Rope-driven mechanical finger and manipulator with same

A technology driven by mechanical fingers and ropes, applied in the field of manipulators, can solve the problems of inability to place poultry eggs arbitrarily, flexibility, and low applicability, and achieve the effects of small moment of inertia, lightening the overall weight, and simplifying the structure of the manipulator

Inactive Publication Date: 2019-01-25
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing mechanical finger device, for example, the patent application number 201720673814.0 includes the mechanical finger mechanism composed of the upper bracket of the mechanical finger, the lower bracket of the mechanical finger, the wedge-shaped egg dragging

Method used

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  • Rope-driven mechanical finger and manipulator with same
  • Rope-driven mechanical finger and manipulator with same
  • Rope-driven mechanical finger and manipulator with same

Examples

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Embodiment Construction

[0020] Exemplary embodiments, features, and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0021] Such as figure 1 As shown, a rope-driven mechanical finger includes a base 1, a rope driving device 2, a first finger segment 3, a second finger segment 4 and a third finger segment 5, the base 1, the first finger segment 3, the second finger segment The second finger section 4 and the third finger section 5 are coaxially connected in series successively, and the first finger section 3, the second finger section 4 and the third finger section 5 all include an upper platform 31, a lower platform 32, a central support mechanism 34 and a plurality of springs 33. The lowe...

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Abstract

The invention relates to a rope-driven mechanical finger, comprising a base, a rope driving device, a first finger segment, a second finger segment and a third finger segment. The base, the first finger segment, the second finger segment and the third finger segment are coaxially and serially connected in sequence. Each finger segment includes an upper platform, a lower platform, a center supportmechanism and a plurality of springs, two ends of the center support mechanism are fixed to the center of the upper platform and the center of the lower platform respectively, the center support mechanism can bend and rotate, and the springs are distributed evenly between the upper platform and the lower platform outside the center support mechanism. The rope driving device includes a traction rope, a winding wheel and a driving motor, the driving motor and the winding wheel are fixed to the base, the winding wheel is coaxially connected with an output shaft of the driving motor, the tractionrope is passed through the springs of the first, second and third finger segments, the first end of the traction rope is fixed to the upper platform of the third finger segment, and the second end ofthe traction rope is connected with the winding wheel. The rope-driven mechanical finger has small rotational inertia and high transmission precision and can bend continuously.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a rope-driven manipulator finger and its manipulator. Background technique [0002] With the continuous development of science and technology, the concepts of mechanization and automation continue to penetrate into people's production and life. As a common equipment, manipulators are widely used in industrial production, especially in large-scale assembly line operations. In the industrial field, the manipulator must not only be able to accurately and stably grasp the target object, but also have a certain degree of flexibility. In the development of manipulators, some are driven by servo motors. Although the problem of joint dexterity is solved, the problem of insufficient gripping force is common, and the cost is high; The problem of reduced flexibility. In contrast, the rope-driven method transmits the driver force to the joint through the rope, and there ar...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J15/00
CPCB25J9/104B25J15/0009
Inventor 侯雨雷张国兴郑雪山张继永随永祥曾达幸
Owner YANSHAN UNIV
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