Dexterous and soft-touch end effector with interchangeable fingers and nails

Abstract

A flexible soft touch terminal actuator having a variety of replaceable fingers and fingertip nails comprises a palm portion and a finger portion. The palm portion comprises a fixed plate (2). A bottom plate (9) is connected to the fixed plate by means of two guide column pull rods (3). A push plate (5) is sleeved on both the two guide column pull rods (3) located between the bottom plate (9) and the fixed plate (2). The fixed plate (2) is mounted with a cylinder (1), and a piston rod thereof extends out of a bottom surface of the fixed plate (2) and is connected to the push plate (5). Three bent two-force rods (11) are hinge-connected to the push plate (5). A front gear (16) and a rear gear (15) configured to be parallel to the bottom plate (9) and driven by a driving mechanism to engage with each other are provided below the bottom plate (9). The front gear (16) and the rear gear (15) are both connected to a right-angle bent plate finger root (18) connected to the bent two-force rod (11). The structure of the finger portion comprises: finger components (19) respectively fixed to the three right-angle bent plate finger roots. A complex object is held by means of the above structure. The invention has high precision and speed.

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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