Joint type manipulator

Abstract

The invention discloses a joint type manipulator. The joint type mechanical manipulator comprises a tensioning fixed component, a plurality of connecting pieces and a fixed support which are sequentially connected with one another through springs and steel wires, wherein the tensioning fixed component comprises a tensioning part and a fixed part which are connected with each other, the tensioning and releasing of the steel wires among the tensioning fixed component, the connecting pieces and the fixed support are adjusted by adjusting the relative position of the tensioning part and the fixed part, each connecting piece comprises a first end surface, a second end surface, and a middle part for connecting the first end surface with the second end surface, a plurality of projections and grooves which are matched with each other in an embedded way, an through holes through which the springs can pass are respectively formed on the first end surface and the second end surface, the fixed support is provided with a first support connected with the connecting pieces, and other ends of the springs and the steel wires are fixed on the first support. The extension position and length of the manipulator can be freely adjusted, and the flexibility and universality of the manipulator are improved.

Description

technical field [0001] The invention relates to a mechanical finger, in particular to a multifunctional joint-type mechanical finger capable of freely twisting and extending at multiple angles. Background technique [0002] In recent years, with the advancement of science and technology and the continuous expansion of automated production scale, manipulators have been widely used in many fields such as home appliance production, automobile manufacturing, medical and health, and military. The actions such as grasping of the product are completed, but the angle of adjustment of the manipulator in the prior art can generally only be adjusted in three directions of X, Y, and Z. [0003] Such as Figure 10 The shown patent number is 200810030084.8, and the device disclosed in the Chinese patent titled "A Fully Automatic Multifunctional Mechanical Arm" includes a chamfering group 91, a chamfering group fixing block 92, a cylinder 93, and a cylinder connecting block 94 , the jig p...

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Problems solved by technology

[0003] like Figure 10 The shown patent number is 200810030084.8, and the device disclosed in the Chinese patent titled "A Fully Automatic Multifunctional Mechanical Arm" includes a chamfering group 91, a chamfering group fixing block 92, a cylinder 93, and a cylinder connecting block 94 , the jig profile 95, the jig fixing block 96, the L-shaped connecting block 99, and the suction cup 97 and the holding tool 98 fixedly connected to the jig profile 95 and the jig fixing block 96, the chamfering group 91 can be relative to the jig Profile 95 rotates 90-180 degrees to achieve multi-angle grabbing of products. However, such a

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