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Flexible piece fluid parallel-clamping self-adaptive robot finger device

A robot finger and self-adaptive technology, 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: 2016-06-08
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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  • Flexible piece fluid parallel-clamping self-adaptive robot finger device
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  • Flexible piece fluid parallel-clamping self-adaptive robot finger device

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Experimental program
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Embodiment Construction

[0050] 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.

[0051] An embodiment of the flexible part fluid flat clip self-adaptive robot finger device designed by the present invention, such 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 flexible transmission member 8, a first flexible tube 9, a second flexible tube 10, a fluid 11, a bump dial 12, and a first finger section Protruding block 25, first spring member 13, second spring member 19, first limiting protr...

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Abstract

The invention belongs to the technical field of robot hands, and relates to a flexible piece fluid parallel-clamping self-adaptive robot finger device. The flexible piece fluid parallel-clamping self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, two transmission wheels, two flexible pipes, fluid, a convex block driving plate, two spring pieces, two limiting convex blocks and the like. According to the device, the functions of parallel clamping and general grabbing are comprehensively achieved, and according to the different shapes and positions of target objects, the second finger section can do translational motion to hold the objects, and the first finger section and the second finger section can be sequentially rotated to cover the objects different in shape and size. The device is wide in grabbing range. An under-actuation manner is adopted, the driver is used for driving two joints, and no complex sensing and controlling system is needed. 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 fluid flat clip adaptive robot finger device of a 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. However, traditional underactuated robotic hands mostly use fluid mechanisms. Due to the limitations of the mechanism, the finger segment has an extreme position...

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