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Multi-link double-spring rectilinear flat clamping and adaptive robot finger device

A robot finger, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of small grasping range, inability to achieve linear and parallel clamping, large motion dead zone of multi-link mechanism, etc., to achieve grasping wide range of effects

Inactive Publication Date: 2016-12-21
TSINGHUA UNIV
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  • Abstract
  • Description
  • 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 the robot arm is needed to cooperate to realize the grasping. (2) The multi-link mechanism has a large motion dead zone, and the grasping range is small

Method used

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  • Multi-link double-spring rectilinear flat clamping and adaptive robot finger device
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  • Multi-link double-spring rectilinear flat clamping and adaptive robot finger device

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Embodiment Construction

[0031] 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.

[0032] A kind of embodiment of the self-adaptive robotic finger device of the multi-link double-spring part straight-line flat folder that the present invention designs, as Figure 1 to Figure 4As shown, it includes a base 1, a first finger segment 51, a second finger segment 52, a joint shaft 28, a motor 2, a transmission mechanism 3, a first connecting rod 71, a second connecting rod 72, a third connecting rod 73, a Four connecting rods 74, fifth connecting rod 75, sixth connecting rod 76, seventh connecting rod 77, first shaft 21, second shaft 22, third shaft 23, fourth shaft 24, fifth shaft 25, sixth shaft 26, the seventh shaft 27, the first spring 81, the second spring 82, the limit block 11 and the bump dial 4; the motor 2 is fixedly connected to the base 1; the transmission mechanism 3 is ...

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Abstract

The invention discloses a multi-link double-spring rectilinear flat clamping and adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, a joint shaft, a motor, multiple links, a lug driving plate, two springs and the like. The device realizes the functions of rectilinear parallel clamping and adaptive grabbing of a robot finger; the single motor drives the two finger sections to achieve an under-actuation effect; according to the difference of shapes and positions of objects, a rectilinear flat clamping mode and an adaptive mode can be automatically switched; the device can rectilinearly translate the second finger section to clamp an object, and thus is applicable to well clamping a thin-plate part on a workbench; after the first finger section makes contact with an object, the device can also automatically rotate the second finger section to make contact with the object to achieve a holding effect with greater output, so the device can automatically adapt to grabbing of objects in different shapes and sizes; and the device is large 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 a multi-link double-spring linear flat clip self-adaptive robot finger device. Background technique [0002] Because underactuated fingers can achieve better adaptive grasping, objects of different sizes and shapes can be grasped well without complex real-time grasping planning, which has very good results and has become a research and development hotspot in recent years. . However, the traditional underactuated hand has only one fixed grasping mode, which affects its flexibility, and it is difficult to realize multiple grasping modes. More than two grasping modes are often required in real grasping. [0003] There are mainly two grasping methods when grasping objects, one is clamping and the other is holding. Clamping is to use the fingertips of the end fingers to grasp objects, using two points or two soft finger surfaces to contact obje...

Claims

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Application Information

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IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 王月琛邢宇辰张文增
Owner TSINGHUA UNIV
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