Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces

Abstract

The invention provides a self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces and belongs to the technical field of robots. The self-adaptive robot hand device comprises a base, a driver, the flexible pieces, a porous elastic block, multiple sliding push rods, springs and the like. The multiple sliding push rods are adopted for the self-adaptive robot hand device to achieve the function of self-adaptation to the sizes and the shapes of target objects; the driver is adopted to drive a transmission mechanism so that the flexible pieces can contract so as to drive the multiple sliding push rods to gather towards the center of the device, and the multi-directional grasping effect on the target objects is achieved; the porous elastic block is adopted to keep the sliding push rods at the standard positions, and meanwhile the condition that the sliding push rods gather and deflect under the binding action of the flexible pieces is not affected; the self-adaptive robot hand device is used for a robot to grab the target objects, and the self-adaptive grapping function in discrete space is achieved; and the self-adaptive robot hand device is simple in structure, low in energy consumption and good in reliability.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of an adaptive robotic hand device with flexible parts wrapped around elastic displacement rod clusters. Background technique [0002] The robot hand has a wide range of uses in the field of robotics. It is used to temporarily connect and fix the robot with the target object, and can be released at an appropriate time. The former realizes the grasp of the target object, and the latter realizes the release of the target object. . In order to reduce the cost, the general robot hand is made to have two relative moving parts, so as to realize the grabbing and releasing functions in the simplest way. There are also many structures that imitate the human hand, designed to have more fingers and several joints on the fingers, but that will bring the complexity and high cost of the mechanical system, sensing system, control system and control algorit...

AI Technical Summary

Problems solved by technology

[0005] (1) Unable to achieve multi-directional grip

When the device exerts a grasping force on the target object, the grasping force can only be along the direction in which the two groups of rod clusters gather together, which is equivalent to a two-finger gripper, which only produces a one-dimensional gripping mode, and the gripping effect is poor

[0006] (2) The grasping of long strip-shaped target objects placed in a specific direction fails

[0007] (3) Complex structure and high energy consumption

The device has 2 groups of rod clusters, and requires 2 movable supports (or motion bases) that move with each other, a set of linear guide rails, 2 sliders, drivers, transmission mechanisms, etc., the structure is relatively complicated, and a Bulky rod cluster movement with many long rods is relatively energy-intensive

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