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Flexible drive rigidity-variable differential coupling robot finger device

A robot finger and flexible drive technology, applied in the field of robotics, can solve problems such as poor reliability and excessive energy loss, and achieve the effects of reducing heat transfer jams, increasing rated carrying capacity, and improving robustness

Active Publication Date: 2019-11-15
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although there are already control algorithms that can realize the active compliance of the robot dexterous hand in the event of a collision, this process will generate more energy loss, and the reliability is poor under high-frequency impact

Method used

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  • Flexible drive rigidity-variable differential coupling robot finger device
  • Flexible drive rigidity-variable differential coupling robot finger device
  • Flexible drive rigidity-variable differential coupling robot finger device

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Embodiment Construction

[0047]The technical solution of the present invention will be further described below in conjunction with the embodiments and accompanying drawings, but it is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should cover In the protection scope of the present invention.

[0048] This embodiment provides a flexible driving stiffness variable differential coupling robot finger device, such as Figure 1-8 As shown, the robotic finger device includes a base 1, a first knuckle 2, a second knuckle 3, a first joint shaft 4, a second joint shaft 5, a first flexible drive with self-locking, a second belt There is a self-locking flexible driver, the first transmission wheel 811, the second transmission wheel 813, the third transmission wheel 821, the fourth transmission wheel 823, the first transmission member 812, the second tr...

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Abstract

The invention discloses a flexible drive rigidity-variable differential coupling robot finger device. The robot finger device comprises a base, a first joint, a second joint, a first joint shaft, a second joint shaft, a first self-locking flexible driver, a second self-locking flexible driver, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a first transmission part, a second transmission part, a first input conic gear, a second input conic gear an output conic gear and transmission mechanisms. According to the robot finger device, through the two finger joints, the two joint shafts, the two drivers, multiple springs, the three sets of transmission mechanisms, two sets of harmonic assemblies, two rigid wheel rotating arms, the multiple gears, two sliding blocks and the like, differential coupling motion of the joints of a two-freedom-degree robot finger is achieved comprehensively, safety of a robot in the interaction process is improved through joint flexibility, and meanwhile the function of absorbing impact energy in the transmission link so as to protect the self structure is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a robot dexterous hand, in particular to a flexible driving rigidity variable differential coupling robot finger device. Background technique [0002] With the development of intelligent technology, robotics has become a research hotspot today, and the robotic hand, as a kind of end effector of robots, has attracted more and more researchers' attention. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robot hands, such as dexterous hands, underactuated hands, grippers, etc. The development of a robot hand with high flexibility, multiple perception capabilities, compact structure, strong gripping force, and the ability to grasp objects of various shapes and properties, and complete various manipulation tasks has always been a common goal of robotic hand research. The existing robot dexterous hand is complex to control, ...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J17/02B25J9/10
CPCB25J15/0009B25J17/0208B25J9/102B25J9/1025
Inventor 刘宏胡汉东刘伊威谢宗武崔士鹏张雁
Owner HARBIN INST OF TECH
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