Grabbing-locking self-adaptive robot finger device

Abstract

The invention provides a grabbing-locking self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a first transmission mechanism, a near-joint shaft, a middle finger section, a driving pulley, a synchronous belt, a driven pulley, a far-joint shaft, a tail end finger section and a first spring piece. The device further comprises a second transmission mechanism, a pawl, a pawl shaft, a ratchet, a second spring piece, a third spring piece and a fourth spring piece. The device can be installed on a mechanical arm, matched with the active movement of the mechanical arm to conduct object grabbing in a reaction surface-evacuated mode, and has the self-adaptive capacity for the shape and size of the grabbed object. Shape-enclosure and force-enclosure stable grabbing is achieved in the object grabbing, and the lost stability phenomenon that joint reset is caused by vibration interference in the grabbing process is avoided. The device is simple in structure, small in size, less in quality and low in production cost and maintenance cost, and the fingers are similar to fingers of the human.

Description

technical field [0001] The invention belongs to the technical field of robot hands, in particular to a structural design of a grasping and locking self-adaptive robot finger device. Background technique [0002] Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed for the hand. However, in order to reduce the control difficulty of the anthropomorphic robot hand, as well as reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. Certain contradictions, in addition, in order to better grasp the object, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. Underactuated fingers can better achieve the three...

AI Technical Summary

Problems solved by technology

[0004] The disadvantage of this device is: when the object does not squeeze the middle finger segment of the device, the end finger segment will return to the initial state of straightening, so the device cannot implement the object grasping that the reaction surface is canceled during the grasping process

For example, if an object is placed on the table, when the finger mounted on the mechanical arm is close to the object, the motor will drive the first joint to rotate, and the object will block and squeeze the middle finger, so the timing belt mechanism will cause the second joint of the finger to bend, But when the mechanical arm leaves the table, the object no longer squeezes the middle finger segment, and the end finger segment will return to the initial state of straightening. The bending of the finger cannot be maintained, so the object falls off and the grasping fails.

On the other hand, although the device achieves an adaptive envelope effect on the shape when grasping objects, it does not generate a grasping force, and thus does not realize force-closed and stable grasping. Envelope to achieve a stable grip

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