Toggle slide bar adaptive robot finger device

A robot finger, self-adaptive technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of inability to achieve adaptive envelope grasping objects, insufficient grasping, and inability to achieve linear parallel clamping, etc.

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

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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:

Method used

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  • Toggle slide bar adaptive robot finger device
  • Toggle slide bar adaptive robot finger device
  • Toggle slide bar adaptive robot finger device

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Embodiment Construction

[0033] 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.

[0034] An embodiment of the toggle slide bar adaptive robot finger device designed by the present invention, as Figure 1 to Figure 6 As shown, it includes a base 100, a first finger section 2, a second finger section 3, a proximal joint axis 4, and a distal joint axis 5; the centerline of the proximal joint axis 4 is parallel to the centerline of the distal joint axis 5; the The first finger segment 2 is sleeved on the proximal joint shaft 4, the distal joint shaft 5 is sleeved in the first finger segment 2, and the second finger segment 3 is sleeved on the distal joint shaft 5; the toggle The sliding bar self-adaptive robot finger device also includes a first connecting rod 6, a second connecting rod 7, a third connecting rod 8, a guide rod 101, a first shaft 17, a second shaft 18, a third shaf...

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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 ...

Claims

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Application Information

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IPC IPC(8): B25J15/02
CPCB25J15/0009B25J15/022
Inventor 胡汉东张文增徐向荣
Owner TSINGHUA UNIV
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