CN105798944B - The flat folder adaptive robot finger apparatus of gear connecting rod transmission - Google Patents

The flat folder adaptive robot finger apparatus of gear connecting rod transmission Download PDF

Info

Publication number
CN105798944B
CN105798944B CN201610153573.7A CN201610153573A CN105798944B CN 105798944 B CN105798944 B CN 105798944B CN 201610153573 A CN201610153573 A CN 201610153573A CN 105798944 B CN105798944 B CN 105798944B
Authority
CN
China
Prior art keywords
gear
segment
convex block
driver plate
joint shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610153573.7A
Other languages
Chinese (zh)
Other versions
CN105798944A (en
Inventor
张文增
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Original Assignee
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN201610153573.7A priority Critical patent/CN105798944B/en
Publication of CN105798944A publication Critical patent/CN105798944A/en
Application granted granted Critical
Publication of CN105798944B publication Critical patent/CN105798944B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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 flat folder adaptive robot finger apparatus of gear connecting rod transmission, belongs to robot technical field, including pedestal, two segments, two joint shafts, driver, multiple gears, multiple connecting rods, convex block driver plate, spring part and spacing block set etc..The device utilizes driver, gear drive, jointed gear unit, 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

The flat folder adaptive robot finger apparatus of gear connecting rod transmission
Technical field
The invention belongs to robot technical field, more particularly to a kind of flat folder adaptive robot hand of gear connecting rod transmission Refer to the structure design of device.
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, it is adaptive to provide a kind of flat folder of gear connecting rod transmission Answer robot finger apparatus.The device has a variety of grasp modes, and second segment that can be translatable clamping object also can be rotated successively The object of 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 processed.
Technical scheme is as follows:
The flat folder adaptive robot finger apparatus of a kind of gear connecting rod transmission that the present invention designs, refers to including pedestal, first Section, the second segment, nearly joint shaft, remote joint shaft and driver;The driver and pedestal are affixed;The center of the nearly joint shaft The centerline parallel of line and remote joint shaft;It is characterized in that:The flat folder adaptive robot finger apparatus of gear connecting rod transmission is also Including transmission mechanism, first gear, second gear, gear set, the first swing rod, the second swing rod, connecting rod, first axle, the second axis, 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 first In segment;First segment is socketed on nearly joint shaft;Second segment is socketed on remote joint shaft;The transmission mechanism It 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 with First gear is connected;The first gear is actively socketed on nearly joint shaft, and the second gear is socketed on remote joint shaft, the Two gears and the second segment are affixed;The gear set be mounted on the first segment in, the gear set include at least one gear or The multiple gears being meshed, the input gear of the gear set are engaged with first gear, the output gear of the gear set and Two gears are meshed;First swing rod is actively socketed on nearly joint shaft;Second swing rod is socketed on remote joint shaft, the Two swing rods and the second segment are affixed;The first axle is movably set on the first swing rod, and second axis is movably set in second On swing rod, the both ends of the connecting rod are socketed in respectively in first axle and the second axis;The convex block driver plate is actively socketed on nearly joint On axis, the convex block driver plate and the first swing rod are affixed;The spacing block set and pedestal are affixed;The convex block driver plate and spacing block set It is in contact or stands away;If the rotation direction that the first segment is close to object is nearly joint positive direction, the first segment is separate The rotation direction of object is nearly joint negative direction;Flat folder adaptive robot finger apparatus, which is driven, in the gear connecting rod is in initial 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, from the position Start, 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 be negative;The rotational angle of the spacing block set limitation convex block driver plate is only just;The both ends difference of the spring part Connect convex block driver plate and pedestal;By the transmission of gear set, the transmission from first gear to second gear is co-rotating transmission and biography Dynamic ratio is less than 1;The length of first swing rod is identical with the length of the second swing rod;First swing rod, connecting rod, the second swing rod and the first segment Four form parallel four-bar linkage.
The flat folder adaptive robot finger apparatus of gear connecting rod transmission of the present invention, it is characterised in that:The driving Device uses motor, cylinder or hydraulic cylinder.
The flat folder adaptive robot finger apparatus of gear connecting rod transmission of the present invention, it is characterised in that:The spring part Using tension spring, compression spring, leaf spring or torsional spring.
The flat folder adaptive robot finger apparatus of gear connecting rod transmission of the present invention, it is characterised in that:The gear Group is included among First Transition gear, the second transition gear, third transition gear, the first jackshaft, the second jackshaft and third Axis;First jackshaft, the second jackshaft and third jackshaft are respectively sleeved in the first segment, the First Transition gear It is engaged with first gear, the First Transition gear is engaged with the second transition gear, second transition gear and third transition Gear engages, and the third transition gear is engaged with second gear, and the First Transition gear is socketed on the first jackshaft, institute It states the second transition gear to be socketed on the second jackshaft, the third transition gear is socketed on third jackshaft.
Compared with prior art, the present invention it has the following advantages and high-lighting effect:
Apparatus of the present invention utilize driver, gear drive, jointed gear unit, spring part, convex block driver plate and limit convex The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as block, according to target object shape and position The difference put, can be translatable the second segment grip object or outer support takes object, can also rotate the first segment and second successively and refer to The object of section envelope different shapes and sizes;Device crawl range is big;By the way of drive lacking, driven using a driver Two joints are moved, without complicated sensing and control system;The apparatus structure is compact, small, and manufacture is low with maintenance cost, fits For robot.
Description of the drawings
Fig. 1 is a kind of the vertical of embodiment of the flat folder adaptive robot finger apparatus of gear connecting rod transmission that the present invention designs Body outside drawing.
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 sectional view of Figure 13 (or Figure 18), and slice location is identical with Fig. 5.
Figure 23 is the sectional view (not drawing object) of Figure 15, and slice location is identical with Fig. 5.
In Fig. 1 to Figure 23:
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, 24- first refer to Segment table panel,
25- the first segment foreboards, 26- the first segment back plates, the second segments of 3-, the nearly joint shafts of 4-,
The remote joint shafts of 5-, 6- first gears, 61- First Transition gears, the second transition gears of 62-,
63- third transition gears, the first jackshafts of 611-, the second jackshafts of 621-, 631- third jackshafts,
7- second gears, 8- gear sets, 83- bearings, 84- sleeves,
85- screws, 86- pins, the first swing rods of 9-, 91- first axles,
The second axis of 92-, the second swing rods of 10-, 11- connecting rods, 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, 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.
A kind of embodiment of the flat folder adaptive robot finger apparatus of gear connecting rod transmission that the present invention designs, such as Fig. 1 extremely 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 driving 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 biography Motivation structure, first gear 6, second gear 7, gear set 8, the first swing rod 9, the second swing rod 10, connecting rod 11, first axle 91, second Axis 92, 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 Axis 5 is movably set in the first segment 2;First segment 2 is fixed on nearly joint shaft 4;Second segment 3 is fixed in far On joint shaft 5;The transmission mechanism is arranged in pedestal 1;The output shaft of the driver 14 and the input terminal phase of transmission mechanism Even;The output terminal of the transmission mechanism is connected with first gear 6;The first gear 6 is actively socketed on nearly joint shaft 4, institute It states second gear 7 to be socketed on remote joint shaft 5, second gear 7 and the second segment 3 are affixed;The gear set 8 is mounted on first and refers to In section 2, the gear set 8 includes at least one gear or multiple gears for being meshed, the input gear of the gear set 8 and the One gear 6 engages, and the output gear of the gear set 8 is meshed with second gear 7;First swing rod 9 is actively socketed on closely On joint shaft 4;Second swing rod 10 is socketed on remote joint shaft 5, and the second swing rod 10 and the second segment 3 are affixed;Described first Axis 91 is movably set on the first swing rod 9, and second axis 92 is movably set on the second swing rod 10, the both ends of the connecting rod 11 It is socketed in respectively on 91 and second axis 92 of first axle;The convex block driver plate 12 is actively socketed on nearly joint shaft 4, and the convex block is dialled Disk 12 and the first swing rod 9 are affixed;The spacing block set 18 and pedestal 1 are affixed;The convex block driver plate 12 connects with spacing block set 18 It touches or stands away;If the rotation direction that the first segment 2 is close to object 17 is the nearly joint positive direction (up time in such as Fig. 8 Needle direction), the first rotation direction of the segment 2 far from object 17 is nearly joint negative direction;It is adaptive that flat folder is driven in the gear connecting rod When answering the robot finger apparatus to be in original state (straight configuration as shown in Figure 11, Figure 19), convex block driver plate 12 and limit convex Block 18 contacts, convex since the position if the rotation angle of 12 opposite base 1 of convex block driver plate is 0 degree (as shown in figure 16) at this time Block driver plate 12 towards nearly joint positive direction rotate when (be less than 180 degree) rotational angle for just, convex block driver plate 12 is towards nearly joint negative side It is negative to the rotational angle for (being less than 180 degree) during rotation;The rotational angle that the spacing block set 18 limits convex block driver plate 12 can only For just, i.e., convex block driver plate 12 can only indicate direction rotation along arrow as shown in figure 17.The both ends of the spring part 13 connect respectively Convex block driver plate 12 and pedestal 1 are connect, spring part 13 makes convex block driver plate 12 be close to spacing block set 18;By the transmission of gear set 8, from first The transmission of gear 6 to second gear 7 is co-rotating transmission and gearratio is less than 1, as step-up drive;The length of first swing rod 9 with The length of second swing rod 10 is identical;First swing rod 9, connecting rod 11, the second swing rod 10 and the first segment 2 four form parallel―ordinal shift Mechanism.
The flat folder adaptive robot finger apparatus of gear connecting rod transmission of the present invention, it is characterised in that:The driving Device 14 is using motor, cylinder or hydraulic cylinder.The spring part uses tension spring, compression spring, leaf spring or torsional spring.In the present embodiment, the drive Dynamic device 14 uses motor;The spring part 13 uses tension spring.
In the present embodiment, the gear set 8 includes First Transition gear 61, the second transition gear 62, third transition gear 63rd, the first jackshaft 611, the second jackshaft 621 and third jackshaft 631;First jackshaft 611, the second jackshaft 621 It being respectively sleeved in the first segment 2 with third jackshaft 631, the First Transition gear 61 is engaged with first gear 6, and described One transition gear 61 is engaged with the second transition gear 62, and second transition gear 62 is engaged with third transition gear 63, described Third transition gear 63 is engaged with second gear 7, and the First Transition gear 61 is socketed on the first jackshaft 611, and described Two transition gears 62 are socketed on the second jackshaft 621, and the third transition gear 63 is socketed on third jackshaft 631.
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 first gear 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 23, 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), due to 12 and first swing rod 9 of convex block driver plate It is affixed, so the position of 9 opposite base 1 of the first swing rod is constant, since the first swing rod 9, connecting rod 11, the second swing rod 10 and first refer to Section 2 four form parallel four-bar linkages, the first swing rod 9 is identical with the length of the second swing rod 10, gearratio 1, no matter first What position is segment 2 be in, and the second swing rod 10 is parallel with the first swing rod 9 always, under the action of connecting rod 11, when the first swing rod 9 not When dynamic, 10 opposite base 1 of the second swing rod only carries out translational motion without rotating, due to the second swing rod 10 and the second segment 3 It is affixed, so 3 opposite base of the second segment 1 carries out translational motion without rotating.
B) when the rotation angle of convex block driver plate 12 be timing, under the action of connecting rod 11, the rotation angle of the second swing rod 10 Equal to the corner of the first swing rod 9, the i.e. corner equal to convex block driver plate 12.
When the present embodiment captures object 17, transmission that driver 14 passes through transmission mechanism so that first gear 6 rotates forward, The corner of 6 opposite base 1 of first gear is α.Under the action of gear set 8, first gear 6 with respect to the first segment 2 corner with Second gear 7 has a certain proportion of relationship with respect to the corner of the first segment 2.If it is transferred to from first gear 6 by gear set 8 The gearratio of two gears 7 is i, which is the rotating speed (relative to the first segment 2) of first gear 6 and turning for second gear 7 The ratio between fast (relative to first segment 2).It is step-up drive since gearratio i is less than 1, output speed is more than input speed. If the first segment 2 is δ around the corner of nearly joint shaft 4.Since second gear 7 and the second segment 3 are affixed, and the second segment 3 is opposite It does not rotate in pedestal 1, therefore second gear 7 does not also rotate with respect to pedestal 1 at this time, can then derive Show that 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 first gear 6 has rotated an angle [alpha], at this point, the first segment 2 is turned over around nearly joint shaft 4 One angle δ, the second segment 3 are same posture always relative to pedestal 1, and only position is changed.This is parallel The stage (such as Figure 11, Figure 12, Figure 13, Figure 16, Figure 17, Figure 18, Figure 19, Figure 21) of clamping.This stage is suitble to the second segment 3 De-clamping object 17 takes object 17 the mode opened from inside to outside being gone to open support outside with the second segment 3 by way of opening outside. 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, Figure 20 and Figure 23), at this moment driver 14 first gear is driven by the transmission of transmission mechanism 6, the second segment 3 being fixed together, 7 and second swing rod 10 of second gear while joint shaft 5 of going the long way round are rotated, passes through connecting rod 11 The first swing rod 9 and convex block driver plate 12 is driven to be rotated around nearly joint shaft 4, 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 second segment 3 is rotated further, and until the second segment 3 contacts object 17, is completed adaptive Envelope captures the effect of object.For the object of different shapes and sizes, the present embodiment has adaptivity, can capture a variety of Object.
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, first gear 6, gear set 8 and second gear 7, the second segment 3 has been gone the long way round the rotation of joint shaft 5 one A angle (being rotated relative to pedestal 1), the second segment 3 no longer keep original vertical initial attitude, pass through the second swing rod 10th, connecting rod 11, the first swing rod 9 and convex block driver plate 12 pull spring part 13 to be deformed, and convex block driver plate 12 had left originally always The spacing block set 18 of contact;3) Figure 21 corresponds to the situation of Figure 15, Figure 23, and the present embodiment completes two segments to object at this time Contact --- realize the crawl of adaptive envelope, to the object of different shape size can envelope crawl automatically, grasping stability;With The situation of Figure 20 is compared, and the convex block driver plate 12 in Figure 23 is rotated to the angle of bigger, leaves the farther distance of spacing block set 18, Second segment 3 also has 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 does not repeat.
Apparatus of the present invention utilize driver, gear drive, jointed gear unit, spring part, convex block driver plate and limit convex The comprehensive function of realizing the parallel clamping of doublejointed robot finger and self-adapting grasping such as block, according to target object shape and position The difference put, can be translatable the second segment grip object or outer support takes object, can also rotate the first segment and second successively and refer to The object of section envelope different shapes and sizes;Device crawl range is big;By the way of drive lacking, driven using a driver Two joints are moved, without complicated sensing and control system;The apparatus structure is compact, small, and manufacture is low with maintenance cost, fits For robot.

Claims (4)

1. a kind of flat folder adaptive robot finger apparatus of gear connecting rod transmission, including pedestal, the first segment, the second segment, near 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 flat folder adaptive robot finger apparatus of gear connecting rod transmission further includes transmission mechanism, the One gear, second gear, gear set, the first swing rod, the second swing rod, connecting rod, first axle, the second axis, convex block driver plate, spring part and limit Position convex block;The nearly joint shaft is movably set in pedestal;The remote joint shaft is movably set in the first segment;Described first Segment is socketed on nearly joint shaft;Second segment is socketed on remote joint shaft;The transmission mechanism is arranged in pedestal;Institute The output shaft for stating driver is connected with the input terminal of transmission mechanism, and the output terminal of the transmission mechanism is connected with first gear;Institute It states first gear to be actively socketed on nearly joint shaft, the second gear is socketed on remote joint shaft, and second gear refers to second Section is affixed;The gear set is mounted in the first segment, and the gear set includes a gear or the multiple gears being meshed, institute The input gear for stating gear set is engaged with first gear, and the output gear of the gear set is meshed with second gear;Described One swing rod is actively socketed on nearly joint shaft;Second swing rod is socketed on remote joint shaft, and the second swing rod is consolidated with the second segment It connects;The first axle is movably set on the first swing rod, and second axis is movably set on the second swing rod, and the two of the connecting rod End is socketed in respectively in first axle and the second axis;The convex block driver plate is actively socketed on nearly joint shaft, the convex block driver plate with First swing rod is affixed;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 gear connecting rod is driven flat folder adaptive robot finger apparatus and be in original state, convex block driver plate and Spacing block set contacts, if the rotation angle of convex block driver plate opposite base is 0 degree at this time, since the position, convex block driver plate is towards near The rotational angle during rotation of joint positive direction for just, convex block driver plate towards nearly joint negative direction rotate when rotational angle be negative;Institute The rotational angle for stating 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;By the transmission of gear set, the transmission from first gear to second gear is co-rotating transmission and gearratio is less than 1;First pendulum The length of bar is identical with the length of the second swing rod;First swing rod, connecting rod, the second swing rod and the first segment form parallel four and connect Linkage.
2. the flat folder adaptive robot finger apparatus of gear connecting rod transmission as described in claim 1, it is characterised in that:The drive Dynamic device uses motor, cylinder or hydraulic cylinder.
3. the flat folder adaptive robot finger apparatus of gear connecting rod transmission as described in claim 1, it is characterised in that:The spring Part uses tension spring, compression spring, leaf spring or torsional spring.
4. the flat folder adaptive robot finger apparatus of gear connecting rod transmission as described in claim 1, it is characterised in that:The tooth Wheel group is included in First Transition gear, the second transition gear, third transition gear, the first jackshaft, the second jackshaft and third Countershaft;First jackshaft, the second jackshaft and third jackshaft are respectively sleeved in the first segment, the First Transition tooth Wheel is engaged with first gear, and the First Transition gear is engaged with the second transition gear, second transition gear and third mistake Gear engagement is crossed, the third transition gear is engaged with second gear, and the First Transition gear is socketed on the first jackshaft, Second transition gear is socketed on the second jackshaft, and the third transition gear is socketed on third jackshaft.
CN201610153573.7A 2016-03-17 2016-03-17 The flat folder adaptive robot finger apparatus of gear connecting rod transmission Active CN105798944B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610153573.7A CN105798944B (en) 2016-03-17 2016-03-17 The flat folder adaptive robot finger apparatus of gear connecting rod transmission

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610153573.7A CN105798944B (en) 2016-03-17 2016-03-17 The flat folder adaptive robot finger apparatus of gear connecting rod transmission

Publications (2)

Publication Number Publication Date
CN105798944A CN105798944A (en) 2016-07-27
CN105798944B true CN105798944B (en) 2018-07-06

Family

ID=56453286

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610153573.7A Active CN105798944B (en) 2016-03-17 2016-03-17 The flat folder adaptive robot finger apparatus of gear connecting rod transmission

Country Status (1)

Country Link
CN (1) CN105798944B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106078777A (en) * 2016-08-24 2016-11-09 北京灵铱科技有限公司 A kind of articulated robot finger actuating device
CN106346499B (en) * 2016-08-31 2018-07-24 清华大学 The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line
CN106239542A (en) * 2016-09-23 2016-12-21 北京灵铱科技有限公司 A kind of robot finger apparatus of positive drive
CN106737776A (en) * 2016-12-14 2017-05-31 上海理工大学 Gear drive two-way flat folder perception self-adaption robot finger apparatus and control method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
CN1365875A (en) * 2002-03-15 2002-08-28 清华大学 Under-driven adaptive mechanical finger
CN1410233A (en) * 2002-11-29 2003-04-16 清华大学 Under driving mechanical finger device capable of shape self adaptation
CN1557268A (en) * 2004-02-11 2004-12-29 哈尔滨工业大学 Self-adapting artificial hand lack of actuating
CN104889998A (en) * 2015-07-03 2015-09-09 清华大学 Under-actuated robot finger device with covering and clamping functions
CN105150231A (en) * 2015-09-08 2015-12-16 清华大学 Pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel
CN105150225A (en) * 2015-09-08 2015-12-16 清华大学 Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
CN1365875A (en) * 2002-03-15 2002-08-28 清华大学 Under-driven adaptive mechanical finger
CN1410233A (en) * 2002-11-29 2003-04-16 清华大学 Under driving mechanical finger device capable of shape self adaptation
CN1557268A (en) * 2004-02-11 2004-12-29 哈尔滨工业大学 Self-adapting artificial hand lack of actuating
CN104889998A (en) * 2015-07-03 2015-09-09 清华大学 Under-actuated robot finger device with covering and clamping functions
CN105150231A (en) * 2015-09-08 2015-12-16 清华大学 Pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel
CN105150225A (en) * 2015-09-08 2015-12-16 清华大学 Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel

Also Published As

Publication number Publication date
CN105798944A (en) 2016-07-27

Similar Documents

Publication Publication Date Title
CN105583832B (en) The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive
CN105798944B (en) The flat folder adaptive robot finger apparatus of gear connecting rod transmission
CN105583830B (en) The flat folder adaptive robot finger apparatus of link gear
CN105583835B (en) The flat folder adaptive robot finger apparatus of connecting rod closed loop flexible piece
CN105583836B (en) The parallel folding adaptive robot finger apparatus of bicyclic flexible piece
CN105835077B (en) The flat folder adaptive robot finger apparatus of closed loop flexible piece guide rod
CN105818158B (en) Flexible piece leverage puts down folder adaptive robot finger apparatus
CN105798936B (en) Idle running contact gear puts down folder adaptive robot finger apparatus
CN105881565B (en) The flat folder adaptive robot finger apparatus of double leval jib
CN105583840B (en) The flat folder adaptive robot finger apparatus of gear flexible part transmission
CN105583833A (en) Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods
CN105643647A (en) Self-adaption robot finger device of composite flexible drive flat clamp
CN105619440B (en) Open chain flexible piece puts down folder adaptive robot finger apparatus
CN106393161A (en) Double-rack parallel-clamping indirect adaptive robot finger device
CN105835076A (en) Closed flexible piece parallel clamping dexterous robot finger device
CN108274487A (en) The flat folder indirect self-adaptive robot finger apparatus of rack slide bar straight line
CN105798945B (en) The flat folder adaptive robot finger apparatus of monocyclic flexible piece
CN109176566A (en) The flat folder adaptive robot finger apparatus of gear sliding slot link linear
CN105619439B (en) The flat folder adaptive robot finger apparatus of parallel flexible part
CN105773606A (en) Self-adaptation robot finger device achieving flexible piece and gear parallel clamping
CN106564065B (en) The flat adaptive finger apparatus of folder of herringbone connecting rod rack sliding block straight line
CN105583849A (en) Parallel-clamping handy robot finger device with connection rods
CN106182051A (en) Idle running kinematic link straight line flat folder adaptive robot finger apparatus
CN105583834A (en) Parallel connection and gear drive type parallel-clamping and self-adapting robot finger device
CN109500832A (en) The flat folder adaptive robot finger apparatus of altimetric compensation bar tooth parallel connection straight line

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant