An anti-finger-off sensory expansion robotic arm

Abstract

The invention discloses an anti-finger-off sensory expansion type mechanical arm, which belongs to the field of mechanical arms. A sensory-expansion type mechanical arm anti-finger-off feature imitates human finger fingerprints and evenly distributes rubber on the inner surface of the touching finger. Under the action of hydraulic equipment, the rubber sleeve expands inside the raised groove and tightens on the outer surface of the object. The inner material of the deformation block is silica gel, which has a good effect of fitting deformation and has a good anti-corrosion effect. Off-function, the inside of the deformation block is fixed with a gravity sensor, according to the weight of the object, through the conduction of the touch point, and under the action of the metal wire, the sliding of the hydraulic plate is controlled, so as to facilitate the increase and decrease of the deformation of the deformation block To a certain extent, its stability is greatly enhanced. By fixing the electromagnetic controller inside the magnetic block, by controlling the power-off and power-on of the electromagnetic controller, it can effectively play the role of absorbing metal, so that it has the function of preventing falling off. .

Description

technical field [0001] The invention relates to the field of mechanical arms, and more specifically relates to a sensory expansion type mechanical arm for preventing finger-off. Background technique [0002] In recent years, with the development of robot technology, robot structures with high speed, high precision and high load-to-weight ratio have attracted attention from the fields of industry and aerospace. Due to the increased flexibility effects of joints and linkages during motion, the structure is deformed and the accuracy of task execution is reduced. Therefore, the structural flexibility of the robot manipulator must be considered, and the system dynamics must also be considered to achieve high-precision and effective control of the flexible manipulator. [0003] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widel...

AI Technical Summary

Problems solved by technology

[0004] However, in the grasping mechanism adopted by the existing mechanical arm, in the process of grasping the object, due to the delay in the transmission of numerical control information, vibration occurs between the rotations of the mechanical arm, which makes it difficult to stably clamp the object, and in the grasping effect Under the circumstances, the friction force of the side wall of the metal is small, and it is difficult to grasp, so people's requirements for the mechanical arm will be more stringent

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