Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device

An adaptive and connecting rod technology, which is applied in the direction of collets, manipulators, manufacturing tools, etc., can solve problems such as inability to achieve straight-line parallel clamping, insufficient grasping, and single working mode

Active Publication Date: 2017-04-19
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 it cannot achieve self-adaptation, which makes it work in a single mode, and can only pinch objects, making it difficult to grasp objects with complex shapes.
Its shortcoming is that the device can only realize the arc parallel clamping function, and 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 with the grasping. Therefore, Crawling is severely lacking

Method used

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  • Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device
  • Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device
  • Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device

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Embodiment Construction

[0030] 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.

[0031] A kind of embodiment of the herringbone link rack slider straight line flat clip self-adaptive finger device that the present invention designs, as Figure 1 to Figure 12As shown, it includes a base 1, a first finger section 2, a second finger section 3, a transmission mechanism 81 and a driver 8; Input shaft links to each other; This herringbone link rack slide block straight line flat folder self-adaptive finger device also comprises the first connecting rod 21, the second connecting rod 22, the third connecting rod 23, the fourth connecting rod 24, the first slide block 51, the second slider 52, the first spring 61, the second spring 62, the gear 72 and the rack 71; the first shaft 41, the second shaft 42, the third shaft 42, the fourth shaft 44, the first The centerlines of the fifth ...

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Abstract

The invention provides a herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device and belongs to the technical field of robot hands. The herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device comprises a base, two finger segments, a driver, a plurality of connecting rods, two sliding blocks, two spring parts, a gear, a rack and the like. According to the herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device, a robot finger linear parallel clamping and self-adaption grabbing function is achieved; the second finger segment can be linearly and parallelly moved to clamp an object and also can be automatically rotated to make contact with the object after the first finger segment make contact with the object, and the purpose that objects with different shapes and sizes are wrapped in a self-adaption mode is achieved; the grabbing range is large, and grabbing is stable and reliable; the two finger segments are driven by one driver; and the herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device is simple in structure, small in size, light in weight and low in machining cost, assembling cost and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a herringbone link rack slider linear flat clip self-adaptive finger device. Background technique [0002] The robotic hand is one of the key components of a robot. Robots replace humans to carry out various tasks of grasping and manipulating objects, mainly relying on robotic hand devices. Because the human hand is very flexible, with many joint degrees of freedom, small size and great strength, it is very difficult to imitate the human hand. The robot hand needs to grasp, carry and manipulate complex objects of different shapes and sizes, which requires high control precision of the robot hand, and the robot hand requires characteristics such as appropriate size and light weight. Therefore, the current robot hand requires Integrate as many functions as possible in as small a volume as possible. The currently developed robotic hands ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02B25J15/08
CPCB25J15/0009B25J15/022B25J15/08
Inventor 胡俭张文增徐向荣
Owner TSINGHUA UNIV
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