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Belt wheel under-driven robot finger device

A robot finger, underactuated technology, applied in the field of anthropomorphic robots, can solve the problems of complex linkage devices, different appearance of fingers, and high manufacturing cost, and achieve the effects of light weight, easy installation and maintenance, and low cost

Inactive Publication Date: 2008-08-06
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: multiple link mechanism devices are complex, bulky, high manufacturing cost, and the appearance of fingers is quite different from that of human fingers

Method used

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  • Belt wheel under-driven robot finger device
  • Belt wheel under-driven robot finger device
  • Belt wheel under-driven robot finger device

Examples

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Effect test

Embodiment Construction

[0027] An embodiment of a pulley underactuated robot finger device designed by the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, it mainly includes a base 1, a motor 2, a reducer 21, a first gear 11, a second gear 12, a proximal joint shaft 3, a middle finger section 4, a far joint shaft 5, and an end finger section 6; said motor 2 and the reducer 21 are fixedly connected with the base 1, the output shaft of the motor 2 is connected with the input shaft of the reducer 21, the output shaft of the reducer 21 is fixedly connected with the first gear 11, and the first gear 11 and the second gear 12 The second gear 12 is fixedly connected to the proximal joint shaft 3, and the said proximal joint shaft 3 is sleeved in the base 1; the said distal joint shaft 5 is sleeved in the middle finger segment 4, and the said end The finger segments 6 are sleeved on the distal joint shaft 5 . The device comprises a driving wheel 7, a transmis...

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Abstract

The invention provides a wheel driving robot finger device, belonging to a robot technical field which comprises a base, a motor, a reducer, a first gear, a second gear, a close joint shaft, a middle part finger, a far joint shaft and a terminal finger section as well as a driver, a transmission part, a driven wheel, a spring part. The middle part finger is sleeved on the close joint shaft. Two terminals of the spring part are respectively connected with the middle and the terminal finger sections. The device uses a pair of wheel mechanisms to sleeve a plurality of active middle part fingers with the decoupling effect of the spring part comprehensively to realize the special effect that the double joints drive the finger to bend so as to catch the objects. With simple structure, reliability, low cost, convenient installation and maintenance, small volume and light weight, the wheel driving robot finger device similar to human fingers is especially suitable for being used as a thumb of the hand of the humanoid robot or a part of other fingers that uses fewer drivers to drive more rotation joints to automatically adjust to catch the objects of different shapes and sizes.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a pulley underactuated robot finger device. 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 undera...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00F16H7/00
CPCB25J15/0009
Inventor 张文增邱敏
Owner TSINGHUA UNIV
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