Gear belt wheel multi-joint high under-driven robot finger device

Abstract

Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with gears and belt wheels comprises a base seat, a motor, a near joint shaft, at least two middle finger sections, at least one middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises a driven gear, at least two driving gears, near transitional gears, driving wheels, transmission parts, driven wheels, far transitional gears, spring parts, near transitional shafts and far transitional shafts. The device utilizes the designed gear and belt wheel transmission mechanism, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect of that the multi-joint super underactuated fingers are bent to grasp an object; similar to the human fingers, the device can be used on a robot hand with the long middle finger sections of fingers and particularly used as the index finger, middle finger, ring finger and little finger of the anthropomorphic robot hand, so that the anthropomorphic robot hand can use less actuators to drive more rotating joints; when the middle finger sections are hindered while touching an object, the terminal finger sections can continue to move and grasp the object, and the device can be self-adapted to the shape and size of the grasped object; the device has the advantages of simple structure, low cost, convenient assembly and maintenance, reliable performance and long service life.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a multi-joint high-under-actuated robot finger device with gears, pulleys, and pulleys. 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 obje...

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: due to the loss of materials due to this frictional decoupling, the decoupling effect will decrease after long-term use, resulting in unreliable grasping performance; due to the use of multi-stage gear transmission, when used in the middle finger segment, it will be far away if it is slightly longer. When the joint axis is slightly far from the near joint axis, the diameter of the gear will be too large, causing the finger to be too thick and affecting the appearance, so this device is difficult to apply to a robot finger with a long middle segment

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