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retractable electric drive manipulator

A manipulator and electric drive technology, applied in the field of manipulators, can solve problems such as poor practicability, achieve good practicability, improve flexibility, and improve the ability to grasp

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of poor practicability of existing manipulators, the present invention provides a retractable electric drive manipulator

Method used

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Examples

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Embodiment Construction

[0019] The following examples refer to Figures 1 to 10 .

[0020] The retractable electric drive manipulator of the present invention includes a palm electromechanical actuator 1, a palm 2, a thumb motor 3, a proximal phalanx of the thumb 4, a middle phalanx of the thumb 5, a distal phalanx of the thumb 6, a thumb electromechanical actuator 7, and a proximal phalangeal sensor 8. Middle knuckle sensor 9, distal knuckle sensor 10, proximal knuckle electromechanical actuator 11, proximal knuckle push rod 12, push rod bolt 13, palm bolt 14, finger proximal knuckle 15, finger middle knuckle 16, finger Distal knuckle 17, actuator motor 18, reducer 19, planetary roller screw 20, nut 21, load bolt 22, thumb proximal knuckle sensor 23, thumb middle knuckle sensor 24, thumb distal knuckle sensor 25, thumb Heel joint shaft 26, finger bolts 27, proximal phalanx electromechanical actuator bolts 28, proximal phalanx connector 29, first shaft 30, middle phalangeal rocker arm 31, middle pha...

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Abstract

The invention discloses a retractable electric driving manipulator, which is used for solving the technical problem of poor practicability of the existing manipulator. The technical solution includes planetary roller screws, electromechanical actuators, sensors, fingers and palms. The planetary roller screw is an electromechanical actuator that converts the rotary motion of the lead screw into the linear motion of the nut. The electromechanical actuator at the fingers and the palm is used as the driving component to control the three knuckles, and the electromechanical actuator is controlled by cooperating with the sensors at the knuckles to realize the expansion and contraction of the palm and the bending of the fingers. , to achieve the function of grasping heavy-loaded objects, improve the flexibility of the fingers, and realize the envelope of the fingers to any object, which is beneficial to improve the ability of the robot to grasp the heavy-loaded objects, and has good practicability.

Description

technical field [0001] The invention relates to a manipulator, in particular to a retractable electric drive manipulator. Background technique [0002] The document "Chinese Invention Patent with Application Publication No. CN101058184A" discloses an anthropomorphic manipulator with a front-drive adaptive mechanism. The manipulator includes an elastic rod mechanism in the finger structure and a differential mechanism for the fingertips. The drive is driven by a rack and pinion. The rotary motion output by the motor is converted into linear motion, and the fingers are driven to complete the grasping action by the forward and backward motion of the passive rack. The finger structure of the manipulator is simple, it cannot bear heavy loads, and the noise is high, and there are low flexibility and low reliability. problem, and the existing manipulator has insufficient grasping power and cannot grasp heavy objects. SUMMARY OF THE INVENTION [0003] In order to overcome the dis...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02B25J17/02
CPCB25J15/0009B25J15/0206B25J17/0258
Inventor 刘更杜传明马尚君
Owner NORTHWESTERN POLYTECHNICAL UNIV
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