Fluid type stepless locking rope spring self-adaptation robot finger device

A robotic finger and self-adaptive technology, applied in the direction of manipulators, joints, chucks, etc., can solve problems such as grasping failure, affecting locking effect, and instability

Inactive Publication Date: 2016-07-27
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] 2) The device is difficult to provide a wider range of gripping force
[0009] 3) The joint spring with too large stiffness coefficient may cause the fingers to quickly collide with the object when grasping the object, resulting in the instability of the squeezed object
[0010] 4) The device may fail to

Method used

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  • Fluid type stepless locking rope spring self-adaptation robot finger device
  • Fluid type stepless locking rope spring self-adaptation robot finger device
  • Fluid type stepless locking rope spring self-adaptation robot finger device

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Embodiment Construction

[0047] The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0048] A fluid-type stepless locking rope spring adaptive robot finger device designed by the present invention includes a driver, a first transmission mechanism, a tendon rope, a rope member, N finger segments, N-1 joint shafts, and N-1 Articulated spring parts and N-1 articulated wheels; the driver is affixed to the first finger section; the output end of the driver is connected to the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected to the pulley The ropes are connected; the ropes are slided or rotated in the first finger section; one end of the rope is connected with the rope, and the other end of the rope is connected with the last finger; the rope is bypassed All joint wheels, tendon ropes pass through all mi...

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PUM

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Abstract

The invention discloses a fluid type stepless locking rope spring self-adaptation robot finger device and belongs to the technical field of robots hands. The fluid type stepless locking rope spring self-adaptation robot finger device comprises a driver, multiple finger sections, multiple joint shafts, multiple joint spring pieces, a transmission mechanism, a tendon rope, a rope pulling piece, a fluid pipeline, a fluid drainable piece, multiple pistons, multiple friction blocks and fluid. The fluid type stepless locking rope spring self-adaptation robot finger device can be 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 through the joint spring pieces, and the grabbing process is fast and stable; a joint locking manner is adopted after the objects are grabbed, fingers are prevented from rebounding to lose stability, and larger grabbing force is provided; the joint angles which can be locked are continuous, and the multiple joints can be locked synchronously; and the device is simple in structure, easy to control and low in design and manufacturing cost.

Description

technical field [0001] The invention belongs to the technical field of robot hands, in particular to a structural design of a fluid type stepless locking rope spring 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 objects of differen...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J17/02
CPCB25J15/0009B25J17/0258
Inventor 郭九明张文增
Owner TSINGHUA UNIV
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