Plate spring compliant wrist of mechanical arm

Abstract

The invention discloses a plate spring compliant wrist of a mechanical arm. The plate spring compliant wrist of the mechanical arm comprises a hollow fixed part, an upper floating part, a lower floating part and the mechanical hand which are arranged in sequence from top to bottom. The hollow fixed part is of a cavity body structure with an opening in the lower end. The upper floating part is in an I shape, the upper end of the upper floating part is short, and the lower end of the upper floating part is long. The upper end of the upper floating part is covered with a hollow cavity of the hollow fixed part, and the two ends of an opening of the hollow fixed part are clamped in the left side gap and the right side gap of the I-shaped upper floating part. The upper surface and the lower surface of the upper end of the upper floating part are both isolated through steel balls. The left surface and the right surface of the upper end of the upper floating part are fixed through horizontal springs. The lower end of the upper floating part is of a cavity body structure, and the lower side of a cavity body is open. The lower floating part is arranged in the cavity body structure of the upper floating part. The lower surface of the lower floating part is isolated from the lower surface of the inner side of the cavity body of the upper floating part through vertical springs. According to the plate spring compliant wrist of the mechanical arm, the flexibility of the mechanical wrist is ensured, the corresponding degree of an object position and a mechanical hand position is reduced, and the difficulty of successfully clamping an object of the mechanical hand is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a leaf spring compliant wrist of a manipulator. Background technique [0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and op...

AI Technical Summary

Problems solved by technology

Generally, special-purpose manipulators have 2 to 3 degrees of freedom, but the movement angle of the manipulator in the prior art is limited by the wrist, so its flexibility is relatively small, and it requires a high degree of correspondence to the position of the gripping object, which improves the smooth gripping of the object. Difficulty

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