Pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel

Abstract

The invention belongs to the technical field of robot hands and discloses a pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel. The robot finger device comprises a driver, a base, two finger sections, four rods, six shafts, spring parts and limiting blocks. A proximal joint shaft and a first drive shaft are arranged in the base in a sleeved mode. A first rotating shaft is arranged on the first parallel rod in a sleeving mode. A second rotating shaft is arranged in the first finger section in a sleeved mode. A distal joint shaft and a second drive shaft are arranged in the second finger section in a sleeved mode. The first finger section and the first parallel rod are connected to the proximal joint shaft in a sleeving mode. The two ends of the driven rod are connected to the first rotating shaft and the distal joint shaft respectively in a sleeved mode. The two ends of the second parallel rod are connected to the distal joint shaft and the second rotating shaft respectively in a sleeved mode. The two ends of the drive rod are connected to a first drive shaft and a second drive shaft respectively in a sleeved mode. The robot finger device can grab articles in a pinching-holding composite and adaptive mode; the second finger section can pinch the articles in parallel or hold the articles adaptively; the distal joint shaft can be moved horizontally, so that the grabbing range is wide and the dead movement zone is small; the size is small, the appearance simulates the human, the structure is simple and reliable, and a sensing and controlling system is not needed.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a seven-link parallel pinching and gripping composite self-adaptive robot finger device. Background technique [0002] The human hand has the characteristics of many degrees of freedom, small size, large output, and multiple grasping modes, which brings difficulties to the development of anthropomorphic robot hands that imitate human hands. The robotic hand can grasp objects and manipulate them by moving the platform and arms. The existing dexterous hand is the most high-end device that imitates the human hand. It has a lot of active control degrees of freedom and flexible movements. However, the control is very complicated, and the system is relatively expensive. Complicated programming is required, different programming is required for grasping different objects, the cost is high, the output is small, and the adaptability requires the u...

AI Technical Summary

Problems solved by technology

[0005] An existing double-joint co-direction transmission compound underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. The picking range is small; when grabbing an object, the object must initially be close to the base and the proximal finger segment, which reduces the grabbing efficiency; parallel pinching cannot be implemented

Its disadvantages are that the grabbing range of the device is small, the mechanism is bulky, the appearance is not anthropomorphic, the lack of flexibility, and the manufacturing cost is high.

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