Toggle slide bar adaptive robot finger device

Abstract

The invention relates to a toggle slide bar adaptive robot finger device, belonging to the technical field of robot hands. The device comprises a base, two finger sections, two joint axes, a guide rod, a plurality of connecting rods, a spring part, a plurality of shafts, and the like. The device realizes the functions of straight line parallel clamping and adaptive grabbing of robot fingers; the linear motion of the far joint axis is realized by adopting a link mechanism which meets certain conditions; the spring part is matched with a crank-slider mechanism, so that the second finger section keeps in a posture of being fixed relative to the base in a first grabbing stage; the crank-slider mechanism is adopted, so that the second finger section makes adaptive rotation around the far joint axis when an object is in contact with the first finger section; the device can adapt to the grabbing for objects with different shapes and sizes; the device is large in grabbing range, stable and reliable in grabbing, simple in structure and low in cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a toggle slider 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 four degrees of freedom. One degree of freedom, in order to ...

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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