Tendon-rope type lateral locking linkage self-adaption robot finger device

Abstract

The invention discloses a tendon-rope type lateral locking linkage self-adaption robot finger device and belongs to the technical field of robot hands. The tendon-rope type lateral locking linkage self-adaption robot finger device comprises a motor, a speed reducer, a transmission mechanism, a main tendon rope, N finger sections, N-1 joint shafts, N-1 joint spring members, N-1 joint wheels, a first pull rope member, N-1 joint sliding blocks, N-1 friction blocks, N-1 locking tendon ropes, N-1 locking spring members and a second pull rope member, wherein N is a natural number which is greater than one. The device is used for grabbing objects and achieves the functions of self-adaption grabbing and continuous and synchronous locking of multiple joints. The grabbing process is rapid and stable, and the joints are locked after grabbing, so that fingers are prevented from springback instability, and large grabbing force can be provided. The multiple joints can be synchronously locked and lockable joint angles are continuous. The device is simple in structure, small in size, low in weight, easy to control and low in design, manufacturing, assembly and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a tendon rope type lateral locking linkage adaptive robot finger device. Background technique [0002] The robot hand is one of the most important components of the robot, and key technologies such as the structural design and function improvement of the robot hand are crucial to the robot. Existing robot hands can be mainly divided into anthropomorphic hands and non-anthropomorphic hands, both of which have a very wide range of applications. Because the human hand is very flexible and powerful, it has great research and learning value in bionics, and the development of anthropomorphic robot hands has great prospects. The current anthropomorphic robotic hands are mainly divided into industrial grippers, dexterous hands and underactuated hands. [0003] On the one hand, the robot hand needs to grasp, carry and manipulate complex objects...

AI Technical Summary

Problems solved by technology

[0008] 2) The device is difficult to provide a wider range of gripping force

[0009] 3) A spring with an excessively large stiffness coefficient may cause the fingers to quickly collide with the object when grabbing the object, resulting in the instability of the squeezed object

[0010] 4) The device may fail to grasp when used in a vibrating environment

Because the teeth of the ratchet have a certain pitch, the locking is discontinuous; if the pitch is designed to be large, the locking accuracy will be reduced, and if the pitch is designed to be small, the tooth height will be reduced, affecting the locking effect

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