CN105583834A - Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device - Google Patents

Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device Download PDF

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Publication number
CN105583834A
CN105583834A CN 201610153467 CN201610153467A CN105583834A CN 105583834 A CN105583834 A CN 105583834A CN 201610153467 CN201610153467 CN 201610153467 CN 201610153467 A CN201610153467 A CN 201610153467A CN 105583834 A CN105583834 A CN 105583834A
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CN
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gear
transmission
main
shaft
finger
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CN 201610153467
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Chinese (zh)
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张文增
梁达尧
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清华大学
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    • 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 parallel connection and gear drive type parallel-clamping and self-adapting robot finger device. The device comprises a base, two finger sections, two joint shafts, a driver, a plurality of gears, a protrusion block drive plate, a spring part and a limiting protrusion block. The device realizes the parallel-clamping and self-adapting grabbing functions through the comprehensive effect of the driver, multiple gear drive mechanisms of different transmission ratios, the spring part, the protrusion block drive plate and the limiting protrusion block; 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

并联齿轮传动平夹自适应机器人手指装置 Parallel flat gear means interposed adaptive robot finger

技术领域 FIELD

[0001 ]本发明属于机器人手技术领域,特别涉及一种并联齿轮传动平夹自适应机器人手指装置的结构设计。 [0001] The present invention belongs to the technical field of the robot hand, and particularly to a clamp level adaptive parallel gear unit design robot finger.

背景技术 Background technique

[0002]自适应欠驱动机器人手采用少量电机驱动多个自由度关节,由于电机数量少,藏入手掌的电机可以选择更大的功率和体积,出力大,同时纯机械式的反馈系统无需对环境敏感也可以实现稳定抓取,自动适应不同形状尺寸的物体,没有实时电子传感和闭环反馈控制的需求,控制简单方便,降低了制造成本。 [0002] Adaptive Underactuated robot hand using a small motor-driven joints plurality of degrees of freedom, since the number of the motor, the motor can be hidden into the palm of the selected volume and greater power, large output, while the purely mechanical feedback system without the need for environmentally sensitive stable gripping can be realized, automatically adapt to objects of different shapes and sizes, there is no demand for real-time electronic sensing and closed-loop feedback control, the control is simple and convenient, reduce the manufacturing cost.

[0003]在抓取物体时主要有两种抓取方法,一种是捏持,一种是握持。 [0003] There are two main methods gripping when grasping the object A is a pinch, one is holding. 捏持是用末端手指的指尖部分去夹取物体,采用两个点或两个软指面去接触物体,主要针对小尺寸物体或具有对立面的较大物体;握持是用手指的多个指段包络环绕物体来实现多个点的接触,达到更稳定的形状包络抓取。 Grip to grip the object by a fingertip portion of the finger tip, using two points or two soft surfaces means to reach the object, mainly for a small-sized objects or objects having opposite large; with a plurality of gripping fingers It refers to a segment of the envelope around the plurality of the contact points to achieve the object, to achieve a more stable form of the envelope gripping. 工业夹持器一般采用捏持方式,难以具有稳定握持功能,不能适应多种形状物体的稳定包络抓取;自适应欠驱动手指可以采用自适应包络物体的方式握持,但是无法实施捏持抓取;耦合的多关节手可以实现多关节同时转动,能够实现捏持,不能实现针对多种形状物体的稳定的多点包络握持。 Industrial pinch clamp the general mode, it is difficult to have a stable holding function, can not adapt to a variety of object shapes stabilization package envelope gripping; adaptive driving finger may be employed under an adaptive manner the envelope holding the object, but can not be implemented gripping the grip; coupled multi-joint multi-joint may be implemented hand while rotating, pinch can be achieved, stability can not be achieved for a wide variety of shapes of the multi-object gripping envelope. 上述三种手均有很大的提升空间。 The three hand have much room for improvement. 现实中很需要一种既具有捏持功能,又能够实现稳定自适应包络抓持的机器人手。 In reality it is a need for a function with a pinch, but also to achieve stable adaptive robot hand grasping the envelope.

[0004]已有的一种具有双自由度欠驱动手指的五连杆夹持装置,如美国专利US8973958B2,包括五个连杆、弹簧、机械约束。 [0004] The conventional clamp device having a five-link-DOF underactuated finger, as described in U.S. Patent No. US8973958B2, includes five rods, springs, mechanical constraints. 该装置在工作时,开始阶段保持末端指段的姿态进行近关节弯曲动作,之后根据物体的位置可以实现平行捏持或自适应包络握持的功能。 In operation of the apparatus, holding the beginning of the end section of finger gestures performed near joints bending operation, can be achieved after the adaptive parallel grip or envelope holding function according to the position of the object. 其不足之处在于,该装置采用非常复杂的多连杆机构,运动存在较大的死区,抓取范围较小,机构体积大,缺乏柔顺性,制造成本过高。 The downside is that the device uses a very complex multi-link mechanism, there is a large dead movement, gripping a small scale and large volume mechanism, the lack of flexibility, high manufacturing costs.

发明内容 SUMMARY

[0005]本发明的目的是为了克服已有技术的不足之处,提供一种并联齿轮传动平夹自适应机器人手指装置。 [0005] The object of the present invention is to overcome the shortcomings of the prior art, there is provided a flat parallel gear means interposed adaptive robot finger. 该装置具有多种抓取模式,既能平动第二指段夹持物体,也能先后转动第一指段和第二指段自适应包络不同形状、大小的物体;抓取范围大;无需复杂的传感和控制系统。 The gripping means having a plurality of modes, a second section refers to both translational grip an object, but also has a first rotatable means and the second finger section of the envelope section adaptation of different shapes and sizes of the object; crawl large range; No complicated sensing and control system.

[0006]本发明的技术方案如下: [0006] aspect of the present invention is as follows:

[0007]本发明设计的一种并联齿轮传动平夹自适应机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴和驱动器;所述驱动器与基座固接;所述近关节轴的中心线与远关节轴的中心线平行;其特征在于:该并联齿轮传动平夹自适应机器人手指装置还包括传动机构、第一主齿轮、第二主齿轮、第一齿轮组、第三主齿轮、第四主齿轮、第二齿轮组、凸块拨盘、簧件和限位凸块;所述近关节轴活动套设在基座中;所述远关节轴活动套设在第一指段中;所述第一指段套接在近关节轴上;所述第二指段套接在远关节轴上;所述传动机构设置在基座中;所述驱动器的输出轴与传动机构的输入端相连,所述传动机构的输出端与第一主齿轮相连;所述第一主齿轮活动套接在近关节轴上,所述第二主齿轮套接在远关节轴上,第二主齿轮与第二指段固接;所述第一 [0007] The present invention is designed to level a parallel gear means interposed adaptive robot finger, comprising a base, a first finger section, the second finger section, near the joint shaft, and the distal joint drive shaft; and a drive base fixed; near the centerline of the shaft centerline of the distal joint shaft parallel to the joint; characterized in that: the parallel flat gear clamp means further comprises a robot finger adaptive transmission mechanism, a first main gear, the second main gear, the first gear set, the third main gear, a fourth main gear, the second gear set, dial the bump, the spring member and the stopper protrusion; the proximal shaft sleeved joint in the base; the distal joint a first shaft means sleeved paragraph; sheathing the first finger section near the joint shaft; refers to the segment of the second socket at the distal joint shaft; said transmission means provided in the base; the an input terminal of the transmission output shaft of said drive mechanism connected to the output terminal of the transmission mechanism and the first main gear; the first main gear shaft activity sleeved near joints, the second main gear sleeved in the far-axis joints, the second main gear and the second finger section fixed; the first 轮组安装在第一指段中,所述第一齿轮组包括至少一个齿轮或相啮合的多个齿轮,所述第一齿轮组的输入齿轮与第一主齿轮啮合,所述第一齿轮组的输出齿轮与第二主齿轮相啮合;所述第三主齿轮活动套接在近关节轴上;所述第四主齿轮套接在远关节轴上,第四主齿轮与第二指段固接;所述第二齿轮组安装在第一指段中,所述第二齿轮组包括至少一个齿轮或相啮合的多个齿轮,所述第二齿轮组的输入齿轮与第三主齿轮啮合,所述第二齿轮组的输出齿轮与第四主齿轮相啮合;所述凸块拨盘活动套接在近关节轴上,所述凸块拨盘与第三主齿轮固接;所述限位凸块与基座固接;所述凸块拨盘与限位凸块相接触或离开一段距离;设第一指段靠向物体的转动方向为近关节正方向,第一指段远离物体的转动方向为近关节反方向;在该并联齿轮传动平夹自适应机器人手指 Wheel sets installed in the first finger section, the first gear set including at least a plurality of gears or gear engaged, an input gear engaging the first gear set with the first main gear, the first gear set the output gear engaged with the second main gear; the third main gear shaft near joints sleeved activity; the fourth main gear shaft of the joint socket far, the fourth main gear and the second finger section solid bonding; the second gear set installed in the first finger section, the second gear set including at least one or more gear meshing gears, the input gear of the second gear set meshes with the main third gear, the output gear of the second gear set with the fourth main gear engaged; dial the projection activity sleeved shaft near the joint, said lug dial fixedly connected with the third main gear; the stop a base fixedly connected with the bumps; dial the bump stopper in contact with a bump or a distance away; it refers to a first direction of rotation disposed nearest to the object near the positive direction of the segment joint of the first finger section away from the object direction of rotation of the joint near the opposite direction; adaptive robot finger interposed in parallel with the flat gear 置处于初始状态时,凸块拨盘与限位凸块接触,设此时凸块拨盘相对基座的旋转角度为O度,从该位置开始,凸块拨盘朝近关节正方向旋转时的转动角度为正,凸块拨盘朝近关节反方向旋转时的转动角度为负;所述限位凸块限制凸块拨盘的转动角度只能为正;所述簧件的两端分别连接凸块拨盘和基座;通过第一齿轮组的传动,从第一主齿轮到第二主齿轮的传动是同向传动且传动比小于I;通过第二齿轮组的传动,从第三主齿轮到第四主齿轮的传动是同向传动且传动比等于I。 When set in the initial state, the bumps into contact with the dial stopper protrusion, at this time was bumps dial rotation angle is O degrees relative to the base, starting from this position, the bump dial is rotated toward the positive direction near the joint a positive rotation angle, the rotation angle of the bump when the dial is rotated in a reverse direction near the joint is negative; the bump stop to limit a rotation angle of the bump dial only be positive; ends respectively of said spring member dial connection bumps and the base; first gear set via a transmission, the transmission from the first primary gear to the second main gear and the transmission gear is in the same direction is less than I; gear via the second gear set, the third main drive gear to the fourth gear is the same to the main transmission and the transmission ratio is equal to I.

[0008]本发明所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述驱动器米用电机、气缸或液压缸。 [0008] The parallel gear transmission of the present invention, the adaptive flat clip robot finger means, wherein: said drive motor meter, an air cylinder or a hydraulic cylinder.

[0009]本发明所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述簧件采用拉簧、压簧、片簧或扭簧。 [0009] parallel flat gear according to the invention adaptive robot finger clip means, characterized in that: said spring member using the extension spring, compression spring, a leaf spring or a torsion spring.

[0010]本发明所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述第一齿轮组包括第一过渡齿轮、第二过渡齿轮、第三过渡齿轮、第一中间轴、第二中间轴和第三中间轴;所述第一中间轴、第二中间轴和第三中间轴分别套设在第一指段中,所述第一过渡齿轮与第一主齿轮啮合,所述第一过渡齿轮与第二过渡齿轮啮合,所述第二过渡齿轮与第三过渡齿轮啮合,所述第三过渡齿轮与第二主齿轮啮合,所述第一过渡齿轮套接在第一中间轴上,所述第二过渡齿轮套接在第二中间轴上,所述第三过渡齿轮套接在第三中间轴上。 [0010] The parallel gear transmission of the present invention, the adaptive flat clip robot finger means, wherein: said first gear set includes a first transmission gear, second transmission gear, the third transmission gear, a first intermediate shaft, a second intermediate shaft and the third intermediate shaft; the first intermediate shaft, a second intermediate shaft and the third intermediate shaft are arranged in a first sleeve segment means, the first transmission gear engaging with the first main gear, the said first transmission gear meshing with the second transmission gear meshes with the third transmission gear of said second transmission gear, the third transmission gear meshes with the second main gear, the first transition in a first intermediate gear sleeved shaft, said second transmission gear is sleeved on the second countershaft, a third transition gear is sleeved on the third intermediate shaft. [0011 ]本发明所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述第二齿轮组包括第四过渡齿轮、第五过渡齿轮、第六过渡齿轮、第四中间轴、第五中间轴和第六中间轴;所述第四中间轴、第五中间轴和第六中间轴分别套设在第一指段中,所述第四过渡齿轮与第三主齿轮啮合,所述第四过渡齿轮与第五过渡齿轮啮合,所述第五过渡齿轮与第六过渡齿轮啮合,所述第六过渡齿轮与第四主齿轮啮合,所述第四过渡齿轮套接在第四中间轴上,所述第五过渡齿轮套接在第五中间轴上,所述第六过渡齿轮套接在第六中间轴上。 [0011] The parallel gear transmission of the present invention, the adaptive flat clip robot finger means, wherein: said second gear set includes a fourth transmission gear, the fifth transmission gear, a sixth transmission gear, the fourth countershaft, and a sixth fifth intermediate shaft intermediate shaft; intermediate shaft and the fourth, fifth and sixth countershaft countershaft are disposed in a first sleeve segment means, said fourth transmission gear meshing with the third main gear, the said fourth transmission gear meshes with the fifth transmission gear meshes with the fifth transmission gear sixth transmission gear, the sixth transmission gear meshing with the fourth main gear, the fourth gear is sleeved fourth intermediate transition axis, the fifth transition fifth countershaft gear sleeved on said sleeved sixth transition sixth intermediate gear shaft.

[0012]本发明与现有技术相比,具有以下优点和突出性效果: [0012] Compared with the prior art the present invention has the following advantages and effects projection of:

[0013]本发明装置利用驱动器、不同传动比的多路齿轮传动机构、簧件、凸块拨盘和限位凸块等综合实现了双关节机器人手指平行夹持及自适应抓取的功能,根据目标物体形状和位置的不同,既能平动第二指段捏持物体或外张撑取物体,也能依次转动第一指段和第二指段包络不同形状、大小的物体;该装置抓取范围大;采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统;该装置结构紧凑、体积小,制造和维护成本低,适用于机器人手。 [0013] The present invention is by driving means, a gear transmission mechanism multiplex different transmission ratios, spring member, a dial, and the bump stopper bumps integrated achieve a double articulated robot finger parallel gripper and gripping adaptation function, depending on the shape and position of the target object, the second translation section refers to both grip the object or the object outside the sheets taken hold, it is possible to sequentially rotate the first finger and the second finger section of the envelope section of different body shapes and sizes; the gripping means large range; using underactuated way, with a driver drives two joints, without complex sensing and control system; the apparatus compact structure, small size, low manufacturing and maintenance costs for the robot hand.

附图说明 BRIEF DESCRIPTION

[0014]图1是本发明设计的并联齿轮传动平夹自适应机器人手指装置的一种实施例的立体外观图。 [0014] FIG. 1 is designed according to the present invention, the parallel gear interposed An adaptive flat finger perspective external view of a robot apparatus according to an embodiment.

[0015]图2是图1所示实施例的正面外观图。 [0015] FIG. 2 is a front external view of the embodiment shown in FIG.

[0016]图3是图1所示实施例的一个侧面外观图(图2的右视图)。 [0016] FIG. 3 is an external view of a side (a right side view of FIG. 2) of the embodiment shown in FIG.

[0017]图4是图1所示实施例的另一个侧面外观图(图2的左视图)。 [0017] FIG. 4 is an external view of the other side (left side view of FIG. 2) of the embodiment shown in FIG.

[0018] 图5是图2的AA剖视图。 [0018] FIG. 5 is a sectional view AA of FIG. 2.

[0019] 图6是图2的BB剖视图。 [0019] FIG. 6 is a sectional view BB of Figure 2.

[0020]图7是图1所示实施例的从一个角度观察的内部立体视图(未画出部分零件)。 [0020] FIG. 7 is an internal perspective view (some parts are not shown) embodiment embodiment shown in FIG. 1 as viewed from an angle.

[0021]图8是图1所示实施例的从另一个角度观察的内部立体视图(未画出部分零件)。 [0021] FIG. 8 is an internal perspective view (some parts are not shown) embodiment embodiment shown in Figure 1 viewed from another angle.

[0022]图9是图1所示实施例的正面外观图(未画出基座前板、基座表面板、第一指段前板、第一指段表面板)。 [0022] FIG. 9 is a front external view of the embodiment shown in Figure 1 (not shown front base plate, the surface of the base plate, a first finger section of the front plate, a first surface of the finger plate segment).

[0023]图10是图1所示实施例的爆炸视图。 [0023] FIG. 10 is an exploded view of the embodiment shown in Fig.

[0024]图11至图15是图1所示实施例在以包络握持的方式抓取物体的动作过程示意图。 [0024] Figures 11 to 15 is an embodiment schematic manner during the operation of gripping the object gripped envelope shown in Fig.

[0025]图16至图18是图1所示实施例抓取物体的另一种方式一一平行开合用第二指段夹持物体(称为平夹抓取)的动作过程示意图。 [0025] FIGS. 16 to 18 are shown in the embodiment in FIG. 1 of another embodiment of eleven parallel grasping an object refers to open a second clamping section schematic operation procedure of the object (referred to as flat gripping clamp) in combination.

[0026]图19至图21是图1所示实施例依次以平行开合及自适应包络抓取物体的动作过程中几个关键位置时,凸块拨盘、簧件与限位凸块的相对位置的变化情况。 [0026] FIGS. 19 to 21 are shown in FIG. 1 embodiment when sequentially opening and closing in a parallel and adaptive envelope during operation of grasping an object in several key positions, dial the bump, the bump stopper and the spring member change in the relative position.

[0027] 在图1至图21中: [0027] In Figures 1 to 21:

[0028] I —基座, 111 一基座前板, 112—基座后板, 113—基座左侧板, [0028] I - a base, a base front panel 111, rear base plate 112-, 113- left side of the base plate,

[0029] 114 一基座右侧板, 115—基座表而板, 116—基座底板, 2—第一指段, [0029] The right side of a base plate 114, the table and the base plate 115-, 116- base plate, 2 a first finger section,

[0030] 21—第一指段骨架, 22—第一指段左侧板,23—第一指段右侧板,24—第一指段表而板,[0031 ] 25—第一指段前板, 26—第一指段后板, 3—第二指段, 4 一近关节轴, [0030] 21 first refers to the backbone segment, the first finger section of the left side plate 22-, 23- segment right first finger plate, 24 refers to the segment table and a first plate [0031] 25 first refers to the segment a front plate, a rear plate section 26- a first finger, a second finger section 3-, 4 near a joint axis,

[0032] 5—远关节轴, 6 —第一主齿轮, 61—第一过渡齿轮, 62—第二过渡齿轮, [0032] 5- distal joint shaft 6 - the first main gear, a first transmission gear 61-, 62- second transmission gear,

[0033] 63—第三过渡齿轮, 611 —第一中间轴, 621 —第二中间轴, 631 —第三中间轴, [0033] 63- third transition gears 611 - a first intermediate shaft, 621-- the second intermediate shaft, 631-- third intermediate shaft,

[0034] 7 —第二主齿轮, 8 —第一齿轮组, 83 —轴承, 84—套筒, [0034] 7-- second main gear, 8 - the first gear set 83 - BEARING, 84- sleeve,

[0035] 85 —螺钉, 86 —销钉, 9 一第二主齿轮, 91 一第四过渡齿轮, [0035] 85 - a screw, 86 - a pin, a second main gear 9, a fourth transmission gear 91,

[0036] 92—第五过渡齿轮, 93—第六过渡齿轮, 911 一第四中间轴, 921 —第五中间轴, [0036] The fifth transmission gear 92-, 93- sixth transmission gear, a fourth intermediate shaft 911, 921-- fifth intermediate shaft,

[0037] 931 —第六中间轴, 10 —第四主齿轮, 11 一第二齿轮组, 12—凸块拨盘, [0037] 931-- sixth intermediate shaft 10 - the fourth main gear, a second gear set 11, 12 bump dial,

[0038] 13 —簧件, 14 一驱动器(电机), 141 一减速器, 142 —第一锥齿轮, [0038] 13-- spring member, a drive 14 (motor), a speed reducer 141 and 142 - a first bevel gear,

[0039] 143 —第二維齿轮, 144 一过渡齿轮轴, 145—第一带轮, 146—第二带轮, [0039] 143-- second dimension gear, a transmission gear shaft 144, a first pulley 145-, 146- second pulley,

[0040] 147—传动带, 17 —物体, 18—限位凸块。 [0040] 147- belt 17 - Objects, 18 limit tabs.

具体实施方式 Detailed ways

[0041]下面结合附图及实施例进一步详细介绍本发明的具体结构、工作原理的内容。 [0041] Example embodiments further described particular structure of the present invention, the content of the working principle of the accompanying drawings and detailed below.

[0042]本发明设计的并联齿轮传动平夹自适应机器人手指装置的一种实施例,如图1至图10所示,包括基座1、第一指段2、第二指段3、近关节轴4、远关节轴5和驱动器14;所述驱动器14与基座I固接;所述近关节轴4的中心线与远关节轴5的中心线平行。 One kind of finger means [0042] of the present invention is designed flat parallel gear interposed adaptive robot embodiment, as shown in FIG. 1 to FIG. 10, it comprises a base 1, a first finger section 2, the second finger section 3, near joint shaft 4, distal joint 14 and a drive shaft 5; and the driver 14 is fixed to the base I; the axial center line 4 near the joint and the distal joint centerline is parallel to the axis 5. 本实施例还包括传动机构、第一主齿轮6、第二主齿轮7、第一齿轮组8、第三主齿轮9、第四主齿轮10、第二齿轮组U、凸块拨盘12、簧件13和限位凸块18;所述近关节轴4活动套设在基座I中;所述远关节轴5活动套设在第一指段2中;所述第一指段2套固在近关节轴4上;所述第二指段3套固在远关节轴5上;所述传动机构设置在基座I中;所述驱动器14的输出轴与传动机构的输入端相连;所述传动机构的输出端与第一主齿轮6相连;所述第一主齿轮6活动套接在近关节轴4上,所述第二主齿轮7套接在远关节轴5上,第二主齿轮7与第二指段3固接;所述第一齿轮组8安装在第一指段2中,所述第一齿轮组8包括至少一个齿轮或相啮合的多个齿轮,所述第一齿轮组8的输入齿轮与第一主齿轮6啮合,所述第一齿轮组8的输出齿轮与第二主齿轮7相啮合;所述第三主齿轮9活动套接在近关节轴4上; The present embodiment further includes a transmission mechanism, a first main gear 6, the second master gear 7, the first gear set 8, a third main gear 9, a fourth main gear 10, second gear set U, bumps dial 12, spring member 13 and the stopper protrusion 18; near said joint sleeved shaft 4 in the base I; and the distal joint sleeved shaft 5 in the first finger section 2; a first finger section of the two sets on the fixed shaft 4 near the joint; refers to the segment of the second sleeve 3 fixed in the distal joint axis 5; said transmission means provided in the base I; the input terminal connected to an output shaft of the drive gear 14; the output of the drive means 6 is connected with the first main gear; the first main gear 6 activity sleeved shaft 4 near the joint, the second main gear 7 sleeved joint on the distal shaft 5, a second master gear 7 and the second finger section 3 fastened; the first gear set 8 is mounted in the first finger section 2, the first gear set 8 comprises at least one or more gear meshing gears, said first a gear set input gear 8 with the first main gear 6, 7 to engage the first gear set and a second output gear of the main gear 8; 9 activity of the third main gear sleeved shaft near the joint 4 ; 述第四主齿轮10套接在远关节轴5上,第四主齿轮9与第二指段3固接;所述第二齿轮组11安装在第一指段2中,所述第二齿轮组11包括至少一个齿轮或相啮合的多个齿轮,所述第二齿轮组11的输入齿轮与第三主齿轮9啮合,所述第二齿轮组11的输出齿轮与第四主齿轮10相啮合;所述凸块拨盘12活动套接在近关节轴4上,所述凸块拨盘12与第三主齿轮9固接;所述限位凸块18与基座I固接;所述凸块拨盘12与限位凸块18相接触或离开一段距离;设第一指段2靠向物体17的转动方向为近关节正方向(如图11中的顺时针方向),第一指段2远离物体17的转动方向为近关节反方向;在该并联齿轮传动平夹自适应机器人手指装置处于初始状态(如图11、图16所示的伸直状态)时,凸块拨盘12与限位凸块18接触,设此时凸块拨盘12相对基座I的旋转角度为O度(如图19所示),从该位置开始,凸块拨盘12朝 Said fourth main gear 10 is sleeved on the distal joint shaft 5, the fourth main gear 9 and the second finger section 3 fixed; the second gear set 11 is mounted in the first section 2 fingers, said second gear group 11 includes at least a plurality of gears or gear engaged, the second gear set 11 and the third input gear 9 engages the main gear, the second gear 10 engaged with the output gear set 11 and the fourth main gear ; dial the bump 12 on the active sleeved shaft 4 near the joint, the dial 12 and the third bump 9 is fixed to the master gear; the stop protrusion 18 fixed to the base I; the dial 12 and the bump stopper protrusion 18 in contact with or some distance away; refers to the rotational direction of a first section disposed nearest to the object 2 near the joint 17 is the positive direction (clockwise direction in FIG. 11), a first means section away from the rotating direction of the object 2 is near the joint 17 in the opposite direction; when (straightened state shown in FIG. 11, FIG. 16) at the level of the parallel adaptive robot finger gear means interposed in the initial state, the bump dial 12 in contact with the stopper protrusion 18, the dial 12 at this time was a bump relative to the base I O ° angle of rotation (19), starting from this position, the projection 12 toward the dial 近关节正方向旋转时(小于180度)的转动角度为正,凸块拨盘12朝近关节反方向旋转时(小于180度)的转动角度为负;所述限位凸块18限制凸块拨盘12的转动角度只能为正,即凸块拨盘12只能沿着如图11所示的箭头指示方向转动。 When the positive rotation direction near the joint rotation angle (less than 180 degrees) is positive, the angle of projection toward the dial 12 is rotated in the reverse direction of rotation when the joint near (less than 180 degrees) is negative; the restricting projection 18 of the limiting protrusion the rotation angle of the dial 12 can only be positive, i.e., bumps dial 12 can rotate in the direction indicated by arrow 11 as shown in FIG. 所述簧件13的两端分别连接凸块拨盘12和基座1,簧件13使凸块拨盘12靠向限位凸块18;通过第一齿轮组8的传动,从第一主齿轮6到第二主齿轮7的传动是同向传动且传动比小于I,即为增速传动;通过第二齿轮组11的传动,从第三主齿轮9到第四主齿轮10的传动是同向传动且传动比等于I。 The two ends of the spring member 13 are connected to the bump 12 and the base dial 1, spring member 13 causes the projection 12 toward the dial stopper protrusion 18; 8 through the first set of the drive gear, from a first primary drive gear 6 to the second main gear 7 is the same and the transmission gear ratio less than I, that is, overdrive; by the transmission of the second gear set 11, the main gear 9 from the third to the fourth main drive gear 10 is and with the gear transmission ratio is equal to I.

[0043]本发明所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述驱动器14采用电机、气缸或液压缸。 [0043] The parallel gear transmission of the present invention, the adaptive flat clip robot finger means, characterized in that: the drive motor 14 using, pneumatic or hydraulic cylinders. 所述簧件采用拉簧、压簧、片簧或扭簧。 The spring member using the extension spring, compression spring, a leaf spring or a torsion spring. 本实施例中,所述驱动器14采用电机;所述簧件13采用拉簧。 In this embodiment, the motor driver 14 employed; the spring member 13 using a tension spring.

[0044]本实施例中,所述第一齿轮组8包括第一过渡齿轮61、第二过渡齿轮62、第三过渡齿轮63、第一中间轴611、第二中间轴621和第三中间轴631;所述第一中间轴611、第二中间轴621和第三中间轴631分别套设在第一指段2中,所述第一过渡齿轮61与第一主齿轮6啮合,所述第一过渡齿轮61与第二过渡齿轮62啮合,所述第二过渡齿轮62与第三过渡齿轮63啮合,所述第三过渡齿轮63与第二主齿轮7啮合,所述第一过渡齿轮61套接在第一中间轴611上,所述第二过渡齿轮62套接在第二中间轴621上,所述第三过渡齿轮63套接在第三中间轴631上。 [0044] In this embodiment, the first gear set 8 includes a first transmission gear 61, second transmission gear 62, 63, a first intermediate shaft 611, the second intermediate shaft 621, and a third countershaft third gear transition 631; the first intermediate shaft 611, the second intermediate shaft 621 and the third intermediate shaft 631 are arranged in a first set of fingers section 2, the first transmission gear 61 engaging with the first main gear 6, the second a transmission gear 61 meshed with the second transmission gear 62, the second transmission gear 62 meshes with the third transmission gear 63, the third transmission gear 63 engaging with the second main gear 7, the first transition gear sets 61 connected to the first intermediate shaft 611, the second transmission gear 62 is sleeved on the second intermediate shaft 621, the shaft 631 on the third intermediate gear 63 is sleeved on the third transition.

[0045]本实施例中,所述第二齿轮组11包括第四过渡齿轮94、第五过渡齿轮95、第六过渡齿轮96、第四中间轴941、第五中间轴951和第六中间轴961;所述第四中间轴941、第五中间轴951和第六中间轴961分别套设在第一指段2中,所述第四过渡齿轮94与第三主齿轮9啮合,所述第四过渡齿轮94与第五过渡齿轮95啮合,所述第五过渡齿轮95与第六过渡齿轮96啮合,所述第六过渡齿轮96与第四主齿轮10啮合,所述第四过渡齿轮94套接在第四中间轴941上,所述第五过渡齿轮95套接在第五中间轴951上,所述第六过渡齿轮96套接在第六中间轴961上。 [0045] In this embodiment, the second gear set 11 includes a fourth transmission gear 94, the fifth transmission gear 95, a sixth transmission gear 96, fourth intermediate shaft 941, intermediate shaft 951 and a sixth fifth intermediate shaft 961; intermediate shaft 941 and the fourth, sixth and fifth intermediate shaft 951 intermediate shaft 961 are respectively provided in the first sleeve means in section 2, the fourth transmission gear 94 meshing with the third main gear 9, the first four transmission gear 94 meshes with the fifth transmission gear 95, a sixth transmission gear 95 meshes with the fifth transmission gear 96, the fourth main gear 96 meshes with a sixth transmission gear 10, the fourth transmission gear sets 94 connected to the fourth intermediate shaft 941, the fifth transmission gear 95 is sleeved on the fifth intermediate shaft 951, the sixth transmission gear 96 is sleeved on the sixth intermediate shaft 961.

[0046]本实施例中,所述基座I包括固接在一起的基座前板111、基座后板112、基座左侧板113、基座右侧板114、基座表面板115和基座底板116。 [0046] In this embodiment, the base includes a front plate I with a base 111 secured to the plate 112, the left side of the base plate 113, the right side of the base plate 114, the base surface of the rear base plate 115 and the base plate 116. 本实施例中,所述第一指段2包括固接在一起的第一指段骨架21、第一指段左侧板22、第一指段右侧板23、第一指段表面板24、第一指段前板25和第一指段后板26。 In this embodiment, the first finger comprising a first section 2 refers to the solid backbone segment 21 together, the left side plate 22 of the first finger section, the first section refers to the right side plate 23, a first surface of the finger plate section 24 , first finger 25 and a rear plate section of the front section of the first plate means 26.

[0047]本实施例中,所述传动机构包括减速器141,第一锥齿轮142、第二锥齿轮143、过渡齿轮轴144、第一带轮145、第二带轮146和传动带147;所述电机14的输出轴与减速器141的输入轴相连,所述第一锥齿轮142套固在减速器141的输出轴上,所述第二锥齿轮143套固在过渡齿轮轴144上,所述第一锥齿轮142与第二锥齿轮143啮合;所述过渡齿轮轴144套设在基座I中,所述第一带轮145套固在过渡齿轮轴144上,所述第二带轮146活动套接在近关节轴4上,所述第二带轮146与第一主齿轮6固接,所述传动带147连接第一带轮145和第二带轮146,所述传动带147、第一带轮145和第二带轮146形成带轮传动关系,所述传动带呈“O”字形。 [0047] In this embodiment, the transmission mechanism comprises a reduction gear 141, a first bevel gear 142 second bevel gear 143, the transmission gear shaft 144, a first pulley 145, second pulley 146 and belt 147; the the input shaft of the motor output shaft 14 and the gear unit 141 is connected to the first bevel gear 142 fixed sleeve 141 in the speed reducer output shaft, the transmission gear 143 sleeve fixed in said second bevel gear shaft 144, the said first bevel gear 142 meshing with the second bevel gear 143; the transition gear shaft 144 provided in the sleeve base I, the first pulley 145 fixed on the transition gear sleeve shaft 144, the second pulley activities 146 sleeved on the shaft 4 near the joint, the second pulley 146 connected with the first main gear 6 fixed, the drive belt 147 connects the first pulley 145 and second pulley 146, the belt 147, the first a pulley 145 and second pulley 146 are formed the pulley relation, the belt was "O" shape.

[0048]本实施例还采用了若干轴承83、若干套筒84、若干螺钉85和若干销钉86等零件,属于公知常用技术,不赘述。 [0048] The present embodiment also uses a plurality of bearings 83, a plurality of sleeve 84, a plurality of pins 86 and a plurality of screws 85 and other parts, are well-known common technique, not described herein.

[0049] 本实施例的工作原理,结合附图11至图21,叙述如下: [0049] The working principle of the present embodiment, in conjunction with the accompanying drawings 11 to 21, described as follows:

[0050]凸块拨盘12转角与第二指段3运动的关系介绍如下: 12 refers to the relationship between rotation angle and the second movement segment 3 [0050] Scroll bumps described below:

[0051]本实施例中,将初始位置设置为手指伸直的状态(如图11所示)。 [0051] In this embodiment, the initial position is set to the straight state of the finger (Figure 11). (也可以将初始位置设置为其他位置。) (An initial position may be set to another position.)

[0052] a)当凸块拨盘12的旋转角度为O度时(如图19所示),由于凸块拨盘12与第三主齿轮9固接,所以第三主齿轮9相对基座I的位置不变,由于从第三主齿轮9到第二齿轮组11再到第四主齿轮10的传动比为I,当第一指段2转动时,第四主齿轮10始终跟随第三主齿轮9,相对于基座I保持着相同的角度姿态,在第二齿轮组11的作用下,当第三主齿轮9不动时,第四主齿轮10相对基座I也不会转动角度,只进行平移运动,由于第四主齿轮10与第二指段3固接,所以第二指段3相对基座I只进行平移运动而不会旋转。 [0052] a) when the rotation angle of the dial 12 the bump is O degrees (FIG. 19), since the projection 12 and the dial 9 is fixed to the third main gear, the third main gear 9 relative to the base I in the same position, since the main gear 9 from the third to the second gear set 11 and then the transmission ratio of the fourth main gear 10 is I, and when the first finger section 2 is rotated, the fourth main gear 10 always follow the third the main gear 9 with respect to the base I maintained the same posture angle, under the action of the second gear set 11, when the third main gear 9 does not move, the fourth main gear 10 is not rotated relative to the base angle I , only a translational movement, since the fourth main gear 10 and the second fixed finger section 3, the second finger 3 relative to the base segment I only translational movement without rotation.

[0053] b)当凸块拨盘12的旋转角度为正时,在第二齿轮组11的作用下,第四主齿轮10的旋转角度等于第三主齿轮9的转角,即等于凸块拨盘12的转角。 [0053] b) When the dial is rotated angle of the bump 12 is positive, under the action of the second gear set 11, the rotation angle of the fourth corner of the main gear 10 is equal to the third main gear 9, i.e., equal protrusion dial wheel angle 12.

[0054]当本实施例抓取物体17时,驱动器14通过传动机构的传动,使得第一主齿轮6正转,第一主齿轮6相对基座I的转角为α。 [0054] When the present embodiment, gripping an object 17, the driver 14 via the transmission gear mechanism, such that the first main gear 6 forward, angle relative to the base 6 of the first main gear I is α. 在第一齿轮组8的作用下,第一主齿轮6相对第一指段2的转角与第二主齿轮7相对第一指段2的转角有一定比例的关系。 Under the action of the first gear set 8, a first main gear 6 relative to the first finger angle and the second section 2 of the main gear 7 relative to the first corner segment 2 refers to the percentage of a certain relationship. 设从第一主齿轮6通过第一齿轮组8传动到第二主齿轮7的传动比为i,该传动比是第一主齿轮6的转速(相对于第一指段2)与第二主齿轮7的转速(相对于第一指段2)之比。 6 provided from the first main gear 8 via the first gear set to a transmission gear ratio of the second main gear 7 is i, the rotational speed of the transmission ratio of the first main gear 6 (with respect to the first finger section 2) and the second main 7, the gear speed (with respect to the first finger section 2) ratio. 由于传动比i小于I,因此是增速传动,输出速度大于输入速度。 Since the transmission ratio i is less than I, therefore overdrive, the output speed is greater than the input speed. 设第一指段2绕近关节轴4的转角为δ。 First means disposed near the joint section 2 about axis 4 of rotation angle δ. 由于第二主齿轮7与第二指段3固接,而第二指段3相对于基座I没有发生转动,因此此时第二主齿轮7也就相对于基座I没有发生转动,于是可以推导得出本实施例装置将平衡于满足如下(公式I)的位置: Since the second main gear 7 and the second finger section 3 is fixed to the second finger section 3 is rotated relative to the base I does not occur, so at this time there is a second master gear 7 is rotated relative to the base I did not occur, then the present embodiment can be deduced to satisfy the equilibrium position of the apparatus is as follows (formula I):

[0055] α = δ(1-ΐ) (公式I) [0055] α = δ (1-ΐ) (Formula I)

[0056]由于i小于I,可以求出一个α和δ分别为正的不同角度(其中α小于δ)。 [0056] Since i is less than I, and α can be obtained a positive [delta], respectively at different angles (α which is less than δ). 因此当驱动器14通过传动机构的传动,第一主齿轮6转动了一个角度α,此时,第一指段2绕近关节轴4转过了一个角度I第二指段3相对于基座I始终是同一个姿态,只是位置发生了变化。 Therefore, when the drive gear 14 via a transmission mechanism, a first main gear 6 is rotated by an angle [alpha], In this case, the first finger section 2 is rotated about the shaft 4 near the joint of the second finger at an angle I with respect to the base section 3 I attitude is always the same, but the location has changed. 这是平行夹持的阶段(如图11、图12、图13、图16、图17、图18、图19、图21)。 This is sandwiched between the parallel stages (11, FIG 12, FIG 13, FIG 16, FIG 17, FIG 18, FIG 19, FIG. 21). 这一阶段适合以第二指段3去夹持物体17,或者通过外张的方式用第二指段3去从内向外打开的方式外张撑取物体17。 This section refers to the second stage for holding the object 3 to 17, or by way of a second flared outer section 3 refers to open from the inside toward outside the object to take hold 17 sheets. 例如一个空心圆柱筒的拿取,从该物体的内侧向外张开撑住筒壁,从而拿取物体。 For example, a hollow cylinder to pick up tube, flared outwardly from the inner cylindrical wall of the grabbed object, and thus pick up the object.

[0057]当第一指段2接触物体17而被物体17阻挡不能再转动,将进入自适应包络的第二阶段(如图14、图15和图20所示),这时驱动器14通过传动机构的传动,带动第一主齿轮6,使固接在一起的第二指段3、第二主齿轮7和第四主齿轮10同时绕远关节轴5转动,通过第二齿轮组11带动第三主齿轮9和凸块拨盘12绕近关节轴4转动,簧件13发生变形(如图13、图19所示),此时第二指段3会绕远关节轴5的中心线继续转动,直到第二指段3接触物体17为止,完成自适应包络抓取物体的效果。 [0057] When the first finger section 2 in contact with the object 17 the object 17 is blocked from further rotation, will enter the second stage adaptive envelope (14, 15 and 20), then the driver 14 drive transmission mechanism, the first main driven gear 6, the second finger section 3, a second main gear 7 and the fourth main gear 10 while detour revolute joint shaft 5 fixed together, driven by the second gear set 11 of three main gear 9 and the bump dial 124 is rotated about the shaft near the joint, the spring member 13 is deformed (FIG. 13, FIG. 19) has occurred and the second finger joint section 3 will detour continued rotation of the shaft centerline 5 , section 3 until the second finger 17 in contact with the object so far, the effect of performing adaptive packet envelope grasping the object. 针对不同形状、大小的物体,本实施例具有自适应性,能够抓取多种物体。 For different shapes and sizes of the object, the present embodiment has adaptive are capable of gripping a variety of objects.

[0058]图11至图15是图1所示实施例以包络握持的方式抓取物体17的动作过程示意图,其中,图11为初始状态,图11至图13为第一指段2接触到物体17之前的动作过程一一平行开合方式动作,图13为第一指段2刚接触到物体的情况,图13至图15为第一指段2接触到物体17之后的动作过程一一自适应包络物体,直到第二指段3接触物体,如图15所示,抓取结束。 [0058] FIGS. 11 through 15 are shown in the embodiment of Figure 1 so as to grip the gripping action of the envelope 17 is a schematic view of the process object, wherein an initial state of FIG. 11, FIGS. 11 to 13 is a first finger section 2 before contacting the object 17 during operation eleven parallel to the opening and closing operation mode, 13 is a first section 2 refers to the case where the object of the fourth year, 13 to 15 is a first finger section 2 in contact with the object 17 during operation after eleven adaptive envelope object, until the object in contact with the second finger section 3, shown in Figure 15, gripping end.

[0059]图16至图18是图1所示实施例抓取物体17的另一种可能方式一一平行捏持物体的典型动作过程,直到第二指段3接触物体17,如图18所示,抓取结束。 [0059] FIGS. 16 to 18 are shown in the embodiment of FIG. 17 grasping an object Another possibility eleven parallel kneading process operation typically hold the object, section 3 until the second finger 17 contacts the object, FIG. 18 shown, gripping end.

[0060]图19至图21是图1所示实施例依次以平行开合及自适应包络抓取物体的动作过程中的几个关键位置,展示出凸块拨盘12与限位凸块18的相对位置的变化情况:I)图19所示的情况是图11、图12、图13、图16、图17和图18情况时,凸块拨盘的位置情况,此时本实施例处在初始位置或者仅弯曲了第一指段,簧件13使凸块拨盘12与限位凸块18相接触,第二指段3处于相对于基座I的固定姿态(例如本实施例中的竖直的初始姿态),这种情况一直持续到图18的夹持抓取结束,或者持续到图13的包络抓取开始;2)图20对应于图14的情况,此时本实施例的第一指段2已经接触到物体17被阻挡而不能运动,在驱动器14的驱动作用下,通过传动机构、第一主齿轮6、第一齿轮组8和第二主齿轮7的传动,第二指段3已经绕远关节轴5转动一个角度(相对于基座I转动),第二指段3已经不再保持原来竖直 [0060] FIGS. 19 to 21 are shown in the embodiment in FIG. 1 sequentially opening and closing in a parallel and adaptive envelope several key positions during the operation of gripping an object, exhibiting the dial 12 and the bump stopper protrusion changes in relative position 18: I) 19 is the case shown in FIG 11, FIG 12, FIG 13, FIG 16, when the case of FIG. 17 and FIG. 18, the position where the bumps of the dial, this embodiment of the case or only in the initial position the first finger is bent section, spring member 13 so that the dial 12 and the stopper projection 18 comes into contact bumps, the second finger section 3 at a fixed attitude with respect to the base I (e.g., the present embodiment the vertical initial posture), this situation continued until the end gripping nip 18, or until the packet network of FIG. 13 starts to crawl; 2) in FIG. 20 corresponds to the case of FIG. 14, in which case the present Example 2 first finger section 17 has contacted the object is blocked from movement, by actuation of the drive 14, via the transmission mechanism 6, a first gear of the first gear set and the main gear 8 of the second main gear 7 , the second finger section 3 has a rotatable shaft 5 detour joint angle (rotation relative to the base I), a second section 3 refers to no longer maintain the original vertical 的初始姿态,通过第四主齿轮10、第二齿轮组11、第三主齿轮9和凸块拨盘12,,拉动簧件12发生了变形,凸块拨盘12离开了原来一直接触的限位凸块18;3)图21对应于图15的情况,此时本实施例完成对物体的两个指段的接触一一实现自适应包络抓取,对不同形状尺寸的物体能够自动包络抓取,抓取稳定;与图20的情况相比,图21中的凸块拨盘12转动到了更大的角度,离开限位凸块18更远的距离,第二指段3也转动了与凸块拨盘12的转角相同的角度。 The initial posture by the fourth main gear 10, second gear set 11, a third gear 9 and the bump main dial 12 ,, pulling spring member 12 is deformed, the bump dial 12 had been left limit contact bit bumps 18; 3) in FIG. 21 corresponds to the case of FIG. 15, the present embodiment is completed at this time the contact section refers to two objects one by one adaptive envelope gripping of objects of different shape and size can automatically package network crawl, stable gripping; compared to the case of FIG. 20, the bump 21 in FIG dial 12 is rotated to a greater angle, the distance from the stopper protrusion 18 further, a second finger section 3 is also rotated bump dial the same angle corner 12.

[0061]释放物体17的过程:驱动器14反转,后续过程与上述抓取物体17的过程刚好相反,不再赘述。 Process [0061] The release of the object 17: the drive 14 is reversed, the above-described process of grasping an object with a subsequent process 17 is just the opposite, not repeated.

[0062]本发明装置利用驱动器、不同传动比的多路齿轮传动机构、簧件、凸块拨盘和限位凸块等综合实现了双关节机器人手指平行夹持及自适应抓取的功能,根据目标物体形状和位置的不同,既能平动第二指段捏持物体或外张撑取物体,也能依次转动第一指段和第二指段包络不同形状、大小的物体;该装置抓取范围大;采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统;该装置结构紧凑、体积小,制造和维护成本低,适用于机器人手。 [0062] The present invention is by driving means, a gear transmission mechanism multiplex different transmission ratios, spring member, a dial, and the bump stopper bumps integrated achieve a double articulated robot finger parallel gripper and gripping adaptation function, depending on the shape and position of the target object, the second translation section refers to both grip the object or the object outside the sheets taken hold, it is possible to sequentially rotate the first finger and the second finger section of the envelope section of different body shapes and sizes; the gripping means large range; using underactuated way, with a driver drives two joints, without complex sensing and control system; the apparatus compact structure, small size, low manufacturing and maintenance costs for the robot hand.

Claims (5)

  1. 1.一种并联齿轮传动平夹自适应机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴和驱动器;所述驱动器与基座固接;所述近关节轴的中心线与远关节轴的中心线平行;其特征在于:该并联齿轮传动平夹自适应机器人手指装置还包括传动机构、第一主齿轮、第二主齿轮、第一齿轮组、第三主齿轮、第四主齿轮、第二齿轮组、凸块拨盘、簧件和限位凸块;所述近关节轴活动套设在基座中;所述远关节轴活动套设在第一指段中;所述第一指段套接在近关节轴上;所述第二指段套接在远关节轴上;所述传动机构设置在基座中;所述驱动器的输出轴与传动机构的输入端相连,所述传动机构的输出端与第一主齿轮相连;所述第一主齿轮活动套接在近关节轴上,所述第二主齿轮套接在远关节轴上,第二主齿轮与第二指段固接;所述第一齿轮组安装在第 A parallel gear level adaptive robot finger clip means comprises a base, a first finger section, the second finger section, near the joint shaft, and the distal joint drive shaft; and a drive fixed base; the the center line of distal joint axis parallel to the shaft near the joint; characterized in that: the parallel flat gear clamp means further comprises a robot finger adaptive transmission mechanism, a first main gear, the second main gear, the first gear set, the third main gear, a fourth main gear, the second gear set, dial the bump, the spring member and the stopper protrusion; the proximal shaft sleeved joint in the base; the distal shaft sleeved joint in first means in paragraph; sheathing the first finger section near the joint shaft; refers to the segment of the second joint axis in the socket away; the transmission mechanism is provided in the base; an output shaft of the driver the transmission mechanism is connected to an input terminal, connected to the output of the transmission mechanism and the first main gear; the first main gear shaft activity sleeved near joints, the second main shaft gear sleeved joint in the far , the second main gear and the second finger section fixed; the first gear set mounted on the second 指段中,所述第一齿轮组包括至少一个齿轮或相啮合的多个齿轮,所述第一齿轮组的输入齿轮与第一主齿轮啮合,所述第一齿轮组的输出齿轮与第二主齿轮相啮合;所述第三主齿轮活动套接在近关节轴上;所述第四主齿轮套接在远关节轴上,第四主齿轮与第二指段固接;所述第二齿轮组安装在第一指段中,所述第二齿轮组包括至少一个齿轮或相啮合的多个齿轮,所述第二齿轮组的输入齿轮与第三主齿轮啮合,所述第二齿轮组的输出齿轮与第四主齿轮相啮合;所述凸块拨盘活动套接在近关节轴上,所述凸块拨盘与第三主齿轮固接;所述限位凸块与基座固接;所述凸块拨盘与限位凸块相接触或离开一段距离;设第一指段靠向物体的转动方向为近关节正方向,第一指段远离物体的转动方向为近关节反方向;在该并联齿轮传动平夹自适应机器人手指装置处于初始状 Refers to the section of the first gear set including at least one or more gear meshing gears, the input gear of the first gear set with the first main gear, an output gear of the first gear set and the second main gear engages; activity of the third main gear shaft sleeved near joints; the fourth main gear shaft socket at the distal joint, the fourth main gear and the second finger section fixed; the second a first gear set mounted in the finger section, the second gear set including at least a plurality of gears or gear engaged, an input gear engaging the second gear set with the third main gear, the second gear set the output gear engaged with the fourth main gear; said projection in the juxta-articular socket activity dial shaft, said lug dial fixedly connected with the third main gear; the limiting bump and the solid base connection; dial the bump stopper in contact with a bump or a distance away; disposed toward a first rotational direction refers to an object near the positive direction of the joint section, the first section away from the rotating direction refers to an object near the joint trans direction; adaptive robot finger of the parallel gear means interposed in an initial flat shape 时,凸块拨盘与限位凸块接触,设此时凸块拨盘相对基座的旋转角度为O度,从该位置开始,凸块拨盘朝近关节正方向旋转时的转动角度为正,凸块拨盘朝近关节反方向旋转时的转动角度为负;所述限位凸块限制凸块拨盘的转动角度只能为正;所述簧件的两端分别连接凸块拨盘和基座;通过第一齿轮组的传动,从第一主齿轮到第二主齿轮的传动是同向传动且传动比小于I;通过第二齿轮组的传动,从第三主齿轮到第四主齿轮的传动是同向传动且传动比等于I。 When the bump contact with the dial stopper protrusion, at this time was bumps dial is rotated relative to the base angle is O degrees, starting from this position, the rotation angle of the rotary dial bumps in the positive direction of juxta-articular n, bumps rotational angle of rotation of the dial towards the opposite direction near the joint is negative; the bump stop to limit a rotation angle of the bump dial only be positive; both ends of the spring member are respectively connected to bumps dial and the base plate; a first gear set via a transmission, the transmission from the first primary gear to the second main gear and the transmission gear is in the same direction is less than I; the second gear set via a transmission, from the third to the second main gear four main drive gear and the same gear ratio is equal to I.
  2. 2.如权利要求1所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述驱动器米用电机、气缸或液压缸。 2. The level of the parallel gear as claimed in claim 1, adaptive robot finger clamp means, characterized in that: said drive motor meter, an air cylinder or a hydraulic cylinder.
  3. 3.如权利要求1所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述簧件采用拉簧、压簧、片簧或扭簧。 Parallel flat gear according to claim 1 interposed adaptive robot finger means, wherein: said spring member using the extension spring, compression spring, a leaf spring or a torsion spring.
  4. 4.如权利要求1所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述第一齿轮组包括第一过渡齿轮、第二过渡齿轮、第三过渡齿轮、第一中间轴、第二中间轴和第三中间轴;所述第一中间轴、第二中间轴和第三中间轴分别套设在第一指段中,所述第一过渡齿轮与第一主齿轮啮合,所述第一过渡齿轮与第二过渡齿轮啮合,所述第二过渡齿轮与第三过渡齿轮啮合,所述第三过渡齿轮与第二主齿轮啮合,所述第一过渡齿轮套接在第一中间轴上,所述第二过渡齿轮套接在第二中间轴上,所述第三过渡齿轮套接在第三中间轴上。 4. The level of the parallel gear as claimed in claim 1, adaptive robot finger clamp means, characterized in that: said first gear set includes a first transmission gear, second transmission gear, the third transmission gear, a first countershaft , the second intermediate shaft and the third intermediate shaft; the first intermediate shaft, a second intermediate shaft and the third intermediate shaft are arranged in a first sleeve segment means, the first transmission gear engaging with the first main gear, the first transition and the second transition gear gear, meshes with the third transmission gear of said second transmission gear, the third transmission gear meshes with the second main gear, the first transition of the first gear sleeved the intermediate shaft, the second transmission gear is sleeved on the second countershaft, a third transition gear is sleeved on the third intermediate shaft.
  5. 5.如权利要求1所述的并联齿轮传动平夹自适应机器人手指装置,其特征在于:所述第二齿轮组包括第四过渡齿轮、第五过渡齿轮、第六过渡齿轮、第四中间轴、第五中间轴和第六中间轴;所述第四中间轴、第五中间轴和第六中间轴分别套设在第一指段中,所述第四过渡齿轮与第三主齿轮啮合,所述第四过渡齿轮与第五过渡齿轮啮合,所述第五过渡齿轮与第六过渡齿轮啮合,所述第六过渡齿轮与第四主齿轮啮合,所述第四过渡齿轮套接在第四中间轴上,所述第五过渡齿轮套接在第五中间轴上,所述第六过渡齿轮套接在第六中间轴上。 5. The level of the parallel gear as claimed in claim 1, adaptive robot finger clamp means, wherein: said second gear set includes a fourth transmission gear, the fifth transmission gear, a sixth transmission gear, the fourth countershaft , the sixth and fifth intermediate shaft intermediate shaft; intermediate shaft and the fourth, fifth and sixth countershaft countershaft are disposed in a first sleeve segment means, said fourth transmission gear meshing with the third main gear, the fourth transmission gear meshes with the fifth transmission gear meshes with the fifth transmission gear sixth transmission gear, the sixth transmission gear meshing with the fourth main gear, the fourth gear is sleeved fourth transition the intermediate shaft, a fifth transition fifth countershaft gear sleeved on said sleeved sixth transition sixth intermediate gear shaft.
CN 201610153467 2016-03-17 2016-03-17 Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device CN105583834A (en)

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