CN105619442A - Belt wheel type surface longitudinal sliding robot finger device - Google Patents
Belt wheel type surface longitudinal sliding robot finger device Download PDFInfo
- Publication number
- CN105619442A CN105619442A CN201610153353.4A CN201610153353A CN105619442A CN 105619442 A CN105619442 A CN 105619442A CN 201610153353 A CN201610153353 A CN 201610153353A CN 105619442 A CN105619442 A CN 105619442A
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- China
- Prior art keywords
- belt wheel
- joint
- vertical sliding
- rotating shaft
- shaft
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Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a belt wheel type surface longitudinal sliding robot finger device, and belongs to the technical field of robot hands. The belt wheel type surface longitudinal sliding robot finger device comprises a base, a plurality of finger sections, a plurality of joints, a plurality of joint drivers and at least one longitudinal sliding assembly. Each longitudinal sliding assembly comprises an auxiliary transmission mechanism, a longitudinal sliding driver, a belt wheel transmission mechanism, a skin layer and the like. The belt wheel type surface longitudinal sliding robot finger device realizes a skin longitudinal sliding function, namely a special function that the surface of a robot finger can slide or rotate in the longitudinal direction of the finger. The rotation and horizontal movement of the skin layer can generate frictional force moving towards or away from the root of the finger on an object making contact with the finger section at the tail end, and operation in a hand is realized. An object can be picked up from a tabletop conveniently by cooperation with other fingers, and the belt wheel type surface longitudinal sliding robot finger device is especially suitable for picking up flat objects such as an eraser, a coin, paper and cloth. The belt wheel type surface longitudinal sliding robot finger device is simple in structure, easy to control and suitable for the robot hand.
Description
Technical field
The invention belongs to robot technical field, in particular to a kind of structure design indulging sliding robot finger apparatus with wheeled surface.
Background technology
Robot is the useful device helping the mankind to complete various effort work, a large amount of industrial robots has been had to be developed, in decades, industrial robot is applied to numerous industry fields such as food, aerospace, oil production, automobile making, ocean exploration, deep space exploitation.
Robot is the important device of machine human and environment contact, is that robot realizes the terminal parts capturing object, the big function of operation object two, generally to imitate whether staff classifies, it is possible to be divided into non-humanoid robot hand and humanoid robot hand. The former not necessarily has finger, can be divided into initiatively sucked type hand pawl, passive sucked type hand pawl, permanent magnetism formula hand pawl, electromagnetic type hand pawl etc., the latter with finger, also referred to as multifingered robot hands.
Traditional humanoid robot hand comprises palm and multiple finger, each finger has multiple segment, each segment is together in series by multiple joint, driving mechanism (such as motor, hydro-cylinder or cylinder) driving joint is adopted to rotate, multiple segment envelope objects realize the crawl of holding mode, or multiple segment rotate after realize end segment and capture object in grip mode.
Familiar object is generally positioned in a plane, and when certain size of object is less relative to other sizes, this object is a kind of flats object, such as rubber, coin and paper etc. Traditional robot, comprises the robot of non-personification and anthropomorphic robot, is all not easy to plane and picks up flats object.
Traditional printer has the function picking up sheet-fed from the stacking paper of fixed pan and namely has the function picking up specific flat articles, but cannot accomplish to pick up other objects, rubber that such as this kind of technology is difficult to pick up on desktop, offset plate, coin.
Summary of the invention
It is an object of the invention to the weak point in order to overcome prior art, the vertical sliding robot finger apparatus in the wheeled surface of a kind of band is proposed, this device is particularly suitable for plane to pick up object, have the finger surface that can move, and is applicable to captured object is carried out the operation in hand; This apparatus structure is simple, and control easily, is applicable to being arranged on robot and uses.
The present invention adopts following technical scheme:
The vertical sliding robot finger apparatus in the wheeled surface of one band provided by the invention, comprises pedestal, N number of segment, N number of joint shaft, at least one joint transmission rig and at least one joint driver; Described first segment is connected with pedestal by first joint shaft, and described i-th segment is connected with the i-th+1 segment by the i-th+1 joint shaft; Described joint driver is arranged in pedestal or certain segment, and the output shaft of described joint driver is connected with the input shaft of joint transmission rig, and the output shaft of described joint transmission rig is connected with one or more joint shaft; The medullary ray of described each joint shaft is parallel to each other; It is characterized in that: the vertical sliding robot finger apparatus in the wheeled surface of this band, also comprising at least one vertical sliding assembly, described vertical sliding assembly comprises supporting member, helper drive mechanism, vertical sliding driving mechanism, belt wheel transmission mechanism and skin layer; Described vertical sliding assembly is arranged in any one segment, and the supporting member of described vertical sliding assembly is fixedly mounted in corresponding segment; Described belt wheel transmission mechanism comprises the first belt wheel, the 2nd belt wheel, transmission belt, the first rotating shaft and the 2nd rotating shaft; Described first rotating shaft, the 2nd rotating shaft are distinguished on the bearer sheathed, and the medullary ray of described first rotating shaft and the medullary ray of the 2nd rotating shaft are parallel to each other; The described medullary ray of the first rotating shaft and the medullary ray of joint shaft are parallel to each other; Described first belt wheel is fixed in the first rotating shaft, and described 2nd belt wheel is fixed in the 2nd rotating shaft, and described transmission belt connects the first belt wheel and the 2nd belt wheel, and described first belt wheel, the 2nd belt wheel and transmission belt form belt wheel transmission relation; Described vertical sliding driving mechanism and supporting member connect admittedly, and the described output shaft of vertical sliding driving mechanism is connected with the input terminus of helper drive mechanism, and the output terminal of described helper drive mechanism is connected with the first rotating shaft; Described skin layer and transmission belt connect admittedly, and described skin layer is positioned at the surface of corresponding segment, wherein, N be greater than 1 natural number, i=1,2 ..., N-1.
The present invention compared with prior art, has the following advantages and outstanding property effect:
This device utilize driving mechanism, belt wheel transmission mechanism, skin layer and multi-joint finger comprehensively achieve skin indulge sliding function robot finger surface can along finger wiping action or the specific function of rotation; This device has, when capturing object, the finger surface that can move, and is applicable to captured object is carried out the operation in hand; This device utilizes the rotation of transmission belt can produce the object contacted with end segment to the frictional force in finger root direction or oppositely movement, and object to finger root direction or oppositely can move, and reaches the object of operation object in hand; This device coordinates other to point, and is convenient to from desktop and picks up object, is particularly suitable for from desktop and picks up flat articles such as rubber, coin, paper and cloth and silk etc.; This apparatus structure is simple, and control easily, is applicable to being arranged on robot and uses.
Accompanying drawing explanation
Figure is cutd open on the left side that Fig. 1 is the embodiment that sliding robot finger apparatus is indulged on the wheeled surface of band provided by the invention.
Fig. 2 is stereographic map (not containing pedestal right panel, the first segment right panel, the 2nd segment right panel and skin layer) embodiment illustrated in fig. 1.
Fig. 3 is stereographic map embodiment illustrated in fig. 1.
Fig. 4 is front appearance figure embodiment illustrated in fig. 1.
Fig. 5 is left side outward appearance figure embodiment illustrated in fig. 1.
Fig. 6 is explosive view embodiment illustrated in fig. 1.
Fig. 7 and Fig. 8 is the process signal carrying out operation in hand embodiment illustrated in fig. 1.
Fig. 9 to Figure 11 is the process signal of crawl flexible flat object embodiment illustrated in fig. 1.
In Fig. 1 to Figure 11:
1 pedestal, 11 joint drivers, 12 joint transmission rigs,
2 first segments, 3 the 2nd segments, 4 first joint shafts, 5 the 2nd joint shafts,
61 vertical sliding driving mechanisms, 62 helper drive mechanisms, 71-first belt wheel, 72-the 2nd belt wheel,
73-transmission belt, 74-skin layer, 81-first rotating shaft, 82-the 2nd rotating shaft,
91-key, 92-locks cabinet, 93-flexible flat object (such as paper, cloth),
94-desktop, 95-palm pedestal.
Embodiment
The concrete structure of the present invention, principle of work and working process is further described below in conjunction with drawings and Examples.
The vertical sliding robot finger apparatus in the wheeled surface of one band provided by the invention, comprises pedestal, N number of segment, N number of joint shaft, at least one joint transmission rig and at least one joint driver; Described first segment is connected with pedestal by first joint shaft, and described i-th segment is connected with the i-th+1 segment by the i-th+1 joint shaft; Described joint driver is arranged in pedestal or certain segment, and the output shaft of described joint driver is connected with the input shaft of joint transmission rig, and the output shaft of described joint transmission rig is connected with one or more joint shaft; The medullary ray of described each joint shaft is parallel to each other; It is characterized in that: the vertical sliding robot finger apparatus in the wheeled surface of this band, also comprising at least one vertical sliding assembly, described vertical sliding assembly comprises supporting member, helper drive mechanism, vertical sliding driving mechanism, belt wheel transmission mechanism and skin layer; Described vertical sliding assembly is arranged in any one segment, and the supporting member of described vertical sliding assembly is fixedly mounted in corresponding segment; Described belt wheel transmission mechanism comprises the first belt wheel, the 2nd belt wheel, transmission belt, the first rotating shaft and the 2nd rotating shaft; Described first rotating shaft, the 2nd rotating shaft are distinguished on the bearer sheathed, and the medullary ray of described first rotating shaft and the medullary ray of the 2nd rotating shaft are parallel to each other; The described medullary ray of the first rotating shaft and the medullary ray of joint shaft are parallel to each other; Described first belt wheel is fixed in the first rotating shaft, and described 2nd belt wheel is fixed in the 2nd rotating shaft, and described transmission belt connects the first belt wheel and the 2nd belt wheel, and described first belt wheel, the 2nd belt wheel and transmission belt form belt wheel transmission relation; Described vertical sliding driving mechanism and supporting member connect admittedly, and the described output shaft of vertical sliding driving mechanism is connected with the input terminus of helper drive mechanism, and the output terminal of described helper drive mechanism is connected with the first rotating shaft; Described skin layer and transmission belt connect admittedly, and described skin layer is positioned at the surface of corresponding segment, wherein, N be greater than 1 natural number, i=1,2 ..., N-1.
If N=2, then a kind of embodiment of sliding robot finger apparatus is indulged on the wheeled surface of band of inventive design, comprises pedestal 1, first segment 2, the 2nd segment 3, first joint shaft 4, the 2nd joint shaft 5, two joint transmission rigs 12 and two joint drivers 11; Described first segment 2 is connected with pedestal 1 by first joint shaft 4, and described first segment 2 is connected with the 2nd segment 3 by the 2nd joint shaft 5; Described two joint drivers 11 are separately positioned in pedestal 1 and the first segment 2, the output shaft of described joint driver 11 is connected with the input shaft of joint transmission rig 12, and the output shaft of described two joint transmission rigs 12 is connected with the first joint shaft 4, the 2nd joint shaft 5 respectively; The medullary ray of described first joint shaft 4 and the 2nd joint shaft 5 is parallel to each other. The vertical sliding robot finger apparatus in the wheeled surface of this band, also comprising at least one vertical sliding assembly, described vertical sliding assembly comprises supporting member (adopting the 2nd segment 3 in the present embodiment as supporting member), helper drive mechanism 62, vertical sliding driving mechanism 61, belt wheel transmission mechanism and skin layer 74; Described vertical sliding assembly is arranged in the 2nd segment 3, and the supporting member of described vertical sliding assembly is fixedly mounted in the 2nd corresponding segment, namely directly adopts the 2nd segment 3 as supporting member in the present embodiment; Described belt wheel transmission mechanism comprises the first belt wheel 71, the 2nd belt wheel 72, transmission belt 73, first rotating shaft 81 and the 2nd rotating shaft 82; Described first rotating shaft 81, the 2nd rotating shaft 82 are distinguished on the bearer sheathed, and the medullary ray of described first rotating shaft 81 and the medullary ray of the 2nd rotating shaft 82 are parallel to each other; The medullary ray of described first rotating shaft 81 and the medullary ray of the 2nd joint shaft 5 are parallel to each other; Described first belt wheel 71 is fixed in the first rotating shaft 81, and described 2nd belt wheel 72 is fixed in the 2nd rotating shaft 82, and described transmission belt 73 connects the first belt wheel 71 and the 2nd belt wheel 72, and described first belt wheel 71, the 2nd belt wheel 72 and transmission belt 73 form belt wheel transmission relation; Described vertical sliding driving mechanism 61 connects admittedly with supporting member, and the described output shaft of vertical sliding driving mechanism is connected with the input terminus of helper drive mechanism 62, and the output terminal of described helper drive mechanism 62 is connected with the first rotating shaft 81; Described skin layer 74 connects admittedly with transmission belt 73, and described skin layer 74 is positioned at the surface of the 2nd corresponding segment 3.
In the present embodiment, described first belt wheel 71, the 2nd belt wheel 72 and transmission belt 73 are designed to left and right two covers, and two transmission belts 73 connect admittedly with skin layer 74.
In the present embodiment, described first joint driver, the 2nd joint driver, vertical sliding driving mechanism all adopt motor.
In the present embodiment, described first joint transmission rig, the 2nd joint transmission rig and helper drive mechanism all adopt bevel gear drive mechanism, two cone gears namely meshed together.
The principle of work of the present embodiment, as shown in Fig. 7 to Figure 11, is described below:
First joint driver 11 of the present embodiment starts, and corresponding first joint shaft 4 rotates, and namely the first segment 2 and the 2nd segment 3 are rotated around the first joint shaft medullary ray; 2nd joint driver 11 starts, and corresponding 2nd joint shaft 5 rotates, and namely the 2nd segment is rotated around the medullary ray of the 2nd joint shaft; Vertical sliding driving mechanism starts, and speed reduction unit is rotated, and transmission rig rotates, and belt wheel mechanism is rotated, thus realizes the synkinesis of transmission belt and skin layer.
The starting position of the present embodiment as shown in Figure 7 time, object (key) 91 contacts with this apparatus surface skin layer 74, and crawled object (key) needs to rotate an angle correct could realize the coupling with corresponding object (lock cabinet) 92. Now vertical sliding driving mechanism 61 drives the first rotating shaft 81 to rotate by retarding mechanism, thus drive belt wheel transmission mechanism, realize this finger apparatus surface skin layer longitudinal motion, at object (key) 91 with under the effect of the frictional force of this finger apparatus surface skin layer, object (key) produces to rotate, thus realize the correct coupling of object (key) 91 with corresponding object (lock cabinet) 92, as shown in Figure 8.
The starting position of the present embodiment is as shown in Figure 9, vertical sliding driving mechanism 61 drives the first rotating shaft 81 to rotate forward by retarding mechanism, thus drive belt wheel transmission mechanism, realize this finger apparatus surface skin layer longitudinal motion, at crawled flexible flat object 93 with under the effect of the frictional force of this finger apparatus surface skin layer, flexible flat object 93 produces moderate finite deformation, as shown in Figure 10; While flexible flat object 93 produces distortion, this finger apparatus upwards moves, and joint driver 11 starts, and by speed reduction unit band movable joint transmission rig 12, it is achieved the rotation of corresponding joint axle, namely corresponding segment is bending, it is achieved grasping manipulation, as shown in figure 11.
This device utilize driving mechanism, belt wheel transmission mechanism, skin layer and multi-joint finger comprehensively achieve skin indulge sliding function robot finger surface can along finger wiping action or the specific function of rotation; This device has, when capturing object, the finger surface that can move, and is applicable to captured object is carried out the operation in hand; This device utilizes the rotation of transmission belt can produce the object contacted with end segment to the frictional force in finger root direction or oppositely movement, and object to finger root direction or oppositely can move, and reaches the object of operation object in hand; This device coordinates other to point, and is convenient to from desktop and picks up object, is particularly suitable for from desktop and picks up flat articles such as rubber, coin, paper and cloth and silk etc.; This apparatus structure is simple, and control easily, is applicable to being arranged on robot and uses.
Claims (3)
1. it is with the vertical sliding robot finger apparatus in wheeled surface, comprises pedestal, N number of segment, N number of joint shaft, at least one joint transmission rig and at least one joint driver; Described first segment is connected with pedestal by first joint shaft, and described i-th segment is connected with the i-th+1 segment by the i-th+1 joint shaft; Described joint driver is arranged in pedestal or certain segment, and the output shaft of described joint driver is connected with the input shaft of joint transmission rig, and the output shaft of described joint transmission rig is connected with one or more joint shaft; The medullary ray of described each joint shaft is parallel to each other; It is characterized in that: the vertical sliding robot finger apparatus in the wheeled surface of this band, also comprising at least one vertical sliding assembly, described vertical sliding assembly comprises supporting member, helper drive mechanism, vertical sliding driving mechanism, belt wheel transmission mechanism and skin layer; Described vertical sliding assembly is arranged in any one segment, and the supporting member of described vertical sliding assembly is fixedly mounted in corresponding segment; Described belt wheel transmission mechanism comprises the first belt wheel, the 2nd belt wheel, transmission belt, the first rotating shaft and the 2nd rotating shaft; Described first rotating shaft, the 2nd rotating shaft are distinguished on the bearer sheathed, and the medullary ray of described first rotating shaft and the medullary ray of the 2nd rotating shaft are parallel to each other; The described medullary ray of the first rotating shaft and the medullary ray of joint shaft are parallel to each other; Described first belt wheel is fixed in the first rotating shaft, and described 2nd belt wheel is fixed in the 2nd rotating shaft, and described transmission belt connects the first belt wheel and the 2nd belt wheel, and described first belt wheel, the 2nd belt wheel and transmission belt form belt wheel transmission relation; Described vertical sliding driving mechanism and supporting member connect admittedly, and the described output shaft of vertical sliding driving mechanism is connected with the input terminus of helper drive mechanism, and the output terminal of described helper drive mechanism is connected with the first rotating shaft; Described skin layer and transmission belt connect admittedly, and described skin layer is positioned at the surface of corresponding segment, wherein, N be greater than 1 natural number, i=1,2 ..., N-1.
2. it is with the vertical sliding robot finger apparatus in wheeled surface as claimed in claim 1, it is characterised in that: described joint driver adopts motor, cylinder or hydro-cylinder.
3. it is with the vertical sliding robot finger apparatus in wheeled surface as claimed in claim 1, it is characterised in that: described vertical sliding driving mechanism adopts motor, cylinder or hydro-cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153353.4A CN105619442A (en) | 2016-03-17 | 2016-03-17 | Belt wheel type surface longitudinal sliding robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153353.4A CN105619442A (en) | 2016-03-17 | 2016-03-17 | Belt wheel type surface longitudinal sliding robot finger device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105619442A true CN105619442A (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610153353.4A Pending CN105619442A (en) | 2016-03-17 | 2016-03-17 | Belt wheel type surface longitudinal sliding robot finger device |
Country Status (1)
| Country | Link |
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| CN (1) | CN105619442A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714252A (en) * | 2022-06-06 | 2022-07-08 | 苏州虞创智能仪表科技有限公司 | Clamping equipment is used in processing of feedback type valve limit switch |
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| CN102729255A (en) * | 2012-06-19 | 2012-10-17 | 西北农林科技大学 | Finger structure of skillful hand of fruit picking robot |
| US20130175816A1 (en) * | 2010-09-24 | 2013-07-11 | Dainichi Co. Ltd. | Humanoid electric hand |
| CN203495949U (en) * | 2013-09-10 | 2014-03-26 | 郭庆翔 | Anthropopathic robot hand device with capsule sand bag attached to surface |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
-
2016
- 2016-03-17 CN CN201610153353.4A patent/CN105619442A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130175816A1 (en) * | 2010-09-24 | 2013-07-11 | Dainichi Co. Ltd. | Humanoid electric hand |
| CN102554934A (en) * | 2012-03-01 | 2012-07-11 | 北京邮电大学 | Robot hand |
| CN102729255A (en) * | 2012-06-19 | 2012-10-17 | 西北农林科技大学 | Finger structure of skillful hand of fruit picking robot |
| CN203495949U (en) * | 2013-09-10 | 2014-03-26 | 郭庆翔 | Anthropopathic robot hand device with capsule sand bag attached to surface |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714252A (en) * | 2022-06-06 | 2022-07-08 | 苏州虞创智能仪表科技有限公司 | Clamping equipment is used in processing of feedback type valve limit switch |
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Application publication date: 20160601 |