CN105773647A - Rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force - Google Patents
Rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force Download PDFInfo
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- CN105773647A CN105773647A CN201510864232.6A CN201510864232A CN105773647A CN 105773647 A CN105773647 A CN 105773647A CN 201510864232 A CN201510864232 A CN 201510864232A CN 105773647 A CN105773647 A CN 105773647A
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Abstract
The invention discloses a rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force, and belongs to the technical field of robot hands. The rack-type variable grabbing power elastic linked self-adaptive robot finger device comprises a motor, a plurality of finger sections, a plurality of joint shafts, transmission mechanisms, a plurality of transition shafts, a plurality of joint spring parts, a plurality of pulleys, a plurality of driving levers, a plurality of driving plates, a plurality of gear parts, a rope winding wheel, and a tendon rope. According to the device, the functions of self-adaptive grabbing and continuous locking of a plurality of joints are comprehensively achieved through utilizing the motor, the transmission mechanisms, driven driving plates, the driving levers, a first gear, a second gear, a rack, the rope winding wheel, the tendon rope and the spring parts; the device is used for grabbing objects, and can automatically adapt to the shapes and sizes of the objects; after object grabbing, a joint locking manner or a non-locking manner can be adopted; the grabbing process is quick and stable, after grabbing, the joints are locked to prevent the finger from bounding back and becoming unstable, and relatively large grabbing force can be provided; lockable joint angles are continuous; and the device is simple in structure, small in volume, light in weight, easy to control, and low in manufacturing and maintenance cost.
Description
Technical field
The invention belongs to robot technical field, become the structural design of grip elasticity linkage adaptive robot finger apparatus particularly to a kind of rack type.
Background technology
Robot is the very important functional unit of robot, is the focus direction of current robot area research.Robot can from imitating whether staff is divided into anthropomorphic hands and non-anthropomorphic hands.Owing to staff degree of freedom is many, very flexibly, bionics there is very big research learning be worth, develop the humanoid robot hand similar to staff and have great application prospect.The current anthropomorphic robot captured is divided into industry clamper, Dextrous Hand and drive lacking hands.
On the one hand, humanoid robot hand needs to imitate some holding function of staff, it is achieved capture, carrying difformity and the object of size, and this proposes significantly high requirement for the aspect such as control accuracy of robot；On the other hand, humanoid robot hand requires that structure simplifies as far as possible, and size to fit, weight are little.There is contradiction in these two aspects.Existing industry clamper function is simple, and the scope of application is less.Existing Dextrous Hand has enough joints and driver to complete various accurate action, but driver used is many, sensing control is complicated, cost intensive.And drive lacking hands solves this contradiction preferably due to self-adapting grasping function.Self adaptation under-actuated robot hand volume is little, lightweight, can change and capture angle with this automatic shape adapting to object, control simple, capture relatively stable in the process capturing object.
The robot device (patent of invention US2006129248A1) of existing a kind of self-adapting grasping object, finger part mainly includes pedestal, four segments, three spring parts and a tendon rope.When capturing object, first pull tendon rope that finger is stretched, then loosen tendon rope, rely on spring part natural resiliency to make digital flexion envelope capture object.Owing to each joint has spring part, finger can matching object shape bend according to respective angles in the process capturing object, has good adaptivity.
This device is disadvantageous in that:
1) the spring part grasp force of this device as far as possible big and stretch the pulling force of tendon rope used by finger try one's best little between there is bigger contradiction.In order to ensure that grasp force is bigger, it is necessary to spring part stiffness factor relatively big, cause that the pulling force needed for pulling tendon rope to stretch finger is bigger；Pulling force needed for stretching finger to tendon rope is less, adopts more weak spring part, then grasp force is too small.
2) this device is difficult to provide larger range of grasp force.This device adopts fixing spring part, it is provided that grasp force be confined in the smaller range fixed；This device relies primarily on the grasp force that spring part provides in capturing object process, if spring part is more weak, just cannot utilize the strength of the arm being attached thereto, can occur when extracting weight to capture to lose efficacy, when such as extracting very heavy luggage case, it is generally adopted arm strength to extract, but finger to have enough strength to guarantee the configuration of bending.
3) the spring part of excessive stiffness factor occurs finger quickly to collide object when may result in capturing object, thus causing squeezing the unstable phenomenon running object.
4) this device uses under vibration to have and captures the possibility lost efficacy.
Existing a kind of self-locking pneumatic under-actuated robot finger device, this device has self-adapting grasping function, adopts click to realize the self-locking in crawl process, and adopts motor to pull ratchet to realize unlocking.
This device is disadvantageous in that:
1) this device needs motive force and could realize self adaptation bending.This motive force is from the relative motion of finger Yu object: is extruded the slide block on finger by object, utilizes pneumatic power drive to promote next segment to bend.
2) the lockable joint angles of this device is discontinuous.Owing to the gear teeth of ratchet have certain tooth pitch, lock discontinuous；If tooth pitch is designed to relatively conference reduces locking precision, if tooth pitch is designed to less, then can reduce tooth depth, affect locking effect.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is proposed to a kind of rack type becomes grip elasticity linkage adaptive robot finger apparatus, and this device is used for capturing object, it is possible to automatically adapt to the shape of object, size；Capture and can take locking articulated manner or not lock mode after object；Joint is locked, it is provided that bigger grasp force, it is prevented that finger resilience unstability after crawl；Lockable joint angles is continuous print；This apparatus structure is simple, lightweight, controls easily.
The present invention adopts the following technical scheme that
A kind of rack type provided by the invention becomes grip elasticity linkage adaptive robot finger apparatus, including pedestal, the first segment, the second segment, the first joint shaft, second joint axle, motor, the first drive mechanism, transition axis, rope-winding wheel, tendon rope, the first pulley, the second pulley, the first spring part and the second spring part；Described motor is fixedly mounted on pedestal, and the output shaft of described motor and the input of the first drive mechanism are connected, and the outfan of described first drive mechanism is connected with transition axis, and described transition axis is set in pedestal, and described rope-winding wheel is fixed on transition axis；One end of described tendon rope is fixed in the outer rim of rope-winding wheel, and the other end and second segment of tendon rope are affixed；Described tendon rope walks around the first pulley and the second pulley, and tendon rope passes the first segment and the second segment；Described first joint shaft is set in pedestal, and described second joint axle sleeve is located in the first segment；Described first segment is socketed on the first joint shaft, and described second segment is socketed on second joint axle；Described first pulley sleeve is connected on the first joint shaft, and described second pulley sleeve is connected on second joint axle；The two ends of described first spring part connect pedestal and the first segment respectively；The two ends of described second spring part connect the first segment and the second segment respectively；Described first joint shaft, second joint axle are parallel to each other；It is characterized in that: this device also includes actively driver plate, driven driver plate, the second drive mechanism, the first gear, tooth bar, the second gear, the first driving lever, the second driving lever, the 3rd spring part and the 4th spring part；Described active driver plate is connected with the first projection, described driven driver plate is connected with the second projection；Described active driver plate is socketed on transition axis, and actively driver plate is affixed with rope-winding wheel；Described driven driver plate is actively socketed on transition axis, and described first projection contacts in the motor process capturing object and promotes the second projection, and described first projection leaves in the motor process stretch finger and recalls the motive force to the second projection；The input of described second drive mechanism is connected with driven driver plate；The outfan of described second drive mechanism and the first gear are connected；Described first geared sleeve is connected on the first joint shaft, and described second geared sleeve is connected on second joint axle, and described first gear and the second gear are connected by tooth bar, and described tooth bar forms gear engage with the first gear, the second gear respectively；The two ends of described 3rd spring part connect the first gear and the first driving lever respectively, and the two ends of described 4th spring part connect the second gear and the second driving lever respectively；Described first driving lever is socketed on the first joint shaft, and described second driving lever is socketed on second joint axle；Described first driving lever contacts in rotation process and promotes the first segment；Described second driving lever contacts in rotation process and promotes the second segment.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize motor, drive mechanism, driven driver plate, driving lever, the first gear, the second gear, tooth bar, rope-winding wheel, tendon rope and spring part etc. comprehensively realize self-adapting grasping and lock the function in multiple joints continuously.This device is used for capturing object, it is possible to automatically adapt to the shape of object, size, adaptable；Capture and can take locking articulated manner or not lock mode after object, especially the object of unlike material, weight is had very strong adaptive capacity；Crawl process fast and stable, locks joint, prevents finger resilience unstability on the one hand after crawl so that do not have collision object when capturing object, squeeze and run object；On the other hand, it is provided that bigger grasp force, the finger apparatus after locking can be similar to regards a rigid body as, and its bearing capacity aspect can mate the arm apparatus being attached thereto better, implements the extraction to relatively heavy object (such as luggage case)；Lockable joint angles is continuous print；This apparatus structure is simple, and volume is little, lightweight, controls easily, manufactures and maintenance cost is low.
Accompanying drawing explanation
Fig. 1 is the front section view that rack type provided by the invention becomes a kind of embodiment of grip elasticity linkage adaptive robot finger apparatus.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the reverse side outside drawing of embodiment illustrated in fig. 1.
Fig. 4 is the left surface outside drawing of embodiment illustrated in fig. 1.
Fig. 5 is the right flank outside drawing of embodiment illustrated in fig. 1.
Fig. 6 to Fig. 9 is the schematic diagram of the embodiment of movement relation between rope-winding wheel and driven driver plate.
Figure 10 to Figure 12 is the outside drawing of illustrated embodiment self-adapting grasping object.
Figure 13 to Figure 15 is the outside drawing that illustrated embodiment self adaptation grasps oversized shape irregularly shaped object.
Figure 16 to Figure 19 is the schematic diagram of illustrated embodiment active lock self-adapting grasping weight (in the present embodiment diagram, weight is heavier luggage case).
In Fig. 1 to Figure 19:
1-pedestal, 11-the first segment, 12-the second segment,
21-the first joint shaft, 22-second joint axle,
3-motor, 31-decelerator, 32-the first bevel gear, 33-the second bevel gear,
4-transition axis, 41-rope-winding wheel, 42-tendon rope, 43-is driver plate actively,
431-the first projection, the driven driver plate of 44-, 441-the second projection, 45-driving pulley,
46-driven pulley, 47-transmission band, 51-the first pulley, 52-the second pulley,
61-the first spring part, 62-the second spring part, 63-the 3rd spring part, 64-the 4th spring part,
71-the first gear, 72-the second gear, 73-tooth bar,
81-the first driving lever, 82-the second driving lever,
9 objects, 91-bearing-surface, 92 suitcases, 921 capture handle.
Detailed description of the invention
The concrete structure of the present invention, operation principle and work process is further described below in conjunction with drawings and Examples.
The rack type of present invention design becomes a kind of embodiment of grip elasticity linkage adaptive robot finger apparatus, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of rack type becomes grip elasticity linkage adaptive robot finger apparatus, including pedestal the 1, first segment the 11, second segment the 12, first joint shaft 21, second joint axle 22, motor the 3, first drive mechanism, transition axis 4, rope-winding wheel 41, tendon rope the 422, first pulley the 51, second pulley the 52, first spring part 61 and the second spring part 62；Described motor 3 is fixedly mounted on pedestal 1, the output shaft of described motor 3 and the input of the first drive mechanism are connected, the outfan of described first drive mechanism is connected with transition axis 4, and described transition axis 4 is set in pedestal 1, and described rope-winding wheel 41 is fixed on transition axis 4；One end of described tendon rope 422 is fixed in the outer rim of rope-winding wheel 41, and the other end and second segment 12 of tendon rope 422 are affixed；The first pulley 51 and the second pulley 52 walked around by described tendon rope 422, tendon rope traverse the first segment 11 and the second segment 12；Described first joint shaft 21 is set in pedestal 1, and described second joint axle 22 is set in the first segment 11；Described first segment 11 is socketed on the first joint shaft 21, and described second segment 12 is socketed on second joint axle 22；Described first pulley 51 is socketed on the first joint shaft 21, and described second pulley 52 is socketed on second joint axle 22；The two ends of described first spring part 61 connect pedestal 1 and the first segment 11 respectively；The two ends of described second spring part 62 connect the first segment 11 and the second segment 12 respectively；Described first joint shaft 21, second joint axle 22 are parallel to each other.
This device also includes actively driver plate 43, driven driver plate the 44, second drive mechanism, first gear the 71, second gear 72, tooth bar the 73, first driving lever the 81, second driving lever the 82, the 3rd spring part 63 and the 4th spring part 64；Described active driver plate 43 is connected with the first projection 431, described driven driver plate 44 is connected with the second projection 441；Described active driver plate 43 is socketed on transition axis 4, and actively driver plate 43 is affixed with rope-winding wheel 41；Described driven driver plate 44 is actively socketed on transition axis 4, described first projection 431 contacts in the motor process capturing object and promotes the second projection 441, and described first projection 431 leaves and recall the motive force to the second projection 441 in the motor process stretch finger；The input of described second drive mechanism is connected with driven driver plate 44；Outfan and first gear 71 of described second drive mechanism are connected；Described first gear 71 is socketed on the first joint shaft 21, described second gear 72 is socketed on second joint axle 22, described first gear 71 is connected by tooth bar 73 with the second gear 72, and described tooth bar 73 forms gear with first gear the 71, second gear 72 respectively and engages；The two ends of described 3rd spring part 63 connect the first gear 71 and the first driving lever 81 respectively, and the two ends of described 4th spring part 64 connect the second gear 72 and the second driving lever 82 respectively；Described first driving lever 81 is socketed on the first joint shaft 21, and described second driving lever 82 is socketed on second joint axle 22；Described first driving lever 81 contacts in rotation process and promotes the first segment 11；Described second driving lever 82 contacts in rotation process and promotes the second segment 12.
In the present embodiment, the first drive mechanism includes decelerator the 31, first bevel gear 32 and the second bevel gear 33.Wherein the output shaft of motor 3 is connected with the power shaft of decelerator 31, and described first bevel gear 32 is fixed on the output shaft of decelerator 31, and described first bevel gear 32 engages with the second bevel gear 33, and described second bevel gear 33 is fixed on transition axis 4..
In the present embodiment, the second drive mechanism adopts belt wheel transmission mechanism, including driving pulley 45, driven pulley 46 and transmission band 47.Described driving pulley 45 is socketed on transition axis 4, driving pulley 45 is affixed with driven driver plate 44, described driving pulley 45 is connected by transmission band 47 with driven pulley 46, and driving pulley 45, driven pulley 46 form belt wheel transmission relation with transmission band 47 three, described driven pulley 46 is socketed on the first joint shaft 21, and driven pulley 46 and the first gear 71 are affixed.
In the present embodiment, described driven driver plate 44 rotates and is arranged in the first segment 1, the longitudinal center line of longitudinal center line and rope-winding wheel 41 overlaps, driven driver plate the second projection 441 affixed on described driven driver plate 44 and and rope-winding wheel 41 on affixed rope-winding wheel the first projection 431 be arranged on the side between driven driver plate 44 and rope-winding wheel 41.
Fig. 6 to Fig. 9 mainly have expressed rope-winding wheel 41 and the several embodiments of driven driver plate 44.The initial contact location of wherein affixed on affixed rope-winding wheel the first projection 431 and driven driver plate 44 on position E and position F respectively rope-winding wheel 41 driven driver plate the second projection 441；When rope-winding wheel the first projection 431 is moved to position E1 by position E, for straining the process of tendon rope 42, E1 place, position tendon rope 42 is strained completely, and now finger is in complete straight configuration, and driven driver plate the second projection 441 position F1 of this process is still at F place, position；When rope-winding wheel the first projection 431 is from position E1 adverse movement to E, tendon rope 42 is by being tensioned to complete relaxation state completely, and rope-winding wheel the first projection 431 and driven driver plate the second projection 441 come into contact with.Then from position E to the motion of position E2, rope-winding wheel 41 is promoted driven driver plate the second projection 441 by rope-winding wheel the first projection 431 and is driven driven driver plate 44 to move, the parts such as first gear the 71, second gear 72 are passed motion to via the second drive mechanism, finally realize active lock the first segment 11 and the second segment 12, in this process, driven driver plate the second projection 441 is moved to F2, position F2 by position F1 is lock-out state.
The rope-winding wheel 41 of the present embodiment and driven driver plate 44 mainly adopt the embodiment shown in Fig. 9.
The operation principle of the present embodiment is described below:
Figure 10 to Figure 12, Figure 13 to Figure 15 and Figure 16 capture under operating modes the relative position schematic appearance of each segment of finger in crawl process to Figure 19 is respectively different.
First motor 3 starts, rope-winding wheel 41 is driven to rotate through decelerator the 31, first bevel gear the 32, second bevel gear 33 and transition axis 4 so that tendon rope 42 is tightened up, and finger is stretched to complete straight configuration by case of bending, preparing to capture object, now the schematic appearance of finger is shown in Figure 10；Then motor 3 rotates backward so that rope-winding wheel 41 and then rotates backward, and now tendon rope 42 is relaxed, and the elastic force of the first spring part 61 and the second spring part 62 makes finger be gradually curved.When not capturing object, after tendon rope 42 is loosened completely, finger bends to the state of holding with a firm grip completely；Digital flexion contact self adaptation envelope object when capturing object, now motor 3 then turns to the complete relaxation state of tendon rope 42, and in this process, finger outward appearance or structure chart are shown in that Figure 10 to Figure 12, Figure 13 to Figure 15 and Figure 16 are to Figure 19.Owing to the deformation of first spring part the 61, second spring part 62 can be continuous print, therefore it is also continuous print that finger self adaptation envelope grasps the change of the first driving lever acting surface and the second segment contact end face angle α and the second driving lever acting surface and the 3rd segment contact end face angle β in after object terminates.Namely finger self adaptation grasps the process of object is continuous print.
Rear motor 3 be rotated further, rope-winding wheel 41 contacts driven driver plate the second projection 441 by rope-winding wheel the first projection 431 and drives driven driver plate 44 to make rotating in same direction, and driven driver plate 44 drives driving pulley 45 to rotate by the second drive mechanism.It is connected by transmission band 47 between driving pulley 45 and driven pulley 46, it is achieved synchronous axial system.Second spring part 62 one end is connected with driving pulley 45, and the other end and the first driving lever 81 are connected.4th spring part 64 one end is connected with driven pulley 46, and the other end and the second driving lever 82 are connected.
First synchronous belt 47 drives driving pulley 45, driven pulley 46 synchronous axial system, when first driving lever the 81, second driving lever 82 is all not in contact with corresponding segment, under the restriction of the second spring part 62 and the 4th spring part 64, driving lever will link (i.e. synchronous axial system) with the driving pulley 45 or driven pulley 46 that pass through linkage spring interface；Contact and be pressed in the first segment 11 and the second driving lever 82 not yet contacts in the process of the second segment 12 at the first driving lever 81, first segment 11, complete locking, 3rd segment not yet locks, in process, the first gear 71 will be rotated further, and drives driven pulley 46 and the second driving lever 82 synchronous axial system by transmission band 47.In this process, the second spring part 62 deformation is continuously increased, and the 4th spring part 64 is required initial relatively small deformation when still keeping linking, and ignores this deformation signal in figure；When the second driving lever 82 also moves into contact and is pressed on the second segment 12, the second segment 12 has locked, and in this process, the second spring part 62 deformation continues to increase, and this segment coupling mechanism force also constantly increases, it is achieved that finger is firm to be captured.
First gear 71 and the second gear 72 drive first driving lever the 81, second driving lever 82 to be successively pressed in first segment the 11, second segment 12 and stop operating thus completing to lock this segment respectively.Second spring part 62 and the deformation of the 4th spring part 64 make to produce very big elastic force between the first driving lever 81 and first gear the 71, second driving lever 82 and the second gear 72, the first driving lever 81. second driving lever 82 is made reliably to be pressed in first segment the 11, second segment 12 respectively, all segments are difficult to then rotate or resilience, material is thus formed the effect of similar locking finger-joint.
The work process of the present embodiment, such as shown in Figure 10 to Figure 19, have expressed the situation of the crawl difformity of the present embodiment, size and weight, is specifically described as follows:
The first situation is such as shown in Figure 10, Figure 11 and Figure 12, for the schematic appearance of finger in the process of crawl reduced size object.First, pull tendon rope 42 to make finger stretch, then move finger and make it near object；Loosening tendon rope 42, finger is gradually curved, and pedestal 1 and the first segment 11 successively touch object, and the first spring part 61 is no longer replied afterwards, and the first joint shaft 21 stops operating；When the second segment 12 is fully in contact with after object, whole finger apparatus just completes crawl object process adaptively.Due to the small volume of object, quality is also less, so now not needing to use lock function also can implement reliable and stable crawl task.
The second situation, such as shown in Figure 13, Figure 14 and Figure 15, captures process for irregular-shaped objects.The crawl process of this situation is substantially similar with the first situation, and object is also relatively light small and exquisite, it is possible to use lock function can not also use, and two kinds of selections are attained by good effect.
The third situation is such as shown in Figure 16, Figure 17, Figure 18 and Figure 19, for the process of weight capacity larger object (adopting in the present embodiment with the heavier luggage case 33 capturing handle 331) movement.Crawl process and first kind basic simlarity, but need in this case to use lock function.After finger envelope object, then loosen tendon rope 42；When tendon rope 42 just can then drive driven driver plate 44 rotating in same direction after loosening completely, eventually through first driving lever 81 and second two segments of driving lever 82 active lock.Two processes of multi-joint active lock are added so that finger can capture heavy objects, and the process of crawl is quick, stable by self-adapting grasping.
Apparatus of the present invention utilize motor, drive mechanism, driven driver plate, driving lever, the first gear, the second gear, tooth bar, rope-winding wheel, tendon rope and spring part comprehensively realize self-adapting grasping and lock the function in multiple joints continuously.This device is used for capturing object, it is possible to automatically adapt to the shape of object, size, adaptable；Capture and can take locking articulated manner or not lock mode after object, especially the object of unlike material, weight is had very strong adaptive capacity；Crawl process fast and stable, locks joint, prevents finger resilience unstability on the one hand after crawl so that do not have collision object when capturing object, squeeze and run object；On the other hand, it is provided that bigger grasp force, the finger apparatus after locking can be similar to regards a rigid body as, and its bearing capacity aspect can mate the arm apparatus being attached thereto better, implements the extraction to relatively heavy object (such as luggage case)；Lockable joint angles is continuous print；This apparatus structure is simple, and volume is little, lightweight, controls easily, manufactures and maintenance cost is low.
Claims (1)
1. rack type becomes a grip elasticity linkage adaptive robot finger apparatus, including pedestal, the first segment, the second segment, the first joint shaft, second joint axle, motor, the first drive mechanism, transition axis, rope-winding wheel, tendon rope, the first pulley, the second pulley, the first spring part and the second spring part；Described motor is fixedly mounted on pedestal, and the output shaft of described motor and the input of the first drive mechanism are connected, and the outfan of described first drive mechanism is connected with transition axis, and described transition axis is set in pedestal, and described rope-winding wheel is fixed on transition axis；One end of described tendon rope is fixed in the outer rim of rope-winding wheel, and the other end and second segment of tendon rope are affixed；Described tendon rope walks around the first pulley and the second pulley, and tendon rope passes the first segment and the second segment；Described first joint shaft is set in pedestal, and described second joint axle sleeve is located in the first segment；Described first segment is socketed on the first joint shaft, and described second segment is socketed on second joint axle；Described first pulley sleeve is connected on the first joint shaft, and described second pulley sleeve is connected on second joint axle；The two ends of described first spring part connect pedestal and the first segment respectively；The two ends of described second spring part connect the first segment and the second segment respectively；Described first joint shaft, second joint axle are parallel to each other；It is characterized in that: this device also includes actively driver plate, driven driver plate, the second drive mechanism, the first gear, tooth bar, the second gear, the first driving lever, the second driving lever, the 3rd spring part and the 4th spring part；Described active driver plate is connected with the first projection, described driven driver plate is connected with the second projection；Described active driver plate is socketed on transition axis, and actively driver plate is affixed with rope-winding wheel；Described driven driver plate is actively socketed on transition axis, and described first projection contacts in the motor process capturing object and promotes the second projection, and described first projection leaves in the motor process stretch finger and recalls the motive force to the second projection；The input of described second drive mechanism is connected with driven driver plate；The outfan of described second drive mechanism and the first gear are connected；Described first geared sleeve is connected on the first joint shaft, and described second geared sleeve is connected on second joint axle, and described first gear and the second gear are connected by tooth bar, and described tooth bar forms gear engage with the first gear, the second gear respectively；The two ends of described 3rd spring part connect the first gear and the first driving lever respectively, and the two ends of described 4th spring part connect the second gear and the second driving lever respectively；Described first driving lever is socketed on the first joint shaft, and described second driving lever is socketed on second joint axle；Described first driving lever contacts in rotation process and promotes the first segment；Described second driving lever contacts in rotation process and promotes the second segment.
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| CN201510864232.6A CN105773647B (en) | 2015-12-01 | 2015-12-01 | Rack-and-pinion becomes grip elasticity linkage adaptive robot finger apparatus |
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| CN105773647B CN105773647B (en) | 2018-07-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106393161A (en) * | 2016-10-12 | 2017-02-15 | 清华大学 | Double-rack parallel-clamping indirect adaptive robot finger device |
| CN113116223A (en) * | 2021-04-20 | 2021-07-16 | 宁波汇峰嘉福科技有限公司 | Multi-stage linkage telescopic assembly, telescopic dust suction pipe unit and handheld dust suction equipment |
| CN113799162A (en) * | 2021-10-19 | 2021-12-17 | 安徽工程大学 | Robot grabbing paw for special-shaped objects |
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| JP2015066614A (en) * | 2013-09-27 | 2015-04-13 | 株式会社豊田自動織機 | Robot hand |
| CN103846922A (en) * | 2013-11-27 | 2014-06-11 | 清华大学 | Rack check self-adaptive under-actuated robot finger device |
| CN104889998A (en) * | 2015-07-03 | 2015-09-09 | 清华大学 | Under-actuated robot finger device with covering and clamping functions |
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| CN106393161A (en) * | 2016-10-12 | 2017-02-15 | 清华大学 | Double-rack parallel-clamping indirect adaptive robot finger device |
| CN113116223A (en) * | 2021-04-20 | 2021-07-16 | 宁波汇峰嘉福科技有限公司 | Multi-stage linkage telescopic assembly, telescopic dust suction pipe unit and handheld dust suction equipment |
| CN113799162A (en) * | 2021-10-19 | 2021-12-17 | 安徽工程大学 | Robot grabbing paw for special-shaped objects |
| CN113799162B (en) * | 2021-10-19 | 2022-12-06 | 安徽工程大学 | Robot grabbing paw for special-shaped objects |
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