Palm type manipulator with dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers

A crank-rocker, dual-drive technology, used in manipulators, manufacturing tools, chucks, etc., can solve problems such as high cost, and achieve the effects of large operating space, wide adaptability, and low energy consumption

Active Publication Date: 2017-07-07
JIANGNAN UNIV
View PDF6 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Palm type manipulator with dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers
  • Palm type manipulator with dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers
  • Palm type manipulator with dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0051] as attached Figure 25 As shown, the first embodiment is the simplified principle of grabbing a circular object picture : Short finger seat 15 and middle finger seat 34 are respectively housed on the left and right side connecting rods, after plate spring curved surface finger 16 is installed on short finger seat 15, middle finger seat 34 and long finger seat 33, three fingers grasp circular object Effect.

[0052] as attached Figure 26 As shown, the second embodiment is the simplified principle of grabbing circular objects picture : Short finger seat 15 and middle finger seat 34 are respectively housed on the left and right side rocker, after plate spring curved surface finger 16 is installed on short finger seat 15, middle finger seat 34 and long finger seat 33, three fingers grasp circular object Effect.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a palm type manipulator with a dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers. Crank-rocker-slider mechanisms are adopted, three identical flexible plate spring fingers are selected, one of the fingers is immobile, and the other two fingers can do translational motion of rotation and movement and are symmetrically mounted on connecting rods or rockers which are positioned on the left and right sides respectively. The crank-rocker-slider mechanism at the left side is an initiatively-driving structure which is driven by two stepping motors respectively to produce angular displacement of cranks and linear translation of sliders; and the crank-rocker-slider mechanism at the right side is a driven structure, transmission is carried out by a pair of gears at constant speed, and rotation angular displacement of the crank at the left side is equal to that of the crank at the right side; by manual adjustment, eccentric distances of the cranks, positions and angles of two fingers which are positioned on the connecting rods or the rockers, and the position of the other fixed finger can be changed. The manipulator disclosed by the invention has the advantages of big operation space, wide adaptability, low energy consumption and the like, and belongs to the fields of logistics conveying equipment, manipulators and robots.

Description

technical field [0001] The double-drive crank-rocker-slider parallel mechanism palm-type manipulator with finger displacement and indexing of the present invention has the advantages of large operating space, wide adaptability, low energy consumption, etc., and belongs to the field of logistics transportation equipment, manipulators and robots. Background technique [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 object changes to grasping rectangular object, and the manipulator that finger can change position, but also the angle of rotation has not yet reported. Contents of the invention [0003] The present invention overcomes the above-mentioned defects, designs the manipulator from the perspective of ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 章军沈坚吕兵
Owner JIANGNAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap