Pneumatic four-finger manipulator structure

A manipulator and palm technology, applied in the field of pneumatic four-finger manipulator structure, can solve the problems of affecting production efficiency, easy to fall, increase production time, etc., and achieve the effect of improving maximum quality, good flexibility and compact structure

Pending Publication Date: 2022-01-28
YANCHENG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 com

Method used

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  • Pneumatic four-finger manipulator structure
  • Pneumatic four-finger manipulator structure
  • Pneumatic four-finger manipulator structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0025] When grabbing an object, the thumb 2 uses the second motor 5 to adjust its position according to the orientation of the object, and then the PLC controls each air rod 13 to expand and contract to a certain extent, and cooperates with the rotatable pins at both ends of the air rod 13 14 to complete the bending of the three subfingers 3 and the thumb 2 to realize the function of grabbing the object. According to the appearance shape and size of the object, the bending degree and angle of each finger can be automatically controlled; the angle control can use the first The steering of the motor 4 and the third motor 7 is completed, so that the objects on the back and inside can achieve the grasping effect, which is convenient for grasping objects in some narrow spaces, and the skeleton 12 of the triangular structure is performing multiple fine angles. During the adjustment, it is possible to well avoid the conflict between the various skeletons 12, and at the same time ensur...

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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...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/12
CPCB25J15/00B25J15/12
Inventor 刘玮程锦周廷玉徐之豪
Owner YANCHENG INST OF TECH
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