Robot finger device capable of switching between accurate flat clamping self-adoption mode and coupling self-adaption mode

Abstract

A robot finger device capable of switching between an accurate flat clamping self-adoption mode and a coupling self-adaption mode and belongs to the technical field of robot fingers. The robot finger device comprises a base, two finger sections, two joint shafts, a motor, a tendon rope, a driven pulley, a connection piece, a rotary shaft, a fan-shaped wheel, a spherical segment piece, a gear, a rack, a spring and the like. According to the robot finger device, various grabbing modes such as flat clamping grabbing, coupling grabbing and self-adoption grabbing of the robot finger are achieved; by utilizing the ball surface of the spherical segment piece, stable switching between flat clamping and coupling is achieved; by installing the spherical segment piece, transmission precision between a flat clamping stage and a coupling stage is improved; the mechanism is simplified by utilizing the indirect self-adaption function of a gear rack mechanism; contradiction between the flat clamping or coupling state and the self-adaption state is avoided through cooperation of the tension degrees of the spring and the tendon rope; the grabbing range is large; two joints are driven through one single motor, and a complex sensing and controlling system is not needed; and the structure is simple, the size is small, and the cost is low.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a robot finger device for precise flat-grip self-adaptation and coupling self-adaptive mode switching. Background technique [0002] The underactuated robot hand refers to a type of robot hand with more joint degrees of freedom than the number of drivers used. The adaptive grasping function of this type of robot hand can grasp a variety of objects of different sizes and shapes. Accurate and stable gripping is achieved without complex sensing and control modules. The underactuated robot hand has a simple mechanical structure, low cost, and powerful functions, and can adapt to the grasping needs of robot hands in different fields such as industrial robots, social service robots, or human prosthetics. [0003] The two basic grasping categories for underactuated robotic hands with two joint degrees of freedom are coupled grasping modes and adap...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the flat clip adaptive grasping mode, and cannot realize the coupling adaptive grasping mode; in addition, it uses a very complicated multi-link mechanism, and there is a large dead zone in the movement, and the grasping Small range, bulky mechanism, lack of compliance, prohibitively expensive to manufacture

Its shortcoming is that the device can only realize the coupling adaptive grasping mode, and cannot realize the flat clip adaptive grasping mode; in addition, the mechanism is complicated, and installation and maintenance are difficult; there are too many springs, and the springs are used to decouple and adjust the coupling. The contradiction between the transmission mechanism and the adaptive transmission mechanism often makes the deformation of multiple springs larger, resulting in excessive and unnecessary energy loss

Its disadvantage is that during the forward rotation of the first finger segment around the center line of the proximal joint axis, only the lower part of the tendon cord is on the outer edge of the half-wheel arc, while a considerable part of the tendon cord is connected by the shortest broken line. The transition wheel between the upper part of the half wheel and the middle part of the first finger section causes the transmission to be unstable during the gripping stage of the flat clamp, and there is a large error in the transmission (that is, there is a control dead zone). During the rotation of the first finger section, the second finger section There is no movement for a period of time, so the translation of the second finger segment cannot be accurately guaranteed, so it is not an accurate parallel clamping; in addition, the number of components is large, the structure is complex, the volume is large, and the cost is high

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