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Variable finger root space line-driven soft hand

A finger and space technology, applied in the field of manipulators, can solve the problems of increased grasping space of the gripper, limited load capacity, and high load of the rigid gripper, and achieves adjustable spacing between fingers, simple control method, and large gripping space Effect

Pending Publication Date: 2022-08-02
UNIV OF SCI & TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing gripping devices at the end of robots are mainly divided into two types: rigid grippers and soft grippers. Rigid grippers have a high load but are not safe enough. Soft grippers, especially pneumatic soft grippers, are safe But the load capacity is limited
And the existing grippers have a drawback: the distance between the fingers is not adjustable, or the palm is of a fixed shape, so it can only grab objects within a certain range. If the distance between the fingers can be adjusted, the gripping space of the gripper will be reduced. will greatly increase

Method used

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  • Variable finger root space line-driven soft hand
  • Variable finger root space line-driven soft hand
  • Variable finger root space line-driven soft hand

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] like Figure 1-10 As shown, the present invention discloses a variable finger root space line drive software hand, which includes a motor 1, a first base 2, a second base 3, a V-shaped bearing group, a flexible finger 4, a finger moving mechanism, a finger The bending mechanism and the first-level pulling wire 5, the V-shaped bearing group is arranged between the first base and the second base, and the V-shaped bearing group includes a larger second V-shaped bearing 18 and two smaller third V-shaped bearings The bearing 19, the fourth V-shaped bearing 20, the motor 1 is fixed on the top of the first base 2 by using hexagon socket head cap screws, the rotating shaft of the motor 1 is fixedly connected with the first-level pull wire 5, and the rotating shaft of the motor passes through the miniature radial ball bearing 23 in turn , the second V-shaped bearing 18 and the miniature radial ball bearing are mounted on the second base 3, the second base 3 is fixedly connected ...

Embodiment 2

[0041] The difference between this embodiment and Embodiment 1 is that in this embodiment, the number of flexible fingers is adjusted and increased by changing the number of arms and the number of V-shaped bearings of the first base. Still only one motor is required in the embodiment.

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Abstract

The invention discloses a variable finger root space line-driven soft hand, and relates to the technical field of manipulators, the variable finger root space line-driven soft hand comprises a motor, a first base, a second base, a V-shaped bearing pack, a flexible finger, a finger moving mechanism, a finger bending mechanism and a first-stage stay wire, the motor is fixed at the top end of the first base, and a rotating shaft of the motor is fixedly connected with the first-stage stay wire; the second base is fixed to the first base, the V-shaped bearing set is arranged between the first base and the second base, the finger moving mechanism is fixed to the interior of the first base, the finger bending mechanism is arranged on the finger moving mechanism in a sleeving mode, the finger bending mechanism is in sliding connection with the finger moving mechanism, and the flexible finger is arranged on the finger bending mechanism. The V-shaped bearing set, the finger moving mechanism and the finger bending mechanism are surrounded by a first-stage pull wire, and the finger moving mechanism and the finger bending mechanism are in driving connection through the first-stage pull wire. The flexible fingers are controlled only through one motor, the distance between the fingers is adjustable, and various irregular objects can be grabbed.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a variable finger root space line drive software hand. Background technique [0002] With the progress of society and the continuous development of robot technology, the realization of grasping objects of different shapes, sizes and hardness has become a difficulty that robots must have and need to overcome urgently. The existing robot end grasping devices are mainly divided into two types: rigid graspers and soft graspers. Rigid graspers have high load but insufficient safety. Soft graspers, especially pneumatic software graspers, although safe. But the load capacity is limited. And the existing grippers have a drawback: the distance between the fingers is not adjustable, or the palm is a fixed shape, so it can only grasp objects within a certain range. If the distance between the fingers can be adjusted, the grasping space of the gripper will be reduced. will...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10B25J15/02
CPCB25J15/10B25J15/0253Y02P90/02
Inventor 郝雨飞周予昭周维泰
Owner UNIV OF SCI & TECH BEIJING