CN101844358B - Finger rotating and moving device of configuration-changeable robotic gripper and working method thereof - Google Patents

Finger rotating and moving device of configuration-changeable robotic gripper and working method thereof Download PDF

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Publication number
CN101844358B
CN101844358B CN2009101164262A CN200910116426A CN101844358B CN 101844358 B CN101844358 B CN 101844358B CN 2009101164262 A CN2009101164262 A CN 2009101164262A CN 200910116426 A CN200910116426 A CN 200910116426A CN 101844358 B CN101844358 B CN 101844358B
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finger
planetary gear
gear
motor
configuration
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CN101844358A (en
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骆敏舟
李涛
陈磊
周鸿杰
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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Abstract

The invention discloses a finger rotating and moving device of a configuration-changeable robotic gripper and a working method thereof. A first finger is used for realizing self opening-closing motions, structures and installation modes of a second finger and a third finger are same, the second finger and the third finger are used for realizing self opening-closing or realizing rotation and movement on finger positions; a planetary gear in a drive transmission mechanism is arranged between an internal gear and fan-shaped gears and driven by the internal gear and the fan-shaped gears, the two fan-shaped gears are arranged on a palm frame through a pin roll so as to realize that the two fan-shaped gears rotate opposite to the palm frame around the pin roll, and one ends of the two fan-shaped gears form a quadrilateral mechanism through mechanical connection by using pins together with two connecting rods. In the working method, the fingers of the configuration-changeable robotic gripper can change the gripping configurations according to sizes and shapes of objects under the drive of a motor to increase the stability of gripping so as to realize rotation to ensure that the fingers are switched among a parallel gripping state, a three-finger centering pinching state and a two-finger opposite-pinching state and realize revolution and the adjustment on finger positions.

Description

The finger rotating and moving device of configuration-changeable of robotic gripper and method of work thereof
Affiliated field the invention belongs to the robot application field, particularly a kind of finger rotating and moving device of configuration-changeable of robotic gripper and method of work thereof.
Technical background is in robot hand is used, the grasp stability problem is the subject matter of robot application in grasping operation, head it off one is the condition of the existing paw stability of research, the 2nd, and the imitation staff increases the extracting configuration of existing robot, realizes new extracting configuration.
In actual applications, great majority all are from above-mentioned first, promptly analyze the stability problem of existing robot hand, and develop some robot hands in view of the above.Although compare with staff, these robot hand integrated levels are very high, and the extracting pattern still can not be accomplished with staff similar, can not cover some basic extracting patterns that staff adopts fully, refer to heart extracting etc. as three.This has just restricted the stable ability that grasps object of robot hand greatly.Therefore relatively practical methods is to allow the existing robots paw have the ability that configuration is grasped in automatic change, promptly increases and grasps configuration.Grasping configuration (GraspConfiguration) is a kind of figure of analyzing grasp stability, expression robot finger's crawl position, extensive use robot.On the basis of grasping configuration, grasp stability can be divided into shape sealing (Form Closure) and force-closed (Force Closure).The shape sealing is that the free degree constraint of all objects is lived, and makes it can resist the effect of outer force screw arbitrarily.Force-closed is to rely on the balance again of internal force to resist the effect of outer force screw arbitrarily.
In order to constitute multiple extracting posture, to adapt to different extracting tasks, the people such as Gaosillin of LAVAL university adopt Geneva mechanism to add motor-driven, develop a extracting adaptive mechanical paw, paw can be rotated around the position of self and also can realize three fingers the heart is grasped under the effect of motor and gear mechanism.
In addition, people such as the Chinese Academy of Sciences Hefei intelligence Luo Min of institute boat, Mei Tao utilize the position of adopting stepper motor to adjust finger.A spur gear is fixed in the end of step motor shaft, and the pedestal root of two fingers processes spur gear therein, also has a tumbler gear in the middle of the gear of finger and stepper motor therein, guarantees that two fingers do the rightabout rotation.Under the effect of finger orientation guiding mechanism, utilizing stepper motor that two fingers are carried out rightabout interlock regulates continuously, can realize more grasping pattern, finger can be operated in the angle position that needs, except realizing that three refer to the heart, three is referred to parallelly refer to the position of parallel these three kinds of angles commonly used relatively with two, can also be according to the tapering of object, free set angle.When finger initially to heart position, can realize that envelope grasps the heart and accurately the heart pinched and got.It is parallel to become three fingers when the right finger clockwise rotates 60 °, can realize that three refer to that envelopes and three refer to accurately pinch get.When it rotated counterclockwise 30 °, the finger of two rotations was in parallel position, and the another one finger does not participate in grasping, and can realize that two refer to accurately the envelope of kneading be grasped.When the needs finger carries out the position adjustment, provide the angle that needs adjustment, according to the step angle of stepper motor, calculate needed umber of pulse, send to controllor for step-by-step motor, the gear driven two finger travel direction adjustment by being fixed on the stepper motor axle head produce corresponding corner.
Though the paw mechanism that the researcher of above-mentioned two units designs can allow part point the rotation that realizes around self-position, realize that three refer to extracting configurations such as the hearts.But weak point be can not be with finger from a change in location to another position, causing and grasping configuration is not very suitable to a certain extent.The finger rotating and moving device of configuration-changeable of robotic gripper of the present invention and method of work thereof are exactly can not to move or rotate at the existing robots finger, compare with staff and grasp that configuration is few, the shortcoming of poor stability and propose inventive point.
Summary of the invention
The objective of the invention is fixedly to bring and grasp the few weak point of configuration in order to overcome in the prior art robot finger, design a kind of novel, can increase the device that robot hand grasps configuration and strengthens its grasp stability, be the finger rotating and moving device of configuration-changeable and the method for work thereof of robotic gripper, make it have better flexibility and more freedom degree.This invention has compact conformation, lower, the easy operation of cost, advantage of wide range of application.
Technical scheme of the present invention is: a kind of finger rotation and mobile device of robotic gripper, the finger rotation and the mobile device of robotic gripper comprise finger supporting mechanism and drive transmission device, particularly: the finger supporting mechanism comprises the palm frame, upper cover plate, first finger, second finger, the 3rd finger, the second finger pedestal, the 3rd finger pedestal, the first finger pedestal, first-hand thumb pad piece, rounded or polygon is connected to form the mechanical palm of robotic gripper by the screw solid mechanical to loam cake above in the finger supporting mechanism with following palm frame, and the palm frame periphery below the mechanical palm is equipped with first respectively and points, second finger, the 3rd finger;
First finger is by the pin and the first finger pedestal mechanical connection, and the finger pedestal is by screw and first-hand thumb pad piece mechanical connection, and first-hand thumb pad piece is by screw and palm frame mechanical connection, and first finger is used to realize the open and close movement of self;
Second finger, the 3rd finger structure are identical with mounting means, and second finger is by pin and second finger pedestal mechanical connection, and the second finger pedestal is installed on first planetary gear by screw, and the 3rd finger is pointed the pedestal mechanical connection by pin with the 3rd; The 3rd finger pedestal is installed on second planetary gear by screw; Second finger, the 3rd finger are used to realize folding or the rotation on the realization finger position of self and move;
Drive transmission device comprises three guide grooves that are equipped with on first internal gear and secondary annulus, first planetary gear and second planetary gear, quadrangle member, motor cabinet, motor, motor nut and the palm frame; First internal gear and secondary annulus are installed on the palm frame by bearing pin, and motor is mechanically connected on the palm frame by motor cabinet; First planetary gear and second planetary gear are installed in respectively in the guide groove of two circular arcs in the palm frame, be installed in the centre of first internal gear and first sector gear with first planetary gear of second finger mechanical connection and with the two engagement and be driven, be installed in the centre of the secondary annulus and second sector gear with second planetary gear of the 3rd finger mechanical connection and with the two engagement and be driven;
The quadrangle member comprises that first sector gear, second sector gear, first connecting rod, second connecting rod are at first pin, second pin, the 3rd pin and bearing pin; The quadrangle member is to pass through first pin and first connecting rod mechanical connection by first sector gear, and second sector gear forms quadrangular mechanism by the 3rd pin and second connecting rod mechanical connection; First connecting rod and second connecting rod are mechanically connected on the motor nut by second pin, and the motor nut passes the palm frame and constitutes screw thread pair with the motor shaft of installing by motor cabinet;
Three guide grooves that are equipped with on the palm frame, one of them is linear guide groove, is used for limiting the motion of motor nut, two other is the guide groove of circular arc, is used for limiting first planetary gear and the second planetary motion respectively; The initial position of first finger, second finger, the 3rd finger is that three finger opposition are parallel, first sector gear and second sector gear are overlapping and be installed in the center of palm frame by bearing pin, and the motion that is used to transmit motor realizes first planetary gear and the second planetary driving.
A kind of method of work of using the finger rotating and moving device of configuration-changeable of robotic gripper is included under the driving of motor and makes the finger of robotic gripper can change the configuration of extracting according to the shape and size of object, strengthens the stability that grasps, particularly:
When the rotation of the finger of robotic gripper and mobile device are worked, the charged rotation of motor, and under linear guide groove effect on the palm frame drive motors nut along the motor axially-movable, this axially-movable passes to first sector gear and second sector gear in the quadrangular mechanism by second pin, to realize that first sector gear and second sector gear are around the rotation of bearing pin with respect to the palm frame, make not only autobiography but also revolve round the sun of first planetary gear of carrying finger and second planetary gear, to move by first planetary gear and second planetary gear again and pass to second finger and the 3rd finger respectively, promptly carry first planetary gear of second finger and second planetary gear of carrying the 3rd finger and driven rotation by first sector gear and second sector gear respectively, be in the pickpocket with the finger rotation that realizes robotic gripper and travel mechanism and refer to the heart is grasped thereby drive second finger and the 3rd finger, the pickpocket refers to parallel extracting, configuration during two parallel extractings of finger.
First planetary gear and second planetary gear be autobiography but also to revolve round the sun be that to select first sector gear and second sector gear be 2: 1 with first planetary gear and the second planetary number of teeth pass not only, like this when 90 ° in first planetary gear and the second planetary gear autobiography, simultaneously around 30 ° of the center rotations of palm frame.The finger that first planetary gear and the second planetary autobiography can change robotic gripper points to, and revolution can change the finger position of robotic gripper.Apparatus of the present invention are used for the general environment of robot hand design, or are used for the environment of industrial flow-line clamper.
The invention has the beneficial effects as follows: finger rotating mechanism device of the prior art, just rotation, can not move, although can realize that therefore three refer to the configuration to pinching, but act on limited, and off size reason, limited its application to a great extent at some special occasions, can not be suitable for conventional robot hand mechanism.Technical scheme of the present invention discloses a kind of finger rotating and moving device of configuration-changeable and method of work thereof of robotic gripper.
One, the supporting mechanism in apparatus of the present invention comprise palm frame, loam cake and 3 finger pedestals; Three fingers are all by screw and 3 finger pedestal mechanical connections, and one of them finger is connected on the palm frame after pointing cushion block by finger pedestal mechanical connection, and two other finger is mechanically connected on the planetary gear by the finger pedestal; Be processed with three guide grooves on the palm frame, one of them is linear guide groove, is used for limiting the motion of nut, and two other is the guide groove of circular arc, is used for limiting the motion of two planetary gear members respectively; The rotary pin shaft of two internal gears and two sector gears also is installed above the palm frame, motor cabinet is installed below.
Pass through the pin mechanical connection between each joint of finger, and connect with transmission of drive force by connecting rod.Wherein the nearly metacarpal joint of first finger is mechanically connected on the finger pedestal by latch, and the finger pedestal is connected on the finger cushion block by screw, and the finger cushion block is connected on the palm frame by screw again; First finger can only be realized self open and close movement, can not rotate or moves.Second finger, the 3rd points that not only structure is identical, and mounting means is also identical, and the nearly metacarpal joint of finger all is connected on the finger pedestal by pin, and the finger pedestal is respectively installed on the planetary gear by screw again; They not only can realize the folding of self, can also realize the rotation on the finger position and move.
The drive transmission device that can make the finger rotation in the device and move comprises two internal gears, two planetary gears, two sector gears, quadrangular mechanism, pin, motor, motor cabinet, motor nut and chutes; Two internal gears are fixedly mounted on the palm frame; Two planetary gear rotary parts are connected with two fingers respectively, and planetary gear is installed between internal gear and the sector gear and by them and drives; Two sector gears are installed on the palm frame by same bearing pin, to realize that two sector gears are around the rotation of bearing pin with respect to the palm frame; The other end of two sector gears and two connecting rods form quadrangular mechanism by the pin mechanical connection; The other end of two connecting rods is mechanically connected on the motor nut by same pin, and the motor nut passes the palm frame and constitutes screw thread pair with the motor shaft that is installed in by motor cabinet under the palm frame.
In terms of existing technologies, the finger rotation of robotic gripper and mobile device are a kind of by new device motor-driven, that strengthen robot gripping's stability and increase extracting configuration, have compact conformation, lower, the advantage of wide range of application of cost.This device has strengthened the flexibility of paw, has simulated the extracting pattern of staff, reduced the complexity of equipment, has expanded the range of application of robot hand, robot, can be used for vacuum, space, waits in the special environment under water.
They are two years old, motor in the method for work of the present invention begins to rotate and drive the motor nut, the motor nut is moving linearly because of the effect of guide groove, thereby drive pin, pin orders about the quadrangular mechanism motion, the drive sector gear motion of quadrangular mechanism, sector gear drives the planetary gear work of loading finger, the planetary gear autobiography revolves round the sun simultaneously, autobiography changes the sensing of finger face, revolution changes the position of finger, by rotating control first finger of motor and the direction of second finger rotation and revolution, by the angle of umber of pulse control autobiography and the camber line distance of revolution.
The initial position of finger is three to refer to that opposition is parallel, the overlapping center that is fixed on palm of sector gear, and the motion that is used to transmit motor realizes planetary driving, makes the not only autobiography but also revolve round the sun of planetary gear of carrying finger; And certain relation is satisfied in autobiography and revolution, this relation gets by mathematical derivation, and is relevant with the planetary number of teeth with sector gear, and we select sector gear and planetary number of teeth relation is 2: 1, like this when 90 ° in planetary gear autobiography, it is around 30 ° of the center rotations of palm.Method of work of the present invention is to make finger can change the configuration of extracting according to the shape and size of object under the driving of motor, strengthens the stability that grasps.
Description of drawings:
Fig. 1 is the complete overall model figure of the finger rotating and moving device of configuration-changeable of robotic gripper.
Fig. 2 is the illustraton of model after the finger rotating and moving device of configuration-changeable of robotic gripper is removed loam cake.
Fig. 3 is the illustraton of model after the finger rotating and moving device of configuration-changeable of robotic gripper is removed the palm frame.
Fig. 4 is in three schematic diagrames the when heart grasped for the finger rotating and moving device of configuration-changeable of robotic gripper.
Schematic diagram when Fig. 5 is in three parallel extractings for the finger rotating and moving device of configuration-changeable of robotic gripper.
Fig. 6 is that the finger rotating and moving device of configuration-changeable of robotic gripper is in the schematic diagram when two fingers are parallel to be grasped.
The specific embodiment
Below in conjunction with accompanying drawing enforcement of the present invention is further described:
Fig. 1 is the complete overall model figure of the finger rotating and moving device of configuration-changeable of robotic gripper, among these three figure:
The palm frame is 1, and loam cake is that 2, the first fingers are 3, second finger is that 4, the three fingers are 5, and the second finger pedestal is 6, the 3rd finger pedestal is that 7, the first finger pedestals are 8, and first-hand thumb pad piece is 9, first internal gear is that 10, the first planetary gears are that 11, the first sector gears are 12, second sector gear is 13, second planetary gear is 14, and secondary annulus is that 15, the first pins are 16, first connecting rod is 17, second pin is 18, and second connecting rod is that 19, the three pins are 20, bearing pin is 21, motor cabinet is 22, and motor is 23, and the motor nut is 24;
Palm frame 1 is connected with loam cake 2 mechanical fixation; First finger 3 is by the first finger pedestal 8 and first-hand thumb pad piece 9 and palm frame 1 mechanical connection, and second finger 4 and the 3rd finger 5 are respectively by second finger pedestal 6 and the 3rd finger pedestal 7 and first planetary gear 11 and second planetary gear, 14 mechanical connections; First internal gear 10 and secondary annulus 15 are installed on the palm frame 1 along the circumference of palm frame 1; First sector gear 12 and second sector gear 13 are overlapping and be installed on the palm frame 1 by bearing pin 21; First planetary gear 11 and second planetary gear 14 are installed in respectively in two arc guide barrels of palm frame 1, first planetary gear 11 be installed in first internal gear 10 and first sector gear 12 the centre and with the two the engagement, the second planetary gear II 4 be installed in the secondary annulus 15 and second sector gear 13 the centre and with the two engagement; First sector gear 12 is by first pin 16 and first connecting rod 17 mechanical connections, and second sector gear 13 is by the 3rd pin 20 and second connecting rod 19 mechanical connections;
First sector gear 12, second sector gear 13, first connecting rod 17 constitute quadrangular mechanism with second connecting rod 19 under the acting in conjunction of first pin 16, second pin 18, the 3rd pin 20 and bearing pin 21; One end of this quadrangular mechanism is by second pin 18 and motor nut 24 mechanical connections; Motor nut 24 cooperates the formation screw thread pair with motor 23; Motor 23 is mechanically connected on the palm frame 1 by motor cabinet 22;
Fig. 2 is the illustraton of model after the finger rotating and moving device of configuration-changeable of this robotic gripper is removed loam cake, and Fig. 3 is the illustraton of model after the finger rotating and moving device of configuration-changeable of this robotic gripper is removed the palm frame.Supporting mechanism in the described device comprises palm frame 1, loam cake 2 and 3 finger pedestals, three fingers are all by screw and 3 finger pedestal mechanical connections, one of them is mechanically connected to cushion block by the finger pedestal and is connected on the palm frame 1, and two other is mechanically connected on the planetary gear by the finger pedestal; Be processed with three guide grooves on the palm frame 1, one of them is linear guide groove, is used for limiting the motion of motor nut 24, and two other is the guide groove of circular arc, is used for limiting the motion of two planetary gear members respectively; The rotary pin shaft 21 of two internal gears and two sector gears also is installed above the palm frame 1,22 in motor is installed below.
The finger of finger supporting mechanism has three, and the structure of three joint component of finger is all identical with size, passes through the pin mechanical connection between each joint of finger, and connects with transmission of drive force by connecting rod.Wherein the nearly metacarpal joint of first finger 3 is mechanically connected on the first finger pedestal 8 by latch, and the first finger pedestal 8 is connected on the first-hand thumb pad piece 9 by screw, and first-hand thumb pad piece 9 is connected on the palm frame 1 by screw again; The open and close movement that first finger 3 can only be realized self can not be rotated or moved.Second finger the 2, the 3rd points 5, and not only structure is identical, and mounting means is also identical, and the nearly metacarpal joint of finger all is connected on the pedestal of finger by pin, and the finger pedestal is respectively installed on the planetary gear by screw again; They not only can realize the folding of self, can also realize the rotation on the finger position and move.
Can make finger rotation and the drive transmission device that moves comprise two internal gears, two planetary gears, two sector gears, quadrangular mechanism, pin, motor 23, motor cabinet 22, motor nut 24 and chutes in the device; Two internal gears are fixedly mounted on the palm frame 1; Two planetary gear rotary parts are connected with two fingers respectively, and planetary gear is installed between internal gear and the sector gear, are driven by them; Two sector gears are installed on the palm frame 1 by same bearing pin, to realize that two sector gears are around the rotation of bearing pin with respect to palm frame 1; The other end of two sector gears and two connecting rods form quadrangular mechanism by the pin mechanical connection; The other end of two connecting rods is mechanically connected on the motor nut 24 by same pin, and motor nut 24 passes palm frame 1 and constitutes screw thread pair with the motor shaft that is installed in by motor cabinet 22 under the palm frame 1.
The initial position of finger is three to refer to that opposition is parallel, the overlapping center that is fixed on palm of sector gear, and the motion that is used to transmit motor realizes planetary driving, makes the not only autobiography but also revolve round the sun of planetary gear of carrying finger; And certain relation is satisfied in autobiography and revolution, this relation gets by mathematical derivation, and is relevant with the planetary number of teeth with sector gear, and we select sector gear and planetary number of teeth relation is 2: 1, like this when 90 ° in planetary gear autobiography, it is around 30 ° of the center rotations of palm.
Fig. 4 is in three schematic diagrames the when heart grasped for the finger rotating and moving device of configuration-changeable of robotic gripper, schematic diagram when Fig. 5 is in three parallel extractings for the finger rotating and moving device of configuration-changeable of robotic gripper, Fig. 6 is in two schematic diagrames when referring to parallel the extracting for the finger rotating and moving device of configuration-changeable of robotic gripper;
Motor in the method for work of the present invention begins to rotate and drive the motor nut, motor nut 24 is moving linearly because of the effect of guide groove, thereby drive pin, pin orders about the quadrangular mechanism motion, the drive sector gear motion of quadrangular mechanism, sector gear drives the planetary gear work of loading finger, the planetary gear autobiography revolves round the sun simultaneously, autobiography changes the sensing of finger face, revolution changes the position of finger, by rotating control first finger 3 of motor 23 and the direction of second finger 4 rotations and revolution, by the angle of umber of pulse control autobiography and the camber line distance of revolution.
When the finger rotating and moving device of configuration-changeable of robotic gripper is worked, motor 23 charged rotations also drive motor nut 24, and under the effect of the line channel on the palm frame 1 drive motors nut 24 along motor 23 axially-movables, this moves through second pin 18 and passes to first sector gear 12 and second sector gear 13 in the quadrangular mechanism, to move by first planetary gear 11 and second planetary gear 14 again and pass to second-hand 4 and the 3rd finger 5 respectively, point 5 to realize the configuration shown in Fig. 4, Fig. 5 and Fig. 6 thereby drive second finger 4 and the 3rd.

Claims (5)

1. the finger rotating and moving device of configuration-changeable of a robotic gripper, the finger rotating and moving device of configuration-changeable of described robotic gripper comprise finger supporting mechanism and drive transmission device, it is characterized in that:
Described finger supporting mechanism comprises palm frame (1), upper cover plate (2), first finger (3), second finger (4), the 3rd finger (5), second finger pedestal (6), the 3rd finger pedestal (7), the first finger pedestal (8), first-hand thumb pad piece (9), rounded or polygon is connected to form the mechanical palm of robotic gripper by the screw solid mechanical to upper cover plate (2) above in the described finger supporting mechanism with following palm frame (1), and palm frame (1) periphery below the described mechanical palm is equipped with first finger (3) respectively, second finger (4), the 3rd finger (5);
Described first finger (3) is by the pin and first finger pedestal (8) mechanical connection, the described first finger pedestal (8) is by screw and first-hand thumb pad piece (9) mechanical connection, described first-hand thumb pad piece (9) is by screw and palm frame (1) mechanical connection, and first finger (3) is used to realize the open and close movement of self;
It is identical with mounting means that described second finger (4), the 3rd is pointed (5) structure, described second finger (4) is by pin and second finger pedestal (6) mechanical connection, described second finger pedestal (6) is installed on first planetary gear (11) by screw, and described the 3rd finger (5) is by pin and the 3rd finger pedestal (7) mechanical connection; Described the 3rd finger pedestal (7) is installed on second planetary gear (14) by screw; Described second finger (4), the 3rd finger (5) are used to realize folding or the rotation on the realization finger position of self and move;
Described drive transmission device comprises three guide grooves that are equipped with on first internal gear (10) and secondary annulus (15), first planetary gear (11) and second planetary gear (14), quadrangle member, motor cabinet (22), motor (23), motor nut (24) and the palm frame (1); Described first internal gear (10) and secondary annulus (15) are fixedly mounted on the palm frame (1) along the circumference of palm frame (1), and described motor (23) is mechanically connected on the palm frame (1) by motor cabinet (22); Described first planetary gear (11) and second planetary gear (14) are installed in respectively in the described guide groove of two circular arcs in the palm frame (1), described and first planetary gear (11) second finger (4) mechanical connection are installed in the centre of first internal gear (10) and first sector gear (12) and with the two engagement and be driven, and describedly are installed in the centre of secondary annulus (15) and second sector gear (13) with the 3rd second planetary gear (14) of pointing (5) mechanical connection and with the two engagement and be driven;
Described quadrangle member comprises first sector gear (12), second sector gear (13), first connecting rod (17), second connecting rod (19), first pin (16), second pin (18), the 3rd pin (20) and bearing pin (21); Described quadrangle member is to pass through first pin (16) and first connecting rod (17) mechanical connection by first sector gear (12), and described second sector gear (13) forms quadrangular mechanism by the 3rd pin (20) and second connecting rod (19) mechanical connection; First connecting rod (17) and second connecting rod (19) are mechanically connected on the motor nut (24) by second pin (18), and motor nut (24) passes palm frame (1) and constitutes screw thread pair with the motor shaft of installing by motor cabinet (22);
Three guide grooves that are equipped with on the described palm frame (1), one of them is linear guide groove, be used for limiting the motion of motor nut (24), two other is the guide groove of circular arc, is used for limiting the motion of first planetary gear (11) and second planetary gear (14) respectively; The initial position of first finger (3), the second finger (4), the 3rd finger (5) is that three finger opposition are parallel, described first sector gear (12) and second sector gear (13) are overlapping and be installed in the center of palm frame (1) by bearing pin (21), and the motion that is used to transmit motor (23) realizes the driving to first planetary gear (11) and second planetary gear (14).
2. according to the finger rotating and moving device of configuration-changeable of the described a kind of robotic gripper of claim 1, it is characterized in that: the finger rotating and moving device of configuration-changeable of described robotic gripper is used for the environment of industrial flow-line clamper.
3. method of work according to the finger rotating and moving device of configuration-changeable of the described robotic gripper of claim 1, being included under the driving of motor (23) makes the finger of robotic gripper can change the configuration of extracting according to the shape and size of object, strengthen the stability that grasps, it is characterized in that:
When the finger rotating and moving device of configuration-changeable of robotic gripper is worked, the charged rotation of motor (23), and go up under the linear guide groove effect drive motors nut (24) along motor (23) axially-movable at palm frame (1), this axially-movable passes to first sector gear (12) and second sector gear (13) in the quadrangular mechanism by second pin (18), to realize that first sector gear (12) and second sector gear (13) are around the rotation of bearing pin (21) with respect to palm frame (1), make the not only rotation but also revolve round the sun of first planetary gear (11) of carrying finger and second planetary gear (14), to move by first planetary gear (11) and second planetary gear (13) again and pass to second finger (4) and the 3rd finger (5) respectively, promptly carry first planetary gear (11) of second finger (4) and second planetary gear (14) of carrying the 3rd finger (5) and driven rotation by first sector gear (12) and second sector gear (13) respectively, thereby drive second finger (4) and the 3rd finger (5), be in the pickpocket with the finger rotating and moving device of configuration-changeable of realizing robotic gripper and refer to the heart is grasped, the pickpocket refers to parallel extracting, configuration during two parallel extractings of finger.
4. according to the method for work of the finger rotating and moving device of configuration-changeable of the described a kind of robotic gripper of claim 3, it is characterized in that: the not only rotation but also to revolve round the sun be that to select first sector gear (12) and second sector gear (13) and the number of teeth pass of first planetary gear (11) and second planetary gear (14) be 2: 1 of first planetary gear (11) and second planetary gear (14), like this when 90 ° of first planetary gear (11) and second planetary gear (14) rotations, simultaneously around 30 ° of the center rotations of palm frame (1).
5. according to the method for work of the finger rotating and moving device of configuration-changeable of the described a kind of robotic gripper of claim 4, it is characterized in that: the finger that the rotation of described first planetary gear (11) and second planetary gear (14) can change robotic gripper points to, and revolution can change the finger position of robotic gripper.
CN2009101164262A 2009-03-24 2009-03-24 Finger rotating and moving device of configuration-changeable robotic gripper and working method thereof Active CN101844358B (en)

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