Gear-connecting bar driving parallel-clamping self-adaptive robot finger device

A robot finger and gear connecting rod technology, applied in the direction of manipulators, chucks, joints, 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: 2016-07-27
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Its disadvantages are that the device adopts a very complex multi-link mechanism, which has a large dead zone

Method used

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  • Gear-connecting bar driving parallel-clamping self-adaptive robot finger device
  • Gear-connecting bar driving parallel-clamping self-adaptive robot finger device
  • Gear-connecting bar driving parallel-clamping self-adaptive robot finger device

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Embodiment Construction

[0041] 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.

[0042] A kind of embodiment of the gear connecting rod transmission flat folder self-adaptive robot finger device of the present invention design, 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 gear 6, a second gear 7, a gear set 8, a first swing link 9, a second swing link 10, a connecting rod 11, a first shaft 91, a second shaft 92, and a bump Dial 12, spring 13 and limit projection 18; the proximal joint shaft 4 is movably sleeved in the base 1; the distal...

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Abstract

The invention discloses a gear-connecting bar driving parallel-clamping self-adaptive robot finger device and belongs to the technical field of robot hands. The gear-connecting bar driving parallel-clamping self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a plurality of gears, a plurality of connecting bars, a protruding block driving plate, a spring part, a limiting protruding block and the like. The device adopts the driver, a gear driving mechanism, a connecting bar driving mechanism, the spring part, the protruding block driving plate, the limiting protruding block and the like, the functions of parallel clamping and self-adaptive grabbing are achieved comprehensively; according to different target object shapes and positions, translational motion of the second finger section can be performed to nip objects or outward expansion of the second finger section is performed to support the objects; the first finger section and the second finger section can also be rotated in sequence to wrap the objects with different shapes and sizes; the device is wide in grabbing range; an underactuation mode is adopted, the driver is used for driving two joints, and a complicated sensing and control system is not needed; and the device is compact in structure, small in size, low in manufacturing and maintaining cost and applicable to 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 a gear-connecting rod-driven 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 e...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J17/02
CPCB25J15/0009B25J17/0258
Inventor 张文增
Owner TSINGHUA UNIV
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