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Creep-resistant rope-driven mechanical finger

A kind of mechanical finger, anti-creep technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of changes in the grip force of the manipulator, aggravated metal creep, damage to the manipulator structure, etc.

Active Publication Date: 2021-09-14
四川中科彭成机器人技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because the rope transmission requires the steel wire to be in a continuous tension state, creep is prone to occur in some occasions that require a long-term grip, especially in high-temperature environments. High temperatures will aggravate the creep of the metal, resulting in changes in the grip of the manipulator or further lead The structure of the manipulator is damaged

Method used

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  • Creep-resistant rope-driven mechanical finger
  • Creep-resistant rope-driven mechanical finger
  • Creep-resistant rope-driven mechanical finger

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Embodiment Construction

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. In order to maintain the following description of the embodiments of the present disclosure For clarity and conciseness, the present disclosure omits detailed descriptions of known functions and known components to avoid unnecessarily obscuring the concepts of the present invention.

[0024] see Figure 1-7 , a creep-resistant rope-driven mechanical finger, including a knuckle 1, a rope-driven system 2 and a joint locking system 3;

[0025] The phalanx 1 includes a first phalanx 101, a second phalanx 102 and a third phalanx 103;

[0026] The first phalanx 101, the second phalanx 102 and the third phalanx 103 are all connected by the joint locking s...

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Abstract

The invention relates to the technical field of mechanical fingers, and discloses a creep-resistant rope-driven mechanical finger. The finger comprises knuckles, a rope drive system and a joint locking system. The knuckles comprise a first knuckle, a second knuckle and a third knuckle; and the first knuckle, the second knuckle and the third knuckle are connected through the joint locking system, and the first knuckle, the second knuckle and the third knuckle are in transmission through the rope drive system. According to the creep-resistant rope-driven mechanical finger, the temperature-driven joint locking system is designed, so that the problem that a driving rope of a rope-driven manipulator creeps under the action of a load at a high temperature is solved. A joint structure is reasonably designed, so that the flexibility of joints at normal temperature is ensured. In addition, abrasion compensation and adjustment of a locking stable threshold value can be carried out by designing an adjusting screw sleeve, and the higher flexibility and practicability are achieved.

Description

technical field [0001] The invention relates to the technical field of mechanical fingers, in particular to a creep-resistant rope-driven mechanical finger. Background technique [0002] As a type of actuator for robots, humanoid manipulators are more adaptable to scenarios originally designed for humans than traditional ones that are closer to the execution end of industrial tools, and are being used more and more. On the other hand, as a robot that replaces humans in dangerous and complex environments, humanoid manipulators also need to adapt to complex environments where humans cannot work, such as high temperature and high pressure, toxic and harmful metallurgy, chemical industry, fire and other production or rescue scenarios. [0003] Manipulators currently have connecting rod transmission, rope (wire) transmission, joint direct drive and software structure, etc. Among them, the rope transmission can greatly reduce the transmission size, and the power source is placed b...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 俞忠达向帆雷深皓杜雪峰
Owner 四川中科彭成机器人技术有限公司
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