Sliding groove parallel connecting rod linear parallel clamping adaptive robot finger device
A robot finger, self-adaptive technology, applied in the directions of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of single working mode, unable to achieve adaptive envelope grasping, unable to achieve linear and parallel gripping objects, etc.
Active Publication Date: 2019-04-12
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
The disadvantage of this device is that it cannot realize adaptive envelope grabbing, which makes it have a single working mode, and can only pinch objects in parallel, making it difficult to effectively grab objects with complex shapes.
Its disadvantage is that the device cannot realize the function of clamping objects in a straight line and parallel
Method used
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[0038] 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.
[0039] A kind of embodiment of the self-adaptive robot finger device of the chute parallel connecting rod straight line flat clamp that the present invention designs, as Figure 1 to Figure 6 As shown, it includes a base 1, a driver 11, a transmission mechanism 12, a first finger segment 21, a second finger segment 22, a proximal joint shaft 31 and a distal joint shaft 32; the driver 11 is affixed to the base 1; the The output end of the driver 11 is connected to the input end of the transmission mechanism 12; the first finger segment 21 is sleeved on the proximal joint shaft 31; the distal joint shaft 32 is sleeved in the first finger segment 21; the second finger segment The finger section 22 is sleeved on the distal joint shaft 32; the centerline of the proximal joint shaft 31 and the distal j...
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The invention discloses a sliding groove parallel connecting rod linear parallel clamping adaptive robot finger device, and belongs to the technical field of robot hands. The sliding groove parallel connecting rod linear parallel clamping adaptive robot finger device comprises a base, a driver, a transmission mechanism, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a plurality of connecting rods, a plurality of shafts, spring parts and a limiting block. According to the sliding groove parallel connecting rod linear parallel clamping adaptive robot finger device, the compound grasping function of linear parallel clamping and adaptive grasping of robot fingers is synthetically achieved; the second finger section can be linearly and horizontally movedto clamp objects, the device is suitable for grasping of the sheet-shaped objects on the working table top, after the first finger section makes contact with the objects, the second finger section can automatically rotate to make contact with the objects, and the device can automatically adapt to envelope grasping of the objects of different shapes and sizes; the device is large in grasping range, stable and reliable; the driver is utilized to drive the two finger sections, the driving mode is simple, a complex sensor is not needed, and control is easy; and the device is compact in structure,small in size and low in manufacturing and maintenance cost.
Description
technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a chute parallel link linear flat clip self-adaptive robot finger device. Background technique [0002] As the end execution part of the robot system, the robot hand plays an irreplaceable and important role in the production and life practice. [0003] According to different application scenarios, robot hands can be divided into industrial grippers, anthropomorphic robot hands and special hands. [0004] Grabbing objects is the main function of the robot hand. The traditional industrial gripper adopts the grasping mode of parallel clamping (referred to as flat clamping), and the posture of the end finger segment is always kept in line with the base of the robot hand during the movement process. Relatively fixed, so that in the process of grasping the object, the finger segments of the two or more symmetrically distributed fingers are paral...
Claims
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IPC IPC(8): B25J15/00B25J15/08B25J9/00
CPCB25J9/0048B25J15/0028B25J15/083
Inventor 李科徐向荣张文增
Owner ANHUI UNIVERSITY OF TECHNOLOGY