Three-finger mechanical paw

Abstract

The invention discloses a three-finger mechanical paw and belongs to the technical field of robots. The three-finger mechanical paw comprises three fingers and a palm. The two side faces of the palm form a right angle, wherein one finger is installed on one side face, and two fingers are installed on the other side face. Each finger is provided with three segments of finger joints which are connected through three joints, and each finger joint can be bent by 0-90 degrees around the corresponding joint. Each finger joint is bent under driving of one flexible rope, and resetting straightening of each finger joint is driven by a spring. When the fingers are sleeved with rubber sleeves, friction force can be increased, article grasping is more stable, and the fingers are more close to human fingers in appearance. When the mechanical paw is used for grasping articles, the mechanical paw can be in various states, articles within a large size range can be grasped, the 100-milimeter-long fingers in the embodiment can be used for grasping articles with the length of 5-150 mm, the three-finger mechanical paw can adapt to articles in various shapes such as a cylinder, a prism, a sphere and an irregular shape.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to mechanical claws. Background technique [0002] In order to achieve the function of grabbing objects, the existing robotic grippers are usually designed as two-finger (two-claw) planar mechanisms and linear drives for specific sizes and specific shapes of objects to be grasped. However, this kind of mechanical claw has shortcomings: (1) it cannot adapt to a wide range of sizes of objects to be grasped, such as the size of 5mm to 200mm; (2) it cannot adapt to objects of various shapes, such as cylindrical, prismatic, spherical, and irregular shape. In order to achieve more complex actions, the mechanical gripper is often designed to have a complex structure, a large volume, and a large number of drive shafts. In the working environment of robots, especially the working environment of service robots, it is not necessary to handle fixed objects like the production line, but to grab...

AI Technical Summary

Problems solved by technology

However, this kind of mechanical claw has shortcomings: (1) it cannot adapt to a wide range of sizes of objects to be grasped, such as the size of 5mm to 200mm; (2) it cannot adapt to objects of various shapes, such as cylindrical, prismatic, spherical, and irregular shape

In order to achieve more complex actions, the mechanical gripper is often designed to have a complex structure, a large volume, and a large number of drive shafts.

In the working environment of the robot, especially the working environment of the service robot, it is not necessary to deal with fixed objects like the production line, but to grab objects of various sizes and shapes, and it is hoped that the gripper itself is small and easy to drive , the existing mechanical grippers often cannot meet the requirements

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