Gathering type quick-grasping sliding rod robot hand device with self-adaption

Abstract

The invention discloses a gathering type quick-grasping sliding rod robot hand device with self-adaption, and belongs to the technical field of robot hands. The gathering type quick-grasping sliding rod robot hand device with self-adaption comprises a base, a motor, a cam, second spring parts and a plurality of push rod assemblies. The device is used for grasping objects. The function of spatial discretization self-adaption grasping is achieved. The push rod assemblies are adopted to achieve the function of self-adaptation to the object size and shape. The cam is adopted to achieve the quick grasping function. The device achieves the effect of multidirectional object grasping, and grasping force is provided for the object in multiple directions. Objects placed in different directions and in different shapes (including strip shape) can be effectively grasped. The device is not limited by driving source power and has high grasping speed. The device is simple in structure and low in energy consumption, and can be adopted to a plurality of kinds of robots needing universal grasping, especially to situations needing quick grasping.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of an adaptive robotic hand device for gathering fast grabbing slide bars. Background technique [0002] The robot hand has a wide range of uses in the field of robotics. It is used to temporarily connect and fix the robot and the object, and can be released at an appropriate time. The former realizes the grasping of the object, and the latter realizes the release of the object. In order to reduce the cost, the general robot hand is made to have two relative moving parts, so as to realize the grabbing and releasing functions in the simplest way. There are also many structures that imitate the human hand, designed to have more fingers and several joints on the fingers, but that will bring the complexity and high cost of the mechanical system, sensing system, control system and control algorithm. Part of the robot hand is adaptable, that is,...

AI Technical Summary

Problems solved by technology

[0005] (1) Unable to achieve multi-directional grip

When the device exerts a grasping force on the target object, the grasping force can only be along the direction in which the two groups of rod clusters gather together, which is equivalent to a two-finger gripper, which only produces a one-dimensional gripping mode, and the gripping effect is poor

[0006] (2) Failure to grasp long objects placed in a specific direction

[0007] (3) Complex structure and high energy consumption

The device has 2 groups of rod clusters, and requires 2 movable supports (or motion bases) that move with each other, a set of linear guide rails, 2 sliders, drivers, transmission mechanisms, etc., the structure is relatively complicated, and a Bulky rod cluster movement with many long rods is relatively energy-intensive

[0008] (4) Grip stability needs to be improved

But this device still has some deficiencies, such as grasping is not fast, because the wheel train needs to be rotated to tighten the flexible rope when grasping, this tightening process takes a long time, and is limited by the power of the driving source, if the tightening process is accelerated also leads to a decrease in tightening force

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