Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods

A technology of robotic fingers and flexible parts, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of high manufacturing cost, small grasping range, and large mechanism volume, and achieve low manufacturing and maintenance costs and large grasping range , the effect of compact structure

Inactive Publication Date: 2016-05-18
TSINGHUA UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Its disadvantages are that the device adopts a very complex multi-link mechanism, which has a large dead zone

Method used

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  • Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods
  • Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods
  • Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods

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Example Embodiment

[0034] The specific structure and working principle of the present invention will be described in further detail below with reference to the drawings and embodiments.

[0035] An embodiment of the self-adaptive robot finger device designed by the present invention for a parallel flexible member connecting rod flat clamp, such as Figure 1 to Figure 7 As shown, it includes a base 1, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4, a distal joint shaft 5, and a driver 14; the driver 14 is fixed to the base 1; the proximal joint shaft 4 The center line of is parallel to the center line of the distal joint axis 5. This embodiment also includes a transmission mechanism, a first transmission wheel 6, a second transmission wheel 7, a flexible transmission member 8, a first swing rod 9, a second swing rod 10, a connecting rod 11, a first shaft 91, and a second shaft 92 , The bump dial 12, the spring 13 and the limit bump 18; the proximal joint shaft 4 is mov...

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Abstract

The invention belongs to the technical field of robot hands and discloses a parallel connection type parallel-clamping and self-adapting robot finger device with a flexible part and connection rods. The device comprises a base, two finger sections, two joint shafts, a driver, the flexible drive part, two drive wheels, the multiple connection rods, a protrusion block drive plate, a spring part and a limiting protrusion block. The device realizes the parallel clamping and self-adapting grabbing functions through the comprehensive effect of the driver, a closed loop flexible part drive mechanism, a parallel four connection rod drive mechanism, the spring part, the protrusion block drive plate and the limiting protrusion block; according to the different shapes and positions of target objects, the second finger section can be horizontally moved for pinching the objects or extending outwards for supporting the objects, and the first finger section and the second finger section can be sequentially rotated for enveloping the objects of different shapes and sizes; the grabbing range is wide; by adopting the under-drive mode, one driver is used for driving two joints, and complicated sensing and control systems are not needed. In addition, the device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for the robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a parallel flexible part connecting rod flat clip self-adaptive robot finger device. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. [0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. Pinch is to use the fingertips...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 张文增
Owner TSINGHUA UNIV
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