Split shaft type dual-motor cooperative composite grabbing robot finger device

Abstract

The invention discloses a split shaft type dual-motor cooperative composite grabbing robot finger device and belongs to the technical field of robot hands. The device comprises a base, two motors, two reducers, a middle finger section, a tail finger section, a near joint shaft, a distal joint shaft, two unidirectional transmission mechanisms, a driving wheel, a driven wheel, a transmission piece and a spring. By the device, by adoption of two scattered motors, the two unidirectional transmission mechanisms, the driving wheel, the driven wheel, the transmission piece, a movably sleeved middle finger section and the spring, a composite under-actuated grabbing mode of sequentially combining coupled grabbing and adaptively grabbing is comprehensively realized; excessive interference among the motion forms is avoided, the spring has small deformation during coupling motion, the fingers can naturally stop at any middle position during the coupling motion, and the energy consumption is low; the two motors are respectively stored in the spaces of the base and the middle finger section; the two motors cooperatively act on the two joints, so that the middle finger section, particularly the tail end finger section, can provide large holding force; and moreover, the device is compact in structure, low in cost and easy to control.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a split-axis dual-motor cooperative composite grasping robot finger device. Background technique [0002] The hand is one of the most important human organs. In the field of anthropomorphic robots, the robot hand is also a crucial link. Its structural design and function improvement are one of the key technologies in the field of robotics. On the one hand, the robot hand needs to complete complex actions such as grasping and handling, so it needs a more precise control mechanism; on the other hand, the anthropomorphic requirements of the robot hand determine its small size and light weight. Existing dexterous hands have enough joints and drives to perform precise movements, but are very complex and expensive. At present, there are still many technical problems in the field of robotic hands. The underdrive driver solves this contradiction t...

AI Technical Summary

Problems solved by technology

The disadvantage of coupled fingers is that the action mode is relatively fixed and cannot adapt to objects of different shapes. Generally, objects are grasped by pinching. For large-sized objects, it is difficult to grasp and grasp, and the grasping effect is not good.

The disadvantages of adaptive underactuated fingers are: the fingers are in a fixed shape when not touching the object, and the anthropomorphic effect is poor; the driving force on the distal knuckle needs to be generated during the contact with the object, which may cause the proximal knuckle to be stressed If it is too large, it is not conducive to grasping; for small-sized objects, the pinching and grasping method cannot be realized, and the grasping effect is limited

The device can realize the compound underactuated grasping process, but its disadvantages are: 1) only one motor is used, and the power of the motor is limited under the same volume at present, thus limiting the grasping force of the fingers; 2) since the motor is only placed on the base In the seat (palm), the relatively empty space in the middle finger section is not fully utilized, and the space utilization rate is low

The power provided by human fingers is very large. For example, human hands can hold a can flat. At present, it is difficult for a robot finger with a size similar to a human finger to have a large output. The reason is that the power of the motor that can be hidden in the hand is often not large enough. This contradiction between volume and power has always existed, affecting the development of robotic hands

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