Rack type variable grip elastic linkage adaptive robot finger device

Abstract

The invention discloses a rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force, and belongs to the technical field of robot hands. The rack-type variable grabbing power elastic linked self-adaptive robot finger device comprises a motor, a plurality of finger sections, a plurality of joint shafts, transmission mechanisms, a plurality of transition shafts, a plurality of joint spring parts, a plurality of pulleys, a plurality of driving levers, a plurality of driving plates, a plurality of gear parts, a rope winding wheel, and a tendon rope. According to the device, the functions of self-adaptive grabbing and continuous locking of a plurality of joints are comprehensively achieved through utilizing the motor, the transmission mechanisms, driven driving plates, the driving levers, a first gear, a second gear, a rack, the rope winding wheel, the tendon rope and the spring parts; the device is used for grabbing objects, and can automatically adapt to the shapes and sizes of the objects; after object grabbing, a joint locking manner or a non-locking manner can be adopted; the grabbing process is quick and stable, after grabbing, the joints are locked to prevent the finger from bounding back and becoming unstable, and relatively large grabbing force can be provided; lockable joint angles are continuous; and the device is simple in structure, small in volume, light in weight, easy to control, and low in manufacturing and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a rack-type variable grip elastic linkage self-adaptive robot finger device. Background technique [0002] The robot hand is a very important operating part of the robot, and it is a hot research direction in the field of robot hands at present. Robotic hands can be divided into anthropomorphic hands and non-anthropomorphic hands according to whether they imitate human hands or not. Because the human hand has many degrees of freedom and is very flexible, it has great research and learning value in bionics, and the development of anthropomorphic robot hands similar to human hands has great application prospects. The current robot hands for anthropomorphic grasping are divided into industrial grippers, dexterous hands and underactuated hands. [0003] On the one hand, the anthropomorphic robot hand needs to imitate certain movement functio...

AI Technical Summary

Problems solved by technology

[0007] 2) The device is difficult to provide a wider range of gripping force

[0008] 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

[0009] 4) The device may fail to grasp if it is 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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