Underactuated robot finger device based on rope winding

A robot finger, underactuated technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., to avoid twisting and breakage and achieve the effect of transmission

Inactive Publication Date: 2020-06-26
郑州蓝智枫智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention overcomes the problem that the anthropomorphic robot finger still needs to be improved in the prior art, and provides an underactuated robot finger device based on rope winding with reasonable structure, low cost, and convenient use and maintenance.

Method used

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  • Underactuated robot finger device based on rope winding
  • Underactuated robot finger device based on rope winding
  • Underactuated robot finger device based on rope winding

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Embodiment Construction

[0018] The underactuated robot finger device based on rope winding of the present invention will be further described below in conjunction with the drawings and specific embodiments: As shown in the figure, this embodiment includes a base shell 1, a first finger middle shell 2, a second finger middle The shell 3 and the end-of-finger shell 4, among which the base shell 1, the first middle-finger shell 2, the second middle-finger shell 3, and the end-of-finger shell 4 are hinged in sequence, and assembled according to the shape and movement principle of human fingers , where the hinges are equipped with release springs 5, which is the key for the robot fingers to bounce back in time and realize grabbing again. The range of motion at the hinges is less than 180 degrees, and the direction of motion is all in the same direction, reaching the same level as that of humans. High simulation of fingers. One end of the present invention is fixed on the flexible swinging mechanical arm. ...

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PUM

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Abstract

The invention discloses an underactuated robot finger device based on rope winding. The problem that in the prior art, an anthropomorphic robot finger still needs to be improved is solved. The underactuated robot finger device comprises a base outer shell, a first finger middle shell, a second finger middle shell and a finger tail shell which are hinged in sequence, and loosening reset springs arearranged at hinged positions; one end of the base outer shell is connected with a mechanical arm, and the other end of the base outer shell is provided with a gripping control motor, a first universal joint, a gripping adjustment driving wheel, a gripping adjustment spring, a pull rope, a pull rope winding device, a pull rope straight sleeve and an arc-shaped pull rope positioning sleeve; a second universal joint and a first gripping adjustment driven wheel are arranged at the hinged position of the first finger middle shell and the second finger middle shell; and a third universal joint anda second gripping adjustment driven wheel are arranged at the hinged position of the second finger middle shell and the finger tail shell. According to the technology, the effect of muscle stretchingis simulated by producing tensile force by winding two pull ropes to shorten the length in a vertical direction.

Description

technical field [0001] The invention relates to the technical field of robot hands, in particular to an underactuated robot finger device based on rope winding. Background technique [0002] Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed for the hand. However, in order to reduce the control difficulty of the anthropomorphic robot hand, as well as reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. Certain contradictions, in addition, in order to better grasp the object, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. The robot anthropomorphic finger underactuated device provided by the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0233
Inventor 李玉枫蔡路张俊鹏张勇赵雨航
Owner 郑州蓝智枫智能科技有限公司
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