Adaptive robotic finger device with single-ring flexible flat clamp
A technology of robotic fingers and flexible parts, applied in the direction of manipulators, chucks, joints, etc., can solve the problems of parallel clamping and grasping of difficult ends, and achieve stable and reliable grasping, light weight, low assembly and maintenance costs
Inactive Publication Date: 2018-04-10
TSINGHUA UNIV
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Problems solved by technology
The disadvantages of the underactuated mechanical finger device are: the fingers are always in a straight state before they touch the object, and the grasping method is mainly the gripping method, which makes it difficult to achieve a better end-parallel gripping effect
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[0035] 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.
[0036] A kind of embodiment of the self-adaptive robotic finger device of the single-ring flexible piece 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 15, a first transmission wheel 9, a second transmission wheel 10, a flexible transmission member 11, a bump dial 12, a first spring 13, a second spring 16 and a limit protrusion Block 18; the proximal joint shaft 4 is movably sleeved in the base 1; the distal joint ...
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The invention discloses a single-ring flexible piece parallel clamping self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a drive, a first transmission wheel, a second transmission wheel, a flexible transmission piece, a convex block poking disc, a poking wheel, a transmission mechanism, a first spring piece, a second spring piece and a limiting convex block. The device uses the drive, the flexible piece transmission mechanism, two spring pieces, the convex block poking disc, the poking wheel, the limiting convex block and the like for realizing the finger functions of parallel clamping and self-adaption grabbing; the second finger section can flatly move to hold an object or outwards expand to support the object, or the first finger section and the second finger section can rotate in sequence to self-adaptively wrap objects with different shapes and sizes; and the device is wide in grabbing range and stable and reliable in grabbing, only uses one drive for driving two joints, needs no complex sensing and control systems, and is simple in structure, small in size, light in weight, low in machining, assembly and maintenance costs 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 a single-ring flexible 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 fin...
Claims
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IPC IPC(8): B25J15/08B25J17/00
CPCB25J15/08B25J17/00
Inventor 张文增饶鹏飞
Owner TSINGHUA UNIV