Fluid type contact grabbing linkage self-adaptive robot finger device

Abstract

The invention provides a fluid type contact grabbing linkage self-adaptive robot finger device and belongs to the technical field of robot hands. The fluid type contact grabbing linkage self-adaptive robot finger device comprises a base, two finger segments, two joint shafts, three sliding blocks, multiple springs, multiple flexible pieces, fluid and the like. According to the fluid type contact grabbing linkage self-adaptive robot finger device, fluid drive is utilized to achieve the coupling and self-adapting combined grabbing function characterized in that coupling rotation is conducted firstly and self-adaptive grabbing is conducted thereafter, the personate rotation effect is achieved through coupling rotation, and fingers can hold objects of different shapes and of different sizes in an adaptive manner by means of self-adaptive grabbing; a one-way solenoid valve is adopted for the self-adaptive robot finger device so that the feature that the finger bending configuration is kept automatically can be achieved, the objects evacuating under the action of counter-acting force can be grabbed in cooperation with drive movement of mechanical arms, and instability caused by vibration disturbance in the grabbing process can be prevented as well; the device is simple in structure, and the appearance is similar to that of fingers of hands of people; and the device grabs the objects only when the objects make contact with the fingers, the object grabbing accuracy is guaranteed, and the better position consistency is obtained when the same object is grabbed multiple times.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a fluid contact grasping linkage adaptive robot finger device. Background technique [0002] Human hands are very important to humans, just like humans, robotic hands are equally important to anthropomorphic robots. Robots carry out work by grasping tools with their hands, or perform spatial displacement operations by grasping objects with their hands. As the output terminal of anthropomorphic robots, the robot hand has been paid more and more attention by robotics researchers. In the field of robotics, there are two types of robotic hands: dexterous hands and underactuated hands, which are based on two different actuation methods of active control and underactuation respectively. The shape and movement of the dexterous hand are very similar to the human hand. Under the combined effect of complex control algorithms and mechanisms, it can f...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that the locking of the ratchet pawl is a quantitative locking, which cannot achieve stepless locking, and the locking angle is limited. In order to reduce the minimum locking angle, it is necessary to make a ratchet with a small modulus. High manufacturing cost and unsatisfactory locking effect

[0007] The above two devices only realize adaptive grasping, without coupling grasping effect, that is, when two joints are connected in series to form a double-jointed finger, there is a lack of coupling and linkage process, resulting in a low anthropomorphic action for grasping objects

The fingers are always in a straight state before they touch the object, and the action and appearance are quite different from those of human hands. The anthropomorphism is not enough, because the coupled grasping effect is very common in most grasping processes of human hands; in addition, the two The grasping method of the device is mainly a gripping method, which is difficult to achieve a better grasping effect at the end; when there is no object grasping, it is impossible to make a fist similar to a human hand; it is also difficult to achieve each joints are naturally bent

[0008] The above three devices all use gas as the transmission medium, which has disadvantages: the gas is easy to be compressed, the movement hysteresis is obvious, the force locking on the joints is not enough, and the finger may appear due to vibration interference when grasping and moving objects. grabbing instability

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