Electromagnetic direct driven robot finger apparatus

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...

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 laboratory scientific research use, difficult to market

In addition, the use of motor drive also requires multi-stage transmission such as a reducer. The gap in the transmission process causes problems such as control dead zone and unstable grasping state.

[0004] There are also other methods such as pneumatic artificial muscles as the driving source. The disadvantage is that the driver is bulky and can only be placed outside the hand.

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