Idle-stroke contact gear parallel clamping self-adaption robot finger device

A robot finger, contact technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of inability to realize coupling adaptive grasping mode, small grasping range, and high manufacturing cost, and achieve light weight and grasping range. Large, low cost of assembly and maintenance

Inactive Publication Date: 2016-07-27
TSINGHUA UNIV
View PDF7 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the flat clip adaptive grasping mode, and cannot realize the coupling adaptive grasping mode; in addition, it uses a very complic

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Idle-stroke contact gear parallel clamping self-adaption robot finger device
  • Idle-stroke contact gear parallel clamping self-adaption robot finger device
  • Idle-stroke contact gear parallel clamping self-adaption robot finger device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] 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.

[0040] A kind of embodiment of the self-adaptive robot finger device of the space travel contact type gear flat clamp that the present invention designs, as Figure 1 to Figure 8 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 dial 152, a first gear 9, a second gear 10, a transmission gear set 11, a bump dial 12, a first spring 13, a second spring 53 and a limit 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 ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an idle-stroke contact gear parallel clamping self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a drive, a gear transmission mechanism, a convex block poking disc, a poking wheel, two spring pieces and a limiting convex block. The device uses the drive, the gear transmission mechanism, two spring pieces, the convex block poking disc, the limiting convex block, the poking wheel and the like for comprehensively realizing the functions of finger parallel clamping and self-adaption grabbing of a double-joint robot; as a section of idle stroke is between a transmission convex block on the poking wheel and a second convex block on the convex block poking disc, when the first finger section rotates, the second finger section keeps flat moving without rotating corresponding to the base to achieve the function of parallel clamping and grabbing; after a contacted object of the first finger section is stopped, the transmission convex block on the poking wheel can touch and poke the second convex block on the convex block poking disc to drive the first gear to rotate after a shorter period of time; and the second finger section is driven to rotate by transmission of the gear set and the second gear to achieve the self-adaption grabbing function.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of an air-travel contact type gear clamp 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 en...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0213
Inventor 齐景辰马艺妮张文增
Owner TSINGHUA UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap