Self-adaptive robot finger device with function of parallel clamping realized by gear transmission and flexible member transmission

A technology of robot fingers and flexible transmission 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. Big, compact effect

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

AI Technical Summary

Problems solved by technology

Its disadvantages are that the device adopts a very complex multi-link mechanism, which has a large dead zone in the movement, a small grasping range, a large mechanism, lack of flexibility, and high manufacturing costs.

Method used

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  • Self-adaptive robot finger device with function of parallel clamping realized by gear transmission and flexible member transmission
  • Self-adaptive robot finger device with function of parallel clamping realized by gear transmission and flexible member transmission
  • Self-adaptive robot finger device with function of parallel clamping realized by gear transmission and flexible member transmission

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Embodiment Construction

[0045] 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.

[0046] An embodiment of the gear flexible part transmission flat clamp self-adaptive robot finger device designed by the present invention, as Figure 1 to Figure 10 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 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 gear 6, a second gear 7, a gear set 8, a first transmission wheel 9, a second transmission wheel 10, a flexible transmission member 11, a bump dial 12, and a first spring member 13 , the second spring 19 and the limit projection 18; the proximal joint shaft 4 is movably sleev...

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Abstract

The invention discloses a self-adaptive robot finger device with a function of parallel clamping realized by gear transmission and flexible member transmission, and belongs to the technical field of robot hands. The self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission member, a transmission wheel, a gear, a lug shifting disc, two springs, a limit lug and the like. The device realizes functions of parallel clamping and self-adaptive grabbing by virtue of the integration of the driver, a flexible member transmission mechanism, a gear transmission mechanism, the two springs, the lug shifting disc, the limit lug and the like, and according to the difference of the shapes and the positions of target objects, the second finger section can be translated to grip or support outwards the objects, and the first finger section and the second finger section can also be sequentially rotated to envelope the objects with different shapes and sizes; the device has a large grabbing range; two joints are driven by virtue of one driver in an under-drive manner, without the need of complex sensing and control systems; and the device is compact in structure, small in size, low in manufacturing and maintenance costs, and suitable for a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a gear flexible part transmission 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 of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02
CPCB25J15/0009B25J15/0213B25J15/0233
Inventor 张文增
Owner TSINGHUA UNIV
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