Cascaded multi-finger cross manipulator

Abstract

The invention discloses a cascade type multi-finger cross manipulator which comprises an arm rod, a fixing base, paws, a pen type electric push rod and auxiliary grabbing structures, wherein the arm rod is fixedly connected to the top of the fixing base, the paws comprise the left claw and the right claw, and the left claw and the right claw are oppositely arranged on the left side and the right side of the bottom of the fixing base correspondingly; the left claw and the right claw are provided with a left finger and a right finger respectively, the left finger and the right finger are arranged in a staggered mode, the pen type electric push rod is arranged in the arm rod, the top end of the pen type electric push rod is fixed to the top of the arm rod, and the bottom end of the pen type electric push rod is connected with the top of the left claw and the top of the right claw. The auxiliary grabbing structures are oppositely arranged at the bottom of the left finger and the bottom of the right finger respectively. The paw are opened and closed through pushing and pulling of the pen type electric push rod, a large-diameter object is grabbed through a main body part of the paw, and a small-diameter object is reversely grabbed through the two auxiliary grabbing structures.

Description

technical field [0001] The present disclosure relates to the field of robots, in particular to a cascaded multi-fingered manipulator. Background technique [0002] When manipulating the robot to operate the target, it needs to use the manipulator to realize the grasping and placing of the target object. At present, the common manipulator is mainly composed of two fingers, and the parallel four-bar linkage mechanism is used to realize the parallel movement of the two fingers. When this method grabs cylindrical or arc-shaped objects, the grasping is unstable or even Shedding problem. The solution of using the enveloping gripper can improve the problem of grasping, but its grasping size range is small, and it is necessary to replace fingers to achieve a wide range of grasping capabilities, which is easy to bring inconvenience to use. Although the multi-fingered dexterous hand can realize the grasping of various objects in the manner of simulating human hands, its structure is...

AI Technical Summary

Problems solved by technology

At present, the common manipulator is mainly composed of two fingers, and the parallel four-bar linkage mechanism is used to realize the parallel movement of the two fingers. When this method grabs cylindrical or arc-shaped objects, the grasping is unstable or even shedding problem

The use of enveloping grippers can improve the problem of grasping, but its grasping size range is small, and fingers need to be replaced to achieve a wide range of grasping capabilities, which is easy to cause inconvenience to use

Although the multi-fingered dexterous hand can realize the grasping of various objects in the way of simulating human hands, its structure is complex, the control algorithm is cumbersome, and the cost is high, so it cannot be widely used

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