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Closed loop parallel-clamping and self-adapting robot finger device with connection rods and flexible part

A technology of robot fingers and flexible parts, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of difficult end-to-end parallel clamping and grasping effect, and achieve compact structure, large grasping range, and low manufacturing and maintenance costs. Effect

Inactive Publication Date: 2016-05-18
TSINGHUA UNIV
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  • Summary
  • Abstract
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AI Technical Summary

Problems solved by technology

The disadvantages of the underactuated mechanical finger device are: the fingers are always in a straight state before they touch the object, and the grasping method is mainly the gripping method, which makes it difficult to achieve a better end-parallel gripping effect

Method used

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  • Closed loop parallel-clamping and self-adapting robot finger device with connection rods and flexible part
  • Closed loop parallel-clamping and self-adapting robot finger device with connection rods and flexible part
  • Closed loop parallel-clamping and self-adapting robot finger device with connection rods and flexible part

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Embodiment Construction

[0036] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0037] An embodiment of the flat clip adaptive robot finger device of the connecting rod closed-loop flexible part designed by the present invention, such as Figure 1 to Figure 10As 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 fixedly connected to the base 1; the proximal joint shaft 4 The centerline of is parallel to the centerline of distal joint axis 5. This embodiment also includes a transmission mechanism, a first transmission rod 6, a second transmission rod 7, a third transmission rod 8, a first shaft 61, a second shaft 62, a first transmission wheel 9, a second transmission wheel 10, The flexible transmission member 11, the bump dial 12, the spring member 13 and the li...

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Abstract

The invention belongs to the technical field of robot hands and discloses a closed loop parallel-clamping and self-adapting robot finger device with connection rods and a flexible part. The device comprises a base, two finger sections, two joint shafts, a driver, three drive rods, two drive wheels, the flexible drive part, 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, connection rod drive mechanisms, a closed loop flexible part 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 flat clip adaptive robot finger device of a connecting rod closed-loop flexible part. 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 fingert...

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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