Remote transmission guide sleeve and connecting rod linear horizontal clamping self-adaptive robot finger device

Abstract

The invention discloses a remote transmission guide sleeve and connecting rod linear horizontal clamping self-adaptive robot finger device, and belongs to the technical field of robot hands. The remote transmission guide sleeve and connecting rod linear horizontal clamping self-adaptive robot finger device comprises a machine frame, two finger sections, two joint shafts, a driver, a plurality of connecting rods, a guide sleeve, a plurality of transmission wheels, a plurality of transmission parts, a shifting disc, a shifting rod, two springs and the like. The remote transmission guide sleeve and connecting rod linear horizontal clamping self-adaptive robot finger device realizes the functions of linear horizontal clamping and self-adaptive grasping of robot hand fingers. The remote transmission guide sleeve and connecting rod linear horizontal clamping self-adaptive robot finger device can clamp objects by linearly and horizontally moving the second finger section with the posture of the second finger section being kept according to the differences of shapes and positions of the objects and can also automatically rotate the second finger section to make contact with the objects after the first finger section makes contact with the objects, thereby realizing the purposes of wrapping the objects in different shapes and sizes in a self-adaptive mode. The grasping range is wide, and grasping is stable and reliable. The one driver is used for driving the two finger sections. The remote transmission guide sleeve and connecting rod linear horizontal clamping self-adaptive robot finger device is simple in structure, low in machining, assembling and maintenance cost and suitable for a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a long-distance transmission guide sleeve connecting rod linear flat clip self-adaptive robot finger device. Background technique [0002] With the development of automation technology, robot technology has ushered in a new peak. As a kind of end effector of robot, the robot hand has attracted more attention, and more and more researches have been done on the robot hand. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robotic hands, such as dexterous hands, special hands, pincer hands (industrial grippers), etc. Objects in space have six degrees of freedom. The robot hand needs to limit the six degrees of freedom of the object while grasping the object to stably grasp the object. The clamp-like hand generally adopts a parallel clamping method, which can only limit no more than ...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the function of linear parallel clamping, and cannot realize the function of adaptive envelope grabbing objects

The disadvantage of the underactuated mechanical finger device is that 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

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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