Linear coupling adaptive finger device for pendulum guide sleeve gear train transmission

Abstract

The invention provides a swinging rod guide sleeve gear train transmission linear coupling self-adaptive finger device and belongs to the technical field of robot hands. The swinging rod guide sleeve gear train transmission linear coupling self-adaptive finger device comprises a rack, two finger segments, two joint shafts, a driver, a plurality of connection rods, a guiding sleeve, a plurality of transmission wheels, a plurality of transmission pieces, a spring piece and the like. The device achieves the robot finger coupling and self-adaptive grabbing function. The device can linearly perform translational motion on the second finger segment according to the difference of shapes and positions of objects; meanwhile, the second finger segment rotates relative to the first finger segment to clamp the objects, after the first finger segment makes contact with the objects, the second finger segment can automatically rotate to make contact with the objects, and the purpose of enveloping the objects in different shapes and sizes in a self-adaptive manner is achieved; the grabbing range is wide, and grabbing is stable and reliable; the two finger segments are driven by one driver; and the device is simple in structure, low in machining, assembling and maintaining cost and suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a pendulum guide sleeve gear train transmission linear coupling self-adaptive 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, 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 use the finge...

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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