Adaptive finger clamping device

A self-adaptive, finger-clamping technology, applied in the field of finger-clamping, which can solve the problems that the robotic arm cannot be adjusted, and it is difficult to grasp the target object.
CN110605733AActive Publication Date: 2019-12-24HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
Publication Date
2019-12-24

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Abstract

The invention discloses an adaptive finger clamping device. The device comprises a fixed base, wherein a first finger, a second finger, a third finger and a fourth finger which are distributed at intervals side by side are rotationally arranged on the fixed base, the first, second, third and fourth fingers comprise a finger outer cylinder, the left end part of the finger outer cylinder is fixedlypackaged with a connecting block, and the right end of the finger outer cylinder is sleeved with a stretchable rod through a linear bearing; mutually matched clamping fingers are arranged between theouter ends of the stretchable rods of the first and second fingers and between the outer ends of the stretchable rods of the third and fourth fingers in a linkage mode. The adaptive finger clamping device mainly solves the problem that the clamping finger is allowed to actively impact the object bearing surface under special conditions and allows the clamping fingers to grab an object in the non-vertical state, and when in the non-vertical state, the clamping fingers can successfully close to realize grabbing in the compressed state.
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Description

technical field

[0001] The invention relates to a finger that actively collides with a bearing surface and realizes grasping. In particular, it relates to a self-adaptive compression and elongation and an self-adaptive finger clamping device which can be closed by cooperation of a rolling device after a collision. Background technique

[0002] Existing grippers can grasp objects without colliding with the bearing surface of the object, but in special cases, for example, the terminal camera that cooperates with the grasping cannot judge the grasping timing or when the object is too thin to grasp, collisions may occur And when the bearing surface is uneven or the error of the mechanical arm is large, there will be risks in the grasping of the existing fingers or the grasping cannot be realized efficiently.

[0003] Existing mechanical grippers grasp the target object in a manner that does not contact the carrying surface of the object due to safety considerations. If the car...

Claims

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