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manipulator

A technology of manipulators and racks, applied in the field of manipulators, can solve the problems of cumbersome structure of the transmission mechanism, large manipulator size, inconvenient use, etc., and achieve the effects of size reduction, large gripping force and space saving

Inactive Publication Date: 2020-11-20
ZORPIA ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The transmission mechanism of the manipulator in the prior art has a cumbersome structure and is not easy to maintain
In addition, the transmission mechanism of the prior art takes up a lot of space, resulting in a large size of the manipulator, which is inconvenient to use

Method used

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] like Figure 1 to Figure 4 As shown, it is a schematic diagram of the principle of the screw-driven finger mechanism of the embodiment of the present invention. The screw-driven finger mechanism of the embodiment of the present invention includes a first motor 1, a first pull rod 2, a screw rod 3 and a nut 4 cooperating with the screw rod 3 , the base knuckle 5 and the proximal knuckle 6, the base knuckle 5 and the proximal knuckle 6 are rotatably connected by the first rotating shaft 7, one end of the screw rod 3 is matched with the internal thread of the nut 4, and the other end of the screw rod 3 is connected with the first motor 1. The output shaft at the front end is connected by transmission, and the rear end of the first motor 1 is fixedly connected with one end of the first pull rod 2. In practical applications, since the output speed of the first motor 1 may be different from the actual required speed, a deceleration assembly may also be included to adjust the ...

Embodiment 2

[0043] like Figure 5 to Figure 12 As shown, it is a schematic diagram of the principle of the screw-driven finger mechanism of the second embodiment. The difference between this embodiment and the first embodiment is that a finger frame 9 and a second pull rod 10 are added in this embodiment, and the base knuckle 5 is rotatably connected to the finger frame 9 through a third rotating shaft 11 .

[0044] Since the finger mechanism in Embodiment 1 involves the flexion motion of the proximal knuckle relative to the base knuckle, in practical applications, it may be necessary for the base knuckle to perform flexion motion relative to the finger frame. Therefore, as Figure 5 to Figure 8 As shown, the present embodiment is provided with a second pull rod 10 between the base knuckle 5 and the finger frame 9, and one end of the second pull rod 10 is rotatably connected with the first motor 1 through a fourth rotating shaft 12, and the second pull rod 10 The other end is rotatably c...

Embodiment 3

[0053] like Figure 13 to Figure 16 As shown, it is a schematic diagram of the principle of the finger mechanism driven by the worm gear of the third embodiment. Since the movement of the finger body in the prior art involves only the flexion movement, in practical applications, the finger body may need to perform attitude adjustment movements relative to the palm of the manipulator, for example, the finger body may need to perform a swinging movement relative to the palm of the manipulator. Posture adjustment can be used to adjust the direction of flexor movement. In addition, the movement of the finger body relative to the palm itself can also be used as one of the action links for the robot to grasp objects or realize other functions. Therefore, the finger mechanism driven by the worm gear of the present embodiment includes a finger frame 9, a worm wheel 15 and a worm wheel 16 cooperating with the worm screw 15, a second motor 17 and a motor bracket 18, and the motor bracket ...

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Abstract

The invention provides a manipulator comprising a palm rack. At least one motor support mounting groove is formed in the palm rack; finger mechanisms are embedded in the motor support mounting grooves; motor supports are arranged in a manipulator palm and rotatably connected with one ends of finger racks through seventh rotating shafts, and the other ends of the finger racks are rotatably connected with one ends of base knuckles through third rotating shafts; the seventh rotating shafts are perpendicular to the third rotating shafts and first rotating shafts; and the motor support mounting grooves are matched with the motor supports. According to the manipulator, by assembling the finger mechanisms, motors, pull rods, screw rods and nuts specially, the occupied space of axial transmissionoutput is saved.

Description

technical field [0001] Embodiments of the present invention relate to a finger mechanism, in particular to a manipulator. Background technique [0002] The manipulator can imitate certain motion functions of the human hand and arm, and is used to grab, carry objects or operate automatic operating devices according to a fixed program. Manipulators can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so they are widely used in various sectors of industrial production. In addition, many manipulators are also designed for the disabled to act as prosthetics for the disabled, so that the disabled have a certain ability to grasp objects. [0003] The transmission mechanism of the manipulator in the prior art has a complex structure and is not easy to maintain. In addition, the transmission mechanism in the prior art takes up a lot of space, resulting in a large size of the manipula...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02B25J15/10
CPCB25J15/0009B25J15/0206B25J15/0213B25J15/10
Inventor 白劲实
Owner ZORPIA ROBOT CO LTD