Connecting rod and planet wheel linear coupling self-adaption robot finger device

A robot finger, planetary gear straight line technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problem of inability to realize coupling grasping, etc., and achieve the effect of large grasping range

Active Publication Date: 2017-03-22
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that the fingers are always in a straight state before touching the object, and the coupled grasping effect cannot be achieved

Method used

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  • Connecting rod and planet wheel linear coupling self-adaption robot finger device
  • Connecting rod and planet wheel linear coupling self-adaption robot finger device
  • Connecting rod and planet wheel linear coupling self-adaption robot finger device

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Embodiment Construction

[0031] 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.

[0032] An embodiment of the connecting rod planetary wheel linear coupling adaptive robot finger device designed by the present invention, as Figure 1 to Figure 7As shown, it includes base 1, first finger segment 51, second finger segment 52, motor 2, transition transmission mechanism 210, first transmission wheel 91, second transmission wheel 92, third transmission wheel 96, fourth transmission wheel 97. First transmission member 93, second transmission member 6, first connecting rod 71, second connecting rod 72, third connecting rod 73, first shaft 21, second shaft 22, third shaft 24, proximal joint shaft 25. The distal joint shaft 26 and the spring 8; the motor 2 is fixedly connected to the base 1; the output shaft of the motor 2 is connected to the input end of the transition transmission me...

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Abstract

The invention discloses a connecting rod and planet wheel linear coupling self-adaption robot finger device, and belongs to the technical field of robot hands. The connecting rod and planet wheel linear coupling self-adaption robot finger device comprises a base, a motor, two finger sections, a near joint shaft, a far joint shaft, a first shaft, a second shaft, a third shaft, a fourth shaft, a plurality of connecting rods, a plurality of gears, two belt wheels, a spring and the like. The device realizes the functions of robot finger linear coupling and self-adaption combination grasping. The single motor is used for driving the two finger sections, so that the underactuation effect is realized. Automatic switching between the two modes of coupling and self-adaption is conducted according to different object shapes and positions. According to the device, the far joint shaft can be linearly moved horizontally, and meanwhile, the second finger section rotates in a coupling mode to grasp an object. After the first finger section touches the object, the second finger section can be rotated in a decoupling mode, the second finger section is made to automatically adapt to the surface shape of the object, and therefore the effect of completely wrapping and holding the object is realized. The device can automatically adapt to objects with different shapes and sizes, and is large in grasping range, stable and reliable.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a linear coupling adaptive robot finger device of a connecting rod planetary wheel. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. However, the traditional underactuated robot hand mostly adopts a pure link mechanism. Due to the limitation of the mechanism, the finger segm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02
CPCB25J15/0009B25J15/0213B25J15/022
Inventor 张天义张文增
Owner TSINGHUA UNIV
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