Under-actuated robot finger device with covering and clamping functions

Abstract

An under-actuated robot finger device with covering and clamping functions belongs to the technical field of robots. The under-actuated robot finger device comprises a base, two sets of finger sections and joint shafts, and also comprises drivers, a transmission part, two transmission wheels, two connecting rods, a rotary shaft, a poking block and a spring piece; an output shaft of the driver is connected with the first connecting rod; one end of the first connecting rod is connected with a near joint shaft in a sleeving way, and the other end of the first connecting rod is in slide embedding with one end of the second connecting rod; the two transmission wheels respectively sleeve the two joint shafts; two ends of the spring piece are respectively connected with the first transmission wheel and the base, and the spring piece enables the poking block to get close to the base. The device realizes a special function of parallelly grabbing an object in a self-adaptive and under-actuated way. Multiple grabbing modes are provided for the device, i.e. parallelly opening and closing tail end finger sections to perform inward pinching or outward opening and grabbing, and capability of grabbing in the self-adaptive way; meanwhile, the under-actuated robot finger device is large in grabbing range, small in size, personified in appearance, simple and reliable in structure and low in cost, and has pliability; more fingers are driven to rotate joints by fewer driver without sensing and control systems.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of an underactuated robot finger device with functions of enveloping and clamping. Background technique [0002] The human hand has the characteristics of many degrees of freedom, small size, large output, and multiple grasping modes, which brings difficulties to the development of anthropomorphic robot hands that imitate human hands. The robotic hand can grasp objects and manipulate them by moving the platform and arms. The existing dexterous hand is the most high-end device that imitates the human hand. It has a lot of active control degrees of freedom and flexible movements. However, the control is very complicated, and the system is relatively expensive. Complicated programming is required, different programming is required for grasping different objects, the cost is high, the output is small, and the adaptability requires the use of sensing ...

AI Technical Summary

Problems solved by technology

[0005] An existing double-joint co-direction transmission compound underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. The picking range is small; when grabbing an object, it is required that the object must be close to the base and near-finger section at first, which reduces the grabbing efficiency; it is impossible to implement parallel pinching, and it is also impossible to achieve parallel outward opening to grab objects

Its disadvantages are that the grabbing range of the device is small, the multi-link mechanism is bulky, the appearance is not human, lack of flexibility, and the manufacturing cost is high

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