Palm manipulator combined with cross guide mechanism and double-drive five-bar slider parallel mechanism

A dual-drive, manipulator technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of poor versatility in vertically grasping cylinders and cuboids, misalignment of manipulator and manipulator references, large eccentric force distance of manipulators, etc. problem, to achieve the effect of small clamping force, small deviation, and good contact force
CN112123322BActive Publication Date: 2021-11-16JIANGNAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
JIANGNAN UNIV
Publication Date
2021-11-16

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Abstract

The invention relates to a palm manipulator combined with a cross guide mechanism and a double-drive five-bar slider parallel mechanism, which belongs to the technical field of robots and automation, and can be used for picking agricultural products, sorting and transporting food, picking and unloading industrial products, and packaging goods in logistics and other industries. It is composed of active and passive double-drive five-bar slider parallel mechanism. The small motor and worm gear reducer drive the rotation of the active crank, and the large motor and worm gear reducer drive the rotation of the active rocker. The rocker hinge is seated on the guide rod. Linear movement, while the crank and rocker of the driven parallel mechanism are transmitted by gears; the two fingers are respectively installed on the two connecting rods or two rockers, and the grasping posture of the three fingers is controlled by the two motors of the parallel mechanism. and the movement path; the cross guide rod mechanism makes the rocker hinge seat and the single finger move in a straight line, so the three fingers move to and hold the object at the same time. The finger contact surface is pasted with rubber with flat oval cross-section, which has good contact characteristics and high reliability.
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Description

technical field

[0001] The invention relates to the technical fields of robots and automation, in particular to a palm manipulator combined with a cross guide rod mechanism and a double-drive five-bar slider parallel mechanism. Background technique

[0002] Grasping manipulators, also known as end effectors and end grippers, are operating tools for robots to grab objects. Due to the complexity of grasping objects, except for some humanoid dexterous manipulators with high cost and complex devices, the rest of the end effectors cannot universally and reliably grasp different types of objects. As far as the contact state is concerned, in order to adapt to the different shapes of grasped objects such as cuboids, cylinders, and spheres, the root of the finger needs to be transposed so that the finger contact surface can better adapt to grasped objects of different shapes. It is the basic function of the palm.

[0003] For the grasping objects such as agricultural products and f...

Claims

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