Bevel gear series double-motor-cooperated composite grabbing robot finger device

Abstract

The invention discloses a bevel gear series double-motor-cooperated composite grabbing robot finger device belonging to the technical field of robot hands. The bevel gear series double-motor-cooperated composite grabbing robot finger device comprises a base, two motors, two speed reducers, a middle finger section, a tail end finger section, a near joint shaft, a far joint shaft, a bevel gear series transmission mechanism, two one-way transmission mechanisms, a driving wheel, a driven wheel, a transmission part, a spring part and the like. The two motors, the driving wheel, the driven wheel, the transmission part, the two one-way transmission mechanisms, the movably-sleeved middle finger section, the spring part and the like which are stored dispersedly are adopted in the device provided by the invention, so that a composite under-actuated grabbing mode with combination of coupled grabbing firstly and then self-adaptive grabbing is compensatively realized; during coupled motion, the spring part is little in deformation, and therefore, a finger can naturally stop at any middle position in the coupled motion and the energy consumption is low; the two motors are respectively stored in spaces of the base and the middle finger section; the two motors are cooperatively acted on two joints so that the finger can provide a larger grabbing force; and the bevel gear series double-motor-cooperated composite grabbing robot finger device is compact in structure, low in cost and easy to control.

Description

Technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structure design of a bevel gear system dual-motor cooperative composite grasping robot finger device. Background technique [0002] The hand is one of the most important organs of humans. In the field of anthropomorphic robots, the robot hand is also a crucial link. Its structural design and functional 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 a more precise control mechanism is required; on the other hand, the anthropomorphic requirements of the robot hand determine its characteristics such as small size and light weight. The existing dexterous hands have enough joints and driving numbers to complete precise movements, but their shortcomings are: very complicated and expensive. There are still many technical problems in the field of rob...

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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