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Self-adaptation robot finger device achieving flexible piece and gear parallel clamping

A robotic finger and self-adaptive technology, applied in the direction of manipulators, program-controlled manipulators, chucks, 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: 2016-07-20
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-adaptation robot finger device achieving flexible piece and gear parallel clamping
  • Self-adaptation robot finger device achieving flexible piece and gear parallel clamping
  • Self-adaptation robot finger device achieving flexible piece and gear parallel clamping

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Embodiment Construction

[0042] 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.

[0043] An embodiment of the flexible part gear flat clip 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 driving gear 9, a driven gear 10, a gear set 11, a bump dial 12, and a first finger segment bump 25. The first spring member 13, the second spring member 19, the first limit protrusion 181 and the seco...

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Abstract

The invention discloses a self-adaptation robot finger device achieving flexible piece gear parallel clamping, and belongs to the technical field of robot hands. The self-adaptation robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a transmission wheel, a gear, a protruding block drive plate, two spring pieces, two limiting protruding blocks and the like. According to the device, the function of parallel clamping and the function of universal grabbing are comprehensively achieved, according to different shapes and positions of target objects, the second finger section can be moved to hold the objects in parallel, and the first finger section and the second finger section can be sequentially rotated to wrap the objects different in shape and size. The device is wide in grabbing range. An under-actuated manner is adopted, one driver is utilized for driving two joints, and a complex sensing and control system is not 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 the structural design of an adaptive robot finger device with a gear flat clamp 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, the traditional underactuated robot hand mostly adopts a gear set mechanism. Due to the limitation of the mechanism, the finger segment has an...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J15/08B25J15/00B25J17/02
CPCB25J9/163B25J9/1633B25J15/0009B25J15/08B25J17/0208
Inventor 张文增
Owner TSINGHUA UNIV
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