An agile manipulator with pneumatic finger clamping, finger base indexing and electric finger base rotation

Abstract

The invention relates to a pneumatic finger clamping and finger root rotation electric finger root rotatable flexible manipulator. The manipulator comprises a fixed plate. A lead screw shaft motor ismounted on the upper surface of the fixed plate. The lower surface of the fixed plate is connected with a bottom plate through guide rods. The portions, located between the bottom plate and the fixedplate, of the guide rods are sleeved with a moving plate. A lead screw nut fixed into the moving plate is screwed on a lead screw shaft of the lead screw shaft motor. The manipulator further comprisesa fixed finger and two rotary fingers, and the fixed finger and the rotary fingers are of the same structure. The fixed finger is connected to a push rod fixing plate on one side of the bottom surface of the moving plate and rotates along the horizontal axis parallel to the axes of two torsion springs. The rotary fingers are connected to a rotary push rod fixing plate on the other side of the bottom surface of the moving plate and rotate along the vertical axis perpendicular to the different surface of the horizontal axis at equal angular displacement in the opposite direction. The pneumaticfinger clamping and finger root rotation electric finger root rotatable flexible manipulator is suitable for vertically and horizontally grabbing objects in various types of complex shapes, wide in grabbing range, high in rotation precision and high in response speed.

Description

technical field [0001] The invention relates to the technical field of industrial manipulators, in particular to an agile manipulator suitable for pneumatic finger clamping, finger root indexing and electric finger root rotation in the production and logistics fields of food, agricultural products, and light industrial products, such as grabbing and sorting. . 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 sof...

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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