CN105773608A - Gear fluid parallel clamping self-adaptive robot finger device - Google Patents
Gear fluid parallel clamping self-adaptive robot finger device Download PDFInfo
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- CN105773608A CN105773608A CN201610154064.6A CN201610154064A CN105773608A CN 105773608 A CN105773608 A CN 105773608A CN 201610154064 A CN201610154064 A CN 201610154064A CN 105773608 A CN105773608 A CN 105773608A
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- gear
- segment
- flexible pipe
- joint shaft
- end cap
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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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a gear fluid parallel clamping self-adaptive robot finger device and belongs to the technical field of robot hands. The gear fluid parallel clamping self-adaptive robot finger device comprises a base, two finger segments, two joint shafts, a driver, multiple gears, two flexible pipes, fluid, a protruding block shifting disc, a spring piece, a limiting protruding block and the like. The driver, a gear transmission mechanism, the flexible pipes, the fluid, the spring piece, the protruding block shifting disc, the limiting protruding block and the like are used by the device for comprehensively achieving parallel clamping and self-adaptive grabbing functions. According to the different shapes and positions of target objects, the second finger segment can be moved in parallel to pinch the objects or expanded outwards to support the objects, and the first finger segment and the second finger segment can also be sequentially rotated to wrap the objects in different shapes and with different sizes. The device is wide in grabbing range; an under-actuated manner is adopted, one 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 a robot hand.
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 gear fluids.
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 gear fluids 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 gear fluids 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 gear fluids flat folder adaptive robot finger apparatus also includes drive mechanism, the first master gear, the second master gear, gear train, the first flexible pipe, the second flexible pipe, fluid, projection driver plate, 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 master gear are connected；Described first master gear is actively socketed on nearly joint shaft, and described second master gear is socketed on remote joint shaft, and the second master gear and the second segment are affixed；Described gear train is arranged in the first segment, and described gear train includes at least one gear or the multiple gears being meshed, the input gear of described gear train and the engagement of the first master gear, and output gear and second master gear of described gear train are meshed；Described first flexible pipe and the second flexible pipe include the first end cap, the second end cap respectively and have flexible and that bending is flexible telescoping tube, described telescoping tube is hollow-core construction, the two ends of telescoping tube are respectively and fixedly connected with the first end cap and the second end cap, and described first end cap is provided with through hole；Described first segment is provided with through hole；Second end cap of described first flexible pipe is affixed with projection driver plate, and the first end cap and first segment of the first flexible pipe are affixed, and through hole and the through hole of the first segment on the first end cap of the first flexible pipe are connected；Second end cap and second segment of described second flexible pipe are affixed, and the first end cap and first segment of the second flexible pipe are affixed, and through hole and the through hole of the first segment on the first end cap of the second flexible pipe are connected；Described fluid-tight is in the first flexible pipe, the through hole of the first segment and the second flexible pipe；Described first flexible pipe and the second flexible pipe are positioned at this device simultaneously and capture the side of object or be positioned at this device away from the side capturing object simultaneously；If the distance of the centrage of the centrage of the telescoping tube of described first flexible pipe and nearly joint shaft is a, the distance of the centrage of the centrage of the telescoping tube of the second flexible pipe and remote joint shaft is that b, a and b are equal；The internal diameter of the internal diameter of the telescoping tube of described first flexible pipe and the telescoping tube of the second flexible pipe is equal；Described projection driver plate is actively socketed on nearly joint shaft；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 gear fluids 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 spring part connect projection driver plate and pedestal respectively；By the transmission of gear train, the transmission from the first master gear to the second master gear is that co-rotating transmission and gear ratio are less than 1.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described spring part adopts extension spring, stage clip, leaf spring or torsion spring.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described telescoping tube adopts embedding spring sericin pipe, set spring sericin pipe or corrugated tube.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described gear train includes First Transition gear, the second transition gear, the 3rd transition gear, the first jackshaft, the second jackshaft and the 3rd jackshaft；Described first jackshaft, the second jackshaft and the 3rd jackshaft are respectively sleeved in the first segment, described First Transition gear and the engagement of the first master gear, described First Transition gear and the engagement of the second transition gear, described second transition gear and the engagement of the 3rd transition gear, described 3rd transition gear and the engagement of the second master gear, described First Transition geared sleeve is connected on the first jackshaft, and described second transition gear is socketed on the second jackshaft, and described 3rd transition gear is socketed on the 3rd jackshaft.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize driver, gear drive, flexible pipe, fluid, spring part, projection driver plate 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 the gear fluids that the present invention designs equals a kind of embodiment of folder adaptive robot finger apparatus.
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 front appearance figure (being not drawn into pedestal header board, base-plates surface plate, the first segment header board, 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 projection driver plate, spring part and the relative position of spacing block set.
Figure 22 is the partial sectional view of the first flexible pipe or the second flexible pipe adopting embedding spring sericin pipe.
Figure 23 is the sectional view of Figure 22.
Figure 24 is the first flexible pipe or the second flexible pipe stereo appearance figure that adopt set spring sericin pipe.
Figure 25 is the sectional view of Figure 24.
Figure 26 is the first flexible pipe or the second flexible pipe stereo appearance figure that adopt corrugated tube.
Figure 27 is the sectional view of Figure 26.
Figure 28 is the centrage distance schematic diagram with the centrage of nearly joint shaft of the telescoping tube of the first flexible pipe.
Figure 29 is the centrage distance schematic diagram with the centrage of remote joint shaft of the telescoping tube of the second flexible pipe.
In Fig. 1 to Figure 29:
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, 27-through hole, 3-the second segment,
The nearly joint shaft of 4-, the remote joint shaft of 5-, 6-the first master gear, 61-First Transition gear,
62-the second transition gear, 63-the 3rd transition gear, 611-the first jackshaft, 621-the second jackshaft,
631-the 3rd jackshaft, 7-the second master gear, 71-the first end cap, 72-the second end cap,
The embedding spring silk rubber tube of 73-, 74-overlaps spring silk rubber tube, 75-corrugated tube, 711-through hole,
731-sebific duct, 732-spring wire, 741-sebific duct, 742-spring wire,
8-gear train, 83-bearing, 84-sleeve, 85-screw,
86-pin, 9-the first flexible pipe, 10-the second flexible pipe, 11-fluid,
12-projection driver plate, 13-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, flexible pipe connector under 15-, the upper flexible pipe connector of 16-,
17-object, 18-spacing block set.
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.
The gear fluids of present invention design equals a kind of embodiment of folder adaptive robot finger apparatus, 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 master gear the 6, second master gear 7, gear train the 8, first flexible pipe the 9, second flexible pipe 10, fluid 11, projection driver plate 12, spring part 13 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 master gear 6 of described drive mechanism are connected；Described first master gear 6 is actively socketed on nearly joint shaft 4, and described second master gear 7 is socketed on remote joint shaft 5, and the second master gear 7 and the second segment 3 are affixed；Described gear train 8 is arranged in the first segment 2, and described gear train 8 includes at least one gear or the multiple gears being meshed, and input gear and first master gear 6 of described gear train 8 engage, and output gear and second master gear 7 of described gear train 8 are meshed；Described first flexible pipe 9 and the second flexible pipe 10 include first end cap the 71, second end cap 72 respectively and have flexible and that bending is flexible telescoping tube, described telescoping tube is hollow-core construction, the two ends of described telescoping tube are respectively and fixedly connected with the first end cap 71 and the second end cap 72, and described first end cap 71 is provided with through hole 711；Described first segment 2 is provided with through hole 27；Second end cap 72 of described first flexible pipe 9 is affixed with projection driver plate 12, and the first end cap 71 of the first flexible pipe 10 and the first segment 2 are affixed, and the through hole 711 on the first end cap 71 of the first flexible pipe 9 is connected with the through hole 27 of the first segment 2；Second end cap 72 of described second flexible pipe 10 and the second segment 3 are affixed, and the first end cap 71 of the second flexible pipe 10 and the first segment 2 are affixed, and the through hole 711 on the first end cap 71 of the second flexible pipe 10 is connected with the through hole 27 of the first segment 2；Described fluid 11 is sealed in through hole 27 and second flexible pipe 10 of first flexible pipe the 9, first segment 2.
The present embodiment also includes lower flexible pipe connector 15, and described lower flexible pipe connector 15 is actively socketed on nearly joint shaft 4, and described projection driver plate 12 is affixed with lower flexible pipe connector 15, and the second end cap of described first flexible pipe 9 is affixed with lower flexible pipe connector 15.
The present embodiment also includes flexible pipe connector 16, and described upper flexible pipe connector 16 is socketed on remote joint shaft 5, and described second segment 3 is affixed with upper flexible pipe connector 16, and the second end cap of described second flexible pipe 10 is affixed with upper flexible pipe connector 16.
In the present embodiment, described fluid adopts liquid or gas, it is preferable that the liquid that compressibility is not high.In the present embodiment, described fluid is water.
In the present embodiment, described first flexible pipe 9 and the second flexible pipe 10 be arranged in simultaneously this gear fluids put down folder adaptive robot finger apparatus capture object 17 side, front (right side of Fig. 5) or be arranged in simultaneously this gear fluids put down folder adaptive robot finger apparatus away from capture object 17 side, rear (left side of Fig. 5), in the present embodiment, described first flexible pipe 9 and the second flexible pipe 10 are respectively positioned on the side, rear (left side in Fig. 5) of this device, so make described projection driver plate 12 identical relative to the rotation direction of the first segment 2 with the second segment 3 relative to the rotation direction of the first segment 2.
In the present embodiment, if the distance of the centrage of the centrage of the telescoping tube of described first flexible pipe 9 and nearly joint shaft 4 is a, as shown in figure 28, the centrage of the telescoping tube of the second flexible pipe 10 is b with the distance of the centrage of remote joint shaft 5, as shown in figure 29, a and b is equal；The internal diameter of the internal diameter of the telescoping tube of described first flexible pipe 9 and the telescoping tube of the second flexible pipe 10 is equal.Constant speed drive's effect of the second end block 72 having reached second end block the 72 to the second flexible pipe 10 from the first flexible pipe 9 is so set: defining described projection driver plate 12 relative to the velocity of rotation of the first segment 2 is ω1, defining described second segment 3 is ω relative to the velocity of rotation of the first segment 22, by the transmission of the first flexible pipe 9, fluid the 11, first segment through hole 27 and the second flexible pipe 10 4, ω1=ω2, namely gear ratio is 1.
In the present embodiment, described projection driver plate 12 is actively socketed on nearly joint shaft 4；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 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 gear fluids flat folder adaptive robot finger apparatus is in original state (straight configuration as shown in Figure 11, Figure 16), 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 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 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 11.The two ends of described spring part 13 connect projection driver plate 12 and pedestal 1 respectively, and spring part 13 makes projection driver plate 12 be close to spacing block set 18；By the transmission of gear train 8, from the transmission of first master gear the 6 to the second master gear 7 be co-rotating transmission and gear ratio less than 1, be step-up drive.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described driver 14 adopts motor, cylinder or hydraulic cylinder.In the present embodiment, described driver 14 adopts motor.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described spring part adopts extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, described spring part 13 adopts extension spring.
Gear fluids of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described telescoping tube adopts embedding spring sericin pipe, set spring sericin pipe or corrugated tube.In the present embodiment, the telescoping tube of described first flexible pipe 9 and the second flexible pipe 10 all adopts embedding spring sericin pipe.Described embedding spring sericin pipe 73 includes sebific duct 731 and spring wire 732, is nested with spring wire in described sebific duct wall, and described spring wire is in the close inwall being wound on sebific duct of radial direction spiral of rubber tube.Figure 22, Figure 23 are the schematic diagram of embedding spring sericin pipe.
In the embodiment of another preferred version of the present invention, described telescoping tube adopts set spring sericin pipe 74, described set spring sericin pipe 74 includes sebific duct 741 and spring wire 742, it is cased with spring wire outside described sebific duct tube wall, described spring wire is on the close outer wall being wound on rubber tube of radial direction spiral of rubber tube, and the two ends of described spring wire connect the first end cap 71 and the second end cap 72 respectively.Figure 24, Figure 25 are the schematic diagram of this set spring sericin pipe.
In the embodiment of another preferred version of the present invention, described telescoping tube adopts corrugated tube 75.Figure 26, Figure 27 are the schematic diagram of corrugated tube.
In the present embodiment, described gear train 8 includes First Transition gear the 61, second transition gear the 62, the 3rd transition gear the 63, first jackshaft the 611, second jackshaft 621 and the 3rd jackshaft 631；Described first jackshaft the 611, second jackshaft 621 and the 3rd jackshaft 631 are respectively sleeved in the first segment 2, described First Transition gear 61 engages with the first master gear 6, described First Transition gear 61 engages with the second transition gear 62, described second transition gear 62 engages with the 3rd transition gear 63, described 3rd transition gear 63 engages with the second master gear 7, described First Transition gear 61 is socketed on the first jackshaft 611, described second transition gear 62 is socketed on the second jackshaft 621, and described 3rd transition gear 63 is socketed on the 3rd jackshaft 631.
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 master gear 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 11 to Figure 21, 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.)
nullA) when the anglec of rotation of projection driver plate 12 is 0 degree (as shown in figure 19)，Now spring part 13 hauls projection driver plate 12 against on spacing block set 18，When the first segment 2 rotates around the centrage of nearly joint shaft 4，Under fluid 11 acts on，Second segment 3 still can be maintained at initial attitude，Reason is: owing to the second end cap of projection driver plate 12 and the first flexible pipe 9 is affixed，Due to the first flexible pipe 9、Fluid 11、The gear ratio of the drive system that the through hole of the first segment 2 and the second flexible pipe 10 4 are constituted is 1，And fluid 11 is incompressible，Thus under the effect of fluid 11，The elongation of the first flexible pipe 9 can promote the shortening of the second flexible pipe 10 that identical arc length changes，So the second end cap opposite base 1 of the second flexible pipe 10 only carry out translational motion without rotating，Owing to the second end cap and second segment 3 of the second flexible pipe 10 are affixed，So the second segment 3 opposite base 1 only carries out translational motion without rotating，Remain original attitude.
B) when the anglec of rotation of projection driver plate 12 is timing, under the effect of fluid 11, the anglec of rotation (i.e. the anglec of rotation of the second segment 3) of the second end cap of the second flexible pipe 10 is equal to the anglec of rotation of the second end cap of the first flexible pipe 9, namely equal to the anglec of rotation of projection driver plate 12.
When the present embodiment captures object 17, the driver 14 transmission by drive mechanism so that the first master gear 6 rotates forward, the corner of the first master gear 6 opposite base 1 is α.Under the effect of gear train 8, the corner of relative first segment 2 of the first master gear 6 and the corner of relative first segment 2 of the second master gear 7 have a certain proportion of relation.If the gear ratio being transferred to the second master gear 7 by gear train 8 from the first master gear 6 is i, this gear ratio is the rotating speed (relative to the first segment 2) ratio with the rotating speed (relative to the first segment 2) of the second master gear 7 of the first master gear 6.Owing to gear ratio i is less than 1, being therefore step-up drive, output speed is more than input speed.If the first segment 2 is δ around the corner of nearly joint shaft 4.Owing to the second master gear 7 and the second segment 3 are affixed, and the second segment 3 does not rotate relative to pedestal 1, therefore now the second master gear 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, the first master gear 6 have rotated an angle [alpha], and now, the first segment 2 has turned over an angle δ around nearly joint shaft 4, 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 (such as Figure 11, Figure 12, Figure 13, Figure 16, Figure 17, Figure 18, Figure 19, 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 14, shown in Figure 15 and Figure 20), at this moment the driver 14 transmission by drive mechanism, drive the first master gear 6, make the second segment 3 being fixed together, second end cap of the second master gear 7 and the second flexible pipe 10 joint shaft 5 of simultaneously going the long way round rotates, the second end cap of the first flexible pipe 9 and projection driver plate 12 is driven to rotate around nearly joint shaft 4 by fluid 11, 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 capture multiple object.
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, showing the situation of change of projection driver plate 12 and the relative position of spacing block set 18: 1) situation shown in Figure 19 is Figure 11, Figure 12, Figure 13, Figure 16, during Figure 17 and Figure 18 situation, the situation of projection driver plate, now the present embodiment is in initial position or has only bent the first segment, 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 18 captures and terminates, or last till that the envelope of Figure 13 captures to start；2) Figure 20 is corresponding to the situation of Figure 14, 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 master gear 6, the transmission of gear train 8 and the second master gear 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 second flexible pipe 10, fluid 11, first flexible pipe 9 and projection driver plate 12, , 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 21 is corresponding to the situation of Figure 15, 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 20, the projection driver plate 12 in Figure 21 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, repeats no more.
Apparatus of the present invention utilize driver, gear drive, flexible pipe, fluid, spring part, projection driver plate 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 gear fluids 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 gear fluids flat folder adaptive robot finger apparatus also includes drive mechanism, the first master gear, the second master gear, gear train, the first flexible pipe, the second flexible pipe, fluid, projection driver plate, 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 master gear are connected；Described first master gear is actively socketed on nearly joint shaft, and described second master gear is socketed on remote joint shaft, and the second master gear and the second segment are affixed；Described gear train is arranged in the first segment, and described gear train includes at least one gear or the multiple gears being meshed, the input gear of described gear train and the engagement of the first master gear, and output gear and second master gear of described gear train are meshed；Described first flexible pipe and the second flexible pipe include the first end cap, the second end cap respectively and have flexible and that bending is flexible telescoping tube, described telescoping tube is hollow-core construction, the two ends of telescoping tube are respectively and fixedly connected with the first end cap and the second end cap, and described first end cap is provided with through hole；Described first segment is provided with through hole；Second end cap of described first flexible pipe is affixed with projection driver plate, and the first end cap and first segment of the first flexible pipe are affixed, and through hole and the through hole of the first segment on the first end cap of the first flexible pipe are connected；Second end cap and second segment of described second flexible pipe are affixed, and the first end cap and first segment of the second flexible pipe are affixed, and through hole and the through hole of the first segment on the first end cap of the second flexible pipe are connected；Described fluid-tight is in the first flexible pipe, the through hole of the first segment and the second flexible pipe；Described first flexible pipe and the second flexible pipe are positioned at this device simultaneously and capture the side of object or be positioned at this device away from the side capturing object simultaneously；If the distance of the centrage of the centrage of the telescoping tube of described first flexible pipe and nearly joint shaft is a, the distance of the centrage of the centrage of the telescoping tube of the second flexible pipe and remote joint shaft is that b, a and b are equal；The internal diameter of the internal diameter of the telescoping tube of described first flexible pipe and the telescoping tube of the second flexible pipe is equal；Described projection driver plate is actively socketed on nearly joint shaft；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 gear fluids 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 spring part connect projection driver plate and pedestal respectively；By the transmission of gear train, the transmission from the first master gear to the second master gear is that co-rotating transmission and gear ratio are less than 1.
2. gear fluids 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. gear fluids as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described spring part adopts extension spring, stage clip, leaf spring or torsion spring.
4. gear fluids as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described telescoping tube adopts embedding spring sericin pipe, set spring sericin pipe or corrugated tube.
5. gear fluids as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described gear train includes First Transition gear, the second transition gear, the 3rd transition gear, the first jackshaft, the second jackshaft and the 3rd jackshaft；Described first jackshaft, the second jackshaft and the 3rd jackshaft are respectively sleeved in the first segment, described First Transition gear and the engagement of the first master gear, described First Transition gear and the engagement of the second transition gear, described second transition gear and the engagement of the 3rd transition gear, described 3rd transition gear and the engagement of the second master gear, described First Transition geared sleeve is connected on the first jackshaft, and described second transition gear is socketed on the second jackshaft, and described 3rd transition gear is socketed on the 3rd jackshaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610154064.6A CN105773608B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of gear fluids |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610154064.6A CN105773608B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of gear fluids |
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| CN105773608A true CN105773608A (en) | 2016-07-20 |
| CN105773608B CN105773608B (en) | 2018-01-12 |
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| CN201610154064.6A Expired - Fee Related CN105773608B (en) | 2016-03-17 | 2016-03-17 | The flat folder adaptive robot finger apparatus of gear fluids |
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| CN105773608B (en) | 2018-01-12 |
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