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Rack cosine extension linear flat clamping self-adaption finger device

A self-adaptive, rack-and-pinion technology, applied in the direction of chucks, manipulators, manufacturing tools, etc., can solve the problems of small grasping range, inability to achieve straight-line parallel clamping, and difficulty in achieving end-parallel clamping and grasping effect.

Active Publication Date: 2018-06-22
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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 shortcoming is that the device can only realize the function of linear parallel clamping, and cannot realize the function of adaptive envelope grabbing objects
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

Method used

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  • Rack cosine extension linear flat clamping self-adaption finger device
  • Rack cosine extension linear flat clamping self-adaption finger device
  • Rack cosine extension linear flat clamping self-adaption finger device

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Embodiment Construction

[0037] 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.

[0038] A rack cosine telescopic straight-line flat clip self-adaptive finger device designed by the present invention includes a base 1, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4, a distal joint shaft 5, a first shaft 21, The second shaft 22, the third shaft 23, the spring member 9, the limit block 8, the first connecting rod 41, the second connecting rod 42, the third connecting rod 43, the driver 200 and the transmission mechanism 201; the driver 200 and the base The base 1 is fixed, and the output end of the driver 200 is connected to the input end of the transmission mechanism 201; the joint-proximal shaft 4 is sleeved in the base 1, and the first finger section 2 is sleeved on the joint-proximal shaft 4 , the distal joint shaft 5 is sleeved in the first fi...

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Abstract

The invention discloses a rack cosine extension linear flat clamping self-adaption finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a driver, multiple connecting rods, a transmission mechanism, a spring piece and the like. The device realizes the functions of robot finger linear parallel clamping and self-adaptiongrabbing. The device can keep the gesture of a second finger section to linearly and flatly move the second finger section to clamp objects according to different shapes and positions of the objects;after a first finger section is contacted with the objects, the second finger section is automatically rotated to contact with the objects to achieve the purpose of self-adaption enveloping of the objects with different shapes and sizes; the grabbing range is wide; the grabbing is stable and reliable; one driver is used for driving two finger sections; and the device is simple in structure, low in manufacturing, assembly and maintenance cost and suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a rack cosine telescopic straight line flat clip self-adaptive finger device. Background technique [0002] With the development of intelligent technology, robotics has become a research hotspot today, and robotic hands have attracted more and more attention, and more and more research results have been made in this regard. 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 are various and different in size, such as thin paper, irregularly shaped stones, larger spheres, etc. Objects have six degrees of freedom, and the robot hand needs to limit the six freedoms of the object while grasping the object To grasp the object stably. In order to assist the robot to complete...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/00B25J15/0009
Inventor 胡汉东张文增徐向荣
Owner TSINGHUA UNIV
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