Arthropod-finger-imitated agile dexterous claw with friction pair driving and multi-flexible-shaft transmitting

Abstract

The invention relates to an arthropod-finger-imitated agile dexterous claw with friction pair driving and multi-flexible-shaft transmitting. The claw is used for enveloping grabbing and pinching, is wide in grabbing range, adapts to vertical and horizontal grabbing of various objects in complex shapes, and is high in transposition precision, high in response speed and flexible in self-adaptive effect. A finger part is of an arthropod-imitating structure and is composed of four knuckles including a finger root knuckle, a middle finger upper knuckle, a middle finger lower knuckle and a fingertipknuckle, transposition of the finger root knuckle is driven by an air cylinder, rotation of the finger root knuckle is driven by a motor, and rotation of the other three knuckles is driven by flexible shafts. The finger root knuckle is similar to the chest of an arthropod, the control over the transposition and rotation of the finger root knuckle is the core, and the flexibility is achieved; theblade type rotating air cylinder is adopted as power, three knuckles driven by a friction pair and transmitted by flexible shaft bending are similar to the abdomen of the arthropod, the multiple knuckles are arranged, each knuckle has the characteristic of single-degree-of-freedom rotation, and the claw has the characteristics of agility and envelope grabbing.

Description

technical field [0001] The invention relates to the field of robots and automation, in particular to an agile and dexterous claw that transmits fingers imitating arthropods through multiple flexible shafts driven by a friction pair, and is suitable for sorting robots for food, agricultural products, and light industrial products, and can be applied to packaging and logistics industries field of robotics. Background technique [0002] Claws, also known as manipulators, end effectors, and end grippers, are operating tools for robots to grab objects. Due to the complexity of the objects to be grasped: the material properties, shape, size, and position are quite different: ①The shape is different Regular objects with large size differences (melons, fruits, vegetables); ② Fragile and brittle objects (eggs, glass ceramic products); ③ Deformable soft objects (bread, soft packaging items); ④ Shaped, positional state Objects that are confusing and difficult to straighten out (wine b...

AI Technical Summary

Problems solved by technology

[0005] At present, in practical applications, a two-finger clamp type, single-knuckle finger, and two-point contact pneumatic jaw are most used, but the size adaptability is small, and it cannot be enveloped and grasped, and there is no shape adaptability.

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