CN105619439B - The flat folder adaptive robot finger apparatus of parallel flexible part - Google Patents

The flat folder adaptive robot finger apparatus of parallel flexible part Download PDF

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Publication number
CN105619439B
CN105619439B CN201610152985.9A CN201610152985A CN105619439B CN 105619439 B CN105619439 B CN 105619439B CN 201610152985 A CN201610152985 A CN 201610152985A CN 105619439 B CN105619439 B CN 105619439B
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China
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drive
segment
joint shaft
pedestal
flexible piece
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CN105619439A (en
Inventor
张文增
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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
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

The flat folder adaptive robot finger apparatus of parallel flexible part, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, two flexible pieces, four drives that radius is rationally set, projection driver plate, two spring parts and two spacing block sets etc..The device integrate realize it is parallel clamping and general crawl function, according to target object shape and the difference of position, can translation the second segment grip object, the object of the first segment and the second segment envelope different shapes and sizes can be also rotated successively;Device crawl scope is big;By the way of drive lacking, two joints are driven using a driver, without complicated sensing and control system;The apparatus structure is compact, small volume, and manufacture and maintenance cost are low, it is adaptable to robot.

Description

The flat folder adaptive robot finger apparatus of parallel flexible part
Technical field
The invention belongs to robot technical field, the flat folder adaptive robot finger of more particularly to a kind of parallel flexible part The structure design of device.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, because number of motors is few, hides Bigger power and volume can be selected by entering the motor of palm, be exerted oneself big, while the reponse system of Purely mechanical is without to environment Sensitivity can also realize stable crawl, the automatic object for adapting to different shape size, without real-time electronic sensing and closed loop feedback The demand of control, control is simple and convenient, reduces manufacturing cost.But the second flexible piece is used traditional under-actuated robot hand more Mechanism, due to the limitation of mechanism, segment has extreme position during being close to object, so as to produce motion dead band, adaptively Property is weakened significantly.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, and one kind is to grip.Grip is to use end finger Tip portion go grip object, using two points or two soft finger faces go contact object, mainly for small-size object or tool There is the larger object of opposite;Gripping is the contact for realizing multiple points around object with multiple segment enveloping rings of finger, is reached More stable shape envelope crawl.Industrial clamper typically uses grip mode, it is difficult to stablizing holding function, it is impossible to adapt to The stable envelope crawl of various shapes object;Adaptive under-actuated finger can be gripped by the way of adaptive envelope object, But grip crawl can not be implemented;The multi-joint hand of coupling can realize that multi-joint is rotated simultaneously, can realize grip, it is impossible to real Now gripped for the multiple spot envelope of the stabilization of various shapes object.Above-mentioned three kinds of hands have greatly improved space.In reality very Need one kind that both there is grip function, the robot for stablizing adaptive envelope grasping can be realized again.
A kind of existing five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP) US8973958B2, including five connecting rods, spring, mechanical constraints.Operationally, the incipient stage keeps end segment to the device Posture carries out nearly arthrogryposis action, can realize the work(that parallel grip or adaptive envelope are gripped according to the position of object afterwards Energy.It is disadvantageous in that the device uses extremely complex pure linkage, and motion has larger dead band, captures scope Smaller, organization volume is big, lacks compliance, and manufacturing cost is too high.
The content of the invention
The invention aims to the weak point for overcoming prior art, there is provided a kind of flat folder of parallel flexible part is adaptive Robot finger apparatus.The device has a variety of grasp modes, can the segment of translation second clamping object, also can successively close the The object of one segment and the adaptive envelope different shapes and sizes of the second segment;Capture scope big;Without complicated sensing and control System.
Technical scheme is as follows:
A kind of flat folder adaptive robot finger apparatus of parallel flexible part that the present invention is designed, including pedestal, the first segment, Second segment, nearly joint shaft, remote joint shaft and driver;The driver and pedestal are affixed;The center line of the nearly joint shaft With the centerline parallel of remote joint shaft;It is characterized in that:The flat folder adaptive robot finger apparatus of the parallel flexible part also includes It is transmission mechanism, the first drive, the second drive, the first flexible piece, the 3rd drive, the 4th drive, the second flexible piece, convex Block driver plate, the first segment projection, the first spring part, the second spring part, the first spacing block set and the second spacing block set;The nearly joint shaft It is movably set in pedestal;The remote joint shaft is movably set in the first segment;First segment is socketed in nearly joint shaft On;Second segment is socketed on remote joint shaft;The transmission mechanism is arranged in pedestal;The output shaft of the driver with The input of transmission mechanism is connected;One end of first flexible piece is connected with the output end of transmission mechanism, and described first is flexible The other end of part and the second segment are affixed;First drive is actively socketed on nearly joint shaft, second driving wheel tube It is connected on remote joint shaft, the second drive and the second segment are affixed;Define the flat folder adaptive robot finger of the parallel flexible part The side of device crawl object is the front of the device, and relative opposite side is that side away from crawl object is the device Rear;First flexible piece coils through the first drive from front successively, and through the first segment, is coiled through from front Two drives;3rd drive is actively socketed on nearly joint shaft;4th driving wheel tube is connected on remote joint shaft, the Four drives and the second segment are affixed;Second flexible piece uses transmission belt, tendon rope or chain, and the 3rd drive is used Belt wheel, rope sheave or sprocket wheel, the 4th drive use belt wheel, rope sheave or sprocket wheel, and the second flexible piece connection the 3rd is driven Wheel and the 4th drive, belt wheel transmission is cooperatively formed between second flexible piece, the 3rd drive and the 4th drive three Relation, rope sheave drive connection or chain gear transmission relation;Described second flexible piece formation " 0 " font;The projection driver plate movable sleeve It is connected on nearly joint shaft, the projection driver plate and the 3rd drive are affixed;First spacing block set and pedestal are affixed;It is described convex Block driver plate is in contact or stood away with the first spacing block set;The two ends of the first spring part connect respectively projection driver plate and Pedestal;The radius of first drive is more than the radius of the second drive, the radius of the 3rd drive and the radius of the 4th drive It is identical;First flexible piece uses transmission belt, tendon rope or chain, and first drive uses belt wheel, rope sheave or sprocket wheel, institute The second drive is stated using belt wheel, rope sheave or sprocket wheel, between first flexible piece, the first drive and the second drive three Cooperatively form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation;The two ends of the second spring part connect respectively One segment and pedestal;The first segment projection and the first segment are affixed, and second spacing block set and pedestal are affixed, and described One segment projection is in contact or stood away with the second spacing block set.
The flat folder adaptive robot finger apparatus of parallel flexible part of the present invention, it is characterised in that:The driver Using motor, cylinder or hydraulic cylinder.
The flat folder adaptive robot finger apparatus of parallel flexible part of the present invention, it is characterised in that:First spring Part uses extension spring, stage clip, leaf spring or torsion spring.
The flat folder adaptive robot finger apparatus of parallel flexible part of the present invention, it is characterised in that:Second spring Part uses extension spring, stage clip, leaf spring or torsion spring.
The flat folder adaptive robot finger apparatus of parallel flexible part of the present invention, it is characterised in that:Also include transition Pulley and pulley spindle, the transition pulley are socketed on pulley spindle, and the pulley spindle is set in pedestal or the first segment, described First flexible piece coils through different transition pulleys respectively.
The present invention compared with prior art, with advantages below and high-lighting effect:
Apparatus of the present invention utilize single driver, two flexible pieces, four drives, two springs of reasonable setting radius Part, projection driver plate and two spacing block sets etc. are comprehensive to realize the function of parallel clamping and general crawl, according to the object bodily form Shape and the difference of position, can translation the second segment grip object, the first segment and the second segment envelope can be also rotated successively not The object of similar shape, size;Device crawl scope is big;By the way of drive lacking, two passes are driven using a driver Section, without complicated sensing and control system;The apparatus structure is compact, small volume, and manufacture and maintenance cost are low, it is adaptable to machine Human hand.
Brief description of the drawings
Fig. 1 is a kind of solid of the embodiment for the flat folder adaptive robot finger apparatus of parallel flexible part that the present invention is designed Outside drawing.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is a side external view (Fig. 2 right view) for embodiment illustrated in fig. 1.
Fig. 4 is another side external view (Fig. 2 left view) of embodiment illustrated in fig. 1.
Fig. 5 is the A-A sectional views of embodiment illustrated in fig. 1 (part is not drawn into).
Fig. 6 is the B-B sectional views of embodiment illustrated in fig. 1 (part is not drawn into).
Fig. 7 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 8 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.
Fig. 9 is that the front view of embodiment illustrated in fig. 1 (is not drawn into pedestal foreboard, base-plates surface plate, the first segment left side Plate, the first segment right plate and the first segment surface plate).
Figure 10 is the explosive view of embodiment illustrated in fig. 1.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object in the way of being gripped by envelope.
Figure 16 to Figure 18 be embodiment illustrated in fig. 1 crawl object another way --- parallel folding is pressed from both sides with the second segment Hold the action process schematic diagram of object (being referred to as flat gripper to take).
Figure 19 to Figure 21 is the action process that embodiment illustrated in fig. 1 captures object with parallel folding and adaptive envelope successively In several key positions when, the situation of change of the relative position of projection driver plate, the first spring part and the first spacing block set.
Figure 22 be situation shown in Figure 15 and Figure 21 side rear observation stereo appearance figure, show the first spacing block set with The relative position of projection driver plate, and the second spacing block set and the first segment projection relative position.
In Fig. 1 into Figure 22:
1- pedestals, 111- pedestal foreboards, 112- pedestal back plates, 113- pedestal left plates,
114- pedestal right plates, 115- base-plates surface plates, 116- pedestal bottom plates, the spacing block sets of 181- first,
The spacing block sets of 182- second, the segments of 2- first, 21- the first segment skeletons, 22- the first segment left plates,
23- the first segment right plates, 24- the first segment surface plates, 25- the first segment projections, the segments of 3- second,
The nearly joint shafts of 4-, the remote joint shafts of 5-, the drives of 6- first, the drives of 7- second,
The flexible pieces of 8- first, 81- transition pulleys, 82- transition pulley spindles, 83- bearings,
84- sleeves, 85- screws, the drives of 9- the 3rd, the drives of 10- the 4th,
The flexible pieces of 11- second, 12- projection driver plates, 13- the first spring parts, 14- drivers (motor),
141- decelerators, 142- screw rods, 143- nutplates, 17- objects,
19- the second spring parts;M- the present embodiment captures the side of object, referred to as front;
The side of N- dorsad objects, abbreviation rear.
Embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail the present invention concrete structure, the content of operation principle.
A kind of embodiment for the flat folder adaptive robot finger apparatus of parallel flexible part that the present invention is designed, such as Fig. 1 to figure Shown in 10, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14;The driver 14 is affixed with pedestal 1;The centerline parallel of the center line of the nearly joint shaft 4 and remote joint shaft 5.The present embodiment also includes transmission Mechanism, the first drive 6, the second drive 7, the first flexible piece 8, the 3rd drive 9, the 4th drive 10, the second flexible piece 11st, projection driver plate 12, the first segment projection 25, the first spring part 13, the second spring part 19, the first spacing block set 181 and second are spacing Projection 182;The nearly joint shaft 4 is movably set in pedestal 1;The remote joint shaft 5 is movably set in the first segment 2;Institute The first segment 2 is stated to be fixed on nearly joint shaft 4;Second segment 3 is fixed on remote joint shaft 5;The transmission mechanism is set In pedestal 1;The output shaft of the driver 14 is connected with the input of transmission mechanism;One end of first flexible piece 8 with The output end of transmission mechanism is connected, and the other end of first flexible piece 8 and the second segment 3 are affixed;First drive 6 is lived Dynamic to be socketed on nearly joint shaft 4, second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and the second segment 3 are solid Connect;The side for defining the flat folder adaptive robot finger apparatus crawl object 17 of the parallel flexible part is front (Fig. 5 of the device With the side that M is marked in Fig. 6), relative opposite side be that side away from crawl object 17 for the device rear (Fig. 5 and N side is marked in Fig. 6);First flexible piece 8 coils through the first drive 6 from front successively, through the first segment 2, The second drive 7 is coiled through from front;3rd drive 9 is actively socketed on nearly joint shaft 4;4th drive 10 are socketed on remote joint shaft 5, and the 4th drive 10 and the second segment 3 are affixed;Second flexible piece 11 is using transmission belt, tendon Rope or chain, the 3rd drive 9 is using belt wheel, rope sheave or sprocket wheel, and the 4th drive 10 is using belt wheel, rope sheave or chain Wheel, second flexible piece 11 connects the 3rd drive 9 and the 4th drive 10, second flexible piece 11, the 3rd drive 9 Belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation are cooperatively formed between the three of the 4th drive 10;Described Two flexible pieces 11 form " 0 " font;The projection driver plate 12 is actively socketed on nearly joint shaft 4, the projection driver plate 12 and Three drives 9 are affixed;First spacing block set 181 and pedestal 1 are affixed;The spacing block set 181 of projection driver plate 12 and first It is in contact or stands away;The two ends of the first spring part 13 connect projection driver plate 12 and pedestal 1 respectively;First drive 6 radius is more than the radius of the second drive 7, and this radius is the effective radius of transmission, i.e. pitch radius;3rd drive 9 Radius is identical with the radius of the 4th drive 10, and this radius is the effective radius of transmission, i.e. pitch radius;First flexible piece 8 are used using transmission belt, tendon rope or chain, first drive 6 using belt wheel, rope sheave or sprocket wheel, second drive 7 Belt wheel, rope sheave or sprocket wheel, belt wheel is cooperatively formed between first flexible piece 8, the first drive 6 and the three of the second drive 7 Drive connection, rope sheave drive connection or chain gear transmission relation;The two ends of the second spring part 19 connect the first segment 2 and base respectively Seat 1, as shown in Figure 5.The effect of the second spring part 19 is to coordinate the first flexible piece 8 so that the first segment 2 refers to relative to second Section 3 keeps or returned to positioned at some initial attitude (such as the state stretched);In original state, the rear of the first segment 2 The rear of localized contact pedestal 1 is local, and Figure 11 is the original state of the present embodiment, now, and pedestal 1 limits the first segment 2 and existed Rotate counterclockwise in Figure 11, the first segment 2 in fig. 11 can only turn clockwise, as indicated in figure 11 by arrows direction.
In the present embodiment, the first segment projection 25 and the first segment 2 are affixed, second spacing block set 182 and base Seat 1 is affixed, and the first segment projection 25 is in contact or stood away with the second spacing block set 182.Define the first segment Projection 25 is that the first segment 2 is zero around the corner of nearly joint shaft 4 with the position that the second spacing block set 182 is in contact, such as Figure 11 institutes The clockwise direction (direction of arrow) shown is positive direction, is counterclockwise negative direction, the second spacing block set 182 unidirectionally limits first Center line only revolvable positive angle of the segment 2 of segment projection 25 and first around nearly joint shaft 4, it is impossible to rotate to negative angle Degree, the second spring part 19 causes the first segment projection 25 to tend to be in contact with the second spacing block set 182.
If the first segment 2 is close to the rotation direction of object 17 for nearly joint positive direction (clockwise direction in such as Figure 11), First rotation direction of the segment 2 away from object 17 is nearly joint opposite direction (counter clockwise direction in such as Figure 11);In parallel flexible (straight configuration as shown in Figure 1, shown in Figure 11), projection driver plate 12 when the flat folder adaptive robot finger apparatus of part is in original state Contacted with the first spacing block set 181, if now the anglec of rotation of the opposite base 1 of projection driver plate 122 is 0 degree (as shown in figure 19), Since the position, the rotational angle that projection driver plate 12 (is less than 180 degree) when being rotated towards nearly joint positive direction is just projection driver plate 12 rotational angles for (being less than 180 degree) when being rotated towards nearly joint opposite direction are negative;The limitation of first spacing block set 181 projection is dialled The rotational angle of disk 12 is only just, i.e., projection driver plate 12 can only be rotated along arrow direction indication as shown in figure 20.
The flat folder adaptive robot finger apparatus of parallel flexible part of the present invention, it is characterised in that:The driver 14 using motor, cylinder or hydraulic cylinder.The first spring part uses extension spring, stage clip, leaf spring or torsion spring.The second spring part is used Extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, the driver 14 uses motor;The first spring part 13 uses extension spring. The second spring part 19 uses extension spring.
The present embodiment also includes 3 transition pulleys 81 and 3 corresponding transition pulley spindles 82;Each transition pulley 81 It is socketed on corresponding transition pulley spindle 82;The First Transition pulley spindle is set in pedestal 1, the second transition pulley Axle, the 3rd transition pulley spindle are respectively sleeved in the first segment 2;First flexible piece 8 coils through First Transition cunning respectively Wheel, the second transition pulley and the 3rd transition pulley.First Transition pulley, the second transition pulley, the 3rd transition pulley setting can To increase winding arc length of first flexible piece 8 on the first drive 6, the second drive 7, bigger digital flexion angle is obtained Scope, can also reduce gearing friction, reduce energy consumption.
In the present embodiment, the pedestal 1 includes the pedestal foreboard 111 being fixed together, pedestal back plate 112, pedestal left side Plate 113, pedestal right plate 114, base-plates surface plate 115 and pedestal bottom plate 116.In the present embodiment, first segment 2 includes solid The first segment skeleton 21, the first segment left plate 22, the first segment right plate 23 and the first segment surface plate 24 being connected together.
In the present embodiment, the transmission mechanism includes decelerator 141, screw rod 142 and nutplate 143;The motor 14 Output shaft is connected with the input shaft of decelerator 141, and the output shaft of the screw rod 142 and decelerator 141 is affixed, the screw rod 142 Center line it is consistent with the center line of the output shaft of decelerator 141, the nutplate 143 and screw rod 142 formation screw-driven are closed System, the nutplate 143 is slided and is embedded in pedestal 1, and the nutplate 143 and one end of the first flexible piece 8 are affixed.
If the present embodiment additionally uses the parts such as dry bearing 83, some sleeves 84 and some screws 85, belong to known technology, Do not repeat.
The operation principle of the present embodiment, with reference to accompanying drawing 11 to Figure 21, is described below:
The relation that the corner of projection driver plate 12 is moved with the second segment 3 is described below:
In the present embodiment, initial position is set to the state (as shown in figure 11) that finger is stretched.(can also be by initial bit Install and be set to other positions.) a) when the anglec of rotation of projection driver plate 12 is 0 degree (as shown in figure 19), no matter at the first segment 2 In what position, because projection driver plate 12 and the 3rd drive 9 are affixed, so the position of the opposite base 1 of the 3rd drive 9 is constant, Because the radius of the 3rd drive 9 is equal with the radius of the 4th drive 10, in the presence of the second flexible piece 11, so the 4th The only progress translational motion of the opposite base 1 of drive 10 is without rotating, because the 4th drive 10 and the second segment 3 are affixed, So 3 opposite base of the second segment 1 carries out translational motion without rotating.B) when the anglec of rotation of projection driver plate 12 is just When, because the radius of the 3rd drive 9 and the 4th drive 10 is equal, i.e., the gearratio that both rotate is 1, in the second flexible piece In the presence of 11, the anglec of rotation of the 4th drive 10 is equal to the anglec of rotation of the 3rd drive 9, that is, equal to projection driver plate 12 anglec of rotation.
When the present embodiment captures object 17, driver 14 is drawn by transmission mechanism (being screw rod and nut in the present embodiment) Dynamic first flexible piece 8 so that the first drive 6 is rotated forward, the corner of the opposite base 1 of the first drive 6 is α.In the first flexible piece 8 In the presence of, the corner of relative first segment 2 of the first drive 6 and the corner of relative first segment 2 of the second drive 7 have necessarily The relation of ratio.If the gearratio for being transferred to the second drive 7 by the first flexible piece 8 from the first drive 6 is i, the transmission Than being that, relative to the first segment 2, the ratio between the rotating speed of the first drive 6 and the rotating speed of the second drive 7, it is equal to the second drive 7 The ratio between radius of radius and the first drive 6.Because the radius of the first drive 6 is more than the radius of the second drive 7, therefore it is Step-up drive, output speed is more than input speed, therefore gearratio i is less than 1.If the first segment 2 is δ around the corner of nearly joint shaft 4. Because the second drive 7 and the second segment 3 are affixed, and the second segment does not rotate relative to pedestal, therefore now second Drive 7 does not also rotate with respect to pedestal, and can then be derived from the present embodiment device will be equilibrated at satisfaction such as Under (formula 1) position:
α=δ (1-i) (formula 1)
Because i is less than 1, it is respectively positive different angles that can obtain a α and δ (wherein α is less than δ).Therefore when driving Device 14 is by the transmission of transmission mechanism, and when pulling downward on the first 8 one segment distance of flexible piece, the first drive 6 have rotated an angle α is spent, now, the first segment 2 has turned over an angle δ around nearly joint shaft 4, and now the second spring part 19 deforms, the second segment 3 It is same posture all the time relative to pedestal 1, simply position is changed.This is the stage of parallel clamping.This stage fits Close with the de-clamping object 17 of the second segment 3, or gone by way of opening outside outside the mode opened from inside to outside with the second segment Open support and take object 17.For example taking from hollow cylindrical tube, is flared out propping up barrel, so as to take on the inside of the object Take object.
Stopped by object 17 and be no longer able to turn when the first segment 2 contacts object 17, automatically into the of adaptive envelope Two-stage (as shown in Figure 14, Figure 15), at this moment driver (motor) 14 continue to pull downward on first by the transmission of transmission mechanism Flexible piece 8, pulls the three that the second segment 3, the second drive 7 and the 4th drive 10 are fixed together while joint shaft of going the long way round 5 rotate, and drive the 3rd drive 9 being fixed together and projection driver plate 12 to be rotated around nearly joint shaft 4 by the second flexible piece 11, First spring part 13 deforms (as shown in Figure 20, Figure 21), now the second segment 3 can go the long way round joint shaft 5 center line continue turn It is dynamic, untill the second segment 3 contact object 17, complete the effect that adaptive envelope captures object.For different shapes and sizes Object, the present embodiment has adaptivity, being capable of the general a variety of objects of crawl.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object 17 in the way of envelope is gripped, Wherein, Figure 11 is original state, and Figure 11 to Figure 13 is the action process before the first segment 2 touches object 17 --- it is parallel to open Conjunction mode is acted, and Figure 13 is the situation that the rigid connection of the first segment 2 contacts object, and Figure 13 to Figure 15 is that the first segment 2 touches object Action process after 17 --- adaptive envelope object, until the second segment 3 contacts object, as shown in figure 15, crawl terminates.
Figure 16 to Figure 18 is alternatively possible mode --- the parallel grip object that embodiment illustrated in fig. 1 captures object 17 Typical action process, until the second segment 3 contacts object 17, as shown in figure 18, crawl terminates.
Figure 19 to Figure 21 is the action process that embodiment illustrated in fig. 1 captures object with parallel folding and adaptive envelope successively In several key positions, show the change of the relative position of projection driver plate 12, the first spring part 13 and the first spacing block set 181 Situation:1) situation shown in Figure 19 is Figure 11, Figure 12 and Figure 13 identical projection driver plate situation, and now embodiment is in just Beginning or has only bent the first segment at position, and the first spring part 13 makes projection driver plate 12 be in contact with the first spacing block set 181, and second Segment 3 is in the fixed pose (such as the vertical initial attitude in the present embodiment) relative to pedestal 1, and such case is held always Continue Figure 13;2) Figure 20 is similar to Figure 14 situations, now the first segment 2 of embodiment touched object 17 be blocked without It can move, under the driving effect of motor 14, pass through transmission mechanism, the first flexible piece 8, the first drive 6, the second drive 7 Gearing under, the second segment 3 gone the long way round joint shaft 5 rotate an angle (also just being rotated relative to pedestal 1), Second segment 3 no longer keeps original vertical initial attitude, is passed by the 4th drive 10, the second flexible piece the 11, the 3rd Driving wheel 9 and projection driver plate 12, pull the first spring part 12 to be deformed, projection driver plate 12 have left the be permanently connected to originally One spacing block set 181;3) until Figure 21 situation, Figure 21 is identical with Figure 15 situation, and now embodiment is completed to the two of object The contact of individual segment --- realize that envelope is captured, compared with Figure 20 situation, the projection driver plate 12 in Figure 21 is rotated to bigger Angle, leave the remote distance of the first spacing block set 181, the second segment 3 also have rotated same angle.
Figure 22 is the stereo appearance figure of the side rear observation of situation shown in Figure 15 and Figure 21, shows the first spacing block set 181 with the relative position of the relative position of projection driver plate 12, and the second spacing block set 182 and the first segment projection 25, now First segment 2 has had been rotated by an angle around the center line of nearly joint shaft 4, and it is spacing that the first segment projection 25 has been moved off second The segment distance of projection 182 1, now the second segment 3 have occurred that rotation relative to pedestal 1, projection driver plate 12 has been moved off first The segment distance of spacing block set 181 1, now, the first spring part 13 and the second spring part 19 have deformed.
The process of release object is with said process just on the contrary, repeating no more.
Apparatus of the present invention utilize single driver, two flexible pieces, four drives, two springs of reasonable setting radius Part, projection driver plate and two spacing block sets etc. are comprehensive to realize the function of parallel clamping and general crawl, according to the object bodily form Shape and the difference of position, can translation the second segment grip object, the first segment and the second segment envelope can be also rotated successively not The object of similar shape, size;Device crawl scope is big;By the way of drive lacking, two passes are driven using a driver Section, without complicated sensing and control system;The apparatus structure is compact, small volume, and manufacture and maintenance cost are low, it is adaptable to machine Human hand.

Claims (5)

1. a kind of flat folder adaptive robot finger apparatus of parallel flexible part, including pedestal, the first segment, the second segment, nearly pass Nodal axisn, remote joint shaft and driver;The driver and pedestal are affixed;In the center line and remote joint shaft of the nearly joint shaft Heart line is parallel;It is characterized in that:The flat folder adaptive robot finger apparatus of the parallel flexible part also includes transmission mechanism, the first biography Driving wheel, the second drive, the first flexible piece, the 3rd drive, the 4th drive, the second flexible piece, projection driver plate, the first segment Projection, the first spring part, the second spring part, the first spacing block set and the second spacing block set;The nearly joint shaft is movably set in pedestal In;The remote joint shaft is movably set in the first segment;First segment is socketed on nearly joint shaft;Second segment It is socketed on remote joint shaft;The transmission mechanism is arranged in pedestal;The input of the output shaft and transmission mechanism of the driver End is connected;One end of first flexible piece is connected with the output end of transmission mechanism, the other end of first flexible piece and Two segments are affixed;First drive is actively socketed on nearly joint shaft, and second driving wheel tube is connected on remote joint shaft, Second drive and the second segment are affixed;Define the one of the flat folder adaptive robot finger apparatus crawl object of the parallel flexible part Side is the front of the device, and relative opposite side is the rear that side away from crawl object is the device;Described first is soft Property part coils through the first drive from front successively, and through the first segment, the second drive is coiled through from front;Described Three drives are actively socketed on nearly joint shaft;4th driving wheel tube is connected on remote joint shaft, the 4th drive and second Segment is affixed;Second flexible piece uses transmission belt, tendon rope or chain, and the 3rd drive uses belt wheel, rope sheave or chain Wheel, the 4th drive uses belt wheel, rope sheave or sprocket wheel, and second flexible piece connects the 3rd drive and the 4th transmission Wheel, cooperatively forms belt wheel transmission relation, rope sheave transmission between second flexible piece, the 3rd drive and the 4th drive three Relation or chain gear transmission relation;Described second flexible piece formation " 0 " font;The projection driver plate is actively socketed on nearly joint shaft On, the projection driver plate and the 3rd drive are affixed;First spacing block set and pedestal are affixed;The projection driver plate and first Spacing block set is in contact or stood away;The two ends of the first spring part connect projection driver plate and pedestal respectively;First passes The radius of driving wheel is more than the radius of the second drive, and the radius of the 3rd drive is identical with the radius of the 4th drive;Described One flexible piece uses transmission belt, tendon rope or chain, and first drive uses belt wheel, rope sheave or sprocket wheel, second transmission Wheel cooperatively forms band using belt wheel, rope sheave or sprocket wheel between first flexible piece, the first drive and the second drive three Take turns drive connection, rope sheave drive connection or chain gear transmission relation;The two ends of the second spring part connect the first segment and base respectively Seat;The first segment projection and the first segment are affixed, and second spacing block set and pedestal are affixed, the first segment projection It is in contact or stands away with the second spacing block set.
2. the flat folder adaptive robot finger apparatus of parallel flexible part as claimed in claim 1, it is characterised in that:The driving Device uses motor, cylinder or hydraulic cylinder.
3. the flat folder adaptive robot finger apparatus of parallel flexible part as claimed in claim 1, it is characterised in that:Described first Spring part uses extension spring, stage clip, leaf spring or torsion spring.
4. the flat folder adaptive robot finger apparatus of parallel flexible part as claimed in claim 1, it is characterised in that:Described second Spring part uses extension spring, stage clip, leaf spring or torsion spring.
5. the flat folder adaptive robot finger apparatus of parallel flexible part as claimed in claim 1, it is characterised in that:Also included Pulley and pulley spindle are crossed, the transition pulley is socketed on pulley spindle, and the pulley spindle is set in pedestal or the first segment, institute State the first flexible piece and coil through different transition pulleys respectively.
CN201610152985.9A 2016-03-17 2016-03-17 The flat folder adaptive robot finger apparatus of parallel flexible part Active CN105619439B (en)

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CN106041920B (en) * 2016-07-11 2018-05-29 清华大学 Idle running is driven flexible piece coupling adaptive robot finger apparatus
CN106142118A (en) * 2016-08-19 2016-11-23 清华大学 Idle running transmission flat folder adaptive robot finger apparatus taken turns by four bars six
CN106799742B (en) * 2016-12-09 2019-03-22 清华大学 Accurate flat folder adaptively with coupling adaptive pattern switching robot finger apparatus

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JP2004223688A (en) * 2003-01-27 2004-08-12 Seiko Epson Corp Articulated manipulator device
CN1292719C (en) * 2004-02-11 2007-01-03 哈尔滨工业大学 Self-adapting artificial hand lack of actuating
CN101797753B (en) * 2010-04-06 2012-11-21 清华大学 Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
CN101829992A (en) * 2010-04-23 2010-09-15 清华大学 Three-rack slider coupling adaptive underactuated robot finger device
CN105150225B (en) * 2015-09-08 2021-03-16 清华大学 Finger device of composite pinching and holding self-adaptive robot with rod wheels in parallel connection

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