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

A robotic finger and self-adaptive technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of inability to achieve straight-line parallel clamping, large dead zone of movement, and small grasping range, and achieve light weight, assembly and maintenance. The effect of low cost and large grasping range

Active Publication Date: 2016-11-09
广州市轻工职业学校
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  • Abstract
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  • Claims
  • Application Information

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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

Method used

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

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Embodiment Construction

[0054] 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.

[0055] An embodiment of a connecting rod pulley straight-line flat clip sensing adaptive robot finger device designed by the present invention, such as Figure 1 to Figure 6 As shown, it includes a base 1, a first finger section 2, a second finger section 3, a proximal joint shaft 4, a distal joint shaft 5, a first driver 11 and a second driver 14; the first driver 11 and the base 1 Affixed; the second driver 14 is affixed to the base 1; the centerline of the proximal joint shaft 4 is parallel to the central line of the distal joint shaft 5; the second finger segment 3 is sleeved on the distal joint shaft 5 The distal joint shaft 5 is sleeved in the first finger section 2; the first finger section 2 is sleeved on the proximal joint shaft 4; the connecting rod pulley linear flat clip sensing adapt...

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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...

Claims

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Application Information

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IPC IPC(8): B25J15/02B25J9/16
CPCB25J9/1612B25J15/0266B25J15/0286
Inventor 蔡基锋张文增梁伟东杨沛袁晨峰曾宝莹
Owner 广州市轻工职业学校
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