A self-adaptive robot finger device with wheel rotation and space travel linear flat clamp
A robot finger, self-adaptive technology, applied in the direction of program-controlled manipulators, manipulators, chucks, etc., can solve the problems of complex mechanism, high manufacturing cost, and inability to achieve straight-line parallel clamping.
Active Publication Date: 2021-07-06
ANHUI UNIVERSITY OF TECHNOLOGY
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- Application Information
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Problems solved by technology
Its shortcoming is that the device cannot realize the linear parallel clamping function of the end finger segment moving along the straight line track in the parallel clamping stage.
Its disadvantages are: the device cannot realize the function of self-adaptive envelope grabbing objects, the mechanism is relatively complicated, and the manufacturing cost is high
Method used
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[0034] 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.
[0035] A kind of embodiment of the self-adaptive robot finger device of a kind of pulley rotation free-range straight-line flat clip that the present invention designs, as Figure 1 to Figure 4 As shown, it includes base 1, motor 21, first transmission mechanism, second transmission mechanism, first finger segment 71, second finger segment 72, proximal joint shaft 81, distal joint shaft 82, first transmission gear 61, the second Two transmission gears 62, the first shaft 91, the second shaft 92, the third shaft 93, the fourth shaft 94, the fifth shaft 95, the sixth shaft 96, the first connecting rod 101 and the second connecting rod 102; 21 is fixed on the base 1; the input end of the first transmission mechanism is connected with the motor 21; the input end of the second transmission mechanism i...
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The belt wheel rotary idle parallel linear flat clip self-adaptive robot finger device belongs to the field of robot hand technology, including a base, a motor, two sets of transmission mechanisms, two finger segments, multiple shafts, two transmission wheels, two connecting rod, three springs, three bumps and six pulleys etc. The device realizes the functions of straight-line parallel clamping and adaptive composite grasping of the robot fingers; when the device clamps objects in a straight line and parallel, the second finger segment always maintains a linear motion track, and can linearly move the second finger segment to pinch the object , suitable for grabbing thin plate-like objects on the workbench; the device adopts a parallel mechanism to realize self-adaptive grabbing by rotating the empty space; the device has a large grabbing range, and uses one driver to drive two finger segments, and the driving method is simple , without complex sensing and control systems; the device has a compact structure, small size, low manufacturing and maintenance costs, and is suitable for robotic hands for general grasping.
Description
technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a pulley rotating idle distance straight line flat clip self-adaptive robot finger device. Background technique [0002] The robotic hand is an important end component for grasping and manipulating objects. At present, the research results of robot hands mainly focus on dexterous manipulators and underactuated manipulators, as well as industrial grippers and special hands. Objects in space are various and different in size, such as thin paper, irregularly shaped stones, mobile phones, apples, etc. In the dexterous hand, most of the finger joints are equipped with actuators, but the control is complex and the gripping force is small, so the application of the dexterous hand is limited. In underactuated hands, each finger has two or more degrees of freedom, driven by a small number of drivers, and can grasp objects, with a simple structure a...
Claims
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IPC IPC(8): B25J15/08B25J15/00B25J9/10
CPCB25J9/102B25J15/0028B25J15/083
Inventor 潘勇徐向荣张文增
Owner ANHUI UNIVERSITY OF TECHNOLOGY