A Single-drive Electric Adaptive Manipulator Based on Link Differential Mechanism

Abstract

The invention discloses a single-drive electric self-adaptive manipulator based on a link differential mechanism, which includes a housing assembly, a controller and a gripping mechanism assembly. The housing assembly includes an upper cover, a lower cover, a front cover, a rear The cover, the left cover and the right cover surround the grasping mechanism combination from six sides. The controller sends commands to the motor and controls its rotation. The controller cover is located above the controller. The grasping mechanism components mainly include linear A guide mechanism component, a cross-link differential mechanism component, and a seesaw differential mechanism component. The invention realizes the coordinated movement of four fingers through a novel connecting rod differential mechanism, can automatically adapt to a certain range of part shape and position changes, and can be used for grasping abnormal parts. The manipulator has the advantages of simple structure, compactness, and low hardware cost. In addition, the manipulator is easy to grasp the plate-shaped parts that cannot be grasped by the suction cup due to the high surface roughness, which is difficult to achieve with the existing manipulator.

Description

technical field [0001] The invention relates to the field of mechanical technology, in particular to a single-drive electric self-adaptive manipulator based on a link differential mechanism. Background technique [0002] With the implementation of "Industry 4.0" and "Made in China 2025", personalization and customization have become the characteristics of today's society, and they have greatly changed the existing production mode and lifestyle. In order to meet individual requirements, multi-variety, low-volume customized production modes and non-consistent scenarios have become the norm in production. The key to success lies in the versatility and adaptability of manipulator grasping, which requires greater flexibility and adaptability to Handle parts of different shapes, sizes and materials. The adaptive manipulator is a special robot end effector, which uses adaptive technology to complete the grasping of irregular parts, can automatically eliminate the position error of...

AI Technical Summary

Problems solved by technology

Due to the high surface roughness of the plate-shaped parts to be treated, suction cups cannot be used for adsorption and grasping

It is difficult for the existing self-adaptive manipulator to grasp the surroundings of such plate-shaped parts, mainly because the thickness of the plate-shaped parts is very different from the length and width, which is not conducive to the grasping of the manipulator.

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