CN105835083A - Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device - Google Patents
Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device Download PDFInfo
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- CN105835083A CN105835083A CN201610364700.8A CN201610364700A CN105835083A CN 105835083 A CN105835083 A CN 105835083A CN 201610364700 A CN201610364700 A CN 201610364700A CN 105835083 A CN105835083 A CN 105835083A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible part parallel-clamping and coupling switchover self-adaptive robot finger device and belongs to the technical field of robot fingers. The device comprises a base, two finger segments, two joint shafts, a driver, a flexible transmission part, a tendon rope, a plurality of transmission wheels, a half wheel, a half wheel connection part, a rotary shaft, a half wheel bump, two spring parts, a limiting bump and the like. By adoption of the device, the function of switchover between a parallel-clamp self-adaptive grabbing mode and a coupling self-adaptive grabbing mode of a robot finger can be achieved; in the parallel-clamp self-adaptive grabbing mode, the device has the advantages that not only can the second finger segment be translated to pinch an object, but also the first finger segment and the second finger segment can be sequentially rotated to envelope objects of various shapes and sizes; in the coupling self-adaptive grabbing mode, the device has the advantages that two joints can be simultaneously interacted to rotate and can naturally turn into the self-adaptive grabbing phase of the curved second finger segment after the first finger segment gets in touch with an object and is blocked; the grabbing range is wide; and the device is compact in structure, small in size, low in manufacturing and maintenance cost, and applicable to robot hands.
Description
Technical field
The invention belongs to robot technical field, particularly to a kind of flexible piece flat folder coupling switching adaptive robot
The structure design of finger apparatus.
Background technology
Under-actuated robot hand refers to that number of motors is less than the robot of amount of articulation, and it has self-adapting grasping merit
Can, it is possible to adapt to the crawl of multiple object, under different occasions, use the demand reaching to reduce complicated sensing with control in real time,
Improving the stability and accuracy captured, device is easy, with low cost simultaneously, and quality is little, volume is little, can be widely used in
Use to people with disability in industry, agricultural and service trade robot or as doing evil through another person.
The under-actuated robot hand with two-freedom mainly includes two base class: a class is coupling grasp mode,
Another kind of is self-adapting grasping pattern.Wherein coupling grasp mode refer to two joints according to a certain percentage or change ratio
Rotate simultaneously, forward coupling grasp mode and reverse coupled grasp mode, forward coupling specifically can be divided into capture and be usually called for short
Capture for coupling, extensive by the grasp mode Application comparison of same ratio in reverse coupled grasp mode, the most parallel clamping
Coupling grasp mode, the most flat gripper takes.Forward coupling captures and is suitable for removing the little object of grip by end segment, and from
Adapt to capture and be suitable for envelope grasping body, frequently referred to strength crawl.
In the combination of base class, mainly there are two kinds of compound grasp modes: one is first to couple the most adaptive grabbing
Delivery formula, referred to as coupling adaptive grasp mode, or coupling is from grasp mode；Another kind is that first parallel clamping is the most adaptive grabs
Delivery formula, is referred to as flat folder self-adapting grasping pattern, or flat from grasp mode.Wherein, coupling can have from grasp mode and more intends
The feature of human nature, the grip effect of end is also to be easier to realize simultaneously.Flat can have two from grasp mode and parallel open
The end segment closed, is industrially suitable for parallel grip flake object or has the object of two parallel.
Existing a kind of five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP)
US8973958B2, including five connecting rods, spring and mechanical constraint etc..The arrangement achieves flat folder self-adapting grasping pattern.In work
When making, the incipient stage keeps the attitude of end segment to carry out nearly arthrogryposis action, can realize according to the position of object afterwards
The function that parallel grip or self adaptation envelope grip.It is disadvantageous in that, this device is only capable of realizing flat folder self-adapting grasping mould
Formula, it is impossible to realize coupling adaptive grasp mode；Additionally, it uses extremely complex multi-connecting-rod mechanism, motion to exist bigger
Dead band, captures scope less, and organization volume is big, lacks compliance, and manufacturing cost is too high.
Existing a kind of finger device of double-joint parallel under-actuated robot, such as Chinese patent CN101633171B, including
Pedestal, motor, two joint shafts, two segments, coupled transmission mechanism, drive lacking drive mechanism and multiple spring part.This device is real
Show coupling adaptive grasp mode, before finger touches object, just presented the effect of multi-joint coupling rotational, personalize very much,
Also contribute to grip mode simultaneously and capture object；A kind of multi-joint drive lacking mode is just used to rotate after finger touches object
Effect, has the self-reacting benefit of the size dimension to captured object.It is disadvantageous in that, this device is only capable of realizing coupling
Close self-adapting grasping pattern, it is impossible to realize flat folder self-adapting grasping pattern；Additionally, mechanism is complicated, installation and maintenance difficulty；Spring number of packages
Mesh is too much, utilizes the contradiction between spring part decoupling mediation coupled transmission mechanism and self adaptation drive mechanism, usually makes multiple spring
Part deformation is relatively big, causes excessive and unnecessary energy loss.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is provided that the flat folder coupling switching of one flexible piece is certainly
Adapt to robot finger apparatus.This device can realize flat folder self-adapting grasping pattern, after simplified manual switches, and again can be real
Existing coupling adaptive grasp mode；This device can translation the second segment parallel clamping object, also can two joints forwards simultaneously
Bending uncoupling grip object, it is also possible to successively rotate the first segment and the second segment self adaptation envelope difformity, size
Object；Crawl scope is big；Without complicated sensing and control system.
Technical scheme is as follows:
A kind of flexible piece flat folder coupling switching adaptive robot finger apparatus of present invention design, including pedestal, first
Segment, the second segment, nearly joint shaft, remote joint shaft and driver；Described driver is affixed with pedestal；In described nearly joint shaft
Heart line and the centerline parallel of remote joint shaft；It is characterized in that: this flexible piece flat folder coupling switching adaptive robot finger dress
Put also include drive mechanism, the first drive, the second drive, flexible drive parts, half wheel, the 3rd drive, tendon rope, partly take turns convex
Block, partly take turns connector, rotating shaft, the first spring part, the second spring part and spacing block set；Described nearly joint shaft is movably set in pedestal；
Described remote joint shaft is movably set in the first segment；Described first segment is socketed on nearly joint shaft；Described second segment set
It is connected on remote joint shaft；Described drive mechanism is arranged in pedestal；The output shaft of described driver and the input of drive mechanism
Being connected, the outfan of described drive mechanism and the first drive are connected；Described first drive is actively socketed on nearly joint shaft,
Described second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed；Described flexible drive parts uses and passes
Dynamic band, tendon rope or chain, described first drive uses belt wheel, rope sheave or sprocket wheel, described second drive to use belt wheel, rope sheave
Or sprocket wheel, described flexible drive parts connects the first drive and the second drive, described flexible drive parts, the first drive and
Belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation is cooperatively formed between two drive threes；Described Flexible Transmission
Part forms " O " font；Described half wheel connector is socketed on nearly joint shaft；Described rotating shaft is set on half wheel connector；Described
Half wheel is socketed in rotating shaft；Described half wheel is concentric with nearly joint shaft；Described 3rd driving wheel tube is connected on remote joint shaft, and the 3rd passes
Driving wheel and the second segment are affixed；It is this flexible piece flat folder coupling switching adaptive robot finger dress that definition captures the side of object
The front put, relative opposite side is i.e. away from the rear that side is this device capturing object；One end of described tendon rope and half
Taking turns affixed, described tendon rope coils through half wheel successively, through the first segment, coils through the 3rd drive, described tendon from rear
The other end and second segment of rope are affixed；Described tendon rope, cooperatively form rope sheave transmission between half wheel and the 3rd drive three and close
System；Described half wheel projection with partly take turns affixed；Described spacing block set is affixed with pedestal；Described half wheel projection contacts with spacing block set
Or stand away；If it is nearly joint positive direction that the first segment is close to the rotation direction of object, the first segment is away from object
Rotation direction is nearly joint opposite direction；It is in original state at this flexible piece flat folder coupling switching adaptive robot finger apparatus
Time, half wheel projection contacts with spacing block set；The two ends of described first spring part connect half wheel projection and pedestal respectively；Described second spring
The two ends of part connect the second segment and the first segment respectively, and the second spring part makes the second segment be close to strain the direction of tendon rope；First
The transmission radius of drive is more than the transmission radius of the second drive；The transmission radius of described half wheel and the transmission of the 3rd drive
Radius is equal.
Flexible piece of the present invention flat folder coupling switching adaptive robot finger apparatus, it is characterised in that drive described in:
Dynamic device uses motor, cylinder or hydraulic cylinder.
Flexible piece of the present invention flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: described the
One spring part uses extension spring, stage clip, leaf spring or torsion spring.
Flexible piece of the present invention flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: described the
Two spring parts use extension spring, stage clip, leaf spring or torsion spring.
Flexible piece of the present invention flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: also include
Transition pulley and pulley spindle, described transition pulley sleeve is connected on pulley spindle, and described pulley spindle is set in the first segment, described tendon
Rope coils through transition pulley.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize driver, closed loop flexible piece drive mechanism, open loop flexible piece drive mechanism, two spring parts,
Half wheel, rotating shaft, partly take turns connector, half wheel projection and spacing block set etc. comprehensively achieves that robot finger is flat presss from both sides self-adapting grasping mould
The function that formula and coupling adaptive grasp mode can simply switch: this device can realize flat folder self-adapting grasping pattern,
After simplified manual switching, coupling adaptive grasp mode can be realized again；In flat folder self-adapting grasping pattern, this device can
Translation the second segment grip object, also can rotate the first segment and the second segment envelope difformity, the object of size successively；?
In coupling adaptive grasp mode, this device can link two articulation simultaneously, and contact object in the first segment and hindered
Naturally proceed to bend the self-adapting grasping stage of the second segment after gear；Crawl scope is big；Use the mode of drive lacking, utilize one
Two joints of driver drives, it is not necessary to complicated sensing and control system；This apparatus structure is compact, volume is little, manufactures and safeguards
Low cost, it is adaptable to robot.
Accompanying drawing explanation
Fig. 1 is a kind of embodiment that the flexible piece that the present invention designs puts down folder coupling switching adaptive robot finger apparatus
Stereo appearance figure.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is a side external view (right view of Fig. 2) of 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 view of Fig. 2.
Fig. 6 is the B-B sectional view of Fig. 2.
Fig. 7 is the inside three-dimensional view (being not drawn into part) observed from an angle of embodiment illustrated in fig. 1.
Fig. 8 be embodiment illustrated in fig. 1 from the inside three-dimensional view (being not drawn into part) that another angle is observed.
Fig. 9 is the explosive view of embodiment illustrated in fig. 1.
Figure 10 to Figure 14 is that embodiment illustrated in fig. 1 captures object under flat folder adaptive model in the way of envelope gripping
Course of action schematic diagram.
Figure 15 to Figure 17 is embodiment illustrated in fig. 1 parallel folding the second segment clamping object under flat folder adaptive model
Course of action schematic diagram.
Figure 18 to Figure 21 is that embodiment illustrated in fig. 1 captures object under coupling adaptive pattern in the way of envelope gripping
Course of action schematic diagram.
Figure 22 to Figure 24 is that embodiment illustrated in fig. 1 couples bending the second segment clamping object under coupling adaptive pattern
Course of action schematic diagram.
In Fig. 1 to Figure 22:
1-pedestal, 111-pedestal header board, 112-pedestal back plate, 113-pedestal left plate,
114-pedestal right plate, 115-base-plates surface plate, 116-pedestal bottom plate, 117-base side cover plate,
2-the first segment, 21-the first segment skeleton, 22-the first segment left plate, 23-the first segment right plate,
24-the first segment surface plate, 25-the first segment header board, 26-the first segment back plate, 3-the second segment,
The nearly joint shaft of 4-, the remote joint shaft of 5-, 6-the first drive, 7-the second drive,
8-flexible drive parts, 811-First Transition pulley, 812-the second transition pulley, 813-the 3rd transition pulley,
821-First Transition pulley spindle, 822-the second transition pulley spindle, 823-the 3rd transition pulley spindle, 83-bearing,
84-sleeve, 85-screw, 86-pin, 9-half wheel,
10-the 3rd drive, 11-tendon rope, 12-partly takes turns projection, 13-the first spring part,
14-driver (motor), 141-decelerator, 142-the first bevel gear, 143-the second bevel gear,
144-transition gear axle, 145-the first belt wheel, 146-the second belt wheel, 147-transmission band,
15-partly takes turns connector, 16-rotating shaft 17-object, 18-spacing block set,
19-the second spring part.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment is described in further detail the content of the concrete structure of the present invention, operation principle.
The flexible piece of present invention design equals a kind of embodiment of folder coupling switching adaptive robot finger apparatus, such as Fig. 1
To shown in Fig. 9, including pedestal the 1, first segment the 2, second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14；Described drive
Dynamic device 14 is affixed with pedestal 1；The centrage of described nearly joint shaft 4 and the centerline parallel of remote joint shaft 5.The present embodiment also includes
Drive mechanism, first drive the 6, second drive 7, flexible drive parts 8, half wheel the 9, the 3rd drive 10, tendon rope 11, partly take turns convex
Block 12, half wheel connector 15, rotating shaft the 16, first spring part the 13, second spring part 19 and spacing block set 18；Described nearly joint shaft 4 is movable
It is set in pedestal 1；Described remote joint shaft 5 is movably set in the first segment 2；Described first segment 2 is socketed in nearly joint shaft 4
On；Described second segment 3 is socketed on remote joint shaft 5；Described drive mechanism is arranged in pedestal 1；Described driver 14 defeated
Shaft is connected with the input of drive mechanism；Outfan and first drive 6 of described drive mechanism are connected；Described first transmission
Wheel 6 is actively socketed on nearly joint shaft 4, and described second drive 7 is socketed on remote joint shaft 5, and the second drive 7 and second refers to
Section 3 is affixed；Described flexible drive parts 8 uses transmission band, tendon rope or chain, described first drive 6 to use belt wheel, rope sheave or chain
Wheel, described second drive 7 uses belt wheel, rope sheave or sprocket wheel, described flexible drive parts 8 to connect the first drive 6 and second and passes
Driving wheel 7, cooperatively forms belt wheel transmission relation, rope between described flexible drive parts the 8, first drive 6 and the second drive 7 three
Wheel drive connection or chain gear transmission relation；Described flexible drive parts 8 forms " O " font；Described half wheel connector 15 is socketed in closely
On joint shaft 4；Described rotating shaft 16 is set on half wheel connector 15；Described half wheel 9 is socketed in and turns on 16 axles；Described half wheel 9 with
Nearly joint shaft 4 is concentric；Described 3rd drive 10 is socketed on remote joint shaft 5, and the 3rd drive 10 is affixed with the second segment 3；
It is the front that this flexible piece puts down folder coupling switching adaptive robot finger apparatus that definition captures the side of object 17, and relative is another
Side is i.e. away from the rear that side is this device capturing object；One end of described tendon rope 11 is affixed with half wheel 9, described tendon rope
11 coil through half wheel 9 successively, through the first segment 2, coil through the 3rd drive 10 from rear, another of described tendon rope 11
Hold affixed with the second segment 3；Described tendon rope 11, between half wheel 9 and the 3rd drive 10 three, cooperatively form rope sheave drive connection；
Described half wheel projection 12 is affixed with half wheel 9；Described spacing block set 18 is affixed with pedestal 1；Described half wheel projection 12 and spacing block set
18 contact or stand away；If it is nearly joint positive direction that the first segment 2 is close to the rotation direction of object 17, the first segment
2 is nearly joint opposite direction away from the rotation direction of object 17；At this flexible piece flat folder coupling switching adaptive robot finger dress
Putting when being in original state, half wheel projection 12 contacts with spacing block set 18；
The two ends of described first spring part 13 connect half wheel projection 12 and pedestal 1 respectively；The two ends of described second spring part 19 are divided
Not connecting the second segment 3 and the first segment 2, the second spring part 19 makes the second segment 3 be close to strain the direction of tendon rope 11；If second refers to
It is remote joint positive direction that the centrages that section 3 goes the long way round joint shaft 5 are close to the rotation direction of object 17, and the second segment 3 is gone the long way round joint shaft 5
Centrage to leave the rotation direction of object 17 be remote joint opposite direction, in the present embodiment, owing to tendon rope 11 is wound around the from rear
Three drives 10, therefore, the second spring part 19 makes the second segment 3 be close to remote joint positive direction.The transmission radius of the first drive 6 is big
Transmission radius in the second drive 7；The transmission radius of described half wheel 9 and the transmission radius of the 3rd drive 10 are equal.
Flexible piece of the present invention flat folder coupling switching adaptive robot finger apparatus, it is characterised in that drive described in:
Dynamic device 14 uses motor, cylinder or hydraulic cylinder.Described first spring part uses extension spring, stage clip, leaf spring or torsion spring.Described second spring part
Use extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, described driver 14 uses motor；Described first spring part 13 uses and draws
Spring；Described second spring part 19 uses extension spring.
The present embodiment also includes the transition pulley spindle 82 that 3 transition pulleys 81 are corresponding with 3；Each described transition pulley 81
It is socketed on the transition pulley spindle 82 of correspondence；Described First Transition pulley spindle, the second transition pulley spindle are respectively sleeved at the first finger
In section 2；Described tendon rope 11 coils through First Transition pulley, the second transition pulley and the 3rd transition pulley respectively.First Transition
Being provided with of pulley, the second transition pulley and the 3rd transition pulley beneficially strengthens tendon rope 11 on half wheel the 9, the 3rd drive 10
The arc length coiled through, it is also possible to reduce gearing friction, it is thus achieved that preferably transmission effect.
In the present embodiment, on the left of pedestal header board 111 that described pedestal 1 includes being fixed together, pedestal back plate 112, pedestal
Plate 113, pedestal right plate 114, base-plates surface plate 115, pedestal bottom plate 116 and base side cover plate 117.In the present embodiment, described
First segment skeleton the 21, first segment left plate the 22, first segment right plate 23 that first segment 2 includes being fixed together,
One segment surface plate the 24, first segment header board 25 and the first segment back plate 26.
In the present embodiment, described drive mechanism includes decelerator the 141, first bevel gear the 142, second bevel gear 143, transition
Gear shaft the 144, first belt wheel the 145, second belt wheel 146 and transmission band 147；The output shaft of described motor 14 and decelerator 141
Power shaft is connected, and described first bevel gear 142 is fixed on the output shaft of decelerator 141, and described second bevel gear 143 is fixed in
On transition gear axle 144, described first bevel gear 142 engages with the second bevel gear 143；Described transition gear axle 144 is set in
In pedestal 1, described first belt wheel 145 is fixed on transition gear axle 144, and described second belt wheel 146 is actively socketed on nearly joint
On axle 4, described second belt wheel 146 is affixed with the first drive 6, and described transmission band 147 connects the first belt wheel 145 and the second belt wheel
146, described transmission band the 147, first belt wheel 145 and the second belt wheel 146 form belt wheel transmission relation, and described transmission band is in " O " word
Shape.
If the present embodiment additionally uses the parts such as dry bearing 83, some sleeves 84, some screws 85 and some pins 86, belong to
In known common technology, do not repeat.
The operation principle of the present embodiment, in conjunction with accompanying drawing 10 to Figure 24, is described below:
This device has two kinds of grasp modes: one is coupling adaptive grasp mode, and another kind is that flat folder self adaptation is grabbed
Delivery formula, the switching of both of which can be realized by the rotation partly taken turns around the shaft.
The manual switching method of flat folder self-adapting grasping pattern and coupling adaptive grasp mode is:
This plant running is adjusted to the state stretched, then half wheel is revolved turnback around the shaft.
1) realization of flat folder self-adapting grasping pattern
Toggling it to by rearward side by half wheel, at this moment tendon rope coils through half wheel from rear, and tendon rope, half wheel are with the 3rd
Drive constitutes constant speed drive in the same direction.It is described in detail below for flat folder self-adapting grasping pattern:
Initial position is finger straight configuration.
A) when the anglec of rotation of half wheel projection 12 is 0 degree, half takes turns the invariant position of 9 opposite base 1；Due to half wheel 9 with
The transmission radius of the 3rd drive 10 equal (i.e. both corners are identical, and gear ratio is 1), under the effect of tendon rope 11, no matter the
What position is one segment 2 be in, and the 3rd drive 10 keeps same angle with half wheel 9 all the time, the 3rd drive 10 opposite base 1
Only carry out translational motion without rotating, owing to the 3rd drive 10 is affixed with the second segment 3, so the second relative base of segment 3
Seat 1 carries out translational motion without rotating.
B) it is timing when the anglec of rotation of half wheel projection 12, under the effect of tendon rope 11, the anglec of rotation of the 3rd drive 10
Degree is equal to half corner taking turns projection 12.
When the present embodiment captures object 17, the driver 14 transmission by drive mechanism so that the first drive 6 is just
Turning, the corner of the first drive 6 opposite base 1 is α.Under the effect of flexible drive parts 8, the first drive 6 relative first refers to
The section corner of 2 and the corner of relative first segment 2 of the second drive 7 have a certain proportion of relation.If passing through from the first drive 6
It is i that flexible drive parts 8 is transferred to the gear ratio of the second drive 7, and this gear ratio is that the rotating speed of the first drive 6 is (relative to
One segment 2) with the ratio of the rotating speed (relative to the first segment 2) of the second drive 7, it is equal to the transmission radius of the second drive 7
Ratio with the transmission radius of the first drive 6.Owing to the transmission radius of the first drive 6 is more than the transmission half of the second drive 7
Footpath, is therefore step-up drive, and output speed is more than input speed, therefore gear ratio i is less than 1.If the first segment 2 is around nearly joint shaft 4
Corner be δ.Owing to the second drive 7 is affixed with the second segment 3, and the second segment 3 does not rotate relative to pedestal 1,
The most now the second drive 7 does not also rotate with respect to pedestal 1, and then can be derived from the present embodiment device will
It is equilibrated at the position meeting following (formula 1):
α=δ (1-i) (formula 1)
Owing to i is less than 1, α and δ can be obtained and be respectively positive different angles (wherein α is less than δ).Therefore driving is worked as
The device 14 transmission by drive mechanism, the first drive 6 have rotated an angle [alpha], and now, the first segment 2 is around nearly joint shaft 4 turns
Having crossed an angle δ, the second segment 3 is same attitude relative to pedestal 1 all the time, and simply position there occurs change.This is flat
The stage (such as Figure 10, Figure 11, Figure 12, Figure 21) of row clamping.This stage is suitable for the second segment 3 de-clamping object 17, or
A support outside the mode from inside to outside opened is gone to take object 17 by the second segment 3 by the way of outer.Such as one hollow cylinder
Taking of cylinder, is flared out propping up barrel from the inner side of this object, thus object of taking.
Contact object 17 when the first segment 2 and stopped by object 17 and be no longer able to turn, the second of self adaptation envelope will be entered
Stage (as shown in Figure 13, Figure 14, Figure 19, Figure 20, Figure 22), the at this moment driver 14 transmission by drive mechanism, drive first
Drive 6, makes second segment the 3, second drive 7 being fixed together and the 3rd drive 10 joint shaft 5 of simultaneously going the long way round rotate,
Driving half wheel 9 and half wheel projection 12 to rotate around nearly joint shaft 4 by tendon rope 11, the first spring part 13 deforms (such as Figure 13, Figure 19
Shown in), now can the go the long way round centrage of joint shaft 5 of the second segment 3 is rotated further, until the second segment 3 contacts object 17,
Complete self adaptation envelope and capture the effect of object.For difformity, the object of size, the present embodiment has adaptivity, energy
Enough multiple objects of general crawl.
The process of release object 17: driver 14 inverts, and subsequent process is the most contrary with the process of above-mentioned crawl object 17,
Do not repeat.
2) realization of coupling adaptive grasp mode
Half wheel 9 toggles it to the side (front) being close to capture object 17, and at this moment tendon rope 11 coils through half wheel from front
9, tendon rope 11, half wheel 9 and the 3rd drive 10 constitute reverse constant speed drive.
It is introduced below for coupling adaptive grasp mode.
When driver 14 drives the first segment 2 forward to turn by the first drive 6, flexible drive parts 8 and the second drive 7
Dynamic when being close to object 17, do not rotate owing to half wheel 9 is close to spacing block set 18 all the time, now the first segment 2 relative to
The rotation of half wheel 9 can make tendon rope 11 unwinding (part leaves half wheel 9) on half wheel 9, and now the second spring part 19 is by the second segment 3
Pulling to capture object 17 side, tendon rope 11 is more wound around on the 3rd drive 10, thus tightens up tendon rope 11, the second segment 3
It is close to object 17 direction rotate.Now have:
α=δ (1+i) (formula 2)
The process of release object 17 is contrary with said process, does not repeats.
Apparatus of the present invention utilize driver, closed loop flexible piece drive mechanism, open loop flexible piece drive mechanism, two spring parts,
Half wheel, rotating shaft, partly take turns connector, half wheel projection and spacing block set etc. comprehensively achieves that robot finger is flat presss from both sides self-adapting grasping mould
The function that formula and coupling adaptive grasp mode can simply switch: this device can realize flat folder self-adapting grasping pattern,
After simplified manual switching, coupling adaptive grasp mode can be realized again.In flat folder self-adapting grasping pattern, this device can
Translation the second segment grip object, also can rotate the first segment and the second segment envelope difformity, the object of size successively；?
In coupling adaptive grasp mode, this device can link two articulation simultaneously, and contact object in the first segment and hindered
Naturally proceed to bend the self-adapting grasping stage of the second segment after gear；Crawl scope is big；Use the mode of drive lacking, utilize one
Two joints of driver drives, it is not necessary to complicated sensing and control system；This apparatus structure is compact, volume is little, manufactures and safeguards
Low cost, it is adaptable to robot.
Claims (5)
1. a flexible piece flat folder coupling switching adaptive robot finger apparatus, including pedestal, the first segment, the second segment,
Nearly joint shaft, remote joint shaft and driver；Described driver is affixed with pedestal；The centrage of described nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that: this flexible piece flat folder coupling switching adaptive robot finger apparatus also includes driver
Structure, the first drive, the second drive, flexible drive parts, half wheel, the 3rd drive, tendon rope, partly take turns projection, partly take turns connector,
Rotating shaft, the first spring part, the second spring part and spacing block set；Described nearly joint shaft is movably set in pedestal；Described remote joint shaft is lived
Move and be set in the first segment；Described first segment is socketed on nearly joint shaft；Described second segment is socketed on remote joint shaft；
Described drive mechanism is arranged in pedestal；The output shaft of described driver is connected with the input of drive mechanism, described driver
The outfan of structure and the first drive are connected；Described first drive is actively socketed on nearly joint shaft, described second drive
Being socketed on remote joint shaft, the second drive and the second segment are affixed；Described flexible drive parts uses transmission band, tendon rope or chain
Bar, described first drive uses belt wheel, rope sheave or sprocket wheel, and described second drive uses belt wheel, rope sheave or sprocket wheel, described soft
Property driving member connects the first drive and the second drive, described flexible drive parts, the first drive and the second drive three
Between cooperatively form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation；Described flexible drive parts forms " O " word
Shape；Described half wheel connector is socketed on nearly joint shaft；Described rotating shaft is set on half wheel connector；Described half wheel is socketed in and turns
On axle；Described half wheel is concentric with nearly joint shaft；Described 3rd driving wheel tube is connected on remote joint shaft, and the 3rd drive and second refers to
Section is affixed；It is the front that this flexible piece puts down folder coupling switching adaptive robot finger apparatus that definition captures the side of object, phase
To opposite side i.e. away from capture object the rear that side is this device；One end of described tendon rope with partly take turns affixed, described
Tendon rope coils through half wheel successively, through the first segment, coils through the 3rd drive from rear, the other end of described tendon rope with
Second segment is affixed；Described tendon rope, between half wheel and the 3rd drive three, cooperatively form rope sheave drive connection；Described partly take turns convex
Block with partly take turns affixed；Described spacing block set is affixed with pedestal；Described half wheel projection contact with spacing block set or leave one section away from
From；If it is nearly joint positive direction that the first segment is close to the rotation direction of object, the first segment is near away from the rotation direction of object
Joint opposite direction；When this flexible piece flat folder coupling switching adaptive robot finger apparatus is in original state, partly take turns projection
Contact with spacing block set；The two ends of described first spring part connect half wheel projection and pedestal respectively；The two ends of described second spring part are divided
Not connecting the second segment and the first segment, the second spring part makes the second segment be close to strain the direction of tendon rope；The biography of the first drive
Dynamic radius is more than the transmission radius of the second drive；The transmission radius of described half wheel and the transmission radius of the 3rd drive are equal.
2. flexible piece as claimed in claim 1 flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: described
Driver uses motor, cylinder or hydraulic cylinder.
3. flexible piece as claimed in claim 1 flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: described
First spring part uses extension spring, stage clip, leaf spring or torsion spring.
4. flexible piece as claimed in claim 1 flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: described
Second spring part uses extension spring, stage clip, leaf spring or torsion spring.
5. flexible piece as claimed in claim 1 flat folder coupling switching adaptive robot finger apparatus, it is characterised in that: also wrap
Including transition pulley and pulley spindle, described transition pulley sleeve is connected on pulley spindle, and described pulley spindle is set in the first segment, described
Tendon rope coils through transition pulley.
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|---|---|---|---|
| CN201610364700.8A CN105835083A (en) | 2016-05-27 | 2016-05-27 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
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| CN201610364700.8A CN105835083A (en) | 2016-05-27 | 2016-05-27 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
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| CN105835083A true CN105835083A (en) | 2016-08-10 |
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| CN201610364700.8A Pending CN105835083A (en) | 2016-05-27 | 2016-05-27 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
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