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Adaptive finger clamping device

A self-adaptive, finger-clamping technology, applied in the field of finger-clamping, which can solve the problems that the robotic arm cannot be adjusted, and it is difficult to grasp the target object.

Active Publication Date: 2019-12-24
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the loading surface is uneven or the robotic arm carrying the fingers cannot be adjusted to be vertical or close to the vertical target, it will be difficult to successfully pick up the target

Method used

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Examples

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Embodiment Construction

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] See attached Figure 1-2 , a self-adaptive finger clamping device, including a fixed seat 5, on which a first finger 1, a second finger 2, a third finger 3, and a fourth finger 4 arranged side by side and spaced apart are rotatably mounted on the fixed seat 5; the first finger , the second, third and fourth fingers 1, 2, 3, 4 all include finger outer tube 14, and the right end of finger outer tube 14 is all fixedly packaged with connecting b...

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PUM

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Abstract

The invention discloses an adaptive finger clamping device. The device comprises a fixed base, wherein a first finger, a second finger, a third finger and a fourth finger which are distributed at intervals side by side are rotationally arranged on the fixed base, the first, second, third and fourth fingers comprise a finger outer cylinder, the left end part of the finger outer cylinder is fixedlypackaged with a connecting block, and the right end of the finger outer cylinder is sleeved with a stretchable rod through a linear bearing; mutually matched clamping fingers are arranged between theouter ends of the stretchable rods of the first and second fingers and between the outer ends of the stretchable rods of the third and fourth fingers in a linkage mode. The adaptive finger clamping device mainly solves the problem that the clamping finger is allowed to actively impact the object bearing surface under special conditions and allows the clamping fingers to grab an object in the non-vertical state, and when in the non-vertical state, the clamping fingers can successfully close to realize grabbing in the compressed state.

Description

technical field [0001] The invention relates to a finger that actively collides with a bearing surface and realizes grasping. In particular, it relates to a self-adaptive compression and elongation and an self-adaptive finger clamping device which can be closed by cooperation of a rolling device after a collision. Background technique [0002] Existing grippers can grasp objects without colliding with the bearing surface of the object, but in special cases, for example, the terminal camera that cooperates with the grasping cannot judge the grasping timing or when the object is too thin to grasp, collisions may occur And when the bearing surface is uneven or the error of the mechanical arm is large, there will be risks in the grasping of the existing fingers or the grasping cannot be realized efficiently. [0003] Existing mechanical grippers grasp the target object in a manner that does not contact the carrying surface of the object due to safety considerations. If the car...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/00B25J15/08
Inventor 孙拥军程勇郝志伟潘洪涛韩雨郑磊张俊赵文龙
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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