An electric-pneumatic composite drive flexible finger-like eagle claw logistics packaging manipulator

Abstract

A claw-like logistics packaging mechanical arm with electric-gas hybrid drive flexible fingers, composed of a drive component and four identical finger components, and comprising a screw shaft motor (1), an upper base plate (2), a guide connecting rod (3), a screw nut seat (4), a linear bearing (5), a drive plate (6), a push plate (7), a push rod (8), a fixed finger base (9), a connecting rod (10), a bottom base plate (12), a short finger (13), a long finger (14), a single-head corrugated muscle (15), a ridged push plate (16), a pull spring (17), a small support base (18), a rotating drive plate (19), a round pressure plate (20), a seal head (21), a bushing (22), a rotating finger base (23), and a small belt seat bearing (24), the finger component being composed of a finger root section (13a), a finger middle section (13i), and a fingertip section (13k). The present packaging mechanical arm can select the action point of the contact force and the direction of the force according to the situation, such that no deformation or damage to the object is caused by the gripping process, and gripping is more precise and reliable. In addition, the angle between the finger root section and the object to be gripped can be adjusted to adapt to increases in size of the gripped objects and to adapt to changes to the shape and the vertical and horizontal placement of the gripped objects; the action point and magnitude of the gripping are flexible and adaptable, reactions are agile, and cushioning performance is good.

Description

technical field [0001] The invention relates to an eagle-claw-like logistics packaging manipulator with electric-pneumatic compound driving flexible fingers. The manipulator of the invention belongs to the application technical field of robots and mechatronics, and is connected with the robot body, and is especially suitable for grabbing food, agricultural products and light industrial products. , Sorting and other production and logistics fields. Background technique [0002] For the large-scale production of light industry and food industry, in order to meet the logistics and packaging needs of raw materials, semi-finished products and finished products with complex shapes and various physical properties, and to solve the problems of high labor cost and poor working conditions of simple labor, it is necessary to grasp logistics Take the end gripper. The types of complex objects to be grasped: ① objects with irregular shapes and large differences in size (fruits, vegetable...

AI Technical Summary

Problems solved by technology

It can neither adapt to the inconsistent shape and size of the grasped complex object, nor can it meet the special requirements of the contact force without damage and reliably grasp the complex object, and at the same time, it will have a large impact on the grasped complex object

Therefore, underactuated manipulators with rigid structures have poor adaptability and cannot effectively grasp the aforementioned complex objects.

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