Coupling manipulator capable of grabbing object adaptively

An adaptive, manipulator technology, applied in the field of coupled manipulators, can solve the problems of complex structure, complex control, and easily damaged objects, and achieve the effect of compact structure, simple and reliable control, and low cost

Active Publication Date: 2019-05-28
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the current life and production, the manipulator used to grab objects, especially irregular objects, often has complex structure, complicated contro

Method used

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  • Coupling manipulator capable of grabbing object adaptively
  • Coupling manipulator capable of grabbing object adaptively
  • Coupling manipulator capable of grabbing object adaptively

Examples

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Example Embodiment

[0032] The following examples and attachments are combined Figure 1 to 8 The present invention will be further described.

[0033] The invention relates to a coupled manipulator for adaptively grasping objects, such as figure 1 , 2 As shown, it includes a base, a driving device, a bracket, a transmission mechanism, and a finger structure. The manipulator can be connected to a robot arm or a manipulator arm through the base 1. The base is fixed on the base 1, and the bracket 5 is fixed on the base. Such as Figure 5 As shown, the base includes a mounting frame 2 and a sliding rail 300, and the sliding rail 300 and the mounting frame 2 are vertically arranged, and the two are fixedly connected. The driving device is a steering gear 11. The present invention uses a steering gear 11 for driving. The mounting frame 2 is provided with a steering gear base. The steering gear base is parallel to the slide rail 300 and is located The stand 100 on the same side of the mounting frame 2, ...

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Abstract

The invention discloses a coupling manipulator capable of grabbing an object adaptively. The manipulator comprises a base, a driving device, a bracket, a transmission module and a finger module, wherein the finger module comprises a rigid element, a first flexible element, a second flexible element, a software element, a displacement sensor, a pressure sensor and a micro camera; the displacement sensor is embedded in the software element; the pressure sensor is attached to the surface of the second flexible element; and the micro camera is attached to the center of the bracket seat for adjusting the posture of the manipulator in real time. The coupling manipulator provided by the invention can realize flexible grabbing of the object and avoid damaging the surface of the object; meanwhile,the coupling manipulator provided by the invention is completely driven by a single steering engine, and compared with the manipulator driven by a plurality of steering engines, the structure is simpler and smaller, the control is simpler and more reliable, and the cost is lower.

Description

technical field [0001] The invention relates to the field of robots, in particular to a coupled manipulator for adaptively grabbing objects. Background technique [0002] Compared with manpower, it is cheaper, more efficient and less error-prone to use manipulators to complete certain tasks. Therefore, manipulators that can replace manpower are more and more widely used. In the current life and production, the manipulator used to grab objects, especially irregular objects, often has complex structure, complicated control, and easy damage to objects when grasping. Therefore, it needs to be improved to make the manipulator more Wider and more reliable application value. Contents of the invention [0003] In order to solve the problems existing in the prior art, the present invention provides a coupling manipulator for adaptively grabbing objects. By improving its structure and control mode, the manipulator has a more reasonable and simple structure, simple and convenient co...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/12B25J19/04
Inventor 甘春标叶靖田蒋仁能一鸣徐小锋朱小京袁璐王小莹
Owner ZHEJIANG UNIV
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