Translational motion idle-stroke transmission coupled and self-adaptive robot finger device

Abstract

The invention discloses a translational motion idle-stroke transmission coupled and self-adaptive robot finger device and belongs to the technical field of robot fingers. The translational motion idle-stroke transmission coupled and self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a transmission mechanism, three gears, three racks, two spring pieces, two shifting levers and two convex blocks. The translational motion idle-stroke transmission coupled and self-adaptive robot finger device achieves the coupled and self-adaptive combined grabbing mode integrally, the two joints can be linked to pinch an object with the tail ends, the actions highly simulate human beings, and besides, the first finger section can be rotated to touch the object firstly, and then the second finger section is rotated to cover and hold the object, so that the effect of self-adaptive grabbing of objects with different shapes and dimensions is achieved. According to the device, transmission is precise and stable, and grabbing is stable and reliable; the two joints are driven through only one driver instead of complex sensing systems and real-time control systems; and meanwhile, the translational motion idle-stroke transmission coupled and self-adaptive robot finger device is simple in structure, short in transmission chain, small in number of parts, small in size, low in weight, easy to assemble and low in manufacturing 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 translational space travel coupling adaptive robot finger device. Background technique [0002] The robot hand is an important terminal component for grasping and manipulating objects. It generally has multiple fingers and palms, and the core is how to better grasp objects. The existing underactuated robot hand technology mainly uses a small number of motors to drive multiple joints, which are divided into two main methods: when the joints rotate simultaneously, the robot finger can obtain a stable end-pinching grasping effect. The grasping mode is also called the coupling rotation mode; when a large force is required, generally multiple finger segments are required to contact the envelope object. These two grasping modes have their own advantages and disadvantages. Both of them can realize one motor to drive two joints, reduce the diffic...

AI Technical Summary

Problems solved by technology

The robot finger device includes two flexible parts, a driving drive wheel, a driven drive wheel, a pair of gear transmission mechanisms, a pair of pulley transmission mechanisms, a pair of transmission parts with idle stroke bumps, two spring parts, etc. The coupled and self-adaptive compound grasping mode has been realized, but there are the following disadvantages: 1) the flexible parts are easy to loosen and deform, the transmission is not accurate, and need to be tensioned and adjusted frequently, which is easy to fatigue and has a short life; 2) the transmission chain of the device is long and the transmission Complex, large number of parts, large volume, heavy weight, complex assembly, high manufacturing cost

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