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

Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping Download PDF

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CN105598992A
CN105598992A CN 201610153133 CN201610153133A CN105598992A CN 105598992 A CN105598992 A CN 105598992A CN 201610153133 CN201610153133 CN 201610153133 CN 201610153133 A CN201610153133 A CN 201610153133A CN 105598992 A CN105598992 A CN 105598992A
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gear
transmission
finger
drive
multi
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CN 201610153133
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Chinese (zh)
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张文增
梁达尧
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清华大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints

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

多轴轮系平行开合自适应包络机器人手指装置 Multi-axis parallel to the opening and closing gear train envelope adaptive robot finger means

技术领域 FIELD

[0001]本发明属于机器人手技术领域,特别涉及一种多轴轮系平行开合自适应包络机器人手指装置的结构设计。 [0001] The present invention belongs to the technical field of the robot hand, and particularly relates to a multi-axis gear train structure design of a parallel adaptive envelope opening and closing the fingers of the robot apparatus.

背景技术 Background technique

[0002]自适应欠驱动机器人手采用少量电机驱动多个自由度关节,由于电机数量少,藏入手掌的电机可以选择更大的功率和体积,出力大,同时纯机械式的反馈系统无需对环境敏感也可以实现稳定抓取,自动适应不同形状尺寸的物体,没有实时电子传感和闭环反馈控制的需求,控制简单方便,降低了制造成本。 [0002] Adaptive Underactuated robot hand using a small motor-driven joints plurality of degrees of freedom, since the number of the motor, the motor can be hidden into the palm of the selected volume and greater power, large output, while the purely mechanical feedback system without the need for environmentally sensitive stable gripping can be realized, automatically adapt to objects of different shapes and sizes, there is no demand for real-time electronic sensing and closed-loop feedback control, the control is simple and convenient, reduce the manufacturing cost. 但传统的欠驱动机器人手多采用连杆机构,由于机构的限制,指段靠向物体的过程中具有极限位置,从而产生运动死区,自适应性受到大大削弱。 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]在抓取物体时主要有两种抓取方法,一种是捏持,一种是握持。 [0003] There are two main methods gripping when grasping the object A is a pinch, one is holding. 捏持是用末端手指的指尖部分去夹取物体,采用两个点或两个软指面去接触物体,主要针对小尺寸物体或具有对立面的较大物体;握持是用手指的多个指段包络环绕物体来实现多个点的接触,达到更稳定的形状包络抓取。 Grip to grip the object by a fingertip portion of the finger tip, using two points or two soft surfaces means to reach the object, mainly for a small-sized objects or objects having opposite large; with a plurality of gripping fingers It refers to a segment of the envelope around the plurality of the contact points to achieve the object, to achieve a more stable form of the envelope gripping. 工业夹持器一般采用捏持方式,难以具有稳定握持功能,不能适应多种形状物体的稳定包络抓取;自适应欠驱动手指可以采用自适应包络物体的方式握持,但是无法实施捏持抓取;耦合的多关节手可以实现多关节同时转动,能够实现捏持,不能实现针对多种形状物体的稳定的多点包络握持。 Industrial pinch clamp the general mode, it is difficult to have a stable holding function, can not adapt to a variety of object shapes stabilization package envelope gripping; adaptive driving finger may be employed under an adaptive manner the envelope holding the object, but can not be implemented gripping the grip; coupled multi-joint multi-joint may be implemented hand while rotating, pinch can be achieved, stability can not be achieved for a wide variety of shapes of the multi-object gripping envelope. 上述三种手均有很大的提升空间。 The three hand have much room for improvement. 现实中很需要一种既具有捏持功能,又能够实现稳定自适应包络抓持的机器人手。 In reality it is a need for a function with a pinch, but also to achieve stable adaptive robot hand grasping the envelope.

[0004]已有的一种双关节同向传动复合欠驱动机器人手指装置,如中国专利CN102161204B,可以实现先耦合转动多个关节,然后再自适应抓取的功能,其不足之处在于,该装置有运动死区,抓取范围小;抓取物体时要求物体最初必须靠近基座和近指段,降低了抓取效率;无法实施平行捏持。 [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]已有的一种具有双自由度欠驱动手指的五连杆夹持装置,如美国专利US8973958B2,包括五个连杆、弹簧、机械约束。 [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. 该装置在工作时,开始阶段保持末端指段的姿态进行近关节弯曲动作,之后根据物体的位置可以实现平行捏持或自适应包络握持的功能。 In operation of the apparatus, holding the beginning of the end section of finger gestures performed near joints bending operation, can be achieved after the adaptive parallel grip or envelope holding function according to the position of the object. 其不足之处在于,该装置采用连杆机构,具有运动死区,抓取范围小,机构体积大,外观不拟人,缺乏柔顺性,制造成本高。 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.

发明内容 SUMMARY

[0006]本发明的目的是为了克服已有技术的不足之处,提供一种多轴轮系平行开合自适应包络机器人手指装置。 [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. 该装置具有多种抓取模式,既能平动第二指段捏持物体,也能先后合上第一指段和第二指段包络物体;抓取范围大,无运动死区,体积小,外观拟人;同时采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统。 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]本发明的技术方案如下: [0007] aspect of the present invention is as follows:

[0008]本发明设计的一种多轴轮系平行开合自适应包络机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴和驱动器;所述近关节轴套设在基座中;所述远关节轴套设在第一指段中;所述第二指段套接在远关节轴上;所述近关节轴的中心线与远关节轴的中心线平行;其特征在于:该多轴轮系平行开合自适应包络机器人手指装置还包括传动机构、主动齿轮、从动齿轮、齿轮组、第一传动轮、第二传动轮、传动件、凸块拨盘、第一簧件和限位凸块;所述第一指段活动套接在近关节轴上;所述驱动器的输出轴与传动机构的输入端相连,所述传动机构的输出端与主动齿轮相连;所述主动齿轮活动套接在近关节轴上,所述主动齿轮与齿轮组的输入端相连,所述齿轮组的输出端与从动齿轮相连;所述齿轮组安装在第一指段中;所述从动齿轮活动套接在远 [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 节轴上,所述从动齿轮与第二指段相连;所述齿轮组的传动使得从动齿轮与主动齿轮的转动方向一致;所述第一传动轮活动套接在近关节轴上;所述第二传动轮套接在远关节轴上,第二传动轮与第二指段固接;所述传动件连接第一传动轮和第二传动轮,所述传动件、第一传动轮和第二传动轮三者之间配合形成传动关系,所述传动件的传动使得第二传动轮与第一传动轮的转动方向一致;所述凸块拨盘活动套接在近关节轴上,所述凸块拨盘与第一传动轮固接;所述限位凸块与基座固接;所述凸块拨盘与限位凸块相接触或离开一段距离;所述第一簧件的两端分别连接第一传动轮和基座,所述第一簧件使凸块拨盘靠向限位凸块;设第一指段靠向物体的转动方向为近关节正方向,第一指段远离物体的转动方向为近关节反方向;在多轴轮系平行开合自适应包络机器人手指装 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 置处于初始状态时,凸块拨盘与限位凸块接触,设此时凸块拨盘相对基座的旋转角度为O度,从该位置开始,凸块拨盘朝近关节正方向旋转时的转动角度为正,凸块拨盘朝近关节反方向旋转时的转动角度为负;所述限位凸块限制凸块拨盘的转动角度只能为正;在所述传动件、第一传动轮和第二传动轮三者所构成的传动系统中,相对于第一指段,从所述第一传动轮到第二传动轮的传动比为I。 When set in the initial state, the bumps into contact with the dial stopper protrusion, at this time was bumps dial rotation angle is O degrees relative to the base, starting from this position, the bump dial is rotated toward the positive direction near the joint a positive rotation angle, the rotation angle of the bump when the dial is rotated in a reverse direction near the joint is negative; the bump stop to limit a rotation angle of 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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:还包括第二簧件,所述第二簧件的两端分别连接从动齿轮和第二指段。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述从动齿轮与第二指段固接;在主动齿轮、齿轮组和从动齿轮三者所构成的齿轮传动系统中,相对于第一指段,从所述主动齿轮到从动齿轮的传动比小于I,即从所述主动齿轮到从动齿轮的传动为增速传动,即所述从动齿轮相对第一指段旋转的角度大于主动齿轮相对第一指段旋转的角度。 [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 ]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述传动件采用传动带、腱绳或链条,所述第一传动轮采用带轮、绳轮或链轮,所述第二传动轮采用带轮、绳轮或链轮,所述传动件、第一传动轮和第二传动轮三者之间配合形成传动关系,所述传动件形成“O”字形。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述齿轮组包括第一齿轮、第二齿轮、双联齿轮、第一中间轴、第二中间轴和第三中间轴;所述双联齿轮包括同轴心且固接在一起的输入齿轮和输出齿轮;所述第一齿轮与主动齿轮嗤合,所述第一齿轮套接在第一中间轴上,所述第一中间轴套设在第一指段中;所述第二齿轮与第一齿轮啮合,所述第二齿轮套接在第二中间轴上,所述输入齿轮与第二齿轮啮合,所述输出齿轮与从动齿轮啮合,所述双联齿轮套接在第三中间轴上,所述第一中间轴、第二中间轴和第三中间轴均分别套设在第一指段中。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述驱动器采用电机,所述电机与基座固接。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述驱动器采用气缸或液压缸。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述第一簧件采用拉簧、压簧、片簧或扭簧。 [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]本发明设计的一种采用所述多轴轮系平行开合自适应包络机器人手指装置的机器人手装置,其特征在于,包括手掌底座、至少2个多轴轮系平行开合自适应包络机器人手指装置;所述多轴轮系平行开合自适应包络机器人手指装置的基座与手掌底座固接。 [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]本发明与现有技术相比,具有以下优点和突出性效果: [0017] Compared with the prior art the present invention has the following advantages and effects projection of:

[0018]本发明装置利用驱动器、合理设置传动比的多轴轮系、簧件、凸块拨盘、限位凸块和活动套接指段等综合实现了平行开合捏持及自适应包络抓持的功能,根据目标物体形状和位置的不同,既能平动第二指段捏持物体,也能依次转动第一指段和第二指段包络物体;该装置采用传动轮和齿轮双路主从驱动的方式,抓取范围大,无运动死区;同时采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统;该装置结构紧凑、体积小,制造和维护成本低,适用于机器人手。 [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.

附图说明 BRIEF DESCRIPTION

[0019]图1是本发明设计的多轴轮系平行开合自适应包络机器人手指装置的一种实施例的立体外观图。 [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]图2是图1所示实施例的正面外观图。 [0020] FIG. 2 is a front external view of the embodiment shown in FIG.

[0021 ]图3是图1所示实施例的一个侧面外观图(图2的左视图)。 [0021] FIG. 3 is an embodiment shown in Figure 1 a side external view (left side view of FIG. 2).

[0022]图4是图1所示实施例的另一个侧面外观图(图2的右视图)。 [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]图5是图1所示实施例的爆炸视图。 [0023] FIG. 5 is an exploded view of the embodiment shown in Fig.

[0024]图6是图1所示实施例的内部立体视图(未画出基座外壳和第一指段)。 [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]图7是图1所示实施例的正面视图(未画出基座外壳、第一指段前板和第一指段表面板)。 [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]图8至图13是图1所示实施例动作过程示意图(未抓取物体时)。 [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]图14至图22是图1所示实施例在以包络握持的方式抓取物体的动作过程示意图。 [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]图23至图25是图1所示实施例抓取物体的另一种方式一一平行开合用第二指段捏持物体的动作过程示意图。 [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]图26至图29是图1所示实施例依次以平行开合及自适应包络抓取物体的动作过程示意图,主要展示出在几个关键位置时,凸块拨盘与限位凸块的相对位置的变化情况。 [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]图30是由三个图1所示实施例和手掌底座构成的一种机器人手的外观图。 [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 ] 在图1至图30中: [0031] 30 in FIG. 1 to FIG:

[0032] I —基座,111 一基座外壳,112—基座骨架,2—第一指段, [0032] I - a base, a base housing 111, 112- base skeleton, 2 first refers to the segment,

[0033] 21 —第一指段骨架,22—第一指段支承件,23 —第一指段前板,24 —第一指段表面板, [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] 3 一第二指段,31 一第二指段骨架,32—第二指段表面板,4 一近关节轴, [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] 5 一远关节轴,6 —主动齿轮,7 —从动齿轮,8 —齿轮组, [0035] a distal joint shaft 5, 6 - driving gear, 7-- driven gear, 8 - gearset,

[0036] 81—第一齿轮,811 —第一中间轴,82—第二齿轮,821 —第二中间轴, [0036] The first gear 81- 811 - a first intermediate shaft, a second gear 82- 821 - Second intermediate shaft,

[0037] 83—双联齿轮,831 —第三中间轴,9 一第一传动轮,10 —第二传动轮, [0037] 83- double gear 831 - the third intermediate shaft, a first gear wheel 9, 10 - a second gear wheel,

[0038]丨丨—传动件,丨2 —凸块拨盘,! [0038] Shu Shu - transmission member, Shu 2 - bump dial! 3 —第一簧件,14 —驱动器(电机), 3 - a first spring member 14 - Drive (motor),

[0039] 141 一减速器,142—第一锥齿轮,143—第二锥齿轮,144 一第一过渡轴, [0039] a reduction gear 141, a first bevel gear 142-, 143- second bevel gear shaft 144 a first transition,

[0040] 145—第一过渡齿轮,146—第二过渡齿轮,147—第二过渡轴,15 —机器人手指装置, [0040] 145- a first transmission gear, second transmission gear 146-, 147- second transition axis, 15-- robot finger means,

[0041] 16 —手掌底座,17 —物体,18 —限位凸块。 [0041] 16-- palm base, 17-- object, 18 - limit tabs.

具体实施方式 detailed description

[0042]下面结合附图及实施例进一步详细介绍本发明的具体结构、工作原理的内容。 [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]本发明设计的多轴轮系平行开合自适应包络机器人手指装置的一种实施例,如图1至图7所示,包括基座1、第一指段2、第二指段3、近关节轴4、远关节轴5和驱动器14;所述近关节轴4套设在基座I中;所述远关节轴5套设在第一指段2中;所述第二指段3套接在远关节轴5上;所述近关节轴4的中心线与远关节轴5的中心线平行。 [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]该实施例还包括传动机构、主动齿轮6、从动齿轮7、齿轮组8、第一传动轮9、第二传动轮10、传动件11、凸块拨盘12、第一簧件13和限位凸块18;所述第一指段2活动套接在近关节轴4上;所述驱动器14的输出轴与传动机构的输入端相连,所述传动机构的输出端与主动齿轮6相连;所述主动齿轮6活动套接在近关节轴4上,所述主动齿轮6与齿轮组8的输入端相连,所述齿轮组8的输出端与从动齿轮7相连;所述齿轮组8安装在第一指段2中;所述从动齿轮7活动套接在远关节轴5上,所述从动齿轮7与第二指段3相连;所述第一传动轮9活动套接在近关节轴4上;所述第二传动轮10套接在远关节轴5上,第二传动轮10与第二指段3固接;所述齿轮组8的传动使得从动齿轮7与主动齿轮6的转动方向一致;所述传动件11连接第一传动轮9和第二传动轮10,所述传动件11、第一传动轮9和第二传动轮1 [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 0三者之间配合形成传动关系,所述传动件11的传动使得第二传动轮1与第一传动轮9的转动方向一致;所述凸块拨盘12活动套接在近关节轴4上,所述凸块拨盘12与第一传动轮9固接;所述限位凸块18与基座I固接;所述凸块拨盘12与限位凸块18相接触或离开一段距离;所述第一簧件13的两端分别连接第一传动轮9和基座I,所述第一簧件13使凸块拨盘12靠向限位凸块18;设第一指段2靠向物体17的转动方向为近关节正方向,第一指段2远离物体17的转动方向为近关节反方向;在多轴轮系平行开合自适应包络机器人手指装置处于初始状态时,凸块拨盘12与限位凸块18接触,设此时凸块拨盘122相对基座I的旋转角度为O度,从该位置开始,凸块拨盘12朝近关节正方向旋转时(小于180度)的转动角度为正,凸块拨盘12朝近关节反方向旋转时(小于180度)的转动角度为负;所述限位凸块18限制凸 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 拨盘12的转动角度只能为正;在所述传动件11、第一传动轮9和第二传动轮10三者所构成的传动系统中,相对于第一指段2,从所述第一传动轮9到第二传动轮10的传动比为I。 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]在图1所示的实施例中,所述从动齿轮7与第二指段3固接;在主动齿轮6、齿轮组8和从动齿轮7三者所构成的齿轮传动系统中,相对于第一指段2,从所述主动齿轮6到从动齿轮7的传动比小于1,即从所述主动齿轮6到从动齿轮7的传动为增速传动,即所述从动齿轮7相对第一指段2旋转的角度大于主动齿轮6相对第一指段2旋转的角度。 [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]本发明的另一种实施例,还包括第二簧件,所述第二簧件的两端分别连接从动齿轮和第二指段,此时所述从动齿轮7与第二指段3不固接,所述从动齿轮7通过第二簧件与第二指段3相连。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述传动件采用传动带、腱绳或链条,所述第一传动轮采用带轮、绳轮或链轮,所述第二传动轮采用带轮、绳轮或链轮,所述传动件、第一传动轮和第二传动轮三者之间配合形成传动关系,所述传动件形成“O”字形。 [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. 在图1所示实施例中,所述传动件11采用传动带,所述第一传动轮9采用带轮,所述第二传动轮10采用带轮,所述传动件11、第一传动轮9和第二传动轮10三者之间配合形成带轮传动关系,所述传动件形成“O”字形。 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]在图1所示实施例中,所述齿轮组8包括第一齿轮81、第二齿轮82、双联齿轮83、第一中间轴811、第二中间轴821和第三中间轴831;所述双联齿轮83包括同轴心且固接在一起的输入齿轮和输出齿轮;所述第一齿轮81与主动齿轮6嗤合,所述第一齿轮81套接在第一中间轴811上,所述第一中间轴811套设在第一指段2中;所述第二齿轮82与第一齿轮81啮合,所述第二齿轮82套接在第二中间轴821上,所述输入齿轮与第二齿轮82啮合,所述输出齿轮与从动齿轮7啮合,所述双联齿轮83套接在第三中间轴831上,所述第一中间轴811、第二中间轴821和第三中间轴831均分别套设在第一指段2中。 [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]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述驱动器14采用电机、气缸或液压缸。 [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. 在图1所示实施例中,所述驱动器14采用电机,所述电机与基座I固接。 In the embodiment shown in FIG. 1, the driver 14 using a motor fixedly connected to the base I.

[0050]本发明所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述第一簧件采用拉簧、压簧、片簧或扭簧。 [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. 在图1所示实施例中,所述第一簧件13采用拉簧,其两端分别连接凸块拨盘12和基座I。 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]采用所述多轴轮系平行开合自适应包络机器人手指装置(简称机器人手指装置)的一种机器人手装置的实施例,如图30所示,包括手掌底座16和3个机器人手指装置15;所述机器人手指装置15的基座I与手掌底座16固接;三个机器人手指装置分为两组,每组安装在一侧,不同侧的机器人手指装置相向安装在手掌底座上,同侧的机器人手指装置平行布置。 [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]本实施例中,所述基座I包括固接在一起的基座外壳111和基座骨架112;所述第一指段2包括固接在一起的第一指段骨架21、第一指段支承件22、第一指段前板23和第一指段表面板24);所述第二指段3包括固接在一起的第二指段骨架31和第二指段表面板32。 [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]本实施例中,所述传动机构包括减速器141,第一锥齿轮142、第二锥齿轮143、第一过渡轴144、第一过渡齿轮145、第二过渡齿轮146和第二过渡轴147;所述电机14的输出轴与减速器141的输入轴相连,所述第一锥齿轮142套固在减速器141的输出轴上,所述第一锥齿轮142与第二锥齿轮143啮合,所述第二锥齿轮143套固在第一过渡轴144上,所述第一过渡齿轮145套固在第一过渡轴144上,所述第一过渡轴144套设在基座I中;所述第一过渡齿轮145与第二过渡齿轮146啮合,所述第二过渡齿轮146套固在第二过渡轴147上,所述第二过渡轴147套设在基座I中,所述第二过渡齿轮145与主动齿轮6啮合。 [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]本实施例的工作原理,结合附图,叙述如下: [0054] The working principle of the present embodiment, in conjunction with the accompanying drawings, described as follows:

[0055]凸块拨盘12转角与第二指段3运动的关系介绍如下: 12 refers to the relationship between rotation angle and the second movement segment 3 [0055] Scroll bumps described below:

[0056] I)当凸块拨盘12的旋转角度为O度时,无论第一指段2处于何位置,由于凸块拨盘12与第一传动轮9固接,所以第一传动轮9相对基座I的位置不变,由于第一传动轮9和第二传动轮10的传动比为I,在传动件11的作用下,所以第二传动轮10相对基座I的只进行平移运动而不会旋转,由于第二传动轮10与第二指段3固接,所以第二指段3相对基座I只进行平移运动而不会旋转。 [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)当凸块拨盘12的旋转角度为正时,由于第一传动轮9和第二传动轮10的传动比为I,在传动件11的作用下,第二传动轮1的旋转角度等于凸块拨盘12的旋转角度。 [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]当本实施例抓取物体17时,驱动器14通过传动机构带动主动齿轮6正转,主动齿轮6相对基座I的转角为α。 [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. 在齿轮组8的作用下,主动齿轮6相对第一指段2的转角与从动齿轮7相对第一指段2的转角有一定的关系。 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. 设从主动齿轮6通过齿轮组8传动到从动齿轮7的传动比为i,该传动比是相对于第一指段2,主动齿轮6转速与从动齿轮7转速之比。 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. 由于是增速传动,输出速度大于输入速度,故i小于I(例如i =0.7)。 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). 设第一指段2绕近关节轴4转角为δ。 First means disposed near the joint section 2 about axis 4 as angle δ. 由于从动齿轮7与第二指段3固接,实施例将平衡于满足下面的公式I的位置: 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) (公式I) [0059] α = δ (1-ΐ) (Formula I)

[0060]由于i小于I,可以得出(公式I)是可以满足的,δ为正的某个角度,因此开始阶段的平行开合是能够实现的,第二指段3始终是一个姿态。 [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. 当第一指段2接触物体17而被物体17阻挡不能再转动,进入自适应包络阶段,这时电机14驱动从动齿轮7转动,将通过传动件11拉动第一簧件13发生变形,此时第二指段3会绕远关节轴5的中心线转动,直到第二指段3接触物体17为止。 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]图8至图13是图1所示实施例动作过程示意图(未抓取物体时)。 [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]图14至图22是图1所示实施例在以包络握持的方式抓取物体17的动作过程示意图,其中,图14为初始状态,图14至图18为第一指段2接触到物体17之前的动作过程一一平行开合方式动作,图19为第一指段2刚接触到物体的情况,图19至图22为第一指段2接触到物体17之后的动作过程一一自适应包络物体,直到第二指段3接触物体,如图22所示,抓取结束。 [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]图23至图25是图1所示实施例抓取物体17的另一种可能方式一一平行捏持物体的典型动作过程,直到第二指段3接触物体17,如图25所示,抓取结束。 [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]图26至图29是图1所示实施例依次以平行开合及自适应包络抓取物体的动作过程中的几个关键位置,展示出凸块拨盘12与限位凸块18的相对位置的变化情况:I)图26与图14情况相似,此时实施例处在初始位置,第一簧件13使凸块拨盘12与限位凸块18相接触,第二指段3处于竖直的初始姿态;2)图27与图18情况相似,此时实施例运动到即将用第一指段2接触待抓物体,第一簧件13仍然使凸块拨盘12与限位凸块18相接触,第二指段3—直处于竖直的姿态一一与初始姿态相同;3)图28与图21情况相似,此时实施例的第一指段2已经接触到物体17被阻挡而不能运动,在电机14的驱动和齿轮组8的传动等作用下,第二指段3已经绕远关节轴5转动一个角度(不再保持竖直的初始姿态),通过传动件11拉动第一簧件12发生了变形,凸块拨盘12离开了原来一直接触的限位凸块18;4)直到图29的情况 [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 ,图29与图22的情况相似,此时实施例完成对物体的两个指段的接触——实现包络抓取,此时凸块拨盘12转动了更大的角度,离开限位凸块18更多了。 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]如果从动齿轮7与第二指段3不固接,而是像另一种实施例那样采用第二簧件(未画出)连接从动齿轮7和第二指段3,那么第一簧件13与第二簧件要选择合适,以保证在手指运动范围内,第二簧件开始始终弱于第一簧件13,当第一指段2接触物体被阻挡后,第二簧件会发生更大的变形,在变形的过程中,第二簧件的弹力逐渐增加到能够抵抗第一簧件13的弹力,并超过第一簧件13的弹力,于是第二簧件使第二指段3绕远关节轴5的中心线转动,此时,通过传动件11,第一簧件13已经被拉变形,第二指段3从竖直的初始姿态开始旋转到第二指段3接触物体17,抓取结束。 [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]本发明装置利用驱动器、合理设置传动比的多轴轮系、簧件、凸块拨盘、限位凸块和活动套接指段等综合实现了平行开合捏持及自适应包络抓持的功能,根据目标物体形状和位置的不同,既能平动第二指段捏持物体,也能依次转动第一指段和第二指段包络物体;该装置采用传动轮和齿轮双路主从驱动的方式,抓取范围大,无运动死区;同时采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统;该装置结构紧凑、体积小,制造和维护成本低,适用于机器人手。 [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. 1.一种多轴轮系平行开合自适应包络机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴和驱动器;所述近关节轴套设在基座中;所述远关节轴套设在第一指段中;所述第二指段套接在远关节轴上;所述近关节轴的中心线与远关节轴的中心线平行;其特征在于:该多轴轮系平行开合自适应包络机器人手指装置还包括传动机构、主动齿轮、从动齿轮、齿轮组、第一传动轮、第二传动轮、传动件、凸块拨盘、第一簧件和限位凸块;所述第一指段活动套接在近关节轴上;所述驱动器的输出轴与传动机构的输入端相连,所述传动机构的输出端与主动齿轮相连;所述主动齿轮活动套接在近关节轴上,所述主动齿轮与齿轮组的输入端相连,所述齿轮组的输出端与从动齿轮相连;所述齿轮组安装在第一指段中;所述从动齿轮活动套接在远关节轴上,所述 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 动齿轮与第二指段相连;所述齿轮组的传动使得从动齿轮与主动齿轮的转动方向一致;所述第一传动轮活动套接在近关节轴上;所述第二传动轮套接在远关节轴上,第二传动轮与第二指段固接;所述传动件连接第一传动轮和第二传动轮,所述传动件、第一传动轮和第二传动轮三者之间配合形成传动关系,所述传动件的传动使得第二传动轮与第一传动轮的转动方向一致;所述凸块拨盘活动套接在近关节轴上,所述凸块拨盘与第一传动轮固接;所述限位凸块与基座固接;所述凸块拨盘与限位凸块相接触或离开一段距离;所述第一簧件的两端分别连接第一传动轮和基座,所述第一簧件使凸块拨盘靠向限位凸块;设第一指段靠向物体的转动方向为近关节正方向,第一指段远离物体的转动方向为近关节反方向;在多轴轮系平行开合自适应包络机器人手指装置处于初始状 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 时,凸块拨盘与限位凸块接触,设此时凸块拨盘相对基座的旋转角度为O度,从该位置开始,凸块拨盘朝近关节正方向旋转时的转动角度为正,凸块拨盘朝近关节反方向旋转时的转动角度为负;所述限位凸块限制凸块拨盘的转动角度只能为正;在所述传动件、第一传动轮和第二传动轮三者所构成的传动系统中,相对于第一指段,从所述第一传动轮到第二传动轮的传动比为I。 When the bump contact with the dial stopper protrusion, at this time was bumps dial is rotated relative to the base angle is O degrees, starting from this position, the rotation angle of the rotary dial bumps in the positive direction of juxta-articular n, bumps rotational angle of rotation of the dial towards the opposite direction near the joint is negative; the bump stop to limit a rotation angle of 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. 2.如权利要求1所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:还包括第二簧件,所述第二簧件的两端分别连接从动齿轮和第二指段。 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. 3.如权利要求1所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述从动齿轮与第二指段固接;在主动齿轮、齿轮组和从动齿轮三者所构成的齿轮传动系统中,相对于第一指段,从所述主动齿轮到从动齿轮的传动比小于I。 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. 4.如权利要求1所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述传动件采用传动带、腱绳或链条,所述第一传动轮采用带轮、绳轮或链轮,所述第二传动轮采用带轮、绳轮或链轮,所述传动件、第一传动轮和第二传动轮三者之间配合形成传动关系,所述传动件形成“O”字形。 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. 5.如权利要求1、2或3所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述齿轮组包括第一齿轮、第二齿轮、双联齿轮、第一中间轴、第二中间轴和第三中间轴;所述双联齿轮包括同轴心且固接在一起的输入齿轮和输出齿轮;所述第一齿轮与主动齿轮啮合,所述第一齿轮套接在第一中间轴上,所述第一中间轴套设在第一指段中;所述第二齿轮与第一齿轮啮合,所述第二齿轮套接在第二中间轴上,所述输入齿轮与第二齿轮啮合,所述输出齿轮与从动齿轮啮合,所述双联齿轮套接在第三中间轴上,所述第一中间轴、第二中间轴和第三中间轴均分别套设在第一指段中。 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. 6.如权利要求1、2或3所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述驱动器采用电机,所述电机与基座固接。 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. 7.如权利要求1、2或3所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述驱动器采用气缸或液压缸。 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. 8.如权利要求1、2或3所述的多轴轮系平行开合自适应包络机器人手指装置,其特征在于:所述第一簧件采用拉簧、压簧、片簧或扭簧。 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 .
CN 201610153133 2016-03-17 2016-03-17 Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping CN105598992A (en)

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