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 CN201610153133.1A CN201610153133A CN105598992A CN 105598992 A CN105598992 A CN 105598992A CN 201610153133 A CN201610153133 A CN 201610153133A CN 105598992 A CN105598992 A CN 105598992A
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gear
transmission
finger
bump
transmission wheel
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张文增
梁达尧
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Tsinghua University
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Tsinghua University
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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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

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 gear train parallel opening and closing adaptive envelope robot finger device

技术领域technical field

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。The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a parallel opening and closing self-adaptive envelope robot finger device of multi-axis gear trains.

背景技术Background technique

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。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。The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. However, the traditional underactuated robot hand mostly adopts the link mechanism. Due to the limitation of the mechanism, the finger segment has an extreme position in the process of leaning against the object, resulting in a motion dead zone, and the adaptability is greatly weakened.

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。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。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。上述三种手均有很大的提升空间。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。There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. Pinch is to use the fingertips of the end fingers to grasp objects, using two points or two soft finger surfaces to contact objects, mainly for small-sized objects or larger objects with opposite sides; grip is to use multiple fingers The finger segment envelope surrounds the object to achieve multiple points of contact, achieving a more stable shape envelope capture. Industrial grippers generally use the pinching method, which is difficult to have a stable grip function, and cannot adapt to the stable envelope grabbing of objects of various shapes; adaptive underactuated fingers can be gripped by adaptive envelope objects, but it cannot be implemented Pinch and grasp; the coupled multi-joint hand can realize simultaneous rotation of multiple joints, and can realize pinching, but cannot realize stable multi-point envelope grip for objects of various shapes. The above three hands all have a lot of room for improvement. In reality, there is a great need for a robot hand that not only has the function of pinching, but also can realize stable and adaptive envelope grasping.

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。An existing double-joint co-direction transmission composite underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. The dead zone, the grasping range is small; when grasping an object, it is required that the object must be close to the base and the proximal finger segment at first, which reduces the grasping efficiency; parallel pinching cannot be implemented.

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。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。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。An existing five-link clamping device with underactuated fingers with two degrees of freedom, such as US Pat. No. 8,973,958B2, includes five links, springs, and mechanical constraints. When the device is working, it maintains the posture of the end finger segment for near-joint bending at the beginning, and then can realize the function of parallel pinching or adaptive envelope holding according to the position of the object. Its disadvantages are that the device adopts a link mechanism, has a motion dead zone, has a small grasping range, has a large mechanism volume, does not have an anthropomorphic appearance, lacks flexibility, and has high manufacturing costs.

发明内容Contents of the invention

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。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 object of the present invention is to provide a multi-axis gear train parallel opening and closing self-adaptive envelope robot finger device in order to overcome the shortcomings of the prior art. The device has a variety of grasping modes, which can not only pinch the object with the second finger segment, but also close the first finger segment and the second finger segment to envelop the object successively; the grasping range is large, there is no motion dead zone, and the volume It is small and has an anthropomorphic appearance; at the same time, it uses an underactuated method to drive two joints with one driver, without complex sensing and control systems.

本发明的技术方案如下:Technical scheme of the present invention is as follows:

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关节轴上,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0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1。A multi-axis wheel system parallel opening and closing adaptive envelope robot finger device designed by the present invention includes a base, a first finger section, a second finger section, a proximal joint shaft, a far joint shaft and a driver; the proximal joint shaft Sleeved in the base; the distal joint shaft is sleeved in the first finger segment; the second finger segment is sleeved on the distal joint shaft; the center line of the proximal joint shaft and the center line of the distal joint shaft Parallel; it is characterized in that: the multi-axis gear system parallel opening and closing adaptive envelope robot finger device also includes a transmission mechanism, a driving gear, a driven gear, a gear set, a first transmission wheel, a second transmission wheel, a transmission member, a convex Block dial, first spring and limit bump; the first finger section is movably sleeved on the proximal joint shaft; the output shaft of the driver is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism It is connected with the driving gear; the driving gear is movably sleeved on the proximal joint shaft, the driving gear is connected with the input end of the gear set, and the output end of the gear set is connected with the driven gear; the gear set is installed on the In one finger section; the driven gear is movably socketed on the distal joint shaft, and the driven gear is connected to the second finger section; the transmission of the gear set makes the driven gear and the driving gear rotate in the same direction; the The first transmission wheel is movably socketed on the proximal joint shaft; the second transmission wheel is socketed on the distal joint shaft, and the second transmission wheel is fixedly connected to the second finger segment; the transmission member is connected to the first transmission wheel and The second transmission wheel, the transmission part, the first transmission wheel and the second transmission wheel cooperate to form a transmission relationship, and the transmission of the transmission part makes the second transmission wheel and the first transmission wheel rotate in the same direction; The bump dial is movably connected to the proximal joint shaft, the bump dial is fixedly connected to the first transmission wheel; the limiting bump is fixed to the base; the bump dial is connected to the limiting bump The blocks are in contact with each other or separated by a certain distance; the two ends of the first spring member are respectively connected to the first transmission wheel and the base, and the first spring member makes the bump dial close to the limit bump; the first finger section is provided The rotation direction close to the object is the positive direction near the joint, and the rotation direction of the first finger segment away from the object is the opposite direction near the joint; The disk is in contact with the limit bump, and the rotation angle of the bump dial relative to the base is 0 degrees at this time. From this position, the rotation angle when the bump dial rotates toward the positive direction near the joint is positive, and the bump dial When the disk rotates in the opposite direction near the joint, the rotation angle is negative; the rotation angle of the limiting protrusion restricting the protrusion dial can only be positive; the transmission member, the first transmission wheel and the second transmission wheel In the formed transmission system, relative to the first finger section, the transmission ratio from the first transmission wheel to the second transmission wheel is 1.

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。The multi-axis wheel system parallel opening and closing adaptive envelope robot finger device according to the present invention is characterized in that it also includes a second spring, and the two ends of the second spring are respectively connected to the driven gear and the second finger segment .

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1,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。The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to the present invention is characterized in that: the driven gear is fixedly connected to the second finger segment; In the formed gear transmission system, relative to the first finger section, the transmission ratio from the driving gear to the driven gear is less than 1, that is, the transmission from the driving gear to the driven gear is a speed-up transmission, that is, the slave The angle at which the driving gear rotates relative to the first finger section is greater than the angle at which the driving gear rotates relative to the first finger section.

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“0”字形。The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to the present invention is characterized in that: the transmission part adopts a transmission belt, a tendon rope or a chain, and the first transmission wheel adopts a pulley, a rope pulley or a chain The second transmission wheel adopts a pulley, a rope wheel or a sprocket, and the transmission part, the first transmission wheel and the second transmission wheel cooperate to form a transmission relationship, and the transmission part forms a "0" shape .

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。The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to the present invention is characterized in that: the gear set includes a first gear, a second gear, a double gear, a first intermediate shaft, and a second intermediate shaft and the third intermediate shaft; the double gear includes an input gear and an output gear that are coaxial and fixed together; the first gear meshes with the driving gear, and the first gear is sleeved on the first intermediate shaft , the first intermediate shaft is sleeved in the first finger section; the second gear is meshed with the first gear, the second gear is sleeved on the second intermediate shaft, and the input gear is meshed with the second gear , the output gear meshes with the driven gear, the double gear is sleeved on the third intermediate shaft, and the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved on the first finger section middle.

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。The multi-axis wheel system parallel opening and closing self-adaptive envelope robot finger device according to the present invention is characterized in that: the driver adopts a motor, and the motor is fixedly connected to the base.

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。The multi-axis gear system parallel opening and closing self-adaptive envelope robot finger device according to the present invention is characterized in that the driver adopts an air cylinder or a hydraulic cylinder.

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。The multi-axis wheel system parallel opening and closing self-adaptive envelope robot finger device according to the present invention is characterized in that: the first spring member adopts a tension spring, a compression spring, a leaf spring or a torsion spring.

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。A robot hand device designed by the present invention adopts the multi-axis gear train parallel opening and closing adaptive envelope robot finger device, which is characterized in that it includes a palm base and at least two multi-axis gear trains parallel opening and closing adaptive envelope A robot finger device; the base of the multi-axis gear train parallel opening and closing adaptive envelope robot finger device is fixedly connected to the palm base.

本发明与现有技术相比,具有以下优点和突出性效果:Compared with the prior art, the present invention has the following advantages and outstanding effects:

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。The device of the present invention comprehensively realizes parallel opening and closing pinching and self-adaptive envelope grasping by using a driver, a multi-axis wheel train with a reasonable transmission ratio, a spring member, a bump dial, a limit bump, and a movable socket finger segment. According to the shape and position of the target object, it can not only move the second finger segment to pinch the object, but also turn the first finger segment and the second finger segment to envelop the object in turn; the device adopts a two-way drive wheel and gear The master-slave drive method has a large grasping range and no motion dead zone; at the same time, it adopts the under-actuation method, using one driver to drive two joints, without complex sensing and control systems; Low maintenance and suitable for robotic hands.

附图说明Description of drawings

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。Fig. 1 is a three-dimensional appearance view of an embodiment of the multi-axis gear train parallel opening and closing adaptive envelope robot finger device designed by the present invention.

图2是图1所示实施例的正面外观图。Fig. 2 is a front appearance view of the embodiment shown in Fig. 1 .

图3是图1所示实施例的一个侧面外观图(图2的左视图)。Fig. 3 is a side appearance view of the embodiment shown in Fig. 1 (left side view of Fig. 2).

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)。Fig. 4 is another side appearance view of the embodiment shown in Fig. 1 (right side view of Fig. 2).

图5是图1所示实施例的爆炸视图。Fig. 5 is an exploded view of the embodiment shown in Fig. 1 .

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)。Fig. 6 is an internal perspective view of the embodiment shown in Fig. 1 (base housing and first finger section not shown).

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)。Fig. 7 is a front view of the embodiment shown in Fig. 1 (the base housing, the first finger segment front plate and the first finger segment surface plate are not shown).

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)。8 to 13 are schematic diagrams of the action process of the embodiment shown in FIG. 1 (when the object is not grasped).

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。FIG. 14 to FIG. 22 are schematic diagrams of the action process of the embodiment shown in FIG. 1 grasping an object in an enveloping grasping manner.

图23至图25是图1所示实施例抓取物体的另一种方式——平行开合用第二指段捏持物体的动作过程示意图。Fig. 23 to Fig. 25 are schematic diagrams of another way of grabbing objects in the embodiment shown in Fig. 1 - the action process of pinching the object with the second finger segment in parallel opening and closing.

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。Fig. 26 to Fig. 29 are schematic diagrams of the action process of the embodiment shown in Fig. 1 in order to grasp the object by parallel opening and closing and adaptive envelope, mainly showing the relationship between the bump dial and the limit bump at several key positions. Changes in relative position.

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。Fig. 30 is an appearance view of a robot hand composed of three embodiments shown in Fig. 1 and a palm base.

在图1至图30中:In Figures 1 to 30:

1-基座,111-基座外壳,112-基座骨架,2-第一指段,1-base, 111-base shell, 112-base frame, 2-first finger segment,

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,21 - the first finger frame, 22 - the first finger support, 23 - the first finger front plate, 24 - the first finger surface plate,

3-第二指段,31-第二指段骨架,32-第二指段表面板,4-近关节轴,3 - second finger segment, 31 - second finger segment skeleton, 32 - second finger segment surface plate, 4 - proximal joint axis,

5-远关节轴,6-主动齿轮,7-从动齿轮,8-齿轮组,5-distal joint shaft, 6-driving gear, 7-driven gear, 8-gear set,

81-第一齿轮,811-第一中间轴,82-第二齿轮,821-第二中间轴,81 - the first gear, 811 - the first intermediate shaft, 82 - the second gear, 821 - the second intermediate shaft,

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

11-传动件,12-凸块拨盘,13-第一簧件,14-驱动器(电机),11-transmission member, 12-bump dial, 13-first spring member, 14-driver (motor),

141-减速器,142-第一锥齿轮,143-第二锥齿轮,144-第一过渡轴,141-reducer, 142-the first bevel gear, 143-the second bevel gear, 144-the first transition shaft,

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,145-the first transition gear, 146-the second transition gear, 147-the second transition shaft, 15-robot finger device,

16-手掌底座,17-物体,18-限位凸块。16-palm base, 17-object, 18-limit projection.

具体实施方式detailed description

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。The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

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1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。An embodiment of the multi-axis wheel train parallel opening and closing adaptive envelope robot finger device designed by the present invention, as shown in Figures 1 to 7, includes a base 1, a first finger segment 2, a second finger segment 3, The proximal joint shaft 4, the distal joint shaft 5 and the driver 14; the proximal joint shaft 4 is sleeved in the base 1; the distal joint shaft 5 is sleeved in the first finger segment 2; the second finger segment 3 It is sleeved on the distal joint shaft 5; the center line of the proximal joint shaft 4 is parallel to the center line of the distal joint shaft 5.

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10三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10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1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1,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1的旋转角度为0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限制凸块拨盘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1。This embodiment also includes a transmission mechanism, a driving gear 6, a driven gear 7, a gear set 8, a first transmission wheel 9, a second transmission wheel 10, a transmission member 11, a bump dial 12, a first spring member 13 and a limiter. Position bump 18; the first finger section 2 is movably socketed on the proximal joint shaft 4; the output shaft of the driver 14 is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to the driving gear 6; The driving gear 6 is movably sleeved on the proximal joint shaft 4, the driving gear 6 is connected to the input end of the gear set 8, and the output end of the gear set 8 is connected to the driven gear 7; the gear set 8 is installed In the first finger section 2; the driven gear 7 is movably socketed on the distal joint shaft 5, and the driven gear 7 is connected to the second finger section 3; the first transmission wheel 9 is movably socketed on the proximal On the joint shaft 4; the second transmission wheel 10 is sleeved on the far joint shaft 5, and the second transmission wheel 10 is fixedly connected to the second finger segment 3; the transmission of the gear set 8 makes the driven gear 7 and the driving gear 6 in the same direction of rotation; the transmission member 11 is connected to the first transmission wheel 9 and the second transmission wheel 10, and the transmission relationship is formed between the transmission member 11, the first transmission wheel 9 and the second transmission wheel 10, The transmission of the transmission member 11 makes the rotation direction of the second transmission wheel 10 consistent with that of the first transmission wheel 9; A transmission wheel 9 is affixed; the limit bump 18 is affixed to the base 1; the bump dial 12 is in contact with the limit bump 18 or separated from a certain distance; the two sides of the first spring member 13 The ends are respectively connected to the first transmission wheel 9 and the base 1, and the first spring member 13 makes the bump dial 12 lean against the limit bump 18; the rotation direction of the first finger segment 2 toward the object 17 is near the joint In the positive direction, the rotation direction of the first finger section 2 away from the object 17 is the opposite direction near the joint; when the multi-axis gear train parallel opening and closing adaptive envelope robot finger device is in the initial state, the bump dial 12 and the limit bump 18 contact, assuming that the rotation angle of the bump dial 122 relative to the base 1 is 0 degrees at this time, starting from this position, the rotation angle when the bump dial 12 rotates toward the positive direction near the joint (less than 180 degrees) is positive, When the bump dial 12 rotates in the opposite direction near the joint (less than 180 degrees), the rotation angle is negative; the limit bump 18 limits the rotation angle of the bump dial 12 to only be positive; In the transmission system composed of the first transmission wheel 9 and the second transmission wheel 10, relative to the first finger segment 2, the transmission ratio from the first transmission wheel 9 to the second transmission wheel 10 is 1.

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。In the embodiment shown in Figure 1, the driven gear 7 is fixedly connected to the second finger section 3; in the gear transmission system composed of the driving gear 6, the gear set 8 and the driven gear 7, relative The first finger section 2, the transmission ratio from the driving gear 6 to the driven gear 7 is less than 1, that is, the transmission from the driving gear 6 to the driven gear 7 is a speed-up transmission, that is, the driven gear 7 is relatively The rotation angle of the first finger segment 2 is larger than the rotation angle of the driving gear 6 relative to the first finger segment 2 .

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。Another embodiment of the present invention also includes a second spring member, the two ends of the second spring member are respectively connected to the driven gear and the second finger section, at this time, the driven gear 7 and the second finger section 3 Without fixed connection, the driven gear 7 is connected with the second finger segment 3 through the second spring element.

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“0”字形。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“0”字形。The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to the present invention is characterized in that: the transmission part adopts a transmission belt, a tendon rope or a chain, and the first transmission wheel adopts a pulley, a rope pulley or a chain The second transmission wheel adopts a pulley, a rope wheel or a sprocket, and the transmission part, the first transmission wheel and the second transmission wheel cooperate to form a transmission relationship, and the transmission part forms a "0" shape . In the embodiment shown in Figure 1, the transmission member 11 adopts a transmission belt, the first transmission wheel 9 adopts a pulley, and the second transmission wheel 10 adopts a pulley, and the transmission member 11, the first transmission wheel 9 Cooperate with the second transmission wheel 10 to form a pulley transmission relationship, and the transmission part forms a "0" shape.

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啮合,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。In the embodiment shown in FIG. 1, the gear set 8 includes a first gear 81, a second gear 82, a double gear 83, a first intermediate shaft 811, a second intermediate shaft 821 and a third intermediate shaft 831; The dual gear 83 includes an input gear and an output gear that are coaxial and fixed together; the first gear 81 meshes with the driving gear 6, and the first gear 81 is sleeved on the first intermediate shaft 811. The first intermediate shaft 811 is sleeved in the first finger segment 2; the second gear 82 meshes with the first gear 81, the second gear 82 is sleeved on the second intermediate shaft 821, and the input gear and the first gear The two gears 82 mesh, the output gear meshes with the driven gear 7, the double gear 83 is sleeved on the third countershaft 831, the first countershaft 811, the second countershaft 821 and the third countershaft 831 are sleeved in the first finger section 2 respectively.

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。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1固接。The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to the present invention is characterized in that: the driver 14 adopts a motor, an air cylinder or a hydraulic cylinder. In the embodiment shown in FIG. 1 , the driver 14 is a motor, and the motor is fixedly connected to the base 1 .

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。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1。The multi-axis wheel system parallel opening and closing self-adaptive envelope robot finger device according to the present invention is characterized in that: the first spring member adopts a tension spring, a compression spring, a leaf spring or a torsion spring. In the embodiment shown in FIG. 1 , the first spring member 13 is a tension spring, and its two ends are respectively connected to the bump dial 12 and the base 1 .

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1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。An embodiment of a robot hand device that adopts the multi-axis gear system parallel opening and closing adaptive envelope robot finger device (referred to as the robot finger device), as shown in Figure 30, includes a palm base 16 and three robot finger devices 15 The base 1 of the robot finger device 15 is affixed to the palm base 16; the three robot finger devices are divided into two groups, each group is installed on one side, and the robot finger devices on different sides are installed on the palm base oppositely. The robotic finger devices are arranged in parallel.

本实施例中,所述基座1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。In this embodiment, the base 1 includes a base shell 111 and a base frame 112 fixed together; the first finger segment 2 includes a first finger segment frame 21, a first finger segment Support member 22, first finger segment front plate 23 and first finger segment surface plate 24); the second finger segment 3 includes a second finger segment skeleton 31 and a second finger segment surface plate 32 that are fixed together.

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1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1中,所述第二过渡齿轮145与主动齿轮6啮合。In this embodiment, the transmission mechanism includes a reducer 141, a first bevel gear 142, a second bevel gear 143, a first transition shaft 144, a first transition gear 145, a second transition gear 146 and a second transition shaft 147; The output shaft of the motor 14 is connected to the input shaft of the speed reducer 141, the first bevel gear 142 is sleeved on the output shaft of the speed reducer 141, and the first bevel gear 142 meshes with the second bevel gear 143, so The second bevel gear 143 is sleeved on the first transition shaft 144, the first transition gear 145 is sleeved on the first transition shaft 144, and the first transition shaft 144 is sleeved in the base 1; The first transition gear 145 meshes with the second transition gear 146, the second transition gear 146 is sleeved on the second transition shaft 147, the second transition shaft 147 is sleeved in the base 1, the second transition The gear 145 meshes with the driving gear 6 .

本实施例的工作原理,结合附图,叙述如下:The working principle of the present embodiment, in conjunction with accompanying drawing, is described as follows:

凸块拨盘12转角与第二指段3运动的关系介绍如下:The relationship between the rotation angle of the bump dial 12 and the movement of the second finger segment 3 is introduced as follows:

1)当凸块拨盘12的旋转角度为0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1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1,在传动件11的作用下,所以第二传动轮10相对基座1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1只进行平移运动而不会旋转。1) When the rotation angle of the bump dial 12 is 0 degrees, no matter what position the first finger segment 2 is in, since the bump dial 12 is fixedly connected to the first transmission wheel 9, the first transmission wheel 9 is opposite to the base. The position of 1 remains unchanged. Since the transmission ratio of the first transmission wheel 9 and the second transmission wheel 10 is 1, under the action of the transmission member 11, the second transmission wheel 10 only performs translational movement relative to the base 1 without For rotation, since the second transmission wheel 10 is fixedly connected to the second finger segment 3, the second finger segment 3 only performs a translational movement relative to the base 1 and does not rotate.

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1,在传动件11的作用下,第二传动轮10的旋转角度等于凸块拨盘12的旋转角度。2) When the rotation angle of the bump dial 12 is positive, since the transmission ratio of the first transmission wheel 9 and the second transmission wheel 10 is 1, under the action of the transmission member 11, the rotation angle of the second transmission wheel 10 is equal to The angle of rotation of the bump dial 12.

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1的转角为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。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。由于是增速传动,输出速度大于输入速度,故i小于1(例如i=0.7)。设第一指段2绕近关节轴4转角为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1的位置:When the present embodiment grasps the object 17, the driver 14 drives the driving gear 6 to rotate forward through the transmission mechanism, and the rotation angle of the driving gear 6 relative to the base 1 is α. Under the action of the gear set 8 , the rotation angle of the driving gear 6 relative to the first finger segment 2 has a certain relationship with the rotation angle of the driven gear 7 relative to the first finger segment 2 . Suppose the transmission ratio from the driving gear 6 to the driven gear 7 through the gear set 8 is i, which is the ratio of the speed of the driving gear 6 to the speed of the driven gear 7 relative to the first finger segment 2 . Since it is a speed-up transmission, the output speed is greater than the input speed, so i is less than 1 (for example, i=0.7). Let the rotation angle of the first finger segment 2 around the proximal joint axis 4 be δ. Since the driven gear 7 is fixedly connected to the second finger segment 3, the embodiment will be balanced at a position satisfying the following formula 1:

α=δ(1-i)(公式1)α=δ(1-i) (Formula 1)

由于i小于1,可以得出(公式1)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。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。Since i is less than 1, it can be concluded that (formula 1) can be satisfied, and δ is a certain positive angle, so the parallel opening and closing at the initial stage can be realized, and the second finger segment 3 is always a posture. When the first finger section 2 touches the object 17 and is blocked by the object 17 and cannot rotate anymore, it enters the self-adaptive envelope stage. At this time, the motor 14 drives the driven gear 7 to rotate, and the first spring member 13 will be pulled by the transmission member 11 to deform. At this time, the second finger segment 3 will rotate around the center line of the distal joint axis 5 until the second finger segment 3 touches the object 17 .

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)。8 to 13 are schematic diagrams of the action process of the embodiment shown in FIG. 1 (when the object is not grasped).

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——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——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。Fig. 14 to Fig. 22 are schematic diagrams of the action process of the embodiment shown in Fig. 1 grasping the object 17 in an enveloping grip, wherein Fig. 14 is the initial state, and Fig. 14 to Fig. 18 are the first finger segments 2 touching The action process before the object 17 - parallel opening and closing action, Figure 19 shows the situation when the first finger segment 2 just touched the object, and Figure 19 to Figure 22 shows the action process after the first finger segment 2 touched the object 17 - Adaptively envelop the object until the second finger segment 3 touches the object, as shown in FIG. 22 , and the grasping ends.

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——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。Fig. 23 to Fig. 25 are another possible way of grabbing the object 17 in the embodiment shown in Fig. 1 - a typical action process of parallel pinching the object until the second finger section 3 touches the object 17, as shown in Fig. 25, grasping Take the end.

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:1)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3一直处于竖直的姿态——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,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. 26 to Fig. 29 are several key positions in the action process of the embodiment shown in Fig. 1 in order to grasp the object by parallel opening and closing and adaptive envelope, showing the relative position of the bump dial 12 and the limit bump 18 Changes in position: 1) Fig. 26 is similar to Fig. 14. At this time, the embodiment is in the initial position, the first spring member 13 makes the bump dial 12 contact with the limit bump 18, and the second finger segment 3 is in the position Vertical initial posture; 2) Fig. 27 is similar to Fig. 18 situation, and this moment embodiment moves to be about to contact object to be grasped with first finger segment 2, and first spring member 13 still makes bump dial 12 and position-limiting bump The block 18 is in contact, and the second finger section 3 is always in a vertical posture—same as the initial posture; 3) Figure 28 is similar to that of Figure 21, and at this moment the first finger section 2 of the embodiment has been in contact with the object 17 and is blocked But can not move, under the driving of motor 14 and the transmission of gear set 8, etc., the second finger segment 3 has rotated an angle around the distal joint axis 5 (no longer maintains the vertical initial posture), and the first finger is pulled by the transmission member 11. The spring part 12 has been deformed, and the bump dial 12 has left the original limit bump 18 that has always been in contact; 4) until the situation in Figure 29, Figure 29 is similar to the situation in Figure 22, and the embodiment completes the two objects on the object at this time. The contact of two finger segments---envelope grabbing is realized, and now the bump dial 12 has rotated a larger angle, leaving the limit bump 18 more.

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。If the driven gear 7 is not affixed to the second finger segment 3, but uses a second spring (not shown) to connect the driven gear 7 and the second finger segment 3 as another embodiment, then the first spring Part 13 and the second spring part should be selected properly to ensure that within the range of motion of the finger, the second spring part is always weaker than the first spring part 13. When the first finger segment 2 contacts the object and is blocked, the second spring part will Greater deformation occurs, and in the process of deformation, the elastic force of the second spring member gradually increases to the point where it can resist the elastic force of the first spring member 13 and exceeds the elastic force of the first spring member 13, so the second spring member makes the second finger Segment 3 rotates around the centerline of distal joint shaft 5. At this time, through the transmission member 11, the first spring member 13 has been pulled and deformed, and the second finger segment 3 starts to rotate from the vertical initial posture until the second finger segment 3 touches the object 17. Crawling ends.

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。The device of the present invention comprehensively realizes parallel opening and closing pinching and self-adaptive envelope grasping by using a driver, a multi-axis wheel train with a reasonable transmission ratio, a spring member, a bump dial, a limit bump, and a movable socket finger segment. According to the shape and position of the target object, it can not only move the second finger segment to pinch the object, but also turn the first finger segment and the second finger segment to envelop the object in turn; the device adopts a two-way drive wheel and gear The master-slave drive method has a large grasping range and no motion dead zone; at the same time, it adopts the under-actuation method, using one driver to drive two joints, without complex sensing and control systems; Low maintenance and suitable for robotic hands.

Claims (8)

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0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1。1. A multi-axis gear system parallel opening and closing adaptive envelope robot finger device, comprising a base, a first finger segment, a second finger segment, a proximal joint shaft, a far joint shaft and a driver; the proximal joint shaft is sleeved In the base; the distal joint shaft is sleeved in the first finger segment; the second finger segment is sleeved on the distal joint shaft; the centerline of the proximal joint shaft is parallel to the centerline of the distal joint shaft; It is characterized in that: the multi-axis gear system parallel opening and closing adaptive envelope robot finger device also includes a transmission mechanism, a driving gear, a driven gear, a gear set, a first transmission wheel, a second transmission wheel, a transmission member, and a bump dial disk, the first spring and a limit bump; the first finger section is movably sleeved on the proximal joint shaft; the output shaft of the driver is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the drive The gears are connected; the driving gear is movably sleeved on the proximal joint shaft, the driving gear is connected with the input end of the gear set, and the output end of the gear set is connected with the driven gear; the gear set is installed on the first finger section; the driven gear is movably socketed on the distal joint shaft, and the driven gear is connected to the second finger segment; the transmission of the gear set makes the driven gear and the driving gear rotate in the same direction; the first A transmission wheel is movably socketed on the proximal joint shaft; the second transmission wheel is socketed on the distal joint shaft, and the second transmission wheel is fixedly connected to the second finger segment; the transmission part is connected to the first transmission wheel and the second The transmission wheel, the transmission part, the first transmission wheel and the second transmission wheel cooperate to form a transmission relationship, the transmission of the transmission part makes the rotation direction of the second transmission wheel consistent with the first transmission wheel; The block dial is movably sleeved on the proximal joint shaft, and the bump dial is fixedly connected to the first transmission wheel; the limit bump is fixed to the base; the bump dial is connected to the limit bump Contact or leave a certain distance; the two ends of the first spring member are respectively connected to the first transmission wheel and the base, and the first spring member makes the bump dial lean against the limit bump; set the first finger to lean against The rotation direction of the object is the positive direction near the joint, and the rotation direction of the first finger segment away from the object is the opposite direction near the joint; when the multi-axis gear train parallel opening and closing adaptive envelope robot finger device is in the initial state, the bump dial and the Limiting the contact of the bump, assuming that the rotation angle of the bump dial relative to the base is 0 degrees at this time, starting from this position, the rotation angle when the bump dial rotates toward the positive direction near the joint is positive, and the bump dial faces toward The rotation angle when the proximal joint rotates in the opposite direction is negative; the rotation angle of the limiting bump restricting the bump dial can only be positive; In the transmission system, relative to the first finger segment, the transmission ratio from the first transmission wheel to the second transmission wheel is 1. 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。2. The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to claim 1, characterized in that: it also includes a second spring, the two ends of the second spring are respectively connected to the driven gear and Second segment. 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1。3. The multi-axis gear system parallel opening and closing adaptive envelope robot finger device as claimed in claim 1, wherein: the driven gear is fixedly connected with the second finger section; In the gear transmission system composed of the three gears, relative to the first finger segment, the transmission ratio from the driving gear to the driven gear is less than 1. 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“0”字形。4. The multi-axis gear system parallel opening and closing adaptive envelope robot finger device as claimed in claim 1, characterized in that: the transmission part adopts a transmission belt, a tendon rope or a chain, and the first transmission wheel adopts a pulley, A rope wheel or a sprocket wheel, the second transmission wheel adopts a pulley, a rope wheel or a sprocket wheel, and the transmission part, the first transmission wheel and the second transmission wheel cooperate to form a transmission relationship, and the transmission part forms a "0" glyph. 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。5. The multi-axis gear system parallel opening and closing adaptive envelope robot finger device as claimed in claim 1, 2 or 3, characterized in that: the gear set includes a first gear, a second gear, a double gear, a second gear, and a second gear. An intermediate shaft, a second intermediate shaft and a third intermediate shaft; the dual gears include an input gear and an output gear that are coaxial and fixed together; the first gear meshes with the driving gear, and the first gear The first intermediate shaft is sleeved on the first intermediate shaft, and the first intermediate shaft is sleeved in the first finger segment; the second gear meshes with the first gear, and the second gear is sleeved on the second intermediate shaft, so The input gear is meshed with the second gear, the output gear is meshed with the driven gear, the double gear is sleeved on the third intermediate shaft, and the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are all Set respectively in the first finger section. 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。6. The multi-axis gear system parallel opening and closing adaptive envelope robot finger device according to claim 1, 2 or 3, characterized in that: the driver adopts a motor, and the motor is fixedly connected to the base. 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。7. The multi-axis gear train parallel opening and closing adaptive envelope robot finger device according to claim 1, 2 or 3, characterized in that: the driver is an air cylinder or a hydraulic cylinder. 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。8. The multi-axis wheel system parallel opening and closing adaptive envelope robot finger device according to claim 1, 2 or 3, characterized in that: the first spring member is a tension spring, compression spring, leaf spring or torsion spring .
CN201610153133.1A 2016-03-17 2016-03-17 Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping Pending CN105598992A (en)

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