Manipulator of double-drive special-shaped super-flexible elastic skeleton

Abstract

The invention relates to a manipulator of a double-drive special-shaped super-flexible elastic skeleton. The manipulator comprises an upper seat plate and a base plate, which are fixed into a whole bytwo groups of guide connecting rods, wherein two screw rod shaft servo motors are arranged at intervals on the upper seat plate, and the screw rods of the two screw rod shaft servo motors are respectively connected with a front driving plate and a finger root driving plate of a hollow finger; the tail ends of the two screw rods are respectively supported on the base plate through two mounted bearings. The manipulator also comprises flexible fingers, wherein the head of each of the flexible fingers are fixedly arranged on the front driving plate of the hollow finger, and the special-shaped super-flexible plate spring of the flexible finger is connected with the base plate through a finger root hinged seat; the bending rod of the flexible finger is connected with the finger root driving plate through a bending rod hinged seat. The two screw rod servo motors convert the rotation movement of a screw rod nut mechanism into the linear movement, and respectively drive different parts of theflexible fingers to move, thereby reliably grasping objects of different states and sizes, the grasping range is wide, and the flexible adaptive effect is provided.

Description

technical field [0001] The invention relates to the technical field of application of robots and electromechanical integration, and is connected with a robot body, in particular to a manipulator with a double-drive special-shaped super-soft elastic skeleton. 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, vegetables); ② fragile and brittle objects (eggs, glass ceramic products); ③ easily deformable soft objects ( Bread, flexible packaging items); ④ Irregular-shaped objects with chaotic positions and diff...

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.

Images