Connection rod belt wheel linear flat clamping sensing self-adaptive robot finger device

Abstract

The invention provides a connection rod belt wheel linear flat clamping sensing self-adaptive robot finger device and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, two drivers, multiple connection rods, multiple stages of belt wheel transmission mechanisms, a protruding block driving plate, multiple sensors and a control module with a built-in control program. By means of the device, the linear parallel clamping and self-adaptive grasping functions of a robot finger are achieved, and particularly, sheet parts on a worktable can be well clamped. A four-bar mechanism is adopted so that the far joint shaft can move linearly, and the second finger section can horizontal move due to cooperation of belt wheels and the four-bar mechanism. The self-adaptive grasping function can be achieve by means of the sensors, the control module and the built-in control program, and the finger device can adapt to grasping of objects in different shapes and sizes. The grasping range is large, and grasping is stable and reliable. Two joints are driven by the two drivers. The finger device is simple in structure, small in size, low in weight and low in machining, assembly and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a connecting rod, pulley, straight-line and flat clamp sensing adaptive robot finger device. Background technique [0002] Robotics is one of the important trends in current technological development. Robots replace manual work to rely on robotic hands (end grippers). At present, many types of robotic hands have been developed, including multi-fingered hands and special hands. Among them, the multi-fingered hand has multiple fingers, and the fingers have rotating or translational joints; the special hand has no obvious fingers, but uses the principles of magnets, suction cups, and static electricity to grasp objects. [0003] Multi-fingered hands are further divided into dexterous hands that are particularly human-like, simple two-finger grippers commonly used in industry, and underactuated multi-fingered robotic hands in between. [0004...

AI Technical Summary

Problems solved by technology

Its disadvantages are: (1) The device can only realize the arc parallel clamping function, but cannot realize the straight line parallel clamping function. When clamping thin plate objects of different sizes on the workbench, the movement of the robot arm is needed to cooperate to realize the grasping. Therefore, there is a serious shortage of grasping; (2) the device adopts a multi-link mechanism, and there is a large dead zone in the movement, and the grasping range is small

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