Sliding groove double-crank linear parallel-clamping adaptive robot finger device

Abstract

The invention provides a sliding groove double-crank linear parallel-clamping adaptive robot finger device, and belongs to the technical field of robot hands. The sliding groove double-crank linear parallel-clamping adaptive robot finger device comprises a base, two finger segments, a motor, two skeleton rods, a double parallel four-bar linkage mechanism, a linear sliding groove, an idler wheel, two spring pieces, two limiting blocks and the like. The sliding groove double-crank linear parallel-clamping adaptive robot finger device achieves a composite grabbing mode of linear parallel clampingand adaptive grabbing of a robot; the second finger segment can be linearly and horizontally moved to clamp an object, at the stage that the second finger segment is horizontally moved to clamp the object, the tail end of the second finger segment always keeps a linear movement trajectory, and the sliding groove double-crank linear parallel-clamping adaptive robot finger device is suitable for grabbing the objects with different sizes on a worktable top; the sliding groove double-crank linear parallel-clamping adaptive robot finger device can also grab the objects adaptively, after the firstfinger segment makes contact with the object and stops moving, the second finger segment rotates around a far joint shaft and adapts to the shapes of the objects to conduct enveloping grabbing, and thus the sliding groove double-crank linear parallel-clamping adaptive robot finger device is suitable for grabbing the objects with different shapes and different sizes; the sliding groove double-cranklinear parallel-clamping adaptive robot finger device utilizes one motor to drive the two finger segments, the grabbing range is large, complex sensing and control are not needed, and control is easy; and the sliding groove double-crank linear parallel-clamping adaptive robot finger device is compact in structure and low in cost and is applied to various robots needing to grab.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a chute double-crank straight-line flat grip self-adaptive robot finger device. Background technique [0002] With the continuous development of human science and technology, various robots have emerged as the times require, playing an important role in all walks of life, helping humans complete various boring, dangerous or heavy jobs. The robot hand is an important part of the robot grasping tool to carry out work or directly grasp and manipulate objects. Grasping refers to restricting all three degrees of freedom of movement and three degrees of freedom of rotation of an object in space. Therefore, more than two relative contact surfaces are required to achieve stable grasping. Therefore, the multi-fingered robot hand with fingers has been obtained. Numerous studies. Multi-fingered robotic hands include dexterous hands, underactuated h...

AI Technical Summary

Problems solved by technology

The disadvantage is that the device does not have the function of adaptive envelope capture

Its shortcoming is that the device does not have the function of straight line clamping - the end finger segment of the device presents a circular arc motion during the translation process, so when grabbing objects of different sizes on the workbench, it needs the cooperation of the mechanical arm to control it. , increasing the difficulty of controlling

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