Connecting rod type variable grasping force cooperative self-adaptive finger device

Abstract

The invention relates to a connecting rod type variable grasping force cooperative self-adaptive finger device and belongs to the technical field of robot hands. The connecting rod type variable grasping force cooperative self-adaptive finger device comprises a plurality of finger sections, a plurality of joint shafts, a plurality of reed pieces, a tendon rope, a plurality of driving rods, a plurality of driven rods, a plurality of connecting rods, a plurality of poking rods, a plurality of poking pieces and the like. The connecting rod type variable grasping force cooperative self-adaptive finger device utilizes a motor, a transmission mechanism, the poking pieces, the poking rods, the driving rods, the driven rods, the connecting rods, a stay cord piece, the tendon rope, the reed pieces and the like to comprehensively realize the functions of grasping a plurality of joints in a self-adaptive manner and continuously locking the joint, is used for grasping an object, can automatically adapt to the shape and size of the object, can lock or not lock the joints after grasping the object, is rapid and stable in the grasping process, locks the joints after grasping the object to prevent fingers from unstability due to springback, can provide greater grasping force, and is variable in grasping force, simple in structure, small in size, light in weight, easy to control, and low in design, manufacturing, assembling and maintaining cost; the locked joint angles are continuous.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a link-type variable grasping force cooperative self-adaptive finger device. Background technique [0002] The robot hand is one of the most important components of the robot, and key technologies such as the structural design and function improvement of the robot hand are crucial to the robot. Existing robot hands can be mainly divided into anthropomorphic hands and non-anthropomorphic hands, both of which have a very wide range of applications. Because the human hand is very flexible and powerful, it has great research and learning value in bionics, and the development of anthropomorphic robot hands has great prospects. The current anthropomorphic robotic hands are mainly divided into industrial grippers, dexterous hands and underactuated hands. [0003] On the one hand, the robot hand needs to grasp, carry and manipulate complex obj...

AI Technical Summary

Problems solved by technology

[0008] 2) The device is difficult to provide a wider range of gripping force

[0009] 3) A spring with an excessively large stiffness coefficient may cause the fingers to quickly collide with the object when grabbing the object, resulting in the instability of the squeezed object

[0010] 4) The device may fail to grasp when used in a vibrating environment

Because the teeth of the ratchet have a certain pitch, the locking is discontinuous; if the pitch is designed to be large, the locking accuracy will be reduced, and if the pitch is designed to be small, the tooth height will be reduced, affecting the locking effect

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