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A robot finger, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problem that the device is difficult to provide a wider range of grasping force, the fingers quickly collide with the object, and the locking effect is affected, so as to achieve the grasping process. Fast and stable effects, easy control, low assembly and maintenance costs
Inactive Publication Date: 2018-06-15
TSINGHUA UNIV
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[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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[0047] The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0048] The tendon-rope type lateral locking linkage adaptive robot finger device provided by the present invention includes a motor, a reducer, a transmission mechanism, a main tendon rope, N finger segments, N-1 joint shafts, N-1 joint springs, N-1 articulated wheels and the first cord member; the motor is fixedly connected to the first finger segment, the output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the transmission mechanism The input end is connected, and the output end of the transmission mechanism is connected with the first pull cord; the first pull cord is slid or rotated and arranged in the first finger segment; one end of the main tendon rope is connected with the first pull cord The other ...
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Abstract
Tendon-rope lateral locking linkage adaptive robot finger device, belonging to the field of robot hand technology, including motor, reducer, transmission mechanism, main tendon rope, N finger segments, N-1 joint shafts, N-1 joint springs pieces, N-1 articulated wheels, the first pull cord, N-1 joint sliders, N-1 friction blocks, N-1 locking tendons, N-1 locking springs and the second pull cord , where N is a natural number greater than 1. The device is used for grabbing objects, and realizes the functions of self-adaptive grabbing and continuous synchronous locking of multiple joints; the grabbing process is fast and stable, and the joints are locked after grabbing to prevent fingers from rebounding and unstable, and can provide a larger grip force; multiple joints can be locked synchronously; the lockable joint angle is continuous; the device has simple structure, small size, light weight, easy control, and low cost in design, manufacture, assembly and maintenance.
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...
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