CN105773606A - Self-adaptation robot finger device achieving flexible piece and gear parallel clamping - Google Patents
Self-adaptation robot finger device achieving flexible piece and gear parallel clamping Download PDFInfo
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- CN105773606A CN105773606A CN201610152554.2A CN201610152554A CN105773606A CN 105773606 A CN105773606 A CN 105773606A CN 201610152554 A CN201610152554 A CN 201610152554A CN 105773606 A CN105773606 A CN 105773606A
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- segment
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- projection
- joint 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention discloses a self-adaptation robot finger device achieving flexible piece gear parallel clamping, and belongs to the technical field of robot hands. The self-adaptation robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a transmission wheel, a gear, a protruding block drive plate, two spring pieces, two limiting protruding blocks and the like. According to the device, the function of parallel clamping and the function of universal grabbing are comprehensively achieved, according to different shapes and positions of target objects, the second finger section can be moved to hold the objects in parallel, and the first finger section and the second finger section can be sequentially rotated to wrap the objects different in shape and size. The device is wide in grabbing range. An under-actuated manner is adopted, one driver is utilized for driving two joints, and a complex sensing and control system is not needed. The device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for the robot hands.
Description
Technical field
The invention belongs to robot technical field, equal the structural design of folder adaptive robot finger apparatus particularly to a kind of flexible piece gear.
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.But traditional under-actuated robot hand many employings gear set mechanism, due to the restriction of mechanism, segment is close in the process of object and has extreme position, thus producing motion dead band, adaptivity is weakened significantly.
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 flexible piece gear flat folder adaptive robot finger apparatus.This device has multiple grasp mode, translation the second segment can clamp object, the object of the first segment of also successively closing and 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 flexible piece gear 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 flexible piece gear flat folder adaptive robot finger apparatus also includes drive mechanism, the first drive, the second drive, flexible drive parts, driving gear, driven gear, gear train, projection driver plate, the first segment projection, the first spring part, the second spring part, the first spacing block set and the second spacing block set；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；One end of described flexible drive parts is connected with the outfan of drive mechanism, and the other end and second segment of described flexible drive parts are affixed；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；Defining this flexible piece gear and put down the front that side is this device of folder adaptive robot finger apparatus crawl object, relative opposite side is namely away from the rear that side is this device capturing object；Described flexible drive parts coils through the first drive successively from front, through the first segment, coils through the second drive from front；Described driving gear is actively socketed on nearly joint shaft；Described driven gear is socketed on remote joint shaft, and driven gear and the second segment are affixed；Described driving gear is connected with the input of gear train, and the outfan of described gear train is connected with driven gear；Described gear train is arranged in the first segment；Relative to the first segment, the transmission of described gear train makes the rotation direction of driven gear identical with the rotation direction of driving gear；Relative to the first segment, the transmission of described gear train makes the velocity of rotation of driven gear equal with the velocity of rotation of driving gear；Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate is affixed with driving gear；Described first spacing block set is affixed with pedestal；Described projection driver plate and the first spacing block set contact or stand 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 flexible piece gear flat folder adaptive robot finger apparatus is in original state, projection driver plate and the contact of the first 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 first spacing block set restriction projection driver plate is just only；The two ends of described first spring part connect projection driver plate and pedestal respectively；The radius of the first drive is more than the radius of the second drive；Described 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, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described flexible drive parts, the first drive and the second drive three；The two ends of described second spring part connect the first segment and pedestal respectively；Described first segment projection and the first segment are affixed, and described second spacing block set is affixed with pedestal, and described first segment projection and the second spacing block set contact or stand away；When this flexible piece gear flat folder adaptive robot finger apparatus is in original state, first segment projection and the contact of the second spacing block set, if now the anglec of rotation of the first segment projection opposite base is 0 degree, from this position, first segment projection towards nearly joint positive direction rotate time rotational angle be just, the first segment projection towards nearly joint opposite direction rotate time rotational angle be negative；Described second spacing block set limits the rotational angle of the first segment projection and is just only.
Flexible piece gear of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.
Flexible piece gear 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.
Flexible piece gear 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.
Flexible piece gear 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, described pulley spindle is set in pedestal or the first segment, and described flexible drive parts coils through different transition pulleys respectively.
Flexible piece gear of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described gear train includes the first gear, the second gear, the 3rd gear, the first jackshaft, the second jackshaft and the 3rd jackshaft；Described first gear engages with driving gear, and described first geared sleeve is connected on the first jackshaft；Described second gear and the engagement of the first gear, described second geared sleeve is connected on the second jackshaft；Described 3rd gear and the engagement of the second gear, described 3rd geared sleeve is connected on the 3rd jackshaft；Described 3rd gear engages with driven gear；Described first jackshaft, the second jackshaft and the 3rd jackshaft are respectively sleeved in the first segment.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize single driver, two flexible pieces, drive, gear, two spring parts, projection driver plate and two spacing block sets etc. comprehensively to achieve parallel clamping and the function of general crawl, difference according to target object shape and position, can translation the second segment grip object, also can rotate the first segment and the object of the second segment envelope difformity, size 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 equalled by the flexible piece gear 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 (part is not drawn into) of embodiment illustrated in fig. 1.
Fig. 6 is the B-B sectional view (part is not drawn into) of embodiment illustrated in fig. 1.
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 front view (being not drawn into pedestal header board, base-plates surface plate, the first segment left plate, the first segment right plate and the first segment surface plate) of embodiment illustrated in fig. 1.
Figure 10 is the explosive view of embodiment illustrated in fig. 1.
Figure 11 to Figure 15 is that embodiment illustrated in fig. 1 is at the course of action schematic diagram capturing object in the way of envelope gripping.
Figure 16 to Figure 18 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 19 to Figure 21 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 the relative position of projection driver plate, the first spring part and the first spacing block set.
Figure 22 is the stereo appearance figure of rear flank side's observation of situation shown in Figure 15 and Figure 21, shows the relative position of the first spacing block set and projection driver plate and the relative position of the second spacing block set and the first segment projection.
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, 181-the first spacing block set,
182-the second spacing block set, 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 projection, 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-flexible drive parts, 81-transition pulley, 82-transition pulley spindle, 83-bearing,
84-sleeve, 85-screw, 9-driving gear, 10-driven gear,
11-gear train, 91-the first gear, 92-the second gear, 93-the 3rd gear,
911-the first jackshaft, 921-the second jackshaft, 931-the 3rd jackshaft, 12-projection driver plate,
13-the first spring part, 14-driver (motor), 141-decelerator, 142-screw rod,
143-nutplate, 17-object, 19-the second spring part；
M-the present embodiment captures the side of object, is called for short front；The side of N-object dorsad, is 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 equalled by the flexible piece gear of present invention design, as shown in Figures 1 to 10, 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 7, flexible drive parts 8, driving gear 9, driven gear 10, gear train 11, projection driver plate the 12, first segment projection the 25, first spring part the 13, second spring part the 19, first spacing block set 181 and the second spacing block set 182；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；Described one end of flexible drive parts 8 is connected with the outfan of drive mechanism, and the other end and second segment 3 of described flexible drive parts 8 are affixed；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；Defining this flexible piece gear and put down the front that side is this device (in Fig. 5 and Fig. 6 the side of labelling M) of folder adaptive robot finger apparatus crawl object 17, 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 17；Described flexible drive parts 8 coils through the first drive 6 successively from front, through the first segment 2, coils through the second drive 7 from front；Described driving gear 9 is actively socketed on nearly joint shaft 4；Described driven gear 10 is socketed on remote joint shaft 5, and driven gear 10 and the second segment 3 are affixed；Described driving gear 9 is connected with the input of gear train 11, and the outfan of described gear train 11 is connected with driven gear 10；Described gear train 11 is arranged in the first segment 2；Relative to the first segment 2, the transmission of described gear train 11 makes the rotation direction of driven gear 10 identical with the rotation direction of driving gear 9；Relative to the first segment 2, the transmission of described gear train 11 makes the velocity of rotation of driven gear 10 equal with the velocity of rotation of driving gear 9；Described projection driver plate 12 is actively socketed on nearly joint shaft 4, and described projection driver plate 12 is affixed with driving gear 9；Described first spacing block set 181 is affixed with pedestal 1；Described projection driver plate 12 contacts with the first spacing block set 181 or stands away；If it is nearly joint positive direction (clockwise direction in Figure 11) 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 flexible piece gear flat folder adaptive robot finger apparatus is in original state (straight configuration as shown in figure 11), projection driver plate 12 contacts with the first spacing block set 181, if now the anglec of rotation of projection driver plate 12 opposite base 1 is 0 degree, from this position, projection driver plate 12 towards nearly joint positive direction rotate time rotational angle be just, projection driver plate 12 towards nearly joint opposite direction rotate time rotational angle be negative；The rotational angle that described first spacing block set 181 limits projection driver plate 12 is just only；The two ends of described first spring part 13 connect projection driver plate 12 and pedestal 1 respectively；The radius of the first drive 6 is more than the radius of the second drive 7, and this radius is the effective radius of transmission, i.e. pitch radius；Described 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, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described flexible drive parts the 8, first drive 6 and the second drive 7 three；The two ends of described second spring part 19 connect the first segment 2 and pedestal 1 respectively, as shown in Figure 5.The effect of described second spring part 19 is to cooperate with flexible drive parts 8 so that the first segment 2 keeps relative to the second segment 3 or return to being positioned at certain initial attitude (state such as stretched)；When original state, the local, rear of the rear localized contact pedestal 1 of the first segment 2, Figure 11 is the original state of the present embodiment, now, pedestal 1 limits the rotation counterclockwise in fig. 11 of the first segment 2, and the first segment 2 in fig. 11 can only turn clockwise, direction as indicated in figure 11 by arrows.
In the present embodiment, described first segment projection 25 and the first segment 2 are affixed, and described second spacing block set 182 is affixed with pedestal 1, and described first segment projection 25 contacts with the second spacing block set 182 or stands away.When this flexible piece gear flat folder adaptive robot finger apparatus is in original state (straight configuration as shown in figure 11), first segment projection 25 contacts with the second spacing block set 182, if now the anglec of rotation of the first segment projection 25 opposite base 1 is 0 degree, from this position, first segment projection 25 towards nearly joint positive direction rotate time rotational angle be just, the first segment projection 25 towards nearly joint opposite direction rotate time rotational angle be negative；The rotational angle that described second spacing block set 182 limits the first segment projection 25 is just only.Defining position that the first segment projection 25 contacts with the second spacing block set 182 be the first segment 2 is zero around the corner of nearly joint shaft 4, clockwise direction (direction of arrow) as shown in figure 11 is positive direction, it is negative direction counterclockwise, second spacing block set 182 is unidirectional limits the first segment projection 25 and the first segment 2 centrage only revolvable positive angle around nearly joint shaft 4, can not rotating to negative angle, the second spring part 19 makes the first segment projection 25 tend to contact with the second spacing block set 182.
If it is nearly joint positive direction (clockwise direction in Figure 11) that the first segment 2 is close to the rotation direction of object 17, the first segment 2 is nearly joint opposite direction (counter clockwise direction in Figure 11) away from the rotation direction of object 17；When flexible piece gear flat folder adaptive robot finger apparatus is in original state (straight configuration as shown in Figure 1, shown in Figure 11), projection driver plate 12 contacts with the first spacing block set 181, if now the anglec of rotation of projection driver plate 122 opposite base 1 is 0 degree (as shown in figure 19), 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 first spacing block set 181 limits projection driver plate 12 is just only, and namely projection driver plate 12 rotates only along arrow direction indication as shown in figure 20.
Flexible piece gear 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 3 transition pulley 81 transition pulley spindles 82 corresponding with 3；Each described transition pulley 81 is socketed on the transition pulley spindle 82 of correspondence；Described First Transition pulley spindle is set in pedestal 1, and described second transition pulley spindle, the 3rd transition pulley spindle are respectively sleeved in the first segment 2；Described flexible drive parts 8 coils through First Transition pulley, the second transition pulley and the 3rd transition pulley respectively.First Transition pulley, the second transition pulley, the 3rd transition pulley the winding arc length that can strengthen flexible drive parts 8 on first drive the 6, second drive 7 is set, it is thus achieved that bigger digital flexion angular range, it is also possible to reduce gearing friction, reduce energy consumption.
In the present embodiment, described gear train 11 includes the first gear the 91, second gear the 92, the 3rd gear the 93, first jackshaft the 911, second jackshaft 921 and the 3rd jackshaft 931；Described first gear 91 engages with driving gear 9, and described first gear 91 is socketed on the first jackshaft 911；Described second gear 92 engages with the first gear 91, and described second gear 92 is socketed on the second jackshaft 921, and described 3rd gear 93 engages with driven gear 10, and described 3rd gear 93 is socketed on the 3rd jackshaft 931；Described first jackshaft the 911, second jackshaft 921 and the 3rd jackshaft 931 are set in the first segment 2 respectively.
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 23 and the first segment surface plate 24 being fixed together.
In the present embodiment, described drive mechanism includes decelerator 141, screw rod 142 and nutplate 143；The output shaft of described motor 14 is connected with the power shaft of decelerator 141, described screw rod 142 is affixed with the output shaft of decelerator 141, the centrage of described screw rod 142 is consistent with the centrage of the output shaft of decelerator 141, described nutplate 143 forms screw-driven relation with screw rod 142, described nutplate 143 is slided and is embedded in pedestal 1, and described nutplate 143 is affixed with one end of flexible drive parts 8.
The present embodiment additionally uses the parts such as some bearings 83, some sleeves 84 and some screws 85, belongs to known technology, does not repeat.
The operation principle of the present embodiment, in conjunction with accompanying drawing 11 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 11) 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 19), no matter what position is the first segment 2 be in, owing to projection driver plate 12 and driving gear 9 are affixed, so the invariant position of driving gear 9 opposite base 1, owing to driving gear 9 is 1 (constant speed drive) by the gear ratio of gear train 11 to driven gear 10, thus under the effect of gear train 11, so driven gear 10 opposite base 1 only carry out translational motion without rotating, owing to driven gear 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 radius of driving gear 9 and driven gear 10 is equal, namely the gear ratio that both rotate is 1, under the effect of gear train 11, the anglec of rotation of driven gear 10 is equal to the anglec of rotation of driving gear 9, namely equal to the anglec of rotation of projection driver plate 12.
When the present embodiment captures object 17, driver 14 pulls flexible drive parts 8 by drive mechanism (for screw rod and nut in the present embodiment) so that the first drive 6 rotates forward, and the corner of the first drive 6 opposite base 1 is α.Under the effect of flexible drive parts 8, the corner of relative first segment 2 of the first drive 6 and the corner of relative first segment 2 of the second drive 7 have a certain proportion of relation.If the gear ratio being transferred to the second drive 7 by flexible drive parts 8 from the first drive 6 is i, this gear ratio is relative to the first segment 2, the ratio of the first drive 6 rotating speed and the second drive 7 rotating speed, it is equal to the ratio of the radius of the second drive 7 and the radius of the first drive 6.Owing to the radius of the first drive 6 is more than the 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 δ 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):
α=δ (1-i) (formula 1)
Owing to i is less than 1, it is possible to obtain a different angles respectively positive for α and δ (wherein α is less than δ).Therefore when the driver 14 transmission by drive mechanism, when pulling downward on flexible drive parts 8 one segment distance, first drive 6 have rotated an angle [alpha], now, first segment 2 has turned over an angle δ around nearly joint shaft 4, now the second spring part 19 deforms, and the second segment 3 is same attitude relative to pedestal 1 all the time, and simply position there occurs change.This is the stage 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, automatically into the second stage of self adaptation envelope (such as Figure 14, shown in Figure 15), at this moment driver (motor) 14 is by the transmission of drive mechanism, continue to pull downward on flexible drive parts 8, pull the second segment 3, the three that second drive 7 and driven gear 10 are fixed together joint shaft 5 of simultaneously going the long way round rotates, driving gear 9 and projection driver plate 12 is driven to rotate around nearly joint shaft 4 by gear train 11, first spring part 13 deforms (such as Figure 20, shown in Figure 21), 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 11 to Figure 15 is the course of action schematic diagram that embodiment illustrated in fig. 1 captures object 17 in the way of envelope gripping, wherein, Figure 11 is original state, Figure 11 to Figure 13 is the parallel open-close ways action of course of action before the first segment 2 touches object 17, Figure 13 is the situation that the first segment 2 has just touched object, and Figure 13 to Figure 15 is 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 15, crawl terminates.
Figure 16 to Figure 18 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 18, crawl terminates.
Figure 19 to Figure 21 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, show projection driver plate 12, the situation of change of the relative position of the first spring part 13 and the first spacing block set 181: 1) situation shown in Figure 19 is Figure 11, the identical projection driver plate situation of Figure 12 and Figure 13, now embodiment is in initial position or has only bent the first segment, first spring part 13 makes projection driver plate 12 contact with the first spacing block set 181, 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 Figure 13；2) Figure 20 and Figure 14 situation is similar, now the first segment 2 of embodiment has touched object 17 and has been blocked from motion, under the driving effect of motor 14, pass through drive mechanism, flexible drive parts 8, first drive 6, under the gearing of the second drive 7, second segment 3 joint shaft 5 of having gone the long way round rotates an angle (also just rotating relative to pedestal 1), second segment 3 has no longer kept originally vertical initial attitude, by driven gear 10, gear train 11, driving gear 9 and projection driver plate 12, , the first spring part 12 is pulled to there occurs deformation, projection driver plate 12 have left the first spacing block set 181 being originally permanently connected to；3) until the situation of Figure 21, the situation of Figure 21 and Figure 15 is identical, now embodiment completes the contact of to object two segments and realizes envelope and capture, compared with the situation of Figure 20, projection driver plate 12 in Figure 21 is rotated to bigger angle, leaving the distance that the first spacing block set 181 is remote, the second segment 3 also have rotated same angle.
Figure 22 is the stereo appearance figure of rear flank side's observation of situation shown in Figure 15 and Figure 21, show the relative position of the first spacing block set 181 and projection driver plate 12, and second relative position of spacing block set 182 and the first segment projection 25, now the first segment 2 has had been rotated by an angle around the centrage of nearly joint shaft 4, first segment projection 25 has been moved off the second spacing block set 182 1 segment distance, now the second segment 3 has occurred that rotation relative to pedestal 1, projection driver plate 12 has been moved off the first spacing block set 181 1 segment distance, now, first spring part 13 and the second spring part 19 all deform.
The process of release object is just contrary with said process, repeats no more.
Apparatus of the present invention utilize single driver, two flexible pieces, drive, gear, two spring parts, projection driver plate and two spacing block sets etc. comprehensively to achieve parallel clamping and the function of general crawl, difference according to target object shape and position, can translation the second segment grip object, also can rotate the first segment and the object of the second segment envelope difformity, size 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 (6)
1. a flexible piece gear 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 flexible piece gear flat folder adaptive robot finger apparatus also includes drive mechanism, the first drive, the second drive, flexible drive parts, driving gear, driven gear, gear train, projection driver plate, the first segment projection, the first spring part, the second spring part, the first spacing block set and the second spacing block set；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；One end of described flexible drive parts is connected with the outfan of drive mechanism, and the other end and second segment of described flexible drive parts are affixed；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；Defining this flexible piece gear and put down the front that side is this device of folder adaptive robot finger apparatus crawl object, relative opposite side is namely away from the rear that side is this device capturing object；Described flexible drive parts coils through the first drive successively from front, through the first segment, coils through the second drive from front；Described driving gear is actively socketed on nearly joint shaft；Described driven gear is socketed on remote joint shaft, and driven gear and the second segment are affixed；Described driving gear is connected with the input of gear train, and the outfan of described gear train is connected with driven gear；Described gear train is arranged in the first segment；Relative to the first segment, the transmission of described gear train makes the rotation direction of driven gear identical with the rotation direction of driving gear；Relative to the first segment, the transmission of described gear train makes the velocity of rotation of driven gear equal with the velocity of rotation of driving gear；Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate is affixed with driving gear；Described first spacing block set is affixed with pedestal；Described projection driver plate and the first spacing block set contact or stand 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 flexible piece gear flat folder adaptive robot finger apparatus is in original state, projection driver plate and the contact of the first 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 first spacing block set restriction projection driver plate is just only；The two ends of described first spring part connect projection driver plate and pedestal respectively；The radius of the first drive is more than the radius of the second drive；Described 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, cooperatively forms belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation between described flexible drive parts, the first drive and the second drive three；The two ends of described second spring part connect the first segment and pedestal respectively；Described first segment projection and the first segment are affixed, and described second spacing block set is affixed with pedestal, and described first segment projection and the second spacing block set contact or stand away；When this flexible piece gear flat folder adaptive robot finger apparatus is in original state, first segment projection and the contact of the second spacing block set, if now the anglec of rotation of the first segment projection opposite base is 0 degree, from this position, first segment projection towards nearly joint positive direction rotate time rotational angle be just, the first segment projection towards nearly joint opposite direction rotate time rotational angle be negative；Described second spacing block set limits the rotational angle of the first segment projection and is just only.
2. flexible piece gear 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. flexible piece gear 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. flexible piece gear 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. flexible piece gear 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 pedestal or the first segment, and described flexible drive parts coils through different transition pulleys respectively.
6. flexible piece gear as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described gear train includes the first gear, the second gear, the 3rd gear, the first jackshaft, the second jackshaft and the 3rd jackshaft；Described first gear engages with driving gear, and described first geared sleeve is connected on the first jackshaft；Described second gear and the engagement of the first gear, described second geared sleeve is connected on the second jackshaft；Described 3rd gear and the engagement of the second gear, described 3rd geared sleeve is connected on the 3rd jackshaft；Described 3rd gear engages with driven gear；Described first jackshaft, the second jackshaft and the 3rd jackshaft are respectively sleeved in the first segment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152554.2A CN105773606A (en) | 2016-03-17 | 2016-03-17 | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610152554.2A CN105773606A (en) | 2016-03-17 | 2016-03-17 | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping |
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| CN105773606A true CN105773606A (en) | 2016-07-20 |
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| CN201610152554.2A Pending CN105773606A (en) | 2016-03-17 | 2016-03-17 | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping |
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| CN106239551A (en) * | 2016-08-31 | 2016-12-21 | 清华大学 | Multi link two-man act part straight line flat folder adaptive robot finger apparatus |
| CN106737776A (en) * | 2016-12-14 | 2017-05-31 | 上海理工大学 | Gear drive two-way flat folder perception self-adaption robot finger apparatus and control method |
| CN108858275A (en) * | 2018-07-05 | 2018-11-23 | 哈尔滨工业大学（深圳） | A kind of variation rigidity joint based on cam mechanism |
| CN109571537A (en) * | 2018-12-04 | 2019-04-05 | 中核四0四有限公司 | Multi-joint mechanical grip |
| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
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| CN106239551A (en) * | 2016-08-31 | 2016-12-21 | 清华大学 | Multi link two-man act part straight line flat folder adaptive robot finger apparatus |
| CN106737776A (en) * | 2016-12-14 | 2017-05-31 | 上海理工大学 | Gear drive two-way flat folder perception self-adaption robot finger apparatus and control method |
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| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
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Application publication date: 20160720 |