Self-reset open loop and flexible piece coupled flexible robot finger device

Abstract

The invention provides a self-reset open loop and flexible piece coupled flexible robot finger device and belongs to the technical field of robot hands. The self-reset open loop and flexible piece coupled flexible robot finger device comprises a base, two finger segments, two joint shafts, two drivers, two sets of open loop tendon rope transmission mechanisms and springs. The self-reset open loop and flexible piece coupled flexible robot finger device achieves four grabbing manners including the double-joint coupled rotation grabbing manner, the double-joint independent rotation grabbing manner, the manner that double joints rotate in a coupling manner and then rotate independently for grabbing and the manner that the double joints rotate independently and then rotate in the coupling manner for grabbing; and the device has the function of automatic reset after collision and is safer during man-machine interaction, suitable for service-oriented robots and especially suitable for being used in families, schools, hospitals and public places where people gather. The device is compact in structure, small in size, low in weight and low in manufacturing and maintaining 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 self-resetting open-loop flexible part coupled with a dexterous robot finger device. Background technique [0002] At present, robot technology is becoming more and more important, and there is an urgent need to apply robots no matter in industrial occasions or in social occasions where people exist. The robot hand is the terminal for the robot to pick up tools, similar to the human hand, helping the robot to grasp and manipulate objects, and perceive the corresponding actions of the surrounding environment. [0003] Security is a very important aspect when interacting with people. Traditional robotic hands often only focus on grasping objects, and do not pay attention to how to achieve work tasks and avoid some unexpected situations in the process of interacting with people. For example, collisions between humans and robots often hurt ea...

AI Technical Summary

Problems solved by technology

[0005] 1) The device cannot be subjected to collisions. During collisions, faults such as jumping teeth and breaking the straightening belt will occur. For human-computer interaction, collisions are often unavoidable. This robot finger that cannot be subjected to collisions will cause people to be affected. Threat of harm, or being harmed by others, there is a great potential safety hazard;

[0006] 2) Due to the closed belt transmission mechanism, when the transmission belt is slack, it is not convenient for tension maintenance, and it is also inconvenient to replace when the transmission belt is broken. At this time, the entire finger needs to be disassembled to replace the new transmission belt;

[0007] 3) The device cannot adjust the size of the grasping force. When grasping an object, not only the fingers are required to reach the position of the enveloped object, but also the fingers are required to exert a grasping force on the grasped object and maintain the grasping force. Due to the transmission of the transmission mechanism The existence of errors such as gaps requires measures to maintain the gripping force after the motor stops, and this device can only achieve the gripping force on the object when the motor is running, and cannot hold the object after the motor stops. force

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