Flexible mechanical finger adaptive to shapes of clamped objects

Abstract

A flexible mechanical finger adaptive to shapes of clamped objects belongs to the technical field of intelligent robots and comprises a flexible outer wall, a multi-stage rigid beam, a finger base and a screw. The finger is triangular, two edges, except for the bottom edge, of the triangular finger are made of high-elasticity materials, and high elastic deformation can be realized under the effect of external force. The multi-stage rigid beam and the finger base are made of rigid materials unsuitable for elastic deformation. Two or a plurality of mechanical fingers are selected to act fittingly. When the mechanical fingers grab a workpiece, vertical surfaces of flexible outer walls of the mechanical fingers contact with the workpiece by the aid of an external power source and elastically deform, stress on the workpiece is uniform due to the fact that the flexible outer walls are tightly attached to the surface of the workpiece, multi-stage rigid plates rotate relative to the flexible outer walls when the flexible outer walls deform, accordingly, the top ends of triangular structures of the flexible outer walls are closed downwards, and the workpiece is wrapped. The fingers are separated from the workpiece by the aid of the external power source, and initial states of the fingers are restored. The flexible mechanical finger is simple in structure and is adaptive.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a mechanical finger with a special structure adaptive to the shape of a clamped object. Background technique [0002] Manipulators were first developed in the United States. In 1958, the United States United Controls Corporation developed the first manipulator. Its structure is: a rotating long arm is installed on the machine body, a workpiece pick-and-place mechanism with an electromagnetic block is installed on the top, and the control system is a teaching type. In 1962, the American United Control Company tried to manufacture a NC teaching reproduction manipulator on the basis of the above scheme. In 1978, Unimate Corporation of the United States, Stanford University, and Massachusetts Institute of Technology jointly developed a Unimate-Vicarm industrial manipulator, which is controlled by a small electronic computer and used for assembly operations. T...

AI Technical Summary

Problems solved by technology

[0003] The current mechanical fingers are basically not able to adapt to the contour and size of the object. Most of the contact parts with the object are in point and line height contact, so that the load can be limited. , to achieve a high holding force

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