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A robot finger and transmission gear technology, which is applied in the direction of manipulators, collets, manufacturing tools, etc., can solve the problems of large deformation of multiple spring parts, difficult selection of spring parts, excessive energy loss, etc., to achieve large grasping force, The effect of stable and reliable gripping, low assembly and maintenance costs
Inactive Publication Date: 2017-02-22
TSINGHUA UNIV
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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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[0043] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0044] A kind of embodiment of the free motion transmission gear coupling self-adaptive robot finger device of the present invention design, as Figure 1 to Figure 8 As shown, it includes a base 1, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4, a distal joint shaft 5 and a driver 14; the driver 14 is fixedly connected to the base 1; the proximal joint shaft 4 The centerline of is parallel to the centerline of distal joint axis 5. This embodiment also includes a transition transmission mechanism, a driving dial 152, a first spring member 53, a first gear 9, a second gear 10, a gear set 11, a driven dial 191, an intermediate transmission mechanism, a bump dial 12, The limit protrusion 18 and the second spring 13; the proximal joint shaft 4 is movably sleeved in the ...
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Abstract
The invention discloses an idle stroke transmission gear coupling self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a drive, multiple gears, a transition transmission mechanism, an intermediate transmission mechanism, a driving poking wheel, a driven poking wheel, a convex block poking disc, two springs, a limiting convex block and the like. The device realizes coupling and a self-adaption compound grabbing mode, can link two joints to hold an object by the tail ends to achieve high action personification degree, can rotate the second finger section to wrap the held object after rotating the first finger section to touch the object, is high in grabbing strength, achieves self-adaption grabbing effect of objects with different shape sizes, is stable and reliable in grabbing, drives two joints by using one drive without complex sensing and real-time control systems, and meanwhile, is simple in structure, small in size, light in weight, low in machining, assembly and maintenance costs 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 an idler transmission gear 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, 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 fingertips of the end fingers...
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