Orthogonal Swing Tube Array Adaptive Robotic Hand Device

Abstract

The invention discloses an orthogonal-swing adaptive robot gripper device with a slip tube array and belongs to the technical field of robot grippers. The orthogonal-swing adaptive robot gripper device comprises a base, a driver, a plurality of expansion members, a plurality of fixed expansion members, two slide frames, a plurality of spring parts and the like. The device is used for gripping objects and achieves adaptive gripping function in discrete space. Adaptive effect of gripping the objects in different size and shape is achieved through up and down slipping of the expansion members andthe fixed expansion members; the drivers drive the two groups of expansion members to move, the tail ends of the expansion members are bent and close to the tail ends of the fixed expansion members so that multi-point and multi-way gripping force is applied to grip the objects stably. The orthogonal-swing adaptive robot gripper is simple in structure, good in reliability and wide in application range.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of an orthogonal swing slide tube array self-adaptive robot hand device. Background technique [0002] The robot hand has a wide range of uses in the field of robotics. It is used to temporarily connect and fix the robot and the object, and can be released at an appropriate time. The former realizes the grasping of the object, and the latter realizes the release of the object. In order to reduce the cost, the general robot hand is made to have two relative moving parts, so as to realize the grabbing and releasing functions in the simplest way. There are also many structures that imitate the human hand, designed to have more fingers and several joints on the fingers, but that will bring the complexity and high cost of the mechanical system, sensing system, control system and control algorithm. Part of the robot hand is adaptable, that is, it ...

AI Technical Summary

Problems solved by technology

[0005] (1) Unable to achieve multi-directional grip

When the device exerts a grasping force on the target object, the grasping force can only be along the direction in which the two groups of rod clusters gather together, which is equivalent to a two-finger gripper, which only produces a one-dimensional gripping mode, and the gripping effect is poor

[0006] (2) Failure to grasp long objects placed in a specific direction

[0007] (3) Complex structure and high energy consumption

The device has 2 groups of rod clusters, and requires 2 movable supports (or motion bases) that move with each other, a set of linear guide rails, 2 sliders, drivers, transmission mechanisms, etc., the structure is relatively complicated, and a Bulky rod cluster movement with many long rods is relatively energy-intensive

[0008] (4) Grip stability needs to be improved

[0012] (2) It takes a long time to grasp

It takes a certain amount of time to clamp because it needs to transfer the finger squeeze force from the outer sliding push rod to the central sliding push rod.

[0013] (3) High energy consumption

The power of the drive to the sliding push rod through the transmission mechanism and fingers has a large loss in the process of mutual extrusion of a large number of sliding push rods.

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