CN105643647A - Self-adaption robot finger device of composite flexible drive flat clamp - Google Patents

Self-adaption robot finger device of composite flexible drive flat clamp Download PDF

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Publication number
CN105643647A
CN105643647A CN201610153836.4A CN201610153836A CN105643647A CN 105643647 A CN105643647 A CN 105643647A CN 201610153836 A CN201610153836 A CN 201610153836A CN 105643647 A CN105643647 A CN 105643647A
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CN
China
Prior art keywords
drive
segment
flexible
transmission
joint shaft
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Pending
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CN201610153836.4A
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Chinese (zh)
Inventor
张文增
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Tsinghua University
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Tsinghua University
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Priority to CN201610153836.4A priority Critical patent/CN105643647A/en
Publication of CN105643647A publication Critical patent/CN105643647A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints

Abstract

The invention discloses a self-adaption robot finger device of a composite flexible drive flat clamp, and belongs to the technical field of robot hands. The self-adaption robot finger device comprises a base, two finger segments, two joint shafts, a driver, two flexible drive parts, four drive wheels, a protruding block shifting disc, two spring parts, a limiting protruding block and the like. The device utilizes the driver, a closed-loop flexible part drive mechanism, an opened-loop flexible part drive mechanism, the two spring parts, the protruding block shifting disc, the limiting protruding block and the like to comprehensively achieve functions of parallel clamping and self-adaption grabbing; according to the difference of shapes and positions of target objects, the second finger segment can be moved horizontally to nip and hold the objects or can be expanded outwards for supporting, and the first finger segment and the second finger segment can be sequentially rotated to wrap the objects in different shapes and with different sizes; and the device is large in grabbing range; the underactuation manner is adopted, the driver is used for driving two joints, and a complex sensing and control system is not needed; and the device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for the robot hands.

Description

Composite and flexible transmission flat folder adaptive robot finger apparatus
Technical field
The invention belongs to robot technical field, equal the structural design of folder adaptive robot finger apparatus particularly to a kind of composite and flexible transmission.
Background technology
Self adaptation under-actuated robot hand adopts a small amount of motor to drive multiple degree-of-freedom joints, 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 can also realize stable crawl without environmentally sensitive simultaneously, automatically adapts to the object of difformity size, it does not have the demand that real-time electronic sensing and closed loop feedback control, control simple and convenient, reduce manufacturing cost.
Mainly having two kinds of grasping means when capturing object, one is grip, and one is to grip. Grip is to remove 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; Gripping is the contact realizing multiple point with multiple segment enveloping rings of finger around object, reaches more stable shape envelope and captures. Industry clamper is generally adopted grip mode, it is difficult to have stable holding function, it is impossible to the stable envelope adapting to various shape object captures; Self adaptation under-actuated finger can adopt the mode of self adaptation envelope object to grip, but cannot implement grip and capture; The multi-joint hands of coupling can realize multi-joint and rotate simultaneously, it is possible to realize grip, it is impossible to realize gripping for the stable multiple spot envelope of various shape object. Above-mentioned three kinds of handss all have greatly improved space. Reality is sought after one both there is grip function, be capable of again the robot of stable self adaptation envelope grasping.
Existing a kind of five connecting rod clamping devices with double freedom under-actuated finger, such as US Patent No. 8973958B2, including five connecting rods, spring, mechanical constraints. During this device busy, the incipient stage keeps the attitude of end segment to carry out nearly arthrogryposis action, can realize parallel grip or the function of self adaptation envelope gripping afterwards according to the position of object. It is disadvantageous in that, this device adopts extremely complex multi-connecting-rod mechanism, and motion exists bigger dead band, captures scope less, and organization volume is big, lacks compliance, and manufacturing cost is too high.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is provided that a kind of composite and flexible transmission flat folder adaptive robot finger apparatus. This device has multiple grasp mode, translation the second segment can clamp object, also can successively rotate the first segment and the object of the second segment self adaptation envelope difformity, size; Crawl scope is big; Without complicated sensing and control system.
Technical scheme is as follows:
A kind of composite and flexible transmission flat folder adaptive robot finger apparatus of present invention design, including pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft and driver; Described driver is affixed with pedestal; The centrage of described nearly joint shaft and the centerline parallel of remote joint shaft; It is characterized in that: this composite and flexible transmission flat folder adaptive robot finger apparatus also includes drive mechanism, the first drive, the second drive, the first flexible drive parts, the 3rd drive, the 4th drive, the second flexible drive parts, projection driver plate, the first spring part, the second spring part and spacing block set; Described nearly joint shaft is movably set in pedestal; Described remote joint shaft is movably set in the first segment; Described first segment is socketed on nearly joint shaft; Described second segment is socketed on remote joint shaft; Described drive mechanism is arranged in pedestal; The output shaft of described driver is connected with the input of drive mechanism, and the outfan of described drive mechanism and the first drive are connected; Described first drive is actively socketed on nearly joint shaft, and described second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed; Described first flexible drive parts adopts transmission band, tendon rope or chain, described first drive adopts belt wheel, rope sheave or sprocket wheel, described second drive adopts belt wheel, rope sheave or sprocket wheel, described first flexible drive parts connects the first drive and the second drive, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described first flexible drive parts, the first drive and the second drive three; Described first flexible drive parts forms " O " font; Described 3rd drive is actively socketed on nearly joint shaft; Described 4th driving wheel tube is connected on remote joint shaft, and the 4th drive and the second segment are affixed; It is the front that folder adaptive robot finger apparatus is put down in this composite and flexible transmission that definition captures the side of object, and relative opposite side is namely away from the rear that side is this device capturing object; Described second flexible drive parts coils through the 3rd drive from front or behind successively, through the first segment, coils through the 4th drive from front or behind; Described second flexible piece the same side on the 3rd drive, the 4th drive respectively is wound around; Described second flexible drive parts adopts transmission band, tendon rope or chain, described 3rd drive adopts belt wheel, rope sheave or sprocket wheel, described 4th drive adopts belt wheel, rope sheave or sprocket wheel, described second flexible drive parts, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between the 3rd drive and the 4th drive three; Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the 3rd drive are affixed; Described spacing block set is affixed with pedestal; Described projection driver plate contacts with spacing block set or stands away; If it is nearly joint positive direction that the first segment is close to the rotation direction of object, the first segment is nearly joint opposite direction away from the rotation direction of object;When this composite and flexible transmission flat folder adaptive robot finger apparatus is in original state, projection driver plate contacts with spacing block set, if now the anglec of rotation of projection driver plate opposite base is 0 degree, from this position, projection driver plate towards nearly joint positive direction rotate time rotational angle be just, projection driver plate towards nearly joint opposite direction rotate time rotational angle be negative; The rotational angle of described spacing block set restriction projection driver plate is just only; The two ends of described first spring part connect one end and the pedestal of the second flexible drive parts respectively, and the first spring part strains the second flexible drive parts, and the other end and second segment of described second flexible drive parts are affixed; The two ends of described second spring part connect the second segment and the first segment respectively; Second spring part makes the second segment be close to the direction of tension the second flexible drive parts; The transmission radius of the first drive is more than the transmission radius of the second drive; The transmission radius of the 3rd drive and the transmission radius of the 4th drive are equal.
Composite and flexible transmission of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.
Composite and flexible transmission of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described first spring part adopts extension spring, stage clip, leaf spring or torsion spring.
Composite and flexible transmission of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described second spring part adopts extension spring, stage clip, leaf spring or torsion spring.
Composite and flexible transmission of the present invention flat folder adaptive robot finger apparatus, it is characterized in that: also include transition pulley and pulley spindle, described transition pulley sleeve is connected on pulley spindle, and described pulley spindle is set in certain segment, and described second flexible drive parts coils through transition pulley.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize driver, closed loop flexible piece drive mechanism, open loop flexible piece drive mechanism, two spring parts, projection driver plates comprehensively to achieve the function of the parallel clamping of doublejointed robot finger and self-adapting grasping with spacing block set etc., difference according to target object shape and position, translation the second segment grip object or an outer support object be can take, the first segment and the object of the second segment envelope difformity, size also can be rotated successively; It is big that this device captures scope; Adopt the mode of drive lacking, utilize two joints of a driver drives, it is not necessary to complicated sensing and control system; This apparatus structure is compact, volume is little, manufactures and maintenance cost is low, it is adaptable to robot.
Accompanying drawing explanation
Fig. 1 is the stereo appearance figure that a kind of embodiment of folder adaptive robot finger apparatus is equalled in the composite and flexible transmission that the present invention designs.
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) of 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 view of Fig. 2.
Fig. 6 is the B-B sectional view of Fig. 2.
Fig. 7 is the inside three-dimensional view (being not drawn into part) observed from an angle of embodiment illustrated in fig. 1.
Fig. 8 be embodiment illustrated in fig. 1 from the inside three-dimensional view (being not drawn into part) that another angle is observed.
Fig. 9 is the explosive view of embodiment illustrated in fig. 1.
Figure 10 to Figure 14 is that embodiment illustrated in fig. 1 is at the course of action schematic diagram capturing object in the way of envelope gripping.
Figure 15 to Figure 17 is the another way parallel folding course of action schematic diagram by the second segment clamping object (being called that flat gripper takes) that embodiment illustrated in fig. 1 captures object.
Figure 18 to Figure 20 is embodiment illustrated in fig. 1 when capturing several key position in the course of action of object successively with parallel folding and self adaptation envelope, the situation of change of projection driver plate, the first spring part and the relative position of spacing block set.
Figure 21 is the sectional view of Figure 12 (or Figure 17), and slice location is identical with Fig. 5.
Figure 22 is the sectional view (not drawing object) of Figure 14, and slice location is identical with Fig. 5.
In Fig. 1 to Figure 22:
1-pedestal, 111-pedestal header board, 112-pedestal back plate, 113-pedestal left plate,
114-pedestal right plate, 115-base-plates surface plate, 116-pedestal bottom plate, 2-the first segment,
21-the first segment skeleton, 22-the first segment left plate, 23-the first segment right plate, 24-the first segment surface plate,
25-the first segment header board, 26-the first segment back plate, 3-the second segment, the nearly joint shaft of 4-,
The remote joint shaft of 5-, 6-the first drive, 7-the second drive, 8-the first flexible drive parts,
81-transition pulley, 82-transition pulley spindle, 83-bearing, 84-sleeve,
85-screw, 86-pin, 9-the 3rd drive, 10-the 4th drive,
11-the second flexible drive parts, 12-projection driver plate, 13-the first spring part, 14-driver (motor),
141-decelerator, 142-the first bevel gear, 143-the second bevel gear, 144-transition gear axle,
145-the first belt wheel, 146-the second belt wheel, 147-transmission band, 17-object,
18-spacing block set, 19-the second spring part;
M-the present embodiment is close to the side of object when capturing object, be called for short front;
N-the present embodiment leaves the side of object when capturing object, be called for short rear.
Detailed description of the invention
The content of the concrete structure of the present invention, operation principle it is described in further detail below in conjunction with drawings and Examples.
A kind of embodiment of folder adaptive robot finger apparatus is equalled in the composite and flexible transmission of present invention design, as shown in Figures 1 to 9, including pedestal the 1, first segment the 2, second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14; Described driver 14 is affixed with pedestal 1; The centerline parallel of the centrage of described nearly joint shaft 4 and remote joint shaft 5. The present embodiment also includes drive mechanism, first drive the 6, second drive the 7, first flexible drive parts the 8, the 3rd drive the 9, the 4th drive the 10, second flexible drive parts 11, projection driver plate the 12, first spring part the 13, second spring part 19 and spacing block set 18; Described nearly joint shaft 4 is movably set in pedestal 1; Described remote joint shaft 5 is movably set in the first segment 2; Described first segment 2 is fixed on nearly joint shaft 4; Described second segment 3 is fixed on remote joint shaft 5; Described drive mechanism is arranged in pedestal 1; The described output shaft of driver 14 is connected with the input of drive mechanism; Outfan and first drive 6 of described drive mechanism are connected; Described first drive 6 is actively socketed on nearly joint shaft 4, and described second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and the second segment 3 are affixed; Described first flexible drive parts 8 adopts transmission band, tendon rope or chain, described first drive 6 adopts belt wheel, rope sheave or sprocket wheel, described second drive 7 adopts belt wheel, rope sheave or sprocket wheel, described first flexible drive parts 8 connects the first drive 6 and the second drive 7, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described first flexible drive parts the 8, first drive 6 and the second drive 7 three;Described first flexible drive parts 8 forms " O " font; Described 3rd drive 9 is actively socketed on nearly joint shaft 4; Described 4th drive 10 is socketed on remote joint shaft 5, and the 4th drive 10 and the second segment 3 are affixed; It is the front (in Fig. 5 and Fig. 6 the side of labelling M) that folder adaptive robot finger apparatus is put down in this composite and flexible transmission that definition captures the side of object 17, and relative opposite side is namely away from the rear that side is this device (in Fig. 5 and Fig. 6 the side of labelling N) capturing object.
Composite and flexible transmission of the present invention flat folder adaptive robot finger apparatus, it is characterised in that described second flexible drive parts coils through the 3rd drive from front or behind successively, through the first segment, coils through the 4th drive from front or behind; Described second flexible piece the same side on the 3rd drive, the 4th drive respectively is wound around, and namely the second flexible piece makes the transmission (relative to the first segment) that the 3rd transmission takes turns to the 4th drive be co-rotating transmission. In the present embodiment, described second flexible drive parts 11 coils through the 3rd drive 9 from rear (Fig. 5 and Fig. 6 the side of labelling N) successively, through the first segment 2, coil through the 4th drive 10 from rear (Fig. 5 and Fig. 6 the side of labelling N).
In the present embodiment, described second flexible drive parts 11 adopts transmission band, tendon rope or chain, described 3rd drive 9 adopts belt wheel, rope sheave or sprocket wheel, described 4th drive 10 adopts belt wheel, rope sheave or sprocket wheel, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described second flexible drive parts the 11, the 3rd drive 9 and the 4th drive 10 three; Described projection driver plate 12 is actively socketed on nearly joint shaft 4, and described projection driver plate 12 and the 3rd drive 9 are affixed; Described spacing block set 18 is affixed with pedestal 1; Described projection driver plate 12 contacts with spacing block set 18 or stands away; If it is nearly joint positive direction (clockwise direction in Fig. 8) that the first segment 2 is close to the rotation direction of object 17, the first segment 2 is nearly joint opposite direction away from the rotation direction of object 17; When this composite and flexible transmission flat folder adaptive robot finger apparatus is in original state (straight configuration as shown in Figure 8), projection driver plate 12 contacts with spacing block set 18, if now the anglec of rotation of projection driver plate 12 opposite base 1 is 0 degree (as shown in figure 16), from this position, projection driver plate 12 towards nearly joint positive direction rotate time (less than 180 degree) rotational angle be just, projection driver plate 12 towards nearly joint opposite direction rotate time (less than 180 degree) rotational angle be negative; The rotational angle that described spacing block set 18 limits projection driver plate 12 is just only, and namely projection driver plate 12 rotates only along arrow direction indication as shown in figure 17. The two ends of described first spring part 13 connect one end and the pedestal 1 of the second flexible drive parts 11 respectively; First spring part 13 strains the second flexible drive parts 11, and the other end and second segment 3 of described second flexible drive parts 11 are affixed; The two ends of described second spring part 19 connect the second segment 3 and the first segment 2 (as shown in Figure 5) respectively; Second spring part 19 makes the second segment 3 be close to the direction of tension the second flexible drive parts 11; If the second segment 3 is gone the long way round, the centrage of joint shaft 5 is close to the rotation direction of object 17 is remote joint positive direction, second segment 3 is gone the long way round, and to leave the rotation direction of object 17 be remote joint opposite direction for the centrage of joint shaft 5, in the present embodiment, due to the second flexible drive parts 11 from rear be wound around the 4th drive 10, therefore, the second spring part 19 makes the second segment 3 be close to remote joint positive direction.The transmission radius of the first drive 6 is more than the transmission radius of the second drive 7; The transmission radius of the 3rd drive 9 and the transmission radius of the 4th drive 10 are equal; Described transmission radius is the effective radius of transmission, is exactly pitch radius for belt wheel or sprocket wheel, for the arc radius being just wound around tendon rope rope sheave.
Composite and flexible transmission of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described driver 14 adopts motor, cylinder or hydraulic cylinder. Described first spring part adopts extension spring, stage clip, leaf spring or torsion spring. Described second spring part adopts extension spring, stage clip, leaf spring or torsion spring. In the present embodiment, described driver 14 adopts motor; Described first spring part 13 adopts extension spring; Described second spring part 19 adopts extension spring.
The present embodiment also includes 2 transition pulley 81 transition pulley spindles 82 corresponding with 2; Each described transition pulley 81 is socketed on the transition pulley spindle 82 of correspondence; Described First Transition pulley spindle, the second transition pulley spindle are respectively sleeved in the first segment 2; Described second flexible drive parts 11 coils through First Transition pulley and the second transition pulley respectively. First Transition pulley and being provided with of the second transition pulley are beneficial to increasing second flexible drive parts 11 arc length coiled through on the 3rd drive the 9, the 4th drive 10, it is also possible to reduce gearing friction, it is thus achieved that better transmission effect.
In the present embodiment, described pedestal 1 includes the pedestal header board 111, pedestal back plate 112, pedestal left plate 113, pedestal right plate 114, base-plates surface plate 115 and the pedestal bottom plate 116 that are fixed together. In the present embodiment, described first segment 2 includes the first segment skeleton the 21, first segment left plate the 22, first segment right plate the 23, first segment surface plate the 24, first segment header board 25 and the first segment back plate 26 being fixed together.
In the present embodiment, described drive mechanism includes decelerator 141, first bevel gear the 142, second bevel gear 143, transition gear axle the 144, first belt wheel the 145, second belt wheel 146 and transmission band 147; The output shaft of described motor 14 is connected with the power shaft of decelerator 141, described first bevel gear 142 is fixed on the output shaft of decelerator 141, described second bevel gear 143 is fixed on transition gear axle 144, and described first bevel gear 142 engages with the second bevel gear 143; Described transition gear axle 144 is set in pedestal 1, described first belt wheel 145 is fixed on transition gear axle 144, described second belt wheel 146 is actively socketed on nearly joint shaft 4, described second belt wheel 146 and the first drive 6 are affixed, described transmission band 147 connects the first belt wheel 145 and the second belt wheel 146, described transmission band the 147, first belt wheel 145 and the second belt wheel 146 form belt wheel transmission relation, and described transmission band is " O " font.
The present embodiment additionally uses the parts such as some bearings 83, some sleeves 84, some screws 85 and some pins 86, belongs to known common technology, does not repeat.
The operation principle of the present embodiment, in conjunction with accompanying drawing 10 to Figure 22, is described below:
The relation of projection driver plate 12 corner and the motion of the second segment 3 is described below:
In the present embodiment, initial position is set to the state (as shown in Figure 8) that finger stretches. (initial position can also be set to other positions. )
A) when the anglec of rotation of projection driver plate 12 is 0 degree (as shown in figure 18), owing to projection driver plate 12 and the 3rd drive 9 are affixed, so the invariant position of the 3rd drive 9 opposite base 1, owing to the 3rd drive 9 is equal with the transmission radius of the 4th drive 10, (namely both corners are identical, gear ratio is 1), no matter what position is the first segment 2 be in, 4th drive 10 keeps same angle with the 3rd drive 9 all the time, under the effect of the second flexible drive parts 11, 4th drive 10 opposite base 1 only carry out translational motion without rotating, owing to the 4th drive 10 and the second segment 3 are affixed, so the second segment 3 opposite base 1 only carries out translational motion without rotating.
B) when the anglec of rotation of projection driver plate 12 is timing, owing to the 3rd drive 9 is equal with the transmission radius of the 4th drive 10, (namely both corners are identical, gear ratio is 1), under the effect of the second flexible drive parts 11, the anglec of rotation of the 4th drive 10 is equal to the corner of projection driver plate 12.
When the present embodiment captures object 17, the driver 14 transmission by drive mechanism so that the first drive 6 rotates forward, the corner of the first drive 6 opposite base 1 is ��. Under the effect of the first flexible drive parts 8, the corner of the first relative first segment 2 of drive 6 and the corner of relative first segment 2 of the second drive 7 have a certain proportion of relation. If the gear ratio being transferred to the second drive 7 by the first flexible drive parts 8 from the first drive 6 is i, this gear ratio is the ratio of the rotating speed (relative to the first segment 2) of rotating speed (relative to the first segment 2) and second drive 7 of the first drive 6, and it is equal to the ratio of the transmission radius of the second drive 7 and the transmission radius of the first drive 6. Owing to the transmission radius of the first drive 6 is more than the transmission radius of the second drive 7, being therefore step-up drive, output speed is more than input speed, therefore gear ratio i is less than 1. If the first segment 2 is �� around the corner of nearly joint shaft 4. Owing to the second drive 7 and the second segment 3 are affixed, and the second segment 3 does not rotate relative to pedestal 1, therefore now the second drive 7 does not also rotate with respect to pedestal 1, then can be derived from the present embodiment device and will be equilibrated at the position meeting following (formula 1):
��=�� (1-i) (formula 1)
Owing to i is less than 1, it is possible to obtain a different angles respectively positive for �� and �� (wherein �� is less than ��). Therefore when the driver 14 transmission by drive mechanism, first drive 6 have rotated an angle [alpha], and now, the first segment 2 has turned over an angle �� around nearly joint shaft 4, second segment 3 is same attitude relative to pedestal 1 all the time, and simply position there occurs change. This is the stage (such as Figure 10, Figure 11, Figure 12, Figure 21) of parallel clamping. This stage is suitable for the second segment 3 de-clamping object 17, or goes a support outside the mode from inside to outside opened to take object 17 by the mode of outer by the second segment 3. Taking of a such as hollow cylindrical tube, is flared out propping up barrel from the inner side of this object, thus object of taking.
Contact object 17 when the first segment 2 and stopped by object 17 and be no longer able to turn, by the second stage of entrance self adaptation envelope (such as Figure 13, Figure 14, Figure 19, Figure 20, shown in Figure 22), at this moment the driver 14 transmission by drive mechanism, drive the first drive 6, make the second segment 3 being fixed together, second drive 7 and the 4th drive 10 joint shaft 5 of simultaneously going the long way round rotates, the 3rd drive 9 and projection driver plate 12 is driven to rotate around nearly joint shaft 4 by the second flexible drive parts 11, first spring part 13 deforms (such as Figure 13, shown in Figure 19), now can the go the long way round centrage of joint shaft 5 of the second segment 3 is rotated further, until the second segment 3 contacts object 17, complete self adaptation envelope and capture the effect of object. for the object of difformity, size, the present embodiment has adaptivity, it is possible to the multiple object of general crawl.
Figure 10 to Figure 14 is the course of action schematic diagram that embodiment illustrated in fig. 1 captures object 17 in the way of envelope gripping, wherein, Figure 10 is original state, Figure 10 to Figure 12 is the parallel open-close ways action of course of action before the first segment 2 touches object 17, Figure 12 is the situation that the first segment 2 has just touched object, and Figure 12 to Figure 14 is the course of action self adaptation envelope object that the first segment 2 touches after object 17, until the second segment 3 contacts object, as shown in figure 14, crawl terminates.
Figure 15 to Figure 17 is the typical action process that embodiment illustrated in fig. 1 captures the parallel grip object of alternatively possible mode of object 17, until the second segment 3 contacts object 17, as shown in figure 17, crawl terminates.
Figure 18 to Figure 20 is several key positions that embodiment illustrated in fig. 1 captures in the course of action of object successively with parallel folding and self adaptation envelope, showing the situation of change of projection driver plate 12 and the relative position of spacing block set 18: 1) situation shown in Figure 18 is Figure 10, Figure 11, Figure 12, Figure 15, during Figure 16 and Figure 17 situation, the situation of projection driver plate, now the present embodiment is in initial position or has only bent the first segment, first spring part 13 makes projection driver plate 12 contact with spacing block set 18, second segment 3 is in relative to the fixed pose of pedestal 1 (the vertical initial attitude in such as the present embodiment), this situation is continued until that the clamping of Figure 17 captures and terminates, or last till that the envelope of Figure 12 captures to start, 2) Figure 19 is corresponding to the situation of Figure 13, now first segment 2 of the present embodiment has touched object 17 and has been blocked from motion, under the driving effect of driver 14, pass through drive mechanism, first drive 6, the transmission of the first flexible drive parts 8 and the second drive 7, second segment 3 joint shaft 5 of having gone the long way round rotates an angle (rotating relative to pedestal 1), second segment 3 has no longer kept originally vertical initial attitude, by the 4th drive 10, second flexible drive parts 11, 3rd drive 9 and projection driver plate 12, , the first spring part 12 is pulled to there occurs deformation, projection driver plate 12 have left the spacing block set 18 being originally permanently connected to, 3) Figure 20 is corresponding to the situation of Figure 14, Figure 22, and now the present embodiment completes the contact of to object two segments and realizes self adaptation envelope and capture, can envelope crawl, grasping stability automatically to the object of difformity size, compared with the situation of Figure 19, the projection driver plate 12 in Figure 20 is rotated to bigger angle, leaves the distance that spacing block set 18 is farther, and the second segment 3 also have rotated the angle identical with the corner of projection driver plate 12.
The process of release object 17: driver 14 is reversed, and subsequent process is just contrary with the process of above-mentioned crawl object 17, does not repeat.
Apparatus of the present invention utilize driver, closed loop flexible piece drive mechanism, open loop flexible piece drive mechanism, two spring parts, projection driver plates comprehensively to achieve the function of the parallel clamping of doublejointed robot finger and self-adapting grasping with spacing block set etc., difference according to target object shape and position, translation the second segment grip object or an outer support object be can take, the first segment and the object of the second segment envelope difformity, size also can be rotated successively; It is big that this device captures scope; Adopt the mode of drive lacking, utilize two joints of a driver drives, it is not necessary to complicated sensing and control system; This apparatus structure is compact, volume is little, manufactures and maintenance cost is low, it is adaptable to robot.

Claims (5)

1. a composite and flexible transmission flat folder adaptive robot finger apparatus, including pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft and driver; Described driver is affixed with pedestal; The centrage of described nearly joint shaft and the centerline parallel of remote joint shaft; It is characterized in that: this composite and flexible transmission flat folder adaptive robot finger apparatus also includes drive mechanism, the first drive, the second drive, the first flexible drive parts, the 3rd drive, the 4th drive, the second flexible drive parts, projection driver plate, the first spring part, the second spring part and spacing block set;Described nearly joint shaft is movably set in pedestal; Described remote joint shaft is movably set in the first segment; Described first segment is socketed on nearly joint shaft; Described second segment is socketed on remote joint shaft; Described drive mechanism is arranged in pedestal; The output shaft of described driver is connected with the input of drive mechanism, and the outfan of described drive mechanism and the first drive are connected; Described first drive is actively socketed on nearly joint shaft, and described second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed; Described first flexible drive parts adopts transmission band, tendon rope or chain, described first drive adopts belt wheel, rope sheave or sprocket wheel, described second drive adopts belt wheel, rope sheave or sprocket wheel, described first flexible drive parts connects the first drive and the second drive, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described first flexible drive parts, the first drive and the second drive three; Described first flexible drive parts forms " O " font; Described 3rd drive is actively socketed on nearly joint shaft; Described 4th driving wheel tube is connected on remote joint shaft, and the 4th drive and the second segment are affixed; It is the front that folder adaptive robot finger apparatus is put down in this composite and flexible transmission that definition captures the side of object, and relative opposite side is namely away from the rear that side is this device capturing object; Described second flexible drive parts coils through the 3rd drive from front or behind successively, through the first segment, coils through the 4th drive from front or behind; Described second flexible piece the same side on the 3rd drive, the 4th drive respectively is wound around; Described second flexible drive parts adopts transmission band, tendon rope or chain, described 3rd drive adopts belt wheel, rope sheave or sprocket wheel, described 4th drive adopts belt wheel, rope sheave or sprocket wheel, described second flexible drive parts, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between the 3rd drive and the 4th drive three; Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the 3rd drive are affixed; Described spacing block set is affixed with pedestal; Described projection driver plate contacts with spacing block set or stands away; If it is nearly joint positive direction that the first segment is close to the rotation direction of object, the first segment is nearly joint opposite direction away from the rotation direction of object; When this composite and flexible transmission flat folder adaptive robot finger apparatus is in original state, projection driver plate contacts with spacing block set, if now the anglec of rotation of projection driver plate opposite base is 0 degree, from this position, projection driver plate towards nearly joint positive direction rotate time rotational angle be just, projection driver plate towards nearly joint opposite direction rotate time rotational angle be negative; The rotational angle of described spacing block set restriction projection driver plate is just only; The two ends of described first spring part connect one end and the pedestal of the second flexible drive parts respectively, and the first spring part strains the second flexible drive parts, and the other end and second segment of described second flexible drive parts are affixed; The two ends of described second spring part connect the second segment and the first segment respectively; Second spring part makes the second segment be close to the direction of tension the second flexible drive parts; The transmission radius of the first drive is more than the transmission radius of the second drive; The transmission radius of the 3rd drive and the transmission radius of the 4th drive are equal.
2. composite and flexible transmission as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.
3. composite and flexible transmission as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described first spring part adopts extension spring, stage clip, leaf spring or torsion spring.
4. composite and flexible transmission as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described second spring part adopts extension spring, stage clip, leaf spring or torsion spring.
5. composite and flexible transmission as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterized in that: also include transition pulley and pulley spindle, described transition pulley sleeve is connected on pulley spindle, described pulley spindle is set in certain segment, and described second flexible drive parts coils through transition pulley.
CN201610153836.4A 2016-03-17 2016-03-17 Self-adaption robot finger device of composite flexible drive flat clamp Pending CN105643647A (en)

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CN106426239B (en) * 2016-07-08 2018-11-23 清华大学 Idle running transmission gear coupling adaptive robot finger apparatus
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CN106272491A (en) * 2016-08-31 2017-01-04 清华大学 Remotely transmission guide pin bushing link linear flat folder adaptive robot finger apparatus
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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
CN111376289A (en) * 2018-12-29 2020-07-07 深圳市优必选科技有限公司 Finger self-adaptive driving mechanism and dexterous hand
CN111376289B (en) * 2018-12-29 2021-12-17 深圳市优必选科技有限公司 Finger self-adaptive driving mechanism and dexterous hand

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Application publication date: 20160608