Bevel-gear-coupling neat robot finger device

Abstract

The invention relates to a bevel-gear-coupling neat robot finger device, belonging to the technical field of anthropopathic robot hands. The bevel-gear-coupling neat robot finger device comprises a base, a middle finger segment, a tail end finger segment, a juxta-knuckle shaft, a distal-knuckle shaft, two motors, two speed reducers and a plurality of bevel gears. The device realizes the following four two-degree-of-freedom gripping modes: (1) a gripping mode of coupling rotation of dual knuckles; (2) a gripping mode of independent rotations of the dual knuckles; (3) a gripping mode of coupling rotation preliminary and independent rotations secondary of the dual knuckles; and (4) a gripping mode of independent rotations preliminary and coupling rotation secondary of the dual knuckles. The bevel-gear-coupling neat robot finger device not only can realize the coupling effect of the conventional coupling finger that a plurality of knuckles are driven by a single motor to rotate simultaneously, but also has the decoupling gripping effect that the conventional coupling finger does not have, i.e. a single knuckle can be driven independently, and the bevel-gear-coupling neat robot finger device is easy to control when an article is gripped. All motors and speed reducers are hidden in the base, and rotation parts of the fingers are small in size and light in weight.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to the structural design of a bevel gear coupled dexterous robot finger device. Background technique [0002] With the rapid development of industrialization, more and more production uses robots or partially uses robots. One of the most important functions of anthropomorphic robots is grasping objects, which is a hot research topic at present. The human hand has more than 20 degrees of freedom, which are mainly distributed on multiple joints of five fingers. If all motors are used to drive and control, the requirements for real-time control are very high. Even grasping a simple object requires complex sensing and control. In order to reduce the difficulty of control, one method is to reduce the number of motors controlled at the same time, so that the real-time performance of grasping objects can be more easily guaranteed, but it brings a problem: ...

AI Technical Summary

Problems solved by technology

In order to reduce the difficulty of control, one method is to reduce the number of motors controlled at the same time, so that the real-time performance of grasping objects can be more easily guaranteed, but it brings a problem: how to drive more joints with fewer motors (that is, under-actuated grasping), and the anthropomorphic effect of the action process is good, and the grasping object is still stable and reliable

The disadvantage of this device is: in the process of grasping the object, the rotation of the near-joint axis and the far-joint axis is simultaneous. Also can't turn any further, so the grip is not good

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