Self-adaption robot finger device of composite flexible drive flat clamp

Abstract

The invention discloses a self-adaption robot finger device of a composite flexible drive flat clamp, and belongs to the technical field of robot hands. The self-adaption robot finger device comprises a base, two finger segments, two joint shafts, a driver, two flexible drive parts, four drive wheels, a protruding block shifting disc, two spring parts, a limiting protruding block and the like. The device utilizes the driver, a closed-loop flexible part drive mechanism, an opened-loop flexible part drive mechanism, the two spring parts, the protruding block shifting disc, the limiting protruding block and the like to comprehensively achieve functions of parallel clamping and self-adaption grabbing; according to the difference of shapes and positions of target objects, the second finger segment can be moved horizontally to nip and hold the objects or can be expanded outwards for supporting, and the first finger segment and the second finger segment can be sequentially rotated to wrap the objects in different shapes and with different sizes; and the device is large in grabbing range; the underactuation manner is adopted, the driver is used for driving two joints, and a complex sensing and control system is not needed; and the device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for the robot hands.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a compound flexible transmission flat clamp self-adaptive robot finger device. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. [0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. Pinch is to use the fingertips o...

AI Technical Summary

Problems solved by technology

Its disadvantages are that the device adopts a very complex multi-link mechanism, which has a large dead zone in the movement, a small grasping range, a large mechanism, lack of flexibility, and high manufacturing costs.

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