Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator

Abstract

The invention relates to an elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator. The manipulator consists of a palm and two flexible fingers, or consists of a palm and three flexible fingers, wherein each flexible finger is same in structure, and mainly comprises an elastic corrugated pipe single-acting cylinder and a serial hinge; a torsional spring is arranged on a hinge spindle of each serial hinge; the characteristic parameters and pre-tightening angles of the torsional springs are optimally designed according to the characteristics of a grabbed object; the manipulator generates grabbing force under the driving action of the elastic corrugated pipe single-acting cylinders. The manipulator is used for grabbing fragile crispy objects or special-shaped objects of variable shapes and sizes, and belongs to the application technical field of robots and mechanical and electronic integration; the manipulator is connected with a robot body, and is particularly suitable for grabbing, sorting, packaging and the like of foods, agricultural products and light industrial products in the production and physical distribution fields.

Description

Technical field:

[0001] The invention relates to an elastic bellows single-acting cylinder-driven series loose-leaf hinge skeleton manipulator. The manipulator is composed of a palm and two flexible fingers, or a palm and three flexible fingers; each flexible finger has the same structure and mainly consists of an elastic bellows Composed of a single-acting cylinder and a series loose-leaf hinge; a torsion spring is installed on each of the hinge mandrels of the series loose-leaf hinge. Single-acting cylinder drive generates gripping force. This manipulator is used for grasping fragile and brittle objects, or special-shaped objects with changing shapes and sizes, and belongs to the application technology field of robotics and mechatronics; it is connected with the robot body, and is especially suitable for grasping food, agricultural products, and light industrial products. Production and logistics areas such as picking, sorting and packaging. Background technique: [0002...

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