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

An arthropod, friction pair technology, applied in the direction of rotating motion axis, manipulator, program-controlled manipulator, etc., can solve the problems of small size adaptability, no envelope grasping, no shape adaptability, etc.

Active Publication Date: 2020-07-10
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 ja

Method used

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

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Embodiment Construction

[0082] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

[0083] In this embodiment, a friction pair drives multiple flexible shafts to transmit an agile dexterous claw imitating arthropod fingers. The structure of the dexterous dexterous claw includes a palm, and three finger parts connected to the palm with the same structure and evenly installed along the circumference , and constant torque three-axis output device;

[0084] The components of the nimble claw are: motor 1, bottom plate 2, inner guide pen-shaped cylinder 3, L-shaped cylinder support 4, double ear seat 5, guide rod 6, slider connecting rod 7, long connecting rod 8, finger parts 9 , constant torque three-axis output device 10, finger root support 11, elastic snap ring for shaft 12, copper sleeve seat 13, crank sleeve 14, ball 15, drive shaft 16, pulley 17, round cover 18, single ear push Rod 19, small strip plate 20, finger root ...

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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...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J9/10B25J9/12F16C1/04
CPCB25J9/10B25J9/12B25J15/0009F16C1/04
Inventor 章军徐丁峰王强唐正宁钱善华吕兵
Owner JIANGNAN UNIV
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