Four-link transmission wheel linear flat clip indirect self-adaptive robot finger device
A technology of robot fingers and transmission wheels, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of unable to realize adaptive envelope grabbing, and achieve the effect of compact structure, small size, and large grabbing range
Active Publication Date: 2019-01-18
TSINGHUA UNIV
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Problems solved by technology
Its shortcoming is that the device can only realize the linear parallel clamping function, and cannot realize the function of adaptive envelope grabbing
Method used
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[0033] The specific structure and working principle of the present invention will be described in further detail below with reference to the drawings and embodiments.
[0034] An embodiment of the indirect self-adapting robot finger device designed by the four-link drive wheel straight flat clamp in the present invention, such as Figure 1 to Figure 6 As shown, it includes a base 1, a motor 12, a first transmission mechanism 11, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4 and a distal joint shaft 5; the motor 12 is fixedly connected to the base 1; The output shaft of the motor 12 is connected to the input end of the first transmission mechanism 11; the first finger section 2 is sleeved on the proximal joint shaft 4; the distal joint shaft 5 is movably sleeved in the first finger section 2 The second finger segment 3 is sleeved on the distal joint shaft 5; the centerline of the proximal joint shaft 4 is parallel to the centerline of the distal joi...
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The invention relates to a four connecting rod driving wheel straight-line parallel-clamping self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a first driving mechanism, a first finger section, a second finger section, a proximal joint shaft, a distal joint shaft, two driving parts, four driving wheels, three connecting rods, a spring, a sliding block, a second driving mechanism and the like. According the device, robot finger straight-line parallel clamping and indirect self-adaptive grabbing functions are achieved; the device not only can parallelly move the second finger section in a straight line to hold an object in a pinching mode but also can enclose objects with different shapes and sizes; the device is wide in grabbing range; an underactuation mode is adopted, the two finger sections are driven by mean of the motor, and a complex sensing and control system is not needed; the device is compact in structure, small in size, low in manufacturing and maintenance cost and suitable for the robot hands.
Description
Technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a four-link transmission wheel straight line flat clamp indirect adaptive robotic finger device. Background technique [0002] The robot hand is an important device for grasping objects. The method of grabbing an object is to limit the movement possibilities of the object in that direction from two opposite directions. There are multiple directions for the movement of an object in space. In order to limit the various movement possibilities of the grasped object, the robot hand is required to restrict the movement of the object from all directions. Parallel gripping (referred to as flat gripping) is a common gripping method. The end fingers always maintain a relatively fixed posture relative to the palm base during the movement. During the gripping process, the two opposite fingers Or multiple fingers touch the object on two or more sides of...
Claims
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IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 杨阳张文增徐向荣
Owner TSINGHUA UNIV