An adaptive finger gripping device

Abstract

The invention discloses an adaptive finger clamping device, comprising a fixing seat, on which a first finger, a second finger, a third finger and a fourth finger distributed side by side and spaced apart are rotatably mounted. , The third and fourth fingers all include a finger outer cylinder, the left end of the finger outer cylinder is fixed and encapsulated with a connecting block, and the right end of the finger outer cylinder is sleeved with a telescopic rod through a linear bearing; the telescopic rods of the first and second fingers are Between the outer ends and between the outer ends of the telescopic rods of the third and fourth fingers are respectively linked and installed clamping fingers that cooperate with each other. The present invention mainly solves the problem that under special circumstances of the gripper finger, the gripper finger is allowed to actively collide with the object bearing surface and the gripper finger is allowed to grasp the object in a non-vertical state, and at the same time, in the non-vertical state, the gripper finger can be successfully closed in a compressed state Fetch.

Description

technical field [0001] The invention relates to a clamping finger that actively collides with a bearing surface and realizes grasping. In particular, it relates to a self-adaptive compressing and elongating device that can be closed by rolling devices after a collision. Background technique [0002] The existing gripping fingers are all used to grasp the object without colliding with the bearing surface of the object, but in special cases, such as the end camera that cooperates with the grasping cannot determine the grasping timing or the object is too thin to grasp, it may cause collision. And when the bearing surface is uneven or the grasping error of the robotic arm is large, the existing gripper finger grasping will be risky or cannot be grasped efficiently. [0003] The existing mechanical clamps all grasp the target object without contacting the object bearing surface for safety reasons. If the bearing surface is not flat or the robot arm carrying the gripping finger...

AI Technical Summary

Problems solved by technology

If the loading surface is uneven or the robotic arm carrying the fingers cannot be adjusted to be vertical or close to the vertical target, it will be difficult to successfully pick up the target

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