Variable-palm type bionic mechanical gripper capable of achieving passive enveloping

Abstract

The invention discloses a variable-palm type bionic mechanical gripper capable of achieving passive enveloping. The mechanical gripper comprises a driving platform, guiding and positioning platforms, four passive fingers and four active branch chains; the four passive fingers are evenly distributed with a 90-degree included angle formed between every two adjacent passive fingers; each passive finger is composed of beam plates, outer side plates, inner side plates, springs, plate rotating pairs and spring rotating pairs; the connecting rod ends of the active branch chains are connected with the driving platform through driving platform rotating pairs, and the other ends of the active branch chains are connected with finger fixing frames through finger fixing frame rotating pairs; the guiding and positioning platforms are connected with the finger fixing frames through guiding and positioning platform cylindrical pairs, and the lower surfaces of the finger fixing frames are fixedly connected to the passive fingers. The mechanical gripper is simple in structure, only single driving is needed, application flexibility is high, and passive enveloping on articles in complicated shapes can be achieved; control and design are facilitated, and the mechanical gripper can be widely applied to the occasions, where passive flexible enveloping needs to be conducted on fragile articles in complicated shapes, of mechanical manufacturing, the light industry and medical care.

Description

technical field [0001] The invention relates to a manipulator gripper, in particular to a flexible manipulator gripper capable of realizing passive envelope. Background technique [0002] The mechanical claw can imitate certain functions and movements of the human hand and arm, and grasp and carry objects according to the preset program. It is an automatic operation device. It can replace manual operation for dangerous or heavy work, ensure personal safety, and realize production mechanization and automation, so it is widely used in machinery manufacturing, light industry, electronics, metallurgy and atomic energy and other fields. [0003] At present, common robotic grippers are rigid in structure and have relatively complex configurations. When the shape of the grasped object is relatively fixed and the appearance is relatively hard, this type of robotic gripper can grasp the object according to a preset force. However, when the grasped items are fragile, easily deformed,...

AI Technical Summary

Problems solved by technology

[0004] What the present invention aims to solve is the technical problem that the existing mechanical grippers cannot meet complex and changeable grasping requirements, and provides a variable palm-shaped flexible bionic robotic gripper that can realize passive enveloping, which has high flexibility and is adaptable to objects with complex shapes. Strong

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