CN105798944A - Gear-connecting bar driving parallel-clamping self-adaptive robot finger device - Google Patents

Gear-connecting bar driving parallel-clamping self-adaptive robot finger device Download PDF

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Publication number
CN105798944A
CN105798944A CN 201610153573 CN201610153573A CN105798944A CN 105798944 A CN105798944 A CN 105798944A CN 201610153573 CN201610153573 CN 201610153573 CN 201610153573 A CN201610153573 A CN 201610153573A CN 105798944 A CN105798944 A CN 105798944A
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CN
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gear
shaft
finger
transmission
sleeved
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CN 201610153573
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Chinese (zh)
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张文增
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清华大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints

Abstract

The invention discloses a gear-connecting bar driving parallel-clamping self-adaptive robot finger device and belongs to the technical field of robot hands. The gear-connecting bar driving parallel-clamping self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a plurality of gears, a plurality of connecting bars, a protruding block driving plate, a spring part, a limiting protruding block and the like. The device adopts the driver, a gear driving mechanism, a connecting bar driving mechanism, the spring part, the protruding block driving plate, the limiting protruding block and the like, the functions of parallel clamping and self-adaptive grabbing are achieved comprehensively; according to different target object shapes and positions, translational motion of the second finger section can be performed to nip objects or outward expansion of the second finger section is performed to support the objects; the first finger section and the second finger section can also be rotated in sequence to wrap the objects with different shapes and sizes; the device is wide in grabbing range; an underactuation mode is adopted, the driver is used for driving two joints, and a complicated sensing and control system is not needed; and the device is compact in structure, small in size, low in manufacturing and maintaining cost and applicable to the robot hands.

Description

齿轮连杆传动平夹自适应机器人手指装置 Gear transmission link level folder adaptive robot finger means

技术领域 FIELD

[0001 ]本发明属于机器人手技术领域,特别涉及一种齿轮连杆传动平夹自适应机器人手指装置的结构设计。 [0001] The present invention belongs to the technical field of the robot hand, and particularly to a drive gear link level adaptive robot finger clip device design.

背景技术 Background technique

[0002]自适应欠驱动机器人手采用少量电机驱动多个自由度关节,由于电机数量少,藏入手掌的电机可以选择更大的功率和体积,出力大,同时纯机械式的反馈系统无需对环境敏感也可以实现稳定抓取,自动适应不同形状尺寸的物体,没有实时电子传感和闭环反馈控制的需求,控制简单方便,降低了制造成本。 [0002] Adaptive Underactuated robot hand using a small motor-driven joints plurality of degrees of freedom, since the number of the motor, the motor can be hidden into the palm of the selected volume and greater power, large output, while the purely mechanical feedback system without the need for environmentally sensitive stable gripping can be realized, automatically adapt to objects of different shapes and sizes, there is no demand for real-time electronic sensing and closed-loop feedback control, the control is simple and convenient, reduce the manufacturing cost.

[0003]在抓取物体时主要有两种抓取方法,一种是捏持,一种是握持。 [0003] There are two main methods gripping when grasping the object A is a pinch, one is holding. 捏持是用末端手指的指尖部分去夹取物体,采用两个点或两个软指面去接触物体,主要针对小尺寸物体或具有对立面的较大物体;握持是用手指的多个指段包络环绕物体来实现多个点的接触,达到更稳定的形状包络抓取。 Grip to grip the object by a fingertip portion of the finger tip, using two points or two soft surfaces means to reach the object, mainly for a small-sized objects or objects having opposite large; with a plurality of gripping fingers It refers to a segment of the envelope around the plurality of the contact points to achieve the object, to achieve a more stable form of the envelope gripping. 工业夹持器一般采用捏持方式,难以具有稳定握持功能,不能适应多种形状物体的稳定包络抓取;自适应欠驱动手指可以采用自适应包络物体的方式握持,但是无法实施捏持抓取;耦合的多关节手可以实现多关节同时转动,能够实现捏持,不能实现针对多种形状物体的稳定的多点包络握持。 Industrial pinch clamp the general mode, it is difficult to have a stable holding function, can not adapt to a variety of object shapes stabilization package envelope gripping; adaptive driving finger may be employed under an adaptive manner the envelope holding the object, but can not be implemented gripping the grip; coupled multi-joint multi-joint may be implemented hand while rotating, pinch can be achieved, stability can not be achieved for a wide variety of shapes of the multi-object gripping envelope. 上述三种手均有很大的提升空间。 The three hand have much room for improvement. 现实中很需要一种既具有捏持功能,又能够实现稳定自适应包络抓持的机器人手。 In reality it is a need for a function with a pinch, but also to achieve stable adaptive robot hand grasping the envelope.

[0004]已有的一种具有双自由度欠驱动手指的五连杆夹持装置,如美国专利US8973958B2,包括五个连杆、弹簧、机械约束。 [0004] The conventional clamp device having a five-link-DOF underactuated finger, as described in U.S. Patent No. US8973958B2, includes five rods, springs, mechanical constraints. 该装置在工作时,开始阶段保持末端指段的姿态进行近关节弯曲动作,之后根据物体的位置可以实现平行捏持或自适应包络握持的功能。 In operation of the apparatus, holding the beginning of the end section of finger gestures performed near joints bending operation, can be achieved after the adaptive parallel grip or envelope holding function according to the position of the object. 其不足之处在于,该装置采用非常复杂的多连杆机构,运动存在较大的死区,抓取范围较小,机构体积大,缺乏柔顺性,制造成本过高。 The downside is that the device uses a very complex multi-link mechanism, there is a large dead movement, gripping a small scale and large volume mechanism, the lack of flexibility, high manufacturing costs.

发明内容 SUMMARY

[0005]本发明的目的是为了克服已有技术的不足之处,提供一种齿轮连杆传动平夹自适应机器人手指装置。 [0005] The object of the present invention is to overcome the shortcomings of the prior art, there is provided a link drive gear clamp level adaptive robot finger means. 该装置具有多种抓取模式,既能平动第二指段夹持物体,也能先后转动第一指段和第二指段自适应包络不同形状、大小的物体;抓取范围大;无需复杂的传感和控制系统。 The gripping means having a plurality of modes, a second section refers to both translational grip an object, but also has a first rotatable means and the second finger section of the envelope section adaptation of different shapes and sizes of the object; crawl large range; No complicated sensing and control system.

[0006]本发明的技术方案如下: [0006] aspect of the present invention is as follows:

[0007]本发明设计的一种齿轮连杆传动平夹自适应机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴和驱动器;所述驱动器与基座固接;所述近关节轴的中心线与远关节轴的中心线平行;其特征在于:该齿轮连杆传动平夹自适应机器人手指装置还包括传动机构、第一齿轮、第二齿轮、齿轮组、第一摆杆、第二摆杆、连杆、第一轴、第二轴、凸块拨盘、簧件和限位凸块;所述近关节轴活动套设在基座中;所述远关节轴活动套设在第一指段中;所述第一指段套接在近关节轴上;所述第二指段套接在远关节轴上;所述传动机构设置在基座中;所述驱动器的输出轴与传动机构的输入端相连,所述传动机构的输出端与第一齿轮相连;所述第一齿轮活动套接在近关节轴上,所述第二齿轮套接在远关节轴上,第二齿轮与第二指段固接;所述齿轮组安装在第 [0007] The present invention is designed to drive a gear link level adaptive robot finger clip means comprises a base, a first finger section, the second finger section, near the joint shaft, and the distal joint drive shaft; and a drive-yl fixed seat; near the center line of the centerline of the distal joint axis parallel to the joint axis; wherein: the gear transmission link level adaptive robot finger clip means further comprises a drive mechanism, the first gear, second gear, gear set, a first swing link, a second swing lever, the link, a first shaft, a second shaft, the dial protrusion, and a spring member stopper protrusion; the proximal shaft sleeved joint in the base; the distal shaft sleeved joint fingers in the first section; said first section refers to the juxta-articular socket shaft; refers to the segment of the second joint axis in the socket away; the transmission mechanism disposed on the base seat; input and an output shaft of the transmission mechanism drives connected to the output terminal of the transmission with the first gear means; said first gear sleeved activity near joints shaft, said second gear set connected to the distal joint shaft, a second gear fixed to the second finger section; said first gear set mounted 指段中,所述齿轮组包括至少一个齿轮或相啮合的多个齿轮,所述齿轮组的输入齿轮与第一齿轮啮合,所述齿轮组的输出齿轮与第二齿轮相啮合;所述第一摆杆活动套接在近关节轴上;所述第二摆杆套接在远关节轴上,第二摆杆与第二指段固接;所述第一轴活动套设在第一摆杆上,所述第二轴活动套设在第二摆杆上,所述连杆的两端分别套接在第一轴和第二轴上;所述凸块拨盘活动套接在近关节轴上,所述凸块拨盘与第一摆杆固接;所述限位凸块与基座固接;所述凸块拨盘与限位凸块相接触或离开一段距离;设第一指段靠向物体的转动方向为近关节正方向,第一指段远离物体的转动方向为近关节反方向;在该齿轮连杆传动平夹自适应机器人手指装置处于初始状态时,凸块拨盘与限位凸块接触,设此时凸块拨盘相对基座的旋转角度为O度,从该位置开始,凸块 Refers to the paragraph, the gear set including at least one or more gear meshing gears, the input gear of the gear set with the first gear, the gear output gear meshed with a second gear set; the first a swing lever near the articulation axis sleeved activity; the second swing link away sleeved joint in the shaft, the second swing link and the second finger section fixed; the first shaft in a first swing sleeved rod, said second shaft sleeved on the second swing lever, the link ends are sleeved on the first shaft and the second shaft; dial the bump activity in juxta-articular socket shaft, said bump dial fixedly connected with the first swing link; the limiting protrusion fixedly connected to the base; block dial stopper protrusion of the convex contact with or some distance away; a first set It refers to the direction of rotation of the object segment toward the positive direction near the joint, a first joint means near the opposite direction away from the rotation direction of the object into segments; robot finger when the apparatus is in an initial state level folder gear transmission link adaptation, the bump dial limiting bump contacts with the disc, is provided at this time the rotation angle of the bumps dial is O degrees relative to the base, starting from this position, the projection 拨盘朝近关节正方向旋转时的转动角度为正,凸块拨盘朝近关节反方向旋转时的转动角度为负;所述限位凸块限制凸块拨盘的转动角度只能为正;所述簧件的两端分别连接凸块拨盘和基座;通过齿轮组的传动,从第一齿轮到第二齿轮的传动是同向传动且传动比小于I;第一摆杆的长度与第二摆杆的长度相同;第一摆杆、连杆、第二摆杆和第一指段四者构成平行四连杆机构。 Dial rotational angle when rotated in the positive direction near the joint positive bump rotational angle of rotation of the dial towards the opposite direction near the joint is negative; the bump stop to limit a rotation angle of projection can only dial positive ; ends respectively of said spring member and a base dial connection bumps; via a transmission gear set, the drive from the first gear to the second gear and the transmission gear is in the same direction is less than I; a first rocker length and the length of the second rocker same; a first swing lever, the link, the first and second swing link constitute a parallel section refers to the four four-bar linkage mechanism.

[0008]本发明所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述驱动器米用电机、气缸或液压缸。 [0008] The level of the link drive gear of the present invention is an adaptive robot finger clip means, characterized in that: said drive motor meter, an air cylinder or a hydraulic cylinder.

[0009]本发明所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述簧件采用拉簧、压簧、片簧或扭簧。 [0009] The link drive gear of the present invention interposed flat adaptive robot finger means, wherein: said spring member using the extension spring, compression spring, a leaf spring or a torsion spring.

[0010]本发明所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述齿轮组包括第一过渡齿轮、第二过渡齿轮、第三过渡齿轮、第一中间轴、第二中间轴和第三中间轴;所述第一中间轴、第二中间轴和第三中间轴分别套设在第一指段中,所述第一过渡齿轮与第一齿轮啮合,所述第一过渡齿轮与第二过渡齿轮啮合,所述第二过渡齿轮与第三过渡齿轮啮合,所述第三过渡齿轮与第二齿轮啮合,所述第一过渡齿轮套接在第一中间轴上,所述第二过渡齿轮套接在第二中间轴上,所述第三过渡齿轮套接在第三中间轴上。 [0010] The link drive gear of the present invention interposed flat adaptive robot finger means, wherein: said gear set includes a first transmission gear, second transmission gear, the third transmission gear, a first intermediate shaft, a first a third second intermediate shaft and the intermediate shaft; the first intermediate shaft, a second intermediate shaft and the third intermediate shaft are arranged in a first sleeve segment means, the first transmission gear engaging with the first gear, said first a transmission gear meshed with the second transmission gear, the second transmission gear engaged with the third transmission gear, the third transmission gear engaging the second gear, the first transition gear sleeved on the first countershaft, the second transmission gear is sleeved on the second countershaft, a third transition gear is sleeved on the third intermediate shaft.

[0011]本发明与现有技术相比,具有以下优点和突出性效果: [0011] Compared with the prior art the present invention has the following advantages and effects projection of:

[0012]本发明装置利用驱动器、齿轮传动机构、连杆传动机构、簧件、凸块拨盘和限位凸块等综合实现了双关节机器人手指平行夹持及自适应抓取的功能,根据目标物体形状和位置的不同,既能平动第二指段捏持物体或外张撑取物体,也能依次转动第一指段和第二指段包络不同形状、大小的物体;该装置抓取范围大;采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统;该装置结构紧凑、体积小,制造和维护成本低,适用于机器人手。 [0012] The present invention, by driving means, a gear transmission mechanism, link drive mechanism, the spring member, a dial, and the bump stopper bumps integrated achieve a double articulated robot finger parallel gripper and gripping adaptation function, according to different shapes and positions of the target object, the second translation section refers to both grip the object or the object outside the sheets taken hold, it is possible to sequentially rotate the first finger and the second finger section of the envelope section of different body shapes and sizes; the apparatus crawl large range; using underactuated way, with a driver drives two joints, without complex sensing and control system; the apparatus compact structure, small size, low manufacturing and maintenance costs for the robot hand.

附图说明 BRIEF DESCRIPTION

[0013]图1是本发明设计的齿轮连杆传动平夹自适应机器人手指装置的一种实施例的立体外观图。 [0013] FIG. 1 is a design of the present invention, a gear transmission linkage interposed An adaptive flat finger perspective external view of a robot apparatus according to an embodiment.

[0014]图2是图1所示实施例的正面外观图。 [0014] FIG. 2 is a front external view of the embodiment shown in FIG.

[0015]图3是图1所示实施例的一个侧面外观图(图2的右视图)。 [0015] FIG. 3 is an external view of a side (a right side view of FIG. 2) of the embodiment shown in FIG.

[0016]图4是图1所示实施例的另一个侧面外观图(图2的左视图)。 [0016] FIG. 4 is an external view of the other side (left side view of FIG. 2) of the embodiment shown in FIG.

[0017] 图5是图2的AA剖视图。 [0017] FIG. 5 is a sectional view AA of FIG. 2.

[0018] 图6是图2的BB剖视图。 [0018] FIG. 6 is a sectional view BB of Figure 2.

[0019]图7是图1所示实施例的从一个角度观察的内部立体视图(未画出部分零件)。 [0019] FIG. 7 is an internal perspective view (some parts are not shown) embodiment embodiment shown in FIG. 1 as viewed from an angle.

[0020]图8是图1所示实施例的从另一个角度观察的内部立体视图(未画出部分零件)。 [0020] FIG. 8 is an internal perspective view (some parts are not shown) embodiment embodiment shown in Figure 1 viewed from another angle.

[0021]图9是图1所示实施例的正面外观图(未画出基座前板、基座表面板、第一指段前板、第一指段表面板)。 [0021] FIG. 9 is a front external view of the embodiment shown in Figure 1 (not shown front base plate, the surface of the base plate, a first finger section of the front plate, a first surface of the finger plate segment).

[0022]图10是图1所示实施例的爆炸视图。 [0022] FIG. 10 is an exploded view of the embodiment shown in Fig.

[0023]图11至图15是图1所示实施例在以包络握持的方式抓取物体的动作过程示意图。 [0023] Figures 11 to 15 is an embodiment schematic manner during the operation of gripping the object gripped envelope shown in Fig.

[0024]图16至图18是图1所示实施例抓取物体的另一种方式一一平行开合用第二指段夹持物体(称为平夹抓取)的动作过程示意图。 [0024] FIGS. 16 to 18 are shown in the embodiment in FIG. 1 of another embodiment of eleven parallel grasping an object refers to open a second clamping section schematic operation procedure of the object (referred to as flat gripping clamp) in combination.

[0025]图19至图21是图1所示实施例依次以平行开合及自适应包络抓取物体的动作过程中几个关键位置时,凸块拨盘、簧件与限位凸块的相对位置的变化情况。 [0025] FIGS. 19 to 21 are shown in FIG. 1 embodiment when sequentially opening and closing in a parallel and adaptive envelope during operation of grasping an object in several key positions, dial the bump, the bump stopper and the spring member change in the relative position.

[0026]图22是图13(或图18)的剖视图,剖切位置与图5相同。 [0026] FIG. 22 is a sectional view of FIG. 13 (or FIG. 18), FIG. 5 taken along the same position.

[0027]图23是图15的剖视图(未画物体),剖切位置与图5相同。 [0027] FIG. 23 is a cross-sectional view (not drawn object) of FIG. 15, taken along the same position as in FIG. 5.

[0028] 在图1至图23中: [0028] In FIGS. 1 to 23:

[0029] 1_基座, 111_基座前板, 112_基座后板, 113_基座左侧板, [0029] 1_ base, front base plate 111_, 112_ rear base plate, the base plate left 113_,

[0030] 114_基座右侧板,115_基座表面板, 116_基座底板, 2_第一指段, [0030] 114_ right side of the base plate, the surface of the base plate 115_, 116_ base plate, a first finger section 2_,

[0031] 21—第一指段骨架,22—第一指段左侧板,23—第一指段右侧板,24—第一指段表面板, [0031] 21 first refers to the backbone segment, the first finger 22- left side plate sections, a first section refers to the right side plate 23-, 24- first finger plate segment surface,

[0032] 25—第一指段前板,26—第一指段后板,3—第二指段, 4一近关节轴, [0032] The front plate section 25 of the first finger, the first finger 26- rear plate section, a second section refers to 3-, 4 near a joint axis,

[0033] 5—远关节轴, 6—第一齿轮, 61—第一过渡齿轮,62—第二过渡齿轮, [0033] 5- distal joint shafts, 6 of the first gear, first transmission gear 61-, 62- second transmission gear,

[0034] 63_第三过渡齿轮,611_第一中间轴, 621_第二中间轴, 631_第三中间轴, [0034] 63_ third transition gear, a first intermediate shaft 611_, 621_ second intermediate shaft, a third intermediate shaft 631_,

[0035] 7_第二齿轮, 8_齿轮组, 83_轴承, 84_套筒, [0035] 7_ second gear 8_ gear set, bearing 83_, 84_ sleeve,

[0036] 85_螺钉, 86_销钉, 9_第一摆杆, 91_第一轴, [0036] The screw 85_, 86_ pins, a first swing link 9_, 91_ first shaft,

[0037] 92_第二轴, 10_第二摆杆, 11_连杆, 12_凸块拨盘, [0037] The second shaft 92_, 10_ second swing lever, the link 11_, 12_ bumps dial,

[0038] 13_簧件, 14_驱动器(电机),141 —减速器, 142 —第一锥齿轮, [0038] The spring member 13_, 14_ drive (motor), 141-- reducer 142 - a first bevel gear,

[0039] 143_第二锥齿轮,144_过渡齿轮轴, 145_第一带轮, 146_第二带轮, [0039] 143_ second bevel gear, the transition gear shaft 144_, 145_ first pulley, the second pulley 146_,

[0040] 147 —传动带, 17 —物体, 18 —限位凸块。 [0040] 147 - the drive belt 17 - Objects, 18 - limit tabs.

具体实施方式 detailed description

[0041]下面结合附图及实施例进一步详细介绍本发明的具体结构、工作原理的内容。 [0041] Example embodiments further described particular structure of the present invention, the content of the working principle of the accompanying drawings and detailed below.

[0042]本发明设计的齿轮连杆传动平夹自适应机器人手指装置的一种实施例,如图1至图10所示,包括基座1、第一指段2、第二指段3、近关节轴4、远关节轴5和驱动器14;所述驱动器14与基座I固接;所述近关节轴4的中心线与远关节轴5的中心线平行。 [0042] The design of the present invention, a gear transmission linkage interposed An adaptive flat finger robot apparatus embodiment illustrated, includes a base 1, a first finger section 2 in FIG. 1 to FIG. 10, the second finger section 3, near the joint shaft 4, distal joint 14 and a drive shaft 5; and the driver 14 is fixed to the base I; axial centerline of the proximal joint and the distal joint axis 4 parallel to the center line 5. 本实施例还包括传动机构、第一齿轮6、第二齿轮7、齿轮组8、第一摆杆9、第二摆杆10、连杆11、第一轴91、第二轴92、凸块拨盘12、簧件13和限位凸块18;所述近关节轴4活动套设在基座I中;所述远关节轴5活动套设在第一指段2中;所述第一指段2套固在近关节轴4上;所述第二指段3套固在远关节轴5上;所述传动机构设置在基座I中;所述驱动器14的输出轴与传动机构的输入端相连;所述传动机构的输出端与第一齿轮6相连;所述第一齿轮6活动套接在近关节轴4上,所述第二齿轮7套接在远关节轴5上,第二齿轮7与第二指段3固接;所述齿轮组8安装在第一指段2中,所述齿轮组8包括至少一个齿轮或相啮合的多个齿轮,所述齿轮组8的输入齿轮与第一齿轮6啮合,所述齿轮组8的输出齿轮与第二齿轮7相啮合;所述第一摆杆9活动套接在近关节轴4上;所述第二摆杆10套接在远关节轴5 The present embodiment further includes a transmission mechanism, the first gear 6, the second gear 7, the gear set 8, a first pivot lever 9, a second swing link 10, link 11, the first shaft 91, second shaft 92, a bump dial 12, the spring member 13 and the stopper protrusion 18; near said joint sleeved shaft 4 in the base I; and the distal joint sleeved shaft 5 in the first finger section 2; the first 2 refers to a section near the joint sleeve fixed on the shaft 4; refers to the segment of the second sleeve 3 fixed in the distal joint axis 5; said transmission means provided in the base I; gear mechanism with an output shaft 14 of the drive input terminal; connected to the output of the transmission mechanism 6 with the first gear; activity of the first gear 6 is sleeved on the shaft 4 near the joint, the second gear 7 is sleeved on the distal joint shaft 5, 7 with the second gear section 3 is fixed to the second finger; the first gear set 8 is mounted in the finger section 2, the gear comprising at least one gear or more of the meshing gears of gear set input 8 sets, 8 gear meshing with the first gear 6, gearset 7 engages the output gear of the second gear 8; the first swing lever 9 activity sleeved on the shaft 4 near the joint; the second swing link 10 sleeved 5 at the distal joint axis ,第二摆杆10与第二指段3固接;所述第一轴91活动套设在第一摆杆9上,所述第二轴92活动套设在第二摆杆10上,所述连杆11的两端分别套接在第一轴91和第二轴92上;所述凸块拨盘12活动套接在近关节轴4上,所述凸块拨盘12与第一摆杆9固接;所述限位凸块18与基座I固接;所述凸块拨盘12与限位凸块18相接触或离开一段距离;设第一指段2靠向物体17的转动方向为近关节正方向(如图8中的顺时针方向),第一指段2远离物体17的转动方向为近关节反方向;在该齿轮连杆传动平夹自适应机器人手指装置处于初始状态(如图11、图19所示的伸直状态)时,凸块拨盘12与限位凸块18接触,设此时凸块拨盘12相对基座I的旋转角度为O度(如图16所示),从该位置开始,凸块拨盘12朝近关节正方向旋转时(小于180度)的转动角度为正,凸块拨盘12朝近关节反方向旋转时(小于180度)的转动角度为负 The second swing link 10 and the second finger section 3 fastened; the first shaft 91 sleeved on the first pivot lever 9, the second shaft 92 sleeved on the second swing link 10, the both ends of said link 11 are sleeved on the first shaft 91 and second shaft 92; the activity bump dial 12 is sleeved on the shaft 4 near the joint, the dial 12 and the first bump posing lever 9 fixed; the limiting bump 18 and the fixed base I; the bump dial 1218 in contact with or at a distance away from the stopper protrusion; a first finger section 2 is provided toward the object 17 direction of rotation of the joint near the positive direction (clockwise direction in FIG. 8), a first section 2 refers to the direction of rotation is away from the object 17 in the opposite direction near the joint; robot finger means of the gear transmission link adaptation in an initial clamp level state (FIG. 11, the straightened state shown in FIG. 19), the bump 12 in contact with the dial stopper protrusion 18, the dial 12 at this time was bumps rotation angle relative to the base I is O degrees (e.g. as shown in FIG. 16), starting from this position, the projection 12 towards the dial when the positive direction of rotation near the joint rotation angle (less than 180 degrees) is positive, the dial 12 is moved toward the bump near joints in the opposite direction of rotation (less than 180 degrees ) a negative angle of rotation ;所述限位凸块18限制凸块拨盘12的转动角度只能为正,即凸块拨盘12只能沿着如图17所示的箭头指示方向转动。 ; The limiting protrusion 18 dial rotational angle restricting projection 12 can only be positive, i.e., bumps dial 12 indicated by an arrow shown only in FIG. 17 along the direction of rotation. 所述簧件13的两端分别连接凸块拨盘12和基座I,簧件13使凸块拨盘12靠向限位凸块18;通过齿轮组8的传动,从第一齿轮6到第二齿轮7的传动是同向传动且传动比小于I,即为增速传动;第一摆杆9的长度与第二摆杆10的长度相同;第一摆杆9、连杆11、第二摆杆10和第一指段2四者构成平行四连杆机构。 Both ends of the spring member 13 are respectively connected to bumps 12 and the dial base I, the bumps 13 spring member 12 toward the dial stopper protrusion 18; 8, by gear sets, the first gear 6 to a second drive gear 7 and the transmission gear is in the same direction is less than I, that is, overdrive; length of the first pivot lever 9 and the length of the second swing link 10 is the same; a first swing link 9, the link 11, two swing rod 10 and the four first finger section 2 constitute a parallel link mechanism.

[0043]本发明所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述驱动器14采用电机、气缸或液压缸。 [0043] The level of the link drive gear of the present invention means interposed adaptive robot finger, characterized in that: the drive motor 14 using, pneumatic or hydraulic cylinders. 所述簧件采用拉簧、压簧、片簧或扭簧。 The spring member using the extension spring, compression spring, a leaf spring or a torsion spring. 本实施例中,所述驱动器14采用电机;所述簧件13采用拉簧。 In this embodiment, the motor driver 14 employed; the spring member 13 using a tension spring.

[0044]本实施例中,所述齿轮组8包括第一过渡齿轮61、第二过渡齿轮62、第三过渡齿轮63、第一中间轴611、第二中间轴621和第三中间轴631;所述第一中间轴611、第二中间轴621和第三中间轴631分别套设在第一指段2中,所述第一过渡齿轮61与第一齿轮6啮合,所述第一过渡齿轮61与第二过渡齿轮62啮合,所述第二过渡齿轮62与第三过渡齿轮63啮合,所述第三过渡齿轮63与第二齿轮7啮合,所述第一过渡齿轮61套接在第一中间轴611上,所述第二过渡齿轮62套接在第二中间轴621上,所述第三过渡齿轮63套接在第三中间轴631上。 [0044] In this embodiment, the gear set 8 includes a first transmission gear 61, second transmission gear 62, the third transmission gear 63, a first intermediate shaft 611, the second intermediate shaft 621 and the third intermediate shaft 631; the first intermediate shaft 611, the second intermediate shaft 621 and the third intermediate shaft 631 are arranged in a first set of fingers section 2, the first transition gear 61 meshed with the first gear 6, the first transition gear 61 and the second transition gear 62, the second transmission gear 62 meshes with the third transmission gear 63, the third transmission gear 63 meshes with the second gear 7, the first gear 61 is sleeved on the first transition on the intermediate shaft 611, the second transmission gear 62 is sleeved on the second intermediate shaft 621, the third transmission gear 63 is sleeved on the third intermediate shaft 631.

[0045]本实施例中,所述基座I包括固接在一起的基座前板111、基座后板112、基座左侧板113、基座右侧板114、基座表面板115和基座底板116。 [0045] In this embodiment, the base includes a front plate I with a base 111 secured to the plate 112, the left side of the base plate 113, the right side of the base plate 114, the base surface of the rear base plate 115 and the base plate 116. 本实施例中,所述第一指段2包括固接在一起的第一指段骨架21、第一指段左侧板22、第一指段右侧板23、第一指段表面板24、第一指段前板25和第一指段后板26。 In this embodiment, the first finger comprising a first section 2 refers to the solid backbone segment 21 together, the left side plate 22 of the first finger section, the first section refers to the right side plate 23, a first surface of the finger plate section 24 , first finger 25 and a rear plate section of the front section of the first plate means 26.

[0046]本实施例中,所述传动机构包括减速器141,第一锥齿轮142、第二锥齿轮143、过渡齿轮轴144、第一带轮145、第二带轮146和传动带147;所述电机14的输出轴与减速器141的输入轴相连,所述第一锥齿轮142套固在减速器141的输出轴上,所述第二锥齿轮143套固在过渡齿轮轴144上,所述第一锥齿轮142与第二锥齿轮143啮合;所述过渡齿轮轴144套设在基座I中,所述第一带轮145套固在过渡齿轮轴144上,所述第二带轮146活动套接在近关节轴4上,所述第二带轮146与第一齿轮6固接,所述传动带147连接第一带轮145和第二带轮146,所述传动带147、第一带轮145和第二带轮146形成带轮传动关系,所述传动带呈“O”字形。 [0046] In this embodiment, the transmission mechanism comprises a reduction gear 141, a first bevel gear 142 second bevel gear 143, the transmission gear shaft 144, a first pulley 145, second pulley 146 and belt 147; the the input shaft of the motor output shaft 14 and the gear unit 141 is connected to the first bevel gear 142 fixed sleeve 141 in the speed reducer output shaft, the transmission gear 143 sleeve fixed in said second bevel gear shaft 144, the said first bevel gear 142 meshing with the second bevel gear 143; the transition gear shaft 144 provided in the sleeve base I, the first pulley 145 fixed on the transition gear sleeve shaft 144, the second pulley activities 146 sleeved on the shaft 4 near the joint, the second pulley 146 is fixed to the first gear 6, the drive belt 147 connects the first pulley 145 and second pulley 146, a belt 147, a first pulley 145 and second pulley 146 are formed the pulley relation, the belt was "O" shape.

[0047] 本实施例还采用了若干轴承83、若干套筒84、若干螺钉85和若干销钉86等零件,属于公知常用技术,不赘述。 [0047] The present embodiment also uses a plurality of bearings 83, a plurality of sleeve 84, a plurality of pins 86 and a plurality of screws 85 and other parts, are well-known common technique, not described herein.

[0048] 本实施例的工作原理,结合附图11至图23,叙述如下: [0048] The working principle of the present embodiment, 11 to 23 in conjunction with the accompanying drawings, described as follows:

[0049]凸块拨盘12转角与第二指段3运动的关系介绍如下: 12 refers to the relationship between rotation angle and the second movement segment 3 [0049] Scroll bumps described below:

[0050]本实施例中,将初始位置设置为手指伸直的状态(如图11所示)。 [0050] In this embodiment, the initial position is set to the straight state of the finger (Figure 11). (也可以将初始位置设置为其他位置。) (An initial position may be set to another position.)

[0051] a)当凸块拨盘12的旋转角度为O度时(如图19所示),由于凸块拨盘12与第一摆杆9固接,所以第一摆杆9相对基座I的位置不变,由于第一摆杆9、连杆11、第二摆杆10和第一指段2四者构成平行四连杆机构,第一摆杆9与第二摆杆10的长度相同,传动比为I,无论第一指段2处于何位置,第二摆杆10始终与第一摆杆9平行,在连杆11的作用下,当第一摆杆9不动时,第二摆杆10相对基座I的只进行平移运动而不会旋转,由于第二摆杆10与第二指段3固接,所以第二指段3相对基座I只进行平移运动而不会旋转。 [0051] a) when the rotation angle of the dial 12 the bump is O degrees (FIG. 19), since the projection 12 and the dial 9 is fixed to the first pivot lever, the first swing rod 9 relative to the base I in the same position, the first pivot lever 9, link 11, the first and second swing link 10 refers to the four segments 2 constitute a parallel link mechanism, the length of the swing lever 9 and the second 10 of the first swing link same, the transmission ratio is I, and the first finger section 2 regardless of the location of the second pivot lever 10 is always parallel to the first pivot lever 9, under the action of the link 11, when the first pivot lever 9 does not move, the first two swing lever 10 relative to the base I is only translational movement without rotation, since the second swing link 10 and the second fixed finger section 3, the second finger 3 relative to the base segment I only translational movement without rotation.

[0052] b)当凸块拨盘12的旋转角度为正时,在连杆11的作用下,第二摆杆10的旋转角度等于第一摆杆9的转角,即等于凸块拨盘12的转角。 [0052] b) When the dial is rotated angle of the bump 12 is positive, the action of the link 11, the rotation angle of the second swing lever 10 is equal to a first angle of the pendulum 9, which is equal to the bump dial 12 corner.

[0053]当本实施例抓取物体17时,驱动器14通过传动机构的传动,使得第一齿轮6正转,第一齿轮6相对基座I的转角为α。 [0053] When the present embodiment, gripping an object 17, the drive mechanism 14 via a transmission gear, the first gear 6 such that the normal rotation angle relative to the base 6 of the first gear I is α. 在齿轮组8的作用下,第一齿轮6相对第一指段2的转角与第二齿轮7相对第一指段2的转角有一定比例的关系。 8 under the action of the gear set, the first gear 6 relative to the first finger angle and the second gear 7 relative to the first section 2 refers to the corner section 2 a certain percentage relationship. 设从第一齿轮6通过齿轮组8传动到第二齿轮7的传动比为i,该传动比是第一齿轮6的转速(相对于第一指段2)与第二齿轮7的转速(相对于第一指段2)之比。 6 provided from the first gear via a gear train 8 to the transmission drive ratio of the second gear 7 is i, the rotational speed of the transmission ratio of the first gear 6 (with respect to the first finger section 2) and the speed of the second gear 7 (relative It refers to the first section 2) ratio. 由于传动比i小于I,因此是增速传动,输出速度大于输入速度。 Since the transmission ratio i is less than I, therefore overdrive, the output speed is greater than the input speed. 设第一指段2绕近关节轴4的转角为δ。 First means disposed near the joint section 2 about axis 4 of rotation angle δ. 由于第二齿轮7与第二指段3固接,而第二指段3相对于基座I没有发生转动,因此此时第二齿轮7也就相对于基座I没有发生转动,于是可以推导得出本实施例装置将平衡于满足如下(公式I)的位置: Since the second gear 7 and the second finger section 3 is fixed to the second segment means with respect to the base 3 does not occur I rotated, so at this time there is a second gear 7 is rotated relative to the base I did not happen, can then be derived the apparatus of this embodiment results in the equilibrium position satisfies the following (formula I):

[0054] α = δ(1-ΐ)(公式I) [0054] α = δ (1-ΐ) (Formula I)

[0055]由于i小于I,可以求出一个α和δ分别为正的不同角度(其中α小于δ)。 [0055] Since i is less than I, and α can be obtained a positive [delta], respectively at different angles (α which is less than δ). 因此当驱动器14通过传动机构的传动,第一齿轮6转动了一个角度α,此时,第一指段2绕近关节轴4转过了一个角度I第二指段3相对于基座I始终是同一个姿态,只是位置发生了变化。 Therefore, when the drive gear 14 via a transmission mechanism, the first gear 6 is rotated by an angle [alpha], In this case, the first finger section 2 is rotated about the shaft 4 near the joint of the second finger at an angle I with respect to the base section 3 always I attitude is the same, but the location has changed. 这是平行夹持的阶段(如图11、图12、图13、图16、图17、图18、图19、图21)。 This is sandwiched between the parallel stages (11, FIG 12, FIG 13, FIG 16, FIG 17, FIG 18, FIG 19, FIG. 21). 这一阶段适合以第二指段3去夹持物体17,或者通过外张的方式用第二指段3去从内向外打开的方式外张撑取物体17。 This section refers to the second stage for holding the object 3 to 17, or by way of a second flared outer section 3 refers to open from the inside toward outside the object to take hold 17 sheets. 例如一个空心圆柱筒的拿取,从该物体的内侧向外张开撑住筒壁,从而拿取物体。 For example, a hollow cylinder to pick up tube, flared outwardly from the inner cylindrical wall of the grabbed object, and thus pick up the object.

[0056]当第一指段2接触物体17而被物体17阻挡不能再转动,将进入自适应包络的第二阶段(如图14、图15、图20和图23所示),这时驱动器14通过传动机构的传动,带动第一齿轮6,使固接在一起的第二指段3、第二齿轮7和第二摆杆10同时绕远关节轴5转动,通过连杆11带动第一摆杆9和凸块拨盘12绕近关节轴4转动,簧件13发生变形(如图13、图19所示),此时第二指段3会绕远关节轴5的中心线继续转动,直到第二指段3接触物体17为止,完成自适应包络抓取物体的效果。 [0056] When the first finger section 2 in contact with the object 17 the object 17 is blocked from further rotation, will enter the second stage of the adaptive envelope (14, 15, 20 and 23), then driver 14 via a transmission gear mechanism, a first driven gear 6, the second finger section 3, a second gear 7 swing lever 10 and the second joint shaft 5 is rotated while the detour fixed together by a first rod driven 11 9 pivot lever 12 and the bump dial 4 is rotated about the shaft near the joint, the spring member 13 is deformed (FIG. 13, FIG. 19), a second case refers to the segment center line of the joint 3 will detour continued rotation of the shaft 5, section 3 until the second finger 17 in contact with the object so far, the effect of performing adaptive packet envelope grasping the object. 针对不同形状、大小的物体,本实施例具有自适应性,能够抓取多种物体。 For different shapes and sizes of the object, the present embodiment has adaptive are capable of gripping a variety of objects.

[0057]图11至图15是图1所示实施例以包络握持的方式抓取物体17的动作过程示意图,其中,图11为初始状态,图11至图13为第一指段2接触到物体17之前的动作过程一一平行开合方式动作,图13为第一指段2刚接触到物体的情况,图13至图15为第一指段2接触到物体17之后的动作过程一一自适应包络物体,直到第二指段3接触物体,如图15所示,抓取结束。 [0057] FIGS. 11 through 15 are shown in the embodiment of Figure 1 so as to grip the gripping action of the envelope 17 is a schematic view of the process object, wherein an initial state of FIG. 11, FIGS. 11 to 13 is a first finger section 2 before contacting the object 17 during operation eleven parallel to the opening and closing operation mode, 13 is a first section 2 refers to the case where the object of the fourth year, 13 to 15 is a first finger section 2 in contact with the object 17 during operation after eleven adaptive envelope object, until the object in contact with the second finger section 3, shown in Figure 15, gripping end.

[0058]图16至图18是图1所示实施例抓取物体17的另一种可能方式一一平行捏持物体的典型动作过程,直到第二指段3接触物体17,如图18所示,抓取结束。 [0058] FIGS. 16 to 18 are shown in the embodiment of FIG. 17 grasping an object Another possibility eleven parallel kneading process operation typically hold the object, section 3 until the second finger 17 contacts the object, FIG. 18 shown, gripping end.

[0059]图19至图21是图1所示实施例依次以平行开合及自适应包络抓取物体的动作过程中的几个关键位置,展示出凸块拨盘12与限位凸块18的相对位置的变化情况:I)图19所示的情况是图11、图12、图13、图16、图17和图18情况时,凸块拨盘的位置情况,此时本实施例处在初始位置或者仅弯曲了第一指段,簧件13使凸块拨盘12与限位凸块18相接触,第二指段3处于相对于基座I的固定姿态(例如本实施例中的竖直的初始姿态),这种情况一直持续到图18的夹持抓取结束,或者持续到图13的包络抓取开始;2)图20对应于图14的情况,此时本实施例的第一指段2已经接触到物体17被阻挡而不能运动,在驱动器14的驱动作用下,通过传动机构、第一齿轮6、齿轮组8和第二齿轮7的传动,第二指段3已经绕远关节轴5转动一个角度(相对于基座I转动),第二指段3已经不再保持原来竖直的初始姿 [0059] FIGS. 19 to 21 are shown in the embodiment in FIG. 1 sequentially opening and closing in a parallel and adaptive envelope several key positions during the operation of gripping an object, exhibiting the dial 12 and the bump stopper protrusion changes in relative position 18: I) 19 is the case shown in FIG 11, FIG 12, FIG 13, FIG 16, when the case of FIG. 17 and FIG. 18, the position where the bumps of the dial, this embodiment of the case or only in the initial position the first finger is bent section, spring member 13 so that the dial 12 and the stopper projection 18 comes into contact bumps, the second finger section 3 at a fixed attitude with respect to the base I (e.g., the present embodiment the vertical initial posture), this situation continued until the end gripping nip 18, or until the packet network of FIG. 13 starts to crawl; 2) in FIG. 20 corresponds to the case of FIG. 14, in which case the present Example 2 first finger section 17 has contacted the object is blocked from movement, by actuation of the drive 14, via the transmission mechanism, the first gear 6, the drive gear 8 and the second gear set 7, a second finger the joint section 3 has a detour shaft 5 is rotated by an angle (rotation relative to the base I), a second section 3 refers to no longer maintain the original vertical posture initial 态,通过第二摆杆 State, the second swing link

10、连杆11、第一摆杆9和凸块拨盘12,,拉动簧件12发生了变形,凸块拨盘12离开了原来一直接触的限位凸块18; 3)图21对应于图15、图23的情况,此时本实施例完成对物体的两个指段的接触——实现自适应包络抓取,对不同形状尺寸的物体能够自动包络抓取,抓取稳定;与图20的情况相比,图23中的凸块拨盘12转动到了更大的角度,离开限位凸块18更远的距离,第二指段3也转动了与凸块拨盘12的转角相同的角度。 10, link 11, the first pivot lever 9 and the bump pull dial 12 ,, spring member 12 is deformed, the dial 12 away from the bump stopper protrusion 18 had been in contact; 3) corresponds to 21 in FIG. 15, the case of FIG. 23, the present embodiment is completed at this time the contact section refers to two objects - the adaptive envelope gripping of objects of different shape and size can be automatically fetch envelope, stable gripping; compared with the case of FIG. 20, the bump 23 in FIG dial 12 is rotated to a greater angle, farther away from the stopper projection 18 from the second finger section 3 to rotate the dial 12 and the bumps the same corner angle.

[0060]释放物体17的过程:驱动器14反转,后续过程与上述抓取物体17的过程刚好相反, Process [0060] The release of the object 17: the drive 14 is reversed during the subsequent process of the above-described object 17 opposite gripping,

不赘述。 Not repeat them here.

[0061]本发明装置利用驱动器、齿轮传动机构、连杆传动机构、簧件、凸块拨盘和限位凸块等综合实现了双关节机器人手指平行夹持及自适应抓取的功能,根据目标物体形状和位置的不同,既能平动第二指段捏持物体或外张撑取物体,也能依次转动第一指段和第二指段包络不同形状、大小的物体;该装置抓取范围大;采用欠驱动的方式,利用一个驱动器驱动两个关节,无需复杂的传感和控制系统;该装置结构紧凑、体积小,制造和维护成本低,适用于机器人手。 [0061] The present invention, by driving means, a gear transmission mechanism, link drive mechanism, the spring member, a dial, and the bump stopper bumps integrated achieve a double articulated robot finger parallel gripper and gripping adaptation function, according to different shapes and positions of the target object, the second translation section refers to both grip the object or the object outside the sheets taken hold, it is possible to sequentially rotate the first finger and the second finger section of the envelope section of different body shapes and sizes; the apparatus crawl large range; using underactuated way, with a driver drives two joints, without complex sensing and control system; the apparatus compact structure, small size, low manufacturing and maintenance costs for the robot hand.

Claims (4)

  1. 1.一种齿轮连杆传动平夹自适应机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴和驱动器;所述驱动器与基座固接;所述近关节轴的中心线与远关节轴的中心线平行;其特征在于:该齿轮连杆传动平夹自适应机器人手指装置还包括传动机构、第一齿轮、第二齿轮、齿轮组、第一摆杆、第二摆杆、连杆、第一轴、第二轴、凸块拨盘、簧件和限位凸块;所述近关节轴活动套设在基座中;所述远关节轴活动套设在第一指段中;所述第一指段套接在近关节轴上;所述第二指段套接在远关节轴上;所述传动机构设置在基座中;所述驱动器的输出轴与传动机构的输入端相连,所述传动机构的输出端与第一齿轮相连;所述第一齿轮活动套接在近关节轴上,所述第二齿轮套接在远关节轴上,第二齿轮与第二指段固接;所述齿轮组安装在第一指段中,所述 1. A gear transmission link adaptation level clamp finger means robot comprising a base, a first finger section, the second finger section, near the joint shaft, and the distal joint drive shaft; and a drive fixed base; the the center line of said near-distal joint axis parallel to the joint axis; wherein: the gear transmission link level adaptive robot finger clip means further comprises a drive mechanism, the first gear, second gear, a gear set, a first pendulum, a second swing lever, the link, a first shaft, a second shaft, the dial protrusion, and a spring member stopper protrusion; the proximal shaft sleeved joint in the base; the distal joint axis sleeved in a first finger section; said first section refers to the juxta-articular socket shaft; refers to the segment of the second joint axis in the socket away; the transmission mechanism is provided in the base; the input shaft and the output drive transmission mechanism connected to the output terminal of the transmission with the first gear means; said first active gear sleeved joint shaft near the second distal joint shaft gear sleeved a second gear fixed to the second finger section; said first gear set mounted in the finger section, the 轮组包括至少一个齿轮或相啮合的多个齿轮,所述齿轮组的输入齿轮与第一齿轮嗤合,所述齿轮组的输出齿轮与第二齿轮相嗤合;所述第一摆杆活动套接在近关节轴上;所述第二摆杆套接在远关节轴上,第二摆杆与第二指段固接;所述第一轴活动套设在第一摆杆上,所述第二轴活动套设在第二摆杆上,所述连杆的两端分别套接在第一轴和第二轴上;所述凸块拨盘活动套接在近关节轴上,所述凸块拨盘与第一摆杆固接;所述限位凸块与基座固接;所述凸块拨盘与限位凸块相接触或离开一段距离;设第一指段靠向物体的转动方向为近关节正方向,第一指段远离物体的转动方向为近关节反方向;在该齿轮连杆传动平夹自适应机器人手指装置处于初始状态时,凸块拨盘与限位凸块接触,设此时凸块拨盘相对基座的旋转角度为O度,从该位置开始,凸块拨盘朝近关节正 Wheel set comprises at least a plurality of gears or gear engaged, the input gear of the gear set is engaged with the first gear laugh, the output gear of the gear set with the second gear engaged laugh; the first swing link activity sleeved shaft near the joint; the second swing link away sleeved joint axis, the second swing link and the second finger section fixed; the first shaft sleeved in a first swing lever, the said second shaft sleeved on the second swing lever, the link ends are sleeved on the first shaft and the second shaft; dial the bump activity sleeved shaft near the joint, the said bumps dial fixedly connected with the first swing link; the limiting protrusion fixedly connected to the base; block dial stopper protrusion of the convex contact with or some distance away; refers to a first section disposed toward the rotation direction of the object is near the joint positive direction, the first finger joint near the opposite direction away from the rotation direction of the object into segments; robot finger when the apparatus is in an initial state level folder gear transmission link adaptation, the limiting bump dial bump contacts, dial bumps disposed relative to the base case of the rotation angle of O °, starting from this position, the projection toward the near articulation dial n 向旋转时的转动角度为正,凸块拨盘朝近关节反方向旋转时的转动角度为负;所述限位凸块限制凸块拨盘的转动角度只能为正;所述簧件的两端分别连接凸块拨盘和基座;通过齿轮组的传动,从第一齿轮到第二齿轮的传动是同向传动且传动比小于I;第一摆杆的长度与第二摆杆的长度相同;第一摆杆、连杆、第二摆杆和第一指段四者构成平行四连杆机构。 The rotation angle of the rotation is positive, the rotation angle of the bump when the dial is rotated in a reverse direction near the joint is negative; the bump stop to limit a rotation angle of the bump dial only be positive; and the spring member two ends and a base dial connection bumps; via a transmission gear set, the drive from the first gear to the second gear is the same and the transmission gear ratio less than I; the first length to the second rocker pendulum the same length; a first swing lever, the link, the first and second swing link constitute a parallel section refers to the four four-bar linkage mechanism.
  2. 2.如权利要求1所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述驱动器米用电机、气缸或液压缸。 2. The level of the link drive gear as claimed in claim 1, adaptive robot finger clamp means, characterized in that: said drive motor meter, an air cylinder or a hydraulic cylinder.
  3. 3.如权利要求1所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述簧件采用拉簧、压簧、片簧或扭簧。 Gear transmission link level according to claim 1 interposed adaptive robot finger means, wherein: said spring member using the extension spring, compression spring, a leaf spring or a torsion spring.
  4. 4.如权利要求1所述的齿轮连杆传动平夹自适应机器人手指装置,其特征在于:所述齿轮组包括第一过渡齿轮、第二过渡齿轮、第三过渡齿轮、第一中间轴、第二中间轴和第三中间轴;所述第一中间轴、第二中间轴和第三中间轴分别套设在第一指段中,所述第一过渡齿轮与第一齿轮啮合,所述第一过渡齿轮与第二过渡齿轮啮合,所述第二过渡齿轮与第三过渡齿轮啮合,所述第三过渡齿轮与第二齿轮啮合,所述第一过渡齿轮套接在第一中间轴上,所述第二过渡齿轮套接在第二中间轴上,所述第三过渡齿轮套接在第三中间轴上。 4. The gear transmission level of the link holder of claim 1, adaptive robot finger means, wherein: said gear set includes a first transmission gear, second transmission gear, the third transmission gear, a first intermediate shaft, a second intermediate shaft and the third intermediate shaft; the first intermediate shaft, a second intermediate shaft and the third intermediate shaft are arranged in a first sleeve segment means, the first transmission gear engaging with the first gear, said the first transmission gear meshing with the second transmission gear meshes with the third transmission gear of said second transmission gear, the third transmission gear meshed with the second gear, the first transition gear sleeved on the first countershaft said second transmission gear is sleeved on the second countershaft, a third transition gear is sleeved on the third intermediate shaft.
CN 201610153573 2016-03-17 2016-03-17 Gear-connecting bar driving parallel-clamping self-adaptive robot finger device CN105798944A (en)

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CN106346499A (en) * 2016-08-31 2017-01-25 清华大学 Crank rocker dynamic-gear-train straight-line parallel-clamping self-adaptive finger device

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