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

A robot finger, self-adaptive technology, applied in the directions of manipulators, joints, chucks, etc., can solve the problems of fingers quickly colliding with objects, instability, and squeezing objects, etc., to achieve fast and stable grasping process, low manufacturing and maintenance costs, and prevent The effect of rebound instability
CN105364938AInactive Publication Date: 2016-03-02TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2016-03-02
Estimated Expiration
Not applicable · inactive patent

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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.
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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 ...

Claims

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