CN105818158B - Flexible piece leverage puts down folder adaptive robot finger apparatus - Google Patents

Flexible piece leverage puts down folder adaptive robot finger apparatus Download PDF

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Publication number
CN105818158B
CN105818158B CN201610152557.6A CN201610152557A CN105818158B CN 105818158 B CN105818158 B CN 105818158B CN 201610152557 A CN201610152557 A CN 201610152557A CN 105818158 B CN105818158 B CN 105818158B
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China
Prior art keywords
segment
drive
swing rod
joint shaft
pedestal
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CN201610152557.6A
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CN105818158A (en
Inventor
张文增
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Tsinghua University
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Tsinghua University
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Priority to CN201610152557.6A priority Critical patent/CN105818158B/en
Publication of CN105818158A publication Critical patent/CN105818158A/en
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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

Flexible piece leverage puts down folder adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, rationally flexible drive parts, setting two drives of radius, two swing rods of equal length, connecting rod, convex block driver plate, two spring parts and spacing block set etc..Device synthesis realizes the function of parallel clamping and general crawl, and according to target object shape and the difference of position, can be translatable the second segment grip object, 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

Flexible piece leverage puts down folder adaptive robot finger apparatus
Technical field
The invention belongs to robot technical field, more particularly to a kind of flexible piece leverage puts down folder adaptive robot finger 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.But traditional under-actuated robot hand uses link mechanism more, Due to the limitation of mechanism, segment, which is close to, has extreme position during object, so as to generate movement dead zone, adaptivity by Weaken significantly.
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 pure link mechanism, there are larger dead zones for movement, capture range Smaller, organization volume is big, lacks compliance, and manufacture cost is excessively high.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, a kind of flexible piece leverage is provided and puts down folder adaptively Robot finger apparatus.The device has a variety of grasp modes, and second segment that can be translatable clamping object also can successively close the The object of one segment and the adaptive envelope different shapes and sizes of the second segment;It is big to capture range;Without complicated sensing and control System.
Technical scheme is as follows:
A kind of flexible piece leverage that the present invention designs put down folder adaptive robot finger apparatus, including pedestal, the first segment, Second segment, nearly joint shaft, remote joint shaft and driver;The driver and pedestal are affixed;The center line of the nearly joint shaft With the centerline parallel of remote joint shaft;It is characterized in that:The flexible piece leverage is put down folder adaptive robot finger apparatus and is further included Transmission mechanism, the first drive, the second drive, flexible drive parts, the first swing rod, the second swing rod, connecting rod, first axle, second Axis, convex block driver plate, the first spring part, the second spring part and spacing block set;The nearly joint shaft is movably set in pedestal;The remote pass Nodal axisn is movably set in the first segment;First segment is fixed on nearly joint shaft;Second segment is fixed in remote pass On nodal axisn;The transmission mechanism is arranged in pedestal;The output shaft of the driver is connected with the input terminal of transmission mechanism;It is described One end of flexible drive parts is connected with the output terminal of transmission mechanism, and the other end of the flexible drive parts and the second segment are affixed; First drive is actively socketed on nearly joint shaft, and second driving wheel tube is connected on remote joint shaft, the second drive It is affixed with the second segment;Before folder adaptive robot finger apparatus is put down in the side of definition crawl object for the flexible piece leverage Side, opposite opposite side are the rear that side far from crawl object is the device;The flexible drive parts are successively from front The first drive is coiled through, across the first segment, the second drive is coiled through from front;The first swing rod pivot bush unit On nearly joint shaft;Second swing rod is socketed on remote joint shaft, and the second swing rod and the second segment are affixed;The first axle is lived Dynamic to be set on the first swing rod, second axis is movably set on the second swing rod, and the both ends of the connecting rod are socketed in the respectively On one axis and the second axis;The convex block driver plate is actively socketed on nearly joint shaft, and the convex block driver plate and the first swing rod are affixed;Institute It is affixed with pedestal to state spacing block set;The convex block driver plate is in contact or stands away with spacing block set;The first spring part Both ends connect convex block driver plate and pedestal respectively or the both ends of the first spring part connect the first swing rod and pedestal respectively;The The radius of one drive is more than the radius of the second drive, and the length of the first swing rod is identical with the length of the second swing rod;It is described soft Property driving member using transmission belt, tendon rope or chain, first drive uses belt wheel, rope sheave or sprocket wheel, second transmission Wheel cooperatively forms band using belt wheel, rope sheave or sprocket wheel between the flexible drive parts, the first drive and the second drive three Take turns drive connection, rope sheave drive connection or sprocket wheel drive connection;The both ends of the second spring part connect the first segment and base respectively Seat;First swing rod, connecting rod, the second swing rod and the first segment form parallel four-bar linkage.
Flexible piece leverage of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that:The driver Using motor, cylinder or hydraulic cylinder.
Flexible piece leverage of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that:First spring Part uses tension spring, compression spring, leaf spring or torsional spring;The second spring part uses tension spring, compression spring, leaf spring or torsional spring.
Flexible piece leverage of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that:Further include transition Pulley and pulley spindle, the transition pulley are socketed on pulley spindle, and the pulley spindle is set in some segment, the flexible biography Moving part coils through different transition pulleys respectively.
Compared with prior art, the present invention it has the following advantages and high-lighting effect:
Apparatus of the present invention using single driver, flexible drive parts, two drives of different radii, equal length it is double Swing rod, connecting rod, two spring parts, convex block driver plate and the comprehensive function of realizing parallel clamping and general crawl such as spacing block set, root According to target object shape and the difference of position, can be translatable the second segment grip object, can also rotate the first segment and successively The object of two segment envelope different shapes and sizes;Device crawl range is big;By the way of drive lacking, a driving is utilized Device drives two joints, without complicated sensing and control system;The apparatus structure is compact, small, manufacture and maintenance cost It is low, suitable for robot.
Description of the drawings
Fig. 1 is a kind of solid for embodiment that the flexible piece leverage that the present invention designs puts down folder adaptive robot finger apparatus 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 embodiment illustrated in fig. 1 (part is not drawn into).
Fig. 6 is the B-B sectional views of embodiment illustrated in fig. 1 (part is not drawn into).
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 that the front view of embodiment illustrated in fig. 1 (is not drawn into pedestal foreboard, base-plates surface plate, the first segment left side Plate, the first segment right plate and 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, the first spring part and spacing block set.
In Fig. 1 to Figure 21:
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- the first segment surface plates,
The second segments of 3-, the nearly joint shafts of 4-, the remote joint shafts of 5-, the first drives of 6-,
The second drives of 7-, 8- flexible drive parts, 81- transition pulleys, 82- transition pulley spindles,
83- bearings, 84- sleeves, 85- screws, 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- the first spring parts, 14- drivers (motor), 141- retarders,
142- screw rods, 143- nutplates, 17- objects, 18- spacing block sets,
19- the second spring parts;
M- the present embodiment captures the side of object, referred to as front;N- is backwards to the side of object, abbreviation rear.
Specific embodiment
The concrete structure of the present invention, the content of operation principle are described in further detail with reference to the accompanying drawings and embodiments.
The flexible piece leverage that the present invention designs equals a kind of embodiment of folder adaptive robot finger apparatus, such as Fig. 1 to figure Shown in 10, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14;The driver 14 is affixed with pedestal 1;The centerline parallel of the center line of the nearly joint shaft 4 and remote joint shaft 5.
The present embodiment further include transmission mechanism, the first drive 6, the second drive 7, flexible drive parts 8, the first swing rod 9, Second swing rod 10, connecting rod 11, first axle 91, the second axis 92, convex block driver plate 12, the first spring part 13, the second spring part 19 and limit convex Block 18;The nearly joint shaft 4 is movably set in pedestal 1;The remote joint shaft 5 is movably set in the first segment 2;It is described First segment 2 is fixed on nearly joint shaft 4;Second segment 3 is fixed on remote joint shaft 5;The transmission mechanism is arranged on In pedestal 1;The output shaft of the driver 14 is connected with the input terminal of transmission mechanism;One end of the flexible drive parts 8 and biography The output terminal of motivation structure is connected, and the other end of the flexible drive parts 8 and the second segment 3 are affixed;First drive, 6 activity It is socketed on nearly joint shaft 4, second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and the second segment 3 are solid It connects;Front (Fig. 5 and Fig. 6 of folder adaptive robot finger apparatus are put down for the flexible piece leverage in the side of definition crawl object 17 The side of middle label M), that side of opposite opposite side i.e. far from crawl object 17 is the rear of the device (in Fig. 5 and Fig. 6 Mark the side of N);The flexible drive parts 8 coil through the first drive 6 from front successively, across the first segment 2, the past Side coils through the second drive 7;First swing rod 9 is actively socketed on nearly joint shaft 4;Second swing rod 10 is socketed in On remote joint shaft 5, the second swing rod 10 and the second segment 3 are affixed;The first axle 91 is movably set on the first swing rod 9, described Second axis 92 is movably set on the second swing rod 10, and the both ends of the connecting rod 11 are socketed in 91 and second axis 92 of first axle respectively On;The convex block driver plate 12 is actively socketed on nearly joint shaft 4, and the convex block driver plate 12 and the first swing rod 9 are affixed;The limiting Convex block 18 and pedestal 1 are affixed;The convex block driver plate 12 is in contact or stands away with spacing block set 18;The first spring part 13 both ends connect convex block driver plate 12 and pedestal 1 respectively or the both ends of the first spring part 13 connect 9 He of the first swing rod respectively Pedestal 1;The radius of first drive 6 is more than the radius of the second drive 7, this radius is reference radius, that is, what is be driven is effective Radius;The length of first swing rod 9 is identical with the length of the second swing rod 10, this length is the effective length of transmission, the first swing rod 9 Distance of the length for center line of the center line from nearly joint shaft 4 to first axle 91, the length of the second swing rod 10 is from first axle 91 center line is to the distance of the center line of the second axis 92;The flexible drive parts 8 are described using transmission belt, tendon rope or chain First drive 6 is using belt wheel, rope sheave or sprocket wheel, and second drive 7 is using belt wheel, rope sheave or sprocket wheel, the flexible biography Belt wheel transmission relationship, rope sheave drive connection or chain are cooperatively formed between 7 three of moving part 8, the first drive 6 and the second drive Take turns drive connection;The both ends of the second spring part 19 connect the first segment 2 and pedestal 1 respectively, as shown in Figure 5.Second spring The effect of part 19 is cooperation flexible drive parts 8 so that the first segment 2 keeps relative to the second segment 3 or is restored to positioned at some Initial attitude (such as the state stretched);In original state, the rear office of the rear localized contact pedestal 1 of the first segment 2 Portion, Figure 11 are the original states of the present embodiment, at this point, pedestal 1 limits the rotation counterclockwise of the first segment 2 in fig. 11, The first segment 2 in Figure 11 can only rotate clockwise, as indicated in figure 11 by arrows direction;First swing rod 9, connecting rod 11, second 10 and first segment 2 four of swing rod forms parallel four-bar linkage, i.e., in Figure 5, the central point O of nearly joint shaft 41, first axle 91 central point O2, the second axis 92 central point O3, remote joint shaft central point O4Four points form one parallel four as vertex Side shape.
If the rotation direction that the first segment 2 is close to object 17 is nearly joint positive direction (clockwise direction in such as Figure 11), First rotation direction of the segment 2 far from object 17 is nearly joint negative direction (counter clockwise direction in such as Figure 11);In flexible piece bar When the flat folder adaptive robot finger apparatus of system is in original state (straight configuration as shown in Figure 1, shown in Figure 11), convex block driver plate 12 It is contacted with spacing block set 18, if the rotation angle of 12 opposite base 1 of convex block driver plate is 0 degree (as shown in figure 19) at this time, from the position Put beginning, the rotational angle that convex block driver plate 12 (is less than 180 degree) when being rotated towards nearly joint positive direction is just, and convex block driver plate 12 is towards near The rotational angle for (being less than 180 degree) during the negative direction rotation of joint is negative;The spacing block set 18 limits the rotation of convex block driver plate 12 Angle is only just, i.e., convex block driver plate 12 can only indicate direction rotation along arrow as shown in figure 20.
Flexible piece leverage of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that:The driver 14 using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 14 uses motor.
Flexible piece leverage of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that:First spring Part uses tension spring, compression spring, leaf spring or torsional spring.In the present embodiment, the first spring part 13 uses tension spring.
The present embodiment further includes 3 transition pulleys 81 and 3 corresponding transition pulley spindles 82;Each transition pulley 81 It is socketed on corresponding transition pulley spindle 82;The First Transition pulley spindle is set in pedestal 1, the second transition pulley Axis, third transition pulley spindle are respectively sleeved in the first segment 2;The flexible drive parts 8 coil through First Transition cunning respectively Wheel, the second transition pulley and third transition pulley.First Transition pulley, the second transition pulley, third transition pulley setting can To increase winding arc length of the flexible drive parts 8 on the first drive 6, the second drive 7, the digital flexion angle of bigger is obtained Range can also reduce gearing friction, reduce energy consumption.
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 the first segment skeleton 21, the first segment left plate that are fixed together 22nd, the first segment right plate 23 and the first segment surface plate 24.
In the present embodiment, the transmission mechanism includes retarder 141, screw rod 142 and nutplate 143;The motor 14 Output shaft is connected with the input shaft of retarder 141, and the output shaft of the screw rod 142 and retarder 141 is affixed, the screw rod 142 Center line it is consistent with the center line of the output shaft of retarder 141, the nutplate 143 and screw rod 142 form screw-driven and close System, the slip of nutplate 143 are embedded in pedestal 1, and the nutplate 143 and one end of flexible drive parts 8 are affixed.
If the present embodiment additionally uses the parts such as dry bearing 83, several sleeves 84 and several screws 85, belong to known technology, It does not repeat.
The operation principle of the present embodiment with reference to attached drawing 11 to Figure 21, is described below:
The relationship that 12 corner of convex block driver plate is moved with the second segment 3 is described below:
In the present embodiment, initial position is set as the state (as shown in figure 11) that finger stretches.It (can also be by initial bit It installs and is set to other positions.)
1) when the rotation angle of convex block driver plate 12 be 0 degree when (as shown in figure 19), no matter what position is the first segment 2 be in, Since convex block driver plate 12 and the first swing rod 9 are affixed, so the position of 9 opposite base 1 of the first swing rod is constant, due to the first swing rod 9 Length and the second swing rod 10 equal length, the first segment 2, the first swing rod 9,11 and second swing rod 10 4 of connecting rod form flat Row quadrangular mechanism (four vertex are respectively at the center of nearly joint shaft, first axle, the second axis and remote joint shaft), the second swing rod 10 Always the first swing rod 9 is parallel to, under the action of connecting rod 11, so 10 opposite base 1 of the second swing rod only carries out translational motion Without rotating, since the second swing rod 10 and the second segment 3 are affixed, so 3 opposite base of the second segment, 1 progress translational motion Without rotating.
2) when the rotation angle of convex block driver plate 12 be timing, due to the equal length of the first swing rod 9 and the second swing rod 10 (i.e. The gearratio of the two swing angle is 1), under the action of connecting rod 11, the rotation angle of the second swing rod 10 is equal to convex block driver plate 12 Rotation angle.
When the present embodiment captures object 17, driver 14 is drawn by transmission mechanism (being screw rod and nut in the present embodiment) Dynamic flexible drive parts 8 so that the first drive 6 rotates forward, and the corner of 6 opposite base 1 of the first drive is α.In flexible drive parts 8 Under the action of, the corner of 7 opposite first segment 2 of corner and the second drive of 6 opposite first segment 2 of the first drive has one The relationship of certainty ratio.If the gearratio of the second drive 7 is transferred to as i from the first drive 6 by flexible drive parts 8, the biography Dynamic ratio is the ratio between 7 rotating speed of first drive, 6 rotating speed and the second drive relative to the first segment 2, it is equal to the second drive 7 Radius and the first drive 6 the ratio between radius.Since the radius of the first drive 6 is more than the radius of the second drive 7, It is step-up drive, output speed is more than input speed, therefore gearratio i is less than 1.If the first segment 2 is around the corner of nearly joint shaft 4 δ.Since the second drive 7 and the second segment 3 are affixed, and the second segment does not rotate relative to pedestal, therefore at this time Two drives 7 also do not rotate with respect to pedestal, and can then be derived from the present embodiment device will be equilibrated at satisfaction The position of (formula 1) as follows:
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 start rank What the parallel folding of section was that by, the second segment 3 is same posture always relative to pedestal 1, and only position has occurred Variation.This is first stage --- the stage of parallel clamping.This stage be suitble to 3 de-clamping object 17 of the second segment or Person with the second segment going a support outside the mode opened from inside to outside to take object 17 by way of opening outside.Such as from an open circles Column casing 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, automatically into the of adaptive envelope Two-stage (as shown in Figure 14, Figure 15), at this moment motor 14 by transmission mechanism drive flexible drive parts 8, pull the second segment 3, Second drive 7 and 10 three of the second swing rod rotate simultaneously, the first swing rod 9 and convex block driver plate 12 are pulled to rotate by connecting rod 11, First spring part 13 deforms (as shown in Figure 20, Figure 21), at this time the second segment 3 can go the long way round joint shaft 5 center line continue turn It is dynamic, until the second segment 3 contacts object 17, complete the effect of adaptive envelope crawl object.For different shapes and sizes Object, the present embodiment has adaptivity, being capable of a variety of objects of general crawl.
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 convex block driver plate 12, the first spring part 13 and the situation of change of the relative position of spacing block set 18: 1) situation shown in Figure 19 is the identical convex block driver plate situation of Figure 11, Figure 12 and Figure 13, and embodiment is in initial bit at this time It puts or has only been bent the first segment, the first spring part 13 makes convex block driver plate 12 be in contact with spacing block set 18, at the second segment 3 In the fixed pose (such as vertical initial attitude in the present embodiment) relative to pedestal 1, such case is continued until figure 13;2) Figure 20 is similar to Figure 14 situations, and the first segment 2 of embodiment has touched object 17 and has been blocked from transporting at this time It is dynamic, under the driving effect of motor 14, by transmission mechanism, flexible drive parts 8, the first drive 6, the second drive 7 biography Action use under, the second segment 3 gone the long way round joint shaft 5 rotate an angle (also just rotating relative to pedestal 1), second Segment 3 no longer keeps original vertical initial attitude, passes through the second swing rod 10, connecting rod 11, the first swing rod 9 and convex block driver plate 12, the first spring part 13 is pulled to be deformed, convex block driver plate 12 has left the spacing block set 18 being permanently connected to originally;3) until The situation of Figure 21, Figure 21 is identical with the situation of Figure 15, and embodiment completes the contact to two segments of object at this time --- it realizes Envelope captures, and compared with the situation of Figure 20, the convex block driver plate 12 in Figure 21 is rotated to the angle of bigger, leaves spacing block set 18 Remote distance, the second segment 3 also have rotated same angle.
Apparatus of the present invention using single driver, flexible drive parts, two drives of different radii, equal length it is double Swing rod, connecting rod, two spring parts, convex block driver plate and the comprehensive function of realizing parallel clamping and general crawl such as spacing block set, root According to target object shape and the difference of position, can be translatable the second segment grip object, can also rotate the first segment and successively The object of two segment envelope different shapes and sizes;Device crawl range is big;By the way of drive lacking, a driving is utilized Device drives two joints, without complicated sensing and control system;The apparatus structure is compact, small, manufacture and maintenance cost It is low, suitable for robot.

Claims (4)

1. a kind of flexible piece leverage puts down folder adaptive robot finger apparatus, including pedestal, the first segment, the second segment, nearly pass Nodal axisn, remote joint shaft and driver;The driver and pedestal are affixed;In the center line and remote joint shaft of the nearly joint shaft Heart line is parallel;It is characterized in that:The flexible piece leverage puts down folder adaptive robot finger apparatus and further includes transmission mechanism, the first biography Driving wheel, the second drive, flexible drive parts, the first swing rod, the second swing rod, connecting rod, first axle, the second axis, convex block driver plate, first Spring part, the second spring part and spacing block set;The nearly joint shaft is movably set in pedestal;The remote joint shaft is movably set in In one segment;First segment is fixed on nearly joint shaft;Second segment is fixed on remote joint shaft;The driver Structure is arranged in pedestal;The output shaft of the driver is connected with the input terminal of transmission mechanism;One end of the flexible drive parts It is connected with the output terminal of transmission mechanism, the other end of the flexible drive parts and the second segment are affixed;First drive is lived Dynamic to be socketed on nearly joint shaft, second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed;It is fixed The front of folder adaptive robot finger apparatus, opposite opposite side, that is, remote are put down for the flexible piece leverage in the side of justice crawl object That side from crawl object is the rear of the device;The flexible drive parts coil through the first drive from front successively, Across the first segment, the second drive is coiled through from front;First swing rod is actively socketed on nearly joint shaft;Described Two swing rods are socketed on remote joint shaft, and the second swing rod and the second segment are affixed;The first axle is movably set on the first swing rod, Second axis is movably set on the second swing rod, and the both ends of the connecting rod are socketed in respectively in first axle and the second axis;It is described Convex block driver plate is actively socketed on nearly joint shaft, and the convex block driver plate and the first swing rod are affixed;The spacing block set is consolidated with pedestal It connects;The convex block driver plate is in contact or stands away with spacing block set;The both ends of the first spring part connect convex block respectively The both ends of driver plate and pedestal or the first spring part connect the first swing rod and pedestal respectively;The radius of first drive is more than The radius of second drive, the length of the first swing rod are identical with the length of the second swing rod;The flexible drive parts using transmission belt, Tendon rope or chain, first drive use belt wheel, rope sheave or sprocket wheel, and second drive uses belt wheel, rope sheave or chain Wheel cooperatively forms belt wheel transmission relationship, rope sheave transmission between the flexible drive parts, the first drive and the second drive three Relationship or sprocket wheel drive connection;The both ends of the second spring part connect the first segment and pedestal respectively;First swing rod, connecting rod, Two swing rods and the first segment form parallel four-bar linkage.
2. flexible piece leverage as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that:The driving Device uses motor, cylinder or hydraulic cylinder.
3. flexible piece leverage as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that:Described first Spring part uses tension spring, compression spring, leaf spring or torsional spring;The second spring part uses tension spring, compression spring, leaf spring or torsional spring.
4. flexible piece leverage as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that:It further included Pulley and pulley spindle are crossed, the transition pulley is socketed on pulley spindle, and the pulley spindle is set in some segment, the flexibility Driving member coils through different transition pulleys respectively.
CN201610152557.6A 2016-03-17 2016-03-17 Flexible piece leverage puts down folder adaptive robot finger apparatus Active CN105818158B (en)

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CN105818158B true CN105818158B (en) 2018-06-15

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