CN105619440B - Open chain flexible piece puts down folder adaptive robot finger apparatus - Google Patents
Open chain flexible piece puts down folder adaptive robot finger apparatus Download PDFInfo
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- CN105619440B CN105619440B CN201610152993.3A CN201610152993A CN105619440B CN 105619440 B CN105619440 B CN 105619440B CN 201610152993 A CN201610152993 A CN 201610152993A CN 105619440 B CN105619440 B CN 105619440B
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- drive
- segment
- flexible piece
- joint shaft
- pedestal
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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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Open chain flexible piece puts down folder adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, rationally two flexible pieces, four drives, convex block driver plate, two spring parts and spacing block set of setting radius etc..Device synthesis realizes the function of parallel clamping and general crawl, and according to target object shape and the difference of position, can be translatable the second segment grip object, can also rotate the object of the first segment and the second segment envelope different shapes and sizes successively；The device is by the way of principal and subordinate's driving of two sets of trains, and crawl range is big, without motion dead zone；Simultaneously 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, and manufacture is low with maintenance cost, suitable for robot.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of open chain flexible piece puts down folder adaptive robot finger
The structure design of device.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, since number of motors is few, hides
The power and volume of bigger can be selected by entering the motor of palm, be contributed 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 manufacture cost.But traditional under-actuated robot hand uses link mechanism more,
Due to the limitation of mechanism, segment, which is close to, has extreme position during object, so as to generate movement dead zone, adaptivity by
Weaken significantly.
When capturing object there are mainly two types of grasping means, one kind is grip, and one kind is to hold.Grip is with end finger
Tip portion go gripping 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 to realize the contact of multiple points around object with multiple segment enveloping rings of finger, is reached
More stable shape envelope crawl.Industrial clamper generally uses grip mode, it is difficult to have and stablize holding function, it is impossible to adapt to
The stabilization envelope crawl of various shapes object；The mode that adaptive envelope object may be used in adaptive under-actuated finger is held,
But grip crawl can not be implemented；The multi-joint hand of coupling can realize that multi-joint rotates simultaneously, can realize grip, it is impossible to real
Now held 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
It needs one kind that not only there is grip, but also can realize the robot for stablizing adaptive envelope grasping.
A kind of existing compound under-actuated robot finger device of doublejointed co-rotating transmission, such as Chinese patent
CN102161204B can realize the multiple joints of first coupling rotational, and then the function of self-adapting grasping, shortcoming exist again
In the device has movement dead zone, and crawl range is small；Requirement object initially must be close to pedestal and nearly segment when capturing object, drop
Low crawl efficiency；It can not implement parallel grip.
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.At work, the incipient stage keeps end segment to the device
Posture carries out nearly arthrogryposis action, can realize parallel grip or the work(that adaptive envelope is held according to the position of object later
Energy.Disadvantage is that the device uses link mechanism, there is movement dead zone, crawl range is small, and organization volume is big, appearance
It is not anthropomorphic, lack compliance, manufacture is of high cost.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, a kind of open chain flexible piece is provided and puts down folder adaptively
Robot finger apparatus.The device has a variety of grasp modes, and second segment that can be translatable clamping object also can successively close the
The object of one segment and the adaptive envelope different shapes and sizes of the second segment；Crawl range is big, and without motion dead zone is small；Together
The mode of Shi Caiyong drive lackings drives two joints using driver, without complicated sensing and control system, manufacture and
Maintenance cost is low.
Technical scheme is as follows：
A kind of open chain flexible piece that the present invention designs put down folder adaptive robot finger apparatus, 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 open chain flexible piece is put down folder adaptive robot finger apparatus and is further included
It is transmission mechanism, the first drive, the second drive, the first flexible piece, third drive, the 4th drive, the second flexible piece, convex
Block driver plate, the first spring part, the second spring part and spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft
It is movably set in the first segment；First segment is fixed on nearly joint shaft；Second segment is fixed in remote joint shaft
On；The transmission mechanism is arranged in pedestal；The output shaft of the driver is connected with the input terminal of transmission mechanism；Described first
One end of flexible piece is connected with the output terminal of transmission mechanism, and the other end of first flexible piece and the second segment are affixed；It is described
First drive is actively socketed on nearly joint shaft, and second driving wheel tube is connected on remote joint shaft, the second drive and
Two segments are affixed；The front of folder adaptive robot finger apparatus, phase are equalled for the open chain flexible piece in the side of definition crawl object
To opposite side be far from crawl object that side be the device rear；First flexible piece winds from front pass through successively
The first drive is crossed, across the first segment, the second drive is coiled through from front；The third drive is actively socketed on closely
On joint shaft；4th driving wheel tube is connected on remote joint shaft, and the 4th drive and the second segment are affixed；Described second is flexible
Part coils through third drive from rear successively, and across the first segment, the 4th drive is coiled through from rear；The convex block
Driver plate is actively socketed on nearly joint shaft, and the convex block driver plate and third drive are affixed；The spacing block set and pedestal are affixed；
The convex block driver plate is in contact or stands away with spacing block set；The both ends of the first spring part connect the second flexibility respectively
Part and pedestal；The radius of first drive is more than the radius of the second drive, the radius of third drive and the 4th drive
Radius is identical；First flexible piece uses transmission belt, tendon rope or chain, and first drive uses belt wheel, rope sheave or chain
Wheel, second drive use belt wheel, rope sheave or sprocket wheel, first flexible piece, the first drive and the second drive three
Belt wheel transmission relationship, rope sheave drive connection or sprocket wheel drive connection are cooperatively formed between person；Second flexible piece is using transmission
Band, tendon rope or chain, the third drive use belt wheel, rope sheave or sprocket wheel, the 4th drive using belt wheel, rope sheave or
Sprocket wheel cooperatively forms belt wheel transmission relationship between second flexible piece, third drive and the 4th drive three, rope sheave passes
Dynamic relationship or sprocket wheel drive connection；The both ends of the second spring part connect the first segment and pedestal respectively.
Open chain flexible piece of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：The driver
Using motor, cylinder or hydraulic cylinder.
Open chain flexible piece of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：First spring
Part uses tension spring, compression spring, leaf spring or torsional spring；The second spring part uses tension spring, compression spring, leaf spring or torsional spring.
Open chain flexible piece of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：Further include transition
Pulley and pulley spindle, the transition pulley are socketed on pulley spindle, and the pulley spindle is set in some segment, and described first is soft
Property part or the second flexible piece coil through different transition pulleys respectively.
Compared with prior art, the present invention it has the following advantages and high-lighting effect：
Apparatus of the present invention utilize single driver, double-flexibility part, four drives of different radii, two spring parts, convex blocks
The comprehensive function of realizing parallel clamping and general crawl such as segment in the middle part of driver plate, spacing block set and pivot bush unit, according to target
Body form and the difference of position, can be translatable the second segment grip object, can also rotate the first segment and the second segment successively
The object of envelope different shapes and sizes；The device is by the way of principal and subordinate's driving of two sets of trains, and crawl range is big, nothing
Move dead zone；Simultaneously 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, and manufacture is low with maintenance cost, suitable for robot.
Description of the drawings
Fig. 1 is a kind of solid for embodiment that the open chain flexible piece that the present invention designs puts down folder adaptive robot finger apparatus
Outside drawing.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is a side external view (right view of Fig. 2) for embodiment illustrated in fig. 1.
Fig. 4 is another side external view (left view of Fig. 2) 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 a manner of being held 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 known as flat gripper to take).
Figure 19 to Figure 21 is embodiment illustrated in fig. 1 successively with parallel folding and the action process of adaptive envelope crawl object
In several key positions when, the situation of change of the relative position of convex block driver plate and spacing block set.
In Fig. 1 to Figure 21：
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 first segments of 2-,
21- the first segment skeletons, 22- the first segment left plates, 23- the first segment right plates, 24- the first segment tables
Panel,
The second segments of 3-, the nearly joint shafts of 4-, the remote joint shafts of 5-, the first drives of 6-,
The second drives of 7-, the first flexible pieces of 8-, 81- transition pulleys, 82- transition pulley spindles,
83- bearings, 84- sleeves, 85- screws, 9- third drives,
The 4th drives of 10-, the second flexible pieces of 11-, 12- convex block driver plates, 13- the first spring parts,
14- drivers (motor), 141- retarders, 142- screw rods, 143- nutplates,
17- objects, 18- spacing block sets, 19- the second spring parts；
M- the present embodiment captures the side of object, referred to as front；N- is backwards to the side of object, abbreviation rear.
Specific embodiment
The concrete structure of the present invention, the content of operation principle are described in further detail with reference to the accompanying drawings and embodiments.
The open chain flexible piece that the present invention designs equals a kind of embodiment of folder adaptive robot finger apparatus, 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 further includes transmission mechanism, the first drive 6, the second drive 7, the first flexible piece 8, third drive
9th, the 4th drive 10, the second flexible piece 11, convex block driver plate 12, the first spring part 13, the second spring part 19 and spacing block set 18；It is described
Nearly joint shaft 4 is movably set in pedestal 1；The remote joint shaft 5 is movably set in the first segment 2；2 sets of first segment
Gu on nearly joint shaft 4；Second segment 3 is fixed on remote joint shaft 5；The transmission mechanism is arranged in pedestal 1；It is described
The output shaft of driver 14 is connected with the input terminal of transmission mechanism；One end of first flexible piece 8 and the output of transmission mechanism
End is connected, and the other end of first flexible piece 8 and the second segment 3 are affixed；First drive 6 is actively socketed on nearly joint
On axis 4, second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and the second segment 3 are affixed；Definition crawl object
The front that the side of body 17 puts down folder adaptive robot finger apparatus for the open chain flexible piece (marks the one of M in Fig. 5 and Fig. 6
Side), opposite opposite side is that side far from crawl object 17 (marks the one of N for the rear of the device in Fig. 5 and Fig. 6
Side)；First flexible piece 8 coils through the first drive 6 from front successively, across the first segment 2, is coiled through from front
Second drive 7；The third drive 9 is actively socketed on nearly joint shaft 4；4th drive 10 is socketed in remote joint
On axis 5, the 4th drive 10 and the second segment 3 are affixed；Second flexible piece 11 coils through third transmission from rear successively
Wheel 9, across the first segment 2, the 4th drive 10 is coiled through from rear；The convex block driver plate 12 is actively socketed on nearly joint shaft
On 4, the convex block driver plate 12 and third drive 9 are affixed；The spacing block set 18 and pedestal 1 are affixed；The convex block driver plate 12
It is in contact or stands away with spacing block set 18；The both ends of the first spring part 13 connect the second flexible piece 11 and base respectively
Seat 1；The radius of first drive 6 is more than the radius of the second drive 7, the radius of third drive 9 and the 4th drive 10
Radius is identical；First flexible piece 8 using transmission belt, tendon rope or chain, first drive 6 using belt wheel, rope sheave or
Sprocket wheel, second drive 7 is using belt wheel, rope sheave or sprocket wheel, first flexible piece 8, the first drive 6 and the second transmission
It takes turns and cooperatively forms belt wheel transmission relationship, rope sheave drive connection or sprocket wheel drive connection between 7 threes；Second flexible piece 11 is adopted
With transmission belt, tendon rope or chain, the third drive 9 uses band using belt wheel, rope sheave or sprocket wheel, the 4th drive 10
Wheel, rope sheave or sprocket wheel, belt wheel is cooperatively formed between second flexible piece 11,10 three of third drive 9 and the 4th drive
Drive connection, rope sheave drive connection or sprocket wheel drive connection.The both ends of the second spring part 19 connect the first segment 2 and base respectively
Seat 1, as shown in Figure 5.When decontroling object, the effect of the second spring part 19 is the first flexible piece 8 of cooperation, the second flexible piece 11
It plays a role so that the first segment 2 keeps or return to original state (state such as stretched) relative to pedestal 1, also causes simultaneously
Second segment 3 keeps or returns to original state.In original state, the rear office of the rear localized contact pedestal 1 of the first segment 2
Portion, Figure 11 are the original states of the present embodiment, at this point, pedestal 1 limits the rotation counterclockwise of the first segment 2 in fig. 11,
The first segment 2 in Figure 11 can only rotate clockwise, as indicated in figure 11 by arrows direction.
If the rotation direction that the first segment 2 is close to object 17 is nearly joint positive direction, the first segment 2 turns far from object 17
Dynamic direction is nearly joint negative direction；(such as Fig. 1 when folder adaptive robot finger apparatus is in original state is put down in open chain flexible piece
Shown straight configuration), convex block driver plate 12 is contacted with spacing block set 18, if the rotation angle of 12 opposite base 1 of convex block driver plate at this time
It spends for 0 degree (as shown in figure 19), since the position, what convex block driver plate 12 (was less than 180 degree) when being rotated towards nearly joint positive direction
Rotational angle is just, the rotational angle that convex block driver plate 12 (is less than 180 degree) when being rotated towards nearly joint negative direction is negative；The limiting
The rotational angle that convex block 18 limits convex block driver plate 12 is only just, i.e., convex block driver plate 12 can only refer to along arrow as shown in figure 20
Show that direction rotates.
Open chain flexible piece of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：The driver
14 using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 14 uses motor.
Open chain flexible piece of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：First spring
Part uses tension spring, compression spring, leaf spring or torsional spring；The second spring part uses tension spring, compression spring, leaf spring or torsional spring.In the present embodiment, institute
The first spring part 13 is stated using tension spring；The second spring part 19 uses torsional spring.
The present embodiment further includes 6 transition pulleys 81 and 6 corresponding transition pulley spindles 82；Each transition pulley 81
It is socketed on corresponding transition pulley spindle 82；The First Transition pulley spindle, the 4th transition pulley spindle are respectively sleeved at pedestal 1
In, the second transition pulley spindle, third transition pulley spindle, the 5th transition pulley spindle, the 6th transition pulley spindle are respectively sleeved at
In first segment 2；First flexible piece 8 coils through First Transition pulley, the second transition pulley and third transition and slides respectively
Wheel；Second flexible piece 11 coils through the 4th transition pulley, the 5th transition pulley and the 6th transition pulley respectively.First mistake
Cross pulley, the second transition pulley, third transition pulley be provided be conducive to increase the first flexible piece 8 in the first drive 6, second
Arc length and reduction gearing friction, the 4th transition pulley, the 5th transition pulley, the 6th transition pulley are coiled through on drive 7
Be provided with conducive to increase the second flexible piece 11 coil through arc length and reduction on third drive 9, the 4th drive 10
Gearing friction, so as to obtain preferably transmission effect.
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 the first segment skeleton 21, the first segment left plate that are fixed together
22nd, the first segment right plate 23 and the first segment surface plate 24.
In the present embodiment, the transmission mechanism includes retarder 141, screw rod 142 and nutplate 143；The motor 14
Output shaft is connected with the input shaft of retarder 141, and the output shaft of the screw rod 142 and retarder 141 is affixed, the screw rod 142
Center line it is consistent with the center line of the output shaft of retarder 141, the nutplate 143 and screw rod 142 form screw-driven and close
System, the slip of nutplate 143 are 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, several sleeves 84 and several screws 85, belong to known technology,
It does not repeat.
The operation principle of the present embodiment with reference to attached drawing 11 to Figure 21, is described below：
The relationship that 12 corner of convex block driver plate is moved with the second segment 3 is described below：
1) when the rotation angle of convex block driver plate 12 be 0 degree when (as shown in figure 19), no matter what position is the first segment 2 be in
(be traditionally arranged to be the state that finger stretches, but may be set to be other positions), since convex block driver plate 12 and third are driven
Take turns it is 9 affixed, so the position of 9 opposite base 1 of third drive is constant, due to the radius and the 4th drive of third drive 9
10 radius is equal, under the action of the second flexible piece 11, so 10 opposite base 1 of the 4th drive only carries out translational motion
Without rotating, since the 4th drive 10 and the second segment 3 are affixed, so 3 opposite base 1 of the second segment only carries out translation fortune
It moves without rotating.
2) when the rotation angle of convex block driver plate 12 be timing, due to the gearratio of 9 and the 4th drive 10 of third drive
It is 1, under the action of the second flexible piece 11, the rotation angle of the 4th drive 10 is equal to the rotation angle of convex block driver plate 12.
When the present embodiment captures object 17, driver 14 drives the first drive 6 to rotate forward by transmission mechanism, and first passes
The corner of 6 opposite base 1 of driving wheel is α.Under the action of the first flexible piece 8, the corner of 6 opposite first segment 2 of the first drive
There is certain relationship with the corner of 7 opposite first segment 2 of the second drive.If it is passed from the first drive 6 by the first flexible piece 8
The gearratio moved to the second drive 7 is i, which is relative to the first segment 2, and 6 rotating speed of the first drive and second passes
The ratio between 7 rotating speed of driving wheel.It is step-up drive since the radius of the first drive 6 is more than the radius of the second drive 7, output
Speed is more than input speed, therefore gearratio i is less than 1 (such as i=0.7).If the first segment 2 is δ around the corner of nearly joint shaft 4.
Since the second drive 7 and the second segment 3 are affixed, the present embodiment device meets the position of following (formula 1) by being equilibrated at：
α=δ (1-i) (formula 1)
Since i is less than 1, it can be deduced that (formula 1) is satisfiable, and δ is positive some angle, therefore the incipient stage
What parallel folding was that by, the second segment 3 is same posture always.This is first stage --- the rank of parallel clamping
Section.This stage is suitble to go to beat from inside to outside with the second segment de-clamping object or with the second segment by way of opening outside
A support takes object outside the mode opened.
It is no longer able to turn when the first segment 2 contacts object 17 by the blocking of object 17, automatically into the of adaptive envelope
Two-stage, second drive 7 of the at this moment driving of motor 14 rotate, and the first spring part 13 will be pulled to become by the second flexible piece 11
Shape, at this time can the go the long way round center line of joint shaft 5 of the second segment 3 be rotated further, it is complete until the second segment 3 contacts object 17
Into the effect of adaptive envelope crawl object.For the object of different shapes and sizes, the present embodiment has adaptivity, can
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 a manner that envelope is held,
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 acts, and Figure 13 is the situation that the first segment 2 has just touched object, and Figure 13 to Figure 15 touches object for the first segment 2
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 of embodiment illustrated in fig. 1 crawl 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 embodiment illustrated in fig. 1 successively with parallel folding and the action process of adaptive envelope crawl object
In several key positions, show the situation of change of the relative position of convex block driver plate 12 and spacing block set 18：1) feelings of Figure 19
Condition meets the situation of Figure 11, Figure 12 and Figure 13, and embodiment is in initial position or has only been bent the first segment at this time, the first spring
Part 13 makes convex block driver plate 12 be in contact with spacing block set 18, and the second segment 3 is in vertical initial attitude, such case situation one
Directly continue to Figure 13；2) Figure 20 is similar to Figure 14 situations, and the first segment 2 of embodiment has touched object 17 and has been blocked at this time
And cannot move, motor 14 driving and the first flexible piece 8 transmission the effects that under, the second segment 3 has been gone the long way round joint shaft 5
An angle (no longer keeping vertical initial attitude) is rotated, the first spring part 13 is pulled to be become by the second flexible piece 11
Shape, convex block driver plate 12 have left the spacing block set 18 being permanently connected to originally；3) until the situation of Figure 21, the situation of Figure 21 and Figure 15
Identical, embodiment completes the contact to two segments of object at this time --- realize envelope crawl, convex block driver plate 12 rotates at this time
The angle of bigger, leaves spacing block set 18 more.
Apparatus of the present invention utilize single driver, double-flexibility part, four drives of different radii, two spring parts, convex blocks
The comprehensive function of realizing parallel clamping and general crawl such as segment in the middle part of driver plate, spacing block set and pivot bush unit, according to target
Body form and the difference of position, can be translatable the second segment grip object, can also rotate the first segment and the second segment successively
The object of envelope different shapes and sizes；The device is by the way of principal and subordinate's driving of two sets of trains, and crawl range is big, nothing
Move dead zone；Simultaneously 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, and manufacture is low with maintenance cost, suitable for robot.
Claims (3)
1. a kind of open chain flexible piece puts down folder adaptive robot finger apparatus, 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 open chain flexible piece puts down folder adaptive robot finger apparatus and further includes transmission mechanism, the first biography
Driving wheel, the second drive, the first flexible piece, third drive, the 4th drive, the second flexible piece, convex block driver plate, the first spring
Part, the second spring part and spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft is movably set in first
In segment；First segment is fixed on nearly joint shaft；Second segment is fixed on remote joint shaft；The transmission mechanism
It is arranged in pedestal；The output shaft of the driver is connected with the input terminal of transmission mechanism；One end of first flexible piece with
The output terminal of transmission mechanism is connected, and the other end of first flexible piece and the second segment are affixed；The first drive activity
It is socketed on nearly joint shaft, second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed；Definition
The front of folder adaptive robot finger apparatus, opposite opposite side, that is, separate are put down for the open chain flexible piece in the side of crawl object
That side for capturing object is the rear of the device；First flexible piece coils through the first drive from front successively, wears
The first segment is crossed, the second drive is coiled through from front；The third drive is actively socketed on nearly joint shaft；Described
Four driving wheel tubes are connected on remote joint shaft, and the 4th drive and the second segment are affixed；Second flexible piece twines successively from rear
Around third drive is passed through, across the first segment, the 4th drive is coiled through from rear；The convex block driver plate is actively socketed on
On nearly joint shaft, the convex block driver plate and third drive are affixed；The spacing block set and pedestal are affixed；The convex block driver plate with
Spacing block set is in contact or stands away；The both ends of the first spring part connect the second flexible piece and pedestal respectively；First
The radius of drive is more than the radius of the second drive, and the radius of third drive is identical with the radius of the 4th drive；It is described
First flexible piece uses transmission belt, tendon rope or chain, and first drive uses belt wheel, rope sheave or sprocket wheel, and described second passes
Driving wheel uses belt wheel, rope sheave or sprocket wheel, is cooperatively formed between first flexible piece, the first drive and the second drive three
Belt wheel transmission relationship, rope sheave drive connection or sprocket wheel drive connection；Second flexible piece uses transmission belt, tendon rope or chain,
The third drive use belt wheel, rope sheave or sprocket wheel, the 4th drive use belt wheel, rope sheave or sprocket wheel, described second
Belt wheel transmission relationship, rope sheave drive connection or sprocket wheel are cooperatively formed between flexible piece, third drive and the 4th drive three
Drive connection；The both ends of the second spring part connect the first segment and pedestal respectively.
2. open chain flexible piece as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that：The driving
Device uses motor, cylinder or hydraulic cylinder.
3. open chain flexible piece as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that：Described first
Spring part uses tension spring, compression spring, leaf spring or torsional spring；The second spring part uses tension spring, compression spring, leaf spring or torsional spring.
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 CN105619440A (en) | 2016-06-01 |
| CN105619440B true CN105619440B (en) | 2018-07-06 |
Family
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Family Applications (1)
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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 |
| CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive 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 |
| 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 |
| CN109648589B (en) * | 2019-01-22 | 2021-05-11 | 北京邮电大学 | Robot dexterous manipulator finger device 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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| CN101214658A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope three-joint under-driven robot finger device |
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