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Omnidirectional Staggered Swing Rod Array Adaptive Robotic Hand Device

A technology of robot hand and swing rod, applied in the field of robotics, can solve the problems of poor adaptability, increased cost, limited service life and reliability, etc., and achieve the effects of stable grasping, easy control and wide application range

Inactive Publication Date: 2020-09-25
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The disadvantage of this device is that it is less adaptable
Due to the flexible material of the membrane, the service life and reliability will be limited
The use of fluids further increases the complexity of the system, driving up the cost

Method used

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  • Omnidirectional Staggered Swing Rod Array Adaptive Robotic Hand Device
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  • Omnidirectional Staggered Swing Rod Array Adaptive Robotic Hand Device

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Embodiment Construction

[0033] The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0034] An embodiment of an omnidirectional staggered swing rod array self-adaptive robot hand device designed by the present invention, such as Figure 1 to Figure 9 As shown, it includes a base 1, a driving mechanism 2 and m rod-slot assemblies 3; the driving mechanism 2 includes a driver 21, a transmission mechanism, n transmission members 25, n slide frames 26 and k first spring members 27 ; The driver 21 is fixedly connected to the base 1, the output end of the driver 21 is connected to the input end of the transmission mechanism, the output end of the transmission mechanism is connected to all transmission parts 25, and the transmission part 25 is connected to the corresponding sliding frame 26 connected, the sliding frames 26 are respectively slidably embedded in the base 1...

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Abstract

The invention discloses an omnibearing stagger oscillating rod array self-adaption robot hand device and belongs to the technical field of robots. The device comprises a base, a driver, a transmissionmechanism, a plurality of transmission pieces, a plurality of slip frames, a plurality of first spring pieces, a plurality of telescopic rod units and a sliding chute piece, wherein each of the telescopic rod units comprises a sliding rod, a guide rod and a second spring piece. The device can realize the self-adaption object grabbing function and when the device is used for grabbing an object, part of the telescopic rod units receives counterforce of the object to shrink in the axial direction in a passive manner, the second spring pieces deform, a plurality of telescopic rod units in dense distribution are adapted to the object shape at the point at different positions in the vertical direction, the driver pulls the telescopic rod units to swing towards different directions through the transmission mechanism, the driving pieces, the slip frames and the first spring pieces to be in contact with the object through multiple points so as to realize the purpose of grabbing the object. Thedevice can grab a plurality of objects at one time, is insensitive to the object placement position and posture and is suitable for grabbing a plurality of objects on a conveyor belt or working tableat one time; and the single driver is easy to control, wide in range of application and stable in grabbing.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of an omnidirectional staggered swing rod array self-adaptive robot hand device. Background technique [0002] As the execution terminal of the robot, the robot hand needs to realize two actions of grasping and releasing. According to different use occasions, it can be divided into two types of robot hands: anthropomorphic manipulator and industrial gripper. Anthropomorphic robotic hands are similar to human hands and are mainly used as prosthetics for disabled people or for grasping research. Industrial grippers are widely used and are mainly used for grasping and manipulating workpieces on automated production lines. The current robot hand is not flexible enough, and it needs to use complex grasping algorithms to realize the grasping of different objects, but the reliability is not high. Mechanically adapting to the shape of different objects...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0028B25J15/02
Inventor 莫岸张文增
Owner TSINGHUA UNIV
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