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

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...

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 of objects of various shapes. web scraping

The disadvantage of the underactuated mechanical finger device is that the grasping method is mainly the gripping method, and it is difficult to achieve a better end-parallel gripping effect

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