Cam type quick grabbing under-actuated robot hand device

Abstract

The invention discloses a cam type quick grabbing under-actuated robot hand device, and belongs to the technical field of robot hands. The device mainly comprises a palm, at least two fingers, a main shaft, a motor, a speed reducer, a first bevel gear, a second bevel gear, an incomplete groove cam, a movable plate, a sensor for detecting whether the fingers are opened in place or not, a sensor for detecting whether an object is in place or not, a control module and the like, wherein each finger is a tendon rope-torsion spring type multi-joint finger. The device has a function of automatically and quickly grabbing the object, and a grabbing process comprises four processes of energy storage opening of the fingers, detection of whether the fingers are opened in place or not, detection of whether the object is in place or not and instantaneous grabbing releasing; the device can be used for realizing quick grabbing; the object can be automatically grabbed after being detected to be in place; objects with different shapes and sizes can be adaptively grabbed; the device is compact in structure, the palm is large in size, and a grabbing space is large; the device is stable and accurate in transmission and high in transmission efficiency; and a plurality of joints of a plurality of fingers can be driven by only one motor, and the appearance and the actions of a human hand can be simulated by the device; and the device can be used for an anthropomorphic robot.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, in particular to a structural design of a cam-type fast grabbing underactuated robotic hand device. Background technique [0002] Anthropomorphic robotic hands are mainly divided into two types: dexterous hands and underactuated hands. The dexterous hand has many active joints with complex actuation and control systems and can perform many operations. In recent decades, the research on dexterous hands has achieved fruitful results, such as Utah / MIT hands, Robonaut hands, DLR / HIT II hands, etc. However, due to the many degrees of freedom of the dexterous hand and the lack of adaptability of the fingers when grasping objects of different shapes, high requirements are placed on the driving power, sensing, information processing, control algorithms, etc., and the device is complex and expensive. [0003] The so-called underactuated hand refers to using a small number of motors to control more...

AI Technical Summary

Problems solved by technology

In this scheme, the pulling and relaxation of the rope depends on the external force such as the movement of the human shoulder. The movement of the human shoulder has a special effect of relatively fast relaxation. Without this special effect of the human, the device cannot achieve fast grasping. For the purpose of taking, if the external force of the person is simply replaced by the power of the motor, the motor can only achieve the purpose of gradually pulling and gradually relaxing the rope, and cannot achieve the function of instantly and quickly relaxing the rope. Therefore, this device is not suitable for use. Robotic hand for fast and efficient gripping

[0008] (2) The hand lacks the function of detecting whether the object is within the grasping range or near the palm, which affects the grasping timing of fast-moving objects, and it is difficult to automatically grasp fast-moving objects

The hand relies on human eyes or other senses to judge the timing of grabbing objects, and the human brain relaxes the rope through the movement of the shoulder or other parts. grab at the right time

[0009] (3) The grasping space of this hand is limited, and under the same grasping space, the palm volume is too large

Since the angular velocity of the driven wheel has a sudden change at the beginning and end of each rotation, there is a rigid impact and the gears are easy to wear, which is not conducive to the long-term operation of the robot hand

[0012] 2. The incomplete gear mechanism is generally only suitable for low-speed, light-load working conditions, and its practical application has certain limitations.

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