All-driving three-finger ingenious mechanical arm

Abstract

The invention designs an all-driving three-finger ingenious mechanical arm. The problems that an existing mechanical arm is lower in capture accuracy and relatively poor in stability and reliability are solved. The ingenious mechanical arm is characterized by comprising the following component of a base; finger assemblies and movable finger rotating mechanisms are fixedly installed on the base; and one fixed finger assembly and two movable finger assemblies are arranged on the upper face of the base, and the two movable finger assemblies are arranged on the two sides of the fixed finger assembly. The movable finger rotating mechanisms are arranged in the middle portion of the base, one ends of the movable finger rotating mechanisms are connected with the two movable finger assemblies, and the other ends of the movable finger rotating mechanisms are connected with a rotating motor assembly. A cylindrical base outer shell is arranged on the exterior of the base, a rotary motor is fixedly installed on the base outer shell, and the base outer shell is connected with the wrist of a robot. The ingenious mechanical arm has the beneficial effect of coordination of multiple freedom degrees and multiple kinematic links; complex and elaborate operation tasks on different objects can be completed; and the all-driving three-finger ingenious mechanical arm has a wide application prospect and a significant social meaning in the field of the industrial robot.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a fully driven three-finger dexterous manipulator. It is mainly used to replace human hands to complete delicate and complex operation tasks on different objects in extreme or harmful environments. Background technique [0002] At present, industrial robots that perform loading and unloading or assembly operations mostly use a two-finger actuator with a simple structure and easy control, that is, a clamp-type picker. This kind of manipulator includes two fingers and one degree of freedom. Through the opening and closing of the two fingers, the clamping and positioning of objects can be realized. However, because the fingers of this two-finger actuator need to be designed according to the shape of the object to be clamped, it can generally only achieve specific grasping tasks, and its scope of adaptation to objects is extremely limited. When performing different homework tasks, ...

AI Technical Summary

Problems solved by technology

When performing different homework tasks, the fingers need to be redesigned, so the versatility is poor

In addition, the clamping and positioning of the object by the clamp-type reclaimer is mainly maintained by the friction between the mechanical finger and the grasped object, without considering the geometric closure and force closure of the grasping, so the grasping The accuracy is low, the stability and reliability are poor, and it is only suitable for operations that do not require high clamping force

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