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Belt-type under-actuated three-joint mechanical finger structure and operation method thereof

A mechanical finger and three-joint technology, applied in the mechanical field, can solve the problems of complex control, many driving components, reducing the flexibility and controllability of the manipulator, and achieve the effect of accurate transmission ratio, compact structure design and increased torque

Pending Publication Date: 2020-07-17
XI'AN UNIVERSITY OF ARCHITECTURE AND TECHNOLOGY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, in the research and application of multi-fingered manipulators, the method of connecting several joints in series is generally used to construct the fingers of the manipulator, and a drive and sensor are set for each degree of freedom, resulting in too many drive elements, complicated control, and reduced The flexibility and controllability of the manipulator, while also increasing the development cost of the manipulator

Method used

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  • Belt-type under-actuated three-joint mechanical finger structure and operation method thereof
  • Belt-type under-actuated three-joint mechanical finger structure and operation method thereof
  • Belt-type under-actuated three-joint mechanical finger structure and operation method thereof

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Embodiment Construction

[0041] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", "end", "side" etc. is based on the Orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicit...

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Abstract

The invention discloses a belt-type under-actuated three-joint mechanical finger structure and an operation method thereof. The structure comprises three-joint finger mechanisms with an under-actuatedstructure. Three three-joint finger mechanisms are evenly distributed on an upper base to form a palm-shaped actuating device and every two of the three three-joint finger mechanisms make a 120-degree angle; a lower base is arranged below the upper base; a step motor is arranged in the lower base; the step motor is connected with one end of a worm via a coupling; the other end of the worm is connected with the upper base; a worm gear is arranged in each of the three-joint finger mechanisms and the worm matches with the worm gears to rotate; power is transmitted to the three-joint finger mechanisms via a synchronous pulley which rotates synchronously with the worm gears; and grabbing and releasing of an object to be grabbed is thereby realized. The structure is simple, the transmission ratio is higher, the transmitting torque is increased, the rotating precision is improved and the control is more convenient.

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to a belt-type underactuated three-joint mechanical finger structure and an operation method thereof. Background technique [0002] A robot is a machine device that performs work automatically. With the advancement of China from a large machinery manufacturing country to a powerful machinery manufacturing country, and the development of production automation and intelligence, especially with the increase in the production cost of China's labor force, the era of replacing people with machines is coming. my country has accounted for more than 40% of the world's robot manufacturing and installed machines. Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. They can perform work automatically and realize various functions by their own power and control capabilities. The end effector of the robot is a key component fo...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0206B25J15/0233
Inventor 郭瑞峰闫浩同志学胡星黄亚东
Owner XI'AN UNIVERSITY OF ARCHITECTURE AND TECHNOLOGY
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