Rigid-flexible hybrid single-drive three-turn finger

Abstract

The invention discloses a rigid-soft parallel serial single-drive three-rotation finger. The rigid-soft parallel serial single-drive three-rotation finger comprises a machine base, a screw motor, a nut, a flexible finger body, a sliding block, an upper swinging rod, a lower swinging rod, a right elastic plate, three shafts, a left long elastic plate and a left short elastic plate. The motor is fixedly connected with the machine base. A screw and the nut are spirally connected. The flexible finger body comprises a framework, a finger rod, a spring and a guiding rod. The flexible finger body, the upper swinging rod, the lower swinging rod and the machine base are rotationally connected in series through the three shafts. The framework of the flexible finger body, the sliding block and the nut are flexibly connected in series through the right elastic plate. The upper end of the left long elastic plate and the upper end of the left short elastic plate are both connected with the sliding block, and the lower end of the left long elastic plate and the lower end of the left short elastic plate are connected with the machine base and the lower swinging rod. The sliding block slides in the upper swinging rod. When the motor screw rotates forwards and reversely, the nut moves along the machine base, and the sliding block, the right elastic plate, the left long elastic plate and the left short elastic plate are used for driving the upper swinging rod, the lower swinging rod and the flexible finger body to rotate clockwise or anticlockwise at the same time. The person-simulated three-rotation finger has the beneficial effects of being capable of achieving the single drive, large in rotation angle and flexible grabbing force and simple and compact in structure.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a robot 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 the fingers ...

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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