CN105619440A - Open-chain flexible component parallel clamping type adaptive robot finger device - Google Patents
Open-chain flexible component parallel clamping type adaptive robot finger device Download PDFInfo
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- CN105619440A CN105619440A CN201610152993.3A CN201610152993A CN105619440A CN 105619440 A CN105619440 A CN 105619440A CN 201610152993 A CN201610152993 A CN 201610152993A CN 105619440 A CN105619440 A CN 105619440A
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- power wheel
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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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- Mechanical Engineering (AREA)
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Abstract
An open-chain flexible component parallel clamping type adaptive robot finger device belongs to the technical field of robot hands. The open-chain flexible component parallel clamping type adaptive robot finger device comprises a chassis, two finger sections, two joint shafts, a driver, two flexible components, four driving wheels with reasonably arranged radii, a lug dial, two spring components and a limit lug. The device comprehensively realizes parallel clamping and universal grabbing functions. According to different target object shapes and positions, the second finger sections can move in parallel so as to pinch objects, and the first finger sections and the second finger sections can also be sequentially rotated so as to envelop objects in different shapes and sizes. Due to the adoption of a master-slave driving mode with two sets of driving wheel systems, the device is large in grabbing range and free of movement dead zones; and at the same time, due to the adoption of an underactuation mode, two joints are driven by utilizing one driver, and complicated sensing and control systems are not required. The device is compact in structure, small in size, low in manufacture and maintenance costs and suitable for robot hands.
Description
Technical field
The invention belongs to robot technical field, equal the structure design of folder self-adaptation robot finger apparatus in particular to the flexible part of a kind of open chain.
Background technology
Self-adaptation under-actuated robot hand adopts a small amount of motor to drive multiple degree-of-freedom joint, owing to number of motors is few, hide the motor into palm and can select bigger power and volume, exert oneself big, the feedback system of Purely mechanical without the need to realizing stable crawl to environment sensitive simultaneously, automatically adapts to the object of different shapes size, it does not have the demand of real-time electronic sensing and closed loop feedback control, control simple and convenient, reduce manufacturing cost. But traditional under-actuated robot hand many employings linkage assembly, due to the restriction of mechanism, segment is close in the process of object to have limit position, thus produces motion dead band, and adaptivity is weakened greatly.
Mainly containing two kinds of crawl methods when capturing object, one is grip, and one holds to hold. Grip removes gripping object with the tip portion of end finger, adopts two points or two soft finger faces to remove contact object, mainly for small-size object or the larger object with opposite face; Holding that to hold be the contact realizing multiple point with multiple segment envelopes of finger around object, the shape envelope reaching more stable captures. Industry clamper generally adopts grip mode, it is difficult to having stable holding and hold function, the stable envelope that can not adapt to various shape object captures; Self-adaptation under-actuated finger can adopt the mode of self-adaptation envelope object to hold and hold, but cannot implement grip and capture; The multi-joint hand of coupling can realize multi-joint and rotates simultaneously, it is possible to realize grip, can not realize the stable multiple spot envelope for various shape object and hold and hold. Above-mentioned three kinds of hands all have greatly improved space. Reality needs one both to have grip function very much, the robot of stable self-adaptation envelope grasping can be realized again.
Existing a kind of doublejointed co-rotating transmission compound under-actuated robot finger device, such as Chinese patent CN102161204B, it is possible to realize the first multiple joint of coupling rotational, and then the function of self-adapting grasping, its weak point is, this device has motion dead band, captures scope little; Require when capturing object that object near pedestal and nearly segment, must reduce crawl efficiency at first; Parallel grip cannot be implemented.
Existing a kind of five connecting rod clamping devices with double freedom under-actuated finger, such as US Patent No. 8973958B2, comprise five connecting rods, spring, mechanical constraints. Operationally, the initial stage keeps the attitude of end segment to carry out nearly arthrogryposis action to this device, and position according to object can realize parallel grip or self-adaptation envelope holds the function held afterwards. Its weak point is, this device adopts linkage assembly, has motion dead band, captures scope little, and organization volume is big, and outward appearance is not anthropomorphic, lacks kindliness, manufacturing cost height.
Summary of the invention
It is an object of the invention to the weak point in order to overcome prior art, it is provided that a kind of open chain flexible part flat folder self-adaptation robot finger apparatus. This device has multiple grasp mode, can translation the 2nd segment clamping object, the object of the first segment of also successively closing and the 2nd segment self-adaptation envelope different shapes, size; Crawl scope is big, and without motion dead band, volume is little; Adopt the mode of drive lacking simultaneously, utilize a driver drives two joints, it is not necessary to complicated sensing and Controlling System, manufacture with maintenance cost low.
The technical scheme of the present invention is as follows:
A kind of open chain of inventive design flexible part flat folder self-adaptation robot finger apparatus, comprises pedestal, the first segment, the 2nd segment, nearly joint shaft, joint shaft far away and driving mechanism; Described driving mechanism and pedestal connect admittedly; The medullary ray of described nearly joint shaft and the centerline parallel of joint shaft far away; It is characterized in that: this open chain flexible part flat folder self-adaptation robot finger apparatus also comprises transmission rig, the first power wheel, the 2nd power wheel, the first flexible part, the 3rd power wheel, the 4th power wheel, the 2nd flexible part, projection driver plate, the first spring part, the 2nd spring part and spacing block set; Described nearly joint shaft is movably set in pedestal; Described joint shaft far away is movably set in the first segment; Described first segment is fixed on nearly joint shaft; Described 2nd segment is fixed on joint shaft far away; Described transmission rig is arranged in pedestal; The output shaft of described driving mechanism is connected with the input terminus of transmission rig; Described first flexible one end of part is connected with the output terminal of transmission rig, and the other end and the 2nd segment of the described first flexible part connect admittedly; Described first power wheel is actively socketed on nearly joint shaft, and described 2nd driving wheel tube is connected on joint shaft far away, and the 2nd power wheel and the 2nd segment connect admittedly; It is the front that the flexible part of this open chain puts down folder self-adaptation robot finger apparatus that definition captures the side of object, and namely another relative side is the rear of this device away from that side capturing object; Described first flexible part coils through the first power wheel successively from front, through the first segment, coils through the 2nd power wheel from front; Described 3rd power wheel is actively socketed on nearly joint shaft; Described 4th driving wheel tube is connected on joint shaft far away, and the 4th power wheel and the 2nd segment connect admittedly; Described 2nd flexible part coils through the 3rd power wheel successively from rear, through the first segment, coils through the 4th power wheel from rear; Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the 3rd power wheel connect admittedly; Described spacing block set and pedestal connect admittedly; Described projection driver plate contacts with spacing block set or leaves a segment distance; The two ends of described first spring part connect the 2nd flexible part and pedestal respectively; The radius of the first power wheel is greater than the radius of the 2nd power wheel, and the radius of the 3rd power wheel is identical with the radius of the 4th power wheel; Described first flexible part adopts transmission belt, tendon rope or chain, described first power wheel adopts belt wheel, rope sheave or sprocket wheel, described 2nd power wheel adopts belt wheel, rope sheave or sprocket wheel, coordinates and form belt wheel transmission relation, rope sheave drive connection or chain sprocket drive relation between the described first flexible part, the first power wheel and the 2nd power wheel three; Described 2nd flexible part adopts transmission belt, tendon rope or chain, described 3rd power wheel adopts belt wheel, rope sheave or sprocket wheel, described 4th power wheel adopts belt wheel, rope sheave or sprocket wheel, coordinates and form belt wheel transmission relation, rope sheave drive connection or chain sprocket drive relation between the described 2nd flexible part, the 3rd power wheel and the 4th power wheel three; The two ends of described 2nd spring part connect the first segment and pedestal respectively.
Open chain of the present invention flexible part flat folder self-adaptation robot finger apparatus, it is characterised in that: described driving mechanism adopts motor, cylinder or hydro-cylinder.
Open chain of the present invention flexible part flat folder self-adaptation robot finger apparatus, it is characterised in that: described first spring part adopts extension spring, stage clip, sheet spring or torsion spring; Described 2nd spring part adopts extension spring, stage clip, sheet spring or torsion spring.
Open chain of the present invention flexible part flat folder self-adaptation robot finger apparatus, it is characterized in that: also comprise transition pulley and sheave shaft, described transition pulley sleeve is connected on sheave shaft, described sheave shaft is set in certain segment, and the described first flexible part or the 2nd flexible part coil through different transition pulleys respectively.
The present invention compared with prior art, has the following advantages and outstanding property effect:
Apparatus of the present invention utilize four power wheels of single driver, double-flexibility part, different radii, two spring parts, projection driver plate, spacing block sets comprehensively to achieve parallel clamping and the function of general crawl with movable socket middle part segment etc., according to the difference of target object shape and position, can translation the 2nd segment grip object, also can rotate the object of the first segment and the 2nd segment envelope different shapes, size successively; This device adopts the mode of principal and subordinate's driving of two cover transmission trains, captures scope big, without motion dead band; Adopt the mode of drive lacking simultaneously, utilize a driver drives two joints, it is not necessary to complicated sensing and Controlling System; This apparatus structure is compact, volume is little, manufactures with maintenance cost low, is applicable to robot.
Accompanying drawing explanation
Fig. 1 is the stereo appearance figure that the flexible part of open chain of inventive design equals a kind of embodiment of folder self-adaptation robot finger apparatus.
Fig. 2 is front appearance figure embodiment illustrated in fig. 1.
Fig. 3 is a side outward appearance figure (right view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 4 is another side outward appearance figure (left view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 5 is A-A sectional view (portion parts does not draw) embodiment illustrated in fig. 1.
Fig. 6 is B-B sectional view (portion parts does not draw) embodiment illustrated in fig. 1.
Fig. 7 is the embodiment illustrated in fig. 1 inside three-dimensional view (not drawing portion parts) observed from an angle.
Fig. 8 is embodiment illustrated in fig. 1 from the inside three-dimensional view (not drawing portion parts) that another angle is observed.
Fig. 9 is front view (not drawing pedestal header board, base-plates surface plate, the first segment left plate, the first segment right side plate and the first segment surface plate) embodiment illustrated in fig. 1.
Figure 10 is blast view embodiment illustrated in fig. 1.
Figure 11 to Figure 15 be embodiment illustrated in fig. 1 by envelope hold hold in the way of capture the action process schematic diagram of object.
Figure 16 to Figure 18 is the action process schematic diagram of the parallel folding of another kind of mode by the 2nd segment clamping object (being called that flat gripper is got) of crawl object embodiment illustrated in fig. 1.
When Figure 19 to Figure 21 is several key positions in the action process capturing object successively with parallel folding and self-adaptation envelope embodiment illustrated in fig. 1, the changing conditions of the relative position of projection driver plate and spacing block set.
In Fig. 1 to Figure 21:
1-pedestal, 111-pedestal header board, plate after 112-pedestal, 113-pedestal left plate,
114-pedestal right side plate, 115-base-plates surface plate, 116-pedestal base plate, 2-first segment,
21-first segment skeleton, 22-first segment left plate, 23-first segment right side plate, 24-first segment surface plate,
3-the 2nd segment, the nearly joint shaft of 4-, 5-joint shaft far away, 6-first power wheel,
7-the 2nd power wheel, the flexible part of 8-first, 81-transition pulley, 82-transition sheave shaft,
83-bearing, 84-sleeve, 85-screw, 9-the 3rd power wheel,
10-the 4th power wheel, the flexible part of 11-the 2nd, 12-projection driver plate, 13-first spring part,
14-driving mechanism (motor), 141-speed reduction unit, 142-screw rod, 143-nutplate,
17-object, 18-spacing block set, 19-the 2nd spring part;
M-the present embodiment captures the side of object, is called for short front; The N-back of the body, to the side of object, is called for short rear.
Embodiment
It is described in further detail the concrete structure of the present invention, the content of principle of work below in conjunction with drawings and Examples.
The flexible part of the open chain of inventive design equals a kind of embodiment of folder self-adaptation robot finger apparatus, as shown in Figures 1 to 10, comprises pedestal 1, first segment 2, the 2nd segment 3, nearly joint shaft 4, joint shaft 5 far away and driving mechanism 14; Described driving mechanism 14 connects admittedly with pedestal 1; The medullary ray of described nearly joint shaft 4 and the centerline parallel of joint shaft far away 5.
The present embodiment also comprises transmission rig, the first power wheel 6, the flexible part 8 of the 2nd power wheel 7, first, the 3rd power wheel 9, the 4th power wheel 10, the 2nd flexible part 11, projection driver plate 12, first spring part 13, the 2nd spring part 19 and spacing block set 18; Described nearly joint shaft 4 is movably set in pedestal 1; Described joint shaft far away 5 is movably set in the first segment 2; Described first segment 2 is fixed on nearly joint shaft 4; Described 2nd segment 3 is fixed on joint shaft 5 far away; Described transmission rig is arranged in pedestal 1; The described output shaft of driving mechanism 14 is connected with the input terminus of transmission rig; Described first flexible one end of part 8 is connected with the output terminal of transmission rig, and the other end and the 2nd segment 3 of the described first flexible part 8 connect admittedly; Described first power wheel 6 is actively socketed on nearly joint shaft 4, and described 2nd power wheel 7 is socketed on joint shaft 5 far away, and the 2nd power wheel 7 and the 2nd segment 3 connect admittedly; It is the front (marking the side of M in Fig. 5 and Fig. 6) that the flexible part of this open chain puts down folder self-adaptation robot finger apparatus that definition captures the side of object 17, and namely another relative side is the rear (marking the side of N in Fig. 5 and Fig. 6) of this device away from that side capturing object 17; Described first flexible part 8 coils through the first power wheel 6 successively from front, through the first segment 2, coils through the 2nd power wheel 7 from front; Described 3rd power wheel 9 is actively socketed on nearly joint shaft 4; Described 4th power wheel 10 is socketed on joint shaft 5 far away, and the 4th power wheel 10 and the 2nd segment 3 connect admittedly; Described 2nd flexible part 11 coils through the 3rd power wheel 9 successively from rear, through the first segment 2, coils through the 4th power wheel 10 from rear; Described projection driver plate 12 is actively socketed on nearly joint shaft 4, and described projection driver plate 12 and the 3rd power wheel 9 connect admittedly; Described spacing block set 18 connects admittedly with pedestal 1; Described projection driver plate 12 contacts with spacing block set 18 or leaves a segment distance; The two ends of described first spring part 13 connect the 2nd flexible part 11 and pedestal 1 respectively; The radius of the first power wheel 6 is greater than the radius of the 2nd power wheel 7, and the radius of the 3rd power wheel 9 is identical with the radius of the 4th power wheel 10; Described first flexible part 8 adopts transmission belt, tendon rope or chain, described first power wheel 6 adopts belt wheel, rope sheave or sprocket wheel, described 2nd power wheel 7 adopts belt wheel, rope sheave or sprocket wheel, coordinates and form belt wheel transmission relation, rope sheave drive connection or chain sprocket drive relation between the described first flexible part 8, first power wheel 6 and the 2nd power wheel 7 three; Described 2nd flexible part 11 adopts transmission belt, tendon rope or chain, described 3rd power wheel 9 adopts belt wheel, rope sheave or sprocket wheel, described 4th power wheel 10 adopts belt wheel, rope sheave or sprocket wheel, coordinates and form belt wheel transmission relation, rope sheave drive connection or chain sprocket drive relation between the described 2nd flexible part 11, the 3rd power wheel 9 and the 4th power wheel 10 three. The two ends of described 2nd spring part 19 connect the first segment 2 and pedestal 1 respectively, as shown in Figure 5. When decontroling object, the effect of described 2nd spring part 19 coordinates the first flexible part 8, the 2nd flexible part 11 to play a role, make the first segment 2 keep relative to pedestal 1 or return to original state (as the state stretched), also make the 2nd segment 3 keep or return to original state simultaneously. When original state, the local, rear of local, the rear contact pedestal 1 of the first segment 2, Figure 11 is the original state of the present embodiment, now, pedestal 1 limits the first segment 2 being rotated counterclockwise in fig. 11, the first segment 2 in fig. 11 can only turn clockwise, direction as indicated in figure 11 by arrows.
If it is nearly joint positive dirction that the first segment 2 is close to the turning direction of object 17, the first segment 2 is nearly joint opposite direction away from the turning direction of object 17; When open chain flexible part flat folder self-adaptation robot finger apparatus is in original state (straight configuration as shown in Figure 1), projection driver plate 12 contacts with spacing block set 18, if now the angle of rotation of projection driver plate 122 opposite base 1 is 0 degree (as shown in figure 19), from this position, when projection driver plate 12 rotates towards nearly joint positive dirction, the rotation angle of (being less than 180 degree) is for just, when projection driver plate 12 rotates towards nearly joint opposite direction, the rotation angle of (being less than 180 degree) is negative; The rotation angle that described spacing block set 18 limits projection driver plate 12 can only for just, namely projection driver plate 12 can only rotate along arrow direction indication as shown in figure 20.
Open chain of the present invention flexible part flat folder self-adaptation robot finger apparatus, it is characterised in that: described driving mechanism 14 adopts motor, cylinder or hydro-cylinder. In the present embodiment, described driving mechanism 14 adopts motor.
Open chain of the present invention flexible part flat folder self-adaptation robot finger apparatus, it is characterised in that: described first spring part adopts extension spring, stage clip, sheet spring or torsion spring; Described 2nd spring part adopts extension spring, stage clip, sheet spring or torsion spring. In the present embodiment, described first spring part 13 adopts extension spring; Described 2nd spring part 19 adopts torsion spring.
The present embodiment also comprises 6 transition pulleys 81 and 6 corresponding transition sheave shafts 82; Transition pulley 81 described in each is socketed on corresponding transition sheave shaft 82; Described first transition sheave shaft, the 4th transition sheave shaft are set in pedestal 1 respectively, and described 2nd transition sheave shaft, the 3rd transition sheave shaft, the 5th transition sheave shaft, the 6th transition sheave shaft are set in the first segment 2 respectively; Described first flexible part 8 coils through the first transition pulley, the 2nd transition pulley and the 3rd transition pulley respectively; Described 2nd flexible part 11 coils through the 4th transition pulley, the 5th transition pulley and the 6th transition pulley respectively. Being provided with of first transition pulley, the 2nd transition pulley, the 3rd transition pulley is beneficial to the flexible part 8 of increasing first coiling through arc length and reducing gearing friction on the first power wheel 6, the 2nd power wheel 7, being provided with of 4th transition pulley, the 5th transition pulley, the 6th transition pulley is beneficial to the flexible part 11 of increasing the 2nd coiling through arc length and reducing gearing friction on the 3rd power wheel 9, the 4th power wheel 10, thus obtains better transmission effect.
In the present embodiment, described pedestal 1 comprise be fixed together pedestal header board 111, plate 112, pedestal left plate 113, pedestal right side plate 114, base-plates surface plate 115 and pedestal base plate 116 after pedestal.
In the present embodiment, described first segment 2 comprises the first segment skeleton 21, first segment left plate 22, first segment right side plate 23 and the first segment surface plate 24 being fixed together.
In the present embodiment, described transmission rig comprises speed reduction unit 141, screw rod 142 and nutplate 143; The output shaft of described motor 14 is connected with the input shaft of speed reduction unit 141, described screw rod 142 connects admittedly with the output shaft of speed reduction unit 141, the medullary ray of described screw rod 142 is consistent with the medullary ray of the output shaft of speed reduction unit 141, described nutplate 143 forms screw thread drive connection with screw rod 142, described nutplate 143 is slided and is embedded in pedestal 1, and one end of described nutplate 143 and the first flexible part 8 connects admittedly.
The present embodiment additionally uses the parts such as some bearings 83, some sleeves 84 and some screws 85, belongs to known technology, does not repeat.
The principle of work of the present embodiment, by reference to the accompanying drawings 11 to Figure 21, be described below:
The relation of projection driver plate 12 corner and the motion of the 2nd segment 3 is described below:
1) when the angle of rotation of projection driver plate 12 is 0 degree (as shown in figure 19), no matter what position is the first segment 2 be in (is traditionally arranged to be the state pointed and stretch, but other positions can also be set to), owing to projection driver plate 12 and the 3rd power wheel 9 connect admittedly, so the position of the 3rd power wheel 9 opposite base 1 is constant, owing to the radius of the 3rd power wheel 9 is equal with the radius of the 4th power wheel 10, under the effect of the 2nd flexible part 11, so only the carrying out translational movement and can not rotate of the 4th power wheel 10 opposite base 1, owing to the 4th power wheel 10 and the 2nd segment 3 connect admittedly, so the 2nd segment 3 opposite base 1 only carries out translational movement and can not rotate.
2) when the angle of rotation of projection driver plate 12 is timing, owing to the transmitting ratio of the 3rd power wheel 9 and the 4th power wheel 10 is 1, under the effect of the 2nd flexible part 11, the angle of rotation of the 4th power wheel 10 equals the angle of rotation of projection driver plate 12.
When the present embodiment captures object 17, driving mechanism 14 drives the first power wheel 6 to rotate forward by transmission rig, and the corner of the first power wheel 6 opposite base 1 is ��. Under the effect of the first flexible part 8, the corner of corner first segment 2 relative to the 2nd power wheel 7 of relative first segment 2 of the first power wheel 6 has certain relation. If the transmitting ratio being transferred to the 2nd power wheel 7 by the first flexible part 8 from the first power wheel 6 is i, this transmitting ratio is relative to the ratio of the first segment 2, first power wheel 6 rotating speed with the 2nd power wheel 7 rotating speed. Owing to the radius of the first power wheel 6 is greater than the radius of the 2nd power wheel 7, being therefore step-up drive, output speed is greater than input speed, therefore transmitting ratio i is less than 1 (such as i=0.7). If the first segment 2 is �� around the corner of nearly joint shaft 4. Owing to the 2nd power wheel 7 and the 2nd segment 3 connect admittedly, the present embodiment device meets the position of (formula 1) below by being equilibrated at:
��=�� (1-i) (formula 1)
Owing to i is less than 1, it is possible to show that (formula 1) can meet, �� is certain positive angle, and therefore the parallel folding of initial stage can realize, and the 2nd segment 3 is same attitude all the time. This is the stage of first stage parallel clamping. This one-phase is applicable to the 2nd segment de-clamping object, or outside going, by mode the 2nd segment opened, the mode from inside to outside opened outward, object is got in a support.
Contact object 17 when the first segment 2 and stopped can not rotate again by object 17, automatically the subordinate phase of self-adaptation envelope is entered, at this moment motor 14 drives the 2nd power wheel 7 to rotate, the first spring part 13 will be pulled to deform by the 2nd flexible part 11, now can the go the long way round medullary ray of joint shaft 5 of the 2nd segment 3 is rotated further, until the 2nd segment 3 contacts object 17, complete the effect that self-adaptation envelope captures object. For the object of different shapes, size, the present embodiment has adaptivity, it is possible to the multiple object of general crawl.
Figure 11 to Figure 15 be embodiment illustrated in fig. 1 by envelope hold hold in the way of capture the action process schematic diagram of object 17, wherein, Figure 11 is original state, Figure 11 to Figure 13 is the parallel open-close ways action of action process before the first segment 2 touches object 17, Figure 13 is the situation that the first segment 2 has just touched object, and Figure 13 to Figure 15 is that the first segment 2 touches the action process adaptive envelope object after object 17, until the 2nd segment 3 contacts object, as shown in figure 15, crawl terminates.
Figure 16 to Figure 18 is the typical action process of another kind of possibility parallel grip object of mode of crawl object 17 embodiment illustrated in fig. 1, until the 2nd segment 3 contacts object 17, as shown in figure 18, crawl terminates.
Figure 19 to Figure 21 is several key positions in the action process capturing object successively with parallel folding and self-adaptation envelope embodiment illustrated in fig. 1, show the changing conditions of the relative position of projection driver plate 12 with spacing block set 18: 1) situation of Figure 19 meets the situation of Figure 11, Figure 12 and Figure 13, now embodiment is in starting position or has only bent the first segment, first spring part 13 makes projection driver plate 12 contact with spacing block set 18,2nd segment 3 is in vertical initial attitude, and this kind of situation situation is continued until Figure 13; 2) Figure 20 and Figure 14 situation is similar, now the first segment 2 of embodiment has touched object 17 and can not have been moved by stop, under the effects such as the driving of motor 14 and the transmission of the first flexible part 8,2nd segment 3 joint shaft 5 of having gone the long way round rotates an angle (no longer keeping vertical initial attitude), pulling the first spring part 12 to there occurs distortion by the 2nd flexible part 11, projection driver plate 12 have left the spacing block set 18 being originally permanently connected to; 3) until the situation of Figure 21, the situation of Figure 21 and Figure 15 is identical, and the contact that now embodiment completes to object two segments realizes envelope and captures, and now projection driver plate 12 have rotated bigger angle, leaves spacing block set more than 18.
Apparatus of the present invention utilize four power wheels of single driver, double-flexibility part, different radii, two spring parts, projection driver plate, spacing block sets comprehensively to achieve parallel clamping and the function of general crawl with movable socket middle part segment etc., according to the difference of target object shape and position, can translation the 2nd segment grip object, also can rotate the object of the first segment and the 2nd segment envelope different shapes, size successively; This device adopts the mode of principal and subordinate's driving of two cover transmission trains, captures scope big, without motion dead band; Adopt the mode of drive lacking simultaneously, utilize a driver drives two joints, it is not necessary to complicated sensing and Controlling System; This apparatus structure is compact, volume is little, manufactures with maintenance cost low, is applicable to robot.
Claims (4)
1. the flexible part of an open chain flat folder self-adaptation robot finger apparatus, comprises pedestal, the first segment, the 2nd segment, nearly joint shaft, joint shaft far away and driving mechanism; Described driving mechanism and pedestal connect admittedly; The medullary ray of described nearly joint shaft and the centerline parallel of joint shaft far away; It is characterized in that: this open chain flexible part flat folder self-adaptation robot finger apparatus also comprises transmission rig, the first power wheel, the 2nd power wheel, the first flexible part, the 3rd power wheel, the 4th power wheel, the 2nd flexible part, projection driver plate, the first spring part, the 2nd spring part and spacing block set; Described nearly joint shaft is movably set in pedestal; Described joint shaft far away is movably set in the first segment; Described first segment is fixed on nearly joint shaft; Described 2nd segment is fixed on joint shaft far away; Described transmission rig is arranged in pedestal; The output shaft of described driving mechanism is connected with the input terminus of transmission rig; Described first flexible one end of part is connected with the output terminal of transmission rig, and the other end and the 2nd segment of the described first flexible part connect admittedly; Described first power wheel is actively socketed on nearly joint shaft, and described 2nd driving wheel tube is connected on joint shaft far away, and the 2nd power wheel and the 2nd segment connect admittedly; It is the front that the flexible part of this open chain puts down folder self-adaptation robot finger apparatus that definition captures the side of object, and namely another relative side is the rear of this device away from that side capturing object; Described first flexible part coils through the first power wheel successively from front, through the first segment, coils through the 2nd power wheel from front; Described 3rd power wheel is actively socketed on nearly joint shaft; Described 4th driving wheel tube is connected on joint shaft far away, and the 4th power wheel and the 2nd segment connect admittedly; Described 2nd flexible part coils through the 3rd power wheel successively from rear, through the first segment, coils through the 4th power wheel from rear; Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the 3rd power wheel connect admittedly; Described spacing block set and pedestal connect admittedly; Described projection driver plate contacts with spacing block set or leaves a segment distance; The two ends of described first spring part connect the 2nd flexible part and pedestal respectively; The radius of the first power wheel is greater than the radius of the 2nd power wheel, and the radius of the 3rd power wheel is identical with the radius of the 4th power wheel; Described first flexible part adopts transmission belt, tendon rope or chain, described first power wheel adopts belt wheel, rope sheave or sprocket wheel, described 2nd power wheel adopts belt wheel, rope sheave or sprocket wheel, coordinates and form belt wheel transmission relation, rope sheave drive connection or chain sprocket drive relation between the described first flexible part, the first power wheel and the 2nd power wheel three; Described 2nd flexible part adopts transmission belt, tendon rope or chain, described 3rd power wheel adopts belt wheel, rope sheave or sprocket wheel, described 4th power wheel adopts belt wheel, rope sheave or sprocket wheel, coordinates and form belt wheel transmission relation, rope sheave drive connection or chain sprocket drive relation between the described 2nd flexible part, the 3rd power wheel and the 4th power wheel three; The two ends of described 2nd spring part connect the first segment and pedestal respectively.
2. the flexible part of open chain as claimed in claim 1 flat folder self-adaptation robot finger apparatus, it is characterised in that: described driving mechanism adopts motor, cylinder or hydro-cylinder.
3. the flexible part of open chain as claimed in claim 1 flat folder self-adaptation robot finger apparatus, it is characterised in that: described first spring part adopts extension spring, stage clip, sheet spring or torsion spring; Described 2nd spring part adopts extension spring, stage clip, sheet spring or torsion spring.
4. the flexible part of open chain as claimed in claim 1 flat folder self-adaptation robot finger apparatus, it is characterized in that: also comprise transition pulley and sheave shaft, described transition pulley sleeve is connected on sheave shaft, described sheave shaft is set in certain segment, and the described first flexible part or the 2nd flexible part coil through different transition pulleys respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152993.3A CN105619440B (en) | 2016-03-17 | 2016-03-17 | Open chain flexible piece puts down folder adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152993.3A CN105619440B (en) | 2016-03-17 | 2016-03-17 | Open chain flexible piece puts down folder adaptive robot finger apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619440A true CN105619440A (en) | 2016-06-01 |
| CN105619440B CN105619440B (en) | 2018-07-06 |
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| CN201610152993.3A Expired - Fee Related CN105619440B (en) | 2016-03-17 | 2016-03-17 | Open chain flexible piece puts down folder adaptive robot finger apparatus |
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| CN106041920A (en) * | 2016-07-11 | 2016-10-26 | 清华大学 | Coupling and self-adapting robot finger device adopting idle stroke and transmission flexible pieces |
| CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN106799742A (en) * | 2016-12-09 | 2017-06-06 | 清华大学 | Accurate flat folder self adaptation and coupling adaptive pattern switching robot finger apparatus |
| CN106976101A (en) * | 2017-05-15 | 2017-07-25 | 福州大学 | A kind of drive lacking two refers to crawl Dextrous Hand and its method of work |
| CN108994864A (en) * | 2018-08-15 | 2018-12-14 | 哈尔滨工业大学 | Double tendon rope tandem coupling adaptive finger apparatus |
| CN109648589A (en) * | 2019-01-22 | 2019-04-19 | 北京邮电大学 | A kind of dexterous robot mechanical finger device with functions based on cylinder driving |
| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
| CN114619471A (en) * | 2022-04-15 | 2022-06-14 | 深圳鹏行智能研究有限公司 | Mechanical arm |
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| CN106041920A (en) * | 2016-07-11 | 2016-10-26 | 清华大学 | Coupling and self-adapting robot finger device adopting idle stroke and transmission flexible pieces |
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| CN106799742A (en) * | 2016-12-09 | 2017-06-06 | 清华大学 | Accurate flat folder self adaptation and coupling adaptive pattern switching robot finger apparatus |
| CN106799742B (en) * | 2016-12-09 | 2019-03-22 | 清华大学 | Accurate flat folder adaptively with coupling adaptive pattern switching robot finger apparatus |
| CN106976101A (en) * | 2017-05-15 | 2017-07-25 | 福州大学 | A kind of drive lacking two refers to crawl Dextrous Hand and its method of work |
| CN108994864A (en) * | 2018-08-15 | 2018-12-14 | 哈尔滨工业大学 | Double tendon rope tandem coupling adaptive finger apparatus |
| CN108994864B (en) * | 2018-08-15 | 2021-06-01 | 哈尔滨工业大学 | Double-tendon rope series connection type coupling self-adaptive finger device |
| CN109648589A (en) * | 2019-01-22 | 2019-04-19 | 北京邮电大学 | A kind of dexterous robot mechanical finger device with functions based on cylinder driving |
| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
| CN114619471A (en) * | 2022-04-15 | 2022-06-14 | 深圳鹏行智能研究有限公司 | Mechanical arm |
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