Three-degree-of-freedom surface movable robot finger unit device

Abstract

The invention provides a three-degree-of-freedom surface-movable robot finger unit device, and belongs to the technical field of robot hands. The three-degree-of-freedom surface-movable robot finger unit device comprises two finger sections, four bevel gears, a left half shaft, a right half shaft, a left joint driver, a right joint driver, a left joint transmission mechanism, a right joint transmission mechanism, a longitudinal shaft, a longitudinal moving driver, a longitudinal moving transmission mechanism, a skin layer and the like. A joint double-degree-of-freedom orthogonal rotation function is fulfilled, namely the device can be bent around a joint shaft and rotate around the longitudinal shaft, and a surface longitudinal moving function is also fulfilled. The device is suitable to be mounted on a finger of a robot, functions of fingers of a humanoid robot are expanded, and in a movement process, adjacent fingers cannot intervene. The device is provided with a finger surface capable of moving multi-dimensionally, by surface movement, an object can relatively move or deform, the device is suitable for picking up objects, and is particularly suitable for picking up flat objects and deformable objects, and positions and postures of a grabbed object can be adjusted. The device is compact in structure, small in size, easy to control and suitable for being mounted on a hand of the robot.

Description

technical field [0001] The invention belongs to the technical field of robot hands, in particular to the structural design of a three-degree-of-freedom surface movable robot finger unit device. Background technique [0002] Robots are beneficial devices that help humans complete various strenuous tasks. A large number of industrial robots have been developed. For decades, industrial robots have been used in many industries such as aerospace, transportation, ocean exploration, biomedicine, and energy production. . [0003] The robot hand is an important terminal for the robot to contact with the environment. It is a component for the robot to realize the two functions of grasping objects and manipulating objects. It can be classified into non-anthropomorphic robot hands and anthropomorphic robot hands according to whether it imitates human hands. The former does not necessarily have fingers, and can be divided into active sucker grippers, passive sucker grippers, permanent m...

AI Technical Summary

Problems solved by technology

[0012] 1) The device does not have the function of moving the finger surface;

[0013] 2) The device does not have the function of finger rotation around its own longitudinal axis;

[0014] 3) The device can only be used for the root joints of the fingers, but not for the middle joints between finger segments, such as the middle and end joints on the index finger, because the left and right sides of the middle and end joints of two adjacent fingers pendulum will interfere

Images