Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand

Abstract

The invention provides a double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of a robot hand, and belongs to the technical field of robot hands. The double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of the robot hand comprises a rack, two finger sections, two housings, two joint shafts, a motor, a plurality of connecting rods, three spring parts, a guide rail and a slide block. With the adoption of the device, fingers of the robot hand can linearly parallelly clamp and adaptively grab, in particularly can clamp a thin-wall workpiece. According to the double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of the robot hand, a crank block mechanism meeting a certain condition is utilized to achieve the linear movement of a remote joint shaft and a near joint shaft; a four-connecting-rod mechanism and the spring parts are used in match to remain the second finger section relative to the first finger section at the same location, thus achieving parallel movement; a six-connecting-rod mechanism and the spring parts are used in match to achieve the self-adaptive grabbing function, so as to adapt to grab articles with different shape and size. Therefore, the grabbing range is large, and the grabbing stability and reliability can be ensured; one motor can be used for driving the two finger sections. The device is simple in structure, and low in cost of processing, assembling and repairing.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a double-knuckle connecting rod straight-line flat clip self-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 ...

AI Technical Summary

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: (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. Therefore, there is a serious shortage of grasping; (2) the device adopts a multi-link mechanism, and there is a large dead zone in the movement, and the grasping range is small

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