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Adaptive robotic finger device with gear-fluid flat clamp

A robot finger, self-adaptive technology, applied in the directions 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. , compact structure

Inactive Publication Date: 2018-01-12
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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  • Adaptive robotic finger device with gear-fluid flat clamp
  • Adaptive robotic finger device with gear-fluid flat clamp
  • Adaptive robotic finger device with gear-fluid flat clamp

Examples

Experimental program
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Embodiment Construction

[0051] 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.

[0052] An embodiment of the gear fluid 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 main gear 6, a second main gear 7, a gear set 8, a first flexible pipe 9, a second flexible pipe 10, a fluid 11, a bump dial 12, a spring 13 and a limiter. Position bump 18; the proximal joint shaft 4 is movably sleeved in the base 1; the distal joint shaft 5 is movably sleeved in the first finger...

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Abstract

The invention provides a gear fluid parallel clamping self-adaptive robot finger device and belongs to the technical field of robot hands. The gear fluid parallel clamping self-adaptive robot finger device comprises a base, two finger segments, two joint shafts, a driver, multiple gears, two flexible pipes, fluid, a protruding block shifting disc, a spring piece, a limiting protruding block and the like. The driver, a gear transmission mechanism, the flexible pipes, the fluid, the spring piece, the protruding block shifting disc, the limiting protruding block and the like are used by the device for comprehensively achieving parallel clamping and self-adaptive grabbing functions. According to the different shapes and positions of target objects, the second finger segment can be moved in parallel to pinch the objects or expanded outwards to support the objects, and the first finger segment and the second finger segment can also be sequentially rotated to wrap the objects in different shapes and with different sizes. The device is wide in grabbing range; an under-actuated manner is adopted, one driver is used for driving two joints, and a complex sensing and control system is not needed; and the device is compact in structure, small in size, low in manufacturing and maintaining cost 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 the structural design of a gear fluid 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 the end fingers to gr...

Claims

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Application Information

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