Eccentric wheel, swing rod and sliding groove type coupling self-adaptation robot finger device

Abstract

The invention discloses an eccentric wheel, swing rod and sliding groove type coupling self-adaptation robot finger device, and belongs to the technical field of robot hands. The eccentric wheel, swing rod and sliding groove type coupling self-adaptation robot finger device comprises a base body, two finger sections, a driver, a transmission mechanism, a sliding block, an eccentric wheel, a long swing rod, a swing rod shaft, a drive shaft, a spring piece and the like. The drive shaft is fixedly sleeved with the eccentric wheel. The second finger section is sleeved with one end of the long swing rod through the swing rod shaft, and the other end of the long swing rod is a round face. The round face of the swing rod is in sliding contact with the eccentric wheel. The long swing rod is provided with a sliding groove. The sliding block is fixedly connected with the first finger section. The sliding block slides in the sliding groove. The spring is connected with the drive shaft and the swing rod shaft. The eccentric wheel, swing rod and sliding groove type coupling self-adaptation robot finger device comprehensively achieves the coupling self-adaptation enveloping and grabbing function. Two knuckles are driven by one motor of the device, when the device does not make contact with an object, the rotating speed of the second finger section is higher than that of the first finger section, and a coupling effect is achieved. After the first finger section makes contact with the object, the second finger section continues to rotate, and a self-adaptation function is achieved. The device is wide in grabbing range, compact in structure, small in size, free of complex sensing and control systems, low in manufacturing and maintaining cost, and suitable for the robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of an eccentric wheel swing rod chute-type coupling self-adaptive robot finger device. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. [0003] In the process of traditional underactuated robot fingers approaching the object, the far finger segment is relatively stationary rel...

AI Technical Summary

Problems solved by technology

[0006] However, the traditional underactuated robot hand mostly uses a link mechanism. Due to the limitation of the mechanism, the finger segment has an extreme position in the process of leaning against the object, resulting in a motion dead zone, and the adaptability is greatly weakened.

[0007] An existing double-joint co-direction transmission composite underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. Dead zone, the grasping range is small; when grasping the object, the object must be close to the base and the proximal finger segment at first, which reduces the grasping efficiency; the multi-way gear transmission is adopted, and the structure is complicated

Images