CN114407062A - Chuck type manipulator with replaceable fingers - Google Patents

Chuck type manipulator with replaceable fingers Download PDF

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Publication number
CN114407062A
CN114407062A CN202210233184.0A CN202210233184A CN114407062A CN 114407062 A CN114407062 A CN 114407062A CN 202210233184 A CN202210233184 A CN 202210233184A CN 114407062 A CN114407062 A CN 114407062A
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China
Prior art keywords
knuckle
plate
chuck
hydraulic cavity
main shaft
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Pending
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CN202210233184.0A
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Chinese (zh)
Inventor
章星宇
董桂丽
吴仲可
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Zhejiang Lover Health Science and Technology Development Co Ltd
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Zhejiang Lover Health Science and Technology Development Co Ltd
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Priority to CN202210233184.0A priority Critical patent/CN114407062A/en
Publication of CN114407062A publication Critical patent/CN114407062A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a chuck type manipulator with replaceable fingers, which comprises a chuck main shaft (1) connected with a motor, wherein a circular mounting shell (2) with an open top is arranged on the chuck main shaft (1), a mounting guide rail (3) is arranged on the side wall of an inner cavity of the mounting shell (2), and a sector mounting port (4) communicated with the inner cavity of the mounting shell (2) is arranged on one side of the mounting shell (2); an electromagnet (5) is arranged at the end part of the chuck main shaft (1), an annular magnetic pressing plate (6) is sleeved on the chuck main shaft (1) below the electromagnet (5), a reset spring (7) is arranged between the top of the magnetic pressing plate (6) and the side surface of the chuck main shaft (1), and a top block (27) corresponding to the magnetic pressing plate is arranged below the magnetic pressing plate (6); the invention can flexibly adjust the number of the grabbing fingers so as to adjust the grabbing precision, and each grabbing finger is provided with a plurality of movable parts, so the profile adaptability is strong.

Description

Chuck type manipulator with replaceable fingers
Technical Field
The invention relates to the field of manipulators, in particular to a chuck type manipulator with replaceable fingers.
Background
In recent years, various types of robots have been developed, and robots of different shapes have been used in various fields such as industrial production, logistics transportation, and emergency rescue and relief work. However, most of the existing mechanical arms have fixed numbers of gripping fingers, when an object with a complex surface needs to be gripped, the problem of low gripping precision exists, and the gripping fingers only have a single joint and can be used for rotation, so that the contour adaptability is poor, and the application scene is single.
Disclosure of Invention
The invention aims to provide a chuck type manipulator with replaceable fingers. The invention can flexibly adjust the number of the grabbing fingers so as to adjust the grabbing precision, and each grabbing finger is provided with a plurality of movable parts, so the profile adaptability is strong.
The technical scheme of the invention is as follows: a chuck type manipulator with replaceable fingers comprises a chuck main shaft connected with a motor, wherein a circular mounting shell with an open top is arranged on the chuck main shaft, a mounting guide rail is arranged on the side wall of an inner cavity of the mounting shell, and a fan-shaped mounting opening communicated with the inner cavity of the mounting shell is formed in one side of the mounting shell; an electromagnet is arranged at the end part of the chuck main shaft, an annular magnetic pressing plate is sleeved on the chuck main shaft below the electromagnet, a return spring is arranged between the top of the magnetic pressing plate and the side surface of the chuck main shaft, and a top block corresponding to the magnetic pressing plate is arranged below the magnetic pressing plate; the chuck main shaft is provided with a transmission main gear which is fixedly connected and positioned at the bottom of the inner cavity of the mounting shell; the inner cavity of the mounting shell is provided with a plurality of unit finger mechanisms, each unit finger mechanism comprises a fan-shaped fixing plate arranged between a magnetic pressing plate and a jacking block, the fixing plates are matched with the mounting guide rails and the magnetic pressing plates, the bottom surface of each fixing plate is provided with a transversely arranged worm motor, one side of each worm motor is provided with a worm wheel rotatably connected with the fixing plate, and the worm wheels are meshed with the output end of the worm motor and a transmission master gear; a first knuckle is rotatably connected to the top surface of the fixing plate, a first hydraulic cavity is formed in the fixing plate below the first knuckle, and a first acting plate located in the first hydraulic cavity is arranged at the bottom of the first knuckle; the top of the first knuckle is provided with a second knuckle which is rotatably connected, a second hydraulic cavity is arranged on the first knuckle below the second knuckle, and the bottom of the second knuckle is provided with a second action plate positioned in the second hydraulic cavity; a third hydraulic cavity is formed in the top of the second knuckle, a telescopic plate in sliding connection is arranged in the third hydraulic cavity, and a third knuckle is arranged at the end of the telescopic plate; and the first hydraulic cavity, the second hydraulic cavity and the third hydraulic cavity are all connected with a liquid pump.
In foretell chuck type manipulator of interchangeable finger, the magnetism clamp plate includes the annular atress board with chuck main shaft sliding connection, and the outward flange department of annular atress board is equipped with the side cardboard that sets up downwards, has the block clearance between side cardboard and the chuck main shaft side, the interior edge department of fixed plate is equipped with the interior plywood that agrees with mutually with the block clearance.
In the chuck type manipulator with the replaceable fingers, the radian of the fan-shaped mounting opening is greater than or equal to that of the fixed plate; the radian of the fixing plate is less than or equal to 30 degrees.
In the chuck-type manipulator with the replaceable fingers, the inner side surfaces of the first knuckle, the second knuckle and the third knuckle are all provided with the pressure sensing modules.
Compared with the prior art, the invention has the following beneficial effects:
1. a circular mounting shell with an open top is arranged on a chuck spindle, a mounting guide rail is arranged on the side wall of an inner cavity of the mounting shell, and a fan-shaped mounting opening communicated with the inner cavity of the mounting shell is formed in one side of the mounting shell; an electromagnet is arranged at the end part of the chuck main shaft, an annular magnetic pressing plate is sleeved on the chuck main shaft below the electromagnet, a return spring is arranged between the top of the magnetic pressing plate and the side surface of the chuck main shaft, and a top block corresponding to the magnetic pressing plate is arranged below the magnetic pressing plate; the chuck main shaft is provided with a transmission main gear which is fixedly connected and positioned at the bottom of the inner cavity of the mounting shell; the inner cavity of the mounting shell is provided with a plurality of unit finger mechanisms, each unit finger mechanism comprises a fan-shaped fixing plate arranged between a magnetic pressing plate and a jacking block, the fixing plates are matched with the mounting guide rails and the magnetic pressing plates, the bottom surface of each fixing plate is provided with a transversely arranged worm motor, one side of each worm motor is provided with a worm wheel rotatably connected with the fixing plate, and the worm wheels are meshed with the output end of the worm motor and a transmission master gear; when the current number of unit finger mechanisms cannot meet the use requirement, the electromagnet is started, the magnetism of the electromagnet can attract the magnetic pressing plate to move upwards, so that the space below the electromagnet is enlarged, a new unit finger mechanism is placed in the fan-shaped mounting port at the moment, the outer end of the fixing plate is ensured to be clamped into the mounting guide rail during insertion, the inner end of the fixing plate is positioned between the magnetic pressing plate and the top block, meanwhile, the bottom worm wheel is ensured to be meshed with the transmission main gear, then the electromagnet is closed, the extruded reset spring is restored to deform to drive the magnetic pressing plate to move downwards and extrude the mounting plate, and the top block is matched to form reliable upper and lower limit on the mounting plate; the worm motor is started, the worm motor drives the worm wheel to rotate, the worm wheel can move along the transmission master gear through rotation, so that the distance between adjacent unit finger mechanisms can be flexibly adjusted, and the unit finger mechanisms can be kept fixed under the self-locking action between the worm wheel and the worm when the worm motor stops working; when the unit finger mechanism needs to be reduced, the unit finger mechanism only needs to be taken out of the mounting port, the number can be flexibly adjusted, different grabbing precision is obtained, and the practicability and the use convenience are good.
2. The top surface of a fixing plate is provided with a first knuckle in rotary connection, the fixing plate below the first knuckle is provided with a first hydraulic cavity, and the bottom of the first knuckle is provided with a first acting plate positioned in the first hydraulic cavity; the top of the first knuckle is provided with a second knuckle which is rotatably connected, a second hydraulic cavity is arranged on the first knuckle below the second knuckle, and the bottom of the second knuckle is provided with a second action plate positioned in the second hydraulic cavity; a third hydraulic cavity is formed in the top of the second knuckle, and a third knuckle in sliding connection is arranged in the third hydraulic cavity; the first hydraulic cavity, the second hydraulic cavity and the third hydraulic cavity are all connected with a liquid pump; pressurizing the first hydraulic cavity, wherein the pressure of the liquid pushes the first acting plate to move so as to drive the first knuckle to rotate, and the pressure is reduced so as to enable the first knuckle to rotate in the opposite direction; pressurizing the second hydraulic cavity, wherein the pressure of the liquid pushes the second action plate to move so as to drive the second knuckle to rotate, and the pressure is reduced so as to enable the second knuckle to move in the opposite direction; pressurizing the third hydraulic cavity, wherein the pressure of the liquid pushes the expansion plate to move, so that the third knuckle moves outwards, and the third knuckle moves inwards under the pressure reduction; the form of the unit finger mechanism can be flexibly adjusted through the mutual matching of the first hydraulic cavity, the second hydraulic cavity and the third hydraulic cavity, so that the manipulator has better contour adaptability.
3. The magnetic pressure plate comprises an annular stress plate which is connected with a chuck spindle in a sliding manner, wherein a side clamping plate which is arranged downwards is arranged at the outer edge of the annular stress plate, a clamping gap is formed between the side clamping plate and the side surface of the chuck spindle, and an inner embedded plate which is matched with the clamping gap is arranged at the inner edge of a fixed plate; when the magnetism clamp plate extrudeed the fixed plate, the atress board forms spacing in the vertical side to the fixed plate, and then forms spacing on the horizontal plane in the embedded plywood embedding block clearance, only lean on the magnetism clamp plate alright fix with accomplishing, and effectively promote the reliability and the stationarity when snatching.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic illustration of an explosive structure of the present invention;
FIG. 3 is a schematic cross-sectional view of the present invention;
FIG. 4 is a schematic diagram of the construction of the unit finger mechanism of the present invention;
FIG. 5 is a schematic view of a worm motor and worm gear portion;
fig. 6 is a schematic structural view of the fixing plate and the magnetic pressing plate portion.
The labels in the figures are: 1-chuck spindle; 2-mounting the housing; 3, installing a guide rail; 4-mounting the opening; 5-an electromagnet; 6-magnetic pressing plate; 7-a return spring; 8-driving the main gear; 9-unit finger mechanism; 10-fixing the plate; 11-a worm motor; 12-a worm gear; 13-first knuckle; 14-a first hydraulic chamber; 15-a first action plate; 16-a second knuckle; 17-a second hydraulic chamber; 18-a second action plate; 19-a third hydraulic chamber; 20-a retractable plate; 21-third knuckle; 22-annular stress plate; 23-a snap gap; 24-interior plywood; 25-a pressure sensing module; 26-side snap plate; 27-top block.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Example (b): a chuck type manipulator with replaceable fingers is shown in attached figures 1 to 3 and comprises a chuck main shaft 1 connected with a motor, the motor drives the whole manipulator to rotate through the chuck main shaft 1 after being started, a circular mounting shell 2 with an open top is arranged on the chuck main shaft 1, a mounting guide rail 3 is arranged on the side wall of an inner cavity of the mounting shell 2, and a fan-shaped mounting opening 4 communicated with the inner cavity of the mounting shell 2 is formed in one side of the mounting shell 2; an electromagnet 5 is arranged at the end part of the chuck main shaft 1, an annular magnetic pressing plate 6 is sleeved on the chuck main shaft 1 below the electromagnet 5, a return spring 7 is arranged between the top of the magnetic pressing plate 6 and the side surface of the chuck main shaft 1, and a top block 27 corresponding to the magnetic pressing plate 6 is arranged below the magnetic pressing plate 6; the chuck main shaft 1 is provided with a transmission main gear 8 which is fixedly connected and positioned at the bottom of the inner cavity of the mounting shell 2; as shown in fig. 4 and 5, a plurality of unit finger mechanisms 9 are arranged in an inner cavity of the mounting shell 2, each unit finger mechanism 9 comprises a sector fixing plate 10 arranged between a magnetic pressing plate 6 and a top block 8, the fixing plate 10 is matched with the mounting guide rail 3 and the magnetic pressing plate 6, a transversely arranged worm motor 11 is arranged on the bottom surface of the fixing plate 10, one side of the worm motor 11 is provided with a worm wheel 12 rotatably connected with the fixing plate 10, the worm wheel 12 is meshed with the output end of the worm motor 11 and the transmission master gear 8, and the expansion spiral angle of the worm at the output end of the worm motor 11 is smaller than the friction angle contacted with the worm wheel 12, so that self-locking can be formed; a first knuckle 13 which is rotatably connected is arranged on the top surface of the fixing plate 10, a first hydraulic cavity 14 is arranged on the fixing plate 10 below the first knuckle 13, and a first acting plate 15 which is positioned in the first hydraulic cavity 14 is arranged at the bottom of the first knuckle 13; a second knuckle 16 which is rotatably connected is arranged at the top of the first knuckle 13, a second hydraulic cavity 17 is arranged on the first knuckle 13 below the second knuckle 16, and a second action plate 18 which is positioned in the second hydraulic cavity 17 is arranged at the bottom of the second knuckle 16; a third hydraulic cavity 19 is formed in the top of the second knuckle 16, a telescopic plate 20 in sliding connection is arranged in the third hydraulic cavity 19, and a third knuckle 21 is arranged at the end of the telescopic plate 20; the first hydraulic cavity 14, the second hydraulic cavity 17 and the third hydraulic cavity 19 are all connected with a liquid pump; as shown in fig. 6, the magnetic pressure plate 6 includes an annular force-bearing plate 22 slidably connected to the chuck spindle 1, a downward side clamping plate 26 is disposed at an outer edge of the annular force-bearing plate 22, a clamping gap 23 is formed between the side clamping plate 26 and a side surface of the chuck spindle 1, and an inner engaging plate 24 engaged with the clamping gap 23 is disposed at an inner edge of the fixing plate 10; the radian of the fan-shaped mounting opening 4 is greater than or equal to that of the fixing plate 10; the radian of the fixing plate 10 is 30 degrees, and at most 12 unit finger mechanisms 9 can be simultaneously arranged by means of the limiting action of the side clamping plates 26 and the stress plates 22; the inner side surfaces of the first knuckle 13, the second knuckle 16 and the third knuckle 21 are respectively provided with a pressure sensing module 25 for accurately acquiring pressure data, so that the internal pressures of the first hydraulic cavity 14, the second hydraulic cavity 17 and the third hydraulic cavity 19 can be conveniently adjusted.
The working principle is as follows: when the current number of unit finger mechanisms cannot meet the use requirement, the electromagnet is started, the magnetism of the electromagnet can attract the magnetic pressing plate to move upwards, so that the space below the electromagnet is enlarged, a new unit finger mechanism is placed in the fan-shaped mounting port at the moment, the outer end of the fixing plate is ensured to be clamped into the mounting guide rail during insertion, the inner end of the fixing plate is positioned between the magnetic pressing plate and the top block, meanwhile, the bottom worm wheel is ensured to be meshed with the transmission main gear, then the electromagnet is closed, the extruded reset spring is restored to deform to drive the magnetic pressing plate to move downwards and extrude the mounting plate, and the top block is matched to form reliable upper and lower limit on the mounting plate; the worm motor is started, the worm motor drives the worm wheel to rotate, the worm wheel can move along the transmission master gear through rotation, so that the distance between adjacent unit finger mechanisms can be flexibly adjusted, and the unit finger mechanisms can be kept fixed under the self-locking action between the worm wheel and the worm when the worm motor stops working; when the number of the unit finger mechanisms needs to be reduced, the unit finger mechanisms only need to be taken out of the mounting ports, the number can be flexibly adjusted, different grabbing precision can be obtained, and the practicability and the use convenience are good; pressurizing the first hydraulic cavity, wherein the pressure of the liquid pushes the first acting plate to move so as to drive the first knuckle to rotate, and the pressure is reduced so as to enable the first knuckle to rotate in the opposite direction; pressurizing the second hydraulic cavity, wherein the pressure of the liquid pushes the second action plate to move so as to drive the second knuckle to rotate, and the pressure is reduced so as to enable the second knuckle to move in the opposite direction; pressurizing the third hydraulic cavity, wherein the pressure of the liquid pushes the expansion plate to move, so that the third knuckle moves outwards, and the third knuckle moves inwards under the pressure reduction; the form of the unit finger mechanism can be flexibly adjusted through the mutual matching of the first hydraulic cavity, the second hydraulic cavity and the third hydraulic cavity, so that the manipulator has better contour adaptability. The grabbing comprises a shape recognition algorithm and an optimized grabbing posture algorithm; the shape recognition comprises the following specific steps: sorting labels 1-i are carried out on N fingers of the manipulator, and sorting labels 1-j are carried out on 3 knuckles on the fingers, (j is 1,2 and 3); the pressure sensing module on the knuckle can collect the pressure on the knucklePressure value and quaternion data, pressure value fijThe pressure value on the jth knuckle of the ith finger, and quaternion data (x)ij,yij,zij) Wherein x isijRepresents the component of the rotation axis of the jth knuckle of the ith finger in the X-axis direction, yijRepresents the component of the rotation axis of the jth knuckle of the ith finger in the y-axis direction, zijRepresenting the component of the rotation axis of the jth knuckle of the ith finger in the z-axis direction; converting quaternion into Euler angle to obtain Euler angle [ alpha ]ij βij γij]，αijRepresenting pitch angle, beta, of rotation about the x-axisijIndicating yaw angle, gamma, of rotation about the y-axisijRepresenting the roll angle of rotation about the z-axis, the conversion relation being
Figure BDA0003540866320000081
Obtaining an attitude transformation matrix R according to the Euler angle,
Figure BDA0003540866320000082
Figure BDA0003540866320000083
the attitude transformation matrix R comprises base vectors obtained by rotating the fingers along the directions of three axes, the knuckles rotate around the axes according to the limitation of a mechanical structure, the rotating shafts correspondingly obtain the pitch angles, so the base vectors obtained around the axes are the first row of the attitude matrix R to obtain the direction vectors of all the knuckles
Figure BDA0003540866320000084
And further through
Figure BDA0003540866320000085
Obtaining a module value; judgment of wijfijIf w isijfij>0, the knuckle is in effective contact with the object and generates pressure, and the pressure in the direction of the main axis is wijfij(ii) a If wijfijIf the finger joint is 0, the finger joint is not in effective contact with an object, the finger joint is in a suspended state, the hand grasping does not reach the optimal state, and the adjustment is needed; defining a knuckle convex factor cjWhen the same knuckle of all fingers generates effective pressure, i.e. any wijfijIs greater than 0; by passing
Figure BDA0003540866320000091
Obtaining a normal vector of coordinates on the knuckle based on the plane of the pressure sensor
Figure BDA0003540866320000092
By passing
Figure BDA0003540866320000093
Obtaining the included angle theta between two adjacent vectors and further obtaining
Figure BDA0003540866320000094
Convex factor
Figure BDA0003540866320000095
Convex factor c of current knucklej>When 0, the knuckle connecting line of all fingers is a convex curve, the corresponding object is convex on the contact surface, and the shape recognition algorithm is preferentially suitable for at least one knuckle convex factor cj>0 case; the specific steps of the algorithm for optimizing the gripping posture are as follows: a matrix of the tactile configuration is defined,
Figure BDA0003540866320000096
using PPT＝QΛQTCarrying out QR orthogonal decomposition to obtain a diagonal feature matrix Lambda,
Figure BDA0003540866320000097
(λ1>λ2>…>λN) In which PP isTEach column of Q is a mutually orthogonal eigenvector and a unit vector, and elements on the diagonal of the lambda are eigenvalues arranged from large to small; for the feature matrix Lambda obtained after orthogonal decomposition, each element LambdakIs sized to correspond to each handThe proportion of the force applied to the jth knuckle on the finger (k is 1,2, …, N), the value of N is less than or equal to 12, the knuckle corresponding to the smaller characteristic value plays a smaller role in gripping, the knuckles can be omitted according to an optimization strategy, the number of fingers is reduced, and the processing mode obtains the optimal number of fingers, and simultaneously obtains the finger subscript required to be omitted, namely the number of fingers is required to be removed; for convex continuous curved surface objects, a constraint optimization problem is defined to solve the least required hand index and the distribution angle of each finger to obtain the optimal gripping posture,
Figure BDA0003540866320000101
wherein, FfFor maximum static friction, mu is the sliding friction factor, omega is the constant basis vector modulus, K is the number of fingers determined after optimization, N is the number of fingers which can be reached most under mechanical constraint, (lambda)i-λi+1)2Indicating the pressure difference between adjacent fingers.

Claims (4)

1. The utility model provides a chuck type manipulator of interchangeable finger, includes chuck main shaft (1) that links to each other with the motor, its characterized in that: a circular mounting shell (2) with an open top is arranged on the chuck spindle (1), a mounting guide rail (3) is arranged on the side wall of an inner cavity of the mounting shell (2), and a fan-shaped mounting opening (4) communicated with the inner cavity of the mounting shell (2) is formed in one side of the mounting shell; an electromagnet (5) is arranged at the end part of the chuck main shaft (1), an annular magnetic pressing plate (6) is sleeved on the chuck main shaft (1) below the electromagnet (5), a reset spring (7) is arranged between the top of the magnetic pressing plate (6) and the side surface of the chuck main shaft (1), and a top block (27) corresponding to the magnetic pressing plate is arranged below the magnetic pressing plate (6); a transmission main gear (8) which is fixedly connected and is positioned at the bottom of the inner cavity of the mounting shell (2) is arranged on the chuck main shaft (1); the inner cavity of the mounting shell (2) is provided with a plurality of unit finger mechanisms (9), each unit finger mechanism (9) comprises a fan-shaped fixing plate (10) arranged between a magnetic pressing plate (6) and a top block (8), the fixing plates (10) are matched with the mounting guide rails (3) and the magnetic pressing plates (6), the bottom surfaces of the fixing plates (10) are provided with worm motors (11) transversely arranged, one sides of the worm motors (11) are provided with worm wheels (12) rotatably connected with the fixing plates (10), and the worm wheels (12) are meshed with the output ends of the worm motors (11) and the transmission master gear (8); a first knuckle (13) which is rotatably connected is arranged on the top surface of the fixing plate (10), a first hydraulic cavity (14) is arranged on the fixing plate (10) below the first knuckle (13), and a first acting plate (15) which is positioned in the first hydraulic cavity (14) is arranged at the bottom of the first knuckle (13); a second knuckle (16) in rotary connection is arranged at the top of the first knuckle (13), a second hydraulic cavity (17) is arranged on the first knuckle (13) below the second knuckle (16), and a second acting plate (18) positioned in the second hydraulic cavity (17) is arranged at the bottom of the second knuckle (16); a third hydraulic cavity (19) is formed in the top of the second knuckle (16), a telescopic plate (20) in sliding connection is arranged in the third hydraulic cavity (19), and a third knuckle (21) is arranged at the end of the telescopic plate (20); the first hydraulic cavity (14), the second hydraulic cavity (17) and the third hydraulic cavity (19) are all connected with a liquid pump.
2. The finger-exchangeable chuck-type manipulator according to claim 1, wherein: magnetic pressure board (6) including with chuck spindle (1) sliding connection's annular atress board (22), the outward flange department of annular atress board (22) is equipped with side cardboard (26) that set up downwards, has block clearance (23) between side cardboard (26) and chuck spindle (1) side, the interior edge department of fixed plate (10) is equipped with interior plywood (24) that agree with mutually with block clearance (23).
3. The finger-exchangeable chuck-type manipulator according to claim 2, wherein: the radian of the fan-shaped mounting opening (4) is greater than or equal to that of the fixing plate (10); the radian of the fixing plate (10) is less than or equal to 30 degrees.
4. The finger-exchangeable chuck-type manipulator according to claim 1, wherein: and the inner side surfaces of the first knuckle (13), the second knuckle (16) and the third knuckle (21) are respectively provided with a pressure sensing module (25).
CN202210233184.0A 2022-03-10 2022-03-10 Chuck type manipulator with replaceable fingers Pending CN114407062A (en)

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Application Number Priority Date Filing Date Title
CN202210233184.0A CN114407062A (en) 2022-03-10 2022-03-10 Chuck type manipulator with replaceable fingers

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115366138A (en) * 2022-09-16 2022-11-22 江苏财经职业技术学院 Automatic electric clamping robot who changes

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115366138A (en) * 2022-09-16 2022-11-22 江苏财经职业技术学院 Automatic electric clamping robot who changes
CN115366138B (en) * 2022-09-16 2023-04-28 江苏财经职业技术学院 Automatic change electric centre gripping robot

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