齿轮竞速双驱动平夹与耦合自适应机器人手指装置,属于机器人手技术领域,包括基座、两个指段、两个关节轴、两个电机、多个齿轮、主动轴、传动轮、传动拨块和簧件等。该装置实现了平行夹持与耦合自适应抓取功能,具有平行夹持、耦合抓取和自适应抓取三种抓取模式,能够通过分别驱动不同电机实现不同抓取模式,第一电机开动时获得平行夹持功能,第二电机开动时获得耦合与自适应复合抓取功能;抓取范围大;在抓取过程中,仅开动一个电机,无需复杂的传感和控制系统;结构紧凑,体积小,制造和维护成本低,适用于机器人手。
The invention discloses a gear racing double-drive parallel clamping and coupling self-adaptation robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger segments, two joint shafts, two motors, multiple gears, a driving shaft, a transmission wheel, a transmission moving block, a spring part and the like. The device achieves parallel clampingand coupling self-adaptation grabbing functions, and has three grabbing modes of parallel clamping, coupling grabbing and self-adaptation grabbing, different motors can be driven to achieve the different grabbing modes, when the first motor is started, the parallel clamping function is obtained, when the second motor is started, the coupling and self-adaptation composite grabbing function is obtained, the grabbing range is wide, in the grabbing process, only one motor is started, no complex sensing and control systems are needed, the structure is compact, the size is small, the manufacturing and maintaining cost is low, and the device is suitable for robot hands.