Full-hydraulic humanoid manipulator

Abstract

The invention provides a full-hydraulic humanoid manipulator which comprises a control module and a gripper module. The full-hydraulic humanoid manipulator is characterized in that the control module comprises a control motor, a threaded shaft, a bearing, a valve, a valve body and a pipe joint; the control motor is connected with the threaded shaft; a bearing is arranged between the threaded shaft and the valve; the valve is fixedly arranged at the other end of the threaded shaft and is arranged in the valve body; the pipe joint is arranged under the valve body; through a precise liquid flow control device, a finger knuckle liquid flow can be controlled, so that the requirement on adjusting each finger according to the needs can be met; and fingers are driven through a precise special micro oil cylinder and are automatically controlled through a computer, so that opening, closing and grasping of any finger at different degrees can be realized. The strength magnitude can be adjusted through a control pressure valve according to the feedback.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a fully hydraulic humanoid manipulator. Background technique [0002] A manipulator is an automatic operating device that can imitate certain movements and functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. At present, industrial robots and service robots require different end effectors, and the manipulator claw is one of them. In order to meet the needs of different applications, different end effectors have been designed, including the claw type; at present, the claw type end effector is often only a simple double-joint structure, which is not available for finer and more complex products. Good clamping effect, and the precision of the control movement is not high enough, the grip force of the claw is not strong enough or the precise adjustment is difficult. [0003] In this regard, the patent with the notification number CN106...

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Problems solved by technology

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. At present, industrial robots and service robots require different end effectors, and the manipulator claw is one of them. In order to meet the needs of different applications, different end effectors have been designed, including the claw type; at present, the claw type end effector is often only a simple double-joint structure, which is not available for finer and more complex products. Good clamping effect, and the control motion precision is not high enough, the grip strength of the claw is not strong enough or the precise adjustment is difficult

[0003] In this regard, the patent with the notification number CN106426137 discloses a humanoid manipulator. The manipulator imitates the human palm to design four fingers and a thumb. Fingers and thumbs are set on the hand support, and the link mechanism that links each finger is connected with the corresponding slider. Under the action of the drive mechanism, each link finger is bent. The complex design of the connecting rod drives each joint to move, and when one of them is loose or deviated, it may affect the movement of other joints

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