Supporting wheel system fixed shaft and sliding sleeve linear-coupling and self-adaptive robot finger device

Abstract

The invention discloses a supporting wheel system fixed shaft and sliding sleeve linear-coupling and self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a rack, two finger sections, two joint shafts, a driver, a plurality of connecting rods, a guide sleeve, a plurality of driving wheels, a plurality of driving pieces, a spring piece and the like. The device achieves the robot finger coupling and self-adaptive grabbing functions. According to the device, the second finger section can be moved linearly according to the shape and position differences of objects, meanwhile, the second finger section rotates relative to the first finger section so as to clamp the objects, the second finger section can also automatically rotate to make contact with the objects after the first finger section makes contact with the objects, and accordingly the purpose of enveloping the objects with different shapes and sizes in a self-adaptive mode is achieved. The grabbing range is wide, and grabbing is stable and reliable. The two finger sections are driven by one driver. The device is simple in structure, low in machining, assembling and maintenance 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 a structural design of a linear coupling adaptive robot finger device for a fixed-axis sliding sleeve of a supporting wheel train. 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, without the need for real-time sensing and closed-loop feedback control, simple and convenient control, and reduces manufacturing costs. [0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. [0004] Pinch is to ...

AI Technical Summary

Problems solved by technology

The device can realize the coupling and self-adaptive composite grasping mode, but the disadvantages are: 1) the mechanism is complicated, and there are two sets of transmission mechanisms installed between the proximal joint shaft and the distal joint shaft; Difficulty in selection; 3) Use multiple springs to achieve decoupling - to reconcile the contradiction between the coupling transmission mechanism and the adaptive transmission mechanism, often making the deformation of multiple springs large, resulting in excessive and unnecessary energy loss

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