Composite manipulator and method for pinching and wrapping and grabbing with flexible shaft drive drum tensioning belt

A technology of flexible shaft transmission and manipulators, applied in the field of composite 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 initial tension adjustment consistent effect

Active Publication Date: 2021-08-24
JIANGNAN UNIV
View PDF10 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Composite manipulator and method for pinching and wrapping and grabbing with flexible shaft drive drum tensioning belt
  • Composite manipulator and method for pinching and wrapping and grabbing with flexible shaft drive drum tensioning belt
  • Composite manipulator and method for pinching and wrapping and grabbing with flexible shaft drive drum tensioning belt

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a composite manipulator and method for pinching and flexible-shaft drive reel tension belt wrapping and grabbing, which belong to the field of robots and automation, and are applicable to the fields of sorting robots for light industrial food and agricultural products, as well as robots for packaging and logistics industries. The present invention is composed of a palm part and four fingers with the same structure. There are two types of fingers, including: translationally clamping fingers and wrapping grasping fingers. Finger base indexing function: Four fingers grasp upright cylinders, spheres, cubes, or driven by the motor, the left and right fingers rotate 45 degrees clockwise, the front and rear fingers rotate 45 degrees counterclockwise, and four fingers grasp horizontal cylinders and cuboids. Finger translational pinching function: the motor or short-stroke cylinder makes the four fingers rotate at the same root angle, and the parallelogram mechanism generates finger translational pinching. Wrapping and grabbing function: The toothed belt is driven by a motor or a vane-type rotary cylinder, which is transmitted through four flexible shafts, so that the reel of the braided rubber belt is relaxed, and the objects are wrapped and grabbed by these four belts.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10B25J15/02F16K47/02
CPCB25J15/02B25J15/10F16K47/02
Inventor 章军刘禹陈彦秋吕兵
Owner JIANGNAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap