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A flexible mechanical claw and its mechanical arm

A mechanical claw and flexible technology, applied in the field of intelligent robots, can solve problems such as joint joints with large load capacity, and achieve the effect of enhanced grasping stability, enhanced stability, and small space occupation

Active Publication Date: 2021-09-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the flexible mechanical grippers that have appeared in recent years are superior in terms of the degree of curvature of the gripper, the degree of fit with the target object, the stability and durability of the gripper, the maximum load capacity, the strength of the joint connection, and the development of underactuation. There are more or less deficiencies

Method used

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  • A flexible mechanical claw and its mechanical arm
  • A flexible mechanical claw and its mechanical arm
  • A flexible mechanical claw and its mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] This embodiment provides a kind of flexible mechanical claw, refer to the attached Figure 1-2 , including: palm 4 and two or more fingers pinned to palm 4;

[0046] The palm 4 includes: a first plate 4-1, a second plate 4-2, a drive shaft 6 and a drive mechanism;

[0047] The first plate 4-1 and the second plate 4-2 are regular hexagonal plates, and the side length of the first plate 4-1 is smaller than the second plate 4-2, the first plate 4-1 and the second plate The materials of 4-2 are all made of metal materials;

[0048]The first plate 4-1 and the second plate 4-2 are arranged in parallel, and the six sides of the first plate 4-1 and the second plate 4-2 are parallel to each other; the drive shaft 6 passes through the Through the center of the first plate 4-1 and the second plate 4-2, and one end of the drive shaft 6 is fixedly connected with the first plate 4-1, and the other end of the drive shaft 6 is connected with the drive mechanism; when the drive mechan...

Embodiment 2

[0062] This embodiment provides a kind of flexible manipulator, refer to the attached Figure 5-7 , comprising: the mechanical claw and the arm body of Embodiment 1;

[0063] The arm body includes: wrist joint 9, forearm 10, upper arm 11, elbow joint 12 and shoulder joint 13;

[0064] The mechanical claw is installed on the front end of the forearm 10 through the wrist joint 9, the rear end of the forearm 10 is connected with the front end of the big arm 11 through the elbow joint 12, and the rear end of the big arm 11 is installed on the outside through the shoulder joint 13. On the supporting part; wherein, a supporting plate is fixed on the second plate 4-2 of the mechanical claw, and the supporting plate is installed on the wrist joint 9;

[0065] The wrist joint 9 has three degrees of freedom of rotation;

[0066] Both the elbow joint 12 and the shoulder joint 13 adopt double-slope bionic joints, which have two degrees of freedom of rotation;

[0067] Both the small ar...

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Abstract

The invention discloses a flexible mechanical claw and its mechanical arm. The mechanical claw includes: a palm and more than two fingers pinned to the palm; each of the fingers includes: an inner claw and an outer claw; the inner claw It includes an integrally formed base plate and a beam; more than two beams are located on the outer surface of the base plate, and the top of the beam and the B end of the base plate are provided with pin joints for connecting with the outer claws; the outer claws are composed of two An arc panel with a curved set radian composed of the above connecting pieces; each connecting piece is pinned between two adjacent beams or between the B end of the base plate and its adjacent beam; the inner jaw and outer jaw of the mechanical claw The use of flexible materials with different hardness, combined with the mechanical structure design of the inner claw and the outer claw, enables the mechanical claw to wrap the target object well, and at the same time has very firm grasping characteristics.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a flexible mechanical claw and a mechanical arm thereof. Background technique [0002] Mechanical claw, as the name implies, is a device that can replace human hands to perform a series of operations, mainly composed of hands and mechanisms for movement. To a certain extent, it can replace heavy labor by grabbing and carrying objects with a fixed program, and it can also be used in an environment that is harmful to the human body to protect personal safety. It is mainly used in machinery manufacturing, metallurgy, light industry, etc. Industrial sector. [0003] Most of the robotic claws at this stage have a single goal, generally only for one or two tasks. Again, the higher the flexibility of the gripper, the less damage it will cause to the target during work. Therefore, the traditional rigid mechanical gripper has limited its own application occasions...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10B25J15/12B25J17/00B25J18/02B25J18/04B25J9/06
CPCB25J9/06B25J15/10B25J15/12B25J17/00B25J18/025B25J18/04
Inventor 苏伟李轶吕添彭旭东吴甲
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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