Tendon rope driven expansion grabbing sliding rod self-adaptive robot hand device

Abstract

The invention discloses a tendon rope driven expansion grabbing sliding rod self-adaptive robot hand device, and belongs to the technical field of robot hands. The tendon rope driven expansion grabbing sliding rod self-adaptive robot hand device comprises a base, a motor, a middle plate, a sliding groove plate, a transmission mechanism, tendon ropes, spring parts, sliding pushing rods, upper sliding rings, lower sliding rings, sliding parts, upper connecting rods, lower connecting rods, connecting elements, clamping plates, knuckle ends, elastic elements and connecting pins. The device is usedfor allowing a robot to grab an object, and a self-adaptive grabbing function is achieved. When the device makes contact with the object, the self-adaptive effect on the size and the shape of the object is achieved through the multiple sliding pushing rods; and then the motor works and draws the tendon ropes to be contracted, the clamping plates arranged at the lower ends of the sliding pushing rods expand and incline through shortening of the tendon ropes, the expanded clamping plates adapt to the side faces of the clamped object, object sliding can be prevented through inclination of the clamping plates, shape closed grabbing is generated, the multi-directional grabbing effect on the object is achieved, and stable grabbing on the object can be achieved. The device is good in reliability, low in energy consumption, long in service life and wide in application range.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a tendon-rope-driven expansion grabbing slide bar 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 with the object, and can be released at an appropriate time. 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, it does not know the shape and size of the object to be grasped before grasping, and i...

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 grasper, which only produces a one-dimensional grasping mode, and the grasping effect is poor

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

[0007] (3) Grip stability needs to be improved

[0010] (1) Poor adaptability to the side of the object

The device only relies on the cylindrical clamping rod to adapt to the side of the object, if the object is an irregular object, the device cannot effectively adapt to the shape of the object

[0011] (2) The grasping force provided to the object is small, and the grasping structure is not stable

If the shape of the grasped object is irregular, the clamping rod and the object are only in line contact, which cannot provide sufficient grasping force, so the grasping structure is not stable

[0012] (3) When the device grabs, the lower end rod group can only be bent toward the center, and the device can only achieve the grabbing effect by aligning the object to be grabbed at the center of the device, which requires a lot of grabbing

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