CN105881565B - The flat folder adaptive robot finger apparatus of double leval jib - Google Patents
The flat folder adaptive robot finger apparatus of double leval jib Download PDFInfo
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- CN105881565B CN105881565B CN201610345242.3A CN201610345242A CN105881565B CN 105881565 B CN105881565 B CN 105881565B CN 201610345242 A CN201610345242 A CN 201610345242A CN 105881565 B CN105881565 B CN 105881565B
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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
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Abstract
The flat folder adaptive robot finger apparatus of double leval jib, belong to robot technical field, including pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft, driver, first connecting rod, second connecting rod, third connecting rod, the first bar axle, the second bar axle, projection driver plate, thumb wheel, transmission mechanism, the first spring part, the second spring part and spacing block set.Device synthesis realizes parallel clamping and self-adapting grasping finger function, can translation the second segment grip object or outside support take object, can also rotate the object of the first segment and the adaptive envelope different shapes and sizes of the second segment successively;Crawl scope is big, and grasping stability is reliable;Two joints are driven merely with a driver, sensing and control system without complexity;Simple in construction, small volume, in light weight, processing, assembling are low with maintenance cost, suitable for robot.
Description
Technical field
The invention belongs to robot technical field, the flat folder adaptive robot finger apparatus of more particularly to a kind of double leval jib
Structure design.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, because number of motors is few, hides
Bigger power and volume 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 manufacturing cost.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, and one kind is to grip.Grip is to use end finger
Tip portion go grip 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 is typically using the parallel method of clamping in end, it is difficult to which there is envelope to grip work(
Can, it is impossible to adapt to the stable envelope crawl of various shapes object;Adaptive under-actuated finger can use adaptive envelope object
Mode grip, but can not implement end it is parallel clamping crawl, for example, a kind of existing under-actuated two-articulated robot finger
Device (Chinese invention patent CN101234489A), including the transmission of pedestal, motor, middle part segment, end segment peace belt wheel
Mechanism etc..The arrangement achieves the special-effect that doublejointed under-actuated finger bends crawl object, there is adaptivity.This owes to drive
The weak point of dynamic mechanical finger device with functions is:Straight configuration is presented in finger all the time before object is not touched, and Grasp Modes are mainly
Holding mode, difficulty realize the parallel clamping crawl effect in preferable end.
The content of the invention
The invention aims to overcome the weak point of prior art, there is provided a kind of flat adaptive machine of folder of double leval jib
Finger device.The device has a variety of grasp modes, can the segment of translation second clamping object, also can successively rotate the first finger
The object of section and the adaptive envelope different shapes and sizes of the second segment;It is big to capture scope;Without complicated sensing and control system
System.
Technical scheme is as follows:
The flat folder adaptive robot finger apparatus of a kind of double leval jib that the present invention designs, 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 it is remote
The centerline parallel of joint shaft;It is characterized in that:The flat folder adaptive robot finger apparatus of the double leval jib also include transmission mechanism,
Thumb wheel, first connecting rod, second connecting rod, third connecting rod, the first bar axle, the second bar axle, projection 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 joint shaft is movably set in the first segment;It is described
First segment is actively socketed on nearly joint shaft;Second segment is socketed on remote joint shaft;The transmission mechanism is arranged on
In pedestal;The output shaft of the driver is connected with the input of transmission mechanism, output end and the thumb wheel phase of the transmission mechanism
Even;The thumb wheel is actively socketed on nearly joint shaft;One end of the first connecting rod is actively socketed on nearly joint shaft, and first connects
The other end of bar is actively socketed on the first bar axle;One end of the second connecting rod is socketed on remote joint shaft, second connecting rod
The other end is actively socketed on the second bar axle, and second connecting rod and the second segment are affixed;The both ends of the third connecting rod are socketed respectively
On the first bar axle, the second bar axle;The length of first connecting rod and the equal length of second connecting rod, the first connecting rod, second connect
Bar, third connecting rod and the first segment form parallel four-bar linkage;The projection driver plate is actively socketed on nearly joint shaft,
The projection driver plate and first connecting rod are affixed;The projection driver plate includes driver plate, the first projection and the second projection;Described first is convex
Block, the second projection are affixed with driver plate respectively;The spacing block set and pedestal are affixed;First projection is in contact with spacing block set
Or stand away;The thumb wheel includes affixed drive lugs;Second projection is in contact or left with drive lugs
One segment distance;If the rotation direction that the first segment is close to object is nearly joint positive direction, the first rotation side of the segment away from object
To for nearly joint opposite direction;When the flat folder adaptive robot finger apparatus of the double leval jib be in original state, the first projection and
Spacing block set contacts, if now the anglec of rotation of projection driver plate opposite base is 0 degree, since the position, projection driver plate is towards near
The rotational angle during rotation of joint positive direction for just, projection driver plate towards nearly joint opposite direction rotate when rotational angle be negative;Institute
The rotational angle for stating spacing block set limitation projection driver plate is only just;The both ends of the first spring part connect respectively projection driver plate and
Pedestal;When the flat folder adaptive robot finger apparatus of the double leval jib is in original state, second projection and drive lugs
Stand away;In thumb wheel slewing area, drive lugs can touch the second projection;The both ends difference of the second spring part
Connect thumb wheel and the first segment.
The flat folder adaptive robot finger apparatus of double leval jib of the present invention, it is characterised in that:The driver uses
Motor, cylinder or hydraulic cylinder.
The flat folder adaptive robot finger apparatus of double leval jib of the present invention, it is characterised in that:The first spring part is adopted
With extension spring, stage clip, leaf spring or torsion spring.
The flat folder adaptive robot finger apparatus of double leval jib of the present invention, it is characterised in that:The second spring part is adopted
With extension spring, stage clip, leaf spring or torsion spring.
The present invention compared with prior art, has advantages below and high-lighting effect:
Apparatus of the present invention utilize driver, parallel―ordinal shift transmission mechanism, the first spring part, the second spring part, projection driver plate, limit
Position projection and thumb wheel etc. are comprehensive to realize the parallel clamping of doublejointed robot finger and the function of self-adapting grasping, according to object
Shape and the difference of position, can translation the second segment grip object or outside support take object, can also rotate the first finger successively
The object of section and the adaptive envelope different shapes and sizes of the second segment;Device crawl scope is big, and grasping stability is reliable;It is only sharp
Two joints are driven with a driver, sensing and control system without complexity;The apparatus structure is simple, small volume, weight
Gently, processing, assembling are low with maintenance cost, suitable for robot.
Brief description of the drawings
Fig. 1 is a kind of three-dimensional appearance of the embodiment for the flat folder adaptive robot finger apparatus of double leval jib that the present invention designs
Figure.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (Fig. 2 left view) of embodiment illustrated in fig. 1.
Fig. 4 is that the front view of embodiment illustrated in fig. 1 (is not drawn into pedestal foreboard, base-plates surface plate, the first segment foreboard,
One segment surface plate).
Fig. 5 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 6 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 7 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 8 is the explosive view of embodiment illustrated in fig. 1.
Fig. 9 to Figure 13 is that embodiment illustrated in fig. 1 is shown in the action process that object is captured in a manner of the gripping of adaptive envelope
It is intended to.
Figure 14 to Figure 16 is that embodiment illustrated in fig. 1 is capturing the action process schematic diagram of object in a manner of parallel clamping.
Figure 17, Figure 18 are embodiment illustrated in fig. 1 several passes during adaptive envelope holding mode captures object motion
During key position, the situation of change of the relative position of projection driver plate, the first spring part and spacing block set.
Figure 19 to Figure 22 is embodiment illustrated in fig. 1 several passes during adaptive envelope holding mode captures object motion
During key position, thumb wheel, projection driver plate relative position situation of change.
In Fig. 1 into Figure 22:
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 segments of 2- first,
21- the first segment surface plates, 22- the first segment left plates, 23- the first segment right plates, the segments of 24- first
Foreboard,
25- the first segment back plates, the segments of 3- second, the nearly joint shafts of 4-, the remote joint shafts of 5-,
83- bearings, 84- sleeves, 85- screws, 86- pins,
9- first connecting rods, 91- the first bar axles, 92- the second bar axles, 10- second connecting rods,
11- third connecting rods, 12- projection driver plates, the projections of 121- first, the projections of 122- second,
13- the first spring parts, 14- drivers (motor), 141- decelerators, 142- first bevel gears,
143- second bevel gears, 144- transition gear axles, 145- transition pulley, 147- transmission belts,
15- thumb wheels, 151- drive lugs, 16- the second spring parts, 17- objects,
18- spacing block sets.
Embodiment
Below in conjunction with the accompanying drawings and the concrete structure of the present invention, the content of operation principle is described in further detail in embodiment.
A kind of embodiment for the flat folder adaptive robot finger apparatus of double leval jib that the present invention designs, such as Fig. 1 to Fig. 8 institutes
Show, 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 with
Pedestal 1 is affixed;The centerline parallel of the center line and remote joint shaft 5 of the nearly joint shaft 4.The present embodiment also includes driver
Structure, thumb wheel 152, first connecting rod 9, second connecting rod 10, third connecting rod 11, the first bar axle 91, the second bar axle 92, projection driver plate 12,
First spring part 13, the second spring part 53 and spacing block set 18;The nearly joint shaft 4 is movably set in pedestal 1;The remote joint shaft
5 are movably set in the first segment 2;First segment 2 is actively socketed on nearly joint shaft 4;Second segment 3 is socketed in
On remote joint shaft 5;The transmission mechanism is arranged in pedestal 1;The output shaft of the driver 14 and the input of transmission mechanism
It is connected;The output end of the transmission mechanism is connected with thumb wheel;The thumb wheel is actively socketed on nearly joint shaft 4.
In the present embodiment, one end of the first connecting rod is actively socketed on nearly joint shaft, and the other end of first connecting rod is lived
It is dynamic to be socketed on the first bar axle;One end of the second connecting rod is socketed on remote joint shaft, the other end movable sleeve of second connecting rod
It is connected on the second bar axle, second connecting rod and the second segment are affixed;The both ends of the third connecting rod are socketed in the first bar axle, respectively
On two bar axles;The length of first connecting rod and the equal length of second connecting rod, the first connecting rod, second connecting rod, third connecting rod and
First segment forms parallel four-bar linkage;As shown in Figure 5;In this way, so that:By the transmission of third connecting rod 11,
Transmission from first connecting rod 9 to second connecting rod 10 is co-rotating transmission and gearratio is equal to 1.
In the present embodiment, the projection driver plate 12 is actively socketed on nearly joint shaft 4, and the projection driver plate 12 and first connects
Bar 9 is affixed.The projection driver plate includes driver plate, the first projection and the second projection;First projection, the second projection are respectively with dialling
Disk is affixed;The spacing block set 18 and pedestal 1 are affixed;First projection be in contact or leave with spacing block set 18 one section away from
From as shown in Fig. 6, Figure 17 and Figure 18;The thumb wheel includes affixed drive lugs.Second projection connects with drive lugs
Touch or stand away, as shown in Fig. 7, Figure 19, Figure 20, Figure 21 and Figure 22;If the first segment 2 is close to the rotation side of object 17
To for nearly joint positive direction (the clockwise direction of arrow in such as Fig. 9), the first rotation direction of the segment 2 away from object 17 is near
Joint opposite direction;Original state (stretching as shown in Fig. 9, Figure 14 is in the flat folder adaptive robot finger apparatus of the double leval jib
Straight state) when, the first projection contacts with spacing block set 18, if now the anglec of rotation of the opposite base 1 of projection driver plate 12 is 0 degree
(as shown in Figure 6), since the position, projection driver plate 12 towards nearly joint positive direction rotate when rotational angle for just, projection is dialled
Disk 12 towards nearly joint opposite direction rotate when rotational angle be negative;The spacing block set 18 limits the rotational angle of projection driver plate 12
It is only just, i.e., projection driver plate 12 can only rotate along arrow direction indication as shown in figure 17.The two of the first spring part 13
End connects projection driver plate 12 and pedestal 1, the first spring part 13 respectively makes projection driver plate 12 be close to spacing block set 18;Put down in the double leval jib
When folder adaptive robot finger apparatus is in original state, second projection stands away with drive lugs, such as Fig. 7
It is shown;In thumb wheel slewing area, drive lugs can touch the second projection, as shown in Figure 19 to Figure 22;The second spring part
Both ends connect thumb wheel and the first segment respectively, as shown in Figure 4.
The flat folder adaptive robot finger apparatus of double leval jib of the present invention, it is characterised in that:The driver 14 is adopted
With motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 14 uses motor.
The flat folder adaptive robot finger apparatus of double leval jib of the present invention, it is characterised in that:The first spring part is adopted
With extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, the first spring part 13 uses extension spring.
The flat folder adaptive robot finger apparatus of double leval jib of the present invention, it is characterised in that:The second spring part is adopted
With extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, the second spring part 16 uses torsion spring.
In the present embodiment, pedestal foreboard 111 that the pedestal 1 includes being fixed together, pedestal back plate 112, on the left of pedestal
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 surface plate 21 for being connected together, the first segment left plate 22, the first segment right plate 23, the and of the first segment foreboard 24
First segment back plate 25.
In the present embodiment, the transmission mechanism includes decelerator 141, first bevel gear 142, second bevel gear 143, transition
Gear shaft 144, transition pulley 145 and transmission belt 147;The output shaft of the motor 14 is connected with the input shaft of decelerator 141, institute
State first bevel gear 142 to be fixed on the output shaft of decelerator 141, the second bevel gear 143 is fixed in transition gear axle 144
On, the first bevel gear 142 engages with second bevel gear 143;The transition gear axle 144 is set in pedestal 1, the mistake
Cross belt wheel 145 to be fixed in transition gear axle 144, the transmission belt 147 connects transition pulley 145 and thumb wheel 15, the transmission
Band 147, transition pulley 145 and thumb wheel 15 form belt wheel transmission relation.
In the present embodiment, the transmission mechanism can be other a variety of conventional transmission mechanisms, such as gear drive
Mechanism, belt wheel transmission mechanism etc., can also be transmission mechanism more than primary transmission mechanism or two level, as long as by driver
The power of (motor) passes to thumb wheel.
If the present embodiment also includes dry bearing 83, some sleeves 84, some screws 85 and some pins 86 etc., skill known in category
Art, do not repeat.
The operation principle of the present embodiment, is described below with reference to accompanying drawing:
When the present embodiment is in original state, as shown in Fig. 1, Fig. 5, Fig. 6 and Fig. 7.
Motor 14 rotates, and drives first bevel gear 142 by reductor 141, drives second bevel gear 143, drives transition
Gear shaft 144, transition pulley 145 is driven, drive thumb wheel 15 to rotate by transmission belt 147, first is pulled by the second spring part 16
Segment 2 rotates around joint shaft 4, realizes the first articulation;Now, drive lugs 151 are also not in contact with the second projection 122, the
One spring part 13 hauls projection driver plate 12 against on spacing block set 18, because projection driver plate 12 and first connecting rod 9 are affixed, institute
Keep initial attitude constant with first connecting rod 9;Now, in parallel four-bar linkage, (first connecting rod 9, second connecting rod the 10, the 3rd connect
The segment 2 of bar 11 and first) in the presence of, the segment 3 of second connecting rod 10 and second remains in that initial attitude, and reason is:Pass through
The transmission of three connecting rods 11, the transmission from first connecting rod 9 to second connecting rod 10 are that co-rotating transmission and gearratio are equal to 1, so when the
When one segment 2 rotates around nearly joint shaft 4 and first connecting rod 9 is motionless, 10 opposite base of second connecting rod 1 carry out translational motion without
Can rotate, because second connecting rod 10 and the second segment 3 are affixed, so 3 opposite base of the second segment 1 carry out translational motion without
It can rotate, remain original posture.
A) parallel clamping (also referred to as parallel folding or flat folder) grasp mode of the second segment 2 contact object 17:
If now the second segment 2 contact object 17, is parallel clamping grasp mode.Action process such as Figure 14 to Figure 16
It is shown.
Motor 14 is rotated further, when thumb wheel 15 is rotated further but drive lugs 151 are also not in contact with the second projection 122, the
Moderate finite deformation occurs for two spring parts 16, and (power is referred to as F to the deformation elastic force of the second spring part 161), pass through the first segment 2, remote joint shaft 5
Etc. the second segment 3 has been applied to in the grasping force of object 17, if grasping force is enough, motor 14 stalls, crawl terminates.
After said process, if grasping force is inadequate, thumb wheel 15 is rotated further an angle, and now the second spring part 16 is sent out
More large deformation, F are given birth to1It is bigger;Meanwhile (power is referred to as F to one power of the second projection 122 of contact of drive lugs 151 and application2) give
Second projection 122, F2Second segment 3 has been applied to object 17 by first connecting rod 9, third connecting rod 11 and second connecting rod 10
(need to deduct influence of the deformation elastic force of the first spring part to grasping force) in grasping force, motor 14 stalls, and crawl terminates.
Parallel clamping grasp mode is adapted to the de-clamping object 17 of the second segment 3, or with second by way of opening outside
Segment 3, which goes to support from inside to outside, takes object 17.Such as hollow cylindrical tube is taken, and is flared out propping up on the inside of the object
Barrel, so as to object of taking.
B) the self-adapting grasping pattern of the first segment 2 contact object 17:
The flat gripper of first stage, which takes, to be collectively referred to as flat folder with the self-adapting grasping of second stage adaptive (or flat coupling is adaptive
Should) grasp mode.
Stopped by object 17 and be no longer able to turn when the first segment 2 contacts object 17, will be automatically into self-adapting grasping rank
Section.Motor 14 is rotated further, and thumb wheel 15 is rotated further, but when drive lugs 151 are also not in contact with the second projection 122, the second spring
Moderate finite deformation occurs for part 16, and (power is referred to as F to the deformation elastic force of the second spring part 161), it is applied to the first grabbing to object 17 of segment 2
In holding force.
Motor 14 is rotated further, and thumb wheel 15 is rotated further an angle, and now there occurs more large deformation, F for the second spring part 161
It is bigger;Meanwhile drive lugs 16 contact the second projection 122 and promote the second projection 122, projection driver plate 12 and first connecting rod 9 exist
Overcome the first spring part 13 deformation elastic force to rotate, drive the segment 3 of second connecting rod 10 and second to go the long way round pass by third connecting rod 11
Nodal axisn 5 rotates, and until the second segment 3 contacts object 17 and applies grasping force, motor 14 stalls, and crawl terminates, and completes adaptive
Envelope captures the effect of object.Action process is as shown in Fig. 9 to 13.
For the object of different shapes and sizes, the present embodiment has adaptivity, can capture a variety of objects.
In above process, when the anglec of rotation of projection driver plate 12 is timing, in the presence of third connecting rod 11, second connects
The segment 3 of bar 10 and second is equal to first connecting rod 9 and projection driver plate 12 relative to the anglec of rotation of the first segment 2 and referred to relative to first
The anglec of rotation of section 2.
Fig. 6 is Fig. 9, Figure 10 and Figure 11 projection driver plate 12, the situation of the spring part of spacing block set 18 and first.Now this implementation
Example is in initial position or has only bent the first segment, and the first spring part 13 makes projection driver plate 12 be in contact with spacing block set 18,
Second segment 3 is in the fixation initial attitude relative to pedestal 1, and such case is continued until that Figure 11 envelope crawl starts,
Or Figure 16 clamping crawl terminates.
Figure 17 is Figure 12 projection driver plate 12, the relative position situation of change of the spring part of spacing block set 18 and first.Now originally
First segment 2 of embodiment has touched object 17 and has been blocked from moving, under the driving effect of driver 14, second
The joint shaft 5 of having gone the long way round of segment 3 rotates an angle (being rotated relative to pedestal 1), and the second segment 3 has no longer kept original perpendicular
Straight initial attitude, projection driver plate 12 have left the spacing block set 18 being permanently connected to originally.
Figure 18 is Figure 13 projection driver plate 12, the relative position situation of change of the spring part of spacing block set 18 and first.Now originally
Embodiment completes the contact to two segments of object --- realize that adaptive envelope captures, to the object energy of different shape size
Enough automatic envelope crawls, grasping stability;Compared with Figure 17 situation, projection driver plate 12 is rotated to bigger angle, leaves limit
The farther distance of position projection 18, the second segment 3 also have rotated the corner identical angle with projection driver plate 12.
Figure 19, Figure 20 are Figure 11 drive lugs and the situation of the second projection.Figure 21 be Figure 12 drive lugs and
The situation of second projection.Figure 22 is Figure 13 drive lugs and the situation of the second projection.
Discharge the process of object 17:Motor 14 inverts, and the process of subsequent process and above-mentioned crawl object 17 is not just on the contrary,
Repeat again.
Apparatus of the present invention utilize driver, parallel―ordinal shift transmission mechanism, the first spring part, the second spring part, projection driver plate, limit
Position projection and thumb wheel etc. are comprehensive to realize the parallel clamping of doublejointed robot finger and the function of self-adapting grasping, according to object
Shape and the difference of position, can translation the second segment grip object or outside support take object, can also rotate the first finger successively
The object of section and the adaptive envelope different shapes and sizes of the second segment;Device crawl scope is big, and grasping stability is reliable;It is only sharp
Two joints are driven with a driver, sensing and control system without complexity;The apparatus structure is simple, small volume, weight
Gently, processing, assembling are low with maintenance cost, suitable for robot.
Claims (4)
1. a kind of flat folder adaptive robot finger apparatus of double leval jib, including pedestal, the first segment, the second segment, nearly joint shaft,
Remote joint shaft and driver;The driver and pedestal are affixed;The center line of the center line and remote joint shaft of the nearly joint shaft
It is parallel;It is characterized in that:The flat folder adaptive robot finger apparatus of the double leval jib also include transmission mechanism, thumb wheel, first connecting rod,
Second connecting rod, third connecting rod, the first bar axle, the second bar axle, projection driver plate, the first spring part, the second spring part and spacing block set;It is described
Nearly joint shaft is movably set in pedestal;The remote joint shaft is movably set in the first segment;The first segment movable sleeve
It is connected on nearly joint shaft;Second segment is socketed on remote joint shaft;The transmission mechanism is arranged in pedestal;The driving
The output shaft of device is connected with the input of transmission mechanism, and the output end of the transmission mechanism is connected with thumb wheel;The thumb wheel activity
It is socketed on nearly joint shaft;One end of the first connecting rod is actively socketed on nearly joint shaft, the other end activity of first connecting rod
It is socketed on the first bar axle;One end of the second connecting rod is socketed on remote joint shaft, the other end pivot bush unit of second connecting rod
On the second bar axle, second connecting rod and the second segment are affixed;The both ends of the third connecting rod are socketed in the first bar axle, second respectively
On bar axle;The length of first connecting rod and the equal length of second connecting rod, the first connecting rod, second connecting rod, third connecting rod and
One segment forms parallel four-bar linkage;The projection driver plate is actively socketed on nearly joint shaft, the projection driver plate with
First connecting rod is affixed;The projection driver plate includes driver plate, the first projection and the second projection;First projection, the second projection point
It is not affixed with driver plate;The spacing block set and pedestal are affixed;First projection be in contact or leave with spacing block set one section away from
From;The thumb wheel includes affixed drive lugs;Second projection is in contact or stood away with drive lugs;If the
The rotation direction that one segment is close to object is nearly joint positive direction, and rotation direction of first segment away from object is nearly joint negative side
To;When the flat folder adaptive robot finger apparatus of the double leval jib is in original state, the first projection contacts with spacing block set, if
Now the anglec of rotation of projection driver plate opposite base be 0 degree, since the position, projection driver plate towards nearly joint positive direction rotate when
Rotational angle for just, projection driver plate towards nearly joint opposite direction rotate when rotational angle be negative;The spacing block set limitation is convex
The rotational angle of block driver plate is only just;The both ends of the first spring part connect projection driver plate and pedestal respectively;In the double leval jib
When flat folder adaptive robot finger apparatus is in original state, second projection stands away with drive lugs;
In thumb wheel slewing area, drive lugs can touch the second projection;The both ends of the second spring part connect thumb wheel and first respectively
Segment.
2. the flat folder adaptive robot finger apparatus of double leval jib as claimed in claim 1, it is characterised in that:The driver is adopted
With motor, cylinder or hydraulic cylinder.
3. the flat folder adaptive robot finger apparatus of double leval jib as claimed in claim 1, it is characterised in that:The first spring part
Using extension spring, stage clip, leaf spring or torsion spring.
4. the flat folder adaptive robot finger apparatus of double leval jib as claimed in claim 1, it is characterised in that:The second spring part
Using extension spring, stage clip, leaf spring or torsion spring.
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CN106346508B (en) * | 2016-08-31 | 2019-01-18 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of double leval jib driving wheel straight line |
CN106272502B (en) * | 2016-08-31 | 2018-10-16 | 清华大学 | The flat folder adaptive robot finger apparatus of four bar four-wheel straight lines |
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 |
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CN108189056B (en) * | 2017-11-22 | 2020-07-24 | 清华大学 | Lever wheel type pinching and holding composite grabbing robot finger device |
CN109531607B (en) * | 2018-11-28 | 2023-12-26 | 清华大学 | Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute |
CN115890716B (en) * | 2022-12-26 | 2024-08-06 | 帕西尼感知科技(张家港)有限公司 | Finger joint, finger, mechanical gripper and robot comprising attachment |
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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 |
CN105583833A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods |
CN105583835A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Closed loop parallel-clamping and self-adapting robot finger device with connection rods and flexible part |
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WO2016032978A1 (en) * | 2014-08-25 | 2016-03-03 | Paul Ekas | Shock absorbing and self re-aligning robotic fingers |
KR101679600B1 (en) * | 2014-10-20 | 2016-11-28 | 금오공과대학교 산학협력단 | Robot finger |
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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 |
CN105583833A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods |
CN105583835A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Closed loop parallel-clamping and self-adapting robot finger device with connection rods and flexible part |
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