Modular manipulator with automatic knuckle limiting mechanism

Abstract

The invention discloses a modular manipulator with an automatic knuckle limiting mechanism, and belongs to the technical field of automatic mechanical equipment. The manipulator comprises a first rotating finger, a second rotating finger, four fixed fingers, an automatic knuckle limiting mechanism, a finger rotating mechanism and a finger grabbing mechanism. The fingers of the manipulator can be assembled and disassembled, and the first rotating finger and the second rotating finger can synchronously and oppositely rotate by 60 degrees. The number and the distribution state of the fingers canbe adjusted according to grabbed objects, aspherical objects with different weights and cylindrical objects can achieve enveloping grasp. When the automatic knuckle limiting mechanism plays a limitingrole, the spherical objects with different weights and the cylindrical objects can be pinched. According to the manipulator, the limiting angle of knuckles can be automatically adjusted, enveloping grasp and pinching of the objects of different sizes can be controlled. A ball screw is adopted to push a paw to open and close, accurate control over object grabbing and pinching force is achieved, under-actuated object grabbing is adopted, the flexibility is good, and the objects are not prone to being damaged.

Description

technical field [0001] The invention relates to the technical field of automatic mechanical equipment, in particular to a modular manipulator with an automatic knuckle limiting mechanism. Background technique [0002] A manipulator is an automatic mechanical device that can grasp and transport objects. At present, the manipulator has the following problems: (1) The joint part of the manipulator is usually the most vulnerable place, and the maintenance and replacement of parts of the manipulator with the integral structure is complicated and time-consuming; (2) The number and position of the manipulator fingers are fixed and cannot be adjusted according to needs. The number and position of fingers; (3) Only objects of a specific shape and size can be grasped with a specific posture, but smaller objects cannot be pinched, and the versatility is poor; (4) Rigid grasping, lack of flexibility, and difficult to grasp grasping strength, It is easy to damage the grasped object; (5)...

AI Technical Summary

Problems solved by technology

At present, the manipulator has the following problems: (1) The knuckles of the manipulator are usually the most vulnerable places, and the operation of repairing and replacing parts of the manipulator with the integral structure is complicated and time-consuming; (2) The number and position of the manipulator fingers are fixed and cannot be adjusted as needed The number and position of fingers; (3) can only grasp objects of a specific shape and size with a specific posture, and cannot pinch smaller objects, and the versatility is poor; (4) rigid grasping, lack of flexibility, difficult to grasp the grasping force, The object to be grasped is easily damaged; (5) the volume is large, the structure is more complicated, the space utilization rate is not high, and the manufacturing cost is expensive

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