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

Abstract

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

Description

Multi-axis gear train parallel opening and closing adaptive envelope robot finger device

technical field

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.

Background technique

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.

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.

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.

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.

Contents of the invention

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.

Technical scheme of the present invention is as follows:

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.

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 .

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.

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 .

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.

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.

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.

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.

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.

Compared with the prior art, the present invention has the following advantages and outstanding effects:

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.

Description of drawings

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.

Fig. 2 is a front appearance view of the embodiment shown in Fig. 1 .

Fig. 3 is a side appearance view of the embodiment shown in Fig. 1 (left side view of Fig. 2).

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

Fig. 5 is an exploded view of the embodiment shown in Fig. 1 .

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

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).

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

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.

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.

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.

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

In Figures 1 to 30:

1-base, 111-base shell, 112-base frame, 2-first finger segment,

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

3 - second finger segment, 31 - second finger segment skeleton, 32 - second finger segment surface plate, 4 - proximal joint axis,

5-distal joint shaft, 6-driving gear, 7-driven gear, 8-gear set,

81 - the first gear, 811 - the first intermediate shaft, 82 - the second gear, 821 - the second intermediate shaft,

83-double gear, 831-the third intermediate shaft, 9-the first transmission wheel, 10-the second transmission wheel,

11-transmission member, 12-bump dial, 13-first spring member, 14-driver (motor),

141-reducer, 142-the first bevel gear, 143-the second bevel gear, 144-the first transition shaft,

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

16-palm base, 17-object, 18-limit projection.

detailed description

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.

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.

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.

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 .

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.

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.

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.

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 .

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 .

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.

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.

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 .

The working principle of the present embodiment, in conjunction with accompanying drawing, is described as follows:

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) 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) 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.

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) (Formula 1)

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 .

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

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.

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.

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.

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.

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. 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. 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. 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. 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. 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. 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. 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. 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 .