Sliding rod delay deflection linear parallel-clamping adaptive robot finger device

Abstract

The invention discloses a sliding rod delay deflection linear parallel-clamping adaptive robot finger device and belongs to the technical field of robot hands. The sliding rod delay deflection linearparallel-clamping adaptive robot finger device comprises a base, a motor, a drive mechanism, a sliding chute piece, a sliding block, a sliding rod, a first finger section, a second finger section, a near articulated shaft, a far articulated shaft, a first shaft, a second shaft, a third shaft, a first connection rod, a second connection rod, a third connection rod, a first spring, a second spring,a lug, a driven lug, a first limiting block, a second limiting block and a drive stirring block. By means of the device, the robot finger linear parallel-clamping clamping and adaptive grabbing functions are achieved; the device can linearly move the second finger section in parallel to pinch an object, thereby being suitable for a workbench to grab sheet-like objects, the first finger section canbe rotated at first, and then the second finger section is subjected to delay deflection rotation to wrap the objects in different shapes and sizes; the device is large in grabbing range; the two finger sections are driven through one motor, and no complicated sensing and control system is needed; and the device is compact in structure, small in size, low in manufacturing and maintenance cost andsuitable 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 sliding bar time-delay displacement linear flat clip self-adaptive robot finger device. Background technique [0002] The robot hand is an important device for the robot system to realize the grasping function. The method of grabbing an object is to limit the possibility of movement of the object in that direction from two opposite directions. There are multiple directions for the movement of objects in space. In order to limit the various movement possibilities of the grasped objects, the robot hand needs to display different grasping modes for different grasping objects, thereby limiting the movement of objects in all directions. Parallel clamping grasping (referred to as flat clamping grasping) is a common grasping method. The terminal finger segments always maintain a relatively fixed posture relative to the palm base during the movem...

AI Technical Summary

Problems solved by technology

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

The disadvantage of this device is that in the stage of grasping by the flat clip, the end of the finger moves in a circular arc——the end of the circular arc moves in translation, which cannot achieve the effect of linear translation of the end finger segment. , requires the precise linear translational control cooperation of the manipulator, thus increasing the dependence on the cooperative control programming of the manipulator

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