CN105583832B - The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive - Google Patents
The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive Download PDFInfo
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- CN105583832B CN105583832B CN201610153338.XA CN201610153338A CN105583832B CN 105583832 B CN105583832 B CN 105583832B CN 201610153338 A CN201610153338 A CN 201610153338A CN 105583832 B CN105583832 B CN 105583832B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive, belongs to robot technical field, including pedestal, two segments, two joint shafts, driver, flexible drive parts, drive, gear, projection driver plate, spring part and spacing block set etc..Device synthesis realizes the function of parallel clamping and self-adapting grasping, according to target object shape and the difference of position, can translation the second segment grip object or outer prop up, can also rotate the object of the first segment and the second segment envelope different shapes and sizes successively；Device crawl scope is big；By the way of drive lacking, two joints are driven using a driver, sensing and control system without complexity；The apparatus structure is compact, small volume, and manufacture is low with maintenance cost, suitable for robot.
Description
Technical field
The invention belongs to robot technical field, the flat adaptive machine of folder of more particularly to a kind of closed loop flexible piece gear drive
The structure design of device finger device.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, because number of motors is few, hides
Bigger power and volume can be selected by entering the motor of palm, be contributed big, while the reponse system of Purely mechanical is without to environment
Sensitivity can also realize stable crawl, the automatic object for adapting to different shape size, without real-time electronic sensing and closed loop feedback
The demand of control, control is simple and convenient, reduces manufacturing cost.But traditional under-actuated robot hand uses gear train machine more
Structure, due to the limitation of mechanism, segment has extreme position during being close to object, so as to produce motion dead band, adaptivity
Weakened significantly.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, and one kind is to grip.Grip is to use end finger
Tip portion go grip object, using two points or two soft finger faces go contact object, mainly for small-size object or tool
There is the larger object of opposite；Gripping is to realize the contact of multiple points around object with multiple segment enveloping rings of finger, is reached
More stable shape envelope crawl.Industrial clamper typically uses grip mode, it is difficult to has and stablizes holding function, it is impossible to adapts to
The stable envelope crawl of various shapes object；Adaptive under-actuated finger can be gripped by the way of adaptive envelope object,
But grip crawl can not be implemented；The multi-joint hand of coupling can realize multi-joint while rotate, and can realize grip, it is impossible to real
Now gripped for the multiple spot envelope of the stabilization of various shapes object.Above-mentioned three kinds of hands have greatly improved space.In reality very
Need one kind that both there is grip function, and can enough realizes the robot for stablizing adaptive envelope grasping.
A kind of existing five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP)
US8973958B2, including five connecting rods, spring, mechanical constraints.At work, the incipient stage keeps end segment to the device
Posture carries out nearly arthrogryposis action, can realize parallel grip or the work(that adaptive envelope grips according to the position of object afterwards
Energy.It is disadvantageous in that the device uses extremely complex multi-connecting-rod mechanism, and motion has larger dead band, captures scope
Smaller, organization volume is big, lacks compliance, and manufacturing cost is too high.
The content of the invention
The invention aims to overcome the weak point of prior art, there is provided a kind of closed loop flexible piece gear drive is put down
Press from both sides adaptive robot finger apparatus.The device has a variety of grasp modes, can the segment of translation second clamping object, also can be first
The object of the first segment and the adaptive envelope different shapes and sizes of the second segment is closed afterwards；It is big to capture scope；Without complicated biography
Sense and control system.
Technical scheme is as follows：
The flat folder adaptive robot finger apparatus of a kind of closed loop flexible piece gear drive that the present invention designs, including pedestal,
First segment, the second segment, nearly joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The nearly joint shaft
Center line and remote joint shaft centerline parallel；It is characterized in that：The flat adaptive machine of folder of the closed loop flexible piece gear drive
Finger device also include 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；The nearly joint shaft is movably set in pedestal；The remote joint shaft activity
It is set in the first segment；First segment is socketed on nearly joint shaft；Second segment is socketed on remote joint shaft；Institute
Transmission mechanism is stated to be arranged in pedestal；The output shaft of the driver is connected with the input of transmission mechanism, the transmission mechanism
Output end be connected with the first drive；First drive is actively socketed on nearly joint shaft, second driving wheel tube
It is connected on remote joint shaft, the second drive and the second segment are affixed；The flexible drive parts use transmission belt, tendon rope or chain,
First drive uses belt wheel, rope sheave or sprocket wheel, and second drive uses belt wheel, rope sheave or sprocket wheel, the flexibility
Driving member connects the first drive and the second drive, the flexible drive parts, the first drive and the second drive three it
Between cooperatively form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation；The flexible drive parts form " O " font；
The driving gear is actively socketed on nearly joint shaft；The driven gear is socketed on remote joint shaft, driven gear and second
Segment is affixed；The driving gear is connected with the input of gear train, and the output end of the gear train is connected with driven gear；Institute
Gear train is stated in the first segment；Relative to the first segment, the transmission of the gear train causes the rotation side of driven gear
To identical with the rotation direction of driving gear；Relative to the first segment, the transmission of the gear train causes the rotation of driven gear
Speed is equal with the velocity of rotation of driving gear；The projection driver plate is actively socketed on nearly joint shaft, the projection driver plate with
Driving gear is affixed；The spacing block set and pedestal are affixed；The projection driver plate be in contact or leave with spacing block set one section away from
From；If the rotation direction that the first segment is close to object is nearly joint positive direction, rotation direction of first segment away from object is near
Joint opposite direction；When the flat folder adaptive robot finger apparatus of the closed loop flexible piece gear drive is in original state, projection
Driver plate is contacted with spacing block set, if now the anglec of rotation of projection driver plate opposite base is 0 degree, since the position, projection is dialled
Disk towards nearly joint positive direction rotate when rotational angle for just, projection driver plate towards nearly joint opposite direction rotate when rotational angle be
It is negative；The rotational angle of the spacing block set limitation projection driver plate is only just；The both ends of the spring part connect projection driver plate respectively
And pedestal；The transmission radius of first drive is more than the transmission radius of the second drive.
The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive of the present invention, it is characterised in that：Institute
State driver and use motor, cylinder or hydraulic cylinder.
The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive of the present invention, it is characterised in that：Institute
State spring part and use extension spring, stage clip, leaf spring or torsion spring.
The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive of the present invention, it is characterised in that：Institute
Stating gear train includes first gear, second gear, the 3rd gear, the first jackshaft, the second jackshaft and the 3rd jackshaft；It is described
First gear is engaged with driving gear, and the first gear is socketed on the first jackshaft；The second gear and first gear
Engagement, the second gear are socketed on the second jackshaft；3rd gear engages with second gear, the 3rd geared sleeve
It is connected on the 3rd jackshaft；3rd gear engages with driven gear；In first jackshaft, the second jackshaft and the 3rd
Countershaft is respectively sleeved in the first segment.
The present invention compared with prior art, has advantages below and high-lighting effect：
Apparatus of the present invention utilize driver, flexible piece transmission mechanism, gear drive, spring part, projection driver plate and spacing
The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as projection, according to target object shape and
The difference of position, can translation the second segment grip object or outside support take object, can also rotate the first segment and second successively
The object of segment envelope different shapes and sizes；Device crawl scope is big；By the way of drive lacking, a driver is utilized
Two joints are driven, sensing and control system without complexity；The apparatus structure is compact, small volume, and manufacture is low with maintenance cost,
Suitable for robot.
Brief description of the drawings
Fig. 1 is a kind of implementation for the flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive that the present invention designs
The stereo appearance figure of example.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is a side external view (Fig. 2 right view) for embodiment illustrated in fig. 1.
Fig. 4 is another side external view (Fig. 2 left view) of embodiment illustrated in fig. 1.
Fig. 5 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 6 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.
Fig. 7 is the explosive view of embodiment illustrated in fig. 1.
Fig. 8 to Figure 12 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object in a manner of being gripped by envelope.
Figure 13 to Figure 15 be embodiment illustrated in fig. 1 crawl object another way --- parallel folding is pressed from both sides with the second segment
Hold the action process schematic diagram of object (being referred to as flat gripper to take).
Figure 16 to Figure 18 is the action process that embodiment illustrated in fig. 1 captures object with parallel folding and adaptive envelope successively
In several key positions when, the situation of change of the relative position of projection driver plate, spring part and spacing block set.
In Fig. 1 into Figure 18：
1- pedestals, 111- pedestal foreboards, 112- pedestal back plates, 113- pedestal left plates,
114- pedestal right plates, 115- base-plates surface plates, 116- pedestal bottom plates, the segments of 2- first,
21- the first segment skeletons, 22- the first segment left plates, 23- the first segment right plates, 24- first refer to
Segment table panel,
25- the first segment foreboards, 26- the first segment back plates, the segments of 3- second, the nearly joint shafts of 4-,
The remote joint shafts of 5-, the drives of 6- first, the drives of 7- second, 8- flexible drive parts,
83- bearings, 84- sleeves, 85- screws, 86- pins,
9- driving gears, 10- driven gears, 11- gear trains, 91- first gears,
92- second gears, the gears of 93- the 3rd, the jackshafts of 911- first, the jackshafts of 921- second,
The jackshafts of 931- the 3rd, 12- projection driver plates, 13- spring parts, 14- drivers (motor),
141- decelerators, 142- first bevel gears, 143- second bevel gears, 144- transition axises,
145- first pulleys, the belt wheels of 146- second, 147- transmission belts, 17- objects,
18- spacing block sets.
Embodiment
Below in conjunction with the accompanying drawings and the concrete structure of the present invention, the content of operation principle is described in further detail in embodiment.
A kind of embodiment for the flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive that the present invention designs, such as
Shown in Fig. 1 to Fig. 7, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14；It is described
Driver 14 and pedestal 1 are affixed；The centerline parallel of the center line and remote joint shaft 5 of the nearly joint shaft 4.The present embodiment also wraps
Include 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；The nearly joint shaft 4 is movably set in pedestal 1；The remote joint shaft 5 is lived
It is dynamic to be set in the first segment 2；First segment 2 is fixed on nearly joint shaft 4；Second segment 3 is fixed in remote joint
On axle 5；The transmission mechanism is arranged in pedestal 1；The output shaft of the driver 14 is connected with the input of transmission mechanism；Institute
The output end for stating transmission mechanism is connected with the first drive 6；First drive 6 is actively socketed on nearly joint shaft 4, described
Second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and the second segment 3 are affixed；The flexible drive parts 8 are using biography
Dynamic band, tendon rope or chain, first drive 6 is using belt wheel, rope sheave or sprocket wheel, and second drive 7 is using belt wheel, rope
Wheel or sprocket wheel, the flexible drive parts 8 connect the first drive 6 and the second drive 7, and the flexible drive parts 8, first are driven
Belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation are cooperatively formed between wheel 6 and the three of the second drive 7；It is described
Flexible drive parts 8 form " O " font；The driving gear 9 is actively socketed on nearly joint shaft 4；The driven gear 10 is socketed
On remote joint shaft 5, driven gear 10 and the second segment 3 are affixed；The driving gear 9 is connected with the input of gear train 11,
The output end of the gear train 11 is connected with driven gear 10；The gear train 11 is arranged in the first segment 2；Relative to first
Segment 2, the transmission of the gear train 11 make it that the rotation direction of driven gear 10 is identical with the rotation direction of driving gear 9；Phase
For the first segment 2, the transmission of the gear train 11 causes the velocity of rotation of driven gear 10 and the velocity of rotation of driving gear 9
It is equal；The projection driver plate 12 is actively socketed on nearly joint shaft 4, and the projection driver plate 12 and driving gear 9 are affixed；The limit
Position projection 18 and pedestal 1 are affixed；The projection driver plate 12 is in contact or stood away with spacing block set 18；If the first segment
2 rotation directions for being close to object 17 are nearly joint positive direction (clockwise direction in such as Fig. 8), and the first segment 2 is away from object 17
Rotation direction be nearly joint opposite direction；It is in just in the flat folder adaptive robot finger apparatus of the closed loop flexible piece gear drive
During beginning state (straight configuration as shown in Figure 8), projection driver plate 12 contacts with spacing block set 18, if now projection driver plate 12 is relative
The anglec of rotation of pedestal 1 is 0 degree (as shown in figure 16), since the position, projection driver plate 12 towards nearly joint positive direction rotate when
The rotational angle of (being less than 180 degree) is the just rotational angle that projection driver plate 12 (is less than 180 degree) when being rotated towards nearly joint opposite direction
It is negative；The rotational angle that the spacing block set 18 limits projection driver plate 12 is only just, i.e., projection driver plate 12 can only be along such as figure
Arrow direction indication shown in 17 rotates.The both ends of the spring part 13 connect projection driver plate 12 and pedestal 1 respectively；First drive
6 transmission radius is more than the transmission radius of the second drive 7, and this radius is the effective radius of transmission, is come for belt wheel or sprocket wheel
Say to be exactly pitch radius, the radius of tendon rope is just wound around for rope sheave.
The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive of the present invention, it is characterised in that：Institute
Driver 14 is stated using motor, cylinder or hydraulic cylinder.The spring part uses extension spring, stage clip, leaf spring or torsion spring.In the present embodiment,
The driver 14 uses motor；The spring part 13 uses extension spring.
In the present embodiment, the gear train 11 includes first gear 91, second gear 92, among the 3rd gear 93, first
Axle 911, the second jackshaft 921 and the 3rd jackshaft 931；The first gear 91 engages with driving gear 9, the first gear
91 are socketed on the first jackshaft 911；The second gear 92 engages with first gear 91, and the second gear 92 is socketed in
On two jackshafts 921, the 3rd gear 93 engages with driven gear 10, and the 3rd gear 93 is socketed in the 3rd jackshaft
On 931；First jackshaft 911, the second jackshaft 921 and the 3rd jackshaft 931 are respectively set in the first segment 2.
In the present embodiment, pedestal foreboard 111 that the pedestal 1 includes being fixed together, pedestal back plate 112, on the left of pedestal
Plate 113, pedestal right plate 114, base-plates surface plate 115 and pedestal bottom plate 116.In the present embodiment, first segment 2 includes solid
The first segment skeleton 21 for being connected together, the first segment left plate 22, the first segment right plate 23, the first segment surface plate 24,
First segment foreboard 25 and the first segment back plate 26.
In the present embodiment, the transmission mechanism includes decelerator 141, first bevel gear 142, second bevel gear 143, transition
Axle 144, first pulley 145, the second belt wheel 146 and transmission belt 147；The output shaft of the motor 14 and the input of decelerator 141
Axle is connected, and the first bevel gear 142 is fixed on the output shaft of decelerator 141, and the second bevel gear 143 is fixed in transition
On axle 144, the first bevel gear 142 engages with second bevel gear 143；The transition axis 144 is set in pedestal 1, described
First pulley 145 is fixed on transition axis 144, and second belt wheel 146 is actively socketed on nearly joint shaft 4, second band
Wheel 146 is affixed with the first drive 6, and the transmission belt 147 connects the belt wheel 146 of first pulley 145 and second, the transmission belt
147th, the belt wheel 146 of first pulley 145 and second forms belt wheel transmission relation, and the transmission belt is in " O " font.
If the present embodiment additionally uses the parts such as dry bearing 83, some sleeves 84, some screws 85 and some pins 86, category
In known common technology, do not repeat.
The operation principle of the present embodiment, with reference to accompanying drawing 8 to Figure 18, it is described below：
The relation that the corner of projection driver plate 12 moves with the second segment 3 is described below：
In the present embodiment, initial position is arranged to the state (as shown in Figure 8) that finger stretches.(can also be by initial bit
Install and be set to other positions.) a) when projection driver plate 12 the anglec of rotation be 0 degree when (as shown in figure 16), due to projection driver plate 12
It is affixed with driving gear 9, so the position of the opposite base 1 of driving gear 9 is constant, because driving gear 9 is arrived by gear train 11
The gearratio of driven gear 10 is 1 (constant speed drive), thus in the presence of gear train 11, no matter what position is the first segment 2 be in
Put, the opposite base 1 of driven gear 10 only carries out translational motion without rotating, because the segment 3 of driven gear 10 and second is solid
Connect, so 3 opposite base of the second segment 1 carries out translational motion without rotating.B) when the anglec of rotation of projection driver plate 12 is
Timing, because the gearratio of driving gear 9 to driven gear 10 is 1, in the presence of gear train 11, the rotation of driven gear 10
Angle is equal to the anglec of rotation of driving gear 9, that is, the anglec of rotation equal to projection driver plate 12.
When the present embodiment captures object 17, transmission that driver 14 passes through transmission mechanism so that the first drive 6 is just
Turn, the corner of the opposite base 1 of the first drive 6 is α.In the presence of flexible drive parts 8, the first drive 6 relative first refers to
The corner of 7 relative first segment 2 of the corner of section 2 and the second drive has a certain proportion of relation.If pass through from the first drive 6
The gearratio that flexible drive parts 8 are transferred to the second drive 7 is i, and the gearratio is relative to the first segment 2, the first drive 6
The ratio between rotating speed and the rotating speed of the second drive 7, it is equal to the transmission radius of the second drive 7 and the transmission radius of the first drive 6
The ratio between.Because the transmission radius of the first drive 6 is more than the transmission radius of the second drive 7, therefore it is step-up drive, output speed
Degree is more 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 7
It is affixed with the second segment 3, and the second segment 3 does not rotate relative to pedestal 1, thus now the second drive 7 also with regard to phase
Do not rotated for pedestal 1, can then be derived from the present embodiment device will be equilibrated at the position for meeting following (formula 1)
Put：
α=δ (1-i) (formula 1)
Because i is less than 1, it is respectively positive different angle that can obtain a α and δ (wherein α is less than δ).Therefore when driving
Device 14 have rotated an angle [alpha] by the transmission of transmission mechanism, the first drive 6, and now, the first segment 2 is around nearly 4 turns of joint shaft
An angle δ is crossed, the second segment 3 is same posture all the time relative to pedestal 1, and simply position is changed.This is flat
The stage of row clamping.This stage is adapted to the de-clamping object 17 of the second segment 3, or with the second segment by way of opening outside
A support takes object 17 outside 3 modes for going to open from inside to outside.It is lateral out of this object such as hollow cylindrical tube is taken
Outer opening props up barrel, so as to object of taking.
Stopped by object 17 and be no longer able to turn when the first segment 2 contacts object 17, the second of adaptive envelope will be entered
Stage (as shown in Figure 11, Figure 12), at this moment driver 14 drive the first drive 6 by the transmission of transmission mechanism, make to be fixed in
The second segment 3, the second drive 7 and driven gear 10 while joint shaft 5 of going the long way round together rotates, and passes through gear train 11 and drives master
Moving gear 9 and projection driver plate 12 rotate around nearly joint shaft 4, and spring part 13 deforms (as shown in Figure 12, Figure 18), and now second refers to
The center line that section 3 can go the long way round joint shaft 5 is rotated further, and untill the second segment 3 contacts object 17, is completed adaptive envelope and is grabbed
Take the effect of object.For the object of different shapes and sizes, the present embodiment has adaptivity, being capable of the general a variety of things of crawl
Body.
Fig. 8 to Figure 12 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object 17 in a manner of envelope grips, its
In, Fig. 8 is original state, and Fig. 8 to Figure 10 is action process --- the parallel folding side before the first segment 2 touches object 17
Formula acts, and Figure 10 is that the rigid connection of the first segment 2 contacts the situation of object, Figure 10 to Figure 12 be the first segment 2 touch object 17 it
Action process afterwards --- adaptive envelope object, until the second segment 3 contacts object, as shown in figure 12, crawl terminates.
Figure 13 to Figure 15 is alternatively possible mode --- the parallel grip object of embodiment illustrated in fig. 1 crawl object 17
Typical action process, until the second segment 3 contacts object 17, as shown in figure 15, crawl terminates.
Figure 16 to Figure 18 is the action process that embodiment illustrated in fig. 1 captures object with parallel folding and adaptive envelope successively
In several key positions, show projection driver plate 12, spring part 13 and spacing block set 18 relative position situation of change：1) figure
Situation shown in 16 is Fig. 8, Fig. 9 and Figure 10 identical projection driver plate situation, now embodiment be in initial position or
The first segment is only bent, spring part 13 makes projection driver plate 12 be in contact with spacing block set 18, and the second segment 3 is in relative to pedestal
1 fixed pose (such as vertical initial attitude in the present embodiment), such case is continued until Figure 13；2) Figure 17 and figure
11 situations are similar, and now the first segment 2 of embodiment has touched object 17 and has been blocked from moving, in driver 14
Under driving effect, pass through the transmission of transmission mechanism, the first drive 6, the drive 7 of flexible drive parts 8 and second, the second segment 3
Joint shaft 5 of having gone the long way round rotates an angle (just being rotated relative to pedestal 1), and the second segment 3 has no longer kept original
Vertical initial attitude, by driven gear 10, gear train 11, driving gear 9 and projection driver plate 12, pull spring part 12 to occur
Deformation, projection driver plate 12 have left the spacing block set 18 being permanently connected to originally；3) until Figure 18 situation, Figure 18 and Figure 12's
Situation is identical, and now embodiment completes the contact to two segments of object --- realize that envelope captures, the situation phase with Figure 17
Than the projection driver plate 12 in Figure 18 is rotated to bigger angle, leaves the farther distance of spacing block set 18, the second segment 3
Also it have rotated the corner identical angle with projection driver plate.
The process of release object is with said process just on the contrary, repeating no more.
Apparatus of the present invention utilize driver, flexible piece transmission mechanism, gear drive, spring part, projection driver plate and spacing
The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as projection, according to target object shape and
The difference of position, can translation the second segment grip object or outside support take object, can also rotate the first segment and second successively
The object of segment envelope different shapes and sizes；Device crawl scope is big；By the way of drive lacking, a driver is utilized
Two joints are driven, sensing and control system without complexity；The apparatus structure is compact, small volume, and manufacture is low with maintenance cost,
Suitable for robot.
Claims (4)
1. a kind of flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive, including pedestal, the first segment, the second finger
Section, nearly joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The center line of the nearly joint shaft closes with remote
The centerline parallel of nodal axisn；It is characterized in that：The flat folder adaptive robot finger apparatus of the closed loop flexible piece gear drive also wraps
Transmission mechanism, the first drive, the second drive, flexible drive parts, driving gear, driven gear, gear train, projection is included to dial
Disk, spring part and spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft is movably set in the first segment
In；First segment is socketed on nearly joint shaft；Second segment is socketed on remote joint shaft；The transmission mechanism is set
In pedestal；The output shaft of the driver is connected with the input of transmission mechanism, the output end of the transmission mechanism and first
Drive is connected；First drive is actively socketed on nearly joint shaft, and second driving wheel tube is connected on remote joint shaft,
Second drive and the second segment are affixed；The flexible drive parts use transmission belt, tendon rope or chain, and first drive is adopted
With belt wheel, rope sheave or sprocket wheel, second drive uses belt wheel, rope sheave or sprocket wheel, and the flexible drive parts connection first passes
Driving wheel and the second drive, belt wheel biography is cooperatively formed between the flexible drive parts, the first drive and the second drive three
Dynamic relation, rope sheave drive connection or chain gear transmission relation；The flexible drive parts form " O " font；The driving gear activity
It is socketed on nearly joint shaft；The driven gear is socketed on remote joint shaft, and driven gear and the second segment are affixed；The active
Gear is connected with the input of gear train, and the output end of the gear train is connected with driven gear；The gear train is arranged on the
In one segment；Relative to the first segment, the transmission of the gear train causes the rotation direction of driven gear and turning for driving gear
Dynamic direction is identical；Relative to the first segment, the transmission of the gear train causes the velocity of rotation and driving gear of driven gear
Velocity of rotation is equal；The projection driver plate is actively socketed on nearly joint shaft, and the projection driver plate and driving gear are affixed；It is described
Spacing block set is affixed with pedestal；The projection driver plate is in contact or stood away with spacing block set；If the first segment is close to
The rotation direction of object is nearly joint positive direction, and rotation direction of first segment away from object is nearly joint opposite direction；Closed at this
When the flat folder adaptive robot finger apparatus of ring flexible piece gear drive is in original state, projection driver plate connects with spacing block set
Touch, if now the anglec of rotation of projection driver plate opposite base is 0 degree, since the position, projection driver plate is towards nearly joint positive direction
Rotational angle during rotation for just, projection driver plate towards nearly joint opposite direction rotate when rotational angle be negative；The spacing block set
The rotational angle of limitation projection driver plate is only just；The both ends of the spring part connect projection driver plate and pedestal respectively；First transmission
The transmission radius of wheel is more than the transmission radius of the second drive.
2. the flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive as claimed in claim 1, it is characterised in that：
The driver uses motor, cylinder or hydraulic cylinder.
3. the flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive as claimed in claim 1, it is characterised in that：
The spring part uses extension spring, stage clip, leaf spring or torsion spring.
4. the flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive as claimed in claim 1, it is characterised in that：
The gear train includes first gear, second gear, the 3rd gear, the first jackshaft, the second jackshaft and the 3rd jackshaft；Institute
State first gear to engage with driving gear, the first gear is socketed on the first jackshaft；The second gear and the first tooth
Wheel engagement, the second gear are socketed on the second jackshaft；3rd gear engages with second gear, the 3rd gear
It is socketed on the 3rd jackshaft；3rd gear engages with driven gear；First jackshaft, the second jackshaft and the 3rd
Jackshaft is respectively sleeved in the first segment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153338.XA CN105583832B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153338.XA CN105583832B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive |
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| Publication Number | Publication Date |
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| CN105583832A CN105583832A (en) | 2016-05-18 |
| CN105583832B true CN105583832B (en) | 2017-11-28 |
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| CN201610153338.XA Expired - Fee Related CN105583832B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive |
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|---|---|---|---|---|
| CN105798938B (en) * | 2016-05-19 | 2017-12-29 | 清华大学 | Flat folder perception self-adaption robot finger apparatus and its control method |
| CN105798936B (en) * | 2016-05-23 | 2018-05-29 | 清华大学 | Idle running contact gear puts down folder adaptive robot finger apparatus |
| 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 |
| CN106426239B (en) * | 2016-07-08 | 2018-11-23 | 清华大学 | Idle running transmission gear coupling adaptive robot finger apparatus |
| 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 |
| CN106799742B (en) * | 2016-12-09 | 2019-03-22 | 清华大学 | Accurate flat folder adaptively with coupling adaptive pattern switching robot finger apparatus |
| 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 |
| CN107901062A (en) * | 2017-11-22 | 2018-04-13 | 清华大学 | Rack sliding slot end precise linear puts down folder adaptive robot finger apparatus |
| CN108247658B (en) * | 2018-03-23 | 2019-03-15 | 宋为 | Flat folder coupling adaptive multi-mode grabs robot finger apparatus |
| CN109227583B (en) * | 2018-09-30 | 2023-12-22 | 清华大学 | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute |
| CN110539318A (en) * | 2019-09-10 | 2019-12-06 | 佛山科学技术学院 | Self-adaptive under-actuated gripper driven by master-slave power |
| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN101444918B (en) * | 2008-12-26 | 2010-09-29 | 清华大学 | Under-actuated bionic finger device with function of pre-bending grasping |
| CN102514013A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Gear coupling type dexterous robot finger device |
| CN104889998B (en) * | 2015-07-03 | 2021-02-02 | 清华大学 | Under-actuated robot finger device with enveloping and clamping functions |
| CN105150225B (en) * | 2015-09-08 | 2021-03-16 | 清华大学 | Finger device of composite pinching and holding self-adaptive robot with rod wheels in parallel connection |
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