Twisted string drive-based finger of robot

Abstract

The invention relates to a twisted string drive-based finger of a robot. The twisted string drive-based finger of the robot comprises a proximal finger section, a middle finger section, a tail finger section, a middle finger shaft, a tail finger shaft, a coupling connecting rod, a twisted string rotary shaft, a twisted string, a restoring spring and a motor. The motor is fixedly connected on the proximal finger section, the middle finger section is connected on the proximal finger section through the middle finger shaft, the tail finger section is connected on the middle finger section through the tail finger shaft, and the tail finger section and the proximal finger section are connected through the coupling connecting rod. One end of the twisted string is connected on the rotary shaft of the motor while the other end is connected on the middle finger section through the twisted string rotary shaft. Both ends of the restoring spring are respectively connected on the proximal finger section and the middle finger section. The restoring spring surrounds the periphery of the twisted string. The twisted string drive-based finger of the robot provided by the invention is compact in structure, small in size, large in driving force and accurate and convenient to control, and is suitable for being installed on the finger of the rotor.

Description

technical field [0001] The invention relates to a robot finger driven by a twisted rope. Background technique [0002] The robot hand is an important part of the robot. In recent years, it has become a hot spot and focus of research by scholars from various countries. The driving method of the robot finger is an important aspect that affects the performance and function of the robot hand. Now the driving method of the robot finger is mainly divided into two categories: Motor drive, hydraulic or pneumatic drive, these two types of drive schemes have their own advantages and disadvantages. Hydraulic or pneumatic drive can generate greater driving force with a smaller drive mechanism, but in order to avoid contamination of hydraulic oil, environmental cleanliness requirements High, the pneumatic driver will produce a lot of noise when it works, and more importantly, it is difficult for hydraulic and pneumatic drivers to accurately control the driving displacement, position and...

AI Technical Summary

Problems solved by technology

[0002] The robot hand is an important part of the robot. In recent years, it has become a hot spot and focus of research by scholars from various countries. The driving method of the robot finger is an important aspect that affects the performance and function of the robot hand. Now the driving method of the robot finger is mainly divided into two categories: Motor drive, hydraulic or pneumatic drive, these two types of drive schemes have their own advantages and disadvantages. Hydraulic or pneumatic drive can generate greater driving force with a smaller drive mechanism, but in order to avoid contamination of hydraulic oil, environmental cleanliness requirements High, the pneumatic driver will produce a lot of noise when it works, and more importantly, it is difficult for hydraulic and pneumatic drivers to accurately control the driving displacement, position and driving force; if the motor is used to drive, it can better achieve precise control of the rotation angle and force It is also very convenient to control the parameters such as the rotation angle and torque of the motor with the drive circuit, but due to the fact that the size of the robot finger cannot be too large, the motor installed on the robot finger cannot be too large, the driving force of the motor will be small, and it needs to be decelerated by the reduction mechanism Boost

For this reason, Professor Liu Hong of Harbin Institute of Technology took the lead in developing the DLR linear drive, which uses a worm reducer to convert the rotational motion of the motor into the linear motion of the drive, and decelerates and increases the force; The deceleration of the motor is realized in a small space to generate a large driving force, but due to the use of a worm gear reducer, the drive sometimes has a crawling phenomenon, and due to the gap between the gears, there will be a certain error in the positive and negative strokes

At present, there are few other types of deceleration booster reducers

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