Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping

Abstract

The invention discloses a multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping and belongs to the technical field of robot fingers. The multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping comprises a base, two finger sections, two joint shafts, a driver, two sets of wheel train driving mechanisms, a lug driving plate, spring parts, a limiting lug and the like. The device utilizes the single driver, a multi-axis wheel train with the reasonably-set transmission ratio, the spring parts, the lug driving plate, the limiting lug, the movable sleeve-connected finger sections and the like to comprehensively achieve the functions of parallel opening and closing for pinch and self-adaptive enveloping grasping, can translate the second finger section to pinch objects according to different shapes and positions of the target objects and can also sequentially turn the first finger section and the second finger section to envelope the objects. The device adopts the double-way driving and driven modes of drive wheels and gears and is large in grabbing range and free of motion dead zones. In addition, the device adopts an under-actuation mode and only utilizes one driver to drive two joints without a complicated sensing and control system. The device is compact in structure, small in size and low in manufacturing and maintaining cost and is suitable for robot fingers.

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 envelope robot finger device of multi-axis gear trains. 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, t...

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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