A ball joint finger mechanism with flexible connection and hydraulic drive

Abstract

A flexible connection and hydraulically driven ball joint finger mechanism provided by the present invention includes: a three-bar two-joint mechanism, a hydraulically driven locking mechanism, and a flexible connection mechanism; the three-bar two-joint mechanism includes a first ball-joint rod, a second joint Two ball head rods and ball socket rods; ball socket A and ball socket B are respectively provided at both ends of the ball socket rod; and the ball socket rod is provided with a ball socket rod through hole along the axis; the flexible connection mechanism includes a first flexible connector, a second Two flexible connectors; the ball end of the first ball head can be matched with the ball socket A, and connected through the first flexible connection to form the first ball joint, and the ball end of the second ball head can be matched with the ball socket B , and connected by a second flexible connector to form a second ball joint; the hydraulically driven locking mechanism is arranged in the through hole of the ball and socket rod, including a first piston, a second piston and a valve between the first piston and the second piston oil cavity. The mechanism has the characteristics of combining flexibility and rigidity, compact structure, large output force under specific volume condition, flexible action and strong manufacturability.

Description

technical field [0001] The invention relates to a robot finger mechanism, in particular to a ball joint mechanism with flexible connection and hydraulic drive. Background technique [0002] The robot finger is the final mechanism of the robot actuator, and the demand is more and more flexible. Each finger requires multiple degrees of freedom, so multiple driving devices are required, which is cumbersome. Moreover, the finger driving mechanism requires a compact structure and sufficient driving force. At the same time, a certain degree of flexibility is required between the connecting structures when subjected to impact force or in the process of bending. Therefore, it is very important to design a rigid-flexible joint finger mechanism. [0003] At present, there are two main flexible connection methods for finger mechanisms: [0004] One is that the flexibility of the finger joints is realized by the steel wire rope, and the steel wire rope is regularly wound and fixed in...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the above problems, the present invention provides a ball joint finger mechanism with flexible connection and hydraulic drive to solve the problems of excessive structure of finger joints, flexibility and driving force of finger joints, etc.

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