Laminated telescopic flat clamp grabbing sliding pipe self-adaptive robot hand device

Abstract

The invention belongs to the technical field of robot hands, and relates to a laminated telescopic flat clamp grabbing sliding pipe self-adaptive robot hand device which comprises a base, a sliding pipe assembly, a fluid pump, a fluid cavity, fluid and a laminated telescopic assembly. The universal grabbing function of the robot hand is comprehensively achieved through the device. According to thedevice, multi-point contact is obtained through a plurality of sliding pipes arranged in an array mode, the sliding pipes slide passively on a guide rod to adapt to objects of different shapes and sizes, and the self-adaptive characteristic is achieved; when an object is grabbed, the multiple guide rods are pushed to slide in the sliding grooves of the base through the fluid, the fluid cavity andthe laminated telescopic assembly, and simultaneous rapid grabbing of the multiple sliding pipes is achieved. Due to the adoption of the laminated telescopic assembly, the grabbing force is large; automatic coordination and balance of grabbing force of a plurality of sliding pipes on an object are obtained through communicated fluid, the requirement for sensing and control is low, control is easy, and the grabbing force applied to the object is evenly distributed. The device is suitable for various occasions where objects of different shapes and sizes need to be universally grabbed.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a self-adaptive robotic hand device for grabbing sliding tubes with laminated telescopic flat clips. Background technique [0002] The robotic hand is the part of the robot that performs grasping. Since the human hand has multiple fingers and each finger has multiple joints, the human hand can easily grasp objects of different sizes and shapes, and has high adaptability. Imitating the human hand has become a very important trend of the robot hand. However, in decades of research on robotic hands biased towards human hands, researchers have shown that the core of the human hand is the adaptability of grasping. In order to achieve adaptive grasping, it is not necessary to use multi-finger and multi-joint joints. Similar to the structure of the human hand, other types of structures may also achieve efficient adaptive grasping effects. As ...

AI Technical Summary

Problems solved by technology

Its disadvantages are: the hand cannot grasp the long strip objects beyond its two sets of closing directions, and the grasping force of small objects that are smaller than its set of boundaries and cannot touch the two sets of rods at the same time is weak. , grab unstable

[0004] Fu Hong designed a self-adaptive hand with an omnidirectionally gathered root rotating slide tube array, which can grab objects in different directions. The disadvantage is that this hand cannot allow the multi-rod to have a closer grip when grabbing objects. , so it looks like multiple rods are involved in the grasping. In fact, because it is a root joint rotating rod, the place that touches the object is mostly point contact, rather than line contact or surface contact. The sliding tube will generate grasping force, but the internal sliding tube does not directly contact the tendon cord, and the internal sliding tube has no force exerted on the object, resulting in uneven grasping force and unstable grasping, which affects its practical application

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