CN106182051A - Idle running kinematic link straight line flat folder adaptive robot finger apparatus - Google Patents
Idle running kinematic link straight line flat folder adaptive robot finger apparatus Download PDFInfo
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- CN106182051A CN106182051A CN201610641041.8A CN201610641041A CN106182051A CN 106182051 A CN106182051 A CN 106182051A CN 201610641041 A CN201610641041 A CN 201610641041A CN 106182051 A CN106182051 A CN 106182051A
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- 230000003044 adaptive Effects 0.000 title claims abstract description 17
- 210000003811 Fingers Anatomy 0.000 claims abstract description 40
- 210000003813 Thumb Anatomy 0.000 claims abstract description 29
- 230000004301 light adaptation Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 43
- 230000000694 effects Effects 0.000 abstract description 11
- 210000001503 Joints Anatomy 0.000 abstract description 3
- 210000004247 Hand Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- FAPWRFPIFSIZLT-UHFFFAOYSA-M sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 230000002463 transducing Effects 0.000 description 1
Classifications
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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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- 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
- B25J17/0258—Two-dimensional joints
Abstract
Idle running kinematic link straight line flat folder adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, multiple connecting rod, multiple drive, projection driver plate wheel, passive thumb wheel, reseting wheel and two spring parts etc..The arrangement achieves the function of the clamping of robot finger's straight line parallel and self-adapting grasping；Utilize single driver to drive two joints, reach drive lacking effect；According to body form and the difference of position, can automatically switch between the flat folder of straight line and self adaptation both of which；This device can linear translation the second segment de-clamping object, it is applicable to the good clamping of workbench upper thin sheet part, this device can also be after the first segment contacts object, automatically rotate the second segment to go to contact object, obtain bigger grip effect of exerting oneself, it is possible to automatically adapt to the crawl of the object of difformity, size；Crawl scope is big, reliable and stable.
Description
Technical field
The invention belongs to robot technical field, particularly to a kind of idle running kinematic link straight line flat folder self adaptation machine
The structure design of finger device.
Background technology
Robotics is one of important trend of current technological development.Robot replacement is manually carried out work in every and to be depended on
By robot (end gripper).The most existing polytype robot is developed, including multifinger hand and special type
Hands.Wherein multifinger hand has multiple finger, and has rotation or the joint of translation on finger；Extraordinary hands does not has obvious finger, and
It is to utilize the principles such as Magnet, sucker, electrostatic to realize the crawl to object.
Multifinger hand is divided into again especially as the Dextrous Hand of staff, industrial conventional simple two finger clampers, and between two
Drive lacking multifingered robot hands between person.
Dextrous Hand has active drive and multiple fingers of control and has multiple joint on each finger, it is possible to ratio
Preferably imitate staff, reach the effect of stable crawl object, it is achieved grasp mode and gesture more various, represent machine
The important directions of staff development, but, traditional Dextrous Hand is required to the shape to object, size and location when capturing every time
Detect, and combine certain crawl, operation or gesture purpose according to multiple transducing signals of detection, carry out each finger, pass
The path planning of joint, brings extremely complex real-time sensing and demand for control, manufactures, maintenance cost is high, use is inconvenient.
Owing to under-actuated finger can realize preferable self-adapting grasping, to different sizes, shaped objects can be relatively
Good crawl, and without complicated real-time Grasp Planning, there is extraordinary effect, become research and development focus in recent years.But
The drive lacking hands being traditional only has a kind of fixing grasp mode, have impact on its motility, it is difficult to realize multiple grasp mode,
Two or more grasp modes is usually needed in reality captures.
Mainly having two kinds of grasping means when capturing object, one is clamping, and one is to grip.Clamping is to use end finger
Tip portion go to grip object, uses two points or two soft finger faces to remove contact object, mainly for small-size object or tool
There is the larger object of opposite, capture very accurate, the most accurately capture；Gripping is around thing with multiple segment enveloping rings of finger
Body realizes the contact of multiple point, and the shape envelope reaching more stable captures, and strength is bigger, and also referred to as strength captures.
Industry clamper typically uses the method for clamping that end is parallel, it is difficult to have envelope holding function, it is impossible to adaptation is many
The stable envelope planting shaped objects captures；Self adaptation under-actuated finger can grip in the way of using self adaptation envelope object, but
It is cannot to implement the parallel clamping of end to capture, such as, existing a kind of under-actuated two-articulated robot finger device (Chinese invention
Patent CN101234489A), including pedestal, motor, middle part segment, end segment and parallel gear type driving mechanism etc..This dress
Put the special-effect achieving doublejointed under-actuated finger bending crawl object, there is adaptivity.This activation lacking mechanical finger
The weak point of device is: finger presents straight configuration before not touching object all the time, and Grasp Modes is mainly holding mode, difficult
To realize preferable end parallel clamping crawl effect.
Traditional drive lacking hands with two kinds of grasp modes has been developed that, existing a kind of under-actuated finger, as
United States Patent (USP) US8973958B2, including five connecting rods, spring, mechanical constraint and driver etc..The arrangement achieves circular arc parallel
Clamping and self-adapting grasping pattern.Operationally, the incipient stage keeps the attitude of end segment to carry out nearly joint relative to pedestal
Flexure operation, can realize parallel clamping or the function of self adaptation envelope gripping according to the position of object afterwards.Its weak point
Being, (1) this device is only capable of realizing the parallel holding function of circular arc, it is impossible to realizes straight line parallel holding function, presss from both sides on the table
Need robot arms's athleticism to coordinate when holding various sizes of sheet goods to realize capturing, therefore capture existence serious not
Foot；(2) this device uses multi-connecting-rod mechanism, motion to there is bigger dead band, captures scope little.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is provided that the flat folder of a kind of idle running kinematic link straight line
Adaptive robot finger apparatus.This device has straight line parallel clamping and two kinds of grasp modes of self-adapting grasping, it is not necessary to thing
Body environment carries out the detection in real time of complexity, planning, can be along the second segment de-clamping object of linear translation end, also can be first
Rear motion the first segment and the second segment self adaptation envelope difformity, the object of size；Employing single driver drives, and captures
Scope is big.
Technical scheme is as follows:
A kind of idle running kinematic link straight line flat folder adaptive robot finger apparatus of present invention design, including pedestal, the
One segment, the second segment, nearly joint shaft, remote joint shaft and driver；Described driver is affixed with pedestal；Described nearly joint shaft
Centrage and the centerline parallel of remote joint shaft；Described second segment is fixed on remote joint shaft；Described remote joint shaft is set in
In one end of first segment；Described first segment is socketed on nearly joint shaft；It is characterized in that: this idle running kinematic link straight line is put down
Folder adaptive robot finger apparatus also includes first connecting rod, second connecting rod, the first axle, the second axle, the 3rd axle, the first driver
Structure, the second drive mechanism, the 3rd drive mechanism, the 4th drive mechanism, drivewheel, the first spring part, the first drive, driving member,
Second drive, projection driver plate wheel, passive thumb wheel, reseting wheel, limited block, the 3rd drive, the 4th drive, the 5th drive
With the 6th drive；The output shaft of described driver and the input of the first drive mechanism are connected, described first drive mechanism
Outfan and the first axle are connected；Described first axle sleeve is located in pedestal；One end of described first connecting rod is actively socketed on the first axle
On, described second axle sleeve is located on the other end of first connecting rod；One end of described first segment is socketed on the second axle；Described
Three axle sleeves are located in pedestal, and one end of described second connecting rod is socketed on the 3rd axle, and the other end of second connecting rod is socketed in nearly pass
On nodal axisn；Described nearly joint shaft is set in the middle part of the first segment；If the center of the first axle is an A, the center of the second axle is a little
B, the center of nearly joint shaft is some C, and the center of remote joint shaft is some D, and the center of the 3rd axle is some E, the length of line segment BC, line segment
The length of CD and the length three of line segment CE are equal, 2 times of the length of the line segment AE length equal to line segment AB, the length of line segment CE
It is 2.5 times of length of line segment AB；Described drivewheel, the first drive are fixed on the first axle；The two ends of described first spring part
Connect drivewheel, first connecting rod respectively；The input of described first drive and the second drive mechanism is connected, described second transmission
The outfan of mechanism and the second drive are connected, and described second drive is actively socketed on the 3rd axle；By the second driver
The transmission of structure, the transmission taking turns to the second drive from the first transmission is co-rotating transmission；Described second drive is taken turns with projection driver plate
Affixed, described projection driver plate wheel is actively socketed on the 3rd axle, and described passive thumb wheel, reseting wheel, the 3rd drive are socketed respectively
On the 3rd axle；Described passive thumb wheel, reseting wheel, the 3rd drive three are affixed；Actively projection is had on described projection driver plate wheel,
Having passive projection, described active projection not to contact in original state with passive projection on described passive thumb wheel, actively projection rotates
Passive projection is contacted after one predetermined angle；Having reset projection on described reseting wheel, described reset projection and limited block are initially
Contacting during state, described limited block is affixed with pedestal；The two ends of described second spring part connect reseting wheel and pedestal respectively；Described
The input of three drives and the 3rd drive mechanism is connected, and the outfan of described 3rd drive mechanism and the 4th drive are connected,
Described 4th drive, the 5th drive are actively socketed on nearly joint shaft, and described 4th drive and the 5th drive are affixed,
The input of described 4th drive and the 4th drive mechanism is connected, the input of described 4th drive mechanism and the 6th drive
Being connected, described 6th drive is fixed on remote joint shaft；By the transmission of the 3rd drive mechanism, take turns to the 4th from the 3rd transmission
The transmission of drive is co-rotating transmission and gear ratio is 1:1；By the transmission of the 4th drive mechanism, take turns to the 6th from the 5th transmission
The transmission of drive is co-rotating transmission and gear ratio is 1:1.
Idle running kinematic link straight line of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described
Driver uses motor, cylinder or hydraulic cylinder.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize single driver, multiple connecting rod, projection driver plate wheel, passive thumb wheel, reseting wheel, multiple transmission
Wheel and two spring parts etc. comprehensively achieve the function of the clamping of robot finger's straight line parallel and self-adapting grasping；Use and meet necessarily
The quadric chain of condition achieves remote joint shaft along linear motion, uses the drive mechanism waiting gear ratio in the same direction to coordinate and realizes
Second segment keeps the translation of opposite base fixed pose；When object contact the first segment be blocked time, by two spring parts, biographies
Motivation structure, the projection driver plate wheel of idle running transmission and passive thumb wheel etc. comprehensively achieve the second segment joint shaft of automatically going the long way round and rotate；
Utilize single driver to drive two joints, reach drive lacking effect；According to body form and the difference of position, can be at flat folder
And automatically switch between self adaptation both of which；This device can linear translation the second segment de-clamping object, it is adaptable to work
The good clamping of platform upper thin sheet part, this device can also rotate the second segment and go to connect after the first segment contacts object automatically
Touch object, it is thus achieved that bigger grip effect of exerting oneself, it is possible to automatically adapt to the crawl of the object of difformity, size；Crawl scope
Greatly, reliable and stable.
Accompanying drawing explanation
Fig. 1 is a kind of embodiment that the idle running kinematic link straight line that the present invention designs puts down folder adaptive robot finger apparatus
The stereo appearance figure of embodiment.
Fig. 2 is the lateral plan (being not drawn into part) 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 sectional view of embodiment illustrated in fig. 1, is the A-A sectional view of Fig. 3, it is shown that the first axle, the 3rd axle and other
The relation of parts.
Fig. 8 is part part position figure in embodiment illustrated in fig. 1.
Fig. 9 is part part position figure in embodiment illustrated in fig. 1.
Figure 10 is the side outward appearance (being not drawn into part) of embodiment illustrated in fig. 1, demonstrates the position of some A, B, C, D and E
Put.
Figure 11 is multiple linkage sketches of AB, BCD, the CE shown in Figure 10 and base linkage AE, demonstrates actively
The motion track of pivot link AB time point D, having one section of straight path in this track is exactly that the second segment straight line of the present embodiment is put down
The motion track of row reception step.
Figure 12 to Figure 13 is the embodiment illustrated in fig. 1 course of action figure at straight line parallel reception step.
Figure 14 to Figure 17 is the embodiment illustrated in fig. 1 course of action figure in the self adaptation parcel stage.
Figure 18 to Figure 19 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the situation of change of reseting wheel, the second spring part and the relative position of limited block.
Figure 20 to Figure 22 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the situation of change of projection driver plate and the relative position of passive thumb wheel, is the B-B profile of Fig. 7.Two point in Figure 19
Being scribed ss the projection in the projection driver plate of original state, the double dot dash line in Figure 22 is convex in the passive thumb wheel of original state
Block.Wherein projection driver plate will not touch passive thumb wheel in initial rotation process, just can contact and push away after turning over certain angle
Dynamic passive thumb wheel.
Figure 23 is the robot schematic diagram using two embodiment illustrated in fig. 1 to constitute, it is shown that robot opens up into
Maximum and closed configuration (double dot dash line).
Figure 24 is that the flat gripper of embodiment illustrated in fig. 23 takes object schematic diagram.
Figure 25 is the self-adapting grasping object schematic diagram of embodiment illustrated in fig. 23.
In Fig. 1 to Figure 25:
1-pedestal, 2-the first segment, 3-the second segment, the nearly joint shaft of 4-,
The remote joint shaft of 5-, 6-first connecting rod, 7-second connecting rod, 8-the first axle,
9-the second axle, 10-the 3rd axle, 11-driver, 12-decelerator,
13-shaft coupling, 14-drivewheel, 15-the first spring part, 16-the first drive,
17-driving member, 18-the second drive, 19-projection driver plate wheel, the passive thumb wheel of 20-,
21-reseting wheel, 22-the second spring part, 23-limited block, 24-the 3rd drive,
25-the 4th drive, 26-the 5th drive, 27-the 6th drive, 41-the first jackshaft,
42-the second jackshaft, 43-the 3rd jackshaft, 44-the 4th jackshaft, 45-the 5th jackshaft,
46-the 6th jackshaft, 51-the first idler gear, 52-the second idler gear, 53-the 3rd idler gear,
54-the 4th idler gear, 55-the 5th idler gear, 56-the 6th idler gear, 101-the first drive mechanism,
102-the second drive mechanism, 103-the 3rd drive mechanism, 104-the 4th drive mechanism, 111-pedestal header board,
112-pedestal back plate, 113-pedestal left plate, 114-pedestal right panel, 115-pedestal bottom plate,
116-base support plate, 211-the first segment header board, 212-the first segment back plate, 213-the first segment left plate,
214-the first segment right panel, 301-sleeve, 302-bearing, 400-object,
401-idle running kinematic link straight line flat folder adaptive robot finger apparatus.
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 idle running kinematic link straight line of present invention design equals a kind of embodiment of folder adaptive robot finger apparatus, such as figure
Shown in 1 to Fig. 6, including pedestal the 1, first segment the 2, second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 11；Described drive
Dynamic device 11 is affixed with pedestal 1；The centrage of described nearly joint shaft 4 and the centerline parallel of remote joint shaft 5；Described second segment 2
It is fixed on remote joint shaft 5；Described remote joint shaft 5 is set in one end of the first segment 2；Described first segment 2 is socketed in closely
On joint shaft 4；It is characterized in that: this idle running kinematic link straight line flat folder adaptive robot finger apparatus also includes first connecting rod
6, second connecting rod the 7, first axle the 8, second axle the 9, the 3rd axle the 10, first drive mechanism the 101, second drive mechanism the 102, the 3rd transmission
Mechanism the 103, the 4th drive mechanism 104, drivewheel the 14, first spring part the 15, first drive 16, driving member the 17, second drive
18, projection driver plate wheel 19, passive thumb wheel 20, reseting wheel 21, limited block the 23, the 3rd drive the 24, the 4th drive the 25, the 5th pass
Driving wheel 26 and the 6th drive 27；The output shaft of described driver 11 and the input of the first drive mechanism 101 are connected, and described the
Outfan and first axle 8 of one drive mechanism 101 are connected；Described first axle 8 is set in pedestal 1；The one of described first connecting rod 6
End is actively socketed on the first axle 8, and described second axle 9 is set on the other end of first connecting rod 6；The one of described first segment 2
End is socketed on the second axle 9；Described 3rd axle 10 is set in pedestal 1, and one end of described second connecting rod 7 is socketed in the 3rd axle 10
On, the other end of second connecting rod 7 is socketed on nearly joint shaft 4；Described nearly joint shaft 4 is set in the middle part of the first segment 2；If the
The center of one axle 8 is some A, and the center of the second axle 9 is some B, and the center of nearly joint shaft 4 is some C, and the center of remote joint shaft 5 is a little
D, the center of the 3rd axle 10 is an E, and the length three of the length of line segment BC, the length of line segment CD and line segment CE is equal, line segment AE
The length 2 times of length equal to line segment AB, the length of line segment CE is 2.5 times of the length of line segment AB；Described drivewheel 14,
One drive 16 is fixed on the first axle 8；The two ends of described first spring part 15 connect drivewheel 14, first connecting rod 6 respectively；Described
First drive 16 is connected with the input of the second drive mechanism 102, and the outfan of described second drive mechanism 102 and second passes
Driving wheel 18 is connected, and described second drive 18 is actively socketed on the 3rd axle 10；By the transmission of the second drive mechanism 102, from
The transmission of first drive the 16 to the second drive 18 is co-rotating transmission；Described second drive 18 is solid with projection driver plate wheel 19
Connecing, described projection driver plate wheel 19 is actively socketed on the 3rd axle 10, described passive thumb wheel 20, reseting wheel the 21, the 3rd drive 24
It is socketed in respectively on the 3rd axle 10；Described passive thumb wheel 20, reseting wheel the 21, the 3rd drive 24 three are affixed；Described projection is dialled
Actively projection taken turns by dish 19, and described passive thumb wheel 20 has passive projection, and described active projection and passive projection are at initial shape
State does not contacts, and actively projection contacts passive projection after rotating a predetermined angle；Reset projection is had on described reseting wheel 21, described
Reset projection contacts when original state with limited block, and described limited block 23 is affixed with pedestal 1；The two ends of described second spring part 22
Connect reseting wheel 21 and pedestal 1 respectively；Described 3rd drive 24 is connected with the input of the 3rd drive mechanism 103, and described
Outfan and the 4th drive 25 of three drive mechanisms 103 are connected, described 4th drive the 25, the 5th drive 26 pivot bush unit
On nearly joint shaft 4, described 4th drive 25 is affixed with the 5th drive 26, described 4th drive 25 and the 4th driver
The input of structure 104 is connected, and input and the 6th drive 27 of described 4th drive mechanism 104 are connected, described 6th transmission
Wheel case solid 27 is on remote joint shaft；By the transmission of the 3rd drive mechanism 103, from the 3rd drive 24 to the 4th drive 25
Transmission is co-rotating transmission and gear ratio is 1:1；By the transmission of the 4th drive mechanism 104, pass from the 5th drive 26 to the 6th
The transmission of driving wheel 27 is co-rotating transmission and gear ratio is 1:1.
Idle running kinematic link straight line of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: described
Driver uses motor, cylinder or hydraulic cylinder.In the present embodiment, described driver uses motor.
Gear connecting rod straight line double leval jib of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: institute
State the first spring part and use extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, described first spring part 15 uses torsion spring.
Gear connecting rod straight line double leval jib of the present invention flat folder adaptive robot finger apparatus, it is characterised in that: institute
State the second spring part and use extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, described second spring part 22 uses extension spring.
Use a kind of robot hand device that the present embodiment is constituted, including multiple idle running kinematic link straight lines flat folder self adaptation
Robot finger apparatus 401, all described idle running kinematic link straight lines put down the pedestal 1 of folder adaptive robot finger apparatus 401
It is fixed together.Use the robot hand device of 2 embodiment illustrated in fig. 1 401 compositions as shown in figure 24, this robot hand device
Flat gripper can take (as shown in figure 24) or self-adapting grasping object (as shown in figure 25).
The operation principle of the present embodiment, is described below in conjunction with accompanying drawing:
When the present embodiment is in original state, as shown in Figure 1.
Motor 11 rotates, and drives the first axle 8 to rotate by shaft joint, and first connecting rod 6 turns around the centrage of the first axle 8
Dynamic；Because first connecting rod the 6, first segment 2, second connecting rod 7 and pedestal 1 constitute quadric chain, and meet following condition:
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 the length of the line segment AE length equal to line segment AB,
C) length of line segment CE is 2.5 times of length of line segment AB；
As shown in figure 11.
The operation principle of the present embodiment, is described below in conjunction with accompanying drawing:
When the present embodiment is in original state, as shown in Figure 1.
A) the second segment 2 contacts straight line parallel clamping (also referred to as straight line flat folder) grasp mode of object 400:
When driver 11 rotates forward, owing to having idle stroke between projection driver plate wheel 19 and passive thumb wheel 20, now, passive thumb wheel
20 lean against on pedestal 1 under the effect of the second spring part always, and under the rotary action of first connecting rod 6, second connecting rod 7 and first refers to
Section 2 is moved therewith, the quadric chain constituted due to first connecting rod AB, second connecting rod CE, base linkage AE and the first segment BD
End can be made by one section of track of linear motion, and as shown in figure 11, therefore remote joint shaft 5 can move along a straight line relative to pedestal 1；
Then, by the 3rd drive mechanism the 103, the 4th drive the 25, the 5th drive from the 3rd drive 24, the gear ratio such as in the same direction
26, the transmission of the 4th drive mechanism the 104, the 6th drive 27 of gear ratio such as in the same direction, can make the 6th drive 27 of end
Remain and attitude that pedestal 1 is fixing, the second therefore affixed with the 6th drive 27 segment 3 the most all the time with base
Seat 1 keeps fixing attitude, and then, the second segment 3 will be along linear translation, if now the second segment 2 contacts object 400,
Being then parallel clamping grasp mode, the most flat clip mode, course of action is as shown in Figure 12 and Figure 13.
Motor 11 is rotated further, but the projection of projection driver plate wheel 19 does not contacts with the projection of passive thumb wheel 20, the first spring
Part 15 deforms, and (this power is referred to as F to the deformation elastic force of the first spring part 151), it is applied to by the first segment 2, remote joint shaft 5 etc.
In second segment 3 grasping force to object 400, if grasping force is enough, motor 11 stall, crawl terminates.
B) the first segment 2 contacts the self-adapting grasping pattern of object 400:
The flat gripper of straight line of first stage takes the self-adapting grasping with second stage and is collectively referred to as straight line flat folder self-adapting grasping
Pattern.
Contact object 400 when the first segment 2 and stopped by object 400 and be no longer able to turn, will be automatically into self-adapting grasping
In the stage, driver 11 is rotated further, and the first drive 16 is delivered to the second drive by 102 power of the second drive mechanism
18, the second drive 18 drives projection driver plate wheel 19 rotation, and projection driver plate wheel 19 stirs passive thumb wheel 20 after turning an angle
With reseting wheel 21, the second spring part 22 is stretched deformation, and passive thumb wheel 20 drives the 3rd drive 24 to rotate, and the 3rd drive 24 leads to
Crossing 103 power of the 3rd drive mechanism and be delivered to the 4th drive the 25, the 5th drive 26, the 5th drive 26 is by the 4th biography
104 power of motivation structure are delivered to the 6th drive 27, and the 6th drive 27 rotates together with the second segment 3, the second segment 3
Rotational angle α is equal to passive thumb wheel 20, the rotational angle α of reseting wheel 21, produces the envelope to object 400, motor 11 stall, grabs
Taking end, the process that captures is as shown in Figure 14 to Figure 17, and rotational angle α is such as shown in Figure 18 to Figure 19, Figure 20 to Figure 22.
The process of release object 400: motor 11 inverts, and subsequent process is the most contrary with the process of above-mentioned crawl object 400,
Repeat no more.
Figure 18 to Figure 19 is the relative change in location situation of reseting wheel the 21, second spring part 22, limited block 23.
Figure 20 to Figure 22 is projection driver plate wheel 19, the relative change in location situation of passive thumb wheel 20.
Apparatus of the present invention utilize single driver, multiple connecting rod, projection driver plate wheel, passive thumb wheel, reseting wheel, multiple transmission
Wheel and two spring parts etc. comprehensively achieve the function of the clamping of robot finger's straight line parallel and self-adapting grasping；Use and meet necessarily
The quadric chain of condition achieves remote joint shaft along linear motion, uses the drive mechanism waiting gear ratio in the same direction to coordinate and realizes
Second segment keeps the translation of opposite base fixed pose；When object contact the first segment be blocked time, by two spring parts, biographies
Motivation structure, the projection driver plate wheel of idle running transmission and passive thumb wheel etc. comprehensively achieve the second segment joint shaft of automatically going the long way round and rotate；
Utilize single driver to drive two joints, reach drive lacking effect；According to body form and the difference of position, can be at flat folder
And automatically switch between self adaptation both of which；This device can linear translation the second segment de-clamping object, it is adaptable to work
The good clamping of platform upper thin sheet part, this device can also rotate the second segment and go to connect after the first segment contacts object automatically
Touch object, it is thus achieved that bigger grip effect of exerting oneself, it is possible to automatically adapt to the crawl of the object of difformity, size；Crawl scope
Greatly, reliable and stable.
Claims (2)
1. an idle running kinematic link straight line flat folder adaptive robot finger apparatus, including pedestal, the first segment, the second finger
Section, nearly joint shaft, remote joint shaft and driver；Described driver is affixed with pedestal；The centrage of described nearly joint shaft closes with remote
The centerline parallel of nodal axisn；Described second segment is fixed on remote joint shaft；Described remote joint shaft is set in the one of the first segment
In end；Described first segment is socketed on nearly joint shaft；It is characterized in that: this idle running kinematic link straight line flat folder self adaptation machine
Finger device also includes first connecting rod, second connecting rod, the first axle, the second axle, the 3rd axle, the first drive mechanism, the second transmission
Mechanism, the 3rd drive mechanism, the 4th drive mechanism, drivewheel, the first spring part, the first drive, driving member, the second drive,
Projection driver plate wheel, passive thumb wheel, reseting wheel, limited block, the 3rd drive, the 4th drive, the 5th drive and the 6th transmission
Wheel；The output shaft of described driver and the input of the first drive mechanism are connected, the outfan of described first drive mechanism and the
One axle is connected；Described first axle sleeve is located in pedestal；One end of described first connecting rod is actively socketed on the first axle, and described second
Axle sleeve is located on the other end of first connecting rod；One end of described first segment is socketed on the second axle；Described 3rd axle sleeve is located at
In pedestal, one end of described second connecting rod is socketed on the 3rd axle, and the other end of second connecting rod is socketed on nearly joint shaft；Described
Nearly joint shaft is set in the middle part of the first segment；If the center of the first axle is some A, the center of the second axle is a B, nearly joint shaft
Center is some C, and the center of remote joint shaft is some D, and the center of the 3rd axle is some E, the length of line segment BC, the length of line segment CD and line
The length three of section CE is equal, and 2 times of the length of the line segment AE length equal to line segment AB, the length of line segment CE is the length of line segment AB
2.5 times of degree；Described drivewheel, the first drive are fixed on the first axle；The two ends of described first spring part connect actively respectively
Wheel, first connecting rod；The input of described first drive and the second drive mechanism is connected, the outfan of described second drive mechanism
Being connected with the second drive, described second drive is actively socketed on the 3rd axle；By the transmission of the second drive mechanism, from
It is co-rotating transmission that one transmission takes turns to the transmission of the second drive；Described second drive is affixed with projection driver plate wheel, described projection
Driver plate wheel is actively socketed on the 3rd axle, and described passive thumb wheel, reseting wheel, the 3rd drive are socketed on the 3rd axle respectively；Institute
State passive thumb wheel, reseting wheel, the 3rd drive three affixed；Actively projection, described passive thumb wheel is had on described projection driver plate wheel
On have passive projection, described active projection not to contact in original state with passive projection, actively projection rotate a predetermined angle
The passive projection of rear contact；Reset projection, described reset projection is had to contact when original state with limited block on described reseting wheel, institute
State limited block affixed with pedestal；The two ends of described second spring part connect reseting wheel and pedestal respectively；Described 3rd drive and
The input of three drive mechanisms is connected, and the outfan of described 3rd drive mechanism and the 4th drive are connected, described 4th transmission
Wheel, the 5th drive are actively socketed on nearly joint shaft, and described 4th drive and the 5th drive are affixed, described 4th transmission
Wheel is connected with the input of the 4th drive mechanism, and the input of described 4th drive mechanism and the 6th drive are connected, and described the
Six drives are fixed on remote joint shaft；By the transmission of the 3rd drive mechanism, take turns to the biography of the 4th drive from the 3rd transmission
Moving as co-rotating transmission and gear ratio is 1:1；By the transmission of the 4th drive mechanism, take turns to the biography of the 6th drive from the 5th transmission
Moving as co-rotating transmission and gear ratio is 1:1.
2. idle running kinematic link straight line as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: institute
State driver and use motor, cylinder or hydraulic cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610641041.8A CN106182051B (en) | 2016-08-05 | 2016-08-05 | The flat folder adaptive robot finger apparatus of idle running kinematic link straight line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641041.8A CN106182051B (en) | 2016-08-05 | 2016-08-05 | The flat folder adaptive robot finger apparatus of idle running kinematic link straight line |
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| CN106182051A true CN106182051A (en) | 2016-12-07 |
| CN106182051B CN106182051B (en) | 2018-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610641041.8A Active CN106182051B (en) | 2016-08-05 | 2016-08-05 | The flat folder adaptive robot finger apparatus of idle running kinematic link straight line |
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| CN108189056A (en) * | 2017-11-22 | 2018-06-22 | 清华大学 | Wheeled pinch of bar holds compound crawl robot finger apparatus |
| CN109129549B (en) * | 2018-09-14 | 2021-08-17 | 清华大学 | Sliding chute double-crank linear parallel clamping self-adaptive robot finger device |
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| CN108145729A (en) * | 2017-11-22 | 2018-06-12 | 清华大学 | Five connecting rods put down folder adaptive robot finger apparatus |
| CN108189056A (en) * | 2017-11-22 | 2018-06-22 | 清华大学 | Wheeled pinch of bar holds compound crawl robot finger apparatus |
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| CN109129549B (en) * | 2018-09-14 | 2021-08-17 | 清华大学 | Sliding chute double-crank linear parallel clamping self-adaptive robot finger device |
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| Publication number | Publication date |
|---|---|
| CN106182051B (en) | 2018-11-30 |
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