Adaptive fast grasping robot hand device with flexible palm surface
A robot hand and self-adaptive technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve problems such as difficult and fast response, and achieve the effect of simple structure, strong self-adaptive ability, and low manufacturing and maintenance costs
Inactive Publication Date: 2020-07-28
TSINGHUA UNIV
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Problems solved by technology
[0006] However, the current self-adaptive grasping device basically directly controls the finger movement through the driver, and its grasping speed is directly related to the control system and the characteristics of the driver, so it is difficult to complete the quick response and grasp the moving object
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[0033] 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.
[0034] An embodiment of the flexible palm surface self-adaptive fast grasping robot hand device designed by the present invention, as Figure 1 to Figure 3 As shown, it includes a base 1 , a driver 7 , a transmission mechanism 5 , three fingers 2 , three ratchets 223 , three pawls 4 , a flexible cloth 6 , three first springs 9 and a cord reel 10 . The driver 7 is fixedly connected to the base 1; the input end of the transmission mechanism is connected to the output end of the driver; the base 1 includes a base lower plate 110, a base upper plate 120, three support columns 130, three A support 140, three wire shafts 150; each said support includes a left side support 141 and a right side support 142, all fixedly connected with the upper plate of the base; The seat upper plate 120 and the base low...
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The invention provides a flexible palm type self-adaptive and rapid grabbing robot hand device, and belongs to the technical field of robot hands. The device comprises a base, three fingers, three connecting rods, three ratchet wheels, three pawls, a flexible cloth, a driving device, a spring, a wire rope and a wire coiling device. According to the device, a grabbed object moves relative to the robot hand, and the flexible cloth is capable of driving the fingers to close to achieve the purpose of wrapping and grabbing; the ratchet wheels and the pawls are provided, so that the device is capable of self-locking, and the object can be fixed after being grabbed so as to be prevented from separating; when the object is to be released, the wire rope is driven through the driving device to pullthe pawls and release the ratchet wheels, and thus the fingers can be released under the effect of the spring; the purpose of self-adapting the shape of the object can be achieved based on the deformation property of the flexible cloth; the device is simple in structure, and small in energy consumption; the device can quickly act and grab the object once being in contact with the object; a complexsensing and control system is saved; and the manufacturing and maintaining cost is low.
Description
technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a flexible palm surface self-adaptive fast grasping robotic hand device. Background technique [0002] Adaptive robotic hand is one of the hotspots in the field of robotics at present. It is characterized in that it can automatically adapt to the shape and size of objects during the grasping process, and does not require complex sensing, feedback control and other systems. It is simple, convenient, and low-cost. [0003] There are many ways to achieve self-adaptation, which can be divided into two categories: multi-rigid body system self-adaptation and flexible body self-adaptation. [0004] Existing multi-rigid system self-adaptive fingers, such as the robot hand of Robotiq Corporation of Canada (Canadian patent CA2856622), this device is an underactuated robot hand device, which utilizes a linkage mechanism to realize the fusion of multi...
Claims
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IPC IPC(8): B25J15/10
Inventor 朱润泽张文增
Owner TSINGHUA UNIV