Finger device of double-motor cooperative combination grabbing robot

Abstract

The invention relates to a finger device of a double-motor cooperative combination grabbing robot, and belongs to the technical field of arms of robots. The finger device comprises a base, two motors, two speed reducers, a middle finger section, a tail finger section, a proximal joint shaft, a distal joint shaft, two one-way transmission mechanisms, a driving wheel, a driven wheel, transmission parts, spring parts and the like. By the aid of the two motors arranged separately, the two one-way transmission mechanisms, a reverse transmission mechanism, the movably sleeved middle finger section, the spring parts and the like, the finger device can realize a combination under-actuated grabbing mode of coupling grabbing first and self-adaptive grabbing second. Excessive interference among various motion modes is eliminated, deformation of the spring parts in coupling motion is small, a finger can stop at any middle position during the coupling motion, and thus, energy consumption is low. The two motors which are respectively arranged in space of the base and space of the middle finger section act onto two joints cooperatively, so that the middle finger section, especially the tail finger section, can provide high grabbing force. The 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 structural design of a dual-motor cooperative powerful 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

This device can realize the compound under-actuated grabbing process, but its disadvantage is that: three meshing bevel gears are used, and the bevel gear mechanism achieves the purpose of outputting the driver in two ways, requiring the bevel gears on both sides to be completely symmetrical, and the cost is high ;Bevel gear transmission requires high assembly accuracy, and the transmission loss is large when the manufacturing and assembly accuracy is low; the motor can only be placed in the base (palm), the palm space cannot be fully utilized, and the space in the middle finger section is not fully utilized

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

[0008] In addition, although the grasping force of the middle and terminal fingers on the object is important for stable grasping of the object, it is found that it is more beneficial if the terminal finger has a greater grasping force on the object. The current robot hand lacks the end For the large gripping force of the fingers, the motor is generally placed in the palm of the hand and transmitted to the end joint and the end fingers through the transmission mechanism. Due to the power loss caused by the transmission efficiency on the transmission path, the end fingers will grasp the object. Insufficient holding power

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