Rack crank slide block type parallel coupling under-driving robot finger device

Abstract

The invention relates to a rack crank slide block type parallel coupling under-driving finger device which belongs to the technical field of impersonating robot hands and comprises a base, a near joint axis, a first finger section, a far joint axis, a second finger section, a link, a dial, a motor, a rack and a spring part. The device realizes a transmission effect with the combination of coupling rotation and under-driving rotation, realizes impersonating catching by coupling, and also has an under-driving self-adaptive function. The whole finger has compact structure and low manufacturing and processing costs. Natural decoupling is realized in a movable contact mode of a slide block, without power consumption of the motor and with high utilization rate. A crack slide block mechanism of the second finger section can move by a short distance by a driving slide block to realize the large-angle rotation of the second finger section. The shape of the device is similar to that of a human finger. The device can be used as a finger or a part of the finger of the robot hand; a plurality of fingers can also be combined into the robot hand to achieve good effects of high joint freedom and high self-adaptability of the impersonating robot hand.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, in particular to a structural design of a flexible part crank slider type parallel coupling underactuated robot finger device. Background technique [0002] The robot hand is an indispensable part of the robot. Compared with other parts of the robot, the robot hand has many joint freedoms, small size, very dexterous, complex control and other characteristics and difficulties. The robot hand is mainly used for grasping objects, moving in space, and making gestures and other hand movements. Although the existing dexterous hands are flexible in control, they have a large number of motors, a very complex structure, considerable difficulty in control, and very high manufacturing and maintenance costs. These factors hinder the popularization and application of dexterous hand-type robot hands in real life. Although the coupled grasping robot hand and the underactuated grasping robot...

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: the device adopts two sets of transmission mechanisms to achieve coupling and under-actuated grasping respectively, which makes the structure of the whole finger complex and the cost of manufacturing and processing is high; the coupling transmission mechanism and the under-actuation transmission mechanism of the device affect each other, Although three springs are used for decoupling, the power of the motor is consumed internally; the two sets of transmission mechanisms of the device are arranged in parallel, and multiple springs are installed on the joint shaft, resulting in too thick fingers, which increases manufacturing, Cost and difficulty of installation and maintenance

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