A simulated mechanical finger based on steel wire pulling

Abstract

The invention belongs to the technical field of mechanical finger driving, and particularly relates to a simulated mechanical finger pulled on the basis of a steel wire. The simulated mechanical finger comprises four mechanical finger supports, the steel wire, reset springs, tension springs and the like. The mechanical finger supports are connected together through cylindrical pins to form the mechanical finger. The original vertical state of the mechanical finger is guaranteed in the manner that the reset springs are arranged on the back faces of the bent sides of the supports. The parts, on the bent sides of the supports, of the steel wire and the supports are connected through the tension springs. Due to the fact that the elastic coefficients of the designed three reset springs are different, the bending resistances of knuckles of the mechanical finger are different, and the mechanical finger can show the bending degree the same as the bending degree of the finger of a person. In addition, each support is driven in a manner that the steel wire is pulled by the corresponding tension spring, and by means of the tension springs, it can be guaranteed that when the mechanical finger grabs an object, the bending degree of the knuckles of the mechanical finger can be changed according to the shape of the object. Each mechanical finger is driven through single power, and the beneficial effects that the object grabbing adaptability is high, and the structure is simple are achieved.

Description

Technical field [0001] The invention belongs to the technical field of mechanical finger drive, in particular to a simulated mechanical finger based on steel wire pulling. Background technique [0002] At present, the driving methods of the fingers of manipulators are mostly driven by servo motors, steel wires, hydraulic drives, etc., and a small part are driven by artificial muscles. Among them, artificial muscle drives, although the driving method is advanced, but the manufacturing cost is currently very high, and hydraulic drives require powerful The power to pressurize the hydraulic oil will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the finger drive of the simulated manipulator, and the servo motor drive is Installing a servo motor on each joint will make the mechanism on the mechanical finger very unsightly. The size and shape of the servo motor will d...

AI Technical Summary

Problems solved by technology

[0002] At present, the driving methods of the fingers of manipulators are mostly driven by servo motors, steel wires, hydraulic drives, etc., and a small part are driven by artificial muscles. Among them, artificial muscle drives, although the driving method is advanced, but the manufacturing cost is currently very high, and hydraulic drives require powerful The power to pressurize the hydraulic oil will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the finger drive of the simulated manipulator, and the servo motor drive is Installing a servo motor on each joint will make the mechanism on the mechanical finger very unsightly. The size and shape of the servo motor will determine the shape and function of the mechanical finger; currently the most used and the lowest cost is the use of steel wire drive, The servo motors are centrally installed on the arm, the mechanism of the manipulator and fingers is relatively simple, and the control is relatively easy. However, in the steel wire drive, it is easy to cause inaccurate positioning of the mechanical designation and swinging of fingers.

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