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Parallel flexible component parallel clamping type adaptive robot finger device

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: 2016-06-01
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 complicated pure link mechanism, there is a large dead zone in the movement, the grasping range is small, the mechanism is bulky, lacks flexibility, and the manufacturing cost is too high

Method used

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  • Parallel flexible component parallel clamping type adaptive robot finger device
  • Parallel flexible component parallel clamping type adaptive robot finger device
  • Parallel flexible component parallel clamping type adaptive robot finger device

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Experimental program
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Embodiment Construction

[0040] 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.

[0041] A kind of embodiment of the flat clip self-adaptive robot finger device of the parallel flexible part that the present invention designs, 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 transmission wheel 6, a second transmission wheel 7, a first flexible member 8, a third transmission wheel 9, a fourth transmission wheel 10, a second flexible member 11, a bump dial 12, The first finger segment protrusion 25, the first spring member 13, the second sprin...

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Abstract

A parallel flexible component parallel clamping type adaptive robot finger device belongs to the technical field of robot hands. The parallel flexible component parallel clamping type adaptive robot finger device comprises a chassis, two finger sections, two joint shafts, a driver, two flexible components, four driving wheels with reasonably arranged radii, a lug dial, two spring components and two limit lugs. The device comprehensively realizes parallel clamping and universal grabbing functions. According to different target object shapes and positions, the second finger sections can move in parallel so as to pinch objects, and the first finger sections and the second finger sections can also be sequentially rotated so as to envelop objects in different shapes and sizes. The grabbing range of the device is large. Due to the adoption of an underactuation mode, two joints are driven by utilizing one driver, and complicated sensing and control systems are not required. The device is compact in structure, small in size, low in manufacture and maintenance costs and suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a flat clip adaptive robot finger device of parallel flexible parts. 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. However, the traditional underactuated robot hand mostly uses the second flexible part mechanism. Due to the limitation of the mechanism, the finger segment ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J15/0009B25J15/08
Inventor 张文增
Owner TSINGHUA UNIV
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