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Flexible pneumatic mechanical arm achieving multifunctional gripping

A pneumatic manipulator and multi-functional technology, applied in the field of manipulators, can solve the problems of poor stability and inaccurate grasping, and achieve the effects of good stability, accurate grasping and large deformation range

Active Publication Date: 2017-09-29
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

CN205704258U discloses a kind of software four-finger robot, and this four-finger robot is a kind of fixed " rectangle " grasping mode side by side, is not suitable for grasping the regular shape object such as sphere, cube, the stability of grasping regular shape object such as sphere, cube Poor performance or insufficient grasping

Method used

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  • Flexible pneumatic mechanical arm achieving multifunctional gripping
  • Flexible pneumatic mechanical arm achieving multifunctional gripping
  • Flexible pneumatic mechanical arm achieving multifunctional gripping

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] refer to Figure 1-13 , this embodiment includes a driving mechanism and a gripper, the driving mechanism is connected to the gripper, and the gripper includes a first flexible finger 22-1, a second flexible finger 22-2, a third flexible finger 22-3, a fourth flexible finger Flexible fingers 22-4, when grabbing an object, the first flexible finger 22-1, the second flexible finger 22-2, the third flexible finger 22-3, and the fourth flexible finger 22-4 grasp in a "cross" state Or grabbing in a "rectangular" state, being in a "cross-shaped" state means that each flexible finger is respectively located at the end of the "cross", the first flexible finger 22-1, the second flexible finger 22-2, the third flexible finger 22-3, the fourth flexible fingers 22-4 are arranged in a clockwise direction; being in a "rectangle" state means that each flexible finger is respectively located on the four corners of the "rectangle", the first flexible finger 22-1, the second The flexibl...

Embodiment 2

[0056] The difference between this embodiment and Embodiment 1 is that the first transmission mechanism is a gear mechanism, and the gear mechanism includes a sixth gear, a seventh gear, and an eighth gear; the seventh gear is arranged on one side of the sixth gear, and the eighth gear Set on the other side of the sixth gear, the seventh gear and the eighth gear mesh with the sixth gear respectively, the number of teeth of the seventh gear and the eighth gear is the same, the gear ratio of the sixth gear and the seventh gear is 1:3, the drive The motor 3 drives the sixth gear to rotate 135 degrees clockwise, and the sixth gear and the seventh gear rotate 45 degrees counterclockwise. The sixth gear is arranged above the first gear 8, the first gear 8 and the sixth gear are connected through the sixth gear connecting shaft; the sixth gear is connected with the output shaft of the driving motor 3, and the first transmission shaft is arranged on the seventh gear , the third transm...

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Abstract

A flexible pneumatic mechanical arm achieving multifunctional gripping comprises a drive mechanism and a gripping device. The drive mechanism is connected with the gripping device. The gripping device comprises a first flexible finger, a second flexible finger, a third flexible finger and a fourth flexible finger. When the gripping device grips an object, the first flexible finger, the second flexible finger, the third flexible finger and the fourth flexible finger are in a cross-shaped state or in a rectangular state to conduct gripping. The cross-shaped state means that each flexible finger is located at the corresponding end of a cross. The rectangular state means that the flexible fingers are located on the four corners of a rectangle correspondingly. The drive mechanism can drive the gripping device to switch from the cross-shaped state to the rectangular state or from the rectangular state to the cross-shaped state. The flexible pneumatic mechanical arm achieving multifunctional gripping can achieve rapid switch between the cross-shaped gripping state and the rectangular gripping state and is suitable for multiple types of objects, good in gripping stability, accurate in gripping and high in efficiency.

Description

technical field [0001] The invention relates to a manipulator, in particular to a flexible pneumatic manipulator with multi-functional grasping. Background technique [0002] With the continuous development of robot technology, more and more manipulators are used in industrial automation production. Traditional industrial manipulators are generally rigid manipulators, which have good control accuracy and operability, but they are generally large in size, require a large work space, and are not easy to grab some relatively small objects. It is not suitable to grab and carry irregularly shaped, fragile and vulnerable objects. However, in the food industry, packaging industry, communication industry and other industrial automation production, it is often necessary to grasp and carry such objects. Rigid manipulators cannot complete these tasks, and manual completion of this work is inefficient, with low precision and large errors. Therefore, designing new objects that are flex...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10B25J15/12B25J15/02B25J15/06
CPCB25J15/02B25J15/0633B25J15/10B25J15/12
Inventor 钟国梁侯杨东陈龙
Owner CENT SOUTH UNIV
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