Gear type self-adaptive robot finger device with rope and springs assisting in grabbing

Abstract

The invention provides a shaft-drive spiral synchronous locking self-adaptive robot finger device and belongs to the technical field of robot hands. The self-adaptive robot finger device comprises a motor, multiple finger segments, multiple joint shafts, multiple springs, a tendon rope, a rope pull piece, multiple joint wheels, multiple sets of nut sliding blocks, threaded rods and multiple sets of wheel type transmission mechanisms. The motor, the tendon rope, the springs, the wheel type transmission mechanisms and a threaded transmission mechanism are adopted for the self-adaptive robot finger device to comprehensively achieve the self-adaptive grabbing function and the function of locking multiple joints continuously and synchronously. The self-adaptive robot finger device is used for grabbing objects and can be adaptive to shapes and sizes of the objects; the joint locking manner or the joint unlocking manner can be adopted after the objects are grabbed; the grabbing process is quick and stable, the joints are locked after the objects are grabbed, fingers are prevented from springing back and losing stability, and larger grabbing force can be provided; the multiple joints can be locked synchronously; the lockable joint angle is continuous; and the self-adaptive robot finger device is simple in structure, small in size, low in weight, easy to control and low in design, manufacture, assembly and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a gear-type collaborative grasping rope spring self-adaptive robot finger device. Background technique [0002] The robot hand is a very important operating part of the robot, and it is a hot research direction in the field of robot hands at present. Robotic hands can be divided into anthropomorphic hands and non-anthropomorphic hands according to whether they imitate human hands or not. Because the human hand has many degrees of freedom and is very flexible, it has great research and learning value in bionics, and the development of anthropomorphic robot hands similar to human hands has great application prospects. The current robot hands for anthropomorphic grasping are divided into industrial grippers, dexterous hands and underactuated hands. [0003] On the one hand, the anthropomorphic robot hand needs to imitate certain movement fu...

AI Technical Summary

Problems solved by technology

[0007] 2) The device is difficult to provide a wider range of gripping force

[0008] 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

[0009] 4) The device may fail to grasp if it is 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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