Rack type multi-joint synchronous locking self-adaptation robot finger device

Abstract

The invention discloses a rack type multi-joint synchronous locking self-adaptation robot finger device and belongs to the technical field of robot hands. The rack type multi-joint synchronous locking self-adaptation robot finger device comprises a motor, multiple finger sections, multiple joint shafts, multiple spring pieces, a tendon rope, a rope pulling piece, multiple joint wheels, multiple sets of gear and rack mechanisms and multiple sets of wheel type transmission mechanisms. By means of the device, the motor, the tendon rope, the spring pieces, the wheel type transmission mechanisms and the gear and rack transmission mechanisms are used for comprehensively achieving the function of self-adaptation grabbing and continuous synchronous locking of multiple joints. The device is used for grabbing objects and can automatically adapt to the shapes and the sizes of the objects; a joint locking manner or a joint non-locking manner can be adopted after the objects are grabbed; the grabbing process is fast and stable, the joints are locked after grabbing is conducted, fingers are prevented from rebounding to lose stability, and larger grabbing force can be provided; the multiple joints can be synchronously locked; joint angles which can be locked are continuous; and the device is simple in structure, small in size, light, easy to control and low in design, manufacturing, assembling and maintaining 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 multi-joint synchronous locking self-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 obj...

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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