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1. (WO2018196388) PALM TYPE MANIPULATOR WITH CRANK ROCKER SLIDER PARALLEL MECHANISM CAPABLE OF CHANGING AND ROTATING POSITIONS OF FINGERS

Pub. No.:    WO/2018/196388    International Application No.:    PCT/CN2017/115206
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Sat Dec 09 00:59:59 CET 2017
IPC: B25J 9/10
B25J 15/00
Applicants: JIANGNAN UNIVERSITY
江南大学
Inventors: ZHANG, Jun
章军
SHEN, Jian
沈坚
LV, Bing
吕兵
Title: PALM TYPE MANIPULATOR WITH CRANK ROCKER SLIDER PARALLEL MECHANISM CAPABLE OF CHANGING AND ROTATING POSITIONS OF FINGERS
Abstract:
A palm type manipulator with a dual-drive crank rocker slider parallel mechanism capable of changing and rotating positions of fingers. Crank rocker slider mechanisms are used; three identical flexible plate spring fingers (16) are selected; one of the fingers (16) is immobile; the other two fingers (16) do translational motion including both rotation and translation, and are respectively and symmetrically mounted on connecting rods (13) or rockers (11, 12) positioned at the left and right sides. The crank rocker slider mechanism at the left side is an active driving structure, and is separately driven by two stepping motors (8, 9) to produce angular displacement of cranks (17) and linear translation of sliders; the crank rocker slider mechanism at the right side is a driven mechanism, and is transmitted by a pair of gears (20, 28) at a constant speed, rotational angular displacement of the crank (17) at the left side being equal to that of the crank (17) at the right side; by manual adjustment, eccentric distances of the cranks (17), positions and angles of the two fingers (16) respectively positioned on the connecting rods (13) or the rockers (11, 12), and the position of the other fixed finger (16) can be changed. The manipulator has the advantages of big operation space, wide adaptability, low energy consumption and the like, and belongs to the fields of logistics conveying devices, manipulators, and robots.