Parallel-opening-closing self-adaptive robot finger device with double annular flexible parts

Abstract

The invention provides a parallel-opening-closing self-adaptive robot finger device with double annular flexible parts, and belongs to the technical field of robot hands. The finger device comprises a base, two finger sections, two knuckle shafts, an actuator, two sets of flexible part wheel train transmission mechanisms, a convex block pushing disc, a spring, a limiting convex block and the like. According to the finger device, parallel-opening-closing pinching and self-adaptive envelope-grabbing functions are achieved through combination of the single actuator, the two sets of flexible part wheel train transmission mechanisms with the reasonably set transmission ratio, the spring, the convex block pushing disc, the limiting convex block, the finger sections movably connected in a sleeving mode and the like; an object can be pinched by horizontally moving the second finger section, and the first finger section and the second finger section also can be sequentially rotated to envelope objects in different shapes and sizes. The master-slave driving mode through the two sets of flexible part wheel train transmission mechanisms is adopted by the finger device, the grabbing range is large, and dead moving zones are avoided; meanwhile, the under-actuated mode is adopted, two knuckles are driven by only one actuator, and complex sensing and control systems are not needed; the finger device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a parallel opening and closing self-adaptive robot finger device of double-ring flexible parts. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. However, the traditional underactuated robot hand mostly adopts the link mechanism. Due to the limitation of the mechanism, the fi...

AI Technical Summary

Problems solved by technology

[0004] An existing double-joint co-direction transmission composite underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. Dead zone, small grasping range; when grasping an object, the object must initially be close to the base and the proximal finger segment, which reduces the grasping efficiency; parallel pinching cannot be implemented

Its disadvantages are that the device adopts a link mechanism, which has a motion dead zone, a small grasping range, a large body, an unpersonal appearance, a lack of flexibility, and high manufacturing costs.

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