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Full-hydraulic humanoid manipulator

A humanoid, manipulator technology, applied in the field of manipulators, can solve the problems of difficulty in precise adjustment, the product cannot have a good clamping effect, and the control movement accuracy is not enough.

Active Publication Date: 2019-09-20
TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] The manipulator is set as figure 2The two-finger structure shown. The control motor 1 is controlled by the program instruction, and can perform micro-distance single-step or continuous rotation, and drives the threaded shaft 2 to rotate. The shaft center of the threaded shaft 2 is connected to the valve 4 with a precision fine thread. Because the threaded shaft 2 and the bearing 3 that cannot move up and down Fixed connection, therefore, when the threaded shaft 2 rotates, it will drive the valve 4 to move up and down, so as to control the opening and closing of the valve 4, and achieve the purpose of controlling the flow rate of the liquid; at the same time, a clamp flow channel 5012 is set in the flow channel. The width of the flow channel is preferably set to 1mm. The liquid flow comes to the oil pipe through the nozzle-conduit-first oil connection port. When the liquid flow enters from the first oil port 803 and exits from the second oil port 804, the piston 801 is ...

Embodiment 2

[0037] The manipulator is provided with a three-finger structure. It can be set in the form of two fingers on one side and one finger on the other side, or three fingers distributed in a triangle. The control motor 1 is controlled by the program command and can perform macro single-step or continuous rotation, driving the threaded shaft 2 to rotate, and the threaded shaft 2. The shaft center is connected with the valve 4 with precision fine thread. Since the threaded shaft 2 is fixedly connected with the bearing 3 which cannot move up and down, when the threaded shaft 2 rotates, it will drive the valve 4 to move up and down, thereby controlling the opening and closing degree of the valve 4. To achieve the purpose of controlling the flow rate of the liquid flow; at the same time, a clamp flow channel 5012 is set in the flow channel, and the width of the flow channel at this place is preferably set to 0.8mm. When the liquid flow enters from the first oil port 803 and exits from ...

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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...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/024
Inventor 钟奇鄢圣杰韩立兮
Owner TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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