A bionic four-finger closed manipulator

Abstract

The invention discloses a bionic four-finger-shaped closed mechanical hand. The bionic four-finger-shaped closed mechanical hand comprises a fixed frame, a direct-current motor, mechanical fingers and a transmission system for driving the mechanical fingers to operate through the direct-current motor, wherein the transmission system comprises a torque protective device; the torque protective device comprises an inner shaft structure and an outer ring structure; the inner shaft structure and an output shaft of the direct-current motor are coaxially and fixedly arranged on the end part of the output shaft of the direct-current motor; the outer ring structure is arranged on the inner shaft structure in a sleeving mode; more than two radial through holes are uniformly formed in the radial direction of the periphery of the outer ring structure; an elastic part and a rolling ball are arranged in the radial through holes; a ring-shaped rolling slot which is matched with the rolling ball is formed in the inner shaft structure; rolling ball slots corresponding to the radial through holes in the outer ring structure are uniformly formed in the radial direction of the periphery of the ring-shaped rolling slot; a worm and gear mechanism is set as a performing mechanism for motor transmission and mechanical hand operation. The bionic four-finger-shaped closed mechanical hand not only realizes a four-finger-shaped closing function, but also effectively solves control of the mechanical fingers to the force.

Description

technical field [0001] The invention belongs to the field of robot operation, and in particular relates to a bionic four-finger closed manipulator. Background technique [0002] With the rapid development of robots today, manipulators are one of the main means for robots to interact with the outside world. Robotic hands need to be as versatile and flexible as human hands. At present, many literatures have focused on the manipulator. However, most of them are special-purpose manipulators designed for specific operation objects, and cannot be used without specific targets, and cannot be used as a highly bionic component such as a robot hand. Moreover, for objects with low strength, the manipulator cannot be too powerful to damage the object. Of course, some research has focused on the research of bionic manipulators. Even so, it brings new problems: high requirements on processing technology and wear resistance of materials, and high restrictions on service life. [0003]...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of poor force control ability of the manipulator, this invention proposes a bionic four-finger closed manipulator, which realizes the perfect force control of the manipulator when grabbing objects

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