Indirect self-adaptive robot finger device with inclined rod double slider linear flat clamp

Abstract

The invention discloses an inclined rod double-sliding-block linear horizontal-clamping indirect self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a driver, two connecting rods, a driving rod, a driven part, a guide rod, two gears, a transmission wheel, two sliding blocks, a spring piece, a limiting convex block and a limiting column. According to the device, the second finger section can horizontally move to clamp an object, moreover, after the first finger section is in contact with the object, the second finger section is rotated to wrap the object, so that the purpose of wrapping the objects with different shapes and sizes in a self-adaptive mode is achieved; in the stage of horizontally moving the second finger section to clamp the object, the tail end of the second finger section always keeps the linear track movement, so that the device is suitable for grabbing a thin plate object on a working table, and the programming requirements of a mechanical arm are reduced; and only one driver is used for driving the two joints, the structure is simple, machining, assembling and maintaining cost is low, a complicated sensing and control system is not needed, and the device is suitable for a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of an indirect self-adaptive robot finger device with inclined rods, double sliders, straight line and flat clips. Background technique [0002] With the development of automation technology, robot technology has ushered in a new peak. As a kind of end effector of robot, the robot hand has attracted more attention, and more and more researches have been done on the robot hand. Parallel clamping and grasping at the end of the robot finger is a common grasping method. The terminal finger segment always maintains a fixed posture relative to the base during the movement process. During the grasping process, the two opposite fingers exert a grasping force. This kind of parallel clamping device is widely used in industry; some robot hand devices not only have parallel clamping function, but also have adaptive envelope function, and the grasping range...

AI Technical Summary

Problems solved by technology

Its disadvantage is that the device cannot realize the function of adaptive envelope grabbing

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

The device realizes the functions of straight-line parallel clamping and adaptive grasping of the robot fingers, maintains the posture of the second finger segment and moves the second finger segment to touch the object in a straight line, or automatically rotates the second finger segment after the first finger segment touches the object. The shortcoming of this device is that there are many mechanical parts, the effective working space for grabbing is small, the volume is large, the structure is complex, and it is inconvenient to design using two spring parts and replacement, high energy consumption

The device realizes the approximate straight-line flat clamping and self-adaptive composite grasping mode: it can not only move the second finger segment to clamp the object, but also rotate the first finger segment to touch the object and then rotate the second finger segment to envelop different shapes. , large and small objects, the shortcoming of this device is that its second finger segment grasps the object in a manner of approximately linear parallel clamping, which is not completely accurate linear parallel clamping. When high-precision clamping is required, it still cannot meet the requirements. need

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