Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device

Abstract

The invention discloses a flexible part parallel-clamping and coupling switchover self-adaptive robot finger device and belongs to the technical field of robot fingers. The device comprises a base, two finger segments, two joint shafts, a driver, a flexible transmission part, a tendon rope, a plurality of transmission wheels, a half wheel, a half wheel connection part, a rotary shaft, a half wheel bump, two spring parts, a limiting bump and the like. By adoption of the device, the function of switchover between a parallel-clamp self-adaptive grabbing mode and a coupling self-adaptive grabbing mode of a robot finger can be achieved; in the parallel-clamp self-adaptive grabbing mode, the device has the advantages that not only can the second finger segment be translated to pinch an object, but also the first finger segment and the second finger segment can be sequentially rotated to envelope objects of various shapes and sizes; in the coupling self-adaptive grabbing mode, the device has the advantages that two joints can be simultaneously interacted to rotate and can naturally turn into the self-adaptive grabbing phase of the curved second finger segment after the first finger segment gets in touch with an object and is blocked; the grabbing range is wide; and the device is compact in structure, small in size, low in manufacturing and maintenance cost, and applicable to robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a flat clip coupling switching adaptive robot finger device of a flexible part. Background technique [0002] An underactuated robot hand refers to a robot hand with fewer motors than joints. It has an adaptive grasping function and can adapt to the grasping of various objects. It can be used in different occasions to reduce the need for complex sensing and real-time control. The stability and accuracy of grasping are improved, and at the same time, the device is simple, the cost is low, the quality is small, and the volume is small. It can be widely used in industrial, agricultural and service industry robots or used as a prosthetic hand for disabled people. [0003] Underactuated robotic hands with two degrees of freedom mainly include two basic categories: one is the coupled grasping mode, and the other is the adaptive grasping mode. Amo...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the flat clip adaptive grasping mode, and cannot realize the coupling adaptive grasping mode; in addition, it uses a very complicated multi-link mechanism, and there is a large dead zone in the movement, and the grasping Small range, bulky mechanism, lack of compliance, prohibitively expensive to manufacture

Its shortcoming is that the device can only realize the coupling adaptive grasping mode, and cannot realize the flat clip adaptive grasping mode; in addition, the mechanism is complicated, and installation and maintenance are difficult; there are too many springs, and the springs are used to decouple and adjust the coupling. The contradiction between the transmission mechanism and the adaptive transmission mechanism often makes the deformation of multiple springs larger, resulting in excessive and unnecessary energy loss

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