CN106346499B - The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line - Google Patents

The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line Download PDF

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Publication number
CN106346499B
CN106346499B CN201610796264.1A CN201610796264A CN106346499B CN 106346499 B CN106346499 B CN 106346499B CN 201610796264 A CN201610796264 A CN 201610796264A CN 106346499 B CN106346499 B CN 106346499B
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China
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driving wheel
axis
driving
connecting rod
transmission
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CN106346499A (en
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罗超
杨阳
张文增
徐向荣
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0028Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line, belong to robot technical field, including pedestal, motor, transition transmission mechanism, the first segment, the second segment, nearly joint shaft, remote joint shaft, multiple driving members, multiple driving wheels, first connecting rod, second connecting rod, third connecting rod, spring, convex block driver plate and limited block etc..The arrangement achieves the functions of robot finger's straight line parallel clamping and self-adapting grasping;The device can linear translation the second segment grip object, also can envelope different shapes and sizes object;It is big that the device captures range;By the way of drive lacking, two segments are driven using a motor, without complicated sensing and control system;The apparatus structure is compact, small, and manufacture is low with maintenance cost, is suitable for robot.

Description

The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line
Technical field
The invention belongs to robot technical field, more particularly to the flat folder of a kind of crank rocker dynamic gear train straight line is adaptive The structure design of finger apparatus.
Background technology
Robot is the important device for realizing crawl object.The method of crawl object is limited from opposite both direction The firmly movement possibility of object in this direction.There are multiple directions for the movement of object in space, in order to limit grabbed object Various movement possibilities, need robot from all directions limited object move.Parallel clamping crawl (referred to as flat gripper Take) it is a kind of common grasp mode, end segment remains the relatively-stationary appearance of palm opposite pedestal during the motion State, in the process of grasping, opposite two fingers or multiple fingers contact object in two or more sides of object and apply Add grasping force, soft finger face is obtained by the elastic deformation material of finger surface always improves the stability of crawl, this parallel The machine of clamping is by industrial extensive use, referred to as industrial clamper.Industrial clamper refer to have it is two or more Finger does not have the machine in joint or the joint of multiple coupled motions on finger, when capturing object using the mode of parallel clamping, Or extreme apex carries out grip to object, this grasp mode is effective for every-day object, can reach most types Grasping body.
The robot for imitating human hand has many joint freedom degrees at present, is controlled respectively by multiple motors, also referred to as Dextrous Hand, Dextrous Hand are defined as at least tool there are three finger, there is nine an or more degree of freedom, it needs to be determined that gestures of object when crawl, Path planning is carried out to the route in space, determines that object space is laid out, these all bring complicated control.Thus traditional spirit Dab hand is more expensive.
Traditional drive lacking hand drives more joint using few driver, energy conservation and environmental protection, and weight is low.Traditional deficient drive It starts only to have and first rotates nearly joint, be rotated further by the rigid crawl in remote joint, it, cannot be with end although being adapted to shape Segment grip object can not realize the flat folder of straight line and adaptive grasp mode.
Robot with linear translation clamping has been developed, such as patent WO2016063314A1, including base Seat, motor, transition transmission mechanism, the first segment, the second segment, eight connecting rods, multiple shafts etc..The device can realize second The linear translation of segment realizes object using the straight line parallel movement of the second segment the function of straight line parallel clamping.It is insufficient Place is:The device is only capable of realizing straight line parallel clamping function, cannot achieve the function of adaptive envelope crawl.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, a kind of crank rocker dynamic gear train straight line is provided The flat adaptive finger apparatus of folder.The device has straight line parallel clamping and two kinds of grasp modes of self-adapting grasping, without to object Environment carries out complicated real-time detection, planning, can be along the second segment de-clamping object of linear translation end, also can be successively Move the object of the first segment and the adaptive envelope different shapes and sizes of the second segment;It is big to capture range.
Technical scheme is as follows:
A kind of flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line that the present invention designs, including pedestal, motor, Transition transmission mechanism, the first segment, the second segment, nearly joint shaft and remote joint shaft;The motor and pedestal are affixed;The motor Output shaft be connected with the input terminal of transition transmission mechanism;First segment is socketed on nearly joint shaft;The remote joint shaft It is movably set in the first segment;Second segment is socketed on remote joint shaft;The center line of the nearly joint shaft is closed with remote The centerline parallel of nodal axisn;It is characterized in that:The flat adaptive finger apparatus of folder of the crank rocker dynamic gear train straight line further includes the One driving member, the second driving member, third driving member, the 4th driving member, the first driving wheel, the second driving wheel, third driving wheel, Four driving wheels, the 5th driving wheel, the 6th driving wheel, the 7th driving wheel, the 8th driving wheel, first connecting rod, second connecting rod, third connect Bar, first axle, the second axis, third axis, spring, convex block driver plate and limited block;The first axle, the second axis, third axis are closed with close The centerline parallel of nodal axisn;The first axle, the second axis are movably set in pedestal respectively;The output of the transition transmission mechanism End is connected with the second axis;One end of the third connecting rod is socketed in first axle, and the other end of third connecting rod is socketed in nearly joint On axis;The nearly joint shaft is movably set in the middle part of second connecting rod;One end of the second connecting rod is socketed on remote joint shaft, The other end of second connecting rod is socketed on third axis;One end of the first connecting rod is actively socketed on the second axis, first connecting rod The other end be socketed on third axis;If the central point of first axle is A, the second axis center point is B, and the central point of third axis is C, The central point of nearly joint shaft is D, and remote joint shaft central point is E, and the length of line segment AB is equal to 2 times of line segment BC length, line segment CD, Line segment DE and line segment AD three's equal length, the length of line segment CD are equal to 2.5 times of line segment BC length;First driving wheel tube Gu on the second axis;First driving member is separately connected the first driving wheel and the second driving wheel;First driving wheel, the first transmission Part and the second driving wheel three constitute drive connection;Second driving wheel is actively socketed on third axis;The third transmission Wheel is actively socketed on third axis, and second driving wheel and third driving wheel are affixed;Second driving member is separately connected Three driving wheels and the 4th driving wheel;Third driving wheel, the second driving member and the 4th driving wheel three constitute drive connection;Described Four driving wheel tubes are connected on remote joint shaft, and the 5th driving wheel tube is connected on remote joint shaft;The third driving member connects respectively Connect the 5th driving wheel and the 6th driving wheel;5th driving wheel, third driving member and the 6th driving wheel three constitute drive connection;Institute It states the 6th driving wheel tube to be connected on third axis, the 7th driving wheel tube is connected on third axis;4th driving member connects respectively Connect the 7th driving wheel and the 8th driving wheel;7th driving wheel, the 4th driving member and the 8th driving wheel three constitute drive connection;Institute The 8th driving wheel is stated to be actively socketed on the second axis;Second driving wheel and third driving wheel are affixed, the 6th driving wheel It is affixed with the 7th driving wheel;Second segment, the 4th driving wheel and the 5th driving wheel three are affixed;By the first driving member, The transmission of second driving wheel, third driving wheel and the second driving member, it is in the same direction to take turns to the transmission of the 4th driving wheel from the first transmission It is driven and transmission ratio is less than 1;By the transmission of third driving member, the 6th driving wheel, the 7th driving wheel and the 4th driving member, from The transmission that five transmissions take turns to the 8th driving wheel is co-rotating transmission and transmission ratio is equal to 1;The convex block driver plate is actively socketed on second On axis, convex block driver plate and the 8th driving wheel are affixed;The limited block and pedestal are affixed, convex block driver plate in the initial state with limit Block contacts;The both ends of the spring are separately connected pedestal and convex block driver plate.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described One driving member uses connecting rod, gear, transmission belt, chain or tendon rope.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described Two driving members use connecting rod, gear, transmission belt, chain or tendon rope.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described Three driving members use connecting rod, gear, transmission belt, chain or tendon rope.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described Four driving members use connecting rod, gear, transmission belt, chain or tendon rope.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:The bullet Spring uses tension spring.
Compared with prior art, the present invention haing the following advantages and high-lighting effect:
Apparatus of the present invention are integrated real using motor, four-bar mechanism, multiple driving wheels, convex block driver plate, limited block and spring The function of robot finger's straight line parallel clamping and self-adapting grasping is showed;The device can the parallel folder of the second segment of linear translation Hold object, also can envelope different shapes and sizes object;It is big that the device captures range;By the way of drive lacking, one is utilized Motor drives two segments, without complicated sensing and control system;The apparatus structure is compact, small, manufacture and safeguard at This is low, is suitable for robot.
Description of the drawings
Fig. 1 is the solid of the embodiment for the flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line that the present invention designs Outside drawing.
Fig. 2 is a front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the lateral plan of embodiment illustrated in fig. 1.
Fig. 4 is the axis surveys view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 5 to Fig. 6 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object in a manner of the flat folder of straight line.
Fig. 7 to Fig. 9 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object in a manner of adaptive envelope.
Figure 10 to Figure 11 is the partial view of embodiment illustrated in fig. 1, shows limited block, convex block driver plate and spring in difference Move the position relationship at moment.
Figure 12 is the partial view (being not drawn into part) of embodiment illustrated in fig. 1, shows the position of point A, B, C, D and E It sets.
Figure 13 is the multi-connecting-rod mechanism schematic diagram of connecting rod AD, BC, CDE and base linkage AB shown in Figure 12, is shown in master The motion track of pivot link AD time points E is moved, it is exactly the second segment straight line of the present embodiment to have one section of straight path in the track The motion track of parallel clamping.
In Fig. 1 to Figure 13:
1- pedestals, 11- limited blocks, the first segments of 2-, the second segments of 3-,
The nearly joint shafts of 4-, the remote joint shafts of 5-, 51- first axles, the second axis of 52-,
53- third axis, the first driving wheels of 61-, the second driving wheels of 62-, 63- third driving wheels,
The 4th driving wheels of 64-, the 5th driving wheels of 65-, the 6th driving wheels of 66-, the 7th driving wheels of 67-,
The 8th driving wheels of 68-, 71- first connecting rods, 72- second connecting rods, 73- third connecting rods,
8- convex block driver plates, the first driving members of 81-, the second driving members of 82-, 83- third driving members,
The 4th driving members of 84-, 9- springs, 12- motors, 100- objects,
200- transition transmission mechanisms, 201- retarders, 202- drive bevel gears, 203- driven wheel of differential,
204- driving pulleys, 205- driven pulleys, 206- transition axises, 207- transition transmission belts.
Specific implementation mode
The concrete structure of the present invention, the content of operation principle are described in further detail with reference to the accompanying drawings and embodiments.
The flat adaptive finger apparatus of folder of a kind of crank rocker dynamic gear train straight line that the present invention designs, institute as shown in Figure 1 to Figure 4 Show, including pedestal 1, motor 12, transition transmission mechanism 200, the first segment 2, the second segment 3, nearly joint shaft 4 and remote joint shaft 5; The motor 12 and pedestal 1 are affixed;The output shaft of the motor 12 is connected with the input terminal of transition transmission mechanism 200;Described One segment 2 is socketed on nearly joint shaft 4;The remote joint shaft 5 is movably set in the first segment 2;Second segment 3 is socketed On remote joint shaft 5;The centerline parallel of the center line and remote joint shaft 5 of the nearly joint shaft 4;It is characterized in that:The crank The flat adaptive finger apparatus of folder of rocking bar dynamic gear train straight line further includes the first driving member 81, the second driving member 82, third driving member 83, the 4th driving member 84, the first driving wheel 61, the second driving wheel 62, third driving wheel 63, the transmission of the 4th driving wheel the 64, the 5th Take turns the 65, the 6th driving wheel 66, the 7th driving wheel 67, the 8th driving wheel 68, first connecting rod 71, second connecting rod 72, third connecting rod 73, First axle 51, the second axis 52, third axis 53, spring 9, convex block driver plate 8 and limited block 11;The first axle 51, the second axis 52, The centerline parallel of three axis 53 and nearly joint shaft 4;The first axle 51, the second axis 52 are movably set in respectively in pedestal 1;It is described The output end of transition transmission mechanism 200 is connected with the second axis 52;One end of the third connecting rod 73 is socketed in first axle 51, the The other end of three-link 73 is socketed on nearly joint shaft 4;The nearly joint shaft 4 is movably set in the middle part of second connecting rod 72;Institute The one end for stating second connecting rod 72 is socketed on remote joint shaft 5, and the other end of second connecting rod 72 is socketed on third axis 53;Described One end of one connecting rod 71 is actively socketed on the second axis 52, and the other end of first connecting rod 71 is socketed on third axis 53;If first The central point of axis 51 is A, and 52 central point of the second axis is B, and the central point of third axis 53 is C, and the central point of nearly joint shaft 4 is D, far 5 central point of joint shaft is E, and the length of line segment AB is equal to 2 times of line segment BC length, and line segment CD, line segment DE and line segment AD three are long Spend equal, the length of line segment CD is equal to 2.5 times of line segment BC length;First driving wheel 61 is fixed on the second axis 52;Institute It states the first driving member 81 and is separately connected the first driving wheel 61 and the second driving wheel 62;First driving wheel 61, the first driving member 81 with Second driving wheel, 62 three constitutes drive connection;Second driving wheel 62 is actively socketed on third axis 53;The third passes Driving wheel 63 is actively socketed on third axis 53, and second driving wheel 62 is affixed with third driving wheel 63;Second driving member 82 are separately connected third driving wheel 63 and the 4th driving wheel 64;Third driving wheel 63, the second driving member 82 and the 4th driving wheel 64 Three constitutes drive connection;4th driving wheel 64 is socketed on remote joint shaft 5, and the 5th driving wheel 65 is socketed in remote pass On nodal axisn 5;The third driving member 83 is separately connected the 5th driving wheel 65 and the 6th driving wheel 66;5th driving wheel 65, third Driving member 83 and 66 three of the 6th driving wheel constitute drive connection;6th driving wheel 66 is socketed on third axis 53, described 7th driving wheel 67 is socketed on third axis 53;4th driving member 84 is separately connected the 7th driving wheel 67 and the 8th driving wheel 68;7th driving wheel 67, the 4th driving member 84 and 68 three of the 8th driving wheel constitute drive connection;8th driving wheel 68 is lived It is dynamic to be socketed on the second axis 52;Second driving wheel 62 is affixed with third driving wheel 63, the 6th driving wheel 66 and the 7th Driving wheel 67 is affixed;Second segment 3, the 4th driving wheel 64 and 65 three of the 5th driving wheel are affixed;Pass through the first driving member 81, the transmission of the second driving wheel 62, third driving wheel 63 and the second driving member 82, from the first driving wheel 61 to the 4th driving wheel 64 Transmission be that co-rotating transmission and transmission ratio are less than 1;Pass through third driving member 83, the 6th driving wheel 66, the 7th driving wheel 67 and The transmission of four driving members 84, from the transmission of the 5th driving wheel 65 to the 8th driving wheel 68 be co-rotating transmission and transmission ratio is equal to 1;Institute It states convex block driver plate 8 to be actively socketed on the second axis 52, convex block driver plate 8 and the 8th driving wheel 68 are affixed;The limited block 11 and base Seat 1 is affixed, and convex block driver plate 8 is contacted with limited block 11 in the initial state;The both ends of the spring 9 are separately connected pedestal 1 and convex Block driver plate 8.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described One driving member 81 is using connecting rod, gear, transmission belt, chain or tendon rope.In the present embodiment, first driving member 81 is using transmission Band.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described Two driving members 82 are using connecting rod, gear, transmission belt, chain or tendon rope.In the present embodiment, second driving member 82 is using transmission Band.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described Three driving members 83 are using connecting rod, gear, transmission belt, chain or tendon rope.In the present embodiment, the third driving member 83 is using transmission Band.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, it is characterised in that:Described Four driving members 84 are using connecting rod, gear, transmission belt, chain or tendon rope.In the present embodiment, the 4th driving member 84 is using transmission Band.
The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line of the present invention, the transition transmission mechanism 200 include retarder 201, drive bevel gear 202, driven wheel of differential 203, driving pulley 204, driven pulley 205, transition axis 206 and transition transmission belt 207.The transition axis 206 is movably set in pedestal 1, the input shaft and motor of the retarder 201 12 output shaft is connected, and the retarder 201 and pedestal 1 are affixed, and the drive bevel gear 202 is fixed in the defeated of retarder 201 On shaft, the driven wheel of differential 203 is fixed on transition axis 206, and the drive bevel gear 202 is nibbled with driven wheel of differential 203 It closes, the driving pulley 204 is fixed on transition axis 206, and the driven pulley 205 is fixed on the second axis 52, the transition Transmission belt 207 connects driving pulley 204 and driven pulley 205.
In the present embodiment, the spring 9 uses tension spring.
The operation principle of the present embodiment, is described below in conjunction with attached drawing:
In the present embodiment, it sets initial position to the vertical state of third connecting rod 73 (as shown in Figure 2).
Motor 12 rotates, and drives the rotation of the second axis 52 by transition transmission mechanism 200, the first driving wheel 61 is around the second axis 52 center line rotation;Because first connecting rod 71, second connecting rod 72, third connecting rod 73, pedestal 1 constitute four-bar mechanism, and Meet condition (as shown in figure 13):
A) length of line segment AB is equal to 2 times of line segment BC length,
B) the length three of the length of line segment CD, the length of line segment DE and line segment AD is equal,
C) length of line segment CD is equal to 2.5 times of line segment BC length,
As shown, the four-bar mechanism will be because the rotation of first connecting rod 71 drives remote joint shaft 5 to move along a straight line.
Then the second segment 3 will be along linear translation, as shown in figure 12.
When the rotation angle of convex block driver plate 8 is 0 degree, spring 9 hauls convex block driver plate 8 against in limited block 11 at this time On, when center line rotation of the third connecting rod 73 around first axle 51, under the action of the first driving member 81 and the second driving member 82, The transmission of first driving wheel 61 to the 4th driving wheel 64 is co-rotating transmission and is step-up drive (transmission ratio is less than 1), is passed in third Under the action of moving part 83 and the 4th driving member 84, the transmission of the 5th driving wheel 65 to the 8th driving wheel 68 be co-rotating transmission and for etc. Speed transmission (transmission ratio be equal to 1) because the effect of contraction of spring 9 by convex block driver plate 8 in the first stage when against limited block 11, the Eight driving wheels 68 will not rotate relative to the second axis 52, the second segment 3 with the 5th driving wheel 65 in the first stage when keep The posture constant relative to pedestal 1.
When the present embodiment captures object 100, will present two kinds of grasp modes, i.e., the flat clip mode of straight line (first stage) and Adaptive envelope grasp mode (second stage):
A) when the second segment 3 contacts object 100 prior to the first segment 2, which will be using the crawl mould of the flat folder of straight line Formula.The transmission that motor 12 passes through transition transmission mechanism 200 at this time so that the second axis 52 rotates, and first connecting rod 71 will be around second Axis 52 rotates, and is rotated around first axle 51 with third connecting rod 73, the state of translation so that remote joint shaft 5 is in line, Under the pulling of spring 9, affixed convex block driver plate 8 will be close to limited block 11 with the 8th driving wheel 68, make the 5th driving wheel 65, the Six driving wheels 66, the 7th driving wheel 67, the 8th driving wheel 68 are unable to opposite base 1 and rotate, can only be along with respective Central shaft is translatable, and the second segment 3 is made to remain initial posture in the first stage, until the second segment 3 touches object 100, at this time motor 12 be stopped, to realize that the straight line of the device equals folder function.As shown in Figure 5 and Figure 6.
B) when the first segment 2 touches object 100 prior to the second segment 3, which will use adaptive envelope to capture Pattern.After the first segment 2 touches object 100, the first segment 2 will be unable to rotate again, to first connecting rod 71, the Two connecting rods 72, third connecting rod 73 also will be unable to rotate, and motor 12 is rotated further at this time, pass through the driving of transition transmission mechanism 200 the One driving wheel 61 is rotated further, and the second driving wheel 62 of driving rotates around third axis 53.Third driving wheel 63 is around third axis 53 rotations, the 4th driving wheel 64 are rotated around remote joint shaft 5, to drive the 4th driving wheel 64, the transmission of the second segment 3 and the 5th Wheel 65 rotates together, and the second segment 3 will be rotated around remote joint shaft 5, close to object 100, and the 8th driving wheel 68 is around the Two axis 52 rotate, and convex block driver plate 8 is driven to leave limited block 11,9 stretcher strain of spring.Until the second segment 3 connects with object 100 It touches, motor 12 is stopped, and crawl terminates.As shown in Figure 7 to 9.For the object 100 of different shapes and sizes, the present embodiment With adaptivity, the object of different shape and size can be captured.
When discharging object, motor reversal, with the above process just on the contrary, repeating no more.
Apparatus of the present invention are integrated real using motor, four-bar mechanism, multiple driving wheels, convex block driver plate, limited block and spring The function of robot finger's straight line parallel clamping and self-adapting grasping is showed;The device can linear translation the second segment grip object Body, also can envelope different shapes and sizes object;It is big that the device captures range;By the way of drive lacking, a motor is utilized Two segments are driven, without complicated sensing and control system;The apparatus structure is compact, small, and manufacture is low with maintenance cost, Suitable for robot.

Claims (6)

1. a kind of flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line, including pedestal, motor, transition transmission mechanism, First segment, the second segment, nearly joint shaft and remote joint shaft;The motor and pedestal are affixed;The output shaft and mistake of the motor The input terminal for crossing transmission mechanism is connected;First segment is socketed on nearly joint shaft;The remote joint shaft is movably set in In one segment;Second segment is socketed on remote joint shaft;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 adaptive finger apparatus of folder of the crank rocker dynamic gear train straight line further includes the first driving member, second Driving member, third driving member, the 4th driving member, the first driving wheel, the second driving wheel, third driving wheel, the 4th driving wheel, the 5th Driving wheel, the 6th driving wheel, the 7th driving wheel, the 8th driving wheel, first connecting rod, second connecting rod, third connecting rod, first axle, Two axis, third axis, spring, convex block driver plate and limited block;The center line of the first axle, the second axis, third axis and nearly joint shaft It is parallel;The first axle, the second axis are movably set in pedestal respectively;The output end of the transition transmission mechanism and the second axis phase Even;One end of the third connecting rod is socketed in first axle, and the other end of third connecting rod is socketed on nearly joint shaft;The nearly pass Nodal axisn is movably set in the middle part of second connecting rod;One end of the second connecting rod is socketed on remote joint shaft, second connecting rod it is another One end is socketed on third axis;One end of the first connecting rod is actively socketed on the second axis, the other end socket of first connecting rod On third axis;If the central point of first axle is A, the second axis center point is B, and the central point of third axis is C, in nearly joint shaft Heart point is D, and remote joint shaft central point is E, and the length of line segment AB is equal to 2 times of line segment BC length, line segment CD, line segment DE and line segment AD three's equal length, the length of line segment CD are equal to 2.5 times of line segment BC length;First driving wheel is fixed in the second axis On;First driving member is separately connected the first driving wheel and the second driving wheel;First driving wheel, the first driving member and second pass Driving wheel three constitutes drive connection;Second driving wheel is actively socketed on third axis;The third driving wheel pivot bush unit On third axis, second driving wheel and third driving wheel are affixed;Second driving member be separately connected third driving wheel and 4th driving wheel;Third driving wheel, the second driving member and the 4th driving wheel three constitute drive connection;4th driving wheel tube It is connected on remote joint shaft, the 5th driving wheel tube is connected on remote joint shaft;The third driving member is separately connected the 5th transmission Wheel and the 6th driving wheel;5th driving wheel, third driving member and the 6th driving wheel three constitute drive connection;6th transmission Wheel is socketed on third axis, and the 7th driving wheel tube is connected on third axis;4th driving member is separately connected the 7th transmission Wheel and the 8th driving wheel;7th driving wheel, the 4th driving member and the 8th driving wheel three constitute drive connection;8th transmission Wheel is actively socketed on the second axis;6th driving wheel and the 7th driving wheel are affixed;Second segment, the 4th driving wheel and 5th driving wheel three is affixed;By the transmission of the first driving member, the second driving wheel, third driving wheel and the second driving member, from The transmission that first transmission takes turns to the 4th driving wheel is co-rotating transmission and transmission ratio is less than 1;Pass through third driving member, the 6th transmission The transmission of wheel, the 7th driving wheel and the 4th driving member, the transmission that the 8th driving wheel is taken turns to from the 5th transmission are co-rotating transmission and biography Dynamic ratio is equal to 1;The convex block driver plate is actively socketed on the second axis, and convex block driver plate and the 8th driving wheel are affixed;The limited block Affixed with pedestal, convex block driver plate is contacted with limited block in the initial state;The both ends of the spring are separately connected pedestal and convex block Driver plate.
2. the flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line as described in claim 1, it is characterised in that:It is described First driving member uses connecting rod, gear, transmission belt, chain or tendon rope.
3. the flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line as described in claim 1, it is characterised in that:It is described Second driving member uses connecting rod, gear, transmission belt, chain or tendon rope.
4. the flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line as described in claim 1, it is characterised in that:It is described Third driving member uses connecting rod, gear, transmission belt, chain or tendon rope.
5. the flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line as described in claim 1, it is characterised in that:It is described 4th driving member uses connecting rod, gear, transmission belt, chain or tendon rope.
6. the flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line as described in claim 1, it is characterised in that:It is described Spring uses tension spring.
CN201610796264.1A 2016-08-31 2016-08-31 The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line Active CN106346499B (en)

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CN106986180A (en) * 2017-05-02 2017-07-28 岳西县科盛机电有限公司 A kind of automatic carriage of Two axle drive
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
CN109605414B (en) * 2018-11-27 2021-07-06 安徽工业大学 Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device

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