Four-rod four-wheel linear parallel clamping and self-adaption robot finger device

Abstract

The invention discloses a four-rod four-wheel linear parallel clamping and self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger segments, a joint shaft, a motor, a plurality of connecting rods, a plurality of transmission wheels, two transmission parts, a driving moving wheel, a driven moving wheel, a limiting block, two spring parts and the like; through the device, functions of robot finger linear parallel clamping and self-adaptation grabbing can be achieved, the single motor is used for driving the two finger segments, and the underactuation effect is met; according to differences of object shapes and positions, automatic switching between the linear parallel clamping and self-adaptation modes can be achieved; according to the device, the second finger segment can be linearly moved in a parallel manner to clamp objects, good clamping of sheet parts on a worktable can be achieved, after the first finger segment makes contact with the object, the second finger segment can be automatically rotated to make contact with the object, and the holding effect with the large force can be obtained; the device can be automatically suitable for grabbing of the objects in the different shapes and with different sizes, the grabbing range is large, and stability and reliability are achieved.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a four-rod, four-wheel, straight-line and flat clip self-adaptive robot finger device. Background technique [0002] An underactuated finger is one in which the number of drive motors on the finger is less than the number of joint degrees of freedom being actuated. Because the underactuated technology can make the robot hand have a better grasping effect and greatly reduce the demand for sensor control, it has been paid attention to. There are two commonly used grasping methods for human hands when grasping objects. One is the clamping of the ends of the two relative fingers - pinching, and the other is the more powerful envelope grasping. [0003] An existing underactuated two-joint robotic finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle finger section, an end finger section, and a parallel gear t...

AI Technical Summary

Problems solved by technology

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. (2) The multi-link mechanism has a large motion dead zone, and the grasping range is small

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