Flat-clamping and coupling adaptive multi-mode robot finger grabbing device

Abstract

The invention discloses a flat-clamping and coupling adaptive multi-mode robot finger grabbing device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a motor, two electromagnetic brakes, a driving part, two driving wheels, multiple gears, a spring part and the like. The device achieves switchable grabbing functions of the flat-clamping self-adaption and coupling self-adaption of biarticular robot fingers. The device has five grabbing modes of flat-clamping grabbing, coupling grabbing, adaptive grabbing, flat-clamping adaptive grabbing and coupling adaptive grabbing. The flat-clamping self-adaption mode and the coupling self-adaption mode can be switched at any angle position, the switching process has no idle rotation,and the finger gesture is ensured when switching; the device has the advantages that the size is small, the structure is compact, the motor is controlled easily, the automatic adjustment of two joints during grabbing is achieved by using fewer motor, the adaptive capacity to objects with different shapes and sizes is strong, and the device is suitable for various robots needing to grab objects.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a flat clip coupling self-adaptive multi-mode grasping robot finger device. Background technique [0002] The robot hand is the contact terminal between the robot and the outside world. The robotic hand is responsible for grasping and manipulating objects. There are various ways to grasp objects, and different grasping modes are required according to different objects. The grasping modes of multi-fingered robot hands generally include parallel clamping grasping, coupled multi-joint linkage grasping, adaptive grasping, etc. When grabbing different objects, it is often necessary to switch the grabbing terminal, which brings inconvenience to the robot. If a robot hand has multiple grasping modes and can switch freely, it will have greater grasping adaptability, which not only reduces the difficulty in control, but also has great advantages...

AI Technical Summary

Problems solved by technology

Industrial grippers generally have a better ability to grab special workpieces. The parallel gripping mode is adopted, and only one driver is used to realize the relatively parallel movement of multiple fingers, so as to achieve the precision of objects of various sizes with parallel gripping surfaces. Effective grasping has been widely promoted and applied, but its adaptability is weak, and there are great defects in grasping objects of different shapes, so the scope of application is narrow, which is not conducive to application in service robots;

[0006] 3) Underdrive hand

The disadvantage of this device is that the device only has a coupling adaptive grabbing mode, and cannot achieve flat clip adaptive grabbing

Its shortcoming is that the device only has a flat clip adaptive gripping mode, and cannot realize coupling adaptive gripping

[0014] 1) The device can only be switched at the initial posture (position), and cannot be switched after the rotation of the proximal joint, and cannot be switched at any angular position;

[0015] 2) When the device is switched, the terminal fingers will be in a free space state, and the stability of the terminal fingers cannot be guaranteed, and it is difficult to maintain stability when the robot hand as a whole is in different postures relative to the direction of gravity;

[0016] 3) The device uses a half-wheel and a vertically rotating switching shaft for manual switching, which cannot realize electric switching under program control

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