Title:
FOUR-FINGER UNDERACTUATED MANIPULATOR WITH RIGID-FLEXIBLE COUPLING FINGER AND DRIVEN BY FLEXIBLE SHAFT
Document Type and Number:
WIPO Patent Application WO/2021/139468
Kind Code:
A1
Abstract:
Disclosed is a four-finger underactuated manipulator with rigid-flexible coupling fingers and driven by flexible shafts (17). The underactuated manipulator comprises: a palm part comprising a main support (1), wherein a lifting stepping motor (9) is installed beneath the main support, an output shaft of the lifting stepping motor is connected to a ball screw (4) arranged in the middle of the main support (1) in a penetrating manner, and the top end of the ball screw (4) is connected to a connecting plate (3) parallel to the main support (1); a finger part comprising a sliding plate (2) that is located between the main support (1) and the connecting plate (3) and slides up and down along the ball screw (4) alongside a lead screw nut (28), wherein a plurality of connecting rods (6) are connected to the sliding plate (2) in the circumferential direction thereof, and the tail end of each connecting rod (6) is connected to one finger assembly; and a rotation drive part comprising finger root shafts (10), wherein the plurality of finger root shafts (10) are evenly arranged on the main support (1) along the circumference thereof and are respectively arranged in finger connecting bases (8) in a penetrating manner, and the finger root shafts (10) are in drive connection by means of belt wheels (25) and a synchronous belt (7) and are respectively connected to finger assemblies by means of the flexible shafts (17). The manipulator has a large working space and high controllability, and is applied to the logistics industry, flexible production lines, etc., in which there are various shapes and sizes of target objects, and is especially applied to scenarios with high requirements for grabbing reliability and safety.
Inventors:
ZHANG JUN (CN)
WANG QIANG (CN)
XU DINGFENG (CN)
TANG ZHENGNING (CN)
QIAN SHANHUA (CN)
LV BING (CN)
WANG QIANG (CN)
XU DINGFENG (CN)
TANG ZHENGNING (CN)
QIAN SHANHUA (CN)
LV BING (CN)
Application Number:
PCT/CN2020/134911
Publication Date:
July 15, 2021
Filing Date:
December 09, 2020
Export Citation:
Assignee:
UNIV JIANGNAN (CN)
International Classes:
B25J15/10; B25J15/00; F16C1/02; F16C1/08
Foreign References:
| CN111152254A | 2020-05-15 | |||
| CN108436952A | 2018-08-24 | |||
| CN105835081A | 2016-08-10 | |||
| CN108189071A | 2018-06-22 | |||
| CN204525435U | 2015-08-05 | |||
| US4351553A | 1982-09-28 | |||
| JP2019063886A | 2019-04-25 | |||
| JP2010069580A | 2010-04-02 |
Attorney, Agent or Firm:
WUXI HUAYUAN PATENT AND TRADEMARK AGENCY (GENERAL PARTNERSHIP) (CN)
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