CN106363651B - Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus - Google Patents

Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus Download PDF

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Publication number
CN106363651B
CN106363651B CN201610791515.7A CN201610791515A CN106363651B CN 106363651 B CN106363651 B CN 106363651B CN 201610791515 A CN201610791515 A CN 201610791515A CN 106363651 B CN106363651 B CN 106363651B
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China
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driving wheel
driving
segment
rod
joint shaft
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CN106363651A (en
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胡汉东
罗超
张文增
徐向荣
冷护基
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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
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • 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

Abstract

Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus, belongs to robot technical field, including rack, two segments, two joint shafts, driver, multiple connecting rods, pilot sleeve, multiple driving wheels, multiple driving members and spring part etc..The arrangement achieves the functions of robot finger's coupling and self-adapting grasping.The device is according to the difference of body form and position, energy the second segment of linear translation, the second segment rotates de-clamping object relative to the first segment simultaneously, it can also be after the first segment contacts object, the second segment of automatic rotation removes contact object, achievees the purpose that adaptive envelope different shapes and sizes object;Crawl range is big, and grasping stability is reliable;Two segments are driven using a driver;The apparatus structure is simple, and processing, assembly are low with maintenance cost, is suitable for robot.

Description

Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus
Technical field
The invention belongs to robot technical field, in particular to a kind of supporting wheel systems dead axle sliding sleeve straight line coupling adaptive The structure of robot finger apparatus designs.
Background technique
Adaptive under-actuated robot hand uses the multiple degree-of-freedom joints of a small amount of motor driven, since number of motors is few, hiding The motor for entering palm can choose bigger power and volume, and power output is big, while the feedback system of Purely mechanical is not necessarily to environment Sensitivity also may be implemented to stablize crawl, the automatic object for adapting to different shape size, without real-time sensing and closed loop feedback control Demand, control it is simple and convenient, reduce manufacturing cost.
When grabbing object, there are mainly two types of grasping means, and one is grips, and one is grippings.
Grip is to remove clamping object with the tip portion of end finger, removes contactant using two points or two soft finger faces Body, mainly for small-size object or with the larger object of opposite;Gripping is multiple segment enveloping rings with finger around object Body realizes the contacts of multiple points, reaches more stable shape envelope crawl.
Adaptive under-actuated finger can be held by the way of adaptive envelope object, but can not implement end grip Crawl.
A kind of existing under-actuated two-articulated robot finger device (Chinese invention patent CN101234489A), including base Seat, motor, middle part segment, end segment, nearly joint shaft, remote joint shaft, belt wheel transmission mechanism and spring part etc..The arrangement achieves The special-effect of doublejointed under-actuated finger bending crawl object, has adaptivity, can adapt to the object of different shape size Body.The shortcoming of the under-actuated two-articulated robot finger device are as follows: 1) grasp mode is only holding mode, and hardly possible is realized curved The end grip in bent remote joint grabs effect;2) process of device crawl object is not anthropomorphic, and the device is not before touching object Always the state stretched is presented.
It is known as coupling adaptive finger with coupling and the robot finger of adaptive compound grasp mode.So-called coupling With adaptive compound grasp mode refer to the finger may be implemented coupling crawl grab with adaptive drive lacking combine it is compound Drive lacking crawl, i.e. for robot finger apparatus during bending grasping object, each segment is by certain angle before encountering object Ratio is bent simultaneously;And after nearly segment encounters object, and rotation second joint can be decoupled, so that the second segment is adapted to object automatically Surface shape so that envelope holds object completely, and only drives multiple joints by a driver;If in coupling rotational During two joints, the second segment contacts object, then crawl terminates, and realizes grip effect.
A kind of existing finger device of double-joint parallel under-actuated robot (Chinese invention patent CN101633171B), packet Include pedestal, middle part segment, end segment, nearly joint shaft, remote joint shaft, motor, coupled transmission mechanism, adaptive transmission mechanism and Three spring parts.Coupling and adaptive compound grasp mode may be implemented in the device, and deficiency is: 1) mechanism is complicated, there is two sets of biographies Motivation structure is mounted between nearly joint shaft and remote joint shaft;2) the spring number of packages mesh needed is excessive, and spring part type selecting is difficult;3) using more A spring part decouples to realize --- and the contradiction reconciled between coupled transmission mechanism and adaptive transmission mechanism usually makes multiple springs Part deformation is larger, leads to excessive and unnecessary energy loss.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of supporting wheel systems dead axle sliding sleeve straight line is provided Coupling adaptive robot finger apparatus.The device can be realized coupling and adaptive compound grasp mode, can link two Joint end grip object also can be rotated first after the first segment touches object and be rotated further by the second segment envelope gripping object, reached To the adaptive grip effect to different shape size objects.
Technical scheme is as follows:
A kind of supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus that the present invention designs, including machine Frame, the first segment, the second segment, nearly joint shaft, remote joint shaft, driver and transmission mechanism;The driver and rack are affixed, The output end of the driver is connected with the input terminal of transmission mechanism;The nearly joint shaft is set in one end of the first segment, institute The other end that remote joint shaft is set in the first segment is stated, second segment is socketed on remote joint shaft, the nearly joint shaft The centerline parallel of center line and remote joint shaft;It is characterized by: the supporting wheel systems dead axle sliding sleeve straight line coupling adaptive machine Finger device further includes the first driving wheel, the second driving wheel, third driving wheel, the 4th driving wheel, the 5th driving wheel, the 6th biography Driving wheel, spring part, the first driving member, the second driving member, third driving member, the first guide rod, the second guide rod, pilot sleeve, first connect Bar, second connecting rod, third connecting rod, first axle, the second axis and third axis;The output end of the transmission mechanism is connected with third axis; 6th driving wheel is fixed on third axis;The both ends of the spring part are separately connected the 6th driving wheel and third connecting rod;It is described One end of third connecting rod is socketed on the second axis, and the other end of third connecting rod is actively socketed on third axis;The second connecting rod One end be socketed on nearly joint shaft, the other end of second connecting rod is socketed on the second axis;One end of the first connecting rod is socketed On nearly joint shaft, the other end of first connecting rod is socketed in first axle;The first axle is set in rack;The third axis It is set in rack;The center of the center line of the first axle, the center line of the second axis, the center line of third axis and nearly joint shaft Line is parallel to each other;One end of first guide rod is socketed on remote joint shaft, and the other end sliding of the first guide rod is embedded in In pilot sleeve;One end of second guide rod is socketed on the second axis, and the other end sliding of the second guide rod is embedded in guide sleeve In cylinder;It is actively socketed in first axle in the middle part of the pilot sleeve;If the central point of third axis is A, the central point of the second axis For B, the central point of nearly joint shaft is C, and the central point of remote joint shaft is D, and the central point of first axle is E, the length line of line segment AB Section, the length three of the length of AE and line segment CE are equal, and both length of the length of line segment BC and line segment CD is equal, line segment BC's 2 times of length of the length equal to line segment AB, point B, point D are conllinear with point E three;Sliding of first guide rod in pilot sleeve Direction is conllinear with glide direction of second guide rod in pilot sleeve;First driving wheel is socketed on remote joint shaft, and first Driving wheel and the second segment are affixed;Second driving wheel is socketed on nearly joint shaft;First driving member is separately connected One driving wheel, the second driving wheel, first driving member, the first driving wheel, the second driving wheel three constitute drive connection;It is described Third driving wheel is socketed on nearly joint shaft, and third driving wheel and the second driving wheel are affixed;4th driving wheel is socketed in On one axis;Second driving member is separately connected third driving wheel, the 4th driving wheel, second driving member, third driving wheel, 4th driving wheel three constitutes drive connection;5th driving wheel is socketed in first axle, the 5th driving wheel and the 4th transmission It takes turns affixed;The third driving member is separately connected the 5th driving wheel, the 6th driving wheel, the third driving member, the 5th driving wheel, 6th driving wheel three constitutes drive connection;Pass through the first driving member, the second driving wheel, third driving wheel, the second driving member, The transmission of four driving wheels, the 5th driving wheel, third driving member takes turns to the 6th driving wheel from the first transmission and constitutes co-rotating transmission pass System.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention, it is characterised in that: First driving member uses gear, connecting rod, transmission belt, chain or rope;Second driving member uses gear, connecting rod, transmission Band, chain or rope;The third driving member uses gear, connecting rod, transmission belt, chain or rope.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention, it is characterised in that: The driver uses motor, cylinder or hydraulic cylinder.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention, it is characterised in that: The spring part uses torsional spring.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention utilize driver, multiple connecting rods, pilot sleeve, multiple driving wheels, multiple driving members and spring part etc. The comprehensive function of realizing robot finger's coupling and self-adapting grasping;Using the multi link and pilot sleeve met certain condition Mechanism realizes remote joint shaft along linear motion, is cooperated using Multi-stage transmission wheel mechanism and realizes that the second segment is gone the long way round joint shaft Coupling rotational;It is realized after the first segment contact object is blocked using the cooperation of spring part, automatic second segment that rotates goes to contact Object.Difference of the device according to body form and position, energy the second segment of linear translation, while the second segment is relative to first Segment rotates de-clamping object, moreover it is possible to which after the first segment contacts object, automatic second segment that rotates removes contact object, reaches The purpose of adaptive envelope different shapes and sizes object;Crawl range is big, and grasping stability is reliable;It is driven using a driver Two segments;The apparatus structure is simple, and processing, assembly are low with maintenance cost, is suitable for robot.
Detailed description of the invention
Fig. 1 is a kind of reality for the supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus that the present invention designs Apply the stereo appearance figure of example.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the front appearance figure (being not drawn into part) of embodiment illustrated in fig. 1, shows A, B, C, D, E point in figure With the position of straight line K.
Fig. 4 is the front section view (section view rack and the first segment) of embodiment illustrated in fig. 1.
Fig. 5 is the three-dimensional cutaway view (section view rack and the first segment) of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 is that the grip mode in coupling the second segment of stage of gripping contact object of embodiment illustrated in fig. 1 grabs object Schematic diagram, double dot dash line represents original state.
Fig. 8 to Figure 11 is the action process figure of the straight line coupling crawl of embodiment illustrated in fig. 1, remote to close during the crawl Nodal axisn straight line parallel is mobile, while the second segment goes the long way round joint shaft with respect to the first segment coupling rotational.
Figure 12 to Figure 14 is the action process figure of embodiment illustrated in fig. 1 self-adapting grasping object, during the crawl, first Segment, which is blocked by the body, to be moved again, and the second segment continues joint shaft rotation of going the long way round under motor effect, to reach adaptive The purpose of object should be grabbed.
In Fig. 1 into Figure 14:
1- rack, the first segment of 2-, the second segment of 3-, the nearly joint shaft of 4-,
The remote joint shaft of 5-, the first driving wheel of 61-, 62 second driving wheels, 63- third driving wheel,
The 4th driving wheel of 64-, the 5th driving wheel of 65-, the 6th driving wheel of 66-, 7- spring part,
The first driving member of 71-, the second driving member of 72-, 73- third driving member, the first guide rod of 81-,
The second guide rod of 82-, 83- pilot sleeve, 91- first connecting rod, 92- second connecting rod,
93- third connecting rod, 101 first axles, the second axis of 102-, 103- third axis,
200- driver, 201- transmission mechanism, 300- object.
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 for the supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus that the present invention designs, As shown in Figures 1 to 6, including rack 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5,200 and of driver Transmission mechanism 201;The driver 200 and rack 1 are affixed, the input of the output end and transmission mechanism 201 of the driver 200 End is connected;The nearly joint shaft 4 is set in one end of the first segment 2, and the remote joint shaft 5 is set in the another of the first segment 2 End, second segment 3 are socketed on remote joint shaft 5, and the center line of the nearly joint shaft 4 and the center line of remote joint shaft 5 are flat Row;The supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus further includes the transmission of the first driving wheel 61, second Wheel 62, third driving wheel 63, the 4th driving wheel 64, the 5th driving wheel 65, the 6th driving wheel 66, spring part 7, the first driving member 71, Second driving member 72, third driving member 73, the first guide rod 81, the second guide rod 82, pilot sleeve 83, first connecting rod 91, second connect Bar 92, third connecting rod 93, first axle 101, the second axis 102 and third axis 103;The output end and third of the transmission mechanism 201 Axis 103 is connected;6th driving wheel 66 is fixed on third axis 103;The both ends of the spring part 7 are separately connected the 6th driving wheel 66 and third connecting rod 93;One end of the third connecting rod 93 is socketed on the second axis 102, the other end movable sleeve of third connecting rod 93 It connects on third axis 103;One end of the second connecting rod 92 is socketed on nearly joint shaft 4, the other end socket of second connecting rod 92 On the second axis 102;One end of the first connecting rod 91 is socketed on nearly joint shaft 4, and the other end of first connecting rod 91 is socketed in In first axle 101;The first axle 101 is set in rack 1;The third axis 103 is set in rack 1;The first axle 101 center line, the center line of the second axis 102, the center line of the center line of third axis 103 and nearly joint shaft 4 are mutually flat Row;One end of first guide rod 81 is socketed on remote joint shaft 5, and the other end sliding of the first guide rod 81 is embedded in pilot sleeve In 83;One end of second guide rod 82 is socketed on the second axis 102, and the other end sliding of the second guide rod 82 is embedded in guide sleeve In cylinder 83;The middle part of the pilot sleeve 83 is actively socketed in first axle 101;If the central point of third axis 103 be A, second The central point of axis 102 is B, and the central point of nearly joint shaft 4 is C, and the central point of remote joint shaft 5 is D, the central point of first axle 101 Position for E, each point is as shown in Figure 3;The length three of the length line segment of line segment AB, the length of AE and line segment CE is equal, line segment Both the length of BC and the length of line segment CD are equal, and 2 times of length of the length equal to line segment AB of line segment BC, point B, point D and point E Three is conllinear;First guide rod 81 is in the glide direction and cunning of second guide rod 82 in pilot sleeve 83 in pilot sleeve 83 Dynamic direction is conllinear;First driving wheel 61 is socketed on remote joint shaft 5, and the first driving wheel 61 and the second segment 3 are affixed;It is described Second driving wheel 62 is socketed on nearly joint shaft 4;First driving member 71 is separately connected the first driving wheel 61, the second driving wheel 62, first driving member 71, the first driving wheel 61,62 three of the second driving wheel constitute drive connection;The third driving wheel 63 are socketed on nearly joint shaft 4, and third driving wheel 63 and the second driving wheel 62 are affixed;4th driving wheel 64 is socketed in first On axis 101;Second driving member 72 is separately connected third driving wheel 63, the 4th driving wheel 64, second driving member 72, Three driving wheels 63,64 three of the 4th driving wheel constitute drive connection;5th driving wheel 65 is socketed in first axle 101, the Five driving wheels 65 and the 4th driving wheel 64 are affixed;The third driving member 73 is separately connected the 5th driving wheel 65, the 6th driving wheel 66, the third driving member 73, the 5th driving wheel 65,66 three of the 6th driving wheel constitute drive connection;Pass through the first driving member 71, the second driving wheel 62, third driving wheel 63, the second driving member 72, the 4th driving wheel 64, the 5th driving wheel 65, third transmission The transmission of part 73 constitutes co-rotating transmission relationship from the first driving wheel 61 to the 6th driving wheel 66.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention, it is characterised in that: First driving member 71 is using gear, connecting rod, transmission belt, chain or rope;Second driving member 72 using gear, connecting rod, Transmission belt, chain or rope;The third driving member 73 is using gear, connecting rod, transmission belt, chain or rope.It is described in the present embodiment First driving member 71 uses transmission belt, and second driving member 72 uses transmission belt, and the third driving member 73 uses transmission belt.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention, it is characterised in that: The driver 200 is using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 200 uses motor.
In the present embodiment, the spring part uses torsional spring.
The working principle of the present embodiment, is described below in conjunction with attached drawing:
When the present embodiment is in original state, shown in the double dot dash line or Fig. 8 such as Fig. 7;Motor rotation, passes through transmission mechanism 201 (retarders and belt wheel etc.) drive third axis 103 to turn clockwise (finger clockwise is clockwise on Fig. 7 or Fig. 8, similarly hereinafter) Dynamic, the 6th driving wheel 66 is rotated clockwise relative to rack 1, drives third connecting rod 93 also opposite around third axis 103 by spring part 7 It is rotated clockwise in rack 1, due to second connecting rod 92, first connecting rod 91, the first segment 2, pilot sleeve 83,81 and of the first guide rod The multi-connecting-rod mechanism that second guide rod 82 is constituted can make remote joint shaft 5 (point D, as shown in Figure 3) along straight line K (as shown in Figure 3) Mobile, straight line K is perpendicular to line segment AE;In this stage, since the 6th driving wheel 66 and third connecting rod 93 are under the effect of spring part 7 It rotates clockwise simultaneously, rotational angle is identical, so not generating opposite fortune between the 6th driving wheel 66 and third connecting rod 93 It is dynamic, however, third connecting rod 93 and second connecting rod 92 during exercise can there is a phenomenon where angles to reduce, the behavior of this angle reduction The 5th driving wheel 65 (and the 4th affixed driving wheel 64) can be brought to produce one clockwise turn relative to second connecting rod 92 Angle then passes through the second driving member 72 and drives third driving wheel 63 (and second affixed driving wheel 62) opposite around the second axis 102 It is rotated clockwise in the generation of second connecting rod 92, up time of second driving wheel 62 around nearly joint shaft 4 relative to the first segment 2 can be generated Needle rotation, by the first driving member 71 drive the first driving wheel 61 go the long way round joint shaft 5 relative to the first segment 2 clockwise turn It is dynamic, it then produces second segment 3 affixed with the first driving wheel 61 and goes the long way round joint shaft 5 relative to the clockwise of the first segment 2 Rotation, second segment 3 is gone the long way round the rotation of joint shaft 5, i.e. straight line while reaching in remote joint shaft 5 along straight line close to object 300 Coupling rotational effect.
During this, when the second segment 3 contacts object 300, then crawl terminates, this crawl process is as shown in fig. 7, this grab Taking is grip grasp mode.
In the above process, if the second segment 3, not in contact with object 300, and the first segment 2 contacts object 300 and is hindered Gear, the first segment 2 cannot be rotated further, at this point, motor continues to rotate, by transmission mechanism 201 drive third axis 103 after It is continuous to rotate clockwise, drive the 6th driving wheel 66 to rotate clockwise, since third connecting rod 93 is no longer able to turn, then spring part 7 becomes Shape, the 6th driving wheel 66 continue to rotate, and drive the 5th driving wheel 65 and the 4th driving wheel 64 to rotate by third driving member 73, lead to It crosses the second driving member 72 and drives third driving wheel 63 and the rotation of the second driving wheel 62, the first transmission is driven by the first driving member 71 Wheel 61 and second segment 3 go the long way round joint shaft 5 rotation, until the second segment 3 contact object 300, crawl terminates.This crawl can be with Adapt to different shape and size of objects 300 --- reached self-adapting grasping effect, this process as shown in Fig. 8 to Figure 14, Middle Fig. 8 to Figure 11 be remote joint shaft along straight line to the right close to object, while the second segment coupling rotational, Figure 12 to Figure 14 are first Segment has contacted object and has been blocked from movement, and the second segment continues to go the long way round the process that joint shaft adaptively rotates.
When discharging object 300, motor reversal, with the above process on the contrary, repeating no more.
Apparatus of the present invention utilize driver, multiple connecting rods, pilot sleeve, multiple driving wheels, multiple driving members and spring part etc. The comprehensive function of realizing robot finger's coupling and self-adapting grasping;Using the multi link and pilot sleeve met certain condition Mechanism realizes remote joint shaft along linear motion, is cooperated using Multi-stage transmission wheel mechanism and realizes that the second segment is gone the long way round joint shaft Coupling rotational;It is realized after the first segment contact object is blocked using the cooperation of spring part, automatic second segment that rotates goes to contact Object.Difference of the device according to body form and position, energy the second segment of linear translation, while the second segment is relative to first Segment rotates de-clamping object, moreover it is possible to which after the first segment contacts object, automatic second segment that rotates removes contact object, reaches The purpose of adaptive envelope different shapes and sizes object;Crawl range is big, and grasping stability is reliable;It is driven using a driver Two segments;The apparatus structure is simple, and processing, assembly are low with maintenance cost, is suitable for robot.

Claims (4)

1. a kind of supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus, including rack, the first segment, second Segment, nearly joint shaft, remote joint shaft, driver and transmission mechanism;The driver and rack are affixed, the output of the driver End is connected with the input terminal of transmission mechanism;The nearly joint shaft is set in one end of the first segment, and the remote joint shaft is set in The other end of first segment, second segment are socketed on remote joint shaft, the center line and remote joint shaft of the nearly joint shaft Centerline parallel;It is characterized by: the supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus further includes First driving wheel, the second driving wheel, third driving wheel, the 4th driving wheel, the 5th driving wheel, the 6th driving wheel, spring part, first pass Moving part, the second driving member, third driving member, the first guide rod, the second guide rod, pilot sleeve, first connecting rod, second connecting rod, third Connecting rod, first axle, the second axis and third axis;The output end of the transmission mechanism is connected with third axis;6th driving wheel tube Gu on third axis;The both ends of the spring part are separately connected the 6th driving wheel and third connecting rod;One end cap of the third connecting rod It connects on the second axis, the other end of third connecting rod is actively socketed on third axis;One end of the second connecting rod is socketed in nearly pass On nodal axisn, the other end of second connecting rod is socketed on the second axis;One end of the first connecting rod is socketed on nearly joint shaft, and first The other end of connecting rod is socketed in first axle;The first axle is set in rack;The third axle sleeve is located in rack;It is described The center line of first axle, the center line of the second axis, the center line of third axis and nearly joint shaft center line be parallel to each other;Institute The one end for stating the first guide rod is socketed on remote joint shaft, and the other end sliding of the first guide rod is embedded in pilot sleeve;Described One end of two guide rods is socketed on the second axis, and the other end sliding of the second guide rod is embedded in pilot sleeve;The pilot sleeve Middle part be actively socketed in first axle;If the central point of third axis is A, the central point of the second axis is B, the center of nearly joint shaft Point is C, and the central point of remote joint shaft is D, and the central point of first axle is E, the length line segment of line segment AB, the length of AE and line segment CE Length three it is equal, both length of the length of line segment BC and line segment CD is equal, and the length of line segment BC is equal to the length of line segment AB 2 times of degree, point B, point D are conllinear with point E three;Glide direction of first guide rod in pilot sleeve is being led with the second guide rod Glide direction into sleeve is conllinear;First driving wheel is socketed on remote joint shaft, and the first driving wheel and the second segment are solid It connects;Second driving wheel is socketed on nearly joint shaft;First driving member is separately connected the first driving wheel, the second transmission Wheel, first driving member, the first driving wheel, the second driving wheel three constitute drive connection;The third driving wheel is socketed in On nearly joint shaft, third driving wheel and the second driving wheel are affixed;4th driving wheel is socketed in first axle;Described second passes Moving part is separately connected third driving wheel, the 4th driving wheel, second driving member, third driving wheel, the 4th driving wheel three's structure At drive connection;5th driving wheel is socketed in first axle, and the 5th driving wheel and the 4th driving wheel are affixed;The third passes Moving part is separately connected the 5th driving wheel, the 6th driving wheel, the third driving member, the 5th driving wheel, the 6th driving wheel three's structure At drive connection;It is passed by the first driving member, the second driving wheel, third driving wheel, the second driving member, the 4th driving wheel, the 5th The transmission of driving wheel, third driving member takes turns to the 6th driving wheel from the first transmission and constitutes co-rotating transmission relationship.
2. supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus as described in claim 1, feature exist In: first driving member uses gear, connecting rod, transmission belt, chain or rope;Second driving member uses gear, connecting rod, biography Dynamic band, chain or rope;The third driving member uses gear, connecting rod, transmission belt, chain or rope.
3. supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus as described in claim 1, feature exist In: the driver uses motor, cylinder or hydraulic cylinder.
4. supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus as described in claim 1, feature exist In: the spring part uses torsional spring.
CN201610791515.7A 2016-08-31 2016-08-31 Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus Active CN106363651B (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
CN108189057B (en) * 2017-11-29 2020-02-11 清华大学 Fluid acceleration tail end telescopic linear parallel clamping self-adaptive robot finger device

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