Connecting rod structure, robot fingers and robot

A connecting rod structure and connecting rod technology are applied in the field of robot fingers, robots and connecting rod structures, which can solve the problem that the connecting rod mechanism cannot passively move.
CN113103278AActive Publication Date: 2021-07-13UBTECH ROBOTICS CORP LTD
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
UBTECH ROBOTICS CORP LTD
Publication Date
2021-07-13

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Abstract

The invention belongs to the technical field of robot accessories, and particularly relates to a connecting rod structure, robot fingers and a robot. In the connecting rod structure, a fixing frame, a first rod piece, a second rod piece and a connecting rod form a four-rod mechanism, and active bending, straightening and passive bending movement of the four-rod mechanism can be achieved in combination with a driving assembly and an elastic piece; no matter whether a linear driving piece works or not, when the second rod piece is subjected to external force, the second rod piece can swing, the elastic piece is compressed to store energy, the first rod piece is in linkage with the connecting rod, the first rod piece swings in the swinging direction of the second rod piece, and passive bending movement is achieved; during passive bending movement, interference between the first rod piece and a transmission rod is avoided, and the situation that the four-rod mechanism is damaged due to external force is reduced; and after the external force is removed, the elastic piece releases energy to drive the second rod piece to reset, and the first rod piece, the connecting rod, the transmission rod and a push rod are in linkage to achieve straightening motion. The connecting rod structure can be applied to occasions requiring bidirectional active movement and unidirectional passive movement, such as the robot fingers.
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Description

technical field

[0001] The application belongs to the technical field of robot accessories, and in particular relates to a connecting rod structure, a robot finger and a robot. Background technique

[0002] At present, the most commonly used transmission method for robot fingers is connecting rod transmission, which is generally a four-bar mechanism with a single degree of freedom, that is, a driving member controls the movement of the connecting rod mechanism in a fixed path to realize the bending and straightening of the robot finger. . As a moving part, the traditional four-bar mechanism is easily damaged by the external force of collision and impact. When the four-bar mechanism is subjected to external force, it cannot passively bend and move, and the movement appears stiff and not compliant. Contents of the invention

[0003] The purpose of the embodiments of the present application is to provide a link structure, a robot finger and a robot, so as to solve the techni...

Claims

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