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 PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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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
Technical field
The invention belongs to robot technical field, particularly the parallel folding self adaptation of a kind of multiaxis train envelope machineThe structural design of finger device.
Background technology
Self adaptation under-actuated robot hand adopts a small amount of motor to drive multiple degree-of-freedom joints, because number of motors is few, hidesThe motor that enters palm can be selected larger power and volume, exerts oneself large, and the reponse system of Purely mechanical is without to environment simultaneouslySensitivity also can realize stable crawl, automatically adapts to the object of difformity size, there is no real-time electronic sensing and closed loop feedbackThe demand of controlling, controls simple and conveniently, has reduced manufacturing cost. But traditional under-actuated robot hand adopts linkage more,Due to the restriction of mechanism, segment relies in the process of object has extreme position, thereby produces motion dead band, and adaptivity is subject toGreatly weaken.
In the time capturing object, mainly contain two kinds of grasping means, one is to grip, and one is to grip. Grip is to point with endFinger tip part remove gripping object, adopt two points or two soft finger faces to remove to contact object, mainly for small-size object or toolThere is the larger object of opposite; Gripping is the contact that realizes multiple points with multiple segment enveloping rings of finger around object, reachesMore stable shape envelope captures. The general employing of industry clamper grips mode, is difficult to have stable holding function, can not adapt toThe stable envelope of various shape object captures; Self adaptation under-actuated finger can adopt the mode of self adaptation envelope object to grip,But cannot implement to grip crawl; The multi-joint hand of coupling can be realized multi-joint and rotate simultaneously, can realize and gripping, Bu NengshiNow grip for the stable multiple spot envelope of various shape object. Above-mentioned three kinds of hands space that all has greatly improved. In reality veryNeed one both to there is the function of gripping, can realize again and stablize the robot that self adaptation envelope grasps.
Existing a kind of doublejointed is the compound under-actuated robot finger device of transmission in the same way, as Chinese patentCN102161204B, can realize first coupling and rotate multiple joints, and then the function of self-adapting grasping, and its weak point existsIn, this device has motion dead band, and crawl scope is little; While capturing object, require object must, near pedestal and nearly segment, to fall at firstLow crawl efficiency; Cannot implement parallel gripping.
Existing a kind of five connecting rod clamping devices with double freedom under-actuated finger, as United States Patent (USP)US8973958B2, comprises five connecting rods, spring, mechanical constraint. When this device busy, incipient stage maintenance end segmentAttitude is carried out nearly arthrogryposis action, afterwards according to the position of object can realize parallel grip or self adaptation envelope grip meritEnergy. Its weak point is, this device adopts linkage, has motion dead band, and crawl scope is little, and mechanism's volume is large, outward appearanceNot anthropomorphic, lack compliance, manufacturing cost is high.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, provide the parallel folding of a kind of multiaxis train adaptiveAnswer envelope robot finger apparatus. This device has multiple grasp mode, can translation the second segment grip object, also can be successivelyFirst segment of closing and the second segment envelope object; Crawl scope is large, and without motion dead band, volume is little, outward appearance personification; Adopt simultaneouslyOwe the mode driving, utilize two joints of a driver drives, without complicated sensing and control system.
Technical scheme of the present invention is as follows:
The parallel folding self adaptation of a kind of multiaxis train envelope robot finger apparatus of the present invention design, comprises pedestal, theOne segment, the second segment, nearly joint shaft, joint shaft far away and driver; Described nearly joint shaft is set in pedestal; Described joint far awayAxle sleeve is located in the first segment; Described the second segment is socketed on joint shaft far away; The center line of described nearly joint shaft and joint far awayThe center line of axle is parallel; It is characterized in that: the parallel folding self adaptation of this multiaxis train envelope robot finger apparatus also comprises biographyActuation mechanism, driving gear, driven gear, gear train, the first drive, the second drive, driving member, projection driver plate, the first springPart and spacing block set; Described the first segment is actively socketed on nearly joint shaft; The output shaft of described driver and transmission mechanismInput is connected, and the output of described transmission mechanism is connected with driving gear; Described driving gear is actively socketed on nearly joint shaftUpper, described driving gear is connected with the input of gear train, and the output of described gear train is connected with driven gear; Described gearGroup is arranged in the first segment; Described driven gear is actively socketed on joint shaft far away, described driven gear and the second segment phaseConnect; The transmission of described gear train makes driven gear consistent with the rotation direction of driving gear; Described the first drive movable sleeveBe connected on nearly joint shaft; Described the second driving wheel tube is connected on joint shaft far away, and the second drive and the second segment are affixed; Described biographyMoving part connects the first drive and the second drive, between described driving member, the first drive and the second drive three, coordinatesForm drive connection, the transmission of described driving member makes the second drive consistent with the rotation direction of the first drive; Described protrudingPiece driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the first drive are affixed; Described spacing block set and pedestal are solidConnect; Described projection driver plate contacts or stands away with spacing block set; The two ends of described the first spring part connect respectively firstDrive and pedestal, described the first spring part makes projection driver plate rely on spacing block set; If the first segment relies on the rotation direction of objectFor nearly joint positive direction, the first segment is nearly joint opposite direction away from the rotation direction of object; In the parallel folding of multiaxis train certainlyAdapt to envelope robot finger apparatus in the time of original state, projection driver plate contacts with spacing block set, establishes now projection driver plate phaseBe 0 degree to the anglec of rotation of pedestal, from this position, rotational angle when projection driver plate rotates towards nearly joint positive direction isJust, rotational angle when projection driver plate is towards the opposite spin of nearly joint is for negative; The rotation of described spacing block set restriction projection driver plateAngle can only be for just; In the transmission system forming described driving member, the first drive and the second drive three, with respect toThe first segment, the gearratio that takes turns to the second drive from described the first transmission is 1.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: also bagDraw together the second spring part, the two ends of described the second spring part connect respectively driven gear and the second segment.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inDriven gear and the second segment are affixed; In the gear train assembly forming driving gear, gear train and driven gear three,With respect to the first segment, the gearratio from described driving gear to driven gear is less than 1, from described driving gear to driven toothThe transmission of wheel is speedup transmission, and the angle that described driven gear rotates relative to the first segment is greater than relative the first finger of driving gearThe angle of Duan Xuanzhuan.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inDriving member adopts driving-belt, tendon rope or chain, and described the first drive adopts belt wheel, rope sheave or sprocket wheel, described the second driveAdopt belt wheel, rope sheave or sprocket wheel, between described driving member, the first drive and the second drive three, coordinate and form transmission passSystem, described driving member forms " 0 " font.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inGear train comprises the first gear, the second gear, duplicate gear, the first jackshaft, the second jackshaft and the 3rd jackshaft; Described twoConnection gear comprises concentric and the input gear being fixed together and output gear; Described the first gear engages with driving gear,Described the first geared sleeve is connected on the first jackshaft, and described the first jackshaft is set in the first segment; Described the second gear withThe first gear engagement, described the second geared sleeve is connected on the second jackshaft, and described input gear engages with the second gear, described defeatedGo out gear and engage with driven gear, described duplicate gear is socketed on the 3rd jackshaft, described the first jackshaft, the second jackshaftBe set in respectively in the first segment with the 3rd jackshaft.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inDriver adopts motor, and described motor and pedestal are affixed.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inDriver adopts cylinder or hydraulic cylinder.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inThe first spring part adopts extension spring, stage clip, sheet spring or torsion spring.
A kind of machine that adopts the parallel folding self adaptation of described multiaxis train envelope robot finger apparatus of the present invention's designDevice hand apparatus, is characterized in that, comprises palm base, at least 2 the parallel folding self adaptation of multiaxis train envelope robotsFinger device; Pedestal and the palm base of the parallel folding self adaptation of described multiaxis train envelope robot finger apparatus are affixed.
The present invention compared with prior art, has the following advantages and high-lighting effect:
Apparatus of the present invention are utilized driver, the multiaxis train of gearratio, spring part, projection driver plate, spacing block set are rationally setComprehensively realize with pivot bush unit segment etc. the function that parallel folding grips and self adaptation envelope grasps, according to target object shapeWith the difference of position, can translation the second segment grip object, also can rotate successively the first segment and the second segment envelope object;The mode that this device adopts drive and gear two-way principal and subordinate to drive, crawl scope is large, without motion dead band; Adopt simultaneously and owe to driveMode, utilize two joints of a driver drives, without complicated sensing and control system; This apparatus structure compactness, bodyLong-pending little, manufacture and maintenance cost are low, are applicable to robot.
Brief description of the drawings
Fig. 1 is a kind of embodiment of the parallel folding self adaptation of the multiaxis train envelope robot finger apparatus that designs of the present inventionStereo appearance figure.
Fig. 2 is front appearance figure embodiment illustrated in fig. 1.
Fig. 3 is a side outside drawing (left view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 4 is another side outside drawing (right view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 5 is explosive view embodiment illustrated in fig. 1.
Fig. 6 is inside three-dimensional view (not drawing base shell and the first segment) embodiment illustrated in fig. 1.
Fig. 7 is that front view embodiment illustrated in fig. 1 (does not draw base shell, the first segment header board and the first segment tablePanel).
Fig. 8 to Figure 13 is course of action schematic diagram embodiment illustrated in fig. 1 (while not capturing object).
Figure 14 to Figure 22 is the course of action schematic diagram that captures object in the mode gripping with envelope embodiment illustrated in fig. 1.
Figure 23 to Figure 25 is the another kind of mode of crawl object embodiment illustrated in fig. 1---parallel folding the second segment is pinchedHold the course of action schematic diagram of object.
Figure 26 to Figure 29 is the course of action that captures successively object with parallel folding and self adaptation envelope embodiment illustrated in fig. 1Schematic diagram, mainly shows in the time of several key position the situation of change of the relative position of projection driver plate and spacing block set.
Figure 30 is the outside drawing of and a kind of robot that palm base form embodiment illustrated in fig. 1 by three.
In Fig. 1 to Figure 30:
1-pedestal, 111-base shell, 112-pedestal skeleton, 2-the first segment,
21-the first segment skeleton, 22-the first segment supporting member, 23-the first segment header board, 24-the first segment surfacePlate,
3-the second segment, 31-the second segment skeleton, 32-the second segment surface plate, the nearly joint shaft of 4-,
5-joint shaft far away, 6-driving gear, 7-driven gear, 8-gear train,
81-the first gear, 811-the first jackshaft, 82-the second gear, 821-the second jackshaft,
83-duplicate gear, 831-the 3rd jackshaft, 9-the first drive, 10-the second drive,
11-driving member, 12-projection driver plate, 13-the first spring part, 14-driver (motor),
141-decelerator, 142-the first bevel gear, 143-the second bevel gear, 144-First Transition axle,
145-First Transition gear, 146-the second transition gear, 147-the second transition axis, 15-robot finger dressPut,
16-palm base, 17-object, 18-spacing block set.
Detailed description of the invention
Be described in further detail the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the parallel folding self adaptation of the multiaxis train envelope robot finger apparatus of the present invention's design, as figureShown in 1 to Fig. 7, comprise pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, joint shaft 5 far away and driver 14; Described nearJoint shaft 4 is set in pedestal 1; Described joint shaft far away 5 is set in the first segment 2; Described the second segment 3 is socketed in joint far awayOn axle 5; The center line of described nearly joint shaft 4 is parallel with the center line of joint shaft 5 far away.
This embodiment also comprises transmission mechanism, driving gear 6, driven gear 7, gear train 8, the first drive 9, the second biographyDriving wheel 10, driving member 11, projection driver plate 12, the first spring part 13 and spacing block set 18; Described the first segment 2 is actively socketed on nearly passOn nodal axisn 4; The output shaft of described driver 14 is connected with the input of transmission mechanism, the output of described transmission mechanism and activeGear 6 is connected; Described driving gear 6 is actively socketed on nearly joint shaft 4, the input phase of described driving gear 6 and gear train 8Connect, the output of described gear train 8 is connected with driven gear 7; Described gear train 8 is arranged in the first segment 2; Described driven toothWheel 7 is actively socketed on joint shaft 5 far away, and described driven gear 7 is connected with the second segment 3; Described the first drive 9 pivot bush unitsOn nearly joint shaft 4; Described the second drive 10 is socketed on joint shaft 5 far away, and the second drive 10 and the second segment 3 are affixed;The transmission of described gear train 8 makes driven gear 7 consistent with the rotation direction of driving gear 6; Described driving member 11 connects firstDrive 9 and the second drive 10, coordinate and form between described driving member 11, the first drive 9 and the second drive 10 threesDrive connection, the transmission of described driving member 11 makes the second drive 10 consistent with the rotation direction of the first drive 9; Described protrudingPiece driver plate 12 is actively socketed on nearly joint shaft 4, and described projection driver plate 12 and the first drive 9 are affixed; Described spacing block set 18Affixed with pedestal 1; Described projection driver plate 12 contacts or stands away with spacing block set 18; Two of described the first spring part 13End connects respectively the first drive 9 and pedestal 1, and described the first spring part 13 makes projection driver plate 12 rely on spacing block set 18; If firstThe rotation direction that segment 2 relies on object 17 is nearly joint positive direction, and the first segment 2 is nearly joint away from the rotation direction of object 17In the other direction; At the parallel folding self adaptation of multiaxis train envelope robot finger apparatus during in original state, projection driver plate 12 withSpacing block set 18 contacts, and establishing the now anglec of rotation of projection driver plate 122 relative pedestals 1 is 0 degree, and from this position, projection is dialledThe rotational angle of (being less than 180 degree) is for just while rotate towards nearly joint positive direction for dish 12, and projection driver plate 12 revolves towards nearly joint opposite directionThe rotational angle that (is less than 180 degree) while turning is for negative; Described spacing block set 18 limits the rotational angle of projection driver plate 12 can only be for just;In the transmission system forming described driving member 11, the first drive 9 and the second drive 10 threes, with respect to the first segment2, be 1 from the gearratio of described the first drive 9 to second drives 10.
In the embodiment shown in fig. 1, described driven gear 7 and the second segment 3 are affixed; At driving gear 6, gear train 8In the gear train assembly forming with driven gear 7 threes, with respect to the first segment 2, from described driving gear 6 to driven toothThe gearratio of wheel 7 is less than 1, i.e. the transmission from described driving gear 6 to driven gear 7 is speedup transmission, i.e. described driven gear 7The angle of rotating relative to the first segment 2 is greater than the angle that driving gear 6 rotates relative to the first segment 2.
Another kind of embodiment of the present invention, also comprises the second spring part, and the two ends of described the second spring part connect respectively driven toothWheel and the second segment, now described driven gear 7 and the second segment 3 are not affixed, and described driven gear 7 passes through the second spring part and theTwo segments 3 are connected.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inDriving member adopts driving-belt, tendon rope or chain, and described the first drive adopts belt wheel, rope sheave or sprocket wheel, described the second driveAdopt belt wheel, rope sheave or sprocket wheel, between described driving member, the first drive and the second drive three, coordinate and form transmission passSystem, described driving member forms " 0 " font. In the embodiment shown in fig. 1, described driving member 11 adopts driving-belt, and described first passesDriving wheel 9 adopts belt wheel, and described the second drive 10 adopts belt wheel, described driving member 11, the first drive 9 and the second drive 10Between three, coordinate and form belt wheel transmission relation, described driving member forms " 0 " font.
In the embodiment shown in fig. 1, described gear train 8 comprises the first gear 81, the second gear 82, duplicate gear 83,One jackshaft 811, the second jackshaft 821 and the 3rd jackshaft 831; Described duplicate gear 83 comprises concentric and is fixed togetherInput gear and output gear; Described the first gear 81 engages with driving gear 6, and described the first gear 81 is socketed in firstOn countershaft 811, described the first jackshaft 811 is set in the first segment 2; Described the second gear 82 engages with the first gear 81,Described the second gear 82 is socketed on the second jackshaft 821, and described input gear engages with the second gear 82, described output gearEngage with driven gear 7, described duplicate gear 83 is socketed on the 3rd jackshaft 831, in described the first jackshaft 811, secondCountershaft 821 and the 3rd jackshaft 831 are set in the first segment 2 respectively.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inDriver 14 adopts motor, cylinder or hydraulic cylinder. In the embodiment shown in fig. 1, described driver 14 adopts motor, described motorAffixed with pedestal 1.
The parallel folding self adaptation of multiaxis train of the present invention envelope robot finger apparatus, is characterized in that: described inThe first spring part adopts extension spring, stage clip, sheet spring or torsion spring. In the embodiment shown in fig. 1, described the first spring part 13 adopts extension spring, itsTwo ends connect respectively projection driver plate 12 and pedestal 1.
Adopt the parallel folding self adaptation of described multiaxis train envelope robot finger apparatus (abbreviation robot finger apparatus)A kind of embodiment of robot hand device, as shown in figure 30, comprise 16 and 3 robot finger apparatus 15 of palm base; InstituteThe pedestal 1 of stating robot finger apparatus 15 is affixed with palm base 16; Three robot finger apparatus are divided into two groups, every group of installationIn a side, the robot finger apparatus of homonymy is not arranged on palm base in opposite directions, the parallel cloth of the robot finger apparatus of homonymyPut.
In the present embodiment, described pedestal 1 comprises the base shell 111 and the pedestal skeleton 112 that are fixed together; Described firstSegment 2 comprises the first segment skeleton 21, the first segment supporting member 22, the first segment header board 23 and the first segment that are fixed togetherSurface plate 24); Described the second segment 3 comprises the second segment skeleton 31 and the second segment surface plate 32 that are fixed together.
In the present embodiment, described transmission mechanism comprises decelerator 141, the first bevel gears 142, the second bevel gear 143, firstTransition axis 144, First Transition gear 145, the second transition gear 146 and the second transition axis 147; The output shaft of described motor 14 withThe power shaft of decelerator 141 is connected, and described the first bevel gear 142 is fixed on the output shaft of decelerator 141, described the first cone toothWheel 142 engages with the second bevel gear 143, and described the second bevel gear 143 is fixed on First Transition axle 144, described First TransitionGear 145 is fixed on First Transition axle 144, and described First Transition axle 144 is set in pedestal 1; Described First Transition gear145 engage with the second transition gear 146, and described the second transition gear 146 is fixed on the second transition axis 147, described the second mistakeCross axle 147 and be set in pedestal 1, described the second transition gear 145 engages with driving gear 6.
The operation principle of the present embodiment, by reference to the accompanying drawings, is described below:
The relation that projection driver plate 12 corners and the second segment 3 are moved is described below:
1) when the anglec of rotation of projection driver plate 12 is 0 while spending, no matter the first segment 2 is in what position, due to projection driver plate12 and first drive 9 affixed, so the invariant position of the first drive 9 relative pedestals 1, due to the first drive 9 and secondThe gearratio of drive 10 is 1, under the effect of driving member 11, so the relative pedestal 1 of the second drive 10 only carry out translationMotion and can not rotate, due to the second drive 10 and the second segment 3 affixed, so 1 of the relative pedestal of the second segment 3 is put downShifting movement and can not rotating.
2) when the anglec of rotation of projection driver plate 12 is timing, due to the gearratio of the first drive 9 and the second drive 10Be 1, under the effect of driving member 11, the anglec of rotation of the second drive 10 equals the anglec of rotation of projection driver plate 12.
In the time that the present embodiment captures object 17, driver 14 drives driving gear 6 forwards, driving gear by transmission mechanismThe corner of 6 relative pedestals 1 is α. Under the effect of gear train 8, the corner of relative the first segment 2 of driving gear 6 and driven gear 7The corner of relative the first segment 2 has certain relation. If be transferred to the transmission of driven gear 7 by gear train 8 from driving gear 6Than for i, this gearratio is with respect to the first segment 2, the ratio of driving gear 6 rotating speeds and driven gear 7 rotating speeds. Owing to being speedup biographyMoving, output speed is greater than input speed, for example, therefore i is less than 1 (i=0.7). If the first segment 2 is δ around nearly joint shaft 4 corners. ByAffixed in driven gear 7 and the second segment 3, embodiment will be equilibrated at the position that meets formula 1 below:
α=δ (1-i) (formula 1)
Because i is less than 1, can show that (formula 1) is satisfiable, δ is certain positive angle, therefore the incipient stageParallel folding can realize, and the second segment 3 is an attitude all the time. When the first segment 2 contacts object 17 and by object 17Stop and can not rotate again, enter the self adaptation envelope stage, at this moment motor 14 drives driven gear 7 to rotate, will be by driving member 11Pull the first spring part 13 to deform, now the second segment 3 can go the long way round joint shaft 5 center line rotate, until the second segment 3 connectsTill touching object 17.
Fig. 8 to Figure 13 is course of action schematic diagram embodiment illustrated in fig. 1 (while not capturing object).
Figure 14 to Figure 22 is the course of action signal that captures object 17 in the mode gripping with envelope embodiment illustrated in fig. 1Figure, wherein, Figure 14 is original state, Figure 14 to Figure 18 is that the first segment 2 touches object 17 course of action before---flatThe action of row open-close ways, Figure 19 is that the first segment 2 rigidly connects the situation that contacts object, Figure 19 to Figure 22 is that the first segment 2 touchesCourse of action---self adaptation envelope object after object 17, until the second segment 3 contacts object, as shown in figure 22, capturesFinish.
Figure 23 to Figure 25 is that the another kind of crawl object 17 embodiment illustrated in fig. 1 may mode---the parallel object that gripsTypical action process, until the second segment 3 contacts object 17, as shown in figure 25, captures and finishes.
Figure 26 to Figure 29 is the course of action that captures successively object with parallel folding and self adaptation envelope embodiment illustrated in fig. 1In several key positions, show the situation of change of projection driver plate 12 and the relative position of spacing block set 18: 1) Figure 26 and figure14 situations are similar, and now embodiment is in initial position, and the first spring part 13 makes projection driver plate 12 contact with spacing block set 18, theTwo segments 3 are in vertical initial attitude; 2) Figure 27 is similar to Figure 18 situation, and now embodiment moves to and is about to use the first segment2 contact object to be grabbed, and the first spring part 13 still makes projection driver plate 12 contact with spacing block set 18, the second segment 3 always inVertical attitude---identical with initial attitude; 3) Figure 28 is similar to Figure 21 situation, and now the first segment 2 of embodiment has connectContact object 17 and be blocked and can not move, under the effect such as the driving of motor 14 and the transmission of gear train 8, the second segment 3Rotate an angle (no longer keeping vertical initial attitude) through the joint shaft 5 of going the long way round, pull the first spring part 12 by driving member 11Distortion has occurred, and projection driver plate 12 has left the spacing block set 18 being originally permanently connected to; 4) until the situation of Figure 29, Figure 29 and figure22 situation is similar, and now embodiment completes the contact to two of object segments---and realize envelope and capture, now projection is dialledDish 12 has rotated larger angle, has left spacing block set more than 18.
If driven gear 7 and the second segment 3 are not affixed, but adopt the second spring part (not as another kind of embodimentDraw) connect driven gear 7 and the second segment 3, the first spring part 13 and the second spring part will be selected suitablely so, are pointing ensureingIn range of movement, the second spring part starts to be weaker than all the time the first spring part 13, after the first segment 2 contacts object and is blocked, and the second springCan there is larger distortion in part, in the process of distortion, the elastic force of the second spring part is increased to gradually can resist the first spring part 13Elastic force, and exceed the elastic force of the first spring part 13, so the second spring part rotates the go the long way round center line of joint shaft 5 of the second segment 3,Now, be pulled out of shape by driving member 11, the first spring parts 13, the second segment 3 starts to rotate to from vertical initial attitudeThe second segment 3 contacts object 17, captures and finishes.
Apparatus of the present invention are utilized driver, the multiaxis train of gearratio, spring part, projection driver plate, spacing block set are rationally setComprehensively realize with pivot bush unit segment etc. the function that parallel folding grips and self adaptation envelope grasps, according to target object shapeWith the difference of position, can translation the second segment grip object, also can rotate successively the first segment and the second segment envelope object;The mode that this device adopts drive and gear two-way principal and subordinate to drive, crawl scope is large, without motion dead band; Adopt simultaneously and owe to driveMode, utilize two joints of a driver drives, without complicated sensing and control system; This apparatus structure compactness, bodyLong-pending little, manufacture and maintenance cost are low, are applicable to robot.
Claims (8)
1. the parallel folding self adaptation of a multiaxis train envelope robot finger apparatus, comprises pedestal, the first segment, the second fingerSection, nearly joint shaft, joint shaft far away and driver; Described nearly joint shaft is set in pedestal; Described joint shaft far away is set in firstIn segment; Described the second segment is socketed on joint shaft far away; The center line of described nearly joint shaft is flat with the center line of joint shaft far awayOK; It is characterized in that: the parallel folding self adaptation of this multiaxis train envelope robot finger apparatus also comprises transmission mechanism, driving toothWheel, driven gear, gear train, the first drive, the second drive, driving member, projection driver plate, the first spring part and spacing block set;Described the first segment is actively socketed on nearly joint shaft; The output shaft of described driver is connected with the input of transmission mechanism, instituteThe output of stating transmission mechanism is connected with driving gear; Described driving gear is actively socketed on nearly joint shaft, described driving toothWheel is connected with the input of gear train, and the output of described gear train is connected with driven gear; Described gear train is arranged on firstIn segment; Described driven gear is actively socketed on joint shaft far away, and described driven gear is connected with the second segment; Described gear trainTransmission make driven gear consistent with the rotation direction of driving gear; Described the first drive is actively socketed on nearly joint shaftOn; Described the second driving wheel tube is connected on joint shaft far away, and the second drive and the second segment are affixed; Described driving member connects firstDrive and the second drive, coordinate between described driving member, the first drive and the second drive three and form drive connection,The transmission of described driving member makes the second drive consistent with the rotation direction of the first drive; Described projection driver plate pivot bush unitOn nearly joint shaft, described projection driver plate and the first drive are affixed; Described spacing block set and pedestal are affixed; Described projection driver plateContact or stand away with spacing block set; The two ends of described the first spring part connect respectively the first drive and pedestal, instituteStating the first spring part makes projection driver plate rely on spacing block set; If it is nearly joint positive direction that the first segment relies on the rotation direction of object,The first segment is nearly joint opposite direction away from the rotation direction of object; At the parallel folding self adaptation of multiaxis train envelope robotFinger device is in the time of original state, and projection driver plate contacts with spacing block set, establishes the now anglec of rotation of the relative pedestal of projection driver plateBe 0 degree, from this position, rotational angle when projection driver plate rotates towards nearly joint positive direction is for just, and projection driver plate is towards nearly passRotational angle when joint opposite spin is for negative; The rotational angle of described spacing block set restriction projection driver plate can only be for just; InstituteState in the transmission system that driving member, the first drive and the second drive three form, with respect to the first segment, from describedThe gearratio that one transmission takes turns to the second drive is 1.
2. the parallel folding self adaptation of multiaxis train as claimed in claim 1 envelope robot finger apparatus, is characterized in that: alsoComprise the second spring part, the two ends of described the second spring part connect respectively driven gear and the second segment.
3. the parallel folding self adaptation of multiaxis train as claimed in claim 1 envelope robot finger apparatus, is characterized in that: instituteState driven gear and the second segment is affixed; The gear train assembly forming driving gear, gear train and driven gear threeIn, with respect to the first segment, the gearratio from described driving gear to driven gear is less than 1.
4. the parallel folding self adaptation of multiaxis train as claimed in claim 1 envelope robot finger apparatus, is characterized in that: instituteState driving member and adopt driving-belt, tendon rope or chain, described the first drive adopts belt wheel, rope sheave or sprocket wheel, described the second transmissionWheel adopts belt wheel, rope sheave or sprocket wheel, coordinates and form transmission pass between described driving member, the first drive and the second drive threeSystem, described driving member forms " 0 " font.
5. the parallel folding self adaptation of the multiaxis train envelope robot finger apparatus as described in claim 1,2 or 3, its feature existsIn: described gear train comprises in the middle of the first gear, the second gear, duplicate gear, the first jackshaft, the second jackshaft and the 3rdAxle; Described duplicate gear comprises concentric and the input gear being fixed together and output gear; Described the first gear and activeGear engagement, described the first geared sleeve is connected on the first jackshaft, and described the first jackshaft is set in the first segment; DescribedTwo gears engage with the first gear, and described the second geared sleeve is connected on the second jackshaft, and described input gear and the second gear are nibbledClose, described output gear engages with driven gear, and described duplicate gear is socketed on the 3rd jackshaft, described the first jackshaft,The second jackshaft and the 3rd jackshaft are set in the first segment respectively.
6. the parallel folding self adaptation of the multiaxis train envelope robot finger apparatus as described in claim 1,2 or 3, its feature existsIn: described driver adopts motor, and described motor and pedestal are affixed.
7. the parallel folding self adaptation of the multiaxis train envelope robot finger apparatus as described in claim 1,2 or 3, its feature existsIn: described driver adopts cylinder or hydraulic cylinder.
8. the parallel folding self adaptation of the multiaxis train envelope robot finger apparatus as described in claim 1,2 or 3, its feature existsIn: described the first spring part adopts extension spring, stage clip, sheet spring or torsion spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153133.1A CN105598992A (en) | 2016-03-17 | 2016-03-17 | Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153133.1A CN105598992A (en) | 2016-03-17 | 2016-03-17 | Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping |
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| CN105598992A true CN105598992A (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610153133.1A Pending CN105598992A (en) | 2016-03-17 | 2016-03-17 | Multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping |
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| CN106476023A (en) * | 2016-08-31 | 2017-03-08 | 清华大学 | Horizontalization folder adaptive robot finger apparatus in seven wheel idle running motors |
| CN110921495A (en) * | 2019-11-15 | 2020-03-27 | 常熟海鸥起重机械有限公司 | Novel electric hoist lifting hook |
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Application publication date: 20160525 |