A variable palm-type flexible robotic gripper capable of passive envelope

A flexible, palm-based technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems that the manipulator claws cannot meet complex and changeable grasping requirements, and achieve reduced production costs, high grasping stability, and institutional structure simple effect

Active Publication Date: 2016-07-06
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the technical problem that the existing mechanical grippers cannot meet complex and changeable grasping requirements, and provides a variable palm-type flexible robotic gripper that can realize passive envelope, which has high flexibility and adaptability to objects with complex shapes. powerful

Method used

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  • A variable palm-type flexible robotic gripper capable of passive envelope
  • A variable palm-type flexible robotic gripper capable of passive envelope
  • A variable palm-type flexible robotic gripper capable of passive envelope

Examples

Experimental program
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Effect test

Embodiment 1

[0024] This embodiment provides a variable palm-type flexible robotic gripper that can realize passive envelope, mainly including a driving platform, a guiding and positioning platform, four passive fingers and four active branch chains, and the four active branch chains will drive the platform, Guided positioning platform and four passive fingers connected.

[0025] The driving platform is composed of a centrally symmetrical cross rod and a cylindrical rod perpendicular to the cross rod, and the cylindrical rod is fixedly connected to the symmetrical center of the cross rod. The drive platform can rotate around the axis of the cylindrical rod under the drive of the motor.

[0026] The guiding and positioning platform is a centrally symmetrical cross rod structure, and the cylindrical rod of the driving platform vertically passes through the symmetrical center of the cross rod structure.

[0027] The structures of the four active branch chains are exactly the same, and they a...

Embodiment 2

[0034] Such as Figure 1 to Figure 3 As shown, this embodiment provides a variable palm-type flexible robotic gripper capable of realizing passive envelope, which is mainly composed of a variable palm and four passive fingers. The variable palm includes a driving platform 6 , a guiding and positioning platform 5 , a first active branch chain 2 , a second active branch chain 4 , a third active branch chain 8 and a fourth active branch chain 10 . The four passive fingers include a first passive finger 1 , a second passive finger 3 , a third passive finger 7 and a fourth passive finger 9 .

[0035]The driving platform 6 is composed of a cross bar 17 and a cylindrical bar 16; the center of the cross bar 17 is symmetrical, and is composed of two straight bars connected vertically to each other; the cylindrical bar 16 is perpendicular to the plane where the cross bar 17 is located, and one end is fixedly connected At the center of symmetry of the cross bar 17. The cylindrical rod ...

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Abstract

The invention discloses a variable palm type manipulator pawl capable of realizing passive enveloping. The variable palm type manipulator pawl comprises a driving platform, a guide positioning platform, four passive fingers and four active branch chains; four passive fingers are evenly distributed with an included angle at 90 degrees, every passive finger is composed of a flexible outline, a rigid rod and a rotating pair; both ends of the rigid rod are connected with the flexible outline through the rotating pair; one end of a link rod of each of the active branch chain is connected with the driving platform through the driving platform rotating pair, and the other end is connected with the finger fixing frame through a finger fixing frame rotating pair; the guide positioning platform is connected with the finger fixing frame through a guide positioning platform columnar pair, and the lower surface of the finger fixing frame is fixedly connected to the passive fingers. The variable palm type manipulator pawl is simple in structure and only needs to drive solely; the variable palm type manipulator pawl is strong in application flexibility, able to passively and flexibly envelop complex appearance articles, convenient to control and design, and widely applied to the places with complex passive and flexible enveloping appearance and fragile articles in mechanical manufacturing, light industry, medical treatment, and others.

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,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J15/10
Inventor 孙涛贺志远宋轶民
Owner TIANJIN UNIV
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