A two-jaw flexible manipulator with indexable fingers

Abstract

The invention provides a two-jaw flexible manipulator with indexable finger bases, comprising a finger base segment fixing seat, a finger base segment fixing plate, a finger base segment, a middle finger segment, a middle finger segment torsion spring, a fingertip segment torsion spring, a fingertip drive Cylinder and knuckle indexing mechanism. The flexible manipulator is driven by the main motor and the cylinder respectively. The main motor is driven by the screw nut to push the movable plate to move forward or backward, so as to adjust the opening and closing state of the finger base and adapt to the clamping of parts with different widths. The fingertip gripper is pushed by the finger cylinder, and the opening and closing of the fingertip and the clamping can be adjusted by pushing and pulling the cylinder.

Description

technical field [0001] The present application relates to the field of flexible manipulator design, in particular to a two-jaw flexible manipulator with indexable finger bases. Background technique [0002] In the field of industrial automation, pneumatic flexible manipulators are often used to realize the grasping action. The application of flexible manipulators in the industrial field has become more and more extensive, in the field of industrial manufacturing and assembly. The application of robots is very extensive, and the control of different parts and the clamping force required by the target parts is different. The traditional manipulator is only a special manipulator designed for a single target product. Its adaptability to multi-target parts is poor, and the replacement cost is high. At this time, the application of flexible manipulators can be alleviated. The combination of industrial robots and flexible manipulators can effectively solve the problem of adaptabil...

AI Technical Summary

Problems solved by technology

[0003] The structure of the current flexible manipulator is relatively complicated, and the processing and production costs are relatively high. The structure of the direction is relatively complicated, and it is time-consuming to install and disassemble. At the same time, the existing flexible manipulator is usually in point-to-point contact, which cannot achieve surface-to-surface contact, and the contact area is small when grasping

Most of the existing flexible manipulators used in industrial automation are three-finger or multi-finger flexible manipulators, which causes a problem, that is, when the robot picks up the target part, there will be a relatively large clamping positioning error, and it is difficult to ensure the clamping accuracy

Another three-finger grab takes up a lot of space, which is not conducive to clamping or docking work

However, the ordinary two-jaw manipulator has a limited range of flexible gripping due to the limitation of the gripping plane of the fingers.

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