Ingenious flexible contact end effector capable of replacing multiple fingers and fingertip nails

Abstract

The invention relates to an ingenious flexible contact end effector capable of replacing multiple fingers and fingertip nails. A palm part and a finger part are included. The palm part comprises a fixing plate, the fixing plate is connected with a bottom plate through two guide column pull rods, and the two guide column pull rods between the bottom plate and the fixing plate are sleeved with a push plate at the same time, an air cylinder is arranged on the fixing plate, and a piston rod of the air cylinder stretches out of the bottom face of the fixing plate and then is connected with the pushplate; three bent two-force rods are hinged to the push plate; a front gear and a rear gear are arranged below the bottom plate, are parallel to the bottom plate and are driven by a drive mechanism to be mutually engaged, and the front gear and the rear gear are jointly connected with right-angle bent plate finger roots connected with the bent two-force rods; and according to the structure of thefinger part, finger components fixed to the three right-angle bent plate finger roots correspondingly are included. By means of the ingenious flexible contact end effector, complex object grabbing isachieved, and the advantages that precision is high, and the speed is high are achieved.

Description

technical field [0001] The invention relates to the technical field of industrial manipulators, in particular to a flexible and soft-touch end effector capable of changing various fingers and fingernails. Background technique [0002] The end effector, also known as the manipulator and the end gripper, is the operating tool for the robot to grasp objects. Due to the complexity of the grasped objects: the material properties, shape, size and position state are quite different: ① Irregular shape, size Objects with large differences (melons, fruits, vegetables); ② Fragile and brittle objects (eggs, glass and ceramic products); ③ Soft objects that are easily deformed (bread, soft packaging items); ④ Abnormal shapes, confusing and unreasonable positions Shun objects (wine bottles, cosmetic bottles), at the same time, in terms of the adaptability of shape and size, cuboids, cylinders, spheres, ellipsoids, and triangular prisms of different sizes are the most common shapes. Curren...

AI Technical Summary

Problems solved by technology

Current end effectors cannot universally and reliably grasp the aforementioned complex objects

As far as the contact state is concerned, rubber is pasted on the surface of the rigid skeleton of the finger, and the contact between the rubber outside the rigid skeleton of the end effector and the object is a semi-flexible contact, and the contact force distribution varies greatly; And the contact force distribution is not uniform

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