Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device

Abstract

A multi-finger hooping and elastic shifting rod cluster adaptive robot hand device belongs to the technical field of robot hands. The multi-finger hooping and elastic shifting rod cluster adaptive robot hand device comprises a chassis, a driver, a plurality of fingers, a porous elastic block, a plurality of sliding push rods and a spring component. The device comprehensively realizes a discrete space adaptive grabbing function by adopting the chassis, the driver, the porous elastic block, the plurality of fingers, the plurality of sliding push rods and the like, realizes an object size and shape adapting function by utilizing the plurality of sliding push rods, and realizes a multi-directional object grabbing effect by utilizing the driver and a driving mechanism to drive the fingers to extrude the porous elastic block or slide the push rods and gathering the plurality of sliding push rods towards the center of the device. The device can effectively grab objects which are in various shapes and are placed in different directions, is simple in structure as only one set of rod cluster is needed, easily achieves a grabbing purpose by gathering the plurality of sliding push rods towards the center of the device through the hooping movement of the fingers, and is low in energy consumption.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a multi-finger hoop elastic displacement rod cluster self-adaptive robotic hand device. 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 and the object, and can be released at an appropriate time. The former realizes the grasping of the object, and the latter realizes the release of the 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 algorithm. Part of the robot hand is ada...

AI Technical Summary

Problems solved by technology

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

When the device exerts a grasping force on the 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) Failure to grasp long objects placed in a specific direction

[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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