Flexible bionic manipulator

Abstract

The invention discloses a flexible bionic manipulator and relates to the technical field of mechanical devices. The flexible bionic manipulator comprises a mechanical arm, a mechanical wrist and a mechanical finger component. The mechanical arm comprises an arm support, first motors and a second motor, and the first motors and the second motor are connected with screw rods through rotating shafts. Nuts are mounted on the screw rods through threaded fit. The mechanical finger component comprises a mounting base, finger units are arranged on the mounting base, and each finger unit comprises three finger knuckles which are connected through two finger joints. The finger joints are connected to the nuts of the screw rods through steel wires respectively. According to the mechanical wrist, a connecting shaft connects a first rotating seat on the arm support and a second rotating seat on the finger mounting base, and the mechanical wrist further comprises a gear set in meshing transmission, wherein a first bevel gear is synchronous with a rotary shaft of the second motor, and a second bevel gear is fixedly connected to the connecting shaft in a sleeving mode. The flexible bionic manipulator is high in bionic degree, the grabbing force and grabbing postures can be autonomously adjusted, the ratio between the grabbing force and the dead weight is high, and the requirement for loads of an industrial robot body is lowered.

Description

technical field [0001] The invention relates to the technical field of mechanical devices, in particular to a flexible bionic manipulator. Background technique [0002] The robot gripper is the key component of the industrial robot, and it is the "interaction bridge" between the industrial robot and the work object. The design quality of the industrial robot gripper directly determines the working quality of the robot. There are three obvious deficiencies in the grippers in the current robot industry: 1. The degree of flexibility is not high. Most robot grippers are designed for the corresponding operation objects. When the operation object changes, the robot gripper needs to be designed and replaced immediately; 2. Most of the manipulators are unable to control and adaptively change the grasping strength; 3. The ratio of the grasping force of the robot to its own weight is not high, and the weight of the gripper occupies half of the rated load of the robot. [0003] The hu...

AI Technical Summary

Problems solved by technology

There are three obvious deficiencies in the grippers in the current robot industry: 1. The degree of flexibility is not high. Most robot grippers are designed for the corresponding operation objects. When the operation object changes, the robot gripper needs to be designed and replaced immediately; 2. Most of the manipulators cannot be controlled, and the grasping force can be adaptively changed; 3. The ratio of the grasping force of the robot to its own weight is not high, and the weight of the gripper occupies half of the rated load of the robot

However, there are many and messy wires such as pull wires, driving ropes, and pull wires. It does not refer to too much bionic thinking, and there are still deficiencies in flexibility and compactness of the structure.

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