Metamorphic type multifunctional mechanical gripper

Abstract

The invention discloses a metamorphic type multifunctional mechanical gripper. A push rod is connected with a wrist through a movement pair. A first rod penetrates through a sliding groove, is connected with the push rod through a first fixed hinge, is connected with a second rod through a first movable hinge and is connected with a third rod through a second movable hinge. The second rod is connected with a fourth rod through a third movable hinge. The third rod is connected with the wrist through a second fixed hinge, is connected with a fifth rod through a fourth movable hinge and is connected with the fourth rod through a fifth movable hinge. The fourth rod is connected with a sixth rod through a sixth movable hinge. The fifth rod is connected with the sixth rod through a seventh movable hinge. The wrist is connected with an arm into a whole when installed on a manipulator or the arm of a robot, and four same fingers can be opened or closed at the same time through reciprocating linear movement of the push rod inside the wrist. The metamorphic type multifunctional mechanical gripper is made of light and high-strength materials, thereby being light and convenient and capable of achieving multidirectional and efficient working.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a metamorphic multifunctional manipulator claw. Background technique [0002] With the rapid development of industrial and agricultural technology, various manipulators have been widely developed and applied, which has a very significant impact on improving labor productivity and labor intensity. The hand, also known as the gripper, is one of the actuators of the manipulator, an important part that is directly used to grab the workpiece or clamp the special tool for operation. With the widespread application of manipulators, the application of manipulator claws has attracted widespread attention. In order to achieve self-adaptive and safe grasping or highly imitative human hand movement, free multi-joint two-finger, three-finger or five-finger mechanical grippers are basically used at present, but the drive of each joint is mostly driven by motors and wire ropes. This leads to probl...

AI Technical Summary

Problems solved by technology

Although the pneumatic flexible grasping manipulator based on the metamorphic mechanism has the advantages of less driving, simple control, low cost, certain flexibility, high reliability, and self-adaptive grasping of objects with complex geometric shapes in the space, the clamped object is only Clamping is carried out by the clamping rod and fingers. Due to the elasticity of the clamping rod, the stability of the clamping operation will be poor and the attitude of the four-bar linkage mechanism will be difficult to maintain. Problems such as inconvenient maintenance when the system fails

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