CN105583840B - The flat folder adaptive robot finger apparatus of gear flexible part transmission - Google Patents
The flat folder adaptive robot finger apparatus of gear flexible part transmission Download PDFInfo
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- CN105583840B CN105583840B CN201610153921.0A CN201610153921A CN105583840B CN 105583840 B CN105583840 B CN 105583840B CN 201610153921 A CN201610153921 A CN 201610153921A CN 105583840 B CN105583840 B CN 105583840B
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- gear
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- flexible
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The flat folder adaptive robot finger apparatus of gear flexible part transmission, belongs to robot technical field, including pedestal, two segments, two joint shafts, driver, flexible drive parts, drive, gear, projection driver plate, two spring parts and spacing block set etc..The device is using driver, flexible piece transmission mechanism, gear drive, two spring parts, projection driver plate and spacing block set etc. is comprehensive realizes the function of parallel clamping and self-adapting grasping, according to target object shape and the difference of position, can translation the second segment grip object or outer prop up, the object of the first segment and the second segment envelope different shapes and sizes can be also rotated successively；Device crawl scope is big；By the way of drive lacking, two joints are driven using a driver, without complicated sensing and control system；The apparatus structure is compact, small volume, and manufacture and maintenance cost are low, it is adaptable to robot.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of flat folder adaptive robot of gear flexible part transmission
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 exerted oneself 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 the contact for realizing multiple points around object with multiple segment enveloping rings of finger, is reached
More stable shape envelope crawl.Industrial clamper typically uses grip mode, it is difficult to stablizing holding function, it is impossible to adapt to
The stable envelope crawl of various shapes object；Adaptive under-actuated finger can be gripped by the way of adaptive envelope object,
But grip crawl can not be implemented；The multi-joint hand of coupling can realize that multi-joint is rotated simultaneously, can realize grip, it is impossible to real
Now gripped for the multiple spot envelope of the stabilization of various shapes object.Above-mentioned three kinds of hands have greatly improved space.In reality very
Need one kind that both there is grip function, the robot for stablizing adaptive envelope grasping can be realized again.
A kind of existing five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP)
US8973958B2, including five connecting rods, spring, mechanical constraints.Operationally, the incipient stage keeps end segment to the device
Posture carries out nearly arthrogryposis action, can realize the work(that parallel grip or adaptive envelope are gripped according to the position of object afterwards
Energy.It is disadvantageous in that the device uses extremely complex multi-connecting-rod mechanism, and motion has larger dead band, captures scope
Smaller, organization volume is big, lacks compliance, and manufacturing cost is too high.
The content of the invention
Put down and press from both sides certainly there is provided a kind of transmission of gear flexible part the invention aims to the weak point for overcoming prior art
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；Capture scope big；Without complicated sensing and
Control system.
Technical scheme is as follows：
The flat folder adaptive robot finger apparatus of a kind of gear flexible part transmission that the present invention is designed, 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 gear flexible part transmission
Put also include transmission mechanism, it is first gear, second gear, gear train, the first drive, the second drive, flexible drive parts, convex
Block driver plate, the first spring part, the second 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 first gear；The first gear is actively socketed on nearly joint shaft, the second gear socket
On remote joint shaft, second gear and the second segment are affixed；The gear train is arranged in the first segment, and the gear train includes
Multiple gears being meshed, the input gear of the gear train is engaged with first gear, the output gear of the gear train and
Two gears are meshed；First drive is actively socketed on nearly joint shaft；Second driving wheel tube is connected on remote joint shaft
On, the second drive and the second segment are affixed；The side of definition crawl object is the flat adaptive machine of folder of gear flexible part transmission
The front of device finger device, relative opposite side is the rear that side away from crawl object is the device；The flexibility
Driving member coils through the first drive from front or behind successively, and through the first segment, is coiled through from front or behind
Two drives；The same side winding of second flexible piece respectively on the first drive, the second drive；The Flexible Transmission
Part uses transmission belt, tendon rope or chain, and first drive uses belt wheel, rope sheave or sprocket wheel, and second drive is used
Belt wheel, rope sheave or sprocket wheel, belt wheel transmission is cooperatively formed between the flexible drive parts, the first drive and the second drive three
Relation, rope sheave drive connection or chain gear transmission relation；The projection driver plate is actively socketed on nearly joint shaft, the projection driver plate
It is affixed with the first drive；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 gear flexible part transmission 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, and 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 two ends of the first spring part connect flexibility respectively
One end of driving member and pedestal, the first spring part tense flexible drive parts, and the other end of the flexible drive parts and the second segment are solid
Connect；The two ends of the second spring part connect the second segment and the first segment respectively；It is soft that second spring part makes the second segment be close to tension
The direction of property driving member；By the transmission of gear train, the transmission from first gear to second gear is co-rotating transmission, and gearratio
Less than 1；The transmission radius of first drive is equal with the transmission radius of the second drive.
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that：It is described to drive
Dynamic device uses motor, cylinder or hydraulic cylinder.
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that：Described
One spring part uses extension spring, stage clip, leaf spring or torsion spring.
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that：Described
Two spring parts use extension spring, stage clip, leaf spring or torsion spring.
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that：Also include
Transition pulley and pulley spindle, the transition pulley are socketed on pulley spindle, and the pulley spindle is set in some segment, described soft
Property driving member coils through transition pulley.
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that：The tooth
Wheel group is included in First Transition gear, the second transition gear, the 3rd transition gear, the first jackshaft, the second jackshaft and the 3rd
Countershaft；First jackshaft, the second jackshaft and the 3rd jackshaft are respectively sleeved in the first segment, the First Transition tooth
Wheel is engaged with first gear, and the First Transition gear is engaged with the second transition gear, second transition gear and the 3rd mistake
Gear engagement is crossed, the 3rd transition gear is engaged with second gear, and the First Transition gear is socketed on the first jackshaft,
Second transition gear is socketed on the second jackshaft, and the 3rd transition gear is socketed on the 3rd jackshaft.
The present invention compared with prior art, with advantages below and high-lighting effect：
Apparatus of the present invention using driver, flexible piece transmission mechanism, gear drive, two spring parts, projection driver plate and
Spacing block set etc. is comprehensive to realize the function of the parallel clamping of doublejointed robot finger and self-adapting grasping, 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, without complicated sensing and control system；The apparatus structure is compact, small volume, manufactures and safeguards into
This is low, it is adaptable to robot.
Brief description of the drawings
Fig. 1 is a kind of embodiment for the flat folder adaptive robot finger apparatus of gear flexible part transmission that the present invention is designed
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 that the front appearance figure of embodiment illustrated in fig. 1 (is not drawn into before 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 the way 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, the first spring part and spacing block set.
Figure 22 is Figure 13 (or Figure 18) sectional view, and slice location is identical with Fig. 5.
Figure 23 is Figure 15 sectional view (not drawing object), and slice location is identical with Fig. 5.
In Fig. 1 into Figure 23：
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- the first segment tables
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-, 6- first gears, 7- second gears, 8- gear trains,
81- transition pulleys, 82- transition pulley spindles, 83- bearings, 84- sleeves,
85- screws, 86- pins, the drives of 9- first, 61- First Transition gears,
The transition gears of 62- second, the transition gears of 63- the 3rd, the jackshafts of 611- first, the jackshafts of 621- second,
The jackshafts of 631- the 3rd, the drives of 10- second, 11- flexible drive parts, 12- projection driver plates,
13- the first spring parts, 14- drivers (motor), 141- decelerators, 142- first bevel gears,
143- second bevel gears, 144- transition gear axles, the belt wheels of 145- first, the belt wheels of 146- second,
147- transmission belts, 17- objects, 18- spacing block sets, 19- the second spring parts；
M- the present embodiment is close to the side of object, referred to as front when capturing object；
N- the present embodiment leaves the side of object, abbreviation rear when capturing object.
Embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail the present invention concrete structure, the content of operation principle.
A kind of embodiment for the flat folder adaptive robot finger apparatus of gear flexible part transmission that the present invention is designed, 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；It is described to drive
Dynamic device 14 and pedestal 1 are affixed；The centerline parallel of the center line of the nearly joint shaft 4 and remote joint shaft 5.The present embodiment also includes
Transmission mechanism, first gear 6, second gear 7, gear train 8, the first drive 9, the second drive 10, flexible drive parts 11,
Projection driver plate 12, the first spring part 13, the second spring part 19 and spacing block set 18；The nearly joint shaft 4 is movably set in pedestal 1；
The remote joint shaft 5 is movably set in the first segment 2；First segment 2 is fixed on nearly joint shaft 4；Described second refers to
Section 3 is fixed on remote joint shaft 5；The transmission mechanism is arranged in pedestal 1；The output shaft and transmission mechanism of the driver 14
Input be connected；The output end of the transmission mechanism is connected with first gear 6；The first gear 6 is actively socketed on nearly pass
On nodal axisn 4, the second gear 7 is socketed on remote joint shaft 5, and second gear 7 and the second segment 3 are affixed；The gear train 8 is pacified
In the first segment 2, the gear train 8 includes multiple gears being meshed, the input gear and the first tooth of the gear train 8
Wheel 6 is engaged, and the output gear of the gear train is meshed with second gear 7；First drive is actively socketed on nearly joint
On axle；Second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed；The one of definition crawl object
Side is that the gear flexible part is driven the front of flat folder adaptive robot finger apparatus (side that M is marked in Fig. 5 and Fig. 6), phase
To opposite side be that side away from crawl object for the device rear (side that N is marked in Fig. 5 and Fig. 6).
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that described soft
Property driving member coils through the first drive from front or behind successively, through the first segment, is coiled through from front or behind
Second drive；The same side winding of second flexible piece respectively on the first drive, the second drive, i.e., second is flexible
The transmission (relative to the first segment) that part makes the first transmission take turns to the second drive is co-rotating transmission.It is described soft in the present embodiment
Property driving member 11 coil through the first drive 9 from rear (side that N is marked in Fig. 5 and Fig. 6) successively, through the first segment 2,
The second drive 10 is coiled through from rear (side that N is marked in Fig. 5 and Fig. 6).
In the present embodiment, the flexible drive parts 11 are used using transmission belt, tendon rope or chain, first drive 9
Belt wheel, rope sheave or sprocket wheel, second drive 10 are driven using belt wheel, rope sheave or sprocket wheel, the flexible drive parts 11, first
Belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation are cooperatively formed between wheel 9 and the three of the second drive 10；It is described
Projection driver plate 12 is actively socketed on nearly joint shaft 4, and the projection driver plate 12 and the first drive 9 are affixed；The spacing block set
18 is affixed with pedestal 1；The projection driver plate 12 is in contact or stood away with spacing block set 18；If the first segment 2 is close to
The rotation direction of object 17 is nearly joint positive direction (clockwise direction in such as Fig. 8), the first rotation of the segment 2 away from object 17
Direction is nearly joint opposite direction；Original state is in the flat folder adaptive robot finger apparatus of gear flexible part transmission (such as
Straight configuration shown in Fig. 8) when, projection driver plate 12 is contacted with spacing block set 18, if the now rotation of the opposite base 1 of projection driver plate 12
Gyration is 0 degree (as shown in figure 16), since the position, and projection driver plate 12 (is less than 180 when being rotated towards nearly joint positive direction
Degree) rotational angle for just, projection driver plate 12 towards nearly joint opposite direction rotate when rotational angle (less than 180 degree) be negative；Institute
The rotational angle for stating the limitation of spacing block set 18 projection driver plate 12 is only just, i.e., projection driver plate 12 can only be along as shown in figure 17
Arrow direction indication is rotated.The two ends of the first spring part 13 connect one end and the pedestal 1 of flexible drive parts 11 respectively；First spring
Part 13 tenses flexible drive parts 11, and the other end of the flexible drive parts 11 and the second segment 3 are affixed；The second spring part 19
Two ends connect the second segment 3 and the first segment 2 (as shown in Figure 5) respectively；It is flexible that second spring part 19 makes the second segment 3 be close to tension
The direction of driving member 11；It is remote joint pros that if the second segment 3 is gone the long way round, the center line of joint shaft 5, which is close to the rotation direction of object 17,
Leave the rotation direction of object 17 to the go the long way round center line of joint shaft 5 of, the second segment 3 and be remote joint opposite direction, the present embodiment,
Because flexible drive parts 11 are from the second drive 10 of rear winding, therefore, the second spring part 19 makes the second segment 3 be close to remote joint just
Direction.By the transmission of gear train 8, the transmission from first gear 6 to second gear 7 is co-rotating transmission, and gearratio is less than 1,
As step-up drive；The transmission radius of first drive 9 is equal with the transmission radius of the second drive 10；The transmission radius is
The effective radius of transmission, is exactly pitch radius for belt wheel or sprocket wheel, the circular arc of tendon rope is just wound around for rope sheave
Radius.
The flat folder adaptive robot finger apparatus of gear flexible part transmission of the present invention, it is characterised in that：It is described to drive
Dynamic device 14 is using motor, cylinder or hydraulic cylinder.The first spring part uses extension spring, stage clip, leaf spring or torsion spring.The second spring part
Using extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, the driver 14 uses motor；The first spring part 13 is using drawing
Spring；The second spring part 19 uses extension spring.
The present embodiment also includes 2 transition pulleys 81 and 2 corresponding transition pulley spindles 82；Each transition pulley 81
It is socketed on corresponding transition pulley spindle 82；The First Transition pulley spindle, the second transition pulley spindle are respectively sleeved at the first finger
In section 2；The flexible drive parts 11 coil through First Transition pulley and the second transition pulley respectively.First Transition pulley and
Being provided with for two transition pulleys is beneficial to increase the coiling through on the first drive 9, the second drive 10 of flexible drive parts 11
Arc length, can also reduce gearing friction, obtain preferably transmission effect.
In the present embodiment, the gear train 8 includes First Transition gear 61, the second transition gear 62, the 3rd transition gear
63rd, the first jackshaft 611, the second jackshaft 621 and the 3rd jackshaft 631；First jackshaft 611, the second jackshaft
621 and the 3rd jackshaft 631 be respectively sleeved in the first segment 2, the First Transition gear 61 is engaged with first gear 6, institute
State First Transition gear 61 to engage with the second transition gear 62, second transition gear 62 is engaged with the 3rd transition gear 63,
3rd transition gear 63 is engaged with second gear 7, and the First Transition gear 61 is socketed on the first jackshaft 611, institute
State the second transition gear 62 to be socketed on the second jackshaft 621, the 3rd transition gear 63 is socketed in the 3rd jackshaft 631
On.
In the present embodiment, the pedestal 1 includes the pedestal foreboard 111 being fixed together, pedestal back plate 112, pedestal left side
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, the first belt wheel 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
On transition gear axle 144, the first bevel gear 142 is engaged with second bevel gear 143；The transition gear axle 144 is set in
In pedestal 1, first belt wheel 145 is fixed on transition gear axle 144, and second belt wheel 146 is actively socketed on nearly joint
On axle 4, second belt wheel 146 and first gear 6 are affixed, and the transmission belt 147 connects the first belt wheel 145 and the second belt wheel
146, the transmission belt 147, the first belt wheel 145 and the second belt wheel 146 formation belt wheel transmission relation, 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 23, is described below：
The relation that the corner of projection driver plate 12 is moved with the second segment 3 is described below：
In the present embodiment, initial position is set to the state (as shown in figure 11) that finger is stretched.(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), because projection driver plate 12 and first is driven
Take turns 9 affixed, so the position of the opposite base 1 of the first drive 9 is constant, due to the biography of the first drive 9 and the second drive 10
Dynamic radius is equal, and (i.e. both corners are identical, and gearratio is that 1), no matter what position is the first segment 2 be in, and the second drive 10 is all the time
With the first drive 9 same angle is kept, in the presence of flexible drive parts 11, the opposite base 1 of the second drive 10 only enters
Row translational motion is without rotating, because the second drive 10 and the second segment 3 are affixed, so the opposite base 1 of the second segment 3
Translational motion is only carried out without rotating.
B) when the anglec of rotation of projection driver plate 12 is timing, due to the transmission half of the first drive 9 and the second drive 10
Footpath it is equal (i.e. both corners are identical, gearratio be 1), in the presence of flexible drive parts 11, the anglec of rotation of the second drive 10
Corner of the degree equal to projection driver plate 12.
When the present embodiment captures object 17, the transmission that driver 14 passes through transmission mechanism so that first gear 6 is rotated forward,
The corner of the opposite base 1 of first gear 6 is α.In the presence of gear train 8, first gear 6 with respect to the first segment 2 corner with
Second gear 7 has a certain proportion of relation with respect to the corner of the first segment 2.If being transferred to from first gear 6 by gear train 8
The gearratio of second gear 7 is i, and the gearratio is the rotating speed (relative to the first segment 2) and second gear 7 of first gear 6
The ratio between rotating speed (relative to the first segment 2).Because gearratio i is less than 1, therefore it is step-up drive, output speed is more than input speed
Degree.If the first segment 2 is δ around the corner of nearly joint shaft 4.Because second gear 7 and the second segment 3 are affixed, and the second segment 3
Do not rotated relative to pedestal 1, therefore now second gear 7 does not also rotate with respect to pedestal 1, then can be with
The position for meeting following (formula 1) will be equilibrated at by being derived from the present embodiment device：
α=δ (1-i) (formula 1)
Because i is less than 1, it is respectively positive different angles 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, first gear 6, and now, the first segment 2 is turned over around nearly joint shaft 4
One angle δ, the second segment 3 is same posture all the time relative to pedestal 1, simply position is changed.This is parallel
The stage (such as Figure 11, Figure 12, Figure 13, Figure 19) of clamping.This stage is adapted to the de-clamping object 17, Huo Zhetong of the second segment 3
The mode for crossing outer goes a support outside the mode opened from inside to outside to take object 17 with the second segment 3.Such as one hollow cylindrical tube
Take, be flared out propping up barrel on the inside of the object, so that 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
In the stage (as shown in Figure 14, Figure 15, Figure 20, Figure 21 and Figure 22), at this moment driver 14 is by the transmission of transmission mechanism, drives the
One gear 6, the second segment 3, the drive 10 of second gear 7 and second for making to be fixed together lead to while joint shaft 5 of going the long way round is rotated
Crossing flexible drive parts 11 drives the first drive 9 and projection driver plate 12 to be rotated around nearly joint shaft 4, and the first 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 the second segment 3 be rotated further, until the second segment 3 connects
Untill touching object 17, the effect that adaptive envelope captures object is completed.For the object of different shapes and sizes, the present embodiment tool
There is adaptivity, being capable of the general a variety of objects of crawl.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object 17 in the way of envelope is gripped,
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 is acted, 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 that embodiment illustrated in fig. 1 captures 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 when being Figure 11, Figure 12, Figure 13, Figure 16, Figure 17 and Figure 18 situation, the situation of projection driver plate, now the present embodiment
It is in initial position or has only bent the first segment, the first spring part 13 makes projection driver plate 12 be in contact with spacing block set 18, the
Two segments 3 are in the fixed pose (such as the vertical initial attitude in the present embodiment) relative to pedestal 1, and such case is always
Continue to that Figure 18 clamping crawl terminates, or continue to that Figure 13 envelope crawl starts；2) Figure 20 corresponds to Figure 14 situation,
Now first segment 2 of the present embodiment has touched object 17 and has been blocked from motion, in the driving effect of driver 14
Under, by the transmission of transmission mechanism, first gear 6, gear train 8 and second gear 7, the second segment 3 has been gone the long way round 5 turns of joint shaft
An angle (being rotated relative to pedestal 1) is moved, the second segment 3 no longer keeps original vertical initial attitude, passes through second
Drive 10, flexible drive parts 11, the first drive 9 and projection driver plate 12, pull the first spring part 12 to be deformed, projection
Driver plate 12 have left the spacing block set 18 being permanently connected to originally；3) Figure 21 corresponds to Figure 15, Figure 23 situation, now this implementation
Example completes the contact to two segments of object --- realize that adaptive envelope is captured, can be certainly to the object of different shape size
Dynamic envelope crawl, grasping stability；Compared with Figure 20 situation, the projection driver plate 12 in Figure 23 is rotated to bigger angle, from
The farther distance of spacing block set 18 is opened, the second segment 3 also have rotated the corner identical angle with projection driver plate 12.
Discharge the process of object 17：Driver 14 is inverted, the process of subsequent process and above-mentioned crawl object 17 just on the contrary,
Do not repeat.
Apparatus of the present invention using driver, flexible piece transmission mechanism, gear drive, two spring parts, projection driver plate and
Spacing block set etc. is comprehensive to realize the function of the parallel clamping of doublejointed robot finger and self-adapting grasping, 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, without complicated sensing and control system；The apparatus structure is compact, small volume, manufactures and safeguards into
This is low, it is adaptable to robot.
Claims (6)
1. a kind of flat folder adaptive robot finger apparatus of gear flexible part transmission, 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 of the nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that：The flat folder adaptive robot finger apparatus of gear flexible part transmission also includes driver
Structure, first gear, second gear, gear train, the first drive, the second drive, flexible drive parts, projection driver plate, the first spring
Part, the second spring part and spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft is movably set in first
In segment；First segment is socketed on nearly joint shaft；Second segment is socketed on remote joint shaft；The transmission mechanism
It is arranged in pedestal；The output shaft of the driver is connected with the input of transmission mechanism, the output end of the transmission mechanism with
First gear is connected；The first gear is actively socketed on nearly joint shaft, and the second gear is socketed on remote joint shaft, the
Two gears and the second segment are affixed；The gear train is arranged in the first segment, and the gear train includes multiple teeth being meshed
Wheel, the input gear of the gear train is engaged with first gear, and the output gear of the gear train is meshed with second gear；Institute
The first drive is stated to be actively socketed on nearly joint shaft；Second driving wheel tube is connected on remote joint shaft, the second drive with
Second segment is affixed；Before the flat folder adaptive robot finger apparatus of gear flexible part transmission is in the side of definition crawl object
Side, relative opposite side is the rear that side away from crawl object is the device；The flexible drive parts are successively from front
Or rear coils through the first drive, through the first segment, the second drive is coiled through from front or behind；Described second
The same side winding of flexible piece respectively on the first drive, the second drive；The flexible drive parts use transmission belt, tendon rope
Or chain, first drive is using belt wheel, rope sheave or sprocket wheel, and second drive is using belt wheel, rope sheave or sprocket wheel, institute
State and cooperatively form belt wheel transmission relation, rope sheave drive connection between flexible drive parts, the first drive and the second drive three
Or chain gear transmission relation；The projection driver plate is actively socketed on nearly joint shaft, and the projection driver plate and the first drive are affixed；
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 gear flexible part transmission 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 two ends of the first spring part connect one end and the base of flexible drive parts respectively
Seat, the first spring part tenses flexible drive parts, and the other end of the flexible drive parts and the second segment are affixed；The second spring part
Two ends connect the second segment and the first segment respectively；Second spring part makes the second segment be close to the direction for tensing flexible drive parts；It is logical
The transmission of gear train is crossed, the transmission from first gear to second gear is co-rotating transmission, and gearratio is less than 1；First drive
Transmission radius it is equal with the transmission radius of the second drive.
2. the flat folder adaptive robot finger apparatus of gear flexible part transmission 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 gear flexible part transmission as claimed in claim 1, it is characterised in that：It is described
First spring part uses extension spring, stage clip, leaf spring or torsion spring.
4. the flat folder adaptive robot finger apparatus of gear flexible part transmission as claimed in claim 1, it is characterised in that：It is described
Second spring part uses extension spring, stage clip, leaf spring or torsion spring.
5. the flat folder adaptive robot finger apparatus of gear flexible part transmission as claimed in claim 1, it is characterised in that：Also wrap
Transition pulley and pulley spindle are included, the transition pulley is socketed on pulley spindle, and the pulley spindle is set in some segment, described
Flexible drive parts coil through transition pulley.
6. the flat folder adaptive robot finger apparatus of gear flexible part transmission as claimed in claim 1, it is characterised in that：It is described
Gear train includes First Transition gear, the second transition gear, the 3rd transition gear, the first jackshaft, the second jackshaft and the 3rd
Jackshaft；First jackshaft, the second jackshaft and the 3rd jackshaft are respectively sleeved in the first segment, the First Transition
Gear is engaged with first gear, and the First Transition gear is engaged with the second transition gear, second transition gear and the 3rd
Transition gear is engaged, and the 3rd transition gear is engaged with second gear, and the First Transition gear is socketed in the first jackshaft
On, second transition gear is socketed on the second jackshaft, and the 3rd transition gear is socketed on the 3rd jackshaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153921.0A CN105583840B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of gear flexible part transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153921.0A CN105583840B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of gear flexible part transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105583840A CN105583840A (en) | 2016-05-18 |
| CN105583840B true CN105583840B (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610153921.0A Expired - Fee Related CN105583840B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of gear flexible part transmission |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426239B (en) * | 2016-07-08 | 2018-11-23 | 清华大学 | Idle running transmission gear coupling adaptive robot finger apparatus |
| CN106426240B (en) * | 2016-07-08 | 2018-11-23 | 清华大学 | Idle running kinematic link coupling adaptive robot finger apparatus |
| CN107901062A (en) * | 2017-11-22 | 2018-04-13 | 清华大学 | Rack sliding slot end precise linear puts down folder adaptive robot finger apparatus |
| CN108481354B (en) * | 2018-05-29 | 2024-06-04 | 宋为 | Disk-tooth switching multi-mode fusion self-adaptive robot finger device |
| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
| CN111188886B (en) * | 2020-01-10 | 2021-05-04 | 浙江清华柔性电子技术研究院 | Traction wire drive device |
| JP7216345B2 (en) * | 2020-03-19 | 2023-02-01 | 株式会社ダイフク | robot hand |
| CN112440272A (en) * | 2020-11-11 | 2021-03-05 | 浙江理工大学 | Rope-driven mechanical arm capable of realizing motion decoupling |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004223688A (en) * | 2003-01-27 | 2004-08-12 | Seiko Epson Corp | Articulated manipulator device |
| CN100551642C (en) * | 2008-01-18 | 2009-10-21 | 清华大学 | The Chiasma tendon rope under-driven robot finger device |
| CN102205542B (en) * | 2011-05-27 | 2012-10-10 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| CN102699926A (en) * | 2012-06-07 | 2012-10-03 | 清华大学 | Under-actuated robot finger device with multiple switchable grab modes |
| 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
- 2016-03-17 CN CN201610153921.0A patent/CN105583840B/en not_active Expired - Fee Related
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| CN105583840A (en) | 2016-05-18 |
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