Link-type variable grasping force cooperative self-adaptive finger device

Abstract

A link-type variable grasping force cooperative self-adaptive finger device belongs to the field of robot hand technology, including multiple finger segments, multiple joint axes, multiple springs, tendon ropes, multiple active rods, multiple driven rods, A plurality of connecting rods, a plurality of driving rods, a plurality of moving parts and the like. The device of the present invention utilizes motors, transmission mechanisms, toggles, levers, active levers, driven levers, connecting rods, pull ropes, tendon ropes and springs to comprehensively realize the functions of self-adaptive grasping and continuous locking of multiple joints . The device is used for grabbing objects, and can automatically adapt to the shape and size of the object; after grabbing the object, it can lock the joint or not; the grabbing process is fast and stable, and the joint is locked after grabbing to prevent the finger from rebounding and becoming unstable. It can provide large and variable grasping force; the lockable joint angle is continuous; the device has simple structure, small size, light weight, easy control, and low cost in design, manufacture, assembly and maintenance.

Description

Technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a linkage-type variable grasping force collaborative adaptive finger device. Background technique [0002] The robot hand is one of the most important components of the robot, and the key technologies such as the structural design and functional improvement of the robot hand are very important to the robot. Existing robot hands can be mainly divided into anthropomorphic and non-anthropomorphic hands, both of which have very wide applications. Because human hands are very flexible and powerful, they have great research and learning value in bionics, and the development of humanoid robot hands has great prospects. The current anthropomorphic robot hands are mainly divided into industrial grippers, dexterous hands and under-actuated hands. [0003] On the one hand, the robot hand needs to grasp, handle and manipulate complex objects of different...

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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