Connecting-rod gear-rack linear parallel clamping indirect self-adaptive robot finger device

Abstract

The invention relates to a connecting-rod gear-rack linear parallel clamping indirect self-adaptive robot finger device, and belongs to the technical field of robot hands. The connecting-rod gear-rack linear parallel clamping indirect self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a gear rack, a plurality of gears, two driving wheels, a driving medium, a guiding rod, a spring piece and the like. The device achieves the function of linear parallel clamping and self-adaptive grabbing of fingers of a robot; a linear motion of a far joint shaft is achieved through a connecting mechanism, and a second finger section keeps a fixed posture relative to the base in a first grabbing phase by adopting the spring piece to be matched with a gear rack mechanism; when an object is in contact with a first finger section, the self-adaptive rotation of the second finger section around the far joint shaft is achieved through the gear rack mechanism; grabbing of objects with different shapes and sizes can be adapted; and the grabbing range is large, the grabbing is stable and reliable, the structure is simple, and the cost is low.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a connecting rod rack linear flat clip indirect 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 freedom. ...

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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