Toothed-belt connecting rod series and parallel connection composite grasping robot finger device

Abstract

The invention discloses a toothed-belt connecting rod series and parallel connection composite grasping robot finger device, and belongs to the technical field of robot hands. The toothed-belt connecting rod series and parallel connection composite grasping robot finger device comprises a base, three finger sections, three joint shafts, a motor, a multi-way gear transmission mechanism, a multi-waybelt wheel transmission mechanism, a connecting rod transmission mechanism, four spring parts, a tendon rope, a wire coiling barrel and the like. According to the toothed-belt connecting rod series and parallel connection composite grasping robot finger device, the flat clamping, coupling and adaptive composite grasping of a double-joint robot are achieved; the toothed-belt connecting rod seriesand parallel connection composite grasping robot finger device has five grasping modes of tail end finger section flat-clamping grasping, middle joint coupling grasping, middle finger section adaptivegrasping, tail end finger section adaptive grasping and tail end finger section flat-clamping adaptive grasping, only one motor is used for driving, object grasping is quick, the grasping range is large, and the toothed-belt connecting rod series and parallel connection composite grasping robot finger device can adapt to grasping of different shapes and sizes of objects; and the toothed-belt connecting rod series and parallel connection composite grasping robot finger device is small in size and compact in structure, a complex sensing and control system is not needed, and the toothed-belt connecting rod series and parallel connection composite grasping robot finger device is low in cost and can be applied to various grabbing robots.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a toothed belt connecting rod series-parallel hybrid compound grasping robot finger device. Background technique [0002] With the innovation of technology, the robot industry has ushered in a golden age of development, and the robot hand, as a key part of the robot to achieve various functions, has become a research hotspot in this field. The quality of the robot hand will directly determine the practical performance of the robot. As the application scenarios become more and more complex, the requirements for the reliability and adaptability of the robot hand are also getting higher and higher. Flexibility, robotic fingers should have as many grasping modes as possible. Therefore, the underactuated adaptive hand with multiple grasping modes is one of the most advanced topics in the field of robotic hands. The grasping modes of multi-finge...

AI Technical Summary

Problems solved by technology

Although the dexterous hand has the advantages of flexibility, its control system and sensing system are very complicated, expensive, and have small grasping force

[0006] 3) Underdrive hand

The disadvantage of this device is that the device only has a coupling adaptive grabbing mode, and cannot achieve flat clip adaptive grabbing

Its shortcoming is that the device only has a flat clip adaptive grabbing mode, and cannot realize coupling adaptive grabbing

[0014] 1) When the device is grasping, it can only adopt the flat clip adaptive grasping mode or the coupling adaptive grasping mode;

[0015] 2) The device does not have a grasping mode in which flat clipping and coupling exist at the same time, and it needs to be manually determined by the operator or selected by an external sensor according to the site situation;

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