A tendon-actuated robotic finger mechanism

A robotic finger and tendon-driven technology, applied in the field of robotics, can solve the problems of lower finger reliability, high machining cost, and complex transmission structure, and achieve the effects of simple structure, simplified drive and transmission, and reduced finger weight

Active Publication Date: 2017-03-15
国创机器人创新中心(哈尔滨)有限公司
View PDF6 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing robot finger joints all adopt positive and negative two-way driving methods, and the transmission structure is complex, which reduces the reliability of the fingers. However, referring to the structure of the bionic human hand, only the forward and grasping directions are used as the directions that require driving and output force. , while the reverse output force is very small and can only provide return movement, and from the perspective of the actual grasping operation needs of the manipulator, this one-way drive and reverse self-returning method can meet the needs of the grasping operation
[0004] Aluminum alloy is widely used as the material of existing manipulators, and the disadvantages are heavy weight and high machining cost

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A tendon-actuated robotic finger mechanism
  • A tendon-actuated robotic finger mechanism
  • A tendon-actuated robotic finger mechanism

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0029] Specific implementation mode one: as Figure 1 to Figure 10 As shown, this embodiment describes a tendon-driven robot finger mechanism, which includes a base 1, a proximal knuckle 2, a terminal knuckle 3 and two pitch-rotation joints, and the two pitch-rotation joints are base joint 4 and end joint 5; the proximal knuckle 2 includes a proximal knuckle housing, a proximal knuckle force transmission member 2-6 and two proximal knuckle support bearings 2-8, and the proximal knuckle housing includes a proximal knuckle Knuckle left side panel 2-1, proximal knuckle right panel 2-2, proximal knuckle front cover 2-3 and proximal knuckle rear cover 2-4, the proximal proximal knuckle rear cover 2- 4 and the proximal knuckle front cover plate 2-3 are connected with the proximal knuckle left side panel 2-1 and the proximal knuckle right side panel 2-2 (by screws); the upper end of the base 1 is arranged on the The lower part of the proximal knuckle shell; the terminal knuckle 3 in...

specific Embodiment approach 2

[0033] Specific implementation mode two: as Figure 1 ~ Figure 3 As shown, the tendon-driven robot finger mechanism described in Embodiment 1, the base 1 , the proximal knuckle shell and the terminal knuckle shell are all made of polyimide non-metallic material.

specific Embodiment approach 3

[0034] Specific implementation mode three: as image 3 As shown, in the tendon-driven robot finger mechanism described in Embodiment 2, the proximal knuckle force transmission member 2-6 and the terminal knuckle force transmission member 3-5 are both made of aluminum alloy.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a tendon-driving robot finger mechanism and belongs to the technical field of robots. Tendon driving is adopted for forward joint rotation, a torsional spring force reset driving manner is adopted for backward rotation, the structure is simple and reliable, and the requirement for grasping operation can be met. A shaft sleeve of a base joint is sleeved with a base joint reset torsional spring, and the two ends of the base joint reset torsional spring are connected with a knuckle-approaching force transmission part and a base. A tail end joint tendon wheel is fixedly connected with a tail end knuckle force transmission part. The tail end joint shaft is supported on a knuckle-approaching left side plate and a knuckle-approaching right side plate through tail end joint shaft end bearings. A tail end knuckle left side plate and a tail end knuckle right side plate are supported on the knuckle left side plate and the knuckle right side plate through tail end knuckle supporting bearings. The two ends of a tail end joint reset torsional spring are connected with the tail end knuckle force transmission part and the knuckle-approaching left side plate. One end of a base joint tendon is fixedly wound in a groove wheel of a base joint tendon wheel, and the other end of the base joint tendon penetrates out of a base joint tendon sheath. One end of a tail end joint tendon is fixedly wound in the wheel groove of the tail end joint tendon wheel, and the other end of the tail end joint tendon penetrates out of a tail end joint tendon sheath. The tendon-driving robot finger mechanism is used for grabbing articles.

Description

technical field [0001] The invention relates to a finger mechanism of a robot claw, belonging to the technical field of robots. Background technique [0002] As the execution unit of the robot gripper, the finger has an important impact on the gripper's structure, operation ability and reliability. [0003] Existing robot finger joints all adopt positive and negative two-way driving methods, and the transmission structure is complex, which reduces the reliability of the fingers. However, referring to the structure of the bionic human hand, only the forward and grasping directions are used as the directions that require driving and output force. , while the reverse output force is very small and can only provide return movement, and from the perspective of the actual grasping operation needs of the manipulator, this one-way drive and reverse self-returning method can meet the needs of the grasping operation. [0004] Aluminum alloy is widely used as the material of the exist...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J17/00
CPCB25J15/0009B25J17/00
Inventor 刘伊威刘宏
Owner 国创机器人创新中心(哈尔滨)有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap