Pneumatic-control rigidity-variable two-finger manipulator

Abstract

The invention discloses a pneumatic-control rigidity-variable two-finger manipulator and relates to the technical field of manipulators. By means of the pneumatic-control rigidity-variable two-finger manipulator, the problem that the finger bending angle of the manipulator cannot be accurately controlled is solved. The pneumatic-control rigidity-variable two-finger manipulator specifically comprises a mounting plate, a connecting plate is fixed to the outer wall of the bottom of the mounting plate, two connecting valves are fixed to the outer walls of the two sides of the connecting plate, a first finger section and a third finger section are arranged on the outer wall of the top of the mounting plate, and a second air supply pipe and a third air supply pipe are fixed to the outer wall of the top of the connecting plate. According to the pneumatic-control rigidity-variable two-finger manipulator, by means of the arrangements of air cylinders, push plates, a connecting circular ring, a rotating column, a connecting disc and a fixing block, when a second finger section needs to be bent, a worker can control the corresponding air cylinder to push one push plate to move upwards and control the other air cylinder to drive the corresponding push plate to move downwards by the same distance at the same time, and at the moment, the rotating column and the fixed block are driven by the two push plates to rotate through the connecting circular ring, so that the second finger section connected with the top of the rotating column and the top of the fixed block is inclined.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to an air-controlled variable stiffness two-finger manipulator. Background technique [0002] With the rapid development of robot technology, the manipulator is playing an increasingly important role as the end gripping device of the robot. The manipulator is also called the end effector or the gripper. It is a part installed on the robot arm to directly grasp the object or perform the operation. It has the functions of clamping, transporting, and placing the workpiece to a certain position. The dexterity of the manipulator has a major impact on the success or failure of robot applications, and has become a key issue restricting the development of the robot industry. The difficulty in the study of manipulator dexterity lies in the integration of drive, transmission, sensor and electrical system in a limited space, and it also needs to adapt to different working environments an...

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Problems solved by technology

[0003] After searching, the Chinese patent application number is CN202010531123.3, which discloses a soft manipulator with the function of active variable stiffness, including body fingers, bracket, flexible belt drive mechanism, main air pipe, cross and hose; the lower part of the bracket The surface is uniformly provided with three soft fingers along the circumferential direction, and the upper surface of the bracket is uniformly provided with three flexible belt drive mechanisms along the circumferential direction, and each soft finger corresponds to a flexible belt drive mechanism, and the center of the upper surface of the support is provided with a Hollow-out frame; however, the above technical solution only bends the fingers of the manipulator by pulling the flexible belt, so there is still the problem that the bending angle of the fingers of the manipulator cannot be precisely controlled

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