Gathering fast grab sliding bar adaptive robot hand device

Abstract

The invention relates to an adaptive robot hand device of a gathering type fast grabbing slide bar, which belongs to the technical field of robot hands, and includes a base, a motor, a cam, a second spring piece, a plurality of push rod components, and the like. The device of the present invention is used for grabbing objects, realizes the spatially discrete self-adaptive grabbing function, uses a plurality of push rod components to realize the self-adaptive function to the size and shape of the object, and uses the cam to realize the fast grabbing function; The multi-directional gripping effect of objects can provide gripping force on objects in multiple directions, and can effectively grip objects of various shapes (including long strips) placed in different directions; the device is not limited by the power of the driving source , has an extremely fast grabbing speed; the device has a simple structure and low energy consumption, and is suitable for various robots that require general grabbing, especially for occasions that require 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 an adaptive robotic hand device for gathering fast grabbing slide bars. 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, that is,...

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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