CN106078781B - The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line - Google Patents
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line Download PDFInfo
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- CN106078781B CN106078781B CN201610641012.1A CN201610641012A CN106078781B CN 106078781 B CN106078781 B CN 106078781B CN 201610641012 A CN201610641012 A CN 201610641012A CN 106078781 B CN106078781 B CN 106078781B
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line, belong to robot technical field, including pedestal, two segments, two joint shafts, two drivers, multiple connecting rods, multistage belt wheel transmission mechanism, the control module of convex block driver plate, multiple sensors and built-in control program.Apparatus of the present invention realize the function of robot finger's straight line parallel clamping and self-adapting grasping, can be realized good clamping in particular for workbench upper thin sheet part；Remote joint shaft is realized along linear motion using four-bar mechanism, the translation of the second segment is realized using belt wheel, link mechanism cooperation；Self-adapting grasping function is realized using multiple sensors, control module and built-in control program, is adapted to the crawl of different shapes and sizes object；Crawl range is big, and grasping stability is reliable；Two joints are driven using two drivers；The apparatus structure is simple, small in size, light-weight, and processing, assembly are low with maintenance cost.
Description
Technical field
The invention belongs to robot technical field, in particular to the flat folder perception self-adaption machine of a kind of connecting rod belt wheel straight line
The structure of finger device designs.
Background technique
Robot technology is one of important trend of current technological development.Robot substitution is artificial carry out work in every will be according to
By robot (end gripper).Have a plurality of types of robots at present to be developed, including multifinger hand and special type
Hand.Wherein multifinger hand has multiple fingers, and has the joint of rotation or translation on finger；Extraordinary hand does not have obvious finger, and
It is the crawl realized using principles such as magnet, sucker, electrostatic to object.
Multifinger hand is divided into the Dextrous Hand especially as manpower again, and industrial common simple two refer to clamper, and between two
Drive lacking multifingered robot hands between person.
Multiple fingers of the Dextrous Hand with active drive and control and there are multiple joints on each finger, can compare
It is preferable to imitate manpower, achieve the effect that stablize crawl object, the grasp mode and gesture of realization are more various, represent machine
The important directions of manpower development, still, traditional Dextrous Hand are required to the shape to object, size and location in each crawl
It is detected, and combines certain crawl, operation or gesture purpose according to multiple transducing signals of detection, carry out each finger, pass
The path planning of section, brings extremely complex real-time sensing and demand for control, and manufacture, maintenance cost are high, inconvenient for use.
It, can be compared with to different sizes, shaped objects since preferable self-adapting grasping may be implemented in under-actuated finger
Good crawl has extraordinary effect, becomes research and development hot spot in recent years without complicated real-time Grasp Planning.But
It is the grasp mode that traditional drive lacking hand only has a kind of fixation, affects its flexibility, it is difficult to realize a variety of grasp modes,
Two or more grasp modes is usually needed in reality crawl.
When grabbing object, there are mainly two types of grasping means, and one is clampings, and one is grippings.Clamping is with end finger
Tip portion go clamping 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, grabs very accurate, also referred to as accurate crawl；Gripping is multiple segment enveloping rings with finger around object
Body realizes the contacts of multiple points, reaches more stable shape envelope crawl, strength is bigger, and also referred to as strength grabs.
The method of clamping that industrial clamper generally uses end parallel, it is difficult to there is envelope holding function, do not adapt to more
The stabilization envelope crawl of kind shaped objects；Adaptive under-actuated finger can be held by the way of adaptive envelope object, but
It is that can not implement end to clamp crawl in parallel, for example, a kind of existing under-actuated two-articulated robot finger device (Chinese invention
Patent CN101234489A), including pedestal, motor, middle part segment, end segment and parallel belt wheel transmission mechanism etc..The dress
The special-effect for realizing doublejointed under-actuated finger bending crawl object is set, there is adaptivity.The activation lacking mechanical finger
The shortcoming of device is：Straight configuration is presented in finger always before not touching object, and grasp mode is mainly holding mode, difficult
To realize that preferable end clamps crawl effect in parallel.
There are two types of traditional drive lacking hands of grasp mode to have been developed that for tool, a kind of existing under-actuated finger, such as
United States Patent (USP) US8973958B2, including five connecting rods, spring, mechanical constraint and driver etc..It is parallel that the arrangement achieves circular arcs
Clamping and self-adapting grasping mode.At work, the incipient stage keeps the posture of end segment to carry out nearly joint relative to pedestal
The function of clamping in parallel or adaptive envelope is held may be implemented according to the position of object later in flexure operation.Its shortcoming
It is, (1) device is only able to achieve the parallel clamping function of circular arc, cannot achieve straight line parallel clamping function, presss from both sides on the table
It needs robot arms athleticism to cooperate when holding various sizes of sheet goods and realizes crawl, therefore grab and exist seriously not
Foot；(2) device uses multi-connecting-rod mechanism, and there are biggish dead zones for movement, and it is small to grab range.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of flat folder perception of connecting rod belt wheel straight line is provided
Adaptive robot finger apparatus.The device has straight line parallel clamping and two kinds of grasp modes of self-adapting grasping, without to object
Body environment carries out complicated real-time detection, planning, can be along the second segment de-clamping object of linear translation end, also can be first
The object of the first segment and the adaptive envelope different shapes and sizes of the second segment is moved afterwards；It is big to grab range.
Technical scheme is as follows：
A kind of flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line that the present invention designs, including pedestal, the
One segment, the second segment, nearly joint shaft, remote joint shaft, the first driver and the second driver；First driver and pedestal
It is affixed；Second driver and pedestal are affixed；The center line of the nearly joint shaft and the centerline parallel of remote joint shaft；It is described
Second segment is fixed on remote joint shaft；The remote joint shaft is set in the first segment；First segment is socketed in nearly pass
On nodal axisn；It is characterized in that：The flat folder perception self-adaption robot finger apparatus of the connecting rod belt wheel straight line further includes first connecting rod, the
Two connecting rods, first axle, the second axis, third axis, the first transmission mechanism, the second transmission mechanism, trigger sensor, stop grabbing sensor,
Convex block driver plate, first park sensor, second park sensor, the first driving wheel, the first flexible drive parts, the second driving wheel,
Third driving wheel, the second flexible drive parts, the 4th driving wheel and control module；The output shaft of first driver and first passes
The input terminal of motivation structure is connected, and the output end of first transmission mechanism is connected with first axle；The first axle is set in pedestal
In；The first connecting rod is fixed in first axle；Second axle sleeve is located on first connecting rod, an end cap of first segment
It connects on the second axis；The third axle sleeve is located in pedestal, and one end of the second connecting rod is socketed on third axis, second connecting rod
The other end be socketed on nearly joint shaft；The nearly joint shaft is set in the middle part of the first segment；If the center of first axle is point
A, the center of the second axis are point B, and the center of nearly joint shaft is point C, and the center of remote joint shaft is point D, and the center of third axis is point
The length three of the length of E, line segment BC, the length of line segment CD and line segment CE is equal, and the length of line segment AE is equal to the length of line segment AB
2 times of degree, the length of line segment CE is 2.5 times of the length of line segment AB；The output shaft and the second driver of second driver
The input terminal of structure is connected, and the output end of second transmission mechanism is connected with third axis；Second transmission mechanism is with certainly
The transmission mechanism of lock function；The convex block driver plate is fixed on third axis；First driving wheel is fixed on third axis, described
First flexible drive parts are separately connected the first driving wheel, the second driving wheel, and first flexible drive parts are in " O " font, described
First flexible drive parts, the first driving wheel, the second driving wheel three constitute drive connection, and second driving wheel is fixed in nearly pass
On nodal axisn；The third driving wheel is fixed on nearly joint shaft, and second flexible drive parts are separately connected third driving wheel,
Four driving wheels, second flexible drive parts are in " O " font, second flexible drive parts, third driving wheel, the 4th driving wheel
Three constitutes drive connection, and the 4th driving wheel is fixed on remote joint shaft；The trigger sensor is mounted on the first segment
Surface, described to stop grabbing the surface that sensor is mounted on the second segment, described first parks sensor installation on the base, described
Second parks sensor installation on the base；When the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line is in initial
When state, the first connecting rod and first parks sensor contacts, and the convex block driver plate and second park sensor contacts；
The control module respectively with trigger sensor, stop grabbing sensor, first park sensor and second and park sensing
Device is connected；The control module is connected with the first driver, the second driver respectively；The control module is received respectively from outer
Crawl signal, the release signal on boundary；The signal exit of the trigger sensor and the triggering input terminal of control module connect；Institute
It states trigger sensor and acquires the information that grabbed object touches the first segment；Described first parks the signal exit of sensor and control
The first of molding block parks input terminal connection；Described first parks sensor acquisition first connecting rod relative to pedestal around first axle
Turn to the information of some set angle；Described second park the signal exit of sensor and control module second park it is defeated
Enter end connection；Described second, which parks sensor acquisition convex block driver plate, turns to some set angle around third axis relative to pedestal
Information；The signal exit for stopping grabbing sensor and the input terminal that stops grabbing of control module connect；The sensor that stops grabbing is adopted
Collect the information that grabbed object contacts the second segment；
The described control module operation control program, using parking sensor from trigger sensor, first, second park
Sensor and stopping grabs the various signals of sensor, issues instruction and respectively drives the first driver, the rotation of the second driver；The control
The control method that control program in molding block uses includes grasping means and method for releasing, and control module receives crawl signal
After execute grasping means, control module executes method for releasing after receiving release signal；
The grasping means includes that sequence executes following steps：
A) the first driver of order-driven is issued to rotate forward,
B) when control module receives the trigger signal of trigger sensor, the first driver stops operating, and issues and refer to
The second driver of driving is enabled to rotate forward,
C) when control module receive stop grabbing sensor stop grabbing signal, the second driver stops operating, and grabs process knot
Beam；
The method for releasing includes that sequence executes following steps：
A) reversion of the second driver of order-driven is issued,
B) when control module receives the second signal of parking for parking sensor, the second driver stops operating, and sends out
The first driver of order-driven inverts out,
C) when control module receives the first signal of parking for parking sensor, the first driver stops operating, discharged
Journey terminates.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
First driver uses motor, cylinder or hydraulic cylinder.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
Second driver uses motor, cylinder or hydraulic cylinder.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
First flexible drive parts use transmission belt, chain or rope, first driving wheel use belt wheel, sprocket wheel or rope sheave, described second
Driving wheel uses belt wheel, sprocket wheel or rope sheave, and first flexible drive parts, the first driving wheel, the second driving wheel three constitute band
Take turns drive connection, sprocket wheel drive connection or rope sheave drive connection.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
Second flexible drive parts use transmission belt, chain or rope, the third driving wheel use belt wheel, sprocket wheel or rope sheave, the described 4th
Driving wheel uses belt wheel, sprocket wheel or rope sheave, and second flexible drive parts, third driving wheel, the 4th driving wheel three constitute band
Take turns drive connection, sprocket wheel drive connection or rope sheave drive connection.
Compared with prior art, the present invention having the following advantages that and high-lighting effect：
Apparatus of the present invention utilize dual drive, link mechanism, belt wheel mechanism, multiple sensors and the built-in control for controlling program
The comprehensive function of realizing robot finger's straight line parallel clamping and self-adapting grasping such as molding block；Using what is met certain condition
Four-bar mechanism realizes remote joint shaft along linear motion, realizes that second refers to using multistage belt wheel mechanism and link mechanism cooperation
The translation for being kept fixed posture of section；Using trigger sensor, stops grabbing sensor, parks sensor and object is worked as in control module realization
When body contacts the first segment, the second segment is gone the long way round the adaptive rotation of joint shaft.The device according to body form and position not
Together, energy linear translation the second segment de-clamping object, in particular for the clamping of workbench upper thin sheet part, moreover it is possible to refer to first
After section contact object, automatic second segment that rotates removes contact object, reaches the mesh of adaptive envelope different shapes and sizes object
's；Crawl range is big, and grasping stability is reliable；Two joints are driven using two drivers；The apparatus structure is simple, it is small in size,
Light-weight, processing, assembly are low with maintenance cost.
Detailed description of the invention
Fig. 1 is a kind of embodiment for the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line that the present invention designs
Lateral plan (being not drawn into part).
Fig. 2 is the stereo appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the outside drawing of embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 5 is the front view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 is the side appearance (being not drawn into part) of embodiment illustrated in fig. 1, shows the position of point A, B, C, D and E
It sets.
Fig. 8 is multiple link mechanism schematic diagrams of AB, BCD, CE shown in Fig. 7 and base linkage AE, shows and turns in active
The motion track of connecting rod AB time point D is moved, having one section of straight path in the track is exactly the second segment straight line parallel of the present embodiment
The motion track of reception step.
Fig. 9 to Figure 10 is action process figure of the embodiment illustrated in fig. 1 in straight line parallel reception step.
Figure 11 to Figure 13 is action process figure of the embodiment illustrated in fig. 1 in the adaptive envelope stage.
Figure 14 is the electrical connection diagram of embodiment illustrated in fig. 1.
Figure 15 is the grasping means flow chart of embodiment illustrated in fig. 1.
Figure 16 is the method for releasing flow chart of embodiment illustrated in fig. 1.
Figure 17 is the robot schematic diagram constituted using two embodiment illustrated in fig. 1, it is shown that robot opens up into
Maximum and closed configuration (double dot dash line).
Figure 18 is that the flat gripper of embodiment illustrated in fig. 17 takes object schematic diagram.
Figure 19 is the self-adapting grasping object schematic diagram of embodiment illustrated in fig. 17.
In Fig. 1 into Figure 19：
1- pedestal, the first segment of 2-, the second segment of 3-, the nearly joint shaft of 4-,
The remote joint shaft of 5-, 6- first connecting rod, 7- second connecting rod, 8- first axle,
The second axis of 9-, 10- third axis, the first driver of 11- (first motor),
The first retarder of 12-, the first transmission mechanism of 13-, the second driver of 14- (the second motor),
The second retarder of 15-, the second transmission mechanism of 16-, 17- trigger sensor, 18- stop grabbing sensor,
19- convex block driver plate, 20- first park sensor, and 21- second parks sensor, the first driving wheel of 22-,
The first flexible drive parts of 23-, the second driving wheel of 24-, 25- third driving wheel, the second flexible drive parts of 26-,
The 4th driving wheel of 27-, 28- control module, the first drive module of 29-, the second drive module of 30-,
31- object, the flat folder perception self-adaption robot finger apparatus of 32- connecting rod belt wheel straight line.
Specific embodiment
The content of specific structure of the invention, working principle is described in further detail with reference to the accompanying drawings and embodiments.
A kind of embodiment of the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line that the present invention designs, such as schemes
1 to shown in Fig. 6, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5, the first driver 11 and
Two drivers 14；First driver 11 and pedestal 1 are affixed；Second driver 14 and pedestal 1 are affixed；The nearly joint
The centerline parallel of the center line of axis 4 and remote joint shaft 5；Second segment 3 is fixed on remote joint shaft 5；The remote joint
Axis 5 is set in the first segment 2；First segment 2 is socketed on nearly joint shaft 4；The flat folder perception of the connecting rod belt wheel straight line is certainly
Adapting to robot finger apparatus further includes first connecting rod 6, second connecting rod 7, first axle 8, the second axis 9, the transmission of third axis 10, first
Mechanism 13, the second transmission mechanism 16, trigger sensor 17, stop grabbing sensor 18, convex block driver plate 19, first park sensor 20,
Second parks sensor 21, the first driving wheel 22, the first flexible drive parts 23, the second driving wheel 24, third driving wheel 25, second
Flexible drive parts 26, the 4th driving wheel 27 and control module 28；The output shaft and the first transmission mechanism of first driver 11
13 input terminal is connected, and the output end of first transmission mechanism 13 is connected with first axle 8；The first axle 8 is set in pedestal 1
In；The first connecting rod 6 is fixed in first axle 8；Second axis 9 is set on first connecting rod 6, first segment 2
One end is socketed on the second axis 9；The third axis 10 is set in pedestal 1, and one end of the second connecting rod 7 is socketed in third axis
On 10, the other end of second connecting rod 7 is socketed on nearly joint shaft 4；The nearly joint shaft 4 is set in the middle part of the first segment 2；If
The center of first axle 8 is point A, and the center of the second axis 9 is point B, and the center of nearly joint shaft 4 is point C, and the center of remote joint shaft 5 is
Point D, the center of third axis 10 are point E, as shown in Figure 7, Figure 8, the length of the length of line segment BC, the length of line segment CD and line segment CE
Three is equal, and 2 times of length of the length equal to line segment AB of line segment AE, the length of line segment CE is 2.5 times of the length of line segment AB；
The output shaft of second driver 14 is connected with the input terminal of the second transmission mechanism 16, the output of second transmission mechanism 16
End is connected with third axis 10；Second transmission mechanism 16 is the transmission mechanism with self-locking function；19 sets of the convex block driver plate
Gu on third axis 10；First driving wheel 22 is fixed on third axis 10, and first flexible drive parts 23 are separately connected
First driving wheel 22, the second driving wheel 24, first flexible drive parts 23 be in " O " font, first flexible drive parts 23,
First driving wheel 22,24 three of the second driving wheel constitute drive connection, and second driving wheel 24 is fixed on nearly joint shaft 4；
The third driving wheel 25 is fixed on nearly joint shaft 4, and second flexible drive parts 26 are separately connected third driving wheel 25,
Four driving wheels 27, second flexible drive parts 26 are in " O " font, second flexible drive parts 26, third driving wheel 25, the
Four driving wheels, 27 three constitutes drive connection, and the 4th driving wheel 27 is fixed on remote joint shaft 5；The trigger sensor 17
It is mounted on the surface of the first segment 2, described to stop grabbing the surface that sensor 18 is mounted on the second segment 3, described first parks sensing
Device 20 is mounted on pedestal 1, and described second, which parks sensor 21, is mounted on pedestal 1；When the flat folder of connecting rod belt wheel straight line perceives certainly
When adaptation robot finger apparatus is in original state, the first connecting rod 6 is parked sensor 20 with first and is contacted, the convex block
Driver plate 19 is parked sensor 21 with second and is contacted；
The control module 28 respectively with trigger sensor 17, stop grabbing sensor 18, first park sensor 20 and second
Sensor 21 is parked to be connected；The control module 28 is connected with the first driver 11, the second driver 14 respectively；The control mould
Block 28 is received respectively from extraneous crawl signal, release signal；The signal exit and control mould of the trigger sensor 17
The triggering input terminal of block 28 connects；The trigger sensor 17 acquires the information that grabbed object touches the first segment 2；Described first
It parks the signal exit of sensor 20 and parks input terminal with the first of control module 28 and connect；Described first parks sensor
20 acquisition first connecting rods 6 turn to the information of some set angle relative to pedestal 1 around first axle 8；Described second parks sensing
The signal exit of device 21 is parked input terminal with the second of control module 28 and is connect；Described second, which parks sensor 21, acquires convex block
Driver plate 19 turns to the information of some set angle relative to pedestal 1 around third axis 10；The signal for stopping grabbing sensor 18 draws
Outlet is connect with the input terminal that stops grabbing of control module 28；The sensor 28 that stops grabbing acquires second segment of the grabbed contact of object 31
3 information.
The electrical connection diagram of the present embodiment is as shown in figure 14.
The described operation of the control module 28 control program parks sensor 20, the using from trigger sensor 17, first
Two park 21 devices of sensing and stop grabbing the various signals of sensor 18, issue instruction and respectively drive the driving of the first driver 11, second
Device 14 rotates；The control method that control program in the control module 28 uses includes grasping means and method for releasing, control
Module 28 executes grasping means after receiving crawl signal, and control module 28 executes method for releasing after receiving release signal；
The grasping means, as shown in figure 15, including sequence executes following steps：
A) the first driver of order-driven 11 is issued to rotate forward,
B) when control module 28 receives the trigger signal of trigger sensor 17, the first driver 11 stops operating, and
Issue order-driven the
Two drivers 14 rotate forward,
C) when control module 28 receive stop grabbing sensor 18 stop grabbing signal, the second driver 14 stops operating, crawl
Process terminates；
The method for releasing, as shown in figure 16, including sequence executes following steps：
A) the second driver of order-driven 14 is issued to invert,
B) when control module 28 receives the second signal of parking for parking sensor 21, the second driver 14 stops operating,
And it issues instruction to drive
Dynamic first driver 11 reversion,
C) when control module 28 receives the first signal of parking for parking sensor 20, the first driver 11 stops operating,
Release process terminates.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
First driver 11 is using motor, cylinder or hydraulic cylinder.In the present embodiment, first driver 11 uses motor, the motor
Referred to as first motor.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
Second driver 14 is using motor, cylinder or hydraulic cylinder.In the present embodiment, second driver 14 uses motor, the motor
Referred to as the second motor.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
For first flexible drive parts 23 using transmission belt, chain or rope, first driving wheel 22 is described using belt wheel, sprocket wheel or rope sheave
Second driving wheel 24 is using belt wheel, sprocket wheel or rope sheave, first flexible drive parts 23, the first driving wheel 22, the second driving wheel
24 threes constitute belt wheel transmission relationship, sprocket wheel drive connection or rope sheave drive connection.
In the present embodiment, first flexible drive parts 23 use transmission belt, and first driving wheel 22 uses belt wheel, institute
The second driving wheel 24 is stated using belt wheel, first flexible drive parts 23, the first driving wheel 22,24 three of the second driving wheel are constituted
Belt wheel transmission relationship.
The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line of the present invention, it is characterised in that：It is described
For second flexible drive parts 26 using transmission belt, chain or rope, the third driving wheel 25 is described using belt wheel, sprocket wheel or rope sheave
4th driving wheel 27 is using belt wheel, sprocket wheel or rope sheave, second flexible drive parts 26, third driving wheel 25, the 4th driving wheel
27 threes constitute belt wheel transmission relationship, sprocket wheel drive connection or rope sheave drive connection.
In the present embodiment, second flexible drive parts 26 use transmission belt, and the third driving wheel 25 uses belt wheel, institute
The 4th driving wheel 27 is stated using belt wheel, second flexible drive parts 26, third driving wheel 25,27 three of the 4th driving wheel are constituted
Belt wheel transmission relationship, sprocket wheel drive connection or rope sheave drive connection.
In the present invention, second transmission mechanism 16 can be the various transmission mechanisms with self-locking function, such as containing
Worm gear mechanism, leadscrew-nut mechanism, the transmission mechanism of big retarding ratio with self-locking function etc..In the present embodiment, the
Two transmission mechanisms 16 compare retarder containing big retarding.
In the present embodiment, first transmission mechanism 13 is the first retarder 12, and second transmission mechanism 16 is second
Retarder 15.
The present embodiment further includes the first drive module 29 and the second drive module 30, and first drive module 29 is connected to
Between control module 28 and the first driver 11, second drive module 30 is connected to control module 28 and the second driver 14
Between.
A kind of robot hand device constituted using the present embodiment, including the flat folder perception self-adaption of multiple connecting rod belt wheel straight lines
The pedestal 1 of robot finger apparatus 32, the flat folder perception self-adaption robot finger apparatus 32 of all connecting rod belt wheel straight lines is solid
It is connected together.The robot hand device formed using 2 embodiment illustrated in fig. 1 32 is as shown in figure 17, which can
(as shown in figure 18) or self-adapting grasping object (as shown in figure 19) are taken with flat gripper.It can certainly be using 3 or more
Embodiment illustrated in fig. 1 goes to constitute robot hand device, repeats no more.
The working principle of the present embodiment, is described below in conjunction with attached drawing：
When the present embodiment is in original state, as shown in Figure 1.
First motor 11 rotates, and drives first axle 8 to rotate by the first transmission mechanism 13, first connecting rod 6 is around first axle 8
Center line rotation；Because first connecting rod 6, the first segment 2, second connecting rod 7 and pedestal 1 constitute four-bar mechanism, and full
Sufficient the following conditions：
A) the length three of the length of line segment BC, the length of line segment CD and line segment CE is equal,
B) 2 times of length of the length of line segment AE equal to line segment AB,
C) length of line segment CE is 2.5 times of the length of line segment AB；
As shown in Figure 7 and Figure 8, which will be because the rotation of first connecting rod 6 drives 2 end of the first segment (remote
Joint shaft 5) linear motion.
Then, remote joint shaft 5 will be along linear translation, as shown in Figure 9 and Figure 10.
Since the first driving wheel 22 is connected to 14 output shaft of the second motor by convex block driver plate 19, the second transmission mechanism 16,
The second motor 14 does not rotate at this time, and the second transmission mechanism 16 has self-locking function, Gu at this point, the first driving wheel 22 and pedestal 1 are imitative
Buddhist is affixed the same, and under the rotary action of first connecting rod 6, second connecting rod 7 and the first segment 2 move therewith, passes through the first transmission
The transmission of the 22, first flexible drive parts 23, the second driving wheel 24 is taken turns, the second driving wheel 24 remains the appearance fixed with pedestal 1
State, and the second driving wheel 24 and third driving wheel 25 are affixed, pass through third driving wheel 25, the second flexible drive parts the 26, the 4th
The transmission of driving wheel 27, the 4th driving wheel 27 also remain the posture fixed with pedestal 1；Therefore the second segment 3 is in this stage
In the posture that is kept fixed always with pedestal 1, next have two kinds of situations：
If a) on 3 surface of the second segment when stopping grabbing sensor 18 and contacting object, stop grabbing sensor 18 and issue triggering letter
Number control module 28 is given, first motor 11 stops operating, and crawl process terminates.
B) if the trigger sensor 17 on 2 surface of the first segment touches object, trigger sensor 17 issues triggering
Signal stops operating to control module 28, first motor 11, and the second motor 14 rotates forward, and drives convex block by the second transmission mechanism 16
Driver plate 19 leaves second and parks sensor 21, passes through the first driving wheel 22, the first flexible drive parts 23, the second driving wheel 24,
The transmission of three driving wheels 25, the second flexible drive parts 26, the 4th driving wheel 27, realize the second segment 3 go the long way round joint shaft 5 rotation,
Until stopping grabbing the contact object 31 of sensor 18 on 3 surface of the second segment, stop grabbing sensor 18 when control module 28 receives
Stop grabbing signal, the second motor 14 stops operating, and crawl process terminates.
The self-adapting grasping stage is as shown in Figure 11, Figure 12 and Figure 13.
When discharging object 31, the reversion of the second motor 14 drives convex block driver plate 19 and the reversion of the second segment 3, until convex block is dialled
Sensor 21 is parked in the contact of disk 19 second, and control module 28 receives the second signal of parking for parking sensor 21, the second motor
14 stop operating, and first motor 11 inverts later, and first connecting rod 6 is driven to invert, until sensing is parked in the contact of first connecting rod 6 first
Device 20, control module 28 receive the first signal of parking for parking sensor 20, and first motor 11 stops operating, and discharge process knot
Beam.
Apparatus of the present invention utilize dual drive, link mechanism, belt wheel mechanism, multiple sensors and the built-in control for controlling program
The comprehensive function of realizing robot finger's straight line parallel clamping and self-adapting grasping such as molding block；Using what is met certain condition
Four-bar mechanism realizes remote joint shaft along linear motion, realizes that second refers to using multistage belt wheel mechanism and link mechanism cooperation
The translation for being kept fixed posture of section；Using trigger sensor, stops grabbing sensor, parks sensor and object is worked as in control module realization
When body contacts the first segment, the second segment is gone the long way round the adaptive rotation of joint shaft.The device according to body form and position not
Together, energy linear translation the second segment de-clamping object, in particular for the clamping of workbench upper thin sheet part, moreover it is possible to refer to first
After section contact object, automatic second segment that rotates removes contact object, reaches the mesh of adaptive envelope different shapes and sizes object
's；Crawl range is big, and grasping stability is reliable；Two joints are driven using two drivers；The apparatus structure is simple, it is small in size,
Light-weight, processing, assembly are low with maintenance cost.
Claims (5)
1. a kind of flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line, including pedestal, the first segment, the second finger
Section, nearly joint shaft, remote joint shaft, the first driver and the second driver；First driver and pedestal are affixed；Described second
Driver is affixed with pedestal；The center line of the nearly joint shaft and the centerline parallel of remote joint shaft；The second segment set is solid
On remote joint shaft；The remote joint shaft is set in the first segment；First segment is socketed on nearly joint shaft；Its feature
It is：The flat folder perception self-adaption robot finger apparatus of the connecting rod belt wheel straight line further includes first connecting rod, second connecting rod, first
Axis, third axis, the first transmission mechanism, the second transmission mechanism, trigger sensor, stops grabbing sensor, convex block driver plate, at the second axis
One park sensor, second park sensor, the first driving wheel, the first flexible drive parts, the second driving wheel, third driving wheel,
Second flexible drive parts, the 4th driving wheel and control module；The output shaft of first driver is defeated with the first transmission mechanism
Enter end to be connected, the output end of first transmission mechanism is connected with first axle；The first axle is set in pedestal；Described first
Connecting rod is fixed in first axle；Second axle sleeve is located on first connecting rod, and one end of first segment is socketed in the second axis
On；The third axle sleeve is located in pedestal, and one end of the second connecting rod is socketed on third axis, another end cap of second connecting rod
It connects on nearly joint shaft；The nearly joint shaft is set in the middle part of the first segment；If the center of first axle is point A, the second axis
Center is point B, and the center of nearly joint shaft is point C, and the center of remote joint shaft is point D, and the center of third axis is point E, line segment BC's
The length three of length, the length of line segment CD and line segment CE is equal, and 2 times of length of the length equal to line segment AB of line segment AE, line
The length of section CE is 2.5 times of the length of line segment AB；The output shaft of second driver and the input terminal of the second transmission mechanism
It is connected, the output end of second transmission mechanism is connected with third axis；Second transmission mechanism is the biography with self-locking function
Motivation structure；The convex block driver plate is fixed on third axis；First driving wheel is fixed on third axis, the described first flexible biography
Moving part is separately connected the first driving wheel, the second driving wheel, and first flexible drive parts are in " O " font, the described first flexible biography
Moving part, the first driving wheel, the second driving wheel three constitute drive connection, and second driving wheel is fixed on nearly joint shaft；Institute
Third driving wheel to be stated to be fixed on nearly joint shaft, second flexible drive parts are separately connected third driving wheel, the 4th driving wheel,
Second flexible drive parts are in " O " font, and second flexible drive parts, third driving wheel, the 4th driving wheel three are constituted
Drive connection, the 4th driving wheel are fixed on remote joint shaft；The trigger sensor is mounted on the surface of the first segment, institute
It states and stops grabbing the surface that sensor is mounted on the second segment, described first parks sensor installation on the base, and described second parks
Sensor is installed on the base；When the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line is in original state,
The first connecting rod and first parks sensor contacts, and the convex block driver plate and second park sensor contacts；
The control module respectively with trigger sensor, stop grabbing sensor, first park sensor and second and park sensor phase
Even；The control module is connected with the first driver, the second driver respectively；The control module is received respectively from the external world
Grab signal, release signal；The signal exit of the trigger sensor and the triggering input terminal of control module connect；The touching
Hair sensor acquires the information that grabbed object touches the first segment；Described first parks the signal exit of sensor and control mould
The first of block parks input terminal connection；Described first parks sensor acquisition first connecting rod and rotates relative to pedestal around first axle
To the information of some set angle；Described second, which parks the signal exit of sensor and the second of control module, parks input terminal
Connection；Described second parks the letter that sensor acquisition convex block driver plate turns to some set angle relative to pedestal around third axis
Breath；The signal exit for stopping grabbing sensor and the input terminal that stops grabbing of control module connect；Described stops grabbing sensor acquisition
Grabbed object contacts the information of the second segment；
The described control module operation control program, using parking sensor from trigger sensor, first, second park sensing
Device and stopping grabs the various signals of sensor, issues instruction and respectively drives the first driver, the rotation of the second driver；The control mould
The control method that control program in block uses includes grasping means and method for releasing, and control module is held after receiving crawl signal
Row grasping means, control module execute method for releasing after receiving release signal；
The grasping means includes that sequence executes following steps：
A) the first driver of order-driven is issued to rotate forward,
B) when control module receives the trigger signal of trigger sensor, the first driver stops operating, and issues instruction and drive
Dynamic second driver rotates forward,
C) when control module receive stop grabbing sensor stop grabbing signal, the second driver stops operating, and crawl process terminates；
The method for releasing includes that sequence executes following steps：
A) reversion of the second driver of order-driven is issued,
B) when control module receives the second signal of parking for parking sensor, the second driver stops operating, and issues and refer to
Driving the first driver reversion is enabled,
C) when control module receives the first signal of parking for parking sensor, the first driver stops operating, and discharges process knot
Beam.
2. the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line as described in claim 1, it is characterised in that：Institute
The first driver is stated using motor, cylinder or hydraulic cylinder.
3. the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line as described in claim 1, it is characterised in that：Institute
The second driver is stated using motor, cylinder or hydraulic cylinder.
4. the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line as described in claim 1, it is characterised in that：Institute
The first flexible drive parts are stated using transmission belt, chain or rope, first driving wheel uses belt wheel, sprocket wheel or rope sheave, and described the
Two driving wheels use belt wheel, sprocket wheel or rope sheave, and first flexible drive parts, the first driving wheel, the second driving wheel three are constituted
Belt wheel transmission relationship, sprocket wheel drive connection or rope sheave drive connection.
5. the flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line as described in claim 1, it is characterised in that：Institute
The second flexible drive parts are stated using transmission belt, chain or rope, the third driving wheel uses belt wheel, sprocket wheel or rope sheave, and described the
Four driving wheels use belt wheel, sprocket wheel or rope sheave, and second flexible drive parts, third driving wheel, the 4th driving wheel three are constituted
Belt wheel transmission relationship, sprocket wheel drive connection or rope sheave drive connection.
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| CN107901061B (en) * | 2017-11-22 | 2020-05-01 | 清华大学 | Sliding rod-assisted tail end linear parallel clamping self-adaptive robot finger device |
| CN108115715B (en) * | 2017-11-22 | 2020-05-01 | 清华大学 | Differential connecting rod reverse transmission synergistic parallel clamping self-adaptive robot finger device |
| CN108312163B (en) * | 2018-03-09 | 2023-12-29 | 清华大学 | Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device |
| CN109048891B (en) * | 2018-07-25 | 2021-12-07 | 西北工业大学 | Neutral buoyancy robot posture and track control method based on self-triggering model predictive control |
| CN111070231B (en) * | 2020-01-09 | 2024-07-12 | 天津大学 | Variable-configuration base for multi-finger clamp holder |
| CN111283707B (en) * | 2020-02-28 | 2022-08-19 | 安徽大学 | Two-finger self-adaptive manipulator with rigid and flexible integration |
| CN113386115B (en) * | 2021-07-14 | 2022-03-18 | 董尹凯 | Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device |
| CN113400289B (en) * | 2021-07-14 | 2022-04-15 | 董尹凯 | Series-parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
| CN113799163B (en) * | 2021-09-07 | 2022-11-22 | 江苏省南京工程高等职业学校 | Anti-dead-point clamping head structure for industrial machine |
| CN115401711B (en) * | 2022-09-19 | 2024-04-12 | 安徽工业大学 | Rigid-flexible combined clamping device |
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