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

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...

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 pneumatic jaws, but the size adaptability is small, and it cannot be enveloped and grasped, and there is no shape adaptability.

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