Straight-line Parallel Clamping Adaptive Robot Finger Device with Swing Rod Chutes
A robot finger, self-adaptive technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problem of being unable to grasp small and thin objects, unable to implement parallel pinching or stretching to pick up objects, and unable to realize terminal finger segments Problems such as parallel clamping and grasping effect, to achieve the effect of low manufacturing and maintenance costs and large grasping range
Active Publication Date: 2020-11-27
TSINGHUA UNIV
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Problems solved by technology
Its shortcoming is that the device cannot achieve the effect of parallel clamping and grasping of the terminal fingers, which makes it unable to grasp some small and thin objects on the horizontal plane, and cannot implement parallel pinching or outward stretching to pick up objects
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[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] An embodiment of the straight-line parallel clamping adaptive robot finger device of the pendulum chute designed by the present invention, as Figure 1 to Figure 8 As shown, it includes a base 14, a motor 11, a first transmission mechanism 12, a first finger section 21, a second finger section 22, a proximal joint shaft 31, a distal joint shaft 32, a first connecting rod 41, and a second connecting rod 42. , the first shaft 51, the second shaft 52, the third shaft 53, the spring member 13 and the limit block 9; the joint-proximate shaft is sleeved in the base, and the first finger segment 21 is sleeved on the joint-proximal shaft 31, the distal joint shaft 32 is sleeved in the first finger segment 21, and the second finger segment 22 is sleeved on the distal joint shaft 32; the first shaft...
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The invention discloses an oscillating bar sliding groove linear and parallel clamping self-adaption robot finger device, and belongs to the technical field of robot hands. The oscillating bar slidinggroove linear and parallel clamping self-adaption robot finger device comprises a base, a bottom seat, a motor, three transmission mechanisms, an oscillating bar, a sliding groove, two finger sections, two joint shafts, a spring part and a limiting block. According to the device, the functions of parallel clamping and self-adaptation grabbing of robot fingers are achieved, the second finger section can be horizontally moved to pinch or extend to grab objects according to different shapes and positions of the target objects, and the first finger section and the second finger section can be sequentially rotated to envelope the objects in different shapes and of different sizes. The device is wide in grabbing range; an underactuation manner is adopted, the motor is utilized for driving two fingers, and no complex sensing and controlling system is needed; and the device is simple in structure, low in manufacturing and maintenance cost and suitable for the 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 multi-link parallel clamping adaptive envelope 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. Some hands are designed in the shape of human hands to imitate the movement of human hands, and some hands are developed for industrial operations, such as industrial grippers, underactuated hands, dexterous hands, and special hands. These hands can cooperate with the robot's sensing and control system to complete specific grasping tasks in many special environments. However, most grippers are only designed for one specific task and can only grasp some special types of objects. The multi-degree-of-freedom dexterous hand has high anthropomorphism and can complete most human grasping, manipulation and sensing functions, but such hands are usually ...
Claims
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IPC IPC(8): B25J15/00B25J15/02B25J15/08
CPCB25J15/0009B25J15/0206B25J15/08
Inventor 蒋若萱张文增
Owner TSINGHUA UNIV