger connecting rod drive the second finger connecting rod to swing left and right; pressure strain gauges are arranged on the inner sides of the second finger connecting rods, the control system controls swinging of the second finger connecting rods according to the collected pressure difference value, and contact pressure balance is achieved. Compared with a traditional clamp, the clamp can stably clamp objects such as spheres, cones, prismatic tables and regular tetrahedrons.

Description

technical field [0001] The invention relates to the field of self-adaptive design of a mechanical arm clamp, in particular to an adaptive mechanical arm clamp based on pressure strain gauges, which is suitable for a mechanical arm to irregular objects such as cones. Background technique [0002] With the development of society and the aging of the population, more human input is required in life assistants for the elderly, and robotic arms have become an important tool to reduce human input. An important content in the process of assisting the elderly is how to help the elderly interact better with the surrounding environment. Among them, the gripping of objects has become an important content. Objects that appear in daily life present a variety of shapes and structures. Traditional mechanical fixtures can only hold regular objects such as squares and cylinders. For irregular objects such as spheres, cones, prisms, and regular tetrahedrons, etc. Objects work poorly. For m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 吴志林孙允飞赵磊
Owner NANJING UNIV OF SCI & TECH
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