CN105583832A - Closed loop gear drive parallel-clamping and self-adapting robot finger device with flexible part - Google Patents

Closed loop gear drive parallel-clamping and self-adapting robot finger device with flexible part Download PDF

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Publication number
CN105583832A
CN105583832A CN201610153338.XA CN201610153338A CN105583832A CN 105583832 A CN105583832 A CN 105583832A CN 201610153338 A CN201610153338 A CN 201610153338A CN 105583832 A CN105583832 A CN 105583832A
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China
Prior art keywords
gear
drive
segment
joint shaft
pedestal
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Granted
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CN201610153338.XA
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Chinese (zh)
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CN105583832B (en
Inventor
张文增
梁达尧
杨思成
宋九亚
孙振国
都东
陈强
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Tsinghua University
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Tsinghua University
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Priority to CN201610153338.XA priority Critical patent/CN105583832B/en
Publication of CN105583832A publication Critical patent/CN105583832A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

The invention belongs to the technical field of robot hands and discloses a closed loop gear drive parallel-clamping and self-adapting robot finger device with a flexible part. The device comprises a base, two finger sections, two joint shafts, a driver, the flexible drive part, drive wheels, gears, a protrusion block drive plate, a spring part and a limiting protrusion block. The device comprehensively realizes the parallel clamping and self-adapting grabbing functions; according to the different shapes and positions of target objects, the second finger section can be horizontally moved for pinching the objects or extending outwards for supporting the objects, and the first finger section and the second finger section can be sequentially rotated for enveloping the objects of different shapes and sizes; the grabbing range is wide; by adopting the under-drive mode, one driver is used for driving two joints, and complicated sensing and control systems are not needed. In addition, the device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for the robot hands.

Description

The flat folder of closed loop flexible piece gear drive adaptive robot finger apparatus
Technical field
The invention belongs to robot technical field, particularly the flat folder of a kind of closed loop flexible piece gear drive self adaptation machineThe structural design of device finger device.
Background technology
Self adaptation under-actuated robot hand adopts a small amount of motor to drive multiple degree-of-freedom joints, because number of motors is few, hidesThe motor that enters palm can be selected larger power and volume, exerts oneself large, and the reponse system of Purely mechanical is without to environment simultaneouslySensitivity also can realize stable crawl, automatically adapts to the object of difformity size, there is no real-time electronic sensing and closed loop feedbackThe demand of controlling, controls simple and conveniently, has reduced manufacturing cost. But traditional under-actuated robot hand adopts gear train machine moreStructure, due to the restriction of mechanism, segment relies in the process of object has extreme position, thereby produces motion dead band, adaptivityGreatly weakened.
In the time capturing object, mainly contain two kinds of grasping means, one is to grip, and one is to grip. Grip is to point with endFinger tip part remove gripping object, adopt two points or two soft finger faces to remove to contact object, mainly for small-size object or toolThere is the larger object of opposite; Gripping is the contact that realizes multiple points with multiple segment enveloping rings of finger around object, reachesMore stable shape envelope captures. The general employing of industry clamper grips mode, is difficult to have stable holding function, can not adapt toThe stable envelope of various shape object captures; Self adaptation under-actuated finger can adopt the mode of self adaptation envelope object to grip,But cannot implement to grip crawl; The multi-joint hand of coupling can be realized multi-joint and rotate simultaneously, can realize and gripping, Bu NengshiNow grip for the stable multiple spot envelope of various shape object. Above-mentioned three kinds of hands space that all has greatly improved. In reality veryNeed one both to there is the function of gripping, can realize again and stablize the robot that self adaptation envelope grasps.
Existing a kind of five connecting rod clamping devices with double freedom under-actuated finger, as United States Patent (USP)US8973958B2, comprises five connecting rods, spring, mechanical constraint. When this device busy, incipient stage maintenance end segmentAttitude is carried out nearly arthrogryposis action, afterwards according to the position of object can realize parallel grip or self adaptation envelope grip meritEnergy. Its weak point is, the very complicated multi-connecting-rod mechanism of this device employing, and there is larger dead band, crawl scope in motionLess, mechanism's volume is large, lacks compliance, and manufacturing cost is too high.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, provide the gear drive of a kind of closed loop flexible piece flatFolder adaptive robot finger apparatus. This device has multiple grasp mode, can translation the second segment clamp object, also can be firstAfter the close object of the first segment and the second segment self adaptation envelope difformity, size; Crawl scope is large; Without complicated biographySense and control system.
Technical scheme of the present invention is as follows:
The flat folder of a kind of closed loop flexible piece gear drive adaptive robot finger apparatus of the present invention design, comprise pedestal,The first segment, the second segment, nearly joint shaft, joint shaft far away and driver; Described driver and pedestal are affixed; Described nearly joint shaftCenter line parallel with the center line of joint shaft far away; It is characterized in that: the flat folder of this closed loop flexible piece gear drive self adaptation machineFinger device also comprise transmission mechanism, the first drive, the second drive, flexible drive parts, driving gear, driven gear,Gear train, projection driver plate, spring part and spacing block set; Described nearly joint shaft is movably set in pedestal; Described joint shaft activity far awayBe set in the first segment; Described the first segment is socketed on nearly joint shaft; Described the second segment is socketed on joint shaft far away; InstituteStating transmission mechanism is arranged in pedestal; The output shaft of described driver is connected with the input of transmission mechanism, described transmission mechanismOutput be connected with the first drive; Described the first drive is actively socketed on nearly joint shaft, described the second driving wheel tubeBe connected on joint shaft far away, the second drive and the second segment are affixed; Described flexible drive parts adopts driving-belt, tendon rope or chain,Described the first drive adopts belt wheel, rope sheave or sprocket wheel, and described the second drive adopts belt wheel, rope sheave or sprocket wheel, described flexibilityDriving member connects the first drive and the second drive, described flexible drive parts, the first drive and the second drive three itBetween coordinate and form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation; Described flexible drive parts forms " O " font;Described driving gear is actively socketed on nearly joint shaft; Described driven gear is socketed on joint shaft far away, driven gear and secondSegment is affixed; Described driving gear is connected with the input of gear train, and the output of described gear train is connected with driven gear; InstituteStating gear train is arranged in the first segment; With respect to the first segment, the transmission of described gear train makes the rotation side of driven gearTo identical with the rotation direction of driving gear; With respect to the first segment, the transmission of described gear train makes the rotation of driven gearSpeed equates with the velocity of rotation of driving gear; Described projection driver plate is actively socketed on nearly joint shaft, described projection driver plate withDriving gear is affixed; Described spacing block set and pedestal are affixed; Described projection driver plate contacts with spacing block set or leaves one section of distanceFrom; If it is nearly joint positive direction that the first segment relies on the rotation direction of object, the first segment is near away from the rotation direction of objectJoint in the other direction; In the time that folder adaptive robot finger apparatus is put down in this closed loop flexible piece gear drive in original state, projectionDriver plate contacts with spacing block set, and establishing the now anglec of rotation of the relative pedestal of projection driver plate is 0 degree, and from this position, projection is dialledThe rotational angle of dish while rotating towards nearly joint positive direction be for just, and the rotational angle of projection driver plate during towards the opposite spin of nearly joint isNegative; The rotational angle of described spacing block set restriction projection driver plate can only be for just; The two ends of described spring part connect respectively projection driver plateAnd pedestal; The transmission radius of the first drive is greater than the transmission radius of the second drive.
The flat folder of closed loop flexible piece of the present invention gear drive adaptive robot finger apparatus, is characterized in that: instituteState driver and adopt motor, cylinder or hydraulic cylinder.
The flat folder of closed loop flexible piece of the present invention gear drive adaptive robot finger apparatus, is characterized in that: instituteState spring part and adopt extension spring, stage clip, sheet spring or torsion spring.
The flat folder of closed loop flexible piece of the present invention gear drive adaptive robot finger apparatus, is characterized in that: instituteState gear train and comprise the first gear, the second gear, the 3rd gear, the first jackshaft, the second jackshaft and the 3rd jackshaft; DescribedThe first gear engages with driving gear, and described the first geared sleeve is connected on the first jackshaft; Described the second gear and the first gearEngagement, described the second geared sleeve is connected on the second jackshaft; Described the 3rd gear engages with the second gear, described the 3rd geared sleeveBe connected on the 3rd jackshaft; Described the 3rd gear engages with driven gear; In described the first jackshaft, the second jackshaft and the 3rdCountershaft is set in respectively in the first segment.
The present invention compared with prior art, has the following advantages and high-lighting effect:
Apparatus of the present invention are utilized driver, flexible piece transmission mechanism, gear drive, spring part, projection driver plate and spacingProjections etc. have comprehensively been realized the function of the parallel clamping of doublejointed robot finger and self-adapting grasping, according to target object shape andThe difference of position, can translation the second segment grip object or open support outward and get object, also can rotate successively the first segment and secondThe object of segment envelope difformity, size; It is large that this device captures scope; The mode driving is owed in employing, utilizes a driverDrive two joints, without complicated sensing and control system; This apparatus structure compactness, volume are little, manufacture and maintenance cost low,Be applicable to robot.
Brief description of the drawings
Fig. 1 is that the flat one of pressing from both sides adaptive robot finger apparatus of closed loop flexible piece gear drive that the present invention designs is implementedThe stereo appearance figure of example.
Fig. 2 is front appearance figure embodiment illustrated in fig. 1.
Fig. 3 is a side outside drawing (right view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 4 is another side outside drawing (left view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 5 is the embodiment illustrated in fig. 1 inside three-dimensional view (not drawing part) of observing from an angle.
Fig. 6 is the embodiment illustrated in fig. 1 inside three-dimensional view (not drawing part) of observing from another angle.
Fig. 7 is explosive view embodiment illustrated in fig. 1.
Fig. 8 to Figure 12 is the course of action schematic diagram that captures object in the mode gripping with envelope embodiment illustrated in fig. 1.
Figure 13 to Figure 15 is the another kind of mode of crawl object embodiment illustrated in fig. 1---parallel folding the second segment is pressed from both sidesHold the course of action schematic diagram of object (being called flat gripper gets).
Figure 16 to Figure 18 is the course of action that captures successively object with parallel folding and self adaptation envelope embodiment illustrated in fig. 1In when several key position, the situation of change of the relative position of projection driver plate, spring part and spacing block set.
In Fig. 1 to Figure 18:
1-pedestal, 111-pedestal header board, plate after 112-pedestal, 113-pedestal left plate,
114-pedestal right plate, 115-base-plates surface plate, 116-pedestal bottom plate, 2-the first segment,
21-the first segment skeleton, 22-the first segment left plate, 23-the first segment right plate, 24-the first segment surface plate,
25-the first segment header board, plate after 26-the first segment, 3-the second segment, the nearly joint shaft of 4-,
5-joint shaft far away, 6-the first drive, 7-the second drive, 8-flexible drive parts,
83-bearing, 84-sleeve, 85-screw, 86-pin,
9-driving gear, 10-driven gear, 11-gear train, 91-the first gear,
92-the second gear, 93-the 3rd gear, 911-the first jackshaft, 921-the second jackshaft,
931-the 3rd jackshaft, 12-projection driver plate, 13-spring part, 14-driver (motor),
141-decelerator, 142-the first bevel gear, 143-the second bevel gear, 144-transition axis,
145-the first belt wheel, 146-the second belt wheel, 147-driving-belt, 17-object,
18-spacing block set.
Detailed description of the invention
Be described in further detail the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the flat folder of the closed loop flexible piece gear drive adaptive robot finger apparatus of the present invention's design, asShown in Fig. 1 to Fig. 7, comprise pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, joint shaft 5 far away and driver 14; DescribedDriver 14 is affixed with pedestal 1; The center line of described nearly joint shaft 4 is parallel with the center line of joint shaft 5 far away. The present embodiment also wrapsDraw together transmission mechanism, the first drive 6, the second drive 7, flexible drive parts 8, driving gear 9, driven gear 10, gear train 11,Projection driver plate 12, spring part 13 and spacing block set 18; Described nearly joint shaft 4 is movably set in pedestal 1; Described joint shaft far away 5 is livedMoving being set in the first segment 2; Described the first segment 2 is fixed on nearly joint shaft 4; Described the second segment 3 is fixed in joint far awayOn axle 5; Described transmission mechanism is arranged in pedestal 1; The output shaft of described driver 14 is connected with the input of transmission mechanism; InstituteThe output of stating transmission mechanism is connected with the first drive 6; Described the first drive 6 is actively socketed on nearly joint shaft 4, described inThe second drive 7 is socketed on joint shaft 5 far away, and the second drive 7 and the second segment 3 are affixed; Described flexible drive parts 8 adopts and passesMoving band, tendon rope or chain, described the first drive 6 adopts belt wheel, rope sheave or sprocket wheel, and described the second drive 7 adopts belt wheel, ropeWheel or sprocket wheel, described flexible drive parts 8 connects the first drive 6 and the second drive 7, described flexible drive parts 8, the first transmissionBetween wheel 6 and the second drive 7 threes, coordinate and form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation; DescribedFlexible drive parts 8 forms " O " font; Described driving gear 9 is actively socketed on nearly joint shaft 4; Described driven gear 10 is socketedOn joint shaft 5 far away, driven gear 10 and the second segment 3 are affixed; Described driving gear 9 is connected with the input of gear train 11,The output of described gear train 11 is connected with driven gear 10; Described gear train 11 is arranged in the first segment 2; With respect to firstSegment 2, the transmission of described gear train 11 makes the rotation direction of driven gear 10 identical with the rotation direction of driving gear 9; PhaseFor the first segment 2, the transmission of described gear train 11 makes the velocity of rotation of driven gear 10 and the velocity of rotation of driving gear 9Equate; Described projection driver plate 12 is actively socketed on nearly joint shaft 4, and described projection driver plate 12 is affixed with driving gear 9; Described limitPosition projection 18 is affixed with pedestal 1; Described projection driver plate 12 contacts or stands away with spacing block set 18; If the first segment2 rotation directions that rely on object 17 are nearly joint positive direction (as the clockwise direction in Fig. 8), and the first segment 2 is away from object 17Rotation direction be nearly joint in the other direction; The flat folder of this closed loop flexible piece gear drive adaptive robot finger apparatus at the beginning ofWhen beginning state (straight configuration as shown in Figure 8), projection driver plate 12 contacts with spacing block set 18, establishes that now projection driver plate 12 is relativeThe anglec of rotation of pedestal 1 is 0 degree (as shown in figure 16), from this position, when projection driver plate 12 rotates towards nearly joint positive directionThe rotational angle of (being less than 180 degree) is being for just, projection driver plate 12 rotational angle of (being less than 180 degree) during towards the opposite spin of nearly jointFor negative; Described spacing block set 18 limits the rotational angle of projection driver plate 12 can only be for just, projection driver plate 12 can only along as figureArrow direction indication shown in 17 rotates. The two ends of described spring part 13 connect respectively projection driver plate 12 and pedestal 1; The first drive6 transmission radius is greater than the transmission radius of the second drive 7, and the effective radius that this radius is transmission comes for belt wheel or sprocket wheelSay to be exactly pitch radius, be exactly the radius that is wound around tendon rope for rope sheave.
The flat folder of closed loop flexible piece of the present invention gear drive adaptive robot finger apparatus, is characterized in that: instituteState driver 14 and adopt motor, cylinder or hydraulic cylinder. Described spring part adopts extension spring, stage clip, sheet spring or torsion spring. In the present embodiment,Described driver 14 adopts motor; Described spring part 13 adopts extension spring.
In the present embodiment, described gear train 11 comprises the first gear 91, the second gear 92, the 3rd gear 93, the first centreAxle 911, the second jackshaft 921 and the 3rd jackshaft 931; Described the first gear 91 engages with driving gear 9, described the first gear91 are socketed on the first jackshaft 911; Described the second gear 92 engages with the first gear 91, and described the second gear 92 is socketed inOn two jackshafts 921, described the 3rd gear 93 engages with driven gear 10, and described the 3rd gear 93 is socketed in the 3rd jackshaftOn 931; Described the first jackshaft 911, the second jackshaft 921 and the 3rd jackshaft 931 are set in the first segment 2 respectively.
In the present embodiment, described pedestal 1 comprises plate 112 after the pedestal header board 111 that is fixed together, pedestal, pedestal left sidePlate 113, pedestal right plate 114, base-plates surface plate 115 and pedestal bottom plate 116. In the present embodiment, described the first segment 2 comprises solidThe first segment skeleton 21 of being connected together, the first segment left plate 22, the first segment right plate 23, the first segment surface plate 24,Plate 26 after the first segment header board 25 and the first segment.
In the present embodiment, described transmission mechanism comprises decelerator 141, the first bevel gears 142, the second bevel gear 143, transitionAxle 144, the first belt wheel 145, the second belt wheel 146 and driving-belt 147; The input of the output shaft of described motor 14 and decelerator 141Axle is connected, and described the first bevel gear 142 is fixed on the output shaft of decelerator 141, and described the second bevel gear 143 is fixed in transitionOn axle 144, described the first bevel gear 142 engages with the second bevel gear 143; Described transition axis 144 is set in pedestal 1, described inThe first belt wheel 145 is fixed on transition axis 144, and described the second belt wheel 146 is actively socketed on nearly joint shaft 4, described the second bandWheel 146 and the first drive 6 are affixed, and described driving-belt 147 connects the first belt wheel 145 and the second belt wheel 146, described driving-belt147, the first belt wheel 145 and the second belt wheel 146 form belt wheel transmission relation, and described driving-belt is " O " font.
The present embodiment has also adopted the parts such as some bearings 83, some sleeves 84, some screws 85 and some pins 86, belongs toIn known common technology, do not repeat.
The operation principle of the present embodiment, 8 to Figure 18 by reference to the accompanying drawings, is described below:
The relation that projection driver plate 12 corners and the second segment 3 are moved is described below:
In the present embodiment, initial position is set to the state (as shown in Figure 8) that finger stretches. (also can be by initial bitInstall and be set to other positions. ) a) when the anglec of rotation of projection driver plate 12 is 0 while spending (as shown in figure 16), due to projection driver plate 12Affixed with driving gear 9, thus the invariant position of driving gear 9 relative pedestals 1, because driving gear 9 arrives by gear train 11The gearratio of driven gear 10 is 1 (constant speed transmission), thereby under the effect of gear train 11, no matter the first segment 2 is in what positionPut, and driven gear 10 relative to only the carrying out translational motion and can not rotate of pedestal 1, due to driven gear 10 and the second segment 3 solidConnect, so the second segment 3 is carried out translational motion and can not rotate relative to 1 of pedestal. B) when the anglec of rotation of projection driver plate 12 isTiming, because driving gear 9 is 1 to the gearratio of driven gear 10, under the effect of gear train 11, the rotation of driven gear 10Angle equals the anglec of rotation of driving gear 9, namely equals the anglec of rotation of projection driver plate 12.
In the time that the present embodiment captures object 17, driver 14, by the transmission of transmission mechanism, is just making the first drive 6Turn, the corner of the first drive 6 relative pedestals 1 is α. Under the effect of flexible drive parts 8, relative the first finger of the first drive 6The corner of section 2 has a certain proportion of relation with the corner of relative the first segment 2 of the second drive 7. If pass through from the first drive 6The gearratio that flexible drive parts 8 is transferred to the second drive 7 is i, and this gearratio is with respect to the first segment 2, the first drives 6The ratio of rotating speed and the second drive 7 rotating speeds, it equals the transmission radius of the second drive 7 and the transmission radius of the first drive 6Ratio. Because the transmission radius of the first drive 6 is greater than the transmission radius of the second drive 7, be therefore speedup transmission, output speedDegree is greater than input speed, therefore gearratio i is less than 1. If the first segment 2 is δ around the corner of nearly joint shaft 4. Due to the second drive 7Affixed with the second segment 3, and the second segment 3 does not rotate with respect to pedestal 1, therefore now the second drive 7 also with regard to phaseDo not rotate for pedestal 1, show that the present embodiment device will be equilibrated at the position that meets following (formula 1) so can derivePut:
α=δ (1-i) (formula 1)
Because i is less than 1, can obtain a α and δ and be respectively positive different angles (wherein α is less than δ). Therefore when drivingDevice 14 is by the transmission of transmission mechanism, and the first drive 6 has rotated an angle [alpha], and now, the first segment 2 turns around nearly joint shaft 4Crossed an angle δ, the second segment 3 is same attitude with respect to pedestal 1 all the time, and just variation has occurred in position. This is flatThe stage of row clamping. This one-phase is applicable to the second segment 3 de-clamping objects 17, or by mode second segment of outer3 modes of going from inside to outside to open are opened support outward and are got object 17. For example taking of a hollow cylindrical tube, from the interior side direction of this objectOpen outward and prop up barrel, thereby take object.
When the first segment 2 contacts object 17 and stopped and can not rotate again by object 17, second of self adaptation envelope will be enteredIn the stage (as shown in Figure 11, Figure 12), at this moment driver 14, by the transmission of transmission mechanism, drives the first drive 6, makes to be fixed inThe joint shaft 5 of simultaneously going the long way round of the second segment 3, the second drive 7 and driven gear 10 together rotates, and drives main by gear train 11Moving gear 9 and projection driver plate 12 rotate around nearly joint shaft 4, spring part 13 deform (as shown in Figure 12, Figure 18), now the second fingerSection 3 center lines that can go the long way round joint shaft 5 are rotated further, until the second segment 3 contacts object 17, complete self adaptation envelope and grabGet the effect of object. For the object of difformity, size, the present embodiment has adaptivity, can the multiple thing of general crawlBody.
Fig. 8 to Figure 12 is the course of action schematic diagram that the mode gripping with envelope embodiment illustrated in fig. 1 captures object 17, itsIn, Fig. 8 is original state, Fig. 8 to Figure 10 is that the first segment 2 touches object 17 course of action---parallel folding side beforeFormula action, Figure 10 is that the first segment 2 rigidly connects the situation that contacts object, Figure 10 to Figure 12 be the first segment 2 touch object 17 itAfter course of action---self adaptation envelope object, until the second segment 3 contacts object, as shown in figure 12, capture finish.
Figure 13 to Figure 15 is that the another kind of crawl object 17 embodiment illustrated in fig. 1 may mode---the parallel object that gripsTypical action process, until the second segment 3 contacts object 17, as shown in figure 15, captures and finishes.
Figure 16 to Figure 18 is the course of action that captures successively object with parallel folding and self adaptation envelope embodiment illustrated in fig. 1In several key positions, show the situation of change of projection driver plate 12, spring part 13 and the relative position of spacing block set 18: 1) figureSituation shown in 16 is the identical projection driver plate situation of Fig. 8, Fig. 9 and Figure 10, now embodiment be in initial position orOnly bending the first segment, spring part 13 makes projection driver plate 12 contact with spacing block set 18, and the second segment 3 is in respect to pedestal1 fixed pose (for example vertical initial attitude in the present embodiment), this situation is continued until Figure 13; 2) Figure 17 and figure11 situations are similar, and now the first segment 2 of embodiment has touched object 17 and is blocked and can not moves, at driver 14Under driving effect, by the transmission of transmission mechanism, the first drive 6, flexible drive parts 8 and the second drive 7, the second segment 3The joint shaft 5 of having gone the long way round rotates an angle (just rotating with respect to pedestal 1), and it is original that the second segment 3 has no longer keptVertical initial attitude, by driven gear 10, gear train 11, driving gear 9 and projection driver plate 12,, pull spring part 12 to occurDistortion, projection driver plate 12 has left the spacing block set 18 being originally permanently connected to; 3) until the situation of Figure 18, Figure 18 and Figure 12'sSituation is identical, and now embodiment completes the contact to two of object segments---and realize envelope and capture, with the situation phase of Figure 17Ratio, the projection driver plate 12 in Figure 18 has turned to larger angle, has left the farther distance of spacing block set 18, the second segment 3Also rotated the angle identical with the corner of projection driver plate.
The process that discharges object is just contrary with said process, repeats no more.
Apparatus of the present invention are utilized driver, flexible piece transmission mechanism, gear drive, spring part, projection driver plate and spacingProjections etc. have comprehensively been realized the function of the parallel clamping of doublejointed robot finger and self-adapting grasping, according to target object shape andThe difference of position, can translation the second segment grip object or open support outward and get object, also can rotate successively the first segment and secondThe object of segment envelope difformity, size; It is large that this device captures scope; The mode driving is owed in employing, utilizes a driverDrive two joints, without complicated sensing and control system; This apparatus structure compactness, volume are little, manufacture and maintenance cost low,Be applicable to robot.

Claims (4)

1. the flat folder of a closed loop flexible piece gear drive adaptive robot finger apparatus, comprises pedestal, the first segment, the second fingerSection, nearly joint shaft, joint shaft far away and driver; Described driver and pedestal are affixed; The center line of described nearly joint shaft closes with far awayThe center line of nodal axisn is parallel; It is characterized in that: the flat folder of this closed loop flexible piece gear drive adaptive robot finger apparatus also wrapsDrawing together transmission mechanism, the first drive, the second drive, flexible drive parts, driving gear, driven gear, gear train, projection dialsDish, spring part and spacing block set; Described nearly joint shaft is movably set in pedestal; Described joint shaft far away is movably set in the first segmentIn; Described the first segment is socketed on nearly joint shaft; Described the second segment is socketed on joint shaft far away; Described transmission mechanism settingIn pedestal; The output shaft of described driver is connected with the input of transmission mechanism, the output of described transmission mechanism and firstDrive is connected; Described the first drive is actively socketed on nearly joint shaft, and described the second driving wheel tube is connected on joint shaft far away,The second drive and the second segment are affixed; Described flexible drive parts adopts driving-belt, tendon rope or chain, and described the first drive is adoptedWith belt wheel, rope sheave or sprocket wheel, described the second drive adopts belt wheel, rope sheave or sprocket wheel, and described flexible drive parts connects first and passesDriving wheel and the second drive, coordinate between described flexible drive parts, the first drive and the second drive three and form belt wheel biographyMoving relation, rope sheave drive connection or chain gear transmission relation; Described flexible drive parts forms " O " font; Described driving gear activityBe socketed on nearly joint shaft; Described driven gear is socketed on joint shaft far away, and driven gear and the second segment are affixed; Described activeGear is connected with the input of gear train, and the output of described gear train is connected with driven gear; Described gear train is arranged onIn one segment; With respect to the first segment, the transmission of described gear train makes the rotation direction of driven gear and turning of driving gearMoving direction is identical; With respect to the first segment, the transmission of described gear train makes the velocity of rotation of driven gear and driving gearVelocity of rotation equates; Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and driving gear are affixed; DescribedSpacing block set and pedestal are affixed; Described projection driver plate contacts or stands away with spacing block set; If the first segment relies onThe rotation direction of object is nearly joint positive direction, and the first segment is nearly joint opposite direction away from the rotation direction of object; Close at thisThe flat folder of ring flexible piece gear drive adaptive robot finger apparatus is in the time of original state, and projection driver plate and spacing block set connectTouch, establishing the now anglec of rotation of the relative pedestal of projection driver plate is 0 degree, and from this position, projection driver plate is towards nearly joint positive directionRotational angle when rotation is being for just, and the rotational angle of projection driver plate during towards the opposite spin of nearly joint is for negative; Described spacing block setThe rotational angle of restriction projection driver plate can only be for just; The two ends of described spring part connect respectively projection driver plate and pedestal; The first transmissionThe transmission radius of wheel is greater than the transmission radius of the second drive.
2. the flat folder of closed loop flexible piece as claimed in claim 1 gear drive adaptive robot finger apparatus, is characterized in that:Described driver adopts motor, cylinder or hydraulic cylinder.
3. the flat folder of closed loop flexible piece as claimed in claim 1 gear drive adaptive robot finger apparatus, is characterized in that:Described spring part adopts extension spring, stage clip, sheet spring or torsion spring.
4. the flat folder of closed loop flexible piece as claimed in claim 1 gear drive adaptive robot finger apparatus, is characterized in that:Described gear train comprises the first gear, the second gear, the 3rd gear, the first jackshaft, the second jackshaft and the 3rd jackshaft; InstituteState the first gear and engage with driving gear, described the first geared sleeve is connected on the first jackshaft; Described the second gear and the first toothWheel engagement, described the second geared sleeve is connected on the second jackshaft; Described the 3rd gear engages with the second gear, described the 3rd gearBe socketed on the 3rd jackshaft; Described the 3rd gear engages with driven gear; Described the first jackshaft, the second jackshaft and the 3rdJackshaft is set in respectively in the first segment.
CN201610153338.XA 2016-03-17 2016-03-17 The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive Active CN105583832B (en)

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CN105583832B CN105583832B (en) 2017-11-28

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Cited By (11)

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CN106239551A (en) * 2016-08-31 2016-12-21 清华大学 Multi link two-man act part straight line flat folder adaptive robot finger apparatus
CN106393161A (en) * 2016-10-12 2017-02-15 清华大学 Double-rack parallel-clamping indirect adaptive robot finger device
CN106426239A (en) * 2016-07-08 2017-02-22 清华大学 Idle stroke transmission gear coupling self-adaption robot finger device
CN106426240A (en) * 2016-07-08 2017-02-22 清华大学 Idle stroke transmission connecting rod coupling self-adaption robot finger device
CN106446481A (en) * 2016-12-11 2017-02-22 河北工业大学 Kinematics and dynamics solving method of underactuated mechanism with flexible kinematic pair
CN106799742A (en) * 2016-12-09 2017-06-06 清华大学 Accurate flat folder self adaptation and coupling adaptive pattern switching robot finger apparatus
CN108247658A (en) * 2018-03-23 2018-07-06 宋为 Flat folder coupling adaptive multi-mode crawl robot finger apparatus

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CN105798938A (en) * 2016-05-19 2016-07-27 清华大学 Parallel-clamping perception self-adaptation robot finger device and control method thereof
CN105798936B (en) * 2016-05-23 2018-05-29 清华大学 Idle running contact gear puts down folder adaptive robot finger apparatus
CN105798936A (en) * 2016-05-23 2016-07-27 清华大学 Idle-stroke contact gear parallel clamping self-adaption robot finger device
CN105835083A (en) * 2016-05-27 2016-08-10 清华大学 Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device
CN106426240B (en) * 2016-07-08 2018-11-23 清华大学 Idle running kinematic link coupling adaptive robot finger apparatus
CN106426239A (en) * 2016-07-08 2017-02-22 清华大学 Idle stroke transmission gear coupling self-adaption robot finger device
CN106426240A (en) * 2016-07-08 2017-02-22 清华大学 Idle stroke transmission connecting rod coupling self-adaption robot finger device
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CN106078777A (en) * 2016-08-24 2016-11-09 北京灵铱科技有限公司 A kind of articulated robot finger actuating device
CN106239551A (en) * 2016-08-31 2016-12-21 清华大学 Multi link two-man act part straight line flat folder adaptive robot finger apparatus
CN106393161A (en) * 2016-10-12 2017-02-15 清华大学 Double-rack parallel-clamping indirect adaptive robot finger device
CN106799742A (en) * 2016-12-09 2017-06-06 清华大学 Accurate flat folder self adaptation and coupling adaptive pattern switching robot finger apparatus
CN106799742B (en) * 2016-12-09 2019-03-22 清华大学 Accurate flat folder adaptively with coupling adaptive pattern switching robot finger apparatus
CN106446481A (en) * 2016-12-11 2017-02-22 河北工业大学 Kinematics and dynamics solving method of underactuated mechanism with flexible kinematic pair
CN106446481B (en) * 2016-12-11 2019-06-07 河北工业大学 The underactuatuated drive of pair containing flexible motion kinematics, Dynamic solving method
CN108247658A (en) * 2018-03-23 2018-07-06 宋为 Flat folder coupling adaptive multi-mode crawl robot finger apparatus

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