Real-time synchronous locking device for underactuated robot fingers with multi-joints at any angle

Abstract

The invention discloses an underactuated robot finger multi-joint any-angle immediate synchronous locking device, and belongs to the technical field of robot hands. The device comprises a base, N finger segments, N joint shafts, a motor, a transmission mechanism, a sliding frame, a driving shaft, a driving wheel, Q driven wheels and a Q-stage connecting rod assembly; according to the device, the mechanical finger multi-joint any angle position immediate synchronous locking function is achieved, finger springback instability is prevented, and during object grabbing, object collision and objectextrusion away can be prevented; on the other hand, larger grabbing force can be provided, and lifting of a heavy object can be achieved; grabbing after locking is achieved, the device can be used forgrabbing fragile objects, and the damage to the objects can be reduced; after all joints are locked, the first joint is opened, and the efficiency of grabbing the same kind of objects again can be improved; the locking mechanism is independent of a self-adaptation underactuated finger, and the locking mechanism can be simply transplanted and used in various self-adaptation underactuated fingers,advantages of original fingers can be kept, the structure is simple, the size is small, and control is easy.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of an underactuated robot finger multi-joint real-time synchronous locking device at any angle. Background technique [0002] In industrial production, robots have become an indispensable backbone. With the development of industry, the requirements for robots are gradually increasing. As the functional unit at the end of the robot, the simple opening and closing of the robot hand is difficult to meet the task requirements. Existing robot hands are mainly divided into two categories, anthropomorphic hands and non-anthropomorphic hands, both of which have a very wide range of uses. Because the human hand is very flexible and powerful, it has great research and learning value in bionics, and the development of anthropomorphic robot hand has great prospects. The current anthropomorphic robotic hands are mainly divided into industrial grippers...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is: 1) the device can only start locking after the grasping is completed, and cannot achieve instant locking at any angle position

3) The locking mechanism is not independent from the adaptive underactuated fingers, cannot be separated, and is difficult to be easily transplanted and used in various types of adaptive underactuated fingers

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