Double tendon rope series coupling adaptive finger device

A self-adaptive, tandem technology, applied in the field of robot gripper, can solve the problems of small grasping force, small grasping range, large dead zone, etc., and achieve the effect of large tolerance, grasping force, and large grasping range

Active Publication Date: 2021-06-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantages of the underactuated mechanical finger device are: the pulley drive requires a complex tensioning device, which is difficult to assemble, and the belt drive is used as a small load drive, which produces less gripping force, and the drive belt has greater elasticity
The disadvantages are: (1) the knuckles at the end of the device move in parallel, and the convergence speed of the fingers is slow, which may easily cause the moving object in the space to escape during the grasping process; (2) the device adopts a multi-link mechanism, and the movement has a large The dead zone, the grabbing range is small

Method used

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  • Double tendon rope series coupling adaptive finger device
  • Double tendon rope series coupling adaptive finger device
  • Double tendon rope series coupling adaptive finger device

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Experimental program
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Effect test

Embodiment 1

[0041] A dual tendon rope series coupling self-adaptive finger device designed by the present invention includes a base 1, a first knuckle 2, a second knuckle 3, a first joint shaft 11, a second joint shaft 12, and a second sheave 82. Transmission mechanism 4, driver 5, first spring member 6, at least one first sheave 81, at least one third sheave 83; said first joint shaft 11 is rotatably arranged in base 1, said first The knuckle 2 is fixedly connected to the first joint shaft 11, the second joint shaft 12 is rotatably arranged in the first knuckle 2, the second knuckle 3 is fixedly connected to the second joint shaft 12, and the second knuckle 3 is fixedly connected to the second joint shaft 12. The center line of a joint shaft 11 is parallel to the center line of the second joint shaft 12; the first sheave 81 and the third sheave 83 are respectively rotatably connected to the first joint shaft 11, and the second sheave 82 The outer circular surface is provided with at leas...

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Abstract

The double tendon rope series coupling self-adaptive finger device belongs to the technical field of robot claws, and includes a base, two knuckles, two joint shafts, a driver, a plurality of transmission wheels, a transmission mechanism, two spring parts and the like. The device realizes the functions of rapid retraction and adaptive grasping of the coupled motion of the robot fingers. According to the shape and position of the object, the device can quickly rotate the second knuckle to clamp the object, and can automatically rotate the second knuckle to contact the object after the first knuckle touches the object, so as to achieve the adaptive envelope of different shapes , the purpose of large and small objects; the grasping range is large, the grasping is stable and reliable; two knuckles are driven by one driver; the device has a simple structure, low processing, assembly and maintenance costs, and is suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot grippers, and in particular relates to the structural design of a double tendon rope series coupling self-adaptive finger device. Background technique [0002] With the development of intelligent technology, robotics has become a research hotspot today, and the robotic hand, as a kind of end effector of robots, has attracted more and more researchers' attention. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robot hands, such as dexterous hands, underactuated hands, grippers, etc. The development of a robot hand with high flexibility, multiple perception capabilities, compact structure, strong gripping force, and the ability to grasp objects of various shapes and properties and complete various tasks has always been a common goal of robotic hand research. The existing robotic dexterous hand is complex to control, has a small grasping...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/00B25J15/0009B25J15/08
Inventor 谢宗武胡汉东樊绍巍刘宏
Owner HARBIN INST OF TECH
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