CN105598992A - Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping - Google Patents

Abstract

The invention discloses a multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping and belongs to the technical field of robot fingers. The multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping comprises a base, two finger sections, two joint shafts, a driver, two sets of wheel train driving mechanisms, a lug driving plate, spring parts, a limiting lug and the like. The device utilizes the single driver, a multi-axis wheel train with the reasonably-set transmission ratio, the spring parts, the lug driving plate, the limiting lug, the movable sleeve-connected finger sections and the like to comprehensively achieve the functions of parallel opening and closing for pinch and self-adaptive enveloping grasping, can translate the second finger section to pinch objects according to different shapes and positions of the target objects and can also sequentially turn the first finger section and the second finger section to envelope the objects. The device adopts the double-way driving and driven modes of drive wheels and gears and is large in grabbing range and free of motion dead zones. In addition, the device adopts an under-actuation mode and only utilizes one driver to drive two joints without a complicated sensing and control system. The device is compact in structure, small in size and low in manufacturing and maintaining cost and is suitable for robot fingers.

Description

Multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means

FIELD

[0001] The present invention belongs to the technical field of the robot hand, and particularly relates to a multi-axis gear train structure design of a parallel adaptive envelope opening and closing the fingers of the robot apparatus.

Background technique

[0002] Adaptive Underactuated robot hand using a small motor-driven joints plurality of degrees of freedom, since the number of the motor, the motor can be hidden into the palm of the selected volume and greater power, large output, while the purely mechanical feedback system without the need for environmentally sensitive stable gripping can be realized, automatically adapt to objects of different shapes and sizes, there is no demand for real-time electronic sensing and closed-loop feedback control, the control is simple and convenient, reduce the manufacturing cost. However, the conventional robot hand underactuated use more link mechanism, since the limiting means, toward an object refers to the process section having a limit position, resulting in movement of the dead zone, the adaptive been weakened.

[0003] There are two main methods gripping when grasping the object A is a pinch, one is holding. Grip to grip the object by a fingertip portion of the finger tip, using two points or two soft surfaces means to reach the object, mainly for a small-sized objects or objects having opposite large; with a plurality of gripping fingers It refers to a segment of the envelope around the plurality of the contact points to achieve the object, to achieve a more stable form of the envelope gripping. Industrial pinch clamp the general mode, it is difficult to have a stable holding function, can not adapt to a variety of object shapes stabilization package envelope gripping; adaptive driving finger may be employed under an adaptive manner the envelope holding the object, but can not be implemented gripping the grip; coupled multi-joint multi-joint may be implemented hand while rotating, pinch can be achieved, stability can not be achieved for a wide variety of shapes of the multi-object gripping envelope. The three hand have much room for improvement. In reality it is a need for a function with a pinch, but also to achieve stable adaptive robot hand grasping the envelope.

[0004] The conventional joint with a dual drive means to drive robot fingers less complex, such as China patent CN102161204B, may be implemented to couple a plurality of rotatable joints, and then gripping the adaptive function, its shortcomings in that the means sports dead zone, gripping a small range; requirements must initially grip the object when the object closer to the base section and the proximal interphalangeal, catching efficiency is reduced; embodiment not parallel grip.

[0005] The conventional clamp device having a five-link-DOF underactuated finger, as described in U.S. Patent No. US8973958B2, includes five rods, springs, mechanical constraints. In operation of the apparatus, holding the beginning of the end section of finger gestures performed near joints bending operation, can be achieved after the adaptive parallel grip or envelope holding function according to the position of the object. Its shortcomings in that, the device employs a link mechanism having a dead movement, gripping small and large volume mechanism, not anthropomorphic appearance, lack of flexibility, high manufacturing costs.

SUMMARY

[0006] The object of the present invention is to overcome the shortcomings of the prior art, there is provided a multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means. The gripping means having a plurality of modes, a second translation section refers to both grip the object, but also has a first engagement means and the second finger section of the envelope section object; crawl large range, without moving the dead zone, the volume of small, the appearance of the anthropomorphic; while using less driving manner using a driver drives two joints, without complex sensing and control system.

[0007] aspect of the present invention is as follows:

[0008] A multi-axis parallel to the gear train of the present invention is designed to open and close the envelope adaptive robot finger means includes a base, a first finger section, the second finger section, near the joint shaft, and the drive shaft distal joint; the near the joint bushing disposed in the base; the distal finger joint bushing provided in the first paragraph; sheathing distal section refers to the second joint axis in; near the centerline of the distal joint axis joint axis parallel to the centerline; wherein: the multi-axis parallel to the opening and closing gear train envelope adaptive robot finger apparatus further comprises a transmission mechanism, a driving gear, a driven gear, a gear set, a first transmission gear, second transmission wheel drive member, the bump dial, a first spring member and the stopper protrusion; activity refers to the segment of the first joint near sleeved shaft; an output connected to the input shaft of the transmission mechanism of the driver, said transmission mechanism an output terminal connected with the driving gear; the main gear shaft near joints sleeved activity, the active gear and the input gear set connected to the output terminal of said set of gears with the driven gear; the gearset a first means mounted in paragraph; sheathing the driven gear activities far Section shaft, said driven gear connected to the second finger section; said transmission gear set such that the rotational direction of the driven gear coincides with the driving gear; the first transmission wheel shaft near joints sleeved activity; the said second transmission wheel away sleeved joint shaft, a second gear wheel fixedly connected to the second finger section; said transmission member connecting the first and second transmission wheel transmission wheel, the transmission member, and a first transmission wheel mating relationship is formed between the second transmission wheel drive three, transmission of the transmission member such that the direction of rotation of the second transmission wheel coincides with the first transmission gear; dial the bump activity sleeved shaft near joints, the said bumps dial fixedly connected with the first transmission gear; the limiting protrusion fixedly connected to the base; dial the bump contact with or some distance away and the stopper protrusion; the first spring member ends respectively connected to a first transmission wheel and a base, said first spring member toward the bumps dial stopper protrusion; refers to a first direction of rotation disposed nearest to the object near the positive direction of the segment joint, the first finger section away from the rotating direction of the object to reverse direction near the joint; multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means When set in the initial state, the bumps into contact with the dial stopper protrusion, at this time was bumps dial rotation angle is O degrees relative to the base, starting from this position, the bump dial is rotated toward the positive direction near the joint a positive rotation angle, the rotation angle of the bump when the dial is rotated in a reverse direction near the joint is negative; the bump stop to limit a rotation angle of projection can only dial positive; the transmission member, a first a second transmission wheel and a transmission system composed of the three drive wheels, the means with respect to the first segment, the first turn from the transmission gear ratio of the second transmission wheel I.

[0009] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, characterized by: further comprising a second spring member, both ends of the second spring member are respectively connected to the first driven gear and two-finger segments.

[0010] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, wherein: said driven gear fixed to the second finger section; drive gear, and the driven gear gearset gear system consisting of three with respect to the first finger section, from the driving gear to the driven gear gear ratio is less than I, i.e., transmission from the driving gear to the driven gear for overdrive, i.e., refers to the driven gear relative to the first period is greater than the rotational angle refers to an angle relative to the first drive gear segment rotates.

[0011] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, characterized in that: said drive member using a belt, chain or rope tendons, the first drive pulley wheel employed, the cord or sprocket wheel, the second drive wheel using a pulley, a sprocket or sheave, the drive member, is formed with a first drive relationship between the drive wheel and the three second transmission wheel, the transmission member is formed " O "shape.

[0012] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, wherein: said gear set includes a first gear, a second gear, a double-gear, a first intermediate shaft, a first a third second intermediate shaft and the intermediate shaft; comprises the double-gear coaxially fixed together, and the input gear and the output gear; the first gear engaged with the driving gear laugh, the first gear is sleeved on an intermediate shaft, said first intermediate shaft sleeve means provided in the first paragraph; the second gear meshed with the first gear, said second gear is sleeved on the second countershaft, said input gear and a second gear, the output gear and the driven gear of the dual gear sleeved on the third intermediate shaft, a first intermediate shaft, a second intermediate shaft and the third intermediate shaft are respectively sleeved a first segment fingers.

[0013] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, wherein: said drive using a motor with a fixed base.

[0014] The gear train of the multi-axis parallel to the opening and closing of the present invention, the adaptive envelope robot finger means, wherein: said drive air cylinder or a hydraulic cylinder.

[0015] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, wherein: said first spring member using the extension spring, compression spring, a leaf spring or a torsion spring.

[0016] The present invention contemplates the use of a parallel multi-axis robot hand train wheel apparatus to open and close the envelope adaptive robot finger device, comprising a palm base, at least two multi-axis parallel to the opening and closing from the train wheel adaptation envelope robot finger means; said multi-axis parallel to the wheel train to open and close the base and adaptive envelope palm finger base secured to a robot apparatus.

[0017] Compared with the prior art the present invention has the following advantages and effects projection of:

[0018] The present invention, by driving means, a reasonable set of multi-axis gear train transmission ratio, spring member, dial bumps, limiting the bump and the socket section refers to activities to achieve the comprehensive parallel opening and closing the grip and adaptive packet gripping network functions, depending on the shape and position of the target object, the second translation section refers to both grip the object, but also refers to the segment in turn rotates the first and second finger sections envelope object; and a driving wheel using the apparatus Dual master gear from a driven manner, gripping range, no motion deadband; while using less driving manner using a driver drives two joints, without complex sensing and control system; the apparatus compact structure, small volume , low manufacturing and maintenance costs for the robot hand.

BRIEF DESCRIPTION

[0019] FIG. 1 is a multi-axis parallel to the gear train of the present invention is designed to open and close one kind of finger adaptive envelope perspective external view of a robot apparatus according to an embodiment.

[0020] FIG. 2 is a front external view of the embodiment shown in FIG.

[0021] FIG. 3 is an embodiment shown in Figure 1 a side external view (left side view of FIG. 2).

[0022] FIG. 4 is an external view of the other side (a right side view of FIG. 2) of the embodiment shown in FIG.

[0023] FIG. 5 is an exploded view of the embodiment shown in Fig.

[0024] FIG. 6 is a perspective view of an internal (not shown base housing section and a first finger) Example 1 shown in FIG.

[0025] FIG. 7 is a front view (not shown base housing, a first front plate and the first finger section refers to the segment surface sheet) Example 1 shown in FIG.

[0026] FIGS 8 to 13 are shown in Figure 1 (not to grip the object during) the process schematic embodiment example of the operation.

[0027] FIGS. 14 to 22 are schematic embodiment of the operation process in a manner of grasping an object gripped envelope shown in Fig.

[0028] FIGS. 23 to 25 is the embodiment shown in FIG. 1 of another embodiment of grasping an object one by one parallel combination of a second opening means section schematic of the kneading process of the object support.

[0029] FIGS. 26 to 29 are successively shown embodiment parallel and adaptive envelope opening operation of gripping the object-in-1 process schematic, mainly exhibits at several key positions, and the bump stopper dial changes in relative position of the bump.

[0030] FIG. 30 is shown in FIG. 1 by the three external view of a robot hand and the palm of the base configuration of embodiment FIG.

[0031] 30 in FIG. 1 to FIG:

[0032] I - a base, a base housing 111, 112- base skeleton, 2 first refers to the segment,

[0033] 21 - the first finger section skeleton, 22- first finger support section, 23 - the first finger section of the front plate 24 - a first surface of the finger plate segment,

[0034] a second finger section 3, section 31 refers to a second bobbin, and the 32 refers to a surface of the second plate section, a proximal joint shaft 4,

[0035] a distal joint shaft 5, 6 - driving gear, 7-- driven gear, 8 - gearset,

[0036] The first gear 81- 811 - a first intermediate shaft, a second gear 82- 821 - Second intermediate shaft,

[0037] 83- double gear 831 - the third intermediate shaft, a first gear wheel 9, 10 - a second gear wheel,

[0038] Shu Shu - transmission member, Shu 2 - bump dial! 3 - a first spring member 14 - Drive (motor),

[0039] a reduction gear 141, a first bevel gear 142-, 143- second bevel gear shaft 144 a first transition,

[0040] 145- a first transmission gear, second transmission gear 146-, 147- second transition axis, 15-- robot finger means,

[0041] 16-- palm base, 17-- object, 18 - limit tabs.

detailed description

[0042] Example embodiments further described particular structure of the present invention, the content of the working principle of the accompanying drawings and detailed below.

[0043] The present invention is a multi-axis parallel to the gear train designed to open and close one kind of adaptive envelope finger robot apparatus embodiment, shown in FIGS. 1 to 7, comprising a base 1, a first finger section 2, the second finger section 3, the shaft 4 near the joint, distal joint 14 and a drive shaft 5; the proximal joint shaft disposed in the sleeve 4 in the base I; the distal joint sleeve shaft 5 is provided in the first finger section 2; the second means at the distal section 3 is sleeved joint axis 5; nearly parallel to the centerline of the shaft centerline of the distal articulation joint 5 of the shaft 4.

[0044] This embodiment further comprises a transmission mechanism, the pinion 6, the driven gear 7, the gear set 8, a first drive wheel 9, the second transmission wheel 10, transmission member 11, projection dial 12, a first spring member 13 and the stopper protrusion 18; the first finger section 2 near the joint activities sleeved shaft 4; with the driving gear connected to the input shaft and the output gear of the drive mechanism 14, the output of the transmission mechanism 6 is connected to; the main gear 6 on the activity sleeved shaft 4 near the joint, the driving gear 6 and the gear set 8 connected to the input of the gear connected to the output terminal group 8 with the driven gear 7; said gear group 8 installed in the first finger section 2; 7 activity of the driven gear sleeved on the distal joint axis 5, is connected to the driven gear 7 and the second finger section 3; the first transmission wheel sets 9 activity connected to the shaft 4 near the joint; the second drive gear 10 is sleeved on the distal joint axis 5, the second transmission wheel 10 and the second finger section 3 fixed; the transmission gear set 8 of the driven gear 7 It coincides with the direction of rotation of the pinion 6; the transmission member 11 is connected to a first drive wheel 9 and the second transmission wheel 10, the transmission member 11, a first drive wheel 9 and the second transmission wheel 1 0 is formed with three transmission relationship between said drive transmission member 11 causes the second transmission wheel 1 coincides with the first direction of rotation of the drive wheel 9; 12 dial the bump activity sleeved shaft near the joint 4 the bumps 12 and the first drive wheel dial 9 fixed; the stop protrusion 18 is fixed to the base I; the dial 12 and the bump stopper protrusion 18 in contact with or some distance away ; ends of the first spring member 13 are respectively connected to a first drive wheel 9 and the base I, the first spring member 13 causes the projection 12 toward the dial stopper protrusion 18; a first finger section 2 is provided 17 toward the rotation direction of the object is near joints positive direction, the first section 2 refers to the direction of rotation is away from the object 17 in the opposite direction near the joint; multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means in an initial state, contacting the dial 12 and the bump stopper protrusion 18, the bumps at this time was 122 relative to the base I dial rotation angle is O degrees, starting from this position, the projection 12 is rotated in the positive direction near joints dial ( rotation angle less than 180 degrees) is positive, negative bump dial 12 is rotated an angle (less than 180 degrees) toward the opposite direction of rotation when near joints; the limit stop bosses 18 projecting The rotation angle of the dial 12 can only be positive; 11, transmission of the first drive wheel 9 and the second transmission wheel 10 composed of three of said transmission member with respect to the first finger section 2, from the first a drive wheel 9 to drive the second transmission gear ratio I. 10

[0045] In the embodiment illustrated in Figure 1, the driven gear 7 and the second fixed finger section 3; 6, gear transmission 8 and the driven gear gear set 7 consisting of the three active gear with respect to the first finger section 2, the transmission 6 from the driving gear to the driven gear 7 is less than 1, i.e., from the driving gear to the driven gear 6 to 7 overdrive, i.e., the driven gear 7 relative to the first section 2 refers to the angle of rotation is greater than the pinion gear 6 relative to the first section 2 refers to the angle of rotation.

[0046] Another embodiment further comprises a second spring member, both ends of the second spring member are respectively connected to the driven gear and the second finger section, the case 7 and the second driven gear of the present invention. 3 refers to the segment is not fixed to the driven gear 7 of the second spring member connected to the second section 3 by finger.

[0047] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, characterized in that: said drive member using a belt, chain or rope tendons, the first drive pulley wheel employed, the cord or sprocket wheel, the second drive wheel using a pulley, a sprocket or sheave, the drive member, is formed with a first drive relationship between the drive wheel and the three second transmission wheel, the transmission member is formed " O "shape. In the embodiment shown in FIG. 1, the transmission member 11 using a belt, using the first drive pulley wheel 9, the second drive wheel 10 using a pulley, the transmission member 11, a first drive wheel 9 between three and 10 cooperate to form the second transmission gear pulley relationship, said drive member is formed "O" shape.

[0048] In the embodiment illustrated in FIG. 1, the gear set 8 includes a first gear 81, second gear 82, double gear 83, a first intermediate shaft 811, the second intermediate shaft 821 and the third intermediate shaft 831 ; the double gear 83 and includes a coaxially fixed together with the input gear and the output gear; the first gear 81 engaged with the driving gear 6 laugh, the first intermediate gear 81 is sleeved on the first shaft 811 on the first intermediate shaft 811 provided in the first sleeve means paragraph 2; 82 of the second gear 81 meshed with the first gear, said second gear 82 is sleeved on the second intermediate shaft 821, the input gear 82 meshes with the second gear, the output gear meshing with the driven gear 7, the double gear 83 is sleeved on the third intermediate shaft 831, the first intermediate shaft 811, intermediate shaft 821 and the second the third intermediate shaft 831 are respectively provided in the jacket section 2 first finger.

[0049] The multi-axis gear train according to the present invention, the adaptive parallel opening and closing the envelope robot finger means, characterized in that: the drive motor 14 using, pneumatic or hydraulic cylinders. In the embodiment shown in FIG. 1, the driver 14 using a motor fixedly connected to the base I.

[0050] Multi-axis parallel to the gear train of the present invention is opened and closed envelope adaptive robot finger means, wherein: said first spring member using the extension spring, compression spring, a leaf spring or a torsion spring. In the embodiment shown in FIG. 1, the first spring member 13 using a tension spring having both ends connected to the bump 12 and the base dial I.

[0051] The embodiment of a robot hand device parallel adaptive envelope closure means robot finger (the finger of the robot apparatus) of the multi-axis gear train, shown in Figure 30, comprises a base 16 and a palm robot 3 finger means 15; the robot finger means I base of the palm 15 is fixed to the base 16; robot finger means into three groups, each group mounted on one side, a different robot finger means mounted on the side facing the palm of the base arranged in parallel on the same side of the robot finger means.

[0052] In this embodiment, the base comprises a fixed I base housing 111 together and the base of the skeleton 112; the first means comprises a first section 2 refers to the solid backbone segment 21 together, the a finger support section 22, a first finger front plate section 23 and the first finger section surface plate 24); said second means comprises a second finger section 3 fastened together skeleton segment 31 and the second surface plate section refers to 32.

[0053] In this embodiment, the transmission mechanism comprises a reduction gear 141, a first bevel gear 142, 143, a first transition shaft 144, a first transmission gear 145, a second transmission gear 146 second bevel gear and second transition shaft 147; the motor output shaft 14 of the speed reducer 141 is connected to the input shaft, the first bevel gear 142 fixed sleeve 141 in the speed reducer output shaft, the first bevel gear 142 and second bevel gear 143 engaging a second bevel gear 143 fixed sleeve shaft 144 in the first transition, the first transition gear 145 fixed sleeve shaft 144 in the first transition, the transition of the first sleeve shaft 144 provided in the base I, ; the first transition gear 145 meshed with the second transmission gear 146, the second transition gear 146 in the second transition fixed sleeve shaft 147, the second sleeve shaft 147 is provided in the transition base I, the the second transmission gear 145 meshed with the drive gear 6.

[0054] The working principle of the present embodiment, in conjunction with the accompanying drawings, described as follows:

12 refers to the relationship between rotation angle and the second movement segment 3 [0055] Scroll bumps described below:

[0056] I) when the rotation angle of the dial 12 the bump is O degrees, the first finger section 2 regardless of the location, because the bumps and the first dial 12 is fixed to the drive gear 9, the first drive wheel 9 I is the same position relative to the base, since the first gear and the second transmission wheel transmission wheel 9 ratio of I 10, under the effect of the transmission member 11, so that only translatory movement for a second transmission wheel 10 relative to the base I, without rotating, since the second transmission wheel 10 and the second contact finger fixed section 3, the second means relative to the base section 3 I only translational movement without rotation.

[0057] 2) When the projection 12 of the rotation angle of the dial is positive, since the drive of the first drive wheel 9 and the second transmission wheel 10 ratio is I, under the effect of the transmission member 11, the second transmission wheel 1 rotation angle is equal to the angle of protrusion 12 of the dial is rotated.

[0058] When the present embodiment, gripping an object 17, the drive gear 14 driven by the pinion gear 6 forward, angle 6 relative to the base drive gear I is α. 8 under the effect of the gearset, the pinion gear 6 relative to the first means and the rotation angle of the driven gear 7 relative to the first section 2 refers to the corner section 2 have a certain relationship. 6 is provided by the transfer drive gear 8 gearset to the transmission ratio of the driven gear 7 i, the transmission ratio with respect to the first finger section 2, the rotational speed of the pinion gear 6 and the driven gear ratio of the speed of 7. Since the overdrive is, the output speed is greater than the input speed, so that i is less than I (for example, i = 0.7). First means disposed near the joint section 2 about axis 4 as angle δ. Since the driven gear 7 and the second finger section 3 is fixedly connected to a balance of the embodiment satisfies the following formula I location:

[0059] α = δ (1-ΐ) (Formula I)

[0060] Since i is less than I, can be derived (Formula I) can be satisfied, an angle [delta] is positive, so the parallel opening and closing of the initial stage can be achieved, the second section 3 is always a finger gesture. When the first finger section 2 in contact with the object 17 the object 17 is no longer blocked is rotated into the adaptive phase envelope, then the motor 14 drives the driven gear 7 is rotated, the deformation 13 is pulled by the transmission member 11 of the first spring member, the second case refers to the centerline of the joint section 3 will detour shaft 5 is rotated until the second period until the finger 3 in contact with the object 17.

[0061] FIGS 8 to 13 are shown in Figure 1 (not to grip the object during) the process schematic embodiment example of the operation.

[0062] FIG. 14 through FIG. 22 is a schematic view of the embodiment shown in FIG. 1 during the operation so as to grip the envelope 17 grasping an object, wherein an initial state of FIG. 14, FIGS. 14 to 18 refer to the first section 2 prior to contact with the object 17 during the operation of opening and closing of eleven parallel operation mode, a first means 19 is new to the period when the object 2, and FIGS. 19 to 22 as a first operation means to the second contact section 17 after the object process eleven adaptive envelope object, the object until the second finger contacting section 3, as shown in FIG. 22, the gripping end.

[0063] FIGS. 23 to 25 are shown in the embodiment of FIG. 17 grasping an object Another possibility eleven parallel kneading process operation typically hold the object until the contact section 3 refers to the second object 17, 25 in FIG. shown, gripping end.

[0064] FIGS. 26 to 29 is the embodiment shown in FIG sequentially opening and closing in a parallel operation of several key positions and adaptive envelope process in grasping the object 1, the dial 12 and the bumps exhibit limiting protrusion changes in relative position 18: I) the case of FIG. 26 and FIG. 14 is similar to the embodiment in its initial position at this time, the first spring member 13 so that the dial 12 and the stopper projection 18 comes into contact bumps, the second finger 3 is a vertical section of the initial pose; similarly 2) the case of FIG. 27 and FIG. 18, this time to the embodiment example of the motion coming in contact with a first segment 2 refers to the object to be caught, a first spring member 13 is still the bumps 12 and the dial contact stop bosses 18, a second straight section refers 3- posture in a vertical posture same as the initial eleven; similar 3) of FIG. 28 and FIG. 21, the case of the first embodiment of the finger section 2 has contacted object 17 is blocked and can not move, and the like under the action of the drive motor 14 and gear unit 8 drives the second finger joint section 3 has a detour shaft 5 is rotated by an angle (initial posture is no longer held upright), via a transmission element spring 11 pulls the first member 12 is deformed, the dial 12 away from the bump stopper protrusion 18 had been in contact; case 4) of FIG. 29 until FIG 29 is similar to the case of FIG. 22, the contact is completed at this time of two embodiments of an object refers to the segment - achieve envelope fetching where bumps dial 12 is rotated a greater angle away from the limit projection block 18 more.

[0065] If the driven gear 7 and the second finger section 3 is not fixed, but as another embodiment employing a second embodiment as spring (not shown) connected to the driven gear 7 and the second finger section 3, then the first spring member 13 and the second spring member to choose the right, to ensure that the range of movement of the finger, a second spring weaker than the first spring member always start member 13, when the object contacts the first finger section 2 is blocked, the second spring member larger deformation occurs in the deformation process, the force of the second spring member can be gradually increased against the force of a first spring member 13, and exceeds the force of the first spring member 13, so that the second spring member joint second finger section 3 detour rotation axial center line 5, this time, 11, has been pulled deformation of the first spring member 13 through the transmission member, a second finger section 3 from an initial vertical posture rotated to a second segment means 3 contacts the object 17, gripping end.

[0066] The present invention, by driving means, a reasonable set of multi-axis gear train transmission ratio, spring member, dial bumps, limiting the bump and the socket section refers to activities to achieve the comprehensive parallel opening and closing the grip and adaptive packet gripping network functions, depending on the shape and position of the target object, the second translation section refers to both grip the object, but also refers to the segment in turn rotates the first and second finger sections envelope object; and a driving wheel using the apparatus Dual master gear from a driven manner, gripping range, no motion deadband; while using less driving manner using a driver drives two joints, without complex sensing and control system; the apparatus compact structure, small volume , low manufacturing and maintenance costs for the robot hand.

Claims (8)

1. A multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means includes a base, a first finger section, the second finger section, near the joint shaft, and the distal joint drive shaft; said joint bushing disposed near in the base; the distal finger joint bushing provided in the first paragraph; sheathing distal section refers to the second joint axis in; near the centerline of the distal joint axis parallel to the centerline axis of the joint; wherein: the multi-axis parallel to the opening and closing gear train envelope adaptive robot finger apparatus further comprises a transmission mechanism, a driving gear, a driven gear, a gear set, a first transmission gear, second transmission wheel, the transmission member, the bump dial plate, a first spring member and the stopper protrusion; activity refers to the segment of the first joint near sleeved shaft; an output connected to the input shaft of the transmission mechanism of the drive, the active output terminal of the transmission mechanism gear connected; said active socket drive gear shaft near joints, the driving gear and the input gear set connected to the output terminal of said set of gears with the driven gear; the first means mounted gearset paragraph; event driven gear sleeved on said distal joint shaft, said Gear means and a second section connected; said transmission gear set such that the direction of rotation of the driven gear coincides with the driving gear; the first transmission wheel shaft near joints sleeved activity; the second drive gear sleeved in the far joint shaft, a second gear wheel fixedly connected to the second finger section; said transmission member connecting the first and second transmission wheel transmission wheel, the transmission member, the first and second transmission wheel transmission wheel of the three formed between the mating drive relationship, the drive transmission member such that the direction of rotation of the second transmission wheel coincides with the first transmission gear; dial the bump activity in juxta-articular socket axis, said first bump dial a transmission wheel fixed; the limiting protrusion fixedly connected to the base; block dial stopper protrusion of the convex contact with or some distance away; ends of the first spring member are respectively connected to the first gear and a wheel base, said first spring member toward the bumps dial stopper protrusion; disposed toward a first rotational direction refers to an object near the positive direction of the joint section, the first section away from the rotating direction of the object refers to near joints in the opposite direction; multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means in an initial state When the bump contact with the dial stopper protrusion, at this time was bumps dial is rotated relative to the base angle is O degrees, starting from this position, the rotation angle of the rotary dial bumps in the positive direction of juxta-articular n, bumps rotational angle of rotation of the dial towards the opposite direction near the joint is negative; the bump stop to limit a rotation angle of projection can only dial positive; the transmission member, and a first transmission wheel two wheel drive transmission system composed of three with respect to the first finger section, the first transmission turn from the transmission ratio of the second transmission wheel I.
2. Multi-axis parallel to the opening and closing gear train envelope adaptive robot finger apparatus as claimed in claim 1, characterized in that: further comprising a second spring member ends, said second spring member are respectively connected to the driven gear, and The second refers to the segment.
3. Multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means, wherein as claimed in claim 1: said driven gear secured to the second finger section; a driving gear and the driven gear in the set gear transmission gear consisting of three with respect to the first finger section, from the driving gear to the driven gear gear ratio smaller than I.
4. As claimed in claim 1 to open and close parallel multi-axis gear train envelope adaptive robot finger means, characterized in that: said drive member using a belt, chain or rope tendons, the first drive pulley wheel employed, a sprocket or sheave, said second gear wheel is made of a pulley, with a transmission relationship is formed between the sheave or sprocket, the drive member, the first and second transmission wheel three transmission wheel, the transmission member is formed "O" shape.
5. As claimed in claim 1, 2 or 3 of the multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means, wherein: said gear set includes a first gear, a second gear, a double-gear, the first an intermediate shaft, a second intermediate shaft and the third intermediate shaft; comprises the double-gear coaxially fixed together, and the input gear and the output gear; the first gear meshed with the drive gear, the first gear sleeved on the first countershaft, said first intermediate shaft sleeve means provided in the first paragraph; the second gear meshed with the first gear, said second gear is sleeved on the second countershaft, the said input gear and the second gear, the output gear and the driven gear of the dual gear sleeved on the third intermediate shaft, a first intermediate shaft, a second intermediate shaft and the third intermediate shaft are a first means are provided in the sleeve section.
6. As claimed in claim 1, 2 or 3 of the multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means, wherein: said drive using a motor with a fixed base.
7. As claimed in claim 1, 2 or 3 of the multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means, wherein: said drive air cylinder or a hydraulic cylinder.
8. Multi-axis parallel gear train as claimed in claim 1, 2 or 3 opening and closing the envelope adaptive robot finger means, wherein: said first spring member using the extension spring, compression spring, a leaf spring or a torsion spring .