Finger deflection and transposition dual-drive crank slider parallel mechanism palm type mechanical hand

Abstract

The invention discloses a finger deflection and transposition dual-drive crank slider parallel mechanism palm type mechanical hand, and belongs to the field of logistic conveying devices, mechanical hands and robots. A left crank slider mechanism is a driving structure and driven by two stepping motors, crank angular displacement is generated, and the length of a connecting rod is changed; a right crank slider mechanism is a driven mechanism and driven through a pair of gears at constant speed, and the rotating angular displacement of a left crank is the same as that of a right crank; a mechanical hand is provided with three blade spring fingers, and two fingers are installed on connecting rods on the left and right sides and achieve cooperative effect of the two stepping motors; on the basis of manual adjustment, the crank eccentric distance, the positions and angles of the two fingers on the two connecting rods and the position of another fixed finger can be changed; clamping capture power is driven by the two stepping motors, and power outage can be achieved in the grasping process due to the fact that the two stepping motors are locked automatically. The mechanical hand has the advantages of being large in operation space, wide in application range, low in energy consumption and the like.

Description

technical field [0001] In the present invention, the double-drive crank-slider parallel mechanism palm-type manipulator with finger displacement and indexing, the crank-slider mechanism on the left is an active drive structure, which is driven by two stepping motors respectively to generate crank angle displacement and change the connecting rod. Length; the crank slider mechanism on the right is a driven mechanism, which is driven by a pair of gears at a constant speed, and the rotation angle displacement of the left crank and the right crank is equal; the manipulator has three leaf spring fingers, two of which are respectively installed on On the left and right connecting rods, through the synergy of two stepping motors; through manual adjustment, the eccentricity of the crank, the position and angle of the two fingers on the two connecting rods, and the position of the other fixed finger can be changed. The clamping and grasping power of the manipulator of the present invent...

AI Technical Summary

Problems solved by technology

[0002] At present, in addition to the anthropomorphic dexterous hands with high cost and many sensors, ordinary machines can only control the center distance of fingers to grasp circular or spherical objects of large and small diameters, or control finger transposition to grasp circular or spherical objects. Spherical objects are transformed into grasping rectangular objects, and the manipulator with fingers that can change positions and rotate angles has not been reported yet

Images