Anthropomorphic wrist-finger hybrid mechanism

Abstract

An anthropomorphic wrist-finger hybrid mechanism comprises a parallel wrist mechanism and five finger mechanisms which are connected with the parallel wrist mechanism and are of the same structure. The parallel wrist mechanism comprises a small arm frame, three sliding pair-ball pair-ball pair type driving branched chains, a middle spherical hinge restraint device and a palm frame. The palm frame is driven by the parallel wrist mechanism to rotate three times relative to the small arm frame around a spherical hinge. Each finger mechanism comprises a finger driving mechanism a finger holder, three connecting rods, a finger frame, a swing finger and a sliding rod. The five finger holders are fixedly connected with the palm frame according to the connection positions of the wrist and fingers of a human body. Each finger driving device comprises a finger motor, a finger lead screw, a finger screw nut, a guide rod, a sliding sleeve and a spring. When each finger screw nut is driven to move downwards, the corresponding spring, a sliding block, the corresponding three connecting rods, the corresponding finger frame and the corresponding sliding rod drive the corresponding swing finger to achieve flexible grasping and swinging. When each finger screw nut is driven to move upwards, the corresponding sliding block, the corresponding three connecting rods, the corresponding finger frame and the corresponding sliding rod drive the corresponding swing finger to restore. The anthropomorphic wrist-finger hybrid mechanism is simple and compact in structure and large in driving force, the palm frame can drive the five fingers to rotate three times relative to the small arm frame in an anthropomorphic wrist mode, and each finger can also rotate three times in an anthropomorphic mode.

Description

technical field [0001] The invention relates to the field of robots, in particular to an anthropomorphic wrist-finger hybrid mechanism. 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...

AI Technical Summary

Problems solved by technology

Publication No. CN102922532B discloses a link-type cooperatively driven robot finger device. Publication No. CN103358315B discloses a full-rotation joint link-type underactuated robot finger mechanism. Publication No. CN102935642B discloses a connecting rod keyway coupling Under-actuated double-joint robot finger device, the patent with publication number CN102717394B discloses a bevel gear coupled dexterous robot finger device, and the patent with publication number CN102717393B discloses a connecting rod coupled dexterous robot finger device. Constructed by five finger motion characteristics, 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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