Twisted pair genlock adaptive robotic finger device

Abstract

The invention belongs to the technical field of robot hands and discloses a twisted-pair synchronous-locking and self-adapting robot finger device. The device comprises a motor, finger sections, joint shafts, joint spring parts, tendon ropes, rope pull parts, joint pulleys, drive plates, friction blocks and flexible part drive mechanisms. The device realizes the self-adapting grabbing function and the function of continuously and synchronously locking the multiple joints through the comprehensive effect of the motor, the tendon ropes, the spring parts, the flexible part drive mechanisms and a twisted-pair locking mechanism; when used for grabbing objects, the device can automatically adapt to the appearances and sizes of the objects; the joint locking mode can be adopted after the objects are grabbed; the grabbing process is fast and stable, the joints are locked after the objects are grabbed, fingers are prevented against resilience and unstability, and large grabbing force can be provided; the multiple joints can be synchronously locked; the angles of the joints capable of being locked are continuous. In addition, the device is compact in structure, small in size, light in weight, easy to control and low in designing, manufacturing, assembling and maintaining cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a twisted-pair synchronous locking self-adaptive robot 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 objects of dif...

AI Technical Summary

Problems solved by technology

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

[0009] 3) The joint spring with too large stiffness coefficient may cause the fingers to quickly collide with the object when grasping 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

Images