Quick-changing finger change-palm mechanical arm with finger root soft shafts delivering rotation and performing eccentric transposition

A manipulator and finger technology, applied in the field of quick-change finger-to-palm manipulators, can solve the problems of small size adaptability, no shape adaptability, and incapable of enveloping grasping, etc., to achieve convenient control, wide grasping range, and reasonable structural design Effect

Active Publication Date: 2020-07-03
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the most used in production is a two-finger clamp type, single-knuckle finger, and two-point contact pne

Method used

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  • Quick-changing finger change-palm mechanical arm with finger root soft shafts delivering rotation and performing eccentric transposition
  • Quick-changing finger change-palm mechanical arm with finger root soft shafts delivering rotation and performing eccentric transposition
  • Quick-changing finger change-palm mechanical arm with finger root soft shafts delivering rotation and performing eccentric transposition

Examples

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Embodiment Construction

[0068] The specific embodiments of the present invention will be described below in conjunction with the drawings.

[0069] In this embodiment, a quick-change finger palm-changing manipulator capable of transmitting rotation and eccentrically indexed by the soft shaft of the finger root is composed of a palm and four fingers 1 with the same structure and uniformly installed; the parts of the palm-changing manipulator include: rotating clamp Finger holding 1, single hole knuckle 2, tapered hole pin 3, square head single hole double lug seat 4, large double-head matching stud 5, flexible shaft 6, tapered hole drive shaft 7, small diamond seat bearing 8 , Robotic arm mounting plate 9, toothed belt gear 10, rotating drive 11, indexing motor 12, coupling 13, upper plate 14, large diamond seat bearing 15, short shaft 16, sleeve 17, indexing swing lever 18. Connecting rod 19, wear-resistant washer 20, incomplete gear 21, long shaft 22, lower plate 23, small double-head matching stud 24,...

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PUM

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Abstract

The invention relates to a quick-changing finger change-palm mechanical arm with finger root soft shafts delivering rotation and performing eccentric transposition, relates to the field of robots andautomation and is suitable for the field of food, light industry and agricultural product sorting robots and packaging and logistics industry robots. The quick-changing finger change-palm mechanical arm is composed of a palm component and four fingers of the same structure, wherein a palm provides a transposition function of finger root components, and the four fingers grab upright cylinders, spheres and cubes or the left and right fingers perform clockwise transposition by 45 degrees and the front and rear fingers perform anticlockwise transposition by 45 degrees under driving of a motor forthe four fingers grabbing horizontal cylinders and cuboids; the palm provides a rotating function of the finger root components, a rotating driver is provided with two kinds of the motor and a vane-type rotating air cylinder and drives a toothed belt and makes the four fingers rotate at the same finger root angle through four soft shafts, and the finger root angle is an included angle between thefinger root components and a palm plane; and the fingers are provided with four kinds of an unactuated rotating clamping finger, a translational clamping finger, a pneumatic knuckle envelope finger and a soft body wrapping finger.

Description

Technical field [0001] The invention relates to a quick-change finger-to-palm manipulator capable of transferring rotation and eccentrically indexing a soft shaft with a finger root. It belongs to the field of robots and automation, and is suitable for sorting robots for food, agricultural products, and light industrial products, and robots in the packaging and logistics industries. . Background technique [0002] Claws, also known as manipulators, end effectors, and end grippers, are operating tools for robots to grasp objects. Due to the complexity of grasping objects: the material properties, shape, size, and position state vary greatly: ①The shape is not Regular objects with large differences in size (fruits, vegetables); ② Fragile and brittle objects (poultry eggs, glass ceramic products); ③ Soft objects that are easily deformed (bread, flexible packaging items); ④ Shaped and positional Confusing and difficult to straighten out objects (wine bottles, cosmetic bottles), at t...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/02B25J15/00
CPCB25J15/0009B25J15/02B25J15/10
Inventor 章军吕兵
Owner JIANGNAN UNIV
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