Adaptive robot finger device with linear flat clamp of empty travel transmission connecting rod

Abstract

The invention discloses an idle stroke transmission connecting rod linear flat 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, multiple connecting rods, multiple transmission wheels, a convex block poking disc wheel, a driven poking wheel, a return wheel, two spring pieces and the like. The device realizes functions of robot finger linear parallel clamping and self-adaption grabbing, uses single drive for driving two joints to achieve an under-actuated effect, can freely switch two modes of linear flat clamping and self adaption according to shape and position differences of objects, can linearly and flatly drive the second finger section to clamp the objects to be suitable for excellent clamping of sheet parts on a worktable, can automatically rotate the second finger section to touch the objects to obtain a powerful holding effect after touching the objects by the first finger section, can automatically adapt to grabbing of the objects with different shapes and sizes, and is wide in grabbing range, stable and reliable.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of an adaptive robot finger device for linear flat clipping of a space drive connecting rod. 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] T...

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Problems solved by technology

Its disadvantages are: (1) The device can only realize the arc parallel clamping function, and 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 required to cooperate to realize the grasping function. 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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