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 PDFInfo
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- CN105583834A CN105583834A CN201610153467.9A CN201610153467A CN105583834A CN 105583834 A CN105583834 A CN 105583834A CN 201610153467 A CN201610153467 A CN 201610153467A CN 105583834 A CN105583834 A CN 105583834A
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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 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
Technical field
The invention belongs to robot technical field, particularly the flat folder of a kind of combination gear transmission adaptive robot handThe structural design of 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.
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 flat folder of a kind of combination gear transmission adaptiveAnswer robot finger apparatus. This device has multiple grasp mode, can translation the second segment clamp object, also can successively rotateThe object of the first segment and the second segment self adaptation envelope difformity, size; Crawl scope is large; Without complicated sensing and controlSystem processed.
Technical scheme of the present invention is as follows:
The flat folder of a kind of combination gear transmission adaptive robot finger apparatus of the present invention's design, comprises pedestal, the first fingerSection, the second segment, nearly joint shaft, joint shaft far away and driver; Described driver and pedestal are affixed; The center of described nearly joint shaftLine is parallel with the center line of joint shaft far away; It is characterized in that: the flat folder of this combination gear transmission adaptive robot finger apparatus alsoComprise transmission mechanism, the first master gear, the second master gear, the first gear train, the 3rd master gear, the 4th master gear, the second gearGroup, projection driver plate, spring part and spacing block set; Described nearly joint shaft is movably set in pedestal; Described joint shaft far away is slidingly connectedIn the first segment; Described the first segment is socketed on nearly joint shaft; Described the second segment is socketed on joint shaft far away; Described biographyActuation mechanism is arranged in pedestal; The output shaft of described driver is connected with the input of transmission mechanism, described transmission mechanism defeatedGoing out end is connected with the first master gear; Described the first master gear is actively socketed on nearly joint shaft, and described the second master gear is socketed inOn joint shaft far away, the second master gear and the second segment are affixed; Described the first gear train is arranged in the first segment, described the first toothWheels comprise at least one gear or the multiple gears that are meshed, and the input gear of described the first gear train and the first master gear are nibbledClose, the output gear of described the first gear train is meshed with the second master gear; Described the 3rd master gear is actively socketed on nearly jointOn axle; Described the 4th master gear is socketed on joint shaft far away, and the 4th master gear and the second segment are affixed; Described the second gear train peaceBe contained in the first segment, described the second gear train comprises at least one gear or the multiple gears that are meshed, described the second gearThe input gear of group engages with the 3rd master gear, and the output gear of described the second gear train is meshed with the 4th master gear; DescribedProjection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the 3rd master gear are affixed; Described spacing block set and pedestalAffixed; Described projection driver plate contacts or stands away with spacing block set; If the first segment relies on the rotation direction of objectFor nearly joint positive direction, the first segment is nearly joint opposite direction away from the rotation direction of object; At the flat folder of this combination gear transmissionAdaptive robot finger apparatus is in the time of original state, and projection driver plate contacts with spacing block set, establishes that now projection driver plate is relativeThe anglec of rotation of pedestal is 0 degree, and from this position, rotational angle when projection driver plate rotates towards nearly joint positive direction is being for just,The rotational angle of projection driver plate during towards the opposite spin of nearly joint is for negative; The rotational angle of described spacing block set restriction projection driver plateCan only be for just; The two ends of described spring part connect respectively projection driver plate and pedestal; By the transmission of the first gear train, from the first main toothThe transmission that takes turns to the second master gear is that transmission in the same way and gearratio are less than 1; By the transmission of the second gear train, from the 3rd master gearThat transmission in the same way and gearratio equal 1 to the transmission of the 4th master gear.
The flat folder of combination gear transmission of the present invention adaptive robot finger apparatus, is characterized in that: described drivingDevice adopts motor, cylinder or hydraulic cylinder.
The flat folder of combination gear transmission of the present invention adaptive robot finger apparatus, is characterized in that: described spring partAdopt extension spring, stage clip, sheet spring or torsion spring.
The flat folder of combination gear transmission of the present invention adaptive robot finger apparatus, is characterized in that: described firstGear train comprises First Transition gear, the second transition gear, the 3rd transition gear, the first jackshaft, the second jackshaft and the 3rdJackshaft; Described the first jackshaft, the second jackshaft and the 3rd jackshaft are set in respectively in the first segment, described First TransitionGear engages with the first master gear, and described First Transition gear engages with the second transition gear, described the second transition gear andThree transition gear engagements, described the 3rd transition gear engages with the second master gear, and described First Transition geared sleeve is connected in firstOn countershaft, described the second transition gear is socketed on the second jackshaft, and described the 3rd transition gear is socketed on the 3rd jackshaft.
The flat folder of combination gear transmission of the present invention adaptive robot finger apparatus, is characterized in that: described secondGear train comprises the 4th transition gear, the 5th transition gear, the 6th transition gear, the 4th jackshaft, the 5th jackshaft and the 6thJackshaft; Described the 4th jackshaft, the 5th jackshaft and the 6th jackshaft are set in respectively in the first segment, described the 4th transitionGear engages with the 3rd master gear, and described the 4th transition gear engages with the 5th transition gear, described the 5th transition gear andSix transition gear engagements, described the 6th transition gear engages with the 4th master gear, and described the 4th transition gear is socketed in the 4thOn countershaft, described the 5th transition gear is socketed on the 5th jackshaft, and described the 6th transition gear is socketed on the 6th jackshaft.
The present invention compared with prior art, has the following advantages and high-lighting effect:
Apparatus of the present invention are utilized multiplexed gear transmission mechanism, spring part, the projection driver plate and spacing of driver, different drive ratiosProjections 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 a kind of embodiment vertical of the flat folder of the combination gear transmission that designs of the present invention adaptive robot finger apparatusBody outside drawing.
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 A-A cutaway view of Fig. 2.
Fig. 6 is the B-B cutaway view of Fig. 2.
Fig. 7 is the embodiment illustrated in fig. 1 inside three-dimensional view (not drawing part) of observing from an angle.
Fig. 8 is the embodiment illustrated in fig. 1 inside three-dimensional view (not drawing part) of observing from another angle.
Fig. 9 is that front appearance figure embodiment illustrated in fig. 1 (does not draw before pedestal header board, base-plates surface plate, the first segmentPlate, the first segment surface plate).
Figure 10 is explosive view embodiment illustrated in fig. 1.
Figure 11 to Figure 15 is the course of action schematic diagram that captures object in the mode gripping with envelope embodiment illustrated in fig. 1.
Figure 16 to Figure 18 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 19 to Figure 21 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 21:
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 master gear, 61-First Transition gear, 62-the second transition gear,
63-the 3rd transition gear, 611-the first jackshaft, 621-the second jackshaft, 631-the 3rd jackshaft,
7-the second master gear, 8-the first gear train, 83-bearing, 84-sleeve,
85-screw, 86-pin, 9-the 3rd master gear, 91-the 4th transition gear,
92-the 5th transition gear, 93-the 6th transition gear, 911-the 4th jackshaft, 921-the 5th jackshaft,
931-the 6th jackshaft, 10-the 4th master gear, 11-the second gear train, 12-projection driver plate,
13-spring part, 14-driver (motor), 141-decelerator, 142-the first bevel gear,
143-the second bevel gear, 144-transition gear axle, 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 combination gear transmission adaptive robot finger apparatus of the present invention design, as Fig. 1 extremelyShown in Figure 10, comprise pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, joint shaft 5 far away and driver 14; Described drivingDevice 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 comprises biographyActuation mechanism, the first master gear 6, the second master gear 7, the first gear train 8, the 3rd master gear 9, the 4th master gear 10, the second gearGroup 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 far awayAxle 5 is movably 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 farOn joint shaft 5; Described transmission mechanism is arranged in pedestal 1; The input phase of the output shaft of described driver 14 and transmission mechanismConnect; The output of described transmission mechanism is connected with the first master gear 6; Described the first master gear 6 is actively socketed on nearly joint shaft 4Upper, described the second master gear 7 is socketed on joint shaft 5 far away, and the second master gear 7 and the second segment 3 are affixed; Described the first gear train8 are arranged in the first segment 2, and described the first gear train 8 comprises at least one gear or the multiple gears that are meshed, described firstThe input gear of gear train 8 engages with the first master gear 6, and the output gear of described the first gear train 8 is nibbled mutually with the second master gear 7Close; Described the 3rd master gear 9 is actively socketed on nearly joint shaft 4; Described the 4th master gear 10 is socketed on joint shaft 5 far away, theFour master gears 9 and the second segment 3 are affixed; Described the second gear train 11 is arranged in the first segment 2, and described the second gear train 11 wrapsMultiple gears of drawing together at least one gear or being meshed, the input gear of described the second gear train 11 engages with the 3rd master gear 9,The output gear of described the second gear train 11 is meshed with the 4th master gear 10; Described projection driver plate 12 is actively socketed on nearly jointOn axle 4, described projection driver plate 12 and the 3rd master gear 9 are affixed; Described spacing block set 18 is affixed with pedestal 1; Described projection driver plate12 contact or stand away with spacing block set 18; If the first segment 2 rely on the rotation direction of object 17 be nearly joint justDirection (as the clockwise direction in Figure 11), the first segment 2 is nearly joint opposite direction away from the rotation direction of object 17; At this alsoThe flat folder of connection gear drive adaptive robot finger apparatus when original state (straight configuration as shown in Figure 11, Figure 16),Projection driver plate 12 contacts with spacing block set 18, establishes the anglec of rotation of projection driver plate 12 relative pedestals 1 now for 0 degree is (as Figure 19 instituteShow), from this position, when projection driver plate 12 rotates towards nearly joint positive direction the rotational angle of (being less than 180 degree) for just, projectionDriver plate 12 during towards the opposite spin of nearly joint the rotational angle of (being less than 180 degree) for negative; Described spacing block set 18 limits projection and dialsDish 12 rotational angle can only be for just, and projection driver plate 12 can only be along arrow direction indication rotation as shown in figure 11. DescribedThe two ends of spring part 13 connect respectively projection driver plate 12 and pedestal 1, and spring part 13 makes projection driver plate 12 rely on spacing block set 18; ByThe transmission of one gear train 8, is that transmission in the same way and gearratio are less than 1 from the transmission of the first master gear 6 to second master gears 7, isSpeedup transmission; By the transmission of the second gear train 11, from the 3rd master gear 9 to the transmission of the 4th master gear 10 be transmission in the same way andGearratio equals 1.
The flat folder of combination gear transmission of the present invention adaptive robot finger apparatus, is characterized in that: described drivingDevice 14 adopts motor, cylinder or hydraulic cylinder. Described spring part adopts extension spring, stage clip, sheet spring or torsion spring. In the present embodiment, described in driveMoving device 14 adopts motor; Described spring part 13 adopts extension spring.
In the present embodiment, described the first gear train 8 comprises First Transition gear 61, the second transition gear 62, the 3rd transitionGear 63, the first jackshaft 611, the second jackshaft 621 and the 3rd jackshaft 631; Described the first jackshaft 611, the second centreAxle 621 and the 3rd jackshaft 631 are set in respectively in the first segment 2, and described First Transition gear 61 and the first master gear 6 are nibbledClose, described First Transition gear 61 engages with the second transition gear 62, described the second transition gear 62 and the 3rd transition gear 63Engagement, described the 3rd transition gear 63 engages with the second master gear 7, and described First Transition gear 61 is socketed in the first jackshaftOn 611, described the second transition gear 62 is socketed on the second jackshaft 621, and described the 3rd transition gear 63 is socketed in the 3rdOn countershaft 631.
In the present embodiment, described the second gear train 11 comprises the 4th transition gear 94, the 5th transition gear 95, the 6th transitionGear 96, the 4th jackshaft 941, the 5th jackshaft 951 and the 6th jackshaft 961; Described the 4th jackshaft 941, the 5th centreAxle 951 and the 6th jackshaft 961 are set in respectively in the first segment 2, and described the 4th transition gear 94 and the 3rd master gear 9 are nibbledClose, described the 4th transition gear 94 engages with the 5th transition gear 95, described the 5th transition gear 95 and the 6th transition gear 96Engagement, described the 6th transition gear 96 engages with the 4th master gear 10, and described the 4th transition gear 94 is socketed in the 4th jackshaftOn 941, described the 5th transition gear 95 is socketed on the 5th jackshaft 951, and described the 6th transition gear 96 is socketed in the 6thOn countershaft 961.
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, transitionGear shaft 144, the first belt wheel 145, the second belt wheel 146 and driving-belt 147; The output shaft of described motor 14 and decelerator 141Power shaft 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 inOn transition gear axle 144, described the first bevel gear 142 engages with the second bevel gear 143; Described transition gear axle 144 is set inIn pedestal 1, described the first belt wheel 145 is fixed on transition gear axle 144, and described the second belt wheel 146 is actively socketed on nearly jointOn axle 4, described the second belt wheel 146 and the first master gear 6 are affixed, and described driving-belt 147 connects the first belt wheel 145 and the second belt wheel146, described driving-belt 147, the first belt wheel 145 and the second belt wheel 146 form belt wheel transmission relation, and described driving-belt is " O " wordShape.
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, 11 to Figure 21 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 11) 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 19), due to projection driver plate 12 and the 3rd main toothTake turns 9 affixed, so the invariant position of the 3rd master gear 9 relative pedestals 1, due to from the 3rd master gear 9 to second gear trains 11 againBe 1 to the gearratio of the 4th master gear 10, in the time that the first segment 2 is rotated, the 4th master gear 10 is followed the 3rd master gear 9 all the time,Keeping identical angular pose with respect to pedestal 1, under the effect of the second gear train 11, when the 3rd master gear 9 is when motionless,The relative pedestal 1 of four master gears 10 can rotational angle yet, only carries out translational motion, due to the 4th master gear 10 and the second segment 3Affixed, 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 is timing, under the effect of the second gear train 11, the 4th master gear 10The anglec of rotation equals the corner of the 3rd master gear 9, equals the corner 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 master gear 6Turn, the corner of the first master gear 6 relative pedestals 1 is α. Under the effect of the first gear train 8, relative the first finger of the first master gear 6The corner of section 2 has a certain proportion of relation with the corner of relative the first segment 2 of the second master gear 7. If pass through from the first master gear 6The gearratio that the first gear train 8 is transferred to the second master gear 7 is i, and this gearratio is that the rotating speed of the first master gear 6 is (with respect toOne segment 2) with the ratio of the rotating speed (with respect to the first segment 2) of the second master gear 7. Due to gearratio, i is less than 1, is therefore speedupTransmission, output speed is greater than input speed. If the first segment 2 is δ around the corner of nearly joint shaft 4. Due to the second master gear 7 andTwo segments 3 are affixed, and the second segment 3 does not rotate with respect to pedestal 1, therefore now the second master gear 7 also just with respect toPedestal 1 does not rotate, and show that the present embodiment device will be equilibrated at the position that meets following (formula 1) so can derive:
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 master gear 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 (as Figure 11, Figure 12, Figure 13, Figure 16, Figure 17, Figure 18, Figure 19, Figure 21) of row clamping. This one-phase is applicable to the second fingerSection 3 de-clamping objects 17, or mode by outer is opened outward to support by the mode that the second segment 3 goes from inside to outside to open and is got object17. For example taking of a hollow cylindrical tube, outwards opens and props up barrel from the inner side of this object, 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 14, Figure 15 and Figure 20), at this moment driver 14, by the transmission of transmission mechanism, drives the first master gear 6, makesThe second segment 3, the second master gear 7 and the 4th master gear 10 the being fixed together joint shaft 5 of simultaneously going the long way round rotates, by the second toothWheels 11 drive the 3rd master gear 9 and projection driver plate 12 to rotate around nearly joint shaft 4, and spring part 13 deforms (as Figure 13, Tu19SuoShow), now can the go the long way round center line of joint shaft 5 of the second segment 3 is rotated further, until the second segment 3 contacts object 17, completeBecome self adaptation envelope to capture the effect of object. For the object of difformity, size, the present embodiment has adaptivity, canCapture multiple object.
Figure 11 to Figure 15 is the course of action schematic diagram that the mode gripping with envelope embodiment illustrated in fig. 1 captures object 17,Wherein, Figure 11 is original state, and Figure 11 to Figure 13 is that the first segment 2 touches object 17 course of action---parallel opening beforeThe mode of closing is moved, and Figure 13 is that the first segment 2 rigidly connects the situation that contacts object, and Figure 13 to Figure 15 is that the first segment 2 touches objectCourse of action---self adaptation envelope object after 17, until the second segment 3 contacts object, as shown in figure 15, captures and finishes.
Figure 16 to Figure 18 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 18, captures and finishes.
Figure 19 to Figure 21 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 and the relative position of spacing block set 18: 1) shown in Figure 19Situation while being Figure 11, Figure 12, Figure 13, Figure 16, Figure 17 and Figure 18 situation, the situation of projection driver plate, now the present embodimentBe in initial position or only bending the first segment, spring part 13 makes projection driver plate 12 contact with spacing block set 18, the second fingerSection 3 for example, in the fixed pose with respect to pedestal 1 (the vertical initial attitude in the present embodiment), and this situation continues alwaysCapture and finish to the clamping of Figure 18, or last till that the envelope of Figure 13 captures beginning; 2) Figure 20 is corresponding to the situation of Figure 14, nowFirst segment 2 of the present embodiment has touched object 17 and has been blocked and can not moves, under the driving effect of driver 14, logicalCross the transmission of transmission mechanism, the first master gear 6, the first gear train 8 and the second master gear 7, the second segment 3 joint shaft of having gone the long way round5 rotate angles (rotating with respect to pedestal 1), and the second segment 3 has no longer kept original vertical initial attitude, by theFour master gears 10, the second gear train 11, the 3rd master gear 9 and projection driver plate 12,, pull spring part 12 that distortion has occurred, projection is dialledDish 12 has left the spacing block set 18 being originally permanently connected to; 3) Figure 21 is corresponding to the situation of Figure 15, now the present embodiment complete rightThe contact of two segments of object---realize self adaptation envelope capture, to the object of difformity size automatically envelope grabGet, capture stable; Compared with the situation of Figure 20, the projection driver plate 12 in Figure 21 has turned to larger angle, leaves limit convexThe distance that piece 18 is farther, the second segment 3 has also been rotated the angle identical with the corner of projection driver plate 12.
Discharge the process of object 17: driver 14 reverses, and subsequent process is just contrary with the process of above-mentioned crawl object 17,Repeat no more.
Apparatus of the present invention are utilized multiplexed gear transmission mechanism, spring part, the projection driver plate and spacing of driver, different drive ratiosProjections 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 (5)
1. the flat folder of a combination gear transmission adaptive robot finger apparatus, comprises pedestal, the first segment, the second segment, nearJoint shaft, joint shaft far away and driver; Described driver and pedestal are affixed; The center line of described nearly joint shaft and joint shaft far awayCenter line is parallel; It is characterized in that: the flat folder of this combination gear transmission adaptive robot finger apparatus also comprises transmission mechanism, theOne master gear, the second master gear, the first gear train, the 3rd master gear, the 4th master gear, the second gear train, projection driver plate, spring partAnd spacing block set; Described nearly joint shaft is movably set in pedestal; Described joint shaft far away is movably set in the first segment; DescribedThe first segment is socketed on nearly joint shaft; Described the second segment is socketed on joint shaft far away; Described transmission mechanism is arranged on pedestalIn; The output shaft of described driver is connected with the input of transmission mechanism, the output of described transmission mechanism and the first master gearBe connected; Described the first master gear is actively socketed on nearly joint shaft, and described the second master gear is socketed on joint shaft far away, and second is mainGear and the second segment are affixed; Described the first gear train is arranged in the first segment, and described the first gear train comprises at least oneGear or the multiple gears that are meshed, the input gear of described the first gear train engages with the first master gear, described the first gearThe output gear of group is meshed with the second master gear; Described the 3rd master gear is actively socketed on nearly joint shaft; The described the 4th is mainGeared sleeve is connected on joint shaft far away, and the 4th master gear and the second segment are affixed; Described the second gear train is arranged in the first segment,Described the second gear train comprises at least one gear or the multiple gears that are meshed, the input gear of described the second gear train andThree master gear engagements, the output gear of described the second gear train is meshed with the 4th master gear; Described projection driver plate pivot bush unitOn nearly joint shaft, described projection driver plate and the 3rd master gear are affixed; Described spacing block set and pedestal are affixed; Described projection driver plateContact or stand away with spacing block set; If it is nearly joint positive direction that the first segment relies on the rotation direction of object, theOne segment is nearly joint opposite direction away from the rotation direction of object; At the flat folder of this combination gear transmission adaptive robot finger dressPut in the time of original state, projection driver plate contacts with spacing block set, and establishing the now anglec of rotation of the relative pedestal of projection driver plate is 0Degree, from this position, rotational angle when projection driver plate rotates towards nearly joint positive direction is for just, and projection driver plate is anti-towards nearly jointRotational angle when direction rotation is for negative; The rotational angle of described spacing block set restriction projection driver plate can only be for just; Described spring partTwo ends connect respectively projection driver plate and pedestal; By the transmission of the first gear train, from the first master gear to the second master gearTransmission is that transmission in the same way and gearratio are less than 1; By the transmission of the second gear train, from the biography of the 3rd master gear to the four master gearsMoving is that transmission in the same way and gearratio equal 1.
2. the flat folder of combination gear transmission as claimed in claim 1 adaptive robot finger apparatus, is characterized in that: described in driveMoving device adopts motor, cylinder or hydraulic cylinder.
3. the flat folder of combination gear transmission as claimed in claim 1 adaptive robot finger apparatus, is characterized in that: described springPart adopts extension spring, stage clip, sheet spring or torsion spring.
4. the flat folder of combination gear transmission as claimed in claim 1 adaptive robot finger apparatus, is characterized in that: described theOne gear train comprises First Transition gear, the second transition gear, the 3rd transition gear, the first jackshaft, the second jackshaft andThree jackshafts; Described the first jackshaft, the second jackshaft and the 3rd jackshaft are set in respectively in the first segment, described the first mistakeCross gear and engage with the first master gear, described First Transition gear engages with the second transition gear, described the second transition gear withThe 3rd transition gear engagement, described the 3rd transition gear engages with the second master gear, and described First Transition geared sleeve is connected on firstOn jackshaft, described the second transition gear is socketed on the second jackshaft, and described the 3rd transition gear is socketed in the 3rd jackshaftOn.
5. the flat folder of combination gear transmission as claimed in claim 1 adaptive robot finger apparatus, is characterized in that: described theTwo gear trains comprise the 4th transition gear, the 5th transition gear, the 6th transition gear, the 4th jackshaft, the 5th jackshaft andSix jackshafts; Described the 4th jackshaft, the 5th jackshaft and the 6th jackshaft are set in respectively in the first segment, described the 4th mistakeCross gear and engage with the 3rd master gear, described the 4th transition gear engages with the 5th transition gear, described the 5th transition gear withThe 6th transition gear engagement, described the 6th transition gear engages with the 4th master gear, and described the 4th transition gear is socketed in the 4thOn jackshaft, described the 5th transition gear is socketed on the 5th jackshaft, and described the 6th transition gear is socketed in the 6th jackshaftOn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153467.9A CN105583834A (en) | 2016-03-17 | 2016-03-17 | Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153467.9A CN105583834A (en) | 2016-03-17 | 2016-03-17 | Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105583834A true CN105583834A (en) | 2016-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610153467.9A Pending CN105583834A (en) | 2016-03-17 | 2016-03-17 | Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device |
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| CN (1) | CN105583834A (en) |
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| CN106113071A (en) * | 2016-08-08 | 2016-11-16 | 清华大学 | Motor is put five gear coupling adaptive robot finger apparatus |
| CN108189054A (en) * | 2017-11-22 | 2018-06-22 | 清华大学 | Single channel transmission integral type, which is put down, pinches adaptive robot finger apparatus |
| CN111761599A (en) * | 2020-07-03 | 2020-10-13 | 内蒙古工业大学 | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device |
| CN112720554A (en) * | 2020-12-21 | 2021-04-30 | 哈尔滨工业大学 | Dexterous hand finger and manipulator of robot |
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