Sliding groove toggle connecting rod straight-line parallel clamping self-adaptive robot finger device

A robot finger, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problem that it cannot adapt to stable envelope grasping of objects of various shapes, is difficult to achieve the effect of parallel gripping at the end, and cannot achieve self-adaptation. and other problems, to achieve the effect of light weight, stable and reliable grasping, and large grasping range

Active Publication Date: 2017-01-04
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The gripper realizes the function of linear flat clamping, but the device has obvious shortcomings: it cannot realize self-adaptation, which makes its working mode single, can only pinch objects, and cannot adapt to the stable package

Method used

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  • Sliding groove toggle connecting rod straight-line parallel clamping self-adaptive robot finger device
  • Sliding groove toggle connecting rod straight-line parallel clamping self-adaptive robot finger device
  • Sliding groove toggle connecting rod straight-line parallel clamping self-adaptive robot finger device

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Embodiment Construction

[0034] 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.

[0035] A kind of embodiment of the self-adaptive robot finger device of the chute toggle connecting rod straight-line flat clip that the present invention designs, as Figure 1 to Figure 7 As shown, it includes a base 1, a first finger section 2, a second finger section 3, a transmission mechanism 81 and a driver 8; The input shaft is connected; the chute toggle connecting rod linear flat clip adaptive robot finger device also includes a first connecting rod 501, a second connecting rod 502, a third connecting rod 503, a fourth connecting rod 504, and a fifth connecting rod 505. , the sixth connecting rod 506, the seventh connecting rod 507, the eighth connecting rod 508, the ninth connecting rod 509, the tenth connecting rod 510, the eleventh connecting rod 511, the first slider 61, the second sli...

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PUM

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Abstract

The invention relates to a sliding groove toggle connecting rod straight-line parallel clamping self-adaptive robot finger device, and belongs to the field of robot hands. The device comprises a base, two finger segments, a driver, multiple connecting rods, a spring, two sliding blocks and the like. The device achieves the robot finger straight-line parallel clamping and self-adaptive grabbing functions; the second finger segment can be subjected to straight-line translation to clamp an object, the second finger can rotate automatically to make contact with the object after the first finger segment makes contact with the object, and the purpose of adaptively wrapping objects with different shapes and sizes is achieved; the grabbing range is wide, and grabbing is stable and reliable; one driver is utilized to drive the two finger segments. The device is simple in structure, small in size, light in weight and low in processing, assembling and maintaining 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 chute toggle connecting rod linear flat clip self-adaptive robot finger device. Background technique [0002] The robot hand is an important part of the robot. The currently developed robotic hands are divided into anthropomorphic multi-fingered hands and non-anthropomorphic special hands. Among them, anthropomorphic multi-fingered hands include industrial grippers, dexterous hands and underactuated hands. Industrial grippers are widely used in the field of robotics. The structure and control orders are received, but the working mode is relatively simple; the dexterous hand is defined as a multi-fingered robot hand with more than 3 fingers and more than 9 independently driven joint degrees of freedom. The dexterous hand It is flexible in use and has a wide range of applications, but due to the large number of degrees of freedom of the dex...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 胡俭张文增徐向荣
Owner TSINGHUA UNIV
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