Robot finger mechanism

Abstract

The invention discloses a robot finger mechanism. The robot finger mechanism comprises a motor, a lead screw, a machine base, a nut, a sleeve, an upper rod, a lower rod, an outer side rod, a flexibleforce measuring rod set and a swing finger, the flexible force measuring rod set comprises an upper shaft, a guide sleeve, a spring, an end cover, a force sensor and a lower shaft, and the flexible force measuring rod set slides in the sleeve; one end of the upper shaft and the spring are arranged in the cavity of the guide sleeve, the two ends of the upper shaft are rotationally linked with the swing finger and are slidably linked with the guide sleeve correspondingly, and the other end of the guide sleeve is fixedly connected with the end cover; the two ends of the spring abut against a large cylinder of the upper shaft and the end cover, the two ends of the force sensor are fixedly connected with the end cover and the lower shaft correspondingly, and the other end of the lower shaft isrotationally linked with the machine base; the two ends of the lower rod are correspondingly linked with the nut and the sleeve in a rotating mode, the two ends of the side rod are correspondingly androtationally linked with the machine base and the sleeve, and the two ends of the upper rod are rotationally linked with the sleeve and the swing finger correspondingly; and the motor drives the nutto slide in a machine base guide groove so that the robot finger can be bent or opened. According to the robot finger mechanism, the flexible, safe and large-load grabbing capacity is achieved while the grabbing force is sensed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot finger mechanism. Background technique [0002] The robot finger mechanism refers to the device installed at the end of the robot arm and directly acts on the working object. All kinds of operations to be completed by industrial robots must be realized by fingers. The structure, weight, and size of the fingers have a direct and significant impact on the overall kinematics and dynamics of the robot. Finger design is an important link in robot hand design. With the development of robot technology, various forms of robot fingers have emerged. Fingers are generally rigid, and the grasping surface forms a depression or a v-shaped groove according to the envelope of the object shape. At present, the drive of the robot finger mechanism is divided into tendon rope traction drive, rigid link drive and pneumatic drive. Due to the compact structure of tendon rope traction and dri...

AI Technical Summary

Problems solved by technology

Although the above-mentioned patents have improved the bearing capacity and rotation accuracy of the robot finger, the structure is r

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