CN105773643B - Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus - Google Patents
Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus Download PDFInfo
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- CN105773643B CN105773643B CN201610153900.9A CN201610153900A CN105773643B CN 105773643 B CN105773643 B CN 105773643B CN 201610153900 A CN201610153900 A CN 201610153900A CN 105773643 B CN105773643 B CN 105773643B
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- segment
- flexible pipe
- drive
- flexible
- convex block
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, two drives, flexible drive parts, flexible pipe, fluid, convex block driver plate, spring part and spacing block set etc..The device utilizes driver, closed loop flexible piece transmission mechanism, flexible pipe, fluid, spring part, convex block driver plate and the comprehensive function of realizing parallel clamping and self-adapting grasping such as spacing block set, according to target object shape and the difference of position, it can be translatable the second segment grip object or outer is propped up, can also rotate the object of the first segment and the second segment envelope different shapes and sizes successively；Device crawl range is big；By the way of drive lacking, two joints are driven using a driver, without complicated sensing and control system；The apparatus structure is compact, small, and manufacture is low with maintenance cost, suitable for robot.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of closed loop flexible piece fluid puts down folder adaptive robot
The structure design of finger apparatus.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, since number of motors is few, hides
The power and volume of bigger can be selected by entering the motor of palm, be contributed big, while the reponse system of Purely mechanical is without to environment
Sensitivity can also realize stable crawl, the automatic object for adapting to different shape size, without real-time electronic sensing and closed loop feedback
The demand of control, control is simple and convenient, reduces manufacture cost.
When capturing object there are mainly two types of grasping means, one kind is grip, and one kind is to hold.Grip is with end finger
Tip portion go gripping object, using two points or two soft finger faces go contact object, mainly for small-size object or tool
There is the larger object of opposite；Gripping is to realize the contact of multiple points around object with multiple segment enveloping rings of finger, is reached
More stable shape envelope crawl.Industrial clamper generally uses grip mode, it is difficult to have and stablize holding function, it is impossible to adapt to
The stabilization envelope crawl of various shapes object；The mode that adaptive envelope object may be used in adaptive under-actuated finger is held,
But grip crawl can not be implemented；The multi-joint hand of coupling can realize that multi-joint rotates simultaneously, can realize grip, it is impossible to real
Now held for the multiple spot envelope of the stabilization of various shapes object.Above-mentioned three kinds of hands have greatly improved space.In reality very
It needs one kind that not only there is grip, but also can realize the robot for stablizing adaptive envelope grasping.
A kind of existing five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP)
US8973958B2, including five connecting rods, spring, mechanical constraints.At work, the incipient stage keeps end segment to the device
Posture carries out nearly arthrogryposis action, can realize parallel grip or the work(that adaptive envelope is held according to the position of object later
Energy.Disadvantage is that the device uses extremely complex multi-connecting-rod mechanism, there are larger dead zones for movement, capture range
Smaller, organization volume is big, lacks compliance, and manufacture cost is excessively high.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, a kind of closed loop flexible piece fluid is provided and puts down folder certainly
Adapt to robot finger apparatus.The device has a variety of grasp modes, and second segment that can be translatable clamping object also can successively turn
The object of dynamic first segment and the adaptive envelope different shapes and sizes of the second segment；It is big to capture range；Without complicated sensing and
Control system.
Technical scheme is as follows：
A kind of closed loop flexible piece fluid that the present invention designs puts down folder adaptive robot finger apparatus, including pedestal, first
Segment, the second segment, nearly joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；In the nearly joint shaft
The centerline parallel of heart line and remote joint shaft；It is characterized in that：The closed loop flexible piece fluid puts down folder adaptive robot finger dress
Put further include transmission mechanism, the first drive, the second drive, flexible drive parts, the first flexible pipe, the second flexible pipe, fluid,
Convex block driver plate, spring part and spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft is movably set in
In one segment；First segment is socketed on nearly joint shaft；Second segment is socketed on remote joint shaft；The driver
Structure is arranged in pedestal；The output shaft of the driver is connected with the input terminal of transmission mechanism, the output terminal of the transmission mechanism
It is connected with the first drive；First drive is actively socketed on nearly joint shaft, and second driving wheel tube is connected on remote pass
On nodal axisn, the second drive and the second segment are affixed；The flexible drive parts use transmission belt, tendon rope or chain, described first
Drive uses belt wheel, rope sheave or sprocket wheel, and second drive uses belt wheel, rope sheave or sprocket wheel, and the flexible drive parts connect
The first drive and the second drive are connect, coordinates shape between the flexible drive parts, the first drive and the second drive three
Into belt wheel transmission relationship, rope sheave drive connection or sprocket wheel drive connection；The flexible drive parts form " O " font；Described first
Flexible pipe and the second flexible pipe respectively include first end cover, second end cover and with telescoping tube flexible and that bending is flexible, institutes
Telescoping tube is stated as hollow-core construction, the both ends of telescoping tube are respectively and fixedly connected with first end cover and second end cover, and the first end cover is equipped with
Through-hole；First segment is equipped with through-hole；The second end cover and convex block driver plate of first flexible pipe are affixed, the first flexible pipe
First end cover and the first segment it is affixed, the through-hole in the first end cover of the first flexible pipe is connected with the through-hole of the first segment；
The second end cover and the second segment of second flexible pipe are affixed, and the first end cover of the second flexible pipe and the first segment are affixed, the
Through-hole in the first end cover of two flexible pipes is connected with the through-hole of the first segment；The Fluid Sealing is in the first flexible pipe,
In the through-hole of one segment and the second flexible pipe；First flexible pipe and the second flexible pipe are simultaneously positioned at device crawl object
Side is located at side of the device far from crawl object simultaneously；If the center line of the telescoping tube of first flexible pipe with it is near
The distance of the center line of joint shaft is a, and the center line of the telescoping tube of the second flexible pipe and the distance of the center line of remote joint shaft are
B, a and b are equal；The internal diameter of the telescoping tube of first flexible pipe is equal with the internal diameter of the telescoping tube of the second flexible pipe；It is described convex
Block driver plate is actively socketed on nearly joint shaft；The spacing block set and pedestal are affixed；The convex block driver plate connects with spacing block set
It touches or stands away；If the rotation direction that the first segment is close to object is nearly joint positive direction, the first segment is far from object
Rotation direction be nearly joint negative direction；Folder adaptive robot finger apparatus, which is put down, in the closed loop flexible piece fluid is in initial shape
During state, convex block driver plate is contacted with spacing block set, if the rotation angle of convex block driver plate opposite base is 0 degree at this time, is opened from the position
Begin, convex block driver plate towards nearly joint positive direction rotate when rotational angle be just, convex block driver plate towards nearly joint negative direction rotate when
Rotational angle is negative；The rotational angle of the spacing block set limitation convex block driver plate is only just；The both ends of the spring part connect respectively
Connect convex block driver plate and pedestal；The transmission radius of first drive is more than the transmission radius of the second drive.
Closed loop flexible piece fluid of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：The drive
Dynamic device uses motor, cylinder or hydraulic cylinder.
Closed loop flexible piece fluid of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：The spring
Part uses tension spring, compression spring, leaf spring or torsional spring.
Closed loop flexible piece fluid of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：It is described to stretch
The draw is using embedding spring silk gum pipe, set spring silk gum pipe or bellows.
Compared with prior art, the present invention it has the following advantages and high-lighting effect：
Apparatus of the present invention utilize driver, closed loop flexible piece transmission mechanism, flexible pipe, fluid, spring part, convex block driver plate and limit
The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as position convex block, according to target object shape
With the difference of position, it can be translatable the second segment grip object or outer support takes object, can also rotate the first segment and the successively
The object of two segment envelope different shapes and sizes；Device crawl range is big；By the way of drive lacking, a driving is utilized
Device drives two joints, without complicated sensing and control system；The apparatus structure is compact, small, manufacture and maintenance cost
It is low, suitable for robot.
Description of the drawings
Fig. 1 is a kind of embodiment that the closed loop flexible piece fluid that the present invention designs puts down folder adaptive robot finger apparatus
Stereo appearance figure.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is a side external view (right view of Fig. 2) for embodiment illustrated in fig. 1.
Fig. 4 is another side external view (left view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 5 is the A-A sectional views of Fig. 2.
Fig. 6 is the B-B sectional views of Fig. 2.
Fig. 7 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 8 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.
Fig. 9 is the front appearance figure of embodiment illustrated in fig. 1 (before being not drawn into pedestal foreboard, base-plates surface plate, the first segment
Plate, the first segment surface plate).
Figure 10 is the explosive view of embodiment illustrated in fig. 1.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object in a manner of being held by envelope.
Figure 16 to Figure 18 be embodiment illustrated in fig. 1 crawl object another way --- parallel folding is pressed from both sides with the second segment
Hold the action process schematic diagram of object (being known as flat gripper to take).
Figure 19 to Figure 21 is embodiment illustrated in fig. 1 successively with parallel folding and the action process of adaptive envelope crawl object
In several key positions when, the situation of change of the relative position of convex block driver plate, spring part and spacing block set.
Figure 22 is the partial sectional view of the first flexible pipe or the second flexible pipe using embedding spring silk gum 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 using set spring silk gum 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 using bellows.
Figure 27 is the sectional view of Figure 26.
Figure 28 is the center line of the telescoping tube of the first flexible pipe with the center line of nearly joint shaft apart from schematic diagram.
Figure 29 is the center line of the telescoping tube of the second flexible pipe with the center line of remote joint shaft apart from schematic diagram.
In Fig. 1 to Figure 29：
1- pedestals, 111- pedestal foreboards, 112- pedestal back plates, 113- pedestal left plates,
114- pedestal right plates, 115- base-plates surface plates, 116- pedestal bottom plates, the first segments of 2-,
21- the first segment skeletons, 22- the first segment left plates, 23- the first segment right plates, the first segments of 24- surface
Plate,
25- the first segment foreboards, 26- the first segment back plates, 27- through-holes, the second segments of 3-,
The nearly joint shafts of 4-, the remote joint shafts of 5-, the first drives of 6-, the second drives of 7-,
71- first end covers, 72- second end covers, the embedding spring silk gum pipes of 73-, 74- set spring silk gum pipes,
75- bellowss, 711- through-holes, 731- sebific ducts, 732- spring wires,
741- sebific ducts, 742- spring wires, 8- flexible drive parts, 83- bearings,
84- sleeves, 85- screws, 86- pins, the first flexible pipes of 9-,
The second flexible pipes of 10-, 11- fluids, 12- convex block driver plates, 13- spring parts,
14- drivers (motor), 141- retarders, 142- first bevel gears, 143- second bevel gears,
144- transition gear axles, 145- first pulleys, the second belt wheels of 146-, 147- transmission belts,
Flexible pipe connections under 15-, the upper flexible pipe connections of 16-, 17- objects, 18- spacing block sets.
Specific embodiment
The concrete structure of the present invention, the content of operation principle are described in further detail with reference to the accompanying drawings and embodiments.
The closed loop flexible piece fluid that the present invention designs puts down a kind of embodiment of folder adaptive robot finger apparatus, such as Fig. 1
Shown in Figure 10, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14；The drive
Dynamic device 14 and pedestal 1 are affixed；The centerline parallel of the center line of the nearly joint shaft 4 and remote joint shaft 5.The present embodiment further includes
Transmission mechanism, the first drive 6, the second drive 7, flexible drive parts 8, the first flexible pipe 9, the second flexible pipe 10, fluid 11,
Convex block driver plate 12, spring part 13 and spacing block set 18；The nearly joint shaft 4 is movably set in pedestal 1；The remote joint shaft 5 is lived
It is dynamic to be set in the first segment 2；First segment 2 is fixed on nearly joint shaft 4；Second segment 3 is fixed in remote joint
On axis 5；The transmission mechanism is arranged in pedestal 1；The output shaft of the driver 14 is connected with the input terminal of transmission mechanism；Institute
The output terminal for stating transmission mechanism is connected with the first drive 6；First drive 6 is actively socketed on nearly joint shaft 4, described
Second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and the second segment 3 are affixed；The flexible drive parts 8 are using biography
Dynamic band, tendon rope or chain, first drive 6 is using belt wheel, rope sheave or sprocket wheel, and second drive 7 is using belt wheel, rope
Wheel or sprocket wheel, the flexible drive parts 8 connect the first drive 6 and the second drive 7, and the flexible drive parts 8, first are driven
Belt wheel transmission relationship, rope sheave drive connection or sprocket wheel drive connection are cooperatively formed between wheel 6 and 7 three of the second drive；It is described
Flexible drive parts form " O " font；First flexible pipe, 9 and second flexible pipe 10 respectively includes first end cover 71, second
End cap 72 and with telescoping tube flexible and that bending is flexible, the telescoping tube is hollow-core construction, and the both ends of the telescoping tube are distinguished
Affixed first end cover 71 and second end cover 72, the first end cover 71 are equipped with through-hole 711；First segment 2 is equipped with logical
Hole 27；The second end cover 72 and convex block driver plate 12 of first flexible pipe 9 are affixed, the first end cover 71 of the first flexible pipe 9 and
One segment 2 is affixed, and the through-hole 711 in the first end cover 71 of the first flexible pipe 9 is connected with the through-hole 27 of the first segment 2；It is described
The second end cover 72 of second flexible pipe 10 and the second segment 3 are affixed, and 71 and first segment 2 of first end cover of the second flexible pipe 10 is solid
It connects, the through-hole 711 in the first end cover 71 of the second flexible pipe 10 is connected with the through-hole 27 of the first segment 2；The fluid 11 is close
Be enclosed in the first flexible pipe 9, the first segment 2 27 and second flexible pipe 10 of through-hole in.
The present embodiment further includes lower flexible pipe connections 15, and the lower flexible pipe connections 15 are actively socketed on nearly joint shaft
On 4, the convex block driver plate 12 and lower flexible pipe connections 15 are affixed, the second end cover of first flexible pipe 9 and lower flexible pipe
Connector 15 is affixed.
The present embodiment further includes flexible pipe connections 16, and the upper flexible pipe connections 16 are socketed on remote joint shaft 5,
Second segment 3 and upper flexible pipe connections 16 are affixed, and the second end cover of second flexible pipe 10 is connect with upper flexible pipe
Part 16 is affixed.
In the present embodiment, the fluid uses liquid or gas, the not high liquid of preferred compressed.In the present embodiment, institute
Fluid is stated as water.
In the present embodiment, 9 and second flexible pipe 10 of the first flexible pipe puts down folder positioned at the closed loop flexible piece fluid simultaneously
The front side (right side in Fig. 5) of adaptive robot finger apparatus crawl object 17 is located at the closed loop flexible piece simultaneously
Fluid, which is put down, presss from both sides rear side (left side in Fig. 5) of the adaptive robot finger apparatus far from crawl object 17, in the present embodiment,
First flexible pipe, 9 and second flexible pipe 10 is respectively positioned on the rear side (left side in Fig. 5) of the device, so that described
Convex block driver plate 12 is 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 center line of the telescoping tube of first flexible pipe 9 and the center line of nearly joint shaft 4
For a, as shown in figure 28, the distance of the center line of the telescoping tube of the second flexible pipe 10 and the center line of remote joint shaft 5 is b, is such as schemed
Shown in 29, a is equal with b；The internal diameter phase of the internal diameter of the telescoping tube of first flexible pipe 9 and the telescoping tube of the second flexible pipe 10
Deng.Setting has reached the constant speed biography from the second end block 72 of second the 72 to the second flexible pipe of end block 10 of the first flexible pipe 9 in this way
Dynamic effect：It is ω that the convex block driver plate 12, which is defined, relative to the velocity of rotation of the first segment 21, it is opposite to define second segment 3
In the first segment 2 velocity of rotation be ω2, pass through the first flexible pipe 9, fluid 11, the first segment through-hole 27 and the second flexible pipe
10 4 transmission, ω1=ω2, i.e. gearratio is 1.
In the present embodiment, the convex block driver plate 12 is actively socketed on nearly joint shaft 4；The spacing block set 18 and pedestal 1
It is affixed；The convex block driver plate 12 is in contact or stands away with spacing block set 18；If the first segment 2 is close to turning for object 17
Dynamic direction is nearly joint positive direction (clockwise direction in such as Figure 11), and the first rotation direction of the segment 2 far from object 17 is near
Joint negative direction；Folder adaptive robot finger apparatus, which is put down, in the closed loop flexible piece fluid is in original state (such as Figure 11, Figure 16
Shown straight configuration) when, convex block driver plate 12 is contacted with spacing block set 18, if the rotation of 12 opposite base 1 of convex block driver plate at this time
Angle is 0 degree (as shown in figure 19), and since the position, convex block driver plate 12 (is less than 180 degree) when being rotated towards nearly joint positive direction
Rotational angle for just, convex block driver plate 12 towards nearly joint negative direction rotate when rotational angle (less than 180 degree) be negative；The limit
The rotational angle that position convex block 18 limits convex block driver plate 12 is only just, i.e., convex block driver plate 12 can only be along arrow as shown in figure 11
Indicate direction rotation.The both ends of the spring part 13 connect convex block driver plate 12 and pedestal 1 respectively, and spring part 13 is close to convex block driver plate 12
Spacing block set 18；The transmission radius of first drive 6 is more than the transmission radius of the second drive 7.
Closed loop flexible piece fluid of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：The drive
Dynamic device 14 is using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 14 uses motor.
Closed loop flexible piece fluid of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：The spring
Part uses tension spring, compression spring, leaf spring or torsional spring.In the present embodiment, the spring part 13 uses tension spring.
Closed loop flexible piece fluid of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：It is described to stretch
The draw is using embedding spring silk gum pipe, set spring silk gum pipe or bellows.In the present embodiment, 9 and second flexible pipe of the first flexible pipe
10 telescoping tube uses embedding spring silk gum pipe.The embedding spring silk gum pipe 73 includes sebific duct 731 and spring wire 732, the sebific duct
It is nested with spring wire in wall, the spring wire close is wound in the inner wall of sebific duct along the radial direction spiral of rubber tube.Figure 22, figure
23 be the schematic diagram of embedding spring silk gum pipe.
In the embodiment of another preferred embodiment of the present invention, the telescoping tube is using set spring silk gum pipe 74, the set
Spring silk gum pipe 74 includes sebific duct 741 and spring wire 742, is cased with spring wire on the outside of the sebific duct tube wall, the spring wire is
It is wound on the outer wall of rubber tube along the radial direction spiral of rubber tube is close, the both ends of the spring wire connect first end cover 71 respectively
With second end cover 72.Figure 24, Figure 25 are the schematic diagram of this set spring silk gum pipe.
In the embodiment of another preferred embodiment of the present invention, the telescoping tube uses bellows 75.Figure 26, Figure 27 are wave
The schematic diagram of line pipe.
In the present embodiment, the pedestal 1 includes the pedestal foreboard 111 being fixed together, pedestal back plate 112, pedestal left side
Plate 113, pedestal right plate 114, base-plates surface plate 115 and pedestal bottom plate 116.In the present embodiment, first segment 2 includes solid
The first segment skeleton 21 for being connected together, the first segment left plate 22, the first segment right plate 23, the first segment surface plate 24,
First segment foreboard 25 and the first segment back plate 26.
In the present embodiment, the transmission mechanism includes retarder 141, first bevel gear 142, second bevel gear 143, transition
Gear shaft 144, first pulley 145, the second belt wheel 146 and transmission belt 147；The output shaft of the motor 14 and retarder 141
Input shaft is connected, and the first bevel gear 142 is fixed on the output shaft of retarder 141, and the second bevel gear 143 is fixed in
In transition gear axle 144, the first bevel gear 142 is engaged with second bevel gear 143；The transition gear axle 144 is set in
In pedestal 1, the first pulley 145 is fixed in transition gear axle 144, and second belt wheel 146 is actively socketed on nearly joint
On axis 4, second belt wheel 146 and the first drive 6 are affixed, and the transmission belt 147 connects 145 and second belt wheel of first pulley
146, the transmission belt 147,145 and second belt wheel 146 of first pulley form belt wheel transmission relationship, and the transmission belt is in " O " word
Shape.
If the present embodiment additionally uses the parts such as dry bearing 83, several sleeves 84, several screws 85 and several pins 86, belong to
In known common technology, do not repeat.
The operation principle of the present embodiment with reference to attached drawing 11 to Figure 21, is described below：
The relationship that 12 corner of convex block driver plate is moved with the second segment 3 is described below：
In the present embodiment, initial position is set as the state (as shown in figure 11) that finger stretches.It (can also be by initial bit
It installs and is set to other positions.)
A) when the rotation angle of convex block driver plate 12 be 0 degree when (as shown in figure 19), at this time spring part 13 haul convex block driver plate 12
Against on spacing block set 18, when center line rotation of first segment 2 around nearly joint shaft 4, under the effect of fluid 11, the
Two segments 3 still can be maintained at initial posture, the reason is that：Since convex block driver plate 12 and the second end cover of the first flexible pipe 9 are consolidated
It connects, due to the biography for the transmission system that the first flexible pipe 9, fluid 11, the through-hole of the first segment 2 and the second flexible pipe 10 4 are formed
Dynamic ratio is 1, and fluid 11 is incompressible, thus under the action of fluid 11, the elongation of the first flexible pipe 9 can push identical arc length
The shortening of second flexible pipe 10 of variation, so the second end cover opposite base 1 of the second flexible pipe 10 only carries out translational motion
Without rotating, since the second end cover of the second flexible pipe 10 and the second segment 3 are affixed, so 3 opposite base of the second segment 1
Translational motion is carried out without rotating, remains original posture.
B) when the rotation angle of convex block driver plate 12 be timing, under the action of fluid 11, the second end of the second flexible pipe 10
The rotation angle (i.e. the rotation angle of the second segment) of lid equal to the second end cover of the first flexible pipe 9 rotation angle, that is,
Equal to the rotation angle of convex block driver plate 12.
When the present embodiment captures object 17, transmission that driver 14 passes through transmission mechanism so that the first drive 6 is just
Turn, the corner of 6 opposite base 1 of the first drive is α.Under the action of flexible drive parts 8, the first drive 6 opposite first refers to
The corner of 7 opposite first segment 2 of the corner of section 2 and the second drive has a certain proportion of relationship.If pass through from the first drive 6
Flexible drive parts 8 are transferred to the gearratio of the second drive 7 as i, which is the rotating speed of the first drive 6 (relative to the
One segment 2) the ratio between with the rotating speed (relative to the first segment 2) of the second drive 7.It is speedup since gearratio i is less than 1
Transmission, output speed are more than input speed.If the first segment 2 is δ around the corner of nearly joint shaft 4.Due to the second drive 7 and
Two segments 3 are affixed, and the second segment 3 does not rotate relative to pedestal 1, thus at this time the second drive 7 also with respect to
Pedestal 1 does not rotate, and can then be derived from the present embodiment device will be equilibrated at the position for meeting following (formula 1)：
α=δ (1-i) (formula 1)
Since i is less than 1, it is respectively positive different angle that a α and δ, which can be obtained, (wherein α is less than δ).Therefore when driving
Device 14 is by the transmission of transmission mechanism, and the first drive 6 has rotated an angle [alpha], at this point, the first segment 2 is around nearly 4 turns of joint shaft
An angle δ is crossed, the second segment 3 is same posture always relative to pedestal 1, and only position is changed.This is flat
The stage (such as Figure 11, Figure 12, Figure 13, Figure 16, Figure 17, Figure 18, Figure 19, Figure 21) of row clamping.This stage is suitble to refer to second
3 de-clamping objects 17 of section take object the mode opened from inside to outside being gone to open support outside with the second segment 3 by way of opening outside
17.Such as hollow cylindrical tube is taken, and is flared out propping up barrel on the inside of the object, so as to object of taking.
It is no longer able to turn when the first segment 2 contacts object 17 by the blocking of object 17, the second of adaptive envelope will be entered
Stage (as shown in Figure 14, Figure 15 and Figure 20), at this moment driver 14 drive the first drive 6 by the transmission of transmission mechanism, make
The second end cover of the second segment 3, the second drive 7 and the second flexible pipe 10 being fixed together joint shaft 5 of going the long way round simultaneously rotates,
The second end cover of the first flexible pipe 9 and convex block driver plate 12 is driven to be rotated around nearly joint shaft 4 by fluid 11, spring part 13 deforms
(as shown in Figure 13, Figure 19), at this time can the go the long way round center line of joint shaft 5 of the second segment 3 be rotated further, until the second segment 3 connects
Until touching object 17, the effect of adaptive envelope crawl object is completed.For the object of different shapes and sizes, the present embodiment tool
There is adaptivity, a variety of objects can be captured.
Figure 11 to Figure 15 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object 17 in a manner that envelope is held,
Wherein, Figure 11 is original state, and Figure 11 to Figure 13 is the action process before the first segment 2 touches object 17 --- it is parallel to open
Conjunction mode acts, and Figure 13 is the situation that the first segment 2 has just touched object, and Figure 13 to Figure 15 touches object for the first segment 2
Action process after 17 --- adaptive envelope object, until the second segment 3 contacts object, as shown in figure 15, crawl terminates.
Figure 16 to Figure 18 is alternatively possible mode --- the parallel grip object of embodiment illustrated in fig. 1 crawl object 17
Typical action process, until the second segment 3 contacts object 17, as shown in figure 18, crawl terminates.
Figure 19 to Figure 21 is embodiment illustrated in fig. 1 successively with parallel folding and the action process of adaptive envelope crawl object
In several key positions, show the situation of change of the relative position of convex block driver plate 12 and spacing block set 18：1) shown in Figure 19
Situation when being Figure 11, Figure 12, Figure 13, Figure 16, Figure 17 and Figure 18 situation, the situation of convex block driver plate, the present embodiment at this time
It is in initial position or has only been bent the first segment, spring part 13 makes convex block driver plate 12 be in contact with spacing block set 18, and second refers to
Section 3 is in the fixed pose (such as vertical initial attitude in the present embodiment) relative to pedestal 1, and such case is continued for
To Figure 18 clamping crawl terminate or continue to Figure 13 envelope crawl start；2) Figure 20 corresponds to the situation of Figure 14, at this time
First segment 2 of the present embodiment has touched object 17 and has been blocked from moving, and under the driving effect of driver 14, leads to
Cross the transmission of transmission mechanism, the first drive 6,8 and second drive 7 of flexible drive parts, the second segment 3 has been gone the long way round joint shaft
5 one angle (being rotated relative to pedestal 1) of rotation, the second segment 3 no longer keep original vertical initial attitude, by the
Two flexible pipes 10, fluid 11, the first flexible pipe 9 and convex block driver plate 12, spring part 12 is pulled to be deformed, convex block driver plate 12 from
The spacing block set 18 being permanently connected to originally is opened；3) Figure 21 corresponds to the situation of Figure 15, and the present embodiment is completed to object at this time
The contact of two segments --- it realizes adaptive envelope crawl, the object of different shape size envelope can be captured automatically, grabbed
Take stabilization；Compared with the situation of Figure 20, the convex block driver plate 12 in Figure 21 is rotated to the angle of bigger, leaves spacing block set 18 more
Remote distance, the second segment 3 also have rotated the angle identical with the corner of convex block driver plate 12.
Discharge the process of object 17：Driver 14 inverts, the process of subsequent process and above-mentioned crawl object 17 just on the contrary,
It repeats no more.
Apparatus of the present invention utilize driver, closed loop flexible piece transmission mechanism, flexible pipe, fluid, spring part, convex block driver plate and limit
The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as position convex block, according to target object shape
With the difference of position, it can be translatable the second segment grip object or outer support takes object, can also rotate the first segment and the successively
The object of two segment envelope different shapes and sizes；Device crawl range is big；By the way of drive lacking, a driving is utilized
Device drives two joints, without complicated sensing and control system；The apparatus structure is compact, small, manufacture and maintenance cost
It is low, suitable for robot.
Claims (4)
1. a kind of closed loop flexible piece fluid put down folder adaptive robot finger apparatus, including pedestal, the first segment, the second segment,
Nearly joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The center line of the nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that：The closed loop flexible piece fluid puts down folder adaptive robot finger apparatus and further includes driver
Structure, the first drive, the second drive, flexible drive parts, the first flexible pipe, the second flexible pipe, fluid, convex block driver plate, spring part
And spacing block set；The nearly joint shaft is movably set in pedestal；The remote joint shaft is movably set in the first segment；It is described
First segment is socketed on nearly joint shaft；Second segment is socketed on remote joint shaft；The transmission mechanism is arranged on pedestal
In；The output shaft of the driver is connected with the input terminal of transmission mechanism, the output terminal of the transmission mechanism and the first drive
It is connected；First drive is actively socketed on nearly joint shaft, and second driving wheel tube is connected on remote joint shaft, and second passes
Driving wheel and the second segment are affixed；The flexible drive parts use transmission belt, tendon rope or chain, and first drive uses band
Wheel, rope sheave or sprocket wheel, second drive use belt wheel, rope sheave or sprocket wheel, and the flexible drive parts connect the first drive
With the second drive, belt wheel transmission pass is cooperatively formed between the flexible drive parts, the first drive and the second drive three
System, rope sheave drive connection or sprocket wheel drive connection；The flexible drive parts form " O " font；First flexible pipe and second
Flexible pipe respectively includes first end cover, second end cover and with telescoping tube flexible and that bending is flexible, and the telescoping tube is sky
Core structure, the both ends of telescoping tube are respectively and fixedly connected with first end cover and second end cover, and the first end cover is equipped with through-hole；Described first
Segment is equipped with through-hole；The second end cover and convex block driver plate of first flexible pipe are affixed, the first end cover of the first flexible pipe with
First segment is affixed, and the through-hole in the first end cover of the first flexible pipe is connected with the through-hole of the first segment；Described second is flexible
The second end cover of pipe and the second segment are affixed, and the first end cover of the second flexible pipe and the first segment are affixed, and the of the second flexible pipe
The through-hole that one end covers is connected with the through-hole of the first segment；The Fluid Sealing is in the first flexible pipe, the through-hole of the first segment
In the second flexible pipe；First flexible pipe and the second flexible pipe are simultaneously positioned at the side of device crawl object or simultaneously
Positioned at side of the device far from crawl object；If the center of the center line of the telescoping tube of first flexible pipe and nearly joint shaft
The distance of line is a, and the center line of the telescoping tube of the second flexible pipe and the distance of the center line of remote joint shaft are b, and a is equal with b；Institute
The internal diameter for stating the telescoping tube of the first flexible pipe is equal with the internal diameter of the telescoping tube of the second flexible pipe；The convex block driver plate pivot bush unit
On nearly joint shaft；The spacing block set and pedestal are affixed；The convex block driver plate be in contact or leave with spacing block set one section away from
From；If the rotation direction that the first segment is close to object is nearly joint positive direction, rotation direction of first segment far from object is near
Joint negative direction；When the closed loop flexible piece fluid puts down folder adaptive robot finger apparatus and is in original state, convex block driver plate
It is contacted with spacing block set, if the rotation angle of convex block driver plate opposite base is 0 degree at this time, since the position, convex block driver plate court
Rotational angle during nearly joint positive direction rotation for just, convex block driver plate towards nearly joint negative direction rotate when rotational angle be negative；
The rotational angle of the spacing block set limitation convex block driver plate is only just；The both ends of the spring part connect convex block driver plate and base respectively
Seat；The transmission radius of first drive is more than the transmission radius of the second drive.
2. closed loop flexible piece fluid as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that：It is described
Driver uses motor, cylinder or hydraulic cylinder.
3. closed loop flexible piece fluid as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that：It is described
Spring part uses tension spring, compression spring, leaf spring or torsional spring.
4. closed loop flexible piece fluid as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that：It is described
Telescoping tube is using embedding spring silk gum pipe, set spring silk gum pipe or bellows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153900.9A CN105773643B (en) | 2016-03-17 | 2016-03-17 | Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153900.9A CN105773643B (en) | 2016-03-17 | 2016-03-17 | Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus |
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| Publication Number | Publication Date |
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| CN105773643A CN105773643A (en) | 2016-07-20 |
| CN105773643B true CN105773643B (en) | 2018-06-29 |
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| CN201610153900.9A Expired - Fee Related CN105773643B (en) | 2016-03-17 | 2016-03-17 | Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107081744B (en) * | 2017-05-22 | 2023-07-14 | 清华大学 | Flexible hose fluid underactuated multi-joint robot finger device |
| CN110682322B (en) * | 2019-09-23 | 2020-12-08 | 华中科技大学 | Bidirectional flexible transmission mechanism for manipulator |
| CN111588470B (en) * | 2020-05-18 | 2023-04-07 | 上海交通大学 | Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI383869B (en) * | 2009-12-10 | 2013-02-01 | Ind Tech Res Inst | Robot finger mechanism |
| WO2012039479A1 (en) * | 2010-09-24 | 2012-03-29 | 国立大学法人岐阜大学 | Humanoid electric hand |
| CN102896636B (en) * | 2012-03-28 | 2016-05-11 | 中南大学 | Differential gear train coupling adaptive under-actuated finger device |
| CN102873689B (en) * | 2012-10-24 | 2017-04-12 | 中南大学 | Multimode under-actuated human finger simulation device with quick reflex grabbing function |
| CN103846922B (en) * | 2013-11-27 | 2016-02-24 | 清华大学 | Tooth bar non-return self adaptation under-actuated robot finger device |
| CN104015193B (en) * | 2014-06-03 | 2016-05-18 | 清华大学 | Capture locking adaptive robot finger apparatus |
| CN104889998B (en) * | 2015-07-03 | 2021-02-02 | 清华大学 | Under-actuated robot finger device with enveloping and clamping functions |
| CN105150231B (en) * | 2015-09-08 | 2021-02-26 | 清华大学 | Seven-connecting-rod parallel-connection pinching-holding composite self-adaptive robot finger device |
| CN105364938B (en) * | 2015-12-01 | 2017-06-23 | 清华大学 | Belt wheel collaboration locking linkage adaptive robot finger apparatus |
| CN105364937B (en) * | 2015-12-01 | 2017-06-16 | 清华大学 | Link-type can the cooperative self-adapted finger apparatus of changeable grasping force |
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| CN105773643A (en) | 2016-07-20 |
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