A Manipulator Using Mechanical Structure to Realize Adaptive Object Shape

A technology of object shape and mechanical structure, applied in the field of manipulators, can solve the problems of difficult layout, easy aging and breaking of circuits, etc., and achieve the effect of ingenious and simple structure principle.

Active Publication Date: 2022-04-01
NORTHWEST A & F UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of manipulator needs expensive sensors. The sensor is not only difficult to arrange on the manipulator, but also the circuit is particularly easy to age and break when the manipulator bends back and forth.

Method used

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  • A Manipulator Using Mechanical Structure to Realize Adaptive Object Shape
  • A Manipulator Using Mechanical Structure to Realize Adaptive Object Shape
  • A Manipulator Using Mechanical Structure to Realize Adaptive Object Shape

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Embodiment Construction

[0018] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] refer to figure 1 , a manipulator that uses a mechanical structure to realize an adaptive object shape, including two sets of manipulator mechanisms 1, the two sets of manipulator mechanisms 1 are symmetrically arranged, and the two sets of manipulator mechanisms 1 are completely consistent, including sixteen bearings, six resistance mechanisms, three Positioning parts, four synchronous wheels, four synchronous belts and motor 2, specifically the first bearing 3, the second bearing 4, the third bearing 5, the fourth bearing 6, the fifth bearing 7, the sixth bearing 8, the seventh bearing Bearing 9, Eighth Bearing 10, Ninth Bearing 11, Tenth Bearing 12, Eleventh Bearing 13, Twelfth Bearing 14, Thirteenth Bearing 15, Fourteenth Bearing 16, Fifteenth Bearing 17, Tenth Bearing Six bearings 18, first resi...

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Abstract

The invention discloses a manipulator which utilizes a mechanical structure to realize an adaptive object shape, comprising two sets of manipulator mechanisms arranged symmetrically in a V shape, the two sets of manipulator mechanisms are completely consistent, including sixteen bearings and six resistances Mechanism, three positioning parts, four synchronous wheels, four synchronous belts and motor, the motor transmits the torque to the synchronous wheel through the support rod, the synchronous wheel transmits the torque to the next synchronous wheel through the synchronous belt, and the synchronous wheel passes the support bar The torque is transmitted to the resistance mechanism, and the resistance mechanism rotates under the action of the spring force. After the joint is blocked, it will slip and pre-tighten. Similarly, after all the mechanical arms adhere to the surface of the object. When the electromagnetic switch is energized, the fixing mechanism will lock the shape, so as to realize the function of automatically identifying the surface shape of the object and completing the tightening. The structure principle of the present invention is ingenious and simple, saves cost, and is suitable for popularization and application.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and relates to a manipulator which only utilizes a mechanical structure to realize adaptive object shapes. Background technique [0002] The current manipulator is usually a fixed grasping type, that is, when grasping different objects, the grasping type is mechanical and fixed during the grasping process, and the grasping type will not change according to the shape of the object, so it cannot be better attached. The surface of the composite object, and in the process of grasping, people are required to observe and stop the grasping operation after the grasping is completed, which will often cause the motor to stop for a while when it is powered on, causing the current to increase sharply and affecting the life of the motor . Another is to use sensors to transmit data in real time to achieve grabbing work. This kind of manipulator needs expensive sensors. The sensor is not only difficult t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J17/00
CPCB25J15/00B25J17/00
Inventor 赵娟全朋坤张海辉张佐经李豪陈山赵强
Owner NORTHWEST A & F UNIV
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