Controllable-force fast-grabbing rod cluster self-adaptive robot hand device

Abstract

The invention discloses a controllable-force fast-grabbing rod cluster self-adaptive robot hand device and belongs to the technical field of robot hands. The device comprises a base, a first motor, asecond motor, a cam, a tendon rope, a second spring part, a plurality of push rod assemblies and the like. The device is used for grabbing objects, and the spatial dispersion self-adaptive grabbing function is achieved; the object size and shape self-adaptive function is achieved through the plurality of push rod assemblies; fast grabbing and grabbing force controlling are achieved through combination of the cam and the second spring part; the object multi-direction grabbing effect is achieved through the device, the grabbing force can be provided for the objects in multiple directions, and the objects which are placed in different directions and are different in shape (including long-strip shape) can be effectively grabbed; the device is not limited by power of a driving source and can simultaneously achieve the extremely high grabbing speed and extremely large grabbing force; and the device is simple in structure, low in energy consumption, suitable for various robots which are required for universal grabbing and particularly suitable for occasions with the requirement for the controllable force and fast grabbing.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a force-controllable fast grab bar cluster self-adaptive robotic hand device. Background technique [0002] The robot hand has a wide range of uses in the field of robotics. It is used to temporarily connect and fix the robot and the object, and can be released at an appropriate time. The former realizes the grasping of the object, and the latter realizes the release of the object. In order to reduce the cost, the general robot hand is made to have two relative moving parts, so as to realize the grabbing and releasing functions in the simplest way. There are also many structures that imitate the human hand, designed to have more fingers and several joints on the fingers, but that will bring the complexity and high cost of the mechanical system, sensing system, control system and control algorithm. Part of the robot hand is adaptable, th...

AI Technical Summary

Problems solved by technology

[0005] (1) Unable to achieve multi-directional grip

When the device exerts a grasping force on the target object, the grasping force can only be along the direction in which the two groups of rod clusters gather together, which is equivalent to a two-finger gripper, which only produces a one-dimensional gripping mode, and the gripping effect is poor

[0006] (2) Failure to grasp long objects placed in a specific direction

[0007] (3) Complex structure and high energy consumption

The device has 2 groups of rod clusters, and requires 2 movable supports (or motion bases) that move with each other, a set of linear guide rails, 2 sliders, drivers, transmission mechanisms, etc., the structure is relatively complicated, and a Bulky rod cluster movement with many long rods is relatively energy-intensive

[0008] (4) Grip stability needs to be improved

But this device still has some deficiencies, such as grasping is not fast, because the wheel train needs to be rotated to tighten the flexible rope when grasping, this tightening process takes a long time, and is limited by the power of the driving source, if the tightening process is accelerated also leads to a decrease in tightening force

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