Manipulator with dual-drive special-shaped super-soft elastic skeleton

Abstract

The present invention relates to a manipulator with a dual-drive special-shaped super-flexible elastic skeleton, which includes an upper seat plate and a base plate, which are fixed into a whole by two sets of guide coupling rods, and two screw shaft servos are installed at intervals on the upper seat plate. Motor, the two screw shafts of the servo motor are respectively connected to the driving plate of the front section of the hollow finger and the driving plate of the root of the finger. The ends of the two screw screws are respectively supported on the base plate by two bearings with seats, including flexible fingers and flexible fingers. The part is fixed on the driving plate of the front section of the hollow finger. The special-shaped super-flexible plate spring of the flexible finger is connected to the base plate through the hinge seat of the finger root. The bending rod of the flexible finger is connected to the driving plate of the finger root through the bending rod hinge seat. The servo motor converts the rotary motion into a linear motion through the screw nut mechanism, and drives different parts of the flexible finger to move, reliably grasps objects of different sizes, and has a wide grasping range, which has the effect of flexible self-adaptation.

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.

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