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Pinching and flexible shaft drive drum tensioning belt wrapping grabbing composite mechanical hand and method

A flexible shaft transmission and manipulator technology, applied in the field of composite manipulators, can solve the problems of small size adaptability, inability to envelop grasping, no shape adaptability, etc., and achieve the effects of good contact characteristics and high reliability

Active Publication Date: 2020-07-14
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 pneumatic jaws, but the size adaptability is small, and it cannot be enveloped and grasped, and there is no shape adaptability.

Method used

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  • Pinching and flexible shaft drive drum tensioning belt wrapping grabbing composite mechanical hand and method
  • Pinching and flexible shaft drive drum tensioning belt wrapping grabbing composite mechanical hand and method
  • Pinching and flexible shaft drive drum tensioning belt wrapping grabbing composite mechanical hand and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0123] When adopting translational clamping finger 9a, the base of the finger is rotated and driven to select any one of clamping motor 2a or short-stroke cylinder 2b; the size of the contact force is determined by the size of the contact position and the driving force (torque), and the size of the contact position It is related to the size and contact state of the object to be grasped, and is established (consisting of a push plate 4, a bar-shaped index plate 5, a flat-mounted double-ear seat 6, a push rod 7, a fork-shaped index plate 8, and a translation clamping finger 9a ) mechanical equations of the connecting rod system, control parameters such as the angular displacement and output torque of the clamping motor 2a, the displacement and the driving force of the short-stroke cylinder 2b can be obtained according to these mathematical models, and the control method: ① select the clamping motor 2a, and The contact force is controlled by the output torque of the clamping motor...

Embodiment 2

[0125] When wrapping and grabbing finger 9b is used, the pinching method of adjustable nail tip 9b7 is the same as the control method of the aforementioned translation gripping finger 9a; the wrapping and grabbing method is used to grab spheres, horizontally place cylinders, and ellipsoids , Irregular objects made of curved surfaces, and objects with complex contact forces (such as peaches, soft-packed goods), the adjustable nail tip 9b7 has a waist-shaped groove, which can be retracted for installation or directly removed when needed;

[0126] The clamping motor 2a and the winding motor 3b can be controlled in forward and reverse directions and precise control of angular displacement, but the response speed is not as good as that of pneumatic components; while the vane-type rotary cylinder 3a can be controlled in forward and reverse directions, which cannot realize precise control of angular displacement and has a short stroke Cylinder 2b can be controlled by reciprocating mot...

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Abstract

The invention relates to a pinching and flexible shaft drive drum tensioning belt wrapping grabbing composite mechanical hand and a method, belongs to the field of robot and automation and suitable for the field of light industrial food and agricultural product sorting robots and packaging and logistics industry robots. The pinching and flexible shaft drive drum tensioning belt wrapping grabbing composite mechanical hand is composed of a palm part and four fingers of the same structure. The fingers have two kinds including horizontal moving clamping fingers and wrapping grabbing fingers. According to a finger root translocation function, the four fingers grab right circular cylinders, spheres and cubes, or under the drive of a motor, the left finger and the right finger conduct transposition by 45 degrees in the clockwise direction, the front finger and the rear finger conduct transposition by 45 degrees in the anticlockwise direction, and the four fingers grab horizontal cylinders andcuboids. According to a finger horizontal moving pinching function, due to the motor or a short-stroke air cylinder, the four fingers can rotate with the same finger root angle, and a parallelogram mechanism generates finger horizontal moving pinching. According to a wrapping grabbing function, the motor or a blade type rotating air cylinder drives a tooth-shaped belt, due to transmission of foursoft shafts, winding drums of braided fabric rubber belts are well tightened and loosened, and the four belts are used for grabbing objects.

Description

technical field [0001] The invention relates to a composite manipulator for pinching and flexible shaft drive reel tension belt wrapping and grabbing, which belongs to the field of robots and automation and is suitable for sorting robots of food, agricultural products and light industrial products, as well as robots in packaging and logistics industries field. 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 bottles, cosmetic bottles). At the same time, ...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/02F16K47/02
CPCB25J15/02B25J15/10F16K47/02
Inventor 章军吕兵
Owner JIANGNAN UNIV
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