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Four-linkage six-wheel idle-transmission parallel-clamping adaptive robot finger device

A robot finger, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of large deformation of multiple spring parts, difficult selection of spring parts, excessive energy loss, etc., to achieve large grasping force, Stable and reliable gripping, low assembly and maintenance costs

Inactive Publication Date: 2016-11-23
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The device can realize the coupling and self-adaptive composite grasping mode, but the disadvantages are: 1) the mechanism is complicated, and there are two sets of transmission mechanisms installed between the proximal joint shaft and the distal joint shaft; Difficulty in selection; 3) Use multiple springs to achieve decoupling - to reconcile the contradiction between the coupling transmission mechanism and the adaptive transmission mechanism, often making the deformation of multiple springs large, resulting in excessive and unnecessary energy loss

Method used

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  • Four-linkage six-wheel idle-transmission parallel-clamping adaptive robot finger device
  • Four-linkage six-wheel idle-transmission parallel-clamping adaptive robot finger device
  • Four-linkage six-wheel idle-transmission parallel-clamping adaptive robot finger device

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Embodiment Construction

[0040] 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.

[0041] An embodiment of the four-rod six-wheel idle drive flat clip self-adaptive robot finger device designed by the present invention, such as Figure 1 to Figure 7 , Figure 19 As shown, it includes a base 1, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4, a distal joint shaft 5 and a motor 14; the motor 14 is fixedly connected to the base 1; the proximal joint shaft 4 The central line of the center line is parallel to the central line of the distal joint shaft 5; it is characterized in that: the four-rod six-wheel idle drive flat clip adaptive robot finger device also includes a transition transmission mechanism, a first pulley 41, a second pulley 42, a second pulley 42, Three pulleys 43, the fourth pulley 44, the fifth pulley 45, the sixth pulley 46, the first...

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Abstract

The invention relates to a four-linkage six-wheel idle-transmission parallel-clamping adaptive robot finger device, which belongs to the technical field of robot hands. The four-linkage six-wheel idle-transmission parallel-clamping adaptive robot finger device comprises a base, two finger sections, two joint shafts, a motor, a plurality of belt pulleys, a parallel four-linkage mechanism, two bulged blocks, a limiting block and two springs. According to the device, a parallel clamping and adaptive composite grabbing mode of a robot finger is comprehensively realized, the second finger section can horizontally move to pinch an object, the action personification degree is high, or the first finger section rotates to touch the object, then the second finger section rotates to wrap and hold the object, the grabbing force is large, and an adaptive grabbing effect on objects of different shapes and sizes is achieved. The device has the advantages of stability and reliability in grabbing, simple structure, small size, light weight and low processing, assembly and maintenance cost and is suitable for the robot hands, only one motor is used for driving two joints, and a complex sensing and real-time control system is not needed.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a four-rod six-wheel idle drive flat clip self-adaptive robot finger device. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, without the need for real-time sensing and closed-loop feedback control, simple and convenient control, and reduces manufacturing costs. [0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. [0004] Pinch is to use the fingertips of the end...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02
CPCB25J15/0266B25J15/0009B25J15/026B25J15/0286
Inventor 龙泽邦张文增
Owner TSINGHUA UNIV
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