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Finger device of coupling three-joint robot

A robot finger and three-joint technology, which is applied in the field of humanoid robots, can solve the problems of transmission clearance in gear transmission, high requirements for manufacturing and installation precision, and high manufacturing cost of gears, and achieve the effects of easy installation and maintenance, stable and reliable grasping, and low cost

Inactive Publication Date: 2011-02-16
WUXI RES INST OF APPLIED TECH TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: there is a transmission gap in the gear transmission, which is not conducive to long-distance transmission, the manufacturing cost of the gear is high, and the manufacturing and installation accuracy is high.

Method used

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  • Finger device of coupling three-joint robot
  • Finger device of coupling three-joint robot
  • Finger device of coupling three-joint robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0050] An embodiment of a coupled three-joint robot finger device designed by the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, it includes a base 1, a motor 2, a proximal joint shaft 4, a first finger segment 5, a middle joint shaft 7, a second finger segment 8, a distal joint shaft 10 and an end finger segment 11; the motor 1 and the base The base 2 is fixed, and the motor output shaft is connected to the first finger segment 5; the joint-proximate shaft 4 is sleeved in the base 1, and the first finger segment 5 is sleeved on the joint-proximal shaft 4 The middle joint axis 7 is sleeved in the first finger section 5, the second finger section 8 is sleeved on the middle joint axis 7, and the middle joint axis 7 and the proximal joint axis 4 are ...

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Abstract

The invention relates to a finger device of a coupling three-joint robot, belonging to the technical field of human simulation robots. The finger device comprises a pedestal, an electric motor, a near joint shaft, a first finger section, a middle joint shaft, a second finger section, an end finger section, two transition shafts, two sets of 8-shaped wheel type transmission mechanisms, two sets ofparallel wheel type transmission mechanisms and the like. The device utilizes the electric motor, the two sets of 8-shaped wheel type transmission mechanisms, the parallel wheel type transmission mechanisms and the like to comprehensively achieve the special effect that fingers are bent to grasp an object by a three-joint coupling mode. The device has no transmission gap problem and can realize long distance transmission. The invention has simple structure, stable and reliable grasping, low cost, convenient installation and maintenance, small size, light weight and easy control. Moreover, theappearance and the grasping motion of the finger device are similar to those of hands, and therefore, the invention is especially suitable for serving as the fingers of the hands of the human simulation robots.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, in particular to the structural design of a coupled three-joint 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. [0003] When the human hand grasps common objects, in most cases, multiple finger joints are simultaneously bent to grasp the object. This mode of motion in which joints flex simultaneously is called a "coupled" grasping mode. For example, when a human hand laterally grasps (holds) a vertical cylindrical object with a small diameter from the side, the index finger, middle finger, ring finger, and little finger show similar bending characteristics, so only the index finger is used as an example for illustration. The first, secon...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08
Inventor 张文增黄振奇
Owner WUXI RES INST OF APPLIED TECH TSINGHUA UNIV
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