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Rod-wheel combined type coupling self-adapting under-actuated robot finger device

A robot finger, compound technology, applied in the directions of manipulators, joints, chucks, etc., can solve the problems of too many transmission wheels, spring parts and flexible parts, low stability of "Σ"-shaped transmission parts, and difficult installation. , to achieve the effect of simple and reliable structure, large grasping range and uniform force

Inactive Publication Date: 2016-06-15
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this device can realize the function of coupling and rotating multiple joints first, and then adaptively grasping, its disadvantage is that the device requires too many transmission wheels, spring parts and flexible parts, and the mechanism is complicated. "Σ" The stability of the shape transmission parts is not high, and the installation is difficult

Method used

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  • Rod-wheel combined type coupling self-adapting under-actuated robot finger device
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  • Rod-wheel combined type coupling self-adapting under-actuated robot finger device

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Embodiment Construction

[0029] 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.

[0030] An embodiment of the rod-wheel compound coupling adaptive underactuated robot finger device designed by the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 with Figure 6 As shown, it includes driver 1, base 2, first finger segment 3, second finger segment 4, proximal joint shaft 5, distal joint shaft 6, first transmission wheel 7, second transmission wheel 8, transmission member 9, the first joint shaft A connecting rod 10, a second connecting rod 11, a rotating shaft 12, a shifting block 13 and a spring member 14; the driver 1 is fixedly connected to the base 2; the proximal joint shaft 5 is sleeved in the base 2; The first finger segment 3 is movably sleeved on the proximal joint shaft 5; the distal joint shaft 6 is movably sleeved in the first fi...

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Abstract

The invention discloses a rod-wheel combined type coupling self-adapting under-actuated robot finger device, and belongs to the technical field of robot fingers. The rod-wheel combined type coupling self-adapting under-actuated robot finger device comprises a pedestal, a driver, two finger sections, two joint shafts, two transmission wheels, a transmission part, two connecting rods, a rotary shaft, a pulling block and a spring part. According to the device, the function of gripping an object in a coupling self-adapting manner is realized by combining the double transmission wheels, the 8-shaped transmission part, the swinging double connecting rods which are in sliding inlay, a sleeved and mobile middle finger section, the spring part and the like; the device can imitate a gripping mode of a hand during gripping as follows: the first finger section and the second finger section can simultaneously rotate, the rotation speed of the far joint is greater than that of the near joint, the object is gripped in a self-adapting enveloping manner, and the self-adaption to the shape and the dimension of the gripped object are achieved; the gripping range is great, the two finger sections are uniform in stress, the gripping is stable; and meanwhile, the rod-wheel combined type coupling self-adapting under-actuated robot finger device has an anthropopathic appearance, has flexibility and a compact structure, so that the driving of two joints is realized by only needing one spring part and only using one driver.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a rod-wheel compound coupling self-adaptive underactuated robot finger device. Background technique [0002] As the end effector of the robot, the robot hand is one of the most important parts of the robot. The human hand has the characteristics of many degrees of freedom, small size, large output, and multiple grasping modes. Therefore, imitating the human hand has always been a popular research direction for robotic hands. The existing dexterous hand is the robot hand with the highest degree of closeness to the human hand. It has a lot of active control degrees of freedom and many grasping modes, but the control is very complicated, it is difficult to adapt to unknown environments, and the system is expensive. At the same time, due to the large number of motors, the motors need to be made very small, resulting in small output of dextero...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/00
CPCB25J15/0009B25J17/00
Inventor 梁达尧张文增
Owner TSINGHUA UNIV
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