Flexible coupled single-drive anthropomorphic finger

Abstract

The invention discloses a flexible coupling single-drive human-simulated finger. The flexible coupling single-drive human-simulated finger comprises a machine base, a motor, an upper rod, a middle rod, a lower rod, an elastic shaft, a screw rod, a nut, an inner elastic plate, an outer elastic plate, an upper shaft, a middle shaft, a lower shaft and a sliding pin, wherein the lower shaft is rotatably connected with the machine base and the lower rod; the middle shaft is rotatably connected with the lower rod and the middle rod; the upper shaft is rotatably connected with the middle rod and the upper rod; the sliding pin is fixedly connected with the upper end of the middle rod; the sliding pin is in sliding contact with a long hole of the upper rod; the two ends of a long groove of the lower rod are rotatably connected with the screw rod; the screw rod is in threaded connection with the nut; the nut is in sliding contact with the long groove; the inner elastic plate is connected with the machine base and the nut; the outer elastic plate is connected with the nut and the middle rod; a motor fixed to the machine base drives the screw rod to rotate and the nut to move in the long groove through the elastic shaft; the lower rod is driven to rotate relative to the machine base and the middle rod is driven to rotate relative to the lower rod through the inner elastic plate and the outer elastic plate; and the upper rod is driven to rotate relative to the middle rod in a coupling manner through the sliding pin and the long hole in the upper rod. The flexible coupling single-drive human-simulated finger has the advantages that drives are less, the structure is simple and compact, the flexible coupling is achieved, the driving force is high, the control is easy, and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to an anthropomorphic finger. Background technique [0002] The hand of the robot refers to the device installed at the end of the robot arm and directly acts on the working object. All kinds of operations to be completed by industrial robots must be realized through the hands; at the same time, the structure, weight and size of the hands have a direct and significant impact on the overall kinematics and dynamics of the robot. Finger design is an important link in robot hand design. With the development of robot technology, various forms of robot fingers have emerged. Fingers are generally rigid, and the grasping surface forms a depression or a v-shaped groove according to the envelope of the object shape. Most manipulators have only two fingers, and sometimes use a three-finger structure like a three-jaw chuck. In addition, there are hands that use a linkage mechanism to make the shape of t...

AI Technical Summary

Problems solved by technology

The above-mentioned finger device is mainly constructed by simulating the movement characteristics of five fingers of a human being. The structure is relatively complex, the number of drives is large, the drive force is small, and the control is difficult.

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