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Series-parallel hybrid connecting rod linear parallel clamping self-adaptive robot finger device

A robotic finger and self-adaptive technology, which is applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of increased control difficulty and no straight-line clamping, and achieve low manufacturing and maintenance costs, simple control, and stable grasping Effect

Active Publication Date: 2021-09-17
董尹凯
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device does not have the function of straight line clamping - the end finger segment of the device presents a circular arc motion during the translation process, so when grabbing objects of different sizes on the workbench, it needs the cooperation of the mechanical arm to control it. , increasing the difficulty of controlling

Method used

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  • Series-parallel hybrid connecting rod linear parallel clamping self-adaptive robot finger device
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  • Series-parallel hybrid connecting rod linear parallel clamping self-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] A kind of embodiment of the self-adaptive robotic finger device of the series-parallel hybrid connecting rod linear flat clamping device designed by the present invention, such as Figure 1 to Figure 9 As shown, it includes a base 10, a motor 11, a transmission mechanism, a proximal finger segment 21, a middle finger segment 22, a far finger segment 23, a proximal joint shaft 301, a middle joint shaft 302 and a distal joint shaft 303; the motor 11 and the base 10 is fixedly connected, the motor 11 is connected to the input end of the transmission mechanism; the proximal joint shaft 301 is sleeved in the base 10, the proximal finger section 21 is sleeved on the proximal joint shaft 301, and the middle joint shaft 302 is sleeved in the proximal finger segment 21, the middle finger segment 22...

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Abstract

The invention discloses a series-parallel hybrid connecting rod linear parallel clamping self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a transmission mechanism, three finger sections, three joint shafts, eleven connecting rods, three spring pieces, two limiting blocks and the like. According to the device, a three-joint linear parallel clamping mode and a double-finger-section self-adaptive grabbing mode can be achieved; in the initial stage, the device is in the linear parallel clamping mode, the far finger section translates, the track is a straight line, and the far finger section is suitable for clamping an object on a plane; when the near finger section makes contact with an object and is blocked, the device enters the self-adaptive grabbing mode, and the middle finger section and the far finger section rotate around the middle joint shaft and the far joint shaft respectively; and the middle finger section makes contact with an object, and the far finger section continues to rotate till the near finger section, the middle finger section and the far finger section make contact with the object. The device is adaptive to objects with different shapes and sizes, adopts one motor to drive three joints, and is stable in grabbing, simple to control and low in manufacturing and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a series-parallel hybrid connecting rod linear flat clip self-adaptive robot finger device. Background technique [0002] The development and application of robot technology is a current research hotspot. Researchers' research results on industrial robots play a huge role in industrial production. By controlling robots to perform repetitive and dangerous operations, they promote the formation of smart factories and unmanned factories, greatly improving production efficiency. Similar to industrial robots, service robots will be the next standardized product category that will enter thousands of households and various occasions, requiring robotic hands to assist in performing grasping operations. Therefore, research on robotic hands has become a research hotspot. [0003] Since the human hand is a dexterous terminal part produced by human be...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/12B25J15/00B25J15/02
CPCB25J9/08B25J9/12B25J15/0009B25J15/02
Inventor 董尹凯张文增
Owner 董尹凯
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