Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device

Abstract

Negative pressure auxiliary rod cluster adaptive robot hand device belongs to the field of robot hand technology, including base, multiple sliding push rods, elastic film, elastic film tube, film pulling parts, driver, transmission mechanism, fluid drive source, first fluid , a second fluid, and a plurality of springs. The device is used for the robot to grab objects, and realizes the self-adaptive grabbing function. When the device touches the object, it uses multiple sliding push rods to slide freely up and down to achieve the self-adaptive effect of wrapping objects of different sizes and shapes; the second fluid is used to fill the elastic film tube to lock the sliding push rod, and then the first fluid is used to discharge the belt To shrink the elastic film, pull the ends of multiple sliding push rods to bend and gather towards the center, apply gripping force at multiple points and directions, use the pulling film to pull the elastic film to deform the elastic film, and use the local low-pressure area generated to further rely on atmospheric pressure for grasping , enabling stable gripping of objects. The device has the advantages of simple structure, good reliability and wide application range.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a negative pressure auxiliary rod cluster self-adaptive robotic hand device. Background technique [0002] The robot hand has a wide range of uses in the field of robotics. It is used to temporarily connect and fix the robot and the object, and can be released at an appropriate time. The former realizes the grasping of the object, and the latter realizes the release of the object. In order to reduce the cost, the general robot hand is made to have two relative moving parts, so as to realize the grabbing and releasing functions in the simplest way. There are also many structures that imitate the human hand, designed to have more fingers and several joints on the fingers, but that will bring the complexity and high cost of the mechanical system, sensing system, control system and control algorithm. Part of the robot hand is adaptable, tha...

AI Technical Summary

Problems solved by technology

[0005] (1) Unable to achieve multi-directional grip

When the device exerts a grasping force on the target object, the grasping force can only be along the direction in which the two groups of rod clusters gather together, which is equivalent to a two-finger gripper, which only produces a one-dimensional gripping mode, and the gripping effect is poor

[0006] (2) Failure to grasp long objects placed in a specific direction

[0007] (3) Complex structure and high energy consumption

The device has 2 groups of rod clusters, and requires 2 movable supports (or motion bases) that move with each other, a set of linear guide rails, 2 sliders, drivers, transmission mechanisms, etc., the structure is relatively complicated, and a Bulky rod cluster movement with many long rods is relatively energy-intensive

[0008] (4) The reliability of long-term use is poor

All the long rods and chutes are exposed to the working environment. In the factory workshop environment full of dust and flying lint, small foreign objects are easily caught between the long rods, and the chute cannot slide due to the accumulation of dust fibers. There are many factors that affect and reduce the service life. In dusty food, textile, mining and other factory workshops, dust is adsorbed and accumulated in the long rod and the chute, which greatly affects the sliding effect of the long rod in the base, and even malfunction

[0009] (5) Grip stability needs to be improved

[0015] (3) The device needs to suck almost all the fluid in the membrane skin away, which consumes a lot of energy, the cost of the fluid source (such as a pump) is high, and the volume of the evacuable container is large or the pressure of the evacuable container is large.

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