Electromagnetic direct driven robot finger apparatus

An electromagnetic drive, robot technology, applied in the field of anthropomorphic robots, can solve the problems of human hand torque, large movement angle, placed outside the hand, unstable grasping state, etc., to achieve high dexterity, stable grasping, and compact structure. Effect

Inactive Publication Date: 2009-07-22
TSINGHUA UNIV
View PDF0 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the small size of the human hand (finger) and the large torque and motion angle, it brings great difficulties to the design of the motor-driven robot hand.
Even though there are more and more micro motors that can be placed in the fingers and have relatively high power, the disadvantage of the robot hand driven by multiple micro motors is that the cost of the hand is extremely expensive and it is only used for laborato

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Electromagnetic direct driven robot finger apparatus
  • Electromagnetic direct driven robot finger apparatus
  • Electromagnetic direct driven robot finger apparatus

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] The specific structure and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0036] Embodiments of the electromagnetic direct drive robot single-joint finger device of the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 As shown, it includes a first finger section 1, a second finger section 2 and an electromagnetically driven joint body 3 arranged in the first finger section. The electromagnetically driven joint body 3 includes a joint shaft 31, a rack and pinion meshing mechanism (tooth bar 35 and gear 36), coil 32, spacer sleeve 33, iron core 34 and spring 37; the joint shaft 31 is sleeved on the first finger section 1, and the two ends of the spring 37 are respectively connected The first finger section 1 and the second finger section 2; the gear 36 of the rack and pinion mechanism is sleeved on the joint shaft 31, and the rack 35 of th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a robot finger device driven directly by electromagnetism, which belongs to the technical field of anthropomorphic robots. The finger device comprises a single-joint finger device and a multi-joint finger device. The single-joint finger device comprises a first finger section, a second finger section and an electromagnetically driven joint body arranged in the first finger section, wherein the electromagnetically driven joint body comprises a joint shaft, a pinion-rack meshing mechanism, a coil, a spacing sleeve, an iron core and a spring piece. The device comprehensively realizes a special joint body driven directly by electromagnetism by using the coil, the magnetic finger sections, the pinion-rack meshing mechanism and the spring piece. The device drives fingers to bend by using induced magnetic force, has short transmission chain, small movement gap, achieves stable grab, realizes finger bending and large grabbing force with smaller volume, is compact and reliable in structure, low in cost, similar to human fingers in appearance and dimension, suitable to be used as a hand for the anthropomorphic robots and can realize the high-degree-of-freedom and high-flexibility hands of the anthropomorphic robots.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, in particular to a structural design of an electromagnetic direct drive robot finger device. Background technique [0002] Anthropomorphic robots have always been the cutting-edge field of robotics research, and realizing intelligence by imitating human actions has always been an important research direction in this field. And like humans themselves, most of the functions of anthropomorphic robots are also realized by hands. Therefore, the research of anthropomorphic robot hand is one of the key technologies of robot research. Anthropomorphic robot hands generally have 3 to 5 fingers, each finger has 2 to 4 joint degrees of freedom. Anthropomorphic robot hands can make various movements of human hands, and can grasp objects flexibly and actively. [0003] The bottleneck in the development of anthropomorphic robot hands is the driving source (actuator) technology. Most of the exi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J15/08
Inventor 张文增何翘楚侯宇陈强都东孙振国
Owner TSINGHUA UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap