Bionic flexible grabbing manipulator based on multistage metamorphic mechanism

A technology for grasping manipulators and metamorphic mechanisms, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low reliability, inability to grasp, and high cost, and achieve high grasping reliability, wide object-oriented, low cost effect

Pending Publication Date: 2017-12-01
合肥哈工图南智控机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional manipulators cannot grasp, carry, pick and place objects with complex geometric shapes, or simulate the movement of human hands.
It has problems such as complex drive control, high cost, and low reliability
[0003] Chinese invention patent application, CN103433932, a self-adaptive aerodynamic flexible grasping manipulator based on metamorphic mechanism, based on metamorphic mechanism, the adaptive and compliant grasping of the manipulator is realized. When the minimum adaptation range of , it will not be able to crawl, so the product-oriented range is small
Due to the use of passive adaptive grasping, it is inevitable that the clamping force for large objects or relatively heavy objects will be small, and the reliability will decrease
Although the applicant proposed that multiple metamorphic rotary joints can be used to distribute left and right or axially around the cylinder, but due to the use of a one-stage metamorphic mechanism, its adaptability is relatively poor compared to multi-stage

Method used

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  • Bionic flexible grabbing manipulator based on multistage metamorphic mechanism
  • Bionic flexible grabbing manipulator based on multistage metamorphic mechanism
  • Bionic flexible grabbing manipulator based on multistage metamorphic mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] like Figure 1~6 As shown, this embodiment includes a driving mechanism 2, a base 1 and a grabbing mechanism; the grabbing mechanism includes a transmission gear 3, a transmission rack 13, an end gripper 7 and a single finger, and the single finger has three layers and four layers. rod mechanism, the single finger includes the first active rod 4, the second active rod 5, the third active rod 6, the first telescopic rod 8, the second telescopic rod 9, the third telescopic rod 10, the first transmission rod 11 and The second transmission rod 12; one end of the first active rod 4 is hinged on the base 1 and rigidly connected to the transmission gear 3, and the other end is hinged together with the first transmission rod 11 and the second active rod 5, the The other end of the second active rod 5 is hinged together with the third active rod 6 and the second transmission rod 12, and the other end of the third active rod 6 is hinged together with the end gripper 7; the first ...

Embodiment 2

[0045] like Figure 7 As shown, the single finger of this embodiment has a two-layer four-bar mechanism, which can simulate the thumb joint. When the thumb joint forms a manipulator, its power is driven independently. The advantage is that when picking up objects on special occasions, the finger movement can be gradually driven to better meet the needs of different scenarios.

[0046] Other implementations are the same as in Example 1.

Embodiment 3

[0048] like Figure 8 As shown, there are two grasping mechanisms in this embodiment, which are arranged symmetrically along the center line of the drive mechanism 2, and the structure of the single finger is the same as that in Embodiment 1. Under the action of the same driving mechanism 2, the two transmission gears 3 are simultaneously driven to realize parallel movement.

[0049] Other implementations are the same as in Example 1.

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PUM

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Abstract

The invention discloses a bionic flexible grabbing manipulator based on a multistage metamorphic mechanism. A grabbing mechanism comprises a transmission gear, a transmission rack, a tail-end gripper and a single finger, wherein the single finger comprises at least two layers of four-link mechanisms; each four-link mechanism comprises mutually-hinged links at a bottom, links at two sides and a link at a top; the link at the bottom of the four-link mechanism located on the lowermost layer is a base; the links at the two sides of the four-link mechanism on the lowermost layer are hinged to the base separately, and the link at one side is driven by the transmission gear; the link at the top of the four-link mechanism on the lowermost layer is the link at the bottom of the upper-layer four-link mechanism of the four-link mechanism on the lowermost layer; the link at the top of the four-link mechanism on the uppermost layer is the tail-end gripper; the transmission gear is engaged with the transmission rack; the transmission rack is driven by a drive mechanism; and the drive mechanism is fixed to the base. The bionic flexible grabbing manipulator disclosed by the invention is capable of realizing simulation for reliable grabbing of human hands in different pose environments with regard to any object.

Description

technical field [0001] The invention relates to a grasping manipulator, in particular to a bionic compliant grasping manipulator based on a multi-stage metamorphic mechanism. Background technique [0002] Manipulators are widely used in automatic equipment or for grasping, handling and placing specific objects. At present, general-purpose robotic grippers are divided into three types: non-joint, fixed single-joint and free multi-joint, and can be divided into two-finger, three-finger, four-finger or multi-finger according to the number of fingers. In terms of drive, it is divided into two types: single drive and multi-joint drive. Traditional manipulators cannot grasp, carry, pick and place objects with complex geometric shapes, or simulate the movements of human hands. It has the problems of complex drive control, high cost, and low reliability. [0003] Chinese invention patent application, CN103433932, a self-adaptive aerodynamic flexible grasping manipulator based on ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1617
Inventor 丁亮程栋梁裴精精赵福臣刘振于振中李文兴
Owner 合肥哈工图南智控机器人有限公司
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