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A robotic finger mechanism

A technology of robot fingers and bases, applied in the field of robots, can solve the problems of complex structure, difficult to meet the requirements of small operation space of robot fingers, and large volume.

Active Publication Date: 2021-05-18
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 relatively complicated and the volume is large, and it is difficult to meet the small operating space requirements of the robot finger.

Method used

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  • A robotic finger mechanism

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Effect test

Embodiment 1

[0024] Such as figure 1 As shown, this embodiment provides a robot finger mechanism, including a machine base 1, a screw motor 2, a screw nut 3, a guide sleeve 4, a finger frame 5, a spring leaf 6, a spring rod group, a force measuring rod group and a soft finger The base 1 is a cylindrical base, the base 1 is provided with a first through hole, an axial groove and a first threaded hole, the first through hole is coaxial with the base 1, and the first threaded hole is perpendicular to the base 1 The screw motor 2 includes a motor and a screw, the output end of the motor is connected with the screw, the screw nut 3 is a rectangular parallelepiped screw nut, and the screw nut 3 is provided with a first threaded through hole and a left side parallel to each other. The axis of the eccentric through hole and the right eccentric through hole, the axis of the left eccentric through hole and the right eccentric through hole are all perpendicular to the axis of the first threaded throu...

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Abstract

The invention discloses a robot finger mechanism, which includes a machine base, a lead screw motor, a screw nut, a guide sleeve, a finger frame, a spring piece, a force measuring rod group, a spring rod group and a soft finger group; the force measuring rod group includes a long rod, Short rod and force sensor; spring rod set includes piston rod, spring and cylinder rod; soft finger set includes finger sleeve, soft sleeve, bolt, and wire sleeve; lead screw motor is fixedly connected with machine base, and lead screw is connected with screw nut , the screw nut is in sliding contact with the axial groove, the two ends of the spring rod group are connected with the screw nut and the guide sleeve in rotation, the force measuring rod group slides in the guide sleeve, and its two ends are connected with the finger frame and the screw nut in rotation, and the two ends of the spring leaf The end and the middle part are respectively connected with the finger frame, machine base and guide sleeve. One end of the finger sleeve is fixedly connected with the finger frame. Movement, the grasping force is measured by the force measuring rod group, the invention has a simple structure, can realize the soft three-bend grasping and rigid expansion of the robot finger, and has a large working space.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot finger mechanism. Background technique [0002] The finger of the robot 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. For tasks such as rescue and medical surgery, robotic fingers are usually required to complete repeated peristaltic grasping and expansion. Therefore, the robot finger must not only have the ability to grasp softly with a sense of force, so that the robot finger can perform safe and flexible rescue grasping or operation on the rescued or surgical ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02B25J13/08
Inventor 路懿张小青常泽锋
Owner YANSHAN UNIV
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