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Five connecting rod parallel clamping self-adaption robot fingers device

A robot finger, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve problems such as complex structure, achieve the effects of small size, low manufacturing and maintenance costs, and large grasping range

Inactive Publication Date: 2018-06-12
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 adopts multiple rotating shafts and gear train transmission structure, and the structure is complicated.

Method used

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  • Five connecting rod parallel clamping self-adaption robot fingers device
  • Five connecting rod parallel clamping self-adaption robot fingers device
  • Five connecting rod parallel clamping self-adaption robot fingers 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] A kind of embodiment of the five-link flat clip self-adaptive robot finger device that the present invention designs, as Figure 1 to Figure 7 As shown, it includes a base 1, a transmission mechanism 11, a first finger segment 2, a second finger segment 3, a proximal joint shaft 41, a distal joint shaft 42 and a motor 10, and the motor 10 is fixed in the base 1, so that The output shaft of the motor 10 is connected to the input end of the transmission mechanism 11; the proximal joint shaft 41 is sleeved in the base 1, the first finger section 2 is sleeved on the proximal joint shaft 41, and the distal joint shaft 42 is sleeved in the first finger section 2, and the proximal joint axis 41 is parallel to the center line of the distal joint axis 42; this embodiment also includes a first conne...

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Abstract

The invention discloses a five connecting rod parallel clamping self-adaption robot fingers device, and belongs to the technical field of robot hand. The five connecting rod parallel clamping self-adaption robot fingers device comprises a base seat, two finger segments, two joint shafts, a motor, a transmission mechanism, two connecting rods, a spring part and a limiting convex block. According tothe five connecting rod parallel clamping self-adaption robot finger device, the functions of parallel clamping and self-adaption grasping of two joint robot fingers are realized. According to the difference of the shape and position of an object, a second finger segment is moved in parallel to hold the object and is splayed to support the object, and a first finger segment and the second fingersegment are rotated in sequence to envelop the objects of different shapes and sizes. The five connecting rod parallel clamping self-adaption robot fingers device is large in capture range. The underactuated manner is adopted, and a motor is used to drive two joints without the need for using complex sensing and control system. The five connecting rod parallel clamping self-adaption robot fingersdevice is simple in structure, small in volume, low in manufacture and maintenance cost, and suitable for the robot hand.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a five-link flat clip self-adaptive robot finger device. Background technique [0002] As an important part of the robot, the robot hand is a hot and difficult point in robot research. The developed robot hands (industrial grippers, underactuated hands, dexterous hands and special hands, etc.) can complete specific tasks in many special environments with the help of robot sensing and control systems. [0003] The dexterous hand has more joint degrees of freedom and higher anthropomorphic dexterity, and can complete most human grasping, operation and sensing functions, but the demand for real-time sensing and control is high, the system is more complicated, and the cost is more expensive, which is not conducive to promotion application. The special hand is mainly a general term for various fingerless robot hands developed for specific o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 王香香张文增徐向荣
Owner TSINGHUA UNIV
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