CN105583835B - The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece - Google Patents
The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece Download PDFInfo
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- CN105583835B CN105583835B CN201610153790.6A CN201610153790A CN105583835B CN 105583835 B CN105583835 B CN 105583835B CN 201610153790 A CN201610153790 A CN 201610153790A CN 105583835 B CN105583835 B CN 105583835B
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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 connecting rod closed loop flexible piece, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, three drive links, two drives, flexible drive parts, projection driver plate, spring part and spacing block set etc..The device utilizes driver, jointed gear unit, closed loop flexible piece transmission mechanism, spring part, projection driver plate and the comprehensive function of realizing parallel clamping and self-adapting grasping such as spacing block set, 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 folder adaptive robot of more particularly to a kind of connecting rod closed loop flexible piece
The structure design of finger apparatus.
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.
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 is typically using the parallel method of clamping in end, it is difficult to which there is envelope to grip work(
Can, it is impossible to adapt to the stable envelope crawl of various shapes object；Adaptive under-actuated finger can use adaptive envelope object
Mode grip, but can not implement end it is parallel clamping crawl, for example, a kind of existing under-actuated two-articulated robot finger
Device (Chinese invention patent CN101234489A), including the transmission of pedestal, motor, middle part segment, end segment peace belt wheel
Mechanism etc..The arrangement achieves the special-effect that doublejointed under-actuated finger bends crawl object, there is adaptivity.This owes to drive
The weak point of dynamic mechanical finger device with functions is：Straight configuration is presented in finger all the time before object is not touched, and Grasp Modes are mainly
Holding mode, difficulty realize the parallel clamping crawl effect in preferable end.
The content of the invention
The invention aims to overcome the weak point of prior art, there is provided a kind of flat folder of connecting rod closed loop flexible piece is certainly
Adapt to robot finger apparatus.The device has a variety of grasp modes, can the segment of translation second clamping object, also can successively turn
The object of dynamic first segment and the adaptive envelope different shapes and sizes of the second segment；It is big to capture scope；Without complicated sensing and
Control system.
Technical scheme is as follows：
The flat folder adaptive robot finger apparatus of a kind of connecting rod closed loop flexible piece 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；In the nearly joint shaft
The centerline parallel of heart line and remote joint shaft；It is characterized in that：The flat folder adaptive robot finger dress of the connecting rod closed loop flexible piece
Putting also includes transmission mechanism, the first drive link, the second drive link, the 3rd drive link, the first bar axle, the second bar axle, the first transmission
Wheel, the second drive, flexible drive parts, projection driver plate, spring part and spacing block set；The nearly joint shaft is movably set in pedestal
In；The remote joint shaft is movably set in the first segment；First segment is socketed on nearly joint shaft；Second segment
It is socketed on remote joint shaft；The transmission mechanism is arranged in pedestal；The input of the output shaft and transmission mechanism of the driver
End is connected, and the output end of the transmission mechanism is connected with the first drive link；First drive link is actively socketed on nearly joint shaft
On, second drive link is socketed on remote joint shaft, and the second drive link and the second segment are affixed；First rod sleeve is located at
On first drive link, one end of the 3rd drive link is socketed on the first bar axle, and the other end of the 3rd drive link is socketed in
On two bar axles, second rod sleeve is located on the second drive link；First drive link, the 3rd drive link, the second drive link
Inequilateral " mouth " font quadric chain is formed with the first segment, the length of connecting rod of first drive link is more than the second drive link
Length of connecting rod；First drive is actively socketed on nearly joint shaft；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 transmission of first drive
Radius is equal with the transmission radius of the second drive；The projection driver plate and the first drive are affixed；The projection driver plate activity
It is socketed on nearly joint shaft；The spacing block set and pedestal are affixed；The projection driver plate is in contact or left one with spacing block set
Segment distance；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
For nearly joint opposite direction；When the flat folder adaptive robot finger apparatus of the connecting rod closed loop flexible piece 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 flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece of the present invention, it is characterised in that：The drive
Dynamic device uses motor, cylinder or hydraulic cylinder.
The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece of the present invention, it is characterised in that：The spring
Part uses extension spring, stage clip, leaf spring or torsion spring
The present invention compared with prior art, has advantages below and high-lighting effect：
Apparatus of the present invention using driver, jointed gear unit, closed loop flexible piece transmission mechanism, spring part, projection driver plate and
The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as spacing block set, according to the object bodily form
Shape and the difference of position, can translation the second segment grip object or outside support take object, can also rotate successively the first segment and
The object of second segment envelope different shapes and sizes；Device crawl scope is big；By the way of drive lacking, a drive is utilized
Dynamic device drives two joints, sensing and control system without complexity；The apparatus structure is compact, small volume, manufacture and safeguard into
This is low, suitable for robot.
Brief description of the drawings
Fig. 1 is a kind of embodiment for the flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece that the present invention designs
Stereo appearance figure.
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 Fig. 2 A-A sectional views.
Fig. 6 is Fig. 2 B-B sectional views.
Fig. 7 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 8 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.
Fig. 9 is the front appearance figure of embodiment illustrated in fig. 1 (before being not drawn into pedestal foreboard, base-plates surface plate, the first segment
Plate, the first segment surface plate).
Figure 10 is the explosive view of embodiment illustrated in fig. 1.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object in a manner of being gripped by envelope.
Figure 16 to Figure 18 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 19 to Figure 21 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 21：
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 drive links of 6- first, 61- the first bar axles, 62- the second bar axles,
The drive links of 7- second, the drive links of 8- the 3rd, 83- bearings, 84- sleeves,
85- screws, 86- pins, the drives of 9- first, the drives of 10- second,
11- flexible drive parts, 12- projection driver plates, 13- spring parts, 14- drivers (motor),
141- decelerators, 142- first bevel gears, 143- second bevel gears, 144- transition gear axles,
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 connecting rod closed loop flexible piece that the present invention designs, such as Fig. 1
Shown in Figure 10, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14；The drive
Dynamic device 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 includes
Transmission mechanism, the first drive link 6, the second drive link 7, the 3rd drive link 8, the first bar axle 61, the second bar axle 62, the first drive
9th, the second drive 10, flexible drive parts 11, projection driver plate 12, spring part 13 and spacing block set 18；The nearly movable sleeve of joint shaft 4
It is located in pedestal 1；The remote joint shaft 5 is movably set in the first segment 2；First segment 2 is fixed in nearly joint shaft 4
On；Second segment 3 is fixed on remote joint shaft 5；The transmission mechanism is arranged in pedestal 1；The driver 14 it is defeated
Shaft is connected with the input of transmission mechanism；The output end of the transmission mechanism is connected with the first drive link 6；Described first passes
Lever 6 is actively socketed on nearly joint shaft 4, and second drive link 7 is socketed on remote joint shaft 5, the second drive link 7 and
Two segments 3 are affixed；The first bar axle 61 is set on the first drive link 6, and one end of the 3rd drive link 8 is socketed in first
On bar axle 61, the other end of the 3rd drive link 8 is socketed on the second bar axle 62, and the second bar axle 62 is set in the second transmission
On bar 7；First drive link 6, the 3rd drive link 8, the second drive link 7 and the first segment 2 form inequilateral " mouth " font four
Linkage, the length of connecting rod of first drive link 6 are more than the length of connecting rod of the second drive link 7, in this way, so that；
First drive link 6, the 3rd drive link 8, the second drive link 7 and the first segment 2 are formed in quadric chain, relative to first
Segment 2, the transmission from first the 6 to the second drive link of drive link 7 are step-up drives, and the first drive link 6 is relative to the first segment 2
Small-angle Rotation can bring the second drive link 7 to be driven relative to the wide-angle of the first segment 2.
In the present embodiment, first drive 9 is actively socketed on nearly joint shaft 4；Second drive 10 is socketed
On remote joint shaft 5, the second drive 10 and the second segment 3 are affixed；The flexible drive parts 11 are using transmission belt, tendon rope or chain
Bar, first drive 9 is using belt wheel, rope sheave or sprocket wheel, and second drive 10 is using belt wheel, rope sheave or sprocket wheel, institute
State flexible drive parts 11 and connect the first drive 9 and the second drive 10, the flexible drive parts 11, the first drive 9 and the
Belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation are cooperatively formed between the three of two drive 10；The flexible biography
Moving part 11 forms " O " font；The transmission radius of first drive 9 is equal with the transmission radius of the second drive 10；So set
Put so that：By the transmission of flexible drive parts 11, the transmission from first the 9 to the second drive of drive 10 be co-rotating transmission and
Gearratio is equal to 1.The projection driver plate 12 and the first drive 9 are affixed.
In the present embodiment, the projection driver plate 12 is actively socketed on nearly joint shaft 4；The spacing block set 18 and pedestal 1
It is affixed；The projection driver plate 12 is in contact or stood away with spacing block set 18；If the first segment 2 is close to turning for object 17
Dynamic direction is nearly joint positive direction (clockwise direction in such as Figure 11), and the first rotation direction of the segment 2 away from object 17 is near
Joint opposite direction；Original state (such as Figure 11, Figure 16 are in the flat folder adaptive robot finger apparatus of the connecting rod closed loop flexible piece
Shown straight configuration) when, projection driver plate 12 contacts with spacing block set 18, if the now rotation of the opposite base 1 of projection driver plate 12
Angle is 0 degree (as shown in figure 19), since the position, projection driver plate 12 towards nearly joint positive direction rotate when rotational angle be
Just, projection driver plate 12 towards nearly joint opposite direction rotate when rotational angle be negative；The spacing block set 18 limits projection driver plate 12
Rotational angle be only just, i.e., projection driver plate 12 can only rotate along arrow direction indication as shown in figure 11.The spring part
13 both ends connect projection driver plate 12 and pedestal 1 respectively, and spring part 13 makes projection driver plate 12 be close to spacing block set 18.
The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece of the present invention, it is characterised in that：The drive
Dynamic device 14 is using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 14 uses motor.
The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece of the present invention, it is characterised in that：The spring
Part uses extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, the spring part 13 uses extension spring.
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
Gear shaft 144, first pulley 145, the second belt wheel 146 and transmission belt 147；The output shaft of the motor 14 and decelerator 141
Input shaft 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
In transition gear axle 144, the first bevel gear 142 engages with second bevel gear 143；The transition gear axle 144 is set in
In pedestal 1, the first pulley 145 is fixed in transition gear axle 144, and second belt wheel 146 is actively socketed on nearly joint
On axle 4, second belt wheel 146 and the first drive link 6 are affixed, and the transmission belt 147 connects the belt wheel of first pulley 145 and second
146, the transmission belt 147, the belt wheel 146 of first pulley 145 and second form belt wheel transmission relation, and the transmission belt is in " O " word
Shape.
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 11 to Figure 21, 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 11) that finger stretches.(can also be by initial bit
Install and be set to other positions.)
A) when the anglec of rotation of projection driver plate 12 is 0 degree (as shown in figure 19), now spring part 13 hauls projection driver plate 12
Against on spacing block set 18, when the first segment 2 rotates around the center line of nearly joint shaft 4, make in flexible drive parts 11
Under, the second segment 3 still can be maintained at initial posture, and reason is：Because projection driver plate 12 and the first drive 9 are affixed,
Due to the transmission by flexible drive parts 11, the transmission from first the 9 to the second drive of drive 10 is co-rotating transmission and transmission
Than equal to 1, so the opposite base 1 of the second drive 10 only carries out translational motion without rotating, due to the second drive 10
It is affixed with the second segment 3, so 3 opposite base of the second segment 1 carries out translational motion without rotating, remain original
Posture.
B) when the anglec of rotation of projection driver plate 12 is timing, in the presence of flexible drive parts 11, the phase of the second drive 10
It is equal to the first drive 9 relative to the first segment 2 for the anglec of rotation (i.e. the anglec of rotation of the second segment 3) of the first segment 2
The anglec of rotation, 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 link 6 is just
Turn, the corner of the opposite base 1 of the first drive link 6 is α.In the presence of the 3rd drive link 8, the first drive link 6 relative first refers to
The corner of 7 relative first segment 2 of the corner of section 2 and the second drive link has a certain proportion of relation.It is if logical from the first drive link 6
It is i to cross the 3rd drive link 8 and be transferred to the gearratio of the second drive link 7, the gearratio be the first drive link 6 rotating speed (relative to
The ratio between first segment 2) with the rotating speed (relative to the first segment 2) of the second drive link 7, due to the length of connecting rod of the first drive link 6
More than the length of connecting rod of the second drive link, gearratio i is less than 1, is step-up drive, output speed is more than input speed.If first
Segment 2 is δ around the corner of nearly joint shaft 4.Because the second drive link 7 and the second segment 3 are affixed, and the second segment 3 is relative to base
Seat 1 does not rotate, therefore now the second drive link 7 does not also rotate with respect to pedestal 1, can then derive
The position for meeting following (formula 1) will be equilibrated at by going out the present embodiment device：
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 link 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 (such as Figure 11, Figure 12, Figure 13, Figure 16, Figure 17, Figure 18, Figure 19, Figure 21) of row clamping.This stage is adapted to refer to second
3 de-clamping objects 17 of section, or a support takes object outside the mode for going to open from inside to outside with the second segment 3 by way of opening outside
17.Such as hollow cylindrical tube is taken, and is flared out propping up barrel on the inside of the object, 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 14, Figure 15 and Figure 20), at this moment driver 14 first drive link 6 is driven by the transmission of transmission mechanism,
Make the second segment 3, the second drive link 7 and the second drive 10 while joint shaft 5 of going the long way round rotates, pass through the band of flexible drive parts 11
Dynamic first drive 9 and projection driver plate 12 rotate around nearly joint shaft 4, and spring part 13 deforms (as shown in Figure 13, Figure 19), now
Can the go the long way round center line of joint shaft 5 of second segment 3 is rotated further, and untill the second segment 3 contacts object 17, is completed adaptive
Envelope captures the effect of object.For the object of different shapes and sizes, the present embodiment has adaptivity, can capture a variety of
Object.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object 17 in a manner of envelope grips,
Wherein, Figure 11 is original state, and Figure 11 to Figure 13 is the action process before the first segment 2 touches object 17 --- it is parallel to open
Conjunction mode acts, and Figure 13 is the situation that the rigid connection of the first segment 2 contacts object, and Figure 13 to Figure 15 is that the first segment 2 touches object
Action process after 17 --- adaptive envelope object, until the second segment 3 contacts object, as shown in figure 15, crawl terminates.
Figure 16 to Figure 18 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 18, crawl terminates.
Figure 19 to Figure 21 is the action process that embodiment illustrated in fig. 1 captures object with parallel folding and adaptive envelope successively
In several key positions, show the situation of change of the relative position of projection driver plate 12 and spacing block set 18：1) shown in Figure 19
Situation be Figure 11, Figure 12, Figure 13, Figure 16, Figure 17 and Figure 18 projection driver plate situation, now the present embodiment be in just
Beginning or has only bent the first segment at position, and spring part 13 makes projection driver plate 12 be in contact with spacing block set 18, at the second segment 3
In the fixed pose (such as vertical initial attitude in the present embodiment) relative to pedestal 1, such case is continued until figure
18 clamping crawl terminates, or continues to that Figure 13 envelope crawl starts；2) Figure 20 corresponds to Figure 14 situation, now originally
First segment 2 of embodiment has touched object 17 and has been blocked from moving, and under the driving effect of driver 14, passes through
The transmission of transmission mechanism, the first drive link 6, the 3rd drive link 8 and the second drive link 7, the second segment 3 have been gone the long way round joint shaft 5
An angle (being rotated relative to pedestal 1) is rotated, the second segment 3 no longer keeps original vertical initial attitude, by the
Two drives 10, flexible drive parts 11, the first drive 9 and projection driver plate 12, spring part 13 is pulled to be deformed, projection driver plate
12 have left the spacing block set 18 being permanently connected to originally；3) Figure 21 corresponds to the situation of Figure 15 projection driver plate, now originally
Embodiment completes the contact to two segments of object --- realize that adaptive envelope captures, to the object energy of different shape size
Enough automatic envelope crawls, grasping stability；Compared with Figure 20 situation, the projection driver plate 12 in Figure 21 is rotated to bigger angle
Degree, leaves the farther distance of spacing block set 18, the second segment 3 also have rotated the corner identical angle with projection driver plate 12.
Discharge the process of object 17：Driver 14 inverts, the process of subsequent process and above-mentioned crawl object 17 just on the contrary,
Repeat no more.
Apparatus of the present invention using driver, jointed gear unit, closed loop flexible piece transmission mechanism, spring part, projection driver plate and
The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as spacing block set, according to the object bodily form
Shape and the difference of position, can translation the second segment grip object or outside support take object, can also rotate successively the first segment and
The object of second segment envelope different shapes and sizes；Device crawl scope is big；By the way of drive lacking, a drive is utilized
Dynamic device drives two joints, sensing and control system without complexity；The apparatus structure is compact, small volume, manufacture and safeguard into
This is low, suitable for robot.
Claims (3)
1. a kind of flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece, including pedestal, the first segment, the second segment,
Nearly joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The center line and remote joint shaft of the nearly joint shaft
Centerline parallel；It is characterized in that：The flat folder adaptive robot finger apparatus of the connecting rod closed loop flexible piece also includes driver
Structure, the first drive link, the second drive link, the 3rd drive link, the first bar axle, the second bar axle, the first drive, the second drive,
Flexible drive parts, projection driver plate, spring part and spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft
It is movably set in the first segment；First segment is socketed on nearly joint shaft；Second segment is socketed in remote joint shaft
On；The transmission mechanism is arranged in pedestal；The output shaft of the driver is connected with the input of transmission mechanism, the transmission
The output end of mechanism is connected with the first drive link；First drive link is actively socketed on nearly joint shaft, second transmission
Rod set is connected on remote joint shaft, and the second drive link and the second segment are affixed；First rod sleeve is located on the first drive link, institute
The one end for stating the 3rd drive link is socketed on the first bar axle, and the other end of the 3rd drive link is socketed on the second bar axle, and described
Two rod sleeves are located on the second drive link；First drive link, the 3rd drive link, the second drive link and the first segment are formed not
Equilateral " mouth " font quadric chain, the length of connecting rod of first drive link are more than the length of connecting rod of the second drive link；It is described
First drive is actively socketed on nearly joint shaft；Second driving wheel tube is connected on remote joint shaft, the second drive and
Two segments are affixed；The flexible drive parts use transmission belt, tendon rope or chain, first drive using belt wheel, rope sheave or
Sprocket wheel, second drive use belt wheel, rope sheave or sprocket wheel, and the flexible drive parts connect the first drive and the second transmission
Wheel, belt wheel transmission relation, rope sheave transmission are cooperatively formed between the flexible drive parts, the first drive and the second drive three
Relation or chain gear transmission relation；The flexible drive parts form " O " font；The transmission radius of first drive and the second drive
Transmission radius it is equal；The projection driver plate and the first drive are affixed；The projection driver plate is actively socketed on nearly joint shaft；
The spacing block set and pedestal are affixed；The projection driver plate is in contact or stood away with spacing block set；If the first segment
The rotation direction for being close to object is nearly joint positive direction, and rotation direction of first segment away from object is nearly joint opposite direction；
When the flat folder adaptive robot finger apparatus of the connecting rod closed loop flexible piece 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.
2. the flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece as claimed in claim 1, it is characterised in that：It is described
Driver uses motor, cylinder or hydraulic cylinder.
3. the flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece as claimed in claim 1, it is characterised in that：It is described
Spring part uses extension spring, stage clip, leaf spring or torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153790.6A CN105583835B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153790.6A CN105583835B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece |
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| Publication Number | Publication Date |
|---|---|
| CN105583835A CN105583835A (en) | 2016-05-18 |
| CN105583835B true CN105583835B (en) | 2017-11-28 |
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|---|---|---|---|
| CN201610153790.6A Expired - Fee Related CN105583835B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965529B (en) * | 2016-05-19 | 2018-04-10 | 清华大学 | Eccentric wheel oscillating rod chute-type coupling adaptive robot finger apparatus |
| CN105881565B (en) * | 2016-05-23 | 2018-02-02 | 清华大学 | The flat folder adaptive robot finger apparatus of double leval jib |
| CN106078781B (en) * | 2016-08-05 | 2018-11-30 | 广州市轻工职业学校 | The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line |
| CN106272496B (en) * | 2016-08-31 | 2018-10-02 | 清华大学 | The flat adaptive finger apparatus of folder of belt wheel link linear in parallel |
| CN106346508B (en) * | 2016-08-31 | 2019-01-18 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of double leval jib driving wheel straight line |
| CN110103249B (en) * | 2019-05-31 | 2022-01-25 | 广西大学 | Self-adaptive soft-body-imitating robot gripper |
| CN110103250B (en) * | 2019-05-31 | 2022-02-22 | 广西大学 | Self-adaptive multi-knuckle unit manipulator |
| CN111015700A (en) * | 2019-12-11 | 2020-04-17 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Perception triggering zero-delay transmission parallel-clamping self-adaptive robot finger device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8627628D0 (en) * | 1986-11-19 | 1986-12-17 | Secr Defence | Gripping devices |
| JP3245095B2 (en) * | 1997-08-07 | 2002-01-07 | 川▲崎▼ 晴久 | Robot hand |
| JP2003089087A (en) * | 2001-09-17 | 2003-03-25 | Mitsubishi Heavy Ind Ltd | Wire driving articulated manipulator |
| CN1292719C (en) * | 2004-02-11 | 2007-01-03 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
| CN103846922B (en) * | 2013-11-27 | 2016-02-24 | 清华大学 | Tooth bar non-return self adaptation under-actuated robot finger device |
| CN105150231B (en) * | 2015-09-08 | 2021-02-26 | 清华大学 | Seven-connecting-rod parallel-connection pinching-holding composite self-adaptive robot finger device |
| 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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2016
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