Bevel gear flexible piece compound grabbing robot fingers device

A technology of robotic fingers and bevel gears, applied in the field of humanoid robotic hands, can solve problems such as complex mechanisms, unstable grasping, and difficult installation and maintenance, and achieve the effects of low control system requirements, stable grasping objects, and convenient assembly and maintenance

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A technology of robotic fingers and bevel gears, applied in the field of humanoid robotic hands, can solve problems such as complex mechanisms, unstable grasping, and difficult installation and maintenance, and achieve the effects of low control system requirements, stable grasping objects, and convenient assembly and maintenance

CN102166753AInactive Publication Date: 2011-08-31WUXI RES INST OF APPLIED TECH TSINGHUA UNIV +1

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[0032] 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.

[0033] A kind of embodiment of bevel gear flexible part compound grasping robot finger device of the present invention, as Figure 1 to Figure 4As shown, it includes a base 1, a motor 2, a reducer 21, a proximal joint shaft 3, a middle finger segment 4, a distal joint shaft 5 and an end finger segment 6; the motor and the reducer are fixed on the base, and the motor The output shaft of the reducer is connected with the input shaft of the reducer; the proximal joint shaft is movably socketed in the base, the distal joint shaft is movably socketed in the middle finger segment, and the middle finger segment is sleeved and fixed on the proximal joint shaft ; The end finger segment is sleeved on the distal joint shaft. The robot finger device also includes a first bevel gear 31, a second bevel gear 3...

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Abstract

The invention provides a bevel gear flexible piece compound grabbing robot fingers device belonging to the technical field of a humanoid robot arm. The device comprises a base, a motor, a speed reducing device, a proximal joint shaft, a middle finger segment, a distal joint shaft, a tail end finger segment, three bevel gears, a driving wheel, a driven wheel, two driving pieces and a spring piece. The device comprehensively realizes a compound under-drive grabbing effect by the motor, the bevel gears, a crossed flexible piece driving mechanism, the spring piece and the like: fingers are firstly coupled and rotated to claw an object so as to adaptively grab the object; the device is humanoid in grabbing process, flexible in moving, stable in object grabbing, automatic in and adaptive to grab materials with different sizes and shapes, low in the requirement on a control system, and easy to operate; and the device is simple and compact in structure, less in energy loss, high in driving efficiency, low in cost, convenient to assemble and maintain, and similar to the shape of the human fingers, thereby being suitable for the humanoid robot arm.

Description

technical field [0001] The invention belongs to the technical field of humanoid robotic hands, and in particular relates to a structural design of a bevel gear flexible component composite grasping robot finger device. Background technique [0002] The hand is a very important organ for humans. In the field of humanoid robots, it is of great significance to enhance the function of the robot hand. On the one hand, by increasing the number of joints and the number of drives, the movement of the manipulator can be made more diverse and precise, but at the same time, this will make the mechanism complex and cumbersome; The accuracy of the movement is negatively affected. At the same time, the robot hand is required to be compact and flexible with sufficient grasping force. There are still many technical problems in this field. [0003] An underactuated mechanism is one in which the number of actuators is less than the number of joint degrees of freedom. Many humanoid dextero...

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Application Information

Patent Timeline

31 Aug 2011

Publication

CN102166753A

IPC: B25J15/08

CPC: B25J15/0009

Inventors: 张文增; 周蕾