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Free-travel contact gear flat clip adaptive robot finger device

A robot finger and contact technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of inability to realize coupling adaptive grasping mode, high manufacturing cost, lack of flexibility, etc., and achieve light weight, assembly and maintenance Low cost, stable and reliable gripping effect

Inactive Publication Date: 2018-05-29
TSINGHUA UNIV
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  • 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 complicated multi-link mechanism, and there is a large dead zone in the movement, and the grasping Small range, bulky mechanism, lack of compliance, prohibitively expensive to manufacture

Method used

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  • Free-travel contact gear flat clip adaptive robot finger device
  • Free-travel contact gear flat clip adaptive robot finger device
  • Free-travel contact gear flat clip adaptive robot finger device

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Embodiment Construction

[0039] The specific structure and working principle of the present invention will be described in further detail below with reference to the drawings and embodiments.

[0040] An embodiment of the self-adaptive robot finger device designed by the present invention for a free-range contact type gear flat clamp, such 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 fixed to the base 1; the proximal joint shaft 4 The center line of is parallel to the center line of the distal joint axis 5. This embodiment also includes a transmission mechanism, a dial 15, a first gear 9, a second gear 10, a transmission gear set 11, a cam dial 12, a first spring member 13, a second spring member 16 and a limit projection 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 section 2;...

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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 robotic hands, and in particular relates to the structural design of an air-travel contact type gear flat clamp adaptive robotic finger device. Background technique [0002] The adaptive under-actuated robot hand uses a small number of motors to drive multiple degrees of freedom joints. Due to the small number of motors, the motors hidden in the palm can be selected with greater 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 realize stable grasping and automatically adapt to objects of different shapes and sizes. There is no need for real-time electronic sensing and closed-loop feedback control. The control is simple and convenient, and the manufacturing cost is reduced. [0003] There are two main grasping methods when grasping objects, one is pinching and the other is holding. Pinch is to use the finge...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0213
Inventor 齐景辰马艺妮张文增
Owner TSINGHUA UNIV
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