Disc-tooth switching multi-mode integration self-adaptive robot finger device

Abstract

The invention discloses a disc-tooth switching multi-mode integration self-adaptive robot finger device, and belongs to the technical field of robot hands. The robot finger device comprises a base, two finger sections, two joint shafts, two motors, two driving pressure plates, two driven pressure plates, a sliding pressing block, multiple sets of transmission mechanisms, limiting blocks, spring pieces and the like. According to the robot finger device, multi-grabbing mode integrating coupling self-adaption, horizontal clamp self-adaption and a locking enhancing function finger are realized; according to the different shapes, sizes and positions of objects to be grabbed, and the device is provided with three basic grabbing modes of coupling grabbing, horizontal clamping grabbing and self-adaptive grabbing and three combined grabbing modes of coupling self-adaptive grabbing, horizontal clamp self-adaptive grabbing and locking enhancing grabbing; the grabbing modes can be freely and electrically switched; during switching, no idle running state exists so that the posture of fingers in the switching process can be kept; and the device is high in grabbing efficiency, wide in range, compact in structure, easy to control and suitable for various robots needing to grab objectsc.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a gear-tooth switching multi-mode fusion self-adaptive robot finger device. Background technique [0002] The robot hand is the contact terminal between the robot and the outside world, 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, coupled grasping, adaptive grasping, etc. When grabbing different objects, it is often necessary to switch between different grippers, which brings inconvenience to the application of the robot. If a robot hand has multiple grasping modes and can freely switch between modes, it will have a larger grasping range and strong adaptability, which not only reduces the difficulty in control, but also has advantages...

AI Technical Summary

Problems solved by technology

[0007] 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 the grasping of objects of different shapes. Therefore, the scope of application is narrow and the adaptability is poor, which is not conducive to application in service robots;

[0008] 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

[0017] 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 different angular positions;

[0018] 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;

[0019] 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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