CN107414841B - Bionic flexible grabbing manipulator based on multistage metamorphic mechanism - Google Patents
Bionic flexible grabbing manipulator based on multistage metamorphic mechanism Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 127
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 230000006835 compression Effects 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 210000003811 finger Anatomy 0.000 description 18
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004898 kneading Methods 0.000 description 2
- 239000005062 Polybutadiene Substances 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920002857 polybutadiene Polymers 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
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Abstract
The invention discloses a bionic flexible grabbing manipulator based on a multistage metamorphic mechanism, which comprises a transmission gear, a transmission rack, a tail end clamping hand and a single finger, wherein the single finger comprises at least two layers of four-bar mechanisms, each four-bar mechanism comprises a connecting rod at the bottom, connecting rods at the two sides and a connecting rod at the top, which are mutually hinged, the connecting rods at the bottom of the four-bar mechanism at the lowest layer are used as bases, the connecting rods at the two sides of the four-bar mechanism at the lowest layer are respectively hinged on the bases, wherein one connecting rod is driven by the transmission gear, the connecting rod at the top of the four-bar mechanism at the lower layer is the bottom connecting rod of the four-bar mechanism at the upper layer, the top connecting rod of the four-bar mechanism at the uppermost layer is the tail end clamping hand, the transmission gear is meshed with the transmission rack, the transmission rack is driven by a driving mechanism, and the driving mechanism is fixed on the bases. The invention can realize the reliable grabbing of any object in different pose environments for simulating the human hand.
Description
Technical Field
The invention relates to a grabbing manipulator, in particular to a bionic flexible grabbing manipulator based on a multistage metamorphic mechanism.
Background
Manipulator is widely used for automated equipment or for gripping, handling and picking up and placing a specific object. The current general mechanical paw is divided into 3 types of jointless, fixed single joint and free multi-joint, and can be divided into two fingers, three fingers, four fingers or multiple fingers according to the number of fingers. In terms of driving, the driving is divided into a single driving type and a multi-joint driving type. Traditional manipulators can not realize grabbing, carrying and picking and placing objects with complex space geometry, or simulating the motion of human hands. The driving control is complex, the cost is high, the reliability is low, and the like.
The invention patent application CN103433932 discloses a self-adaptive pneumatic flexible grabbing mechanical gripper based on a metamorphic mechanism, which realizes self-adaptation and flexible grabbing of the mechanical gripper based on the metamorphic mechanism, but when the outline of a part is smaller than the minimum application range of a gripper mobile phone component, the part cannot be grabbed, so that the product-oriented range is smaller. Due to the adoption of passive self-adaptive grabbing, the clamping force on a large object or a heavier object is inevitably small, and the reliability is lowered. While the applicant has proposed that multiple metamorphic revolute joints may be used, distributed around the cylinder left and right or axially, the adaptation is relatively poor compared to multiple stages due to the use of a one stage metamorphic mechanism.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a bionic flexible grabbing manipulator based on a multi-stage metamorphic mechanism, and can realize reliable grabbing of any object in different pose environments.
The invention is realized by the following technical scheme that the invention comprises a driving mechanism, a base and at least one grabbing mechanism; the grabbing mechanism comprises a transmission gear, a transmission rack, a tail end clamping hand and a single finger, wherein the single finger comprises at least two layers of four-bar mechanisms, each four-bar mechanism comprises a connecting rod at the bottom, connecting rods at the two sides and a connecting rod at the top, which are mutually hinged, the connecting rods at the bottom of the four-bar mechanism at the lowest layer are bases, the connecting rods at the two sides of the four-bar mechanism at the lowest layer are respectively hinged on the bases, one connecting rod is driven by the transmission gear, the connecting rod at the top of the four-bar mechanism at the lower layer is the bottom connecting rod of the four-bar mechanism at the upper layer, the top connecting rod of the four-bar mechanism at the uppermost layer is the tail end clamping hand, the transmission gear is meshed with the transmission rack, the transmission rack is driven by a driving mechanism, and the driving mechanism is fixed on the bases.
The single finger comprises a first driving rod, a second driving rod, a third driving rod, a first telescopic rod, a second telescopic rod, a third telescopic rod, a first transmission rod and a second transmission rod; one end of the first driving rod is hinged on the base and is rigidly connected to the transmission gear, the other end of the first driving rod is hinged with the first transmission rod and the second driving rod, the other end of the second driving rod is hinged with the third driving rod and the second transmission rod, and the other end of the third driving rod is hinged with the tail end clamp; one end of the first telescopic rod is hinged with the base, and the other end of the first telescopic rod is hinged with the second telescopic rod and the first transmission rod; the other end of the second telescopic rod is hinged with the third telescopic rod and the second transmission rod; the other end of the third telescopic rod is hinged with the tail end clamping hand; the first driving rod, the first transmission rod, the first telescopic rod and the base form a bottommost four-bar mechanism, the second driving rod, the second transmission rod, the second telescopic rod and the first transmission rod form a middle-layer four-bar mechanism, and the third driving rod, the tail end clamping hand, the third telescopic rod and the second transmission rod form an uppermost four-bar mechanism.
The power sources among the three-layer four-bar mechanism are a first driving bar, a second driving bar and a third driving bar respectively.
The gear transmission mechanism is arranged between the first driving rod and the second driving rod and between the second driving rod and the third driving rod respectively and comprises an internal gear and an external gear which are meshed with each other, the first driving rod is meshed with the second driving rod through the internal gear and the external gear, and the second driving rod is meshed with the third driving rod through the internal gear and the external gear. The power is transmitted through the meshing of the internal gear and the external gear, and acceleration and deceleration are realized in a fixed transmission ratio.
Torsion springs or tension springs are respectively arranged between the first telescopic rod and the first transmission rod, between the second telescopic rod and the second transmission rod and between the third telescopic rod and the tail end clamping hand. The relative position between the two rods is kept fixed, and when the relative rotation separation moment of the four-rod mechanism is larger than the closing moment of the torsion spring or the tension spring, the relative rotation is generated, so that the connection of the metamorphic mechanism is realized.
Elastic mechanisms are respectively arranged on the first telescopic rod, the second telescopic rod and the third telescopic rod, each elastic mechanism is an elastic compression piece, each telescopic rod is divided into an upper section and a lower section, and the elastic compression pieces are used for connecting the upper section and the lower section of each corresponding telescopic rod. When the product is held by hand, if the product size is smaller, the grabbing mechanism is continuously closed inwards, and the elastic compression piece is contained in the first telescopic rod, the second telescopic rod and the third telescopic rod, so that the self-adaptive adjustment of the rod length can be realized under the action of holding with force, and the rod length is shortened in real time, so that the product can be effectively clamped in the face of occasions needing to be held or in the face of products with relatively small clamping objects.
The elastic compression mechanism is an elastic compression piece, each transmission rod is divided into an upper section and a lower section, and the elastic compression piece is used for connecting the upper section and the lower section corresponding to each transmission rod.
The outside of the elastic mechanism on the first telescopic link, the second telescopic link and the third telescopic link is also provided with an extension part, the extension part comprises an outer cavity and an air hole, the outer cavity is fixed on the outer wall of the corresponding elastic mechanism, the air hole is arranged on the outer cavity and is communicated with compressed gas, and the elastic mechanism is positioned in the outer cavity. When the elastic mechanism on the telescopic rod is compressed, the gas in the outer cavity is compressed, so that the outer cavity is driven to expand, and the grabbing is more flexible.
The outer cavity is a rubber product. The self-adaptive deformation is realized in combination with the shape of the gripped object, and as a result, the contact area with the gripped object becomes larger in the gripping process, the gripping is firmer and more reliable under the influence of the friction force between materials, and the process is similar to the effect of gripping an object by a human hand and the friction force between a fingerprint and the object.
The end clamp is wrapped with a flexible layer. The self-adaptive shape grabbing can be realized for articles with different shapes through elastic deformation.
And a touch array sensor is arranged on the tail end clamp. Accurate control can be achieved.
The grabbing mechanisms are multiple and symmetrically arranged or axially uniformly distributed along the center line of the driving mechanism. Any combination of the mechanical arms is possible.
Compared with the prior art, the invention has the following advantages: the invention is derived from simulating the grabbing of goods by human hands, analyzes different actions (such as grabbing, holding, pinching, and the like), combines the object-oriented diversity, achieves the effect of simulating the grabbing of different types of goods by human hands based on the theories of a multistage metamorphic mechanism, flexible grabbing, plastic materials, and the like, and has the characteristics of wide object-oriented range, self-adaptive flexibility, less driving, low cost, high grabbing reliability, and the like. The bionic flexible grabbing manipulator derived from the mechanism can achieve reliable grabbing of any object in different pose environments.
Drawings
FIG. 1 is an overall schematic of example 1;
FIG. 2 is a schematic diagram of a step-by-step transmission architecture based on active lever power;
FIG. 3 is a schematic diagram of a four bar mechanism based on the lowermost metamorphic hinge;
FIG. 4 is a schematic diagram of a four bar mechanism based on a middle layer metamorphic hinge;
FIG. 5 is a schematic diagram of a four bar mechanism based on the uppermost metamorphic hinge;
FIG. 6 is a schematic view of the expansion structure of the outer wall after the interior of the telescopic rod is compressed;
FIG. 7 is a schematic diagram of a thumb-like two-joint mechanism of example 2;
FIG. 8 is a schematic view showing the open state of the manipulator according to embodiment 3;
FIG. 9 is a schematic view showing a closed state of the manipulator according to embodiment 4;
FIG. 10 is a schematic view showing a gripping state of a manipulator according to embodiment 5;
FIG. 11 is a schematic view showing a kneading state of the thumb-containing material of example 6;
FIG. 12 is a schematic drawing of a gripping pencil;
fig. 13 is a schematic diagram of a multi-finger structure of embodiment 7;
FIG. 14 is a schematic diagram of the multi-fingered structure of example 8 with thumb.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Example 1
As shown in fig. 1 to 6, the present embodiment includes a driving mechanism 2, a base 1, and a grasping mechanism; the grabbing mechanism comprises a transmission gear 3, a transmission rack 13, a tail end clamping hand 7 and a single finger, wherein the single finger is provided with a three-layer four-bar mechanism and comprises a first driving bar 4, a second driving bar 5, a third driving bar 6, a first telescopic bar 8, a second telescopic bar 9, a third telescopic bar 10, a first transmission bar 11 and a second transmission bar 12; one end of the first driving rod 4 is hinged on the base 1 and is rigidly connected with the transmission gear 3, the other end of the first driving rod is hinged with the first transmission rod 11 and the second driving rod 5, the other end of the second driving rod 5 is hinged with the third driving rod 6 and the second transmission rod 12, and the other end of the third driving rod 6 is hinged with the tail end clamping hand 7; one end of the first telescopic rod 8 is hinged with the base 1, and the other end of the first telescopic rod is hinged with the second telescopic rod 9 and the first transmission rod 11; the other end of the second telescopic rod 9 is hinged with a third telescopic rod 10 and a second transmission rod 12; the other end of the third telescopic rod 10 is hinged with the tail end clamping hand 7; the first driving rod 4, the first transmission rod 11, the first telescopic rod 8 and the base 1 form a lowermost four-bar mechanism, the second driving rod 5, the second transmission rod 12, the second telescopic rod 9 and the first transmission rod 11 form a middle-layer four-bar mechanism, and the third driving rod 6, the tail end clamping hand 7, the third telescopic rod 10 and the second transmission rod 12 form an uppermost four-bar mechanism. The power sources among the three-layer four-bar mechanism are a first driving bar 4, a second driving bar 5 and a third driving bar 6 respectively.
The driving mechanism 2 is a linear motion mechanism and can be realized by selecting a driving motor, an air cylinder and the like.
And gear transmission mechanisms are respectively arranged between the first driving rod 4 and the second driving rod 5 and between the second driving rod 5 and the third driving rod 6, each gear transmission mechanism comprises an internal gear 18 and an external gear 19 which are meshed with each other, the first driving rod 4 and the second driving rod 5 are meshed with each other through the internal gear 18 and the external gear 19, and the second driving rod 5 and the third driving rod 6 are meshed with each other through the internal gear 18 and the external gear 19. The power is transmitted through the meshing of the internal gear 18 and the external gear 19, and acceleration and deceleration are achieved at a fixed gear ratio.
Torsion springs or tension springs are respectively arranged between the first telescopic rod 8 and the first transmission rod 11, between the second telescopic rod 9 and the second transmission rod 12 and between the third telescopic rod 10 and the tail end clamping hand 7. The relative position between the two rods is kept fixed, and when the relative rotation separation moment of the four-rod mechanism is larger than the closing moment of the torsion spring or the tension spring, the relative rotation is generated, so that the connection of the metamorphic mechanism is realized.
Elastic mechanisms are respectively arranged on the first telescopic rod 8, the second telescopic rod 9 and the third telescopic rod 10, the elastic mechanisms are elastic compression pieces 23, each telescopic rod is divided into an upper section and a lower section, and the elastic compression pieces 23 are used for connecting the upper section and the lower section of each corresponding telescopic rod. When the product is held by hand, if the product size is smaller, the grabbing mechanism continues to be closed inwards, and as the elastic compression piece 23 is arranged in the first telescopic rod 8, the second telescopic rod 9 and the third telescopic rod 10, the self-adaptive adjustment of the rod length can be realized under the action of holding with force, and the rod length is shortened in real time, so that the product can be effectively clamped in the face of occasions needing to be held or in the face of products with relatively small clamping objects.
Elastic mechanisms are respectively arranged on the first transmission rod 11 and the second transmission rod 12, the elastic mechanisms are elastic compression members 23, each transmission rod is divided into an upper section and a lower section, and the elastic compression members 23 are used for connecting the upper section and the lower section of each corresponding transmission rod.
The elastic mechanisms on the first telescopic rod 8, the second telescopic rod 9, the third telescopic rod 10, the first transmission rod 11 and the second transmission rod 12 are further provided with extension parts, the extension parts comprise outer cavities 21 and air holes 22, the outer cavities 21 are fixed on the outer walls of the corresponding elastic mechanisms, the air holes 22 are arranged on the outer cavities 21 and are communicated with compressed gas, and the elastic compression parts 23 are located inside the outer cavities 21.
The outer cavity 21 is a rubber-like product. The self-adaptive deformation is realized in combination with the shape of the gripped object, and as a result, the contact area with the gripped object becomes larger in the gripping process, the gripping is firmer and more reliable under the influence of the friction force between materials, and the process is similar to the effect of gripping an object by a human hand and the friction force between a fingerprint and the object.
The end clamp 7 is wrapped with a flexible layer. The self-adaptive shape grabbing can be realized for articles with different shapes through elastic deformation. The end clamp 7 is provided with a touch array sensor. Accurate control can be achieved.
When the drive mechanism 2 is in place or in unpowered, the fingers are opened. Since the relative positions between the first telescopic rod 8 and the first transmission rod 11, between the second telescopic rod 9 and the second transmission rod 12 and between the third telescopic rod 10 and the tail end clamping hand 7 are kept fixed through the torsion springs, the three groups of metamorphic hinge four-bar mechanisms formed by the structure can be equivalent to the three groups of rigid three-bar mechanisms, the characteristics of keeping the relative positions unchanged are achieved, and at the moment, the whole mechanism is kept difficult to deform. The finger is closed by the driving mechanism 2 to drive the transmission rack 13 to do linear motion, the transmission gear 3 is meshed to realize rotation, and the first driving rod 4 is driven due to the rigid connection of the transmission gear 3 and the first driving rod 4, so that when the relative rotation separation moment is larger than the closing moment of the torsion spring at the joint C, the four-bar mechanism of the metamorphic hinge at the lowest layer can generate relative rotation. At this time, the first driving rod 4 rotates relatively to the joint B, the second driving rod 5 generates torque relatively to the joint B through the meshing of the internal gear 18 and the external gear 19, and when the relative rotation separation torque is greater than the closing torque of the torsion spring at the joint F, the middle layer metamorphic hinge four-bar mechanism rotates relatively as the first driving rod 4. In the same way, at this time, the second driving rod 5 rotates relatively to the joint E, the third driving rod 6 generates torque relatively to the joint E through the meshing of the internal gear 18 and the external gear 19, and when the relative rotation separation torque is greater than the closing torque of the torsion spring at the joint H, the four-bar mechanism of the metamorphic hinge at the uppermost layer rotates relatively. So far, the whole finger realizes the grabbing action under the drive of single power.
Example 2
As shown in fig. 7, the single finger of the present embodiment has a two-layer four-bar mechanism, which can simulate the thumb joint, and when the thumb joint forms a manipulator, the power is driven independently, and the driving mechanism is the same as the three-joint structure of embodiment 1, and the advantage of independent driving is: when picking up objects in special occasions, the finger can be driven to move step by step, and the requirements of different scenes are better met.
Other embodiments are the same as in example 1.
Example 3
As shown in fig. 8, the gripping mechanisms of the present embodiment are provided in two, symmetrically arranged along the center line of the driving mechanism 2, and the structure of a single finger is the same as that of embodiment 1. Under the action of the same driving mechanism 2, two transmission gears 3 are driven simultaneously to realize parallel movement.
Other embodiments are the same as in example 1.
Example 4
As shown in fig. 9, this embodiment is a normal state in which two three-joint fingers are closed. When the product is held by hand, if the product size is smaller, the mechanism continues to be closed inwards, and as the elastic compression piece 23 is contained in the first telescopic rod 8, the second telescopic rod 9 and the third telescopic rod 10, the self-adaptive adjustment of the rod length can be realized under the action of 'holding with force', and the rod length is shortened in real time, so that the mechanism can also be effectively clamped in the face of occasions needing to be held or in the face of products with relatively small clamping objects.
Other embodiments are the same as in example 1.
Example 5
As shown in fig. 10, the present embodiment is a schematic structural view in a state of two tri-joint finger grip. With reference to fig. 6, since the expansion rod is compressed by the gas in the compression rod, the gas is filled into the outer cavity 21 through the gas hole 22, and the outer cavity 21 is a butadiene rubber product, a certain amount of expansion can be realized. The dashed line in fig. 10 indicates the position after inflation of the outer chamber 21. The self-adaptive deformation is realized in combination with the shape of the gripped object, and as a result, the contact area with the gripped object becomes larger in the gripping process, the gripping is firmer and more reliable under the influence of the friction force between materials, and the process is similar to the effect of gripping an object by a human hand and the friction force between a fingerprint and the object.
Other embodiments are the same as in example 1.
Example 6
As shown in fig. 11 and 12, the present embodiment is a cooperation between the bionic thumb joint and the three-joint structure, which can achieve the kneading effect. In addition to "holding" and "pinching" the product, the present embodiment may also try to "pinch" the product, similar to a human hand pinching an object from a table. Taking pencil 20 as an example, as shown in fig. 12, by wrapping a flexible material around the outer surface of end grip 7, the self-adaptive shape gripping is achieved by elastic deformation. Meanwhile, the end clamp 7 can be precisely controlled by a touch array sensor (a force sensor and the like).
Other embodiments are the same as in examples 1 and 2.
Example 7
As shown in fig. 13, the gripping mechanism of the present embodiment has three on the left side and one on the right side of the driving mechanism 2, and is of a three-joint structure.
Other embodiments are the same as in example 1.
Example 8
As shown in fig. 14, the grasping mechanism of the present embodiment has three-joint structures, one two-joint structure, on the left side of the driving mechanism 2.
Other embodiments are the same as in example 1.
In other embodiments, the gripping mechanism with more joints can be appropriately deformed according to actual needs.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. A bionic flexible grabbing manipulator based on a multistage metamorphic mechanism is characterized by comprising a driving mechanism, a base and at least one grabbing mechanism; the grabbing mechanism comprises a transmission gear, a transmission rack, a tail end clamping hand and a single finger, wherein the single finger comprises at least two layers of four-bar mechanisms, each four-bar mechanism comprises a connecting rod at the bottom, connecting rods at the two sides and a connecting rod at the top, which are mutually hinged, the connecting rod at the bottom of the four-bar mechanism at the lowest layer is a base, the connecting rods at the two sides of the four-bar mechanism at the lowest layer are respectively hinged on the base, one connecting rod at one side is driven by the transmission gear, the connecting rod at the top of the four-bar mechanism at the lower layer is the bottom connecting rod of the four-bar mechanism at the upper layer, the top connecting rod of the four-bar mechanism at the uppermost layer is the tail end clamping hand, the transmission gear is meshed with the transmission rack, the transmission rack is driven by a driving mechanism, and the driving mechanism is fixed on the base;
when the single finger is a three-layer four-bar mechanism, the single finger comprises a first driving bar, a second driving bar, a third driving bar, a first telescopic bar, a second telescopic bar, a third telescopic bar, a first transmission bar and a second transmission bar; one end of the first driving rod is hinged on the base and is rigidly connected to the transmission gear, the other end of the first driving rod is hinged with the first transmission rod and the second driving rod, the other end of the second driving rod is hinged with the third driving rod and the second transmission rod, and the other end of the third driving rod is hinged with the tail end clamp; one end of the first telescopic rod is hinged with the base, and the other end of the first telescopic rod is hinged with the second telescopic rod and the first transmission rod; the other end of the second telescopic rod is hinged with the third telescopic rod and the second transmission rod; the other end of the third telescopic rod is hinged with the tail end clamping hand; the first driving rod, the first transmission rod, the first telescopic rod and the base form a lowest-layer four-rod mechanism, the second driving rod, the second transmission rod, the second telescopic rod and the first transmission rod form a middle-layer four-rod mechanism, the third driving rod, the tail end clamping hand, the third telescopic rod and the second transmission rod form an uppermost-layer four-rod mechanism, and the first telescopic rod, the second telescopic rod and the third telescopic rod are respectively provided with an elastic mechanism; the gear transmission mechanism is arranged between the first driving rod and the second driving rod and between the second driving rod and the third driving rod respectively and comprises an internal gear and an external gear which are meshed with each other, the first driving rod is meshed with the second driving rod through the internal gear and the external gear, and the second driving rod is meshed with the third driving rod through the internal gear and the external gear.
2. The bionic flexible grabbing manipulator based on the multistage metamorphic mechanism, which is disclosed in claim 1, is characterized in that torsion springs or tension springs are respectively arranged between the first telescopic rod and the first transmission rod, between the second telescopic rod and the second transmission rod, and between the third telescopic rod and the tail end clamping hand.
3. The bionic flexible grabbing mechanical arm based on the multistage metamorphic mechanism according to claim 1, wherein the elastic mechanism is an elastic compression piece, each telescopic rod is divided into an upper section and a lower section, and the elastic compression piece is used for connecting the upper section and the lower section of each telescopic rod.
4. The bionic flexible grabbing mechanical arm based on the multistage metamorphic mechanism, according to claim 1, is characterized in that elastic mechanisms are respectively arranged on the first transmission rod and the second transmission rod, the elastic mechanisms are elastic compression pieces, each transmission rod is divided into an upper section and a lower section, and the elastic compression pieces are used for connecting the upper section and the lower section of each corresponding transmission rod.
5. The bionic flexible grabbing mechanical arm based on the multistage metamorphic mechanism according to claim 3, wherein the elastic mechanisms on the first telescopic rod, the second telescopic rod and the third telescopic rod are further provided with extension parts, the extension parts comprise outer cavities and air holes, the outer cavities are fixed on the outer walls of the corresponding elastic mechanisms, the air holes are formed in the outer cavities and communicated with compressed air, and the elastic mechanisms are located in the outer cavities.
6. The bionic flexible grasping manipulator based on the multistage metamorphic mechanism of claim 1, wherein the terminal clamp is wrapped with a flexible layer.
7. The bionic flexible grabbing manipulator based on the multistage metamorphic mechanism of claim 6, wherein the tail end clamp is provided with a touch array sensor.
8. The bionic flexible grabbing manipulator based on the multistage metamorphic mechanism, according to claim 1, is characterized in that a plurality of grabbing mechanisms are arranged symmetrically left and right along the center line of the driving mechanism or are axially and uniformly distributed.
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| CN201710892720.7A CN107414841B (en) | 2017-09-27 | 2017-09-27 | Bionic flexible grabbing manipulator based on multistage metamorphic mechanism |
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| CN201710892720.7A CN107414841B (en) | 2017-09-27 | 2017-09-27 | Bionic flexible grabbing manipulator based on multistage metamorphic mechanism |
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| CN108262761A (en) * | 2017-12-27 | 2018-07-10 | 武汉科技大学 | Based on the change born of the same parents' hand design method for becoming born of the same parents' principle |
| CN108297083A (en) * | 2018-02-09 | 2018-07-20 | 中国科学院电子学研究所 | Mechanical arm system |
| CN108580791A (en) * | 2018-05-30 | 2018-09-28 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device |
| CN113319837B (en) * | 2021-06-29 | 2022-08-16 | 北京因时机器人科技有限公司 | Metamorphic mechanism, mechanical finger and mechanical dexterous hand |
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