Shaft-moving helical synchrolocking adaptive robotic finger device

Abstract

The invention provides an axial spiral synchronous locking self-adaptive robot finger device and belongs to the technical field of robot hands. The axial spiral synchronous locking self-adaptive robot finger device comprises a motor, a plurality of finger sections, a plurality of joint shafts, a plurality of spring pieces, a tendon rope, a rope drawing piece, a plurality of joint wheels, a plurality of sets of nut sliding blocks and screws, and a plurality of sets of wheel type transmission mechanisms. According to the axial spiral synchronous locking self-adaptive robot finger device, the functions of self-adaptive grabbing and continuous and synchronous locking of a plurality of joints are achieved comprehensively through the motor, the tendon rope, the spring pieces, the wheel type transmission mechanisms and threaded transmission mechanisms. The axial spiral synchronous locking self-adaptive robot finger device is used for grabbing objects and can automatically adapt to the shapes and sizes of the objects. A joint locking mode or a non-locking mode can be adopted after the objects are grabbed. The grabbing process is fast and stable, the joints are locked after grabbing, a finger is protected against rebounding and instability, and large grabbing force can be provided. The multiple joints can be locked synchronously. The angles of the joints capable of being locked are continuous. The axial spiral synchronous locking self-adaptive robot finger device is simple in structure, small in size, low in weight, easy to control, and low in design, manufacturing, assembling 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 shaft-moving screw 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 object...

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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