Pneumatic four-finger manipulator structure

Abstract

The invention relates to a pneumatic four-finger manipulator structure. The pneumatic four-finger manipulator structure comprises a palm, a thumb and three auxiliary fingers; the three auxiliary fingers are fixedly installed on the front end face of the palm through first motors; the thumb is rotationally connected with the palm through a second motor; a transmission rod is vertically and fixedly installed on a rotating shaft of the second motor; the other end of the transmission rod penetrates through the palm and extends out of the palm; a third motor is fixedly installed in the transmission rod; the output end of the third motor is rotationally connected with the thumb; the thumb and the three auxiliary fingers are the same in structure; the auxiliary fingers are wrapped with telescopic hoses; and a rotary disc is fixedly installed at the power output end of the second motor; and the other side of the rotary disc is fixedly provided with a connecting rod. The pneumatic four-finger manipulator structure has the characteristics of being compact in structure, light in weight and good in flexibility; flexible adjustment of the mechanical fingers is truly achieved through the telescopic hoses wrapping the mechanical fingers; and objects in irregular shapes can be stably grabbed, and the maximum grabbing mass is improved.

Description

technical field [0001] The invention relates to the technical field of robot operation, in particular to a pneumatic four-finger manipulator structure. Background technique [0002] With the rapid development of robots today, manipulators are one of the main means for robots to interact with the outside world. Robotic hands need to be as versatile and flexible as human hands. At present, many literatures have focused on the manipulator. However, most of them are special-purpose manipulators designed for specific operation objects, which can only be used to grasp parts to be grasped with specific shapes and sizes, and cannot be grasped for parts to be grasped with other shapes or sizes. Versatility cannot be used after deviating from the specific goal, and it cannot be used as a highly bionic component such as a robot hand. In addition, traditional manipulators are generally two-finger or three-finger manipulators, which are likely to cause unstable grasping of some special...

AI Technical Summary

Problems solved by technology

However, most of them are special-purpose manipulators designed for specific operation objects, which can only be used to grasp parts to be grasped with specific shapes and sizes, and cannot be grasped for parts to be grasped with other shapes or sizes. Versatility cannot be used after deviating from the specific goal, and it cannot be used as a highly bionic component such as a robot hand. In addition, traditional manipulators are generally two-finger or three-finger manipulators, which are likely to cause unstable grasping of some special objects and are easy to fall. Especially in the process of ball making, it is easy to cause the ball to fall, which increases the production time and affects the production efficiency

Images