Belt wheel type cooperative locking linkage self-adaptive robot finger device

Abstract

The invention discloses a belt wheel type cooperative locking linkage self-adaptive robot finger device, and belongs to the technical field of robot hands. The belt wheel type cooperative locking linkage self-adaptive robot finger device comprises a motor, a transmission mechanism, a plurality of finger sections, a plurality of joint shafts, a plurality of joint reed pieces, a plurality of linkage reed pieces, a tendon rope, a plurality of driving wheels, a plurality of driven wheels, a plurality of transmission pieces, a plurality of poking wheels and a plurality of poking pieces. The device utilizes the motor, the transmission mechanism, the poking pieces, the poking wheels, the driving wheels, the driven wheels, the transmission pieces, stay rope pieces, the tendon rope and the reed pieces for comprehensively realizing the functions of self-adaptive grabbing and continuous locking of a plurality of joints. The device is used for grabbing objects, and can automatically adapt to the shapes and the sizes of the objects; after the objects are grabbed, a joint locking mode or unlocking mode can be adopted; the grabbing process is fast and stable, the joints are locked after grabbed to prevent the instability of finger rebound, and greater grabbing force can be supplied; the locked joints are continuous in angles; and the device is simple in structure, small in size, light in weight, easy to be controlled and low in manufacturing and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a pulley-type collaborative locking linkage adaptive robot finger device. Background technique [0002] The robot hand is an important part of the robot. Robotic hands can be divided into anthropomorphic hands and non-anthropomorphic hands according to whether they imitate human hands or not. Both types of hands are currently hot research directions in the field of robotic hands. Because the human hand has many degrees of freedom and is very flexible, the development of an anthropomorphic robot hand similar to the human hand has great application prospects. The current robot hands for anthropomorphic grasping are divided into industrial grippers, dexterous hands and underactuated hands. [0003] Anthropomorphic robot hands need to imitate certain movement functions of human hands to grasp and carry objects of different shapes and sizes in ...

AI Technical Summary

Problems solved by technology

[0007] 2) The device is difficult to provide a wider range of gripping force

[0008] 3) A spring with an excessively large stiffness coefficient may cause the fingers to quickly collide with the object when grabbing the object, resulting in the instability of the squeezed object

[0009] 4) The device may fail to grasp if it is used in a vibrating environment

Because the teeth of the ratchet have a certain pitch, the locking is discontinuous; if the pitch is designed to be large, the locking accuracy will be reduced, and if the pitch is designed to be small, the tooth height will be reduced, affecting the locking effect

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