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Two-degrees-of-freedom reinforcement type manipulator

A manipulator and force-increasing technology, applied in the field of robotics, can solve the problems of increased volume and weight of the manipulator, large input voltage or current, etc., and achieve the effect of simple structure, increased degree of freedom, reliable fixation and clamping

Inactive Publication Date: 2021-07-09
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Usually, you will choose to increase the rated power of the motor on the manipulator and increase the torque, but in this case, a larger input voltage or current will be required
At the same time, a larger load may require a larger motor, resulting in an increase in the size and weight of the manipulator, causing additional burden

Method used

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Embodiment Construction

[0014] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0015] The invention provides a two-degree-of-freedom booster manipulator and a control method to realize reliable grasping of board objects.

[0016] figure 1 It is a front appearance view of the present invention, including a left side plate 111, a right side plate 112, a housing 12, a left servo motor 131, a right servo motor 132, a base 14, a vertical seat bearing 15, a two-way screw rod 16, and a connecting rod 17 , Coupling 18, spring 19.

[0017] figure 2 It is the right appearance view of the present invention, including motor bracket 21, circular bearing 22, positive and negative nuts 23, flange 24, and magnetic encoder 25.

[0018] Working principle: the left servo motor 131 and the right servo motor 132 are fixed on the motor bracket 21 and the casing 12 , and the motor bracket 21 is also fixed on the casing 12 . The left side pl...

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Abstract

The invention provides a two-degrees-of-freedom reinforcement type manipulator. The two-degrees-of-freedom reinforcement type manipulator comprises a shell, motor brackets, a base, servo motors, a two-way screw rod, circular bearings, vertical seat bearings, side plates, springs, a connecting rod, magnetic encoders and the like. The servo motors comprise the left servo motor and the right servo motor, the side plates comprise the left side plate and the right side plate, and the two springs are fixed to the upper portion and the lower portion of the circular bearings of the left side plate and the right side plate respectively. According to the two-degrees-of-freedom reinforcement type manipulator, firstly, the spring devices are additionally arranged, so that a target object can be reliably fixed and clamped in the grabbing process; and secondly, the manipulator not only can be opened and closed, but also can rotate, so that the degree of freedom of the manipulator is increased, and the manipulator can realize clamping operation more favorably. In addition, the clamping device further has the advantages of being simple in structure, small in size, not prone to deformation and high in practicability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a two-degree-of-freedom booster manipulator. Background technique [0002] With the continuous advancement of science and technology, the development of robot technology is also getting faster and faster, and more and more places have begun to use robots to replace humans to complete work. In normal production and life, it is not very convenient for robots to grab board materials, but there are many such objects in real life, such as grabbing file boxes in archives, and grabbing files in libraries. The gripping of books or the gripping of glass in a glass factory, etc. For this kind of plate objects, most of the existing manipulators are designed as dexterous hands with adsorption function, and the grasping of plate materials is realized by establishing a vacuum environment. However, the air pressure generated by this type of manipulator is not very high, so the snatch ability i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/00
Inventor 王栋崔建伟姜汇策崔林威
Owner SOUTHEAST UNIV
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