CN106426240B - Idle running kinematic link coupling adaptive robot finger apparatus - Google Patents
Idle running kinematic link coupling adaptive robot finger apparatus Download PDFInfo
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- CN106426240B CN106426240B CN201610538461.3A CN201610538461A CN106426240B CN 106426240 B CN106426240 B CN 106426240B CN 201610538461 A CN201610538461 A CN 201610538461A CN 106426240 B CN106426240 B CN 106426240B
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- convex block
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- thumb wheel
- driver plate
- joint shaft
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 46
- 230000008878 coupling Effects 0.000 title claims abstract description 43
- 238000010168 coupling process Methods 0.000 title claims abstract description 43
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 78
- 210000003813 thumb Anatomy 0.000 claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 210000003811 finger Anatomy 0.000 claims abstract description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 32
- 230000007704 transition Effects 0.000 claims abstract description 30
- 230000000694 effects Effects 0.000 claims abstract description 11
- 150000001875 compounds Chemical class 0.000 abstract description 11
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000035945 sensitivity 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Idle running kinematic link coupling adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, two joint shafts, driver, multiple connecting rods, transition transmission mechanism, intermediate transmission mechanism, active thumb wheel, driven thumb wheel, convex block driver plate, two spring parts and spacing block set etc..The arrangement achieves couplings and adaptive compound grasp mode, the device can link two joints end grip object, it is high to act personification degree, also it can first rotate after the first segment touches object and be rotated further by the second segment envelope gripping object, it is big to grab strength, reaches the self-adapting grasping effect to different shape size objects；Grasping stability is reliable；Two joints are driven merely with a driver, without complicated sensing and real-time control system；Structure is simple, small in size, light-weight simultaneously, and processing, assembly are low with maintenance cost, is suitable for robot.
Description
Technical field
The invention belongs to robot technical field, in particular to a kind of idle running kinematic link coupling adaptive robot
Refer to the structure design of device.
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 is：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, it is adaptive to provide a kind of idle running kinematic link coupling
Answer robot finger apparatus.The device can be realized coupling and adaptive compound grasp mode, and can link two joints end
Grip object is held, also can first rotate after the first segment touches object and be rotated further by the second segment envelope gripping object, reach to difference
The adaptive grip effect of geomery object；Without complicated sensing and control system.
Technical scheme is as follows：
The idle running kinematic link coupling adaptive robot finger apparatus that the present invention designs, including pedestal, the first segment,
Two segments, nearly joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The center line of the nearly joint shaft with
The centerline parallel of remote joint shaft；It is characterized in that：The idle running kinematic link coupling adaptive robot finger apparatus further includes
Transition transmission mechanism, active thumb wheel, the first spring part, the first swing rod, the second swing rod, connecting rod, first axle, the second axis, driven thumb wheel,
Intermediate transmission mechanism, convex block driver plate, spacing block set and the second spring part；The nearly joint shaft is movably set in pedestal；It is described remote
Joint shaft is movably set in the first segment；First segment is actively socketed on nearly joint shaft；The second segment socket
On remote joint shaft；The transition transmission mechanism is arranged in pedestal；The output shaft of the driver and transition transmission mechanism
Input terminal is connected, and the output end of the transition transmission mechanism is connected with active thumb wheel；The active thumb wheel includes affixed active
Convex block, the active thumb wheel are actively socketed on nearly joint shaft；First swing rod is actively socketed on nearly joint shaft；Described
Two swing rods are socketed on remote joint shaft, and the second swing rod and the second segment are affixed；The first axle is movably set on the first swing rod,
Second axis is movably set on the second swing rod, and the both ends of the connecting rod are socketed in respectively in first axle and the second axis；It is described
First swing rod, connecting rod, the second swing rod and the first segment constitute figure of eight four-bar mechanism；The driven thumb wheel movable sleeve
It connects on nearly joint shaft；The driven thumb wheel includes affixed driven convex block；The intermediate transmission mechanism is arranged in pedestal, institute
Input terminal and the driven thumb wheel for stating intermediate transmission mechanism are affixed, and the output end and convex block driver plate of intermediate transmission mechanism are affixed, described
Intermediate transmission mechanism from driven thumb wheel to be reverse drive to the transmission of convex block driver plate；The convex block driver plate is actively socketed on closely
On joint shaft, the convex block driver plate and the first swing rod are affixed；The spacing block set and pedestal are affixed；The convex block driver plate includes solid
The convex block connect；The convex block is in contact or stands away with spacing block set；The driven convex block is in contact with active convex block
Or it stands away；If the rotation direction that the first segment is close to object is nearly joint positive direction, the first segment is far from object
Rotation direction is nearly joint opposite direction；Original state is in the idle running kinematic link coupling adaptive robot finger apparatus
When, convex block is contacted with spacing block set, if the rotation angle of convex block driver plate opposite base is 0 degree, since the position, convex block at this time
Rotational angle when driver plate is rotated towards nearly joint positive direction is positive, rotational angle when convex block driver plate is rotated towards nearly joint opposite direction
It is negative；The rotational angle of the spacing block set limitation convex block driver plate can only be negative；The both ends of the second spring part are separately connected convex
Block driver plate and pedestal；It is described driven when the idle running kinematic link coupling adaptive robot finger apparatus is in original state
Convex block stands away with active convex block；In active thumb wheel slewing area, active convex block can touch driven convex block；It is described
The both ends of first spring part are separately connected active thumb wheel and the first segment.
Idle running kinematic link coupling adaptive robot finger apparatus of the present invention, it is characterised in that：The driving
Device uses motor, cylinder or hydraulic cylinder.
Idle running kinematic link coupling adaptive robot finger apparatus of the present invention, it is characterised in that：Described second
Spring part uses tension spring, pressure spring, leaf spring or torsional spring.
Idle running kinematic link coupling adaptive robot finger apparatus of the present invention, it is characterised in that：Described first
Spring part uses tension spring, pressure spring, leaf spring or torsional spring.
Compared with prior art, the present invention having the following advantages that and high-lighting effect：
Apparatus of the present invention are dialled using driver, link mechanism, intermediate transmission mechanism, two spring parts, driven thumb wheel, convex block
Disk, spacing block set and active thumb wheel etc. are comprehensive to realize coupling and adaptive compound grasp mode, which can link two
Joint end grip object, movement personification degree is high, also can first rotate after the first segment touches object and be rotated further by the second segment packet
Network holds object, and crawl strength is big, reaches the self-adapting grasping effect to different shape size objects；Due on active thumb wheel
Have one section of idle running between driven convex block on active convex block and driven thumb wheel, the first segment rotation when, the second segment can because
Figure of eight link mechanism is acted on while being rotated, and has reached coupling grasp mode；After the first segment contact object is blocked, warp
The time (the first spring part deforms at this time) of one section of very little is spent, the active convex block on active thumb wheel can just be contacted and be stirred driven
Driven convex block on thumb wheel, to drive the first swing rod to rotate backward, by the figure of eight by the transmission of intermediate transmission mechanism
The transmission of link mechanism drives the second segment further to rotate, and until the second segment contact object, has reached self-adapting grasping mould
Formula.The device grasping stability is reliable；Two joints are driven merely with a driver, without complicated sensing and real-time control system
System；Structure is simple, small in size, light-weight simultaneously, and processing, assembly are low with maintenance cost, is suitable for robot.
Detailed description of the invention
Fig. 1 is a kind of the vertical of the embodiment for the idle running kinematic link coupling adaptive robot finger apparatus that the present invention designs
Body outside drawing.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (left view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 4 is that the front view of embodiment illustrated in fig. 1 (is not drawn into pedestal foreboard, base-plates surface plate, the first segment foreboard,
One segment surface plate).
Fig. 5 is the stereo appearance figure (being not drawn into part) in embodiment illustrated in fig. 1.
Fig. 6 is A-A cross-sectional view in embodiment illustrated in fig. 2.
Fig. 7 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 8 is the explosive view of embodiment illustrated in fig. 1.
Fig. 9 to Figure 13 is embodiment illustrated in fig. 1 to couple the movement with adaptive compound grasp mode crawl object
Journey schematic diagram.
Figure 14 to Figure 16 is embodiment illustrated in fig. 1 with the action process schematic diagram of simple coupled modes grip object.
Figure 17, Figure 18 are embodiment illustrated in fig. 1 during coupling is with adaptive compound grasp mode crawl object motion
When several key positions, convex block driver plate, the second spring part and spacing block set relative position situation of change.
Figure 19 to Figure 22 is embodiment illustrated in fig. 1 during coupling is with adaptive compound grasp mode crawl object motion
When several key positions, active thumb wheel, driven thumb wheel relative position situation of change.
In Fig. 1 into Figure 22：
1- pedestal, 111- pedestal foreboard, 112- pedestal back plate, 113- pedestal left plate,
114- pedestal right side plate, 115- base-plates surface plate, 116- pedestal bottom plate, the first segment of 2-,
21- the first segment surface plate, 22- the first segment left plate, 23- the first segment right side plate, 24- first
Segment foreboard,
25- the first segment back plate, the second segment of 3-, the nearly joint shaft of 4-, the remote joint shaft of 5-,
83- bearing, 84- sleeve, 85- screw, 86- pin,
The first swing rod of 9-, 91- first axle, the second axis of 92-, the second swing rod of 10-,
11- connecting rod,
12- convex block driver plate, 121- convex block,
13- the second spring part, 14- driver (motor), 141- retarder, 142- first bevel gear,
143- second bevel gear, 144- transition gear axle, 145- transition pulley, 147- transition transmission belt,
15- active thumb wheel, 151- active convex block, 16- the first spring part, 17- object,
18- spacing block set, 19- intermediate transmission mechanism, the driven convex block of 190-, the driven thumb wheel of 191- is (among first
Gear),
The second intermediate gear of 192-, 193- intermediate propeller shaft, 194- the first intermediate transmission wheel, the centre 195- pass
Moving part,
196- the second intermediate transmission wheel.
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 idle running kinematic link coupling adaptive robot finger apparatus that the present invention designs, extremely such as Fig. 1
Shown in Fig. 8, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14；The driving
Device 14 and pedestal 1 are affixed；The centerline parallel of the center line of the nearly joint shaft 4 and remote joint shaft 5.The present embodiment further included
Cross transmission mechanism, active thumb wheel 15, the first spring part 16, the first swing rod 9, the second swing rod 10, connecting rod 11, first axle 91, the second axis
92, driven thumb wheel 191, intermediate transmission mechanism, convex block driver plate 12, spacing block set 18 and the second spring part 13；The nearly joint shaft 4 is living
It is dynamic to be set in pedestal 1；The remote joint shaft 5 is movably set in the first segment 2；First segment 2 is actively socketed on closely
On joint shaft 4；Second segment 3 is socketed on remote joint shaft 5；The transition transmission mechanism is arranged in pedestal 1；The drive
The output shaft of dynamic device 14 is connected with the input terminal of transition transmission mechanism；The output end and active thumb wheel 15 of the transition transmission mechanism
It is connected；The active thumb wheel 15 includes affixed active convex block 151, and the active thumb wheel is actively socketed on nearly joint shaft 4.
In the present embodiment, first swing rod is actively socketed on nearly joint shaft；Second swing rod is socketed in remote joint
On axis, the second swing rod and the second segment are affixed；The first axle 91 is movably set on the first swing rod 9, and second axis 92 is living
Dynamic to be set on the second swing rod 10, the both ends of the connecting rod 11 are socketed in respectively in first axle 91 and the second axis 92；Described first
Swing rod 9, connecting rod 11, the second swing rod 10 and the first segment 2 four constitute figure of eight four-bar mechanism；The driven thumb wheel 191 is living
It is dynamic to be socketed on nearly joint shaft 4；The driven thumb wheel 191 includes affixed driven convex block 190；The intermediate transmission mechanism 19 is set
It sets in pedestal 1, the input terminal of the intermediate transmission mechanism 19 and driven thumb wheel 191 are affixed, the output end of intermediate transmission mechanism
Affixed with convex block driver plate 12, the intermediate transmission mechanism 19 from driven thumb wheel 191 to the transmission of convex block driver plate 12 to be reversed
Transmission.
In the present embodiment, the convex block driver plate 12 is actively socketed on nearly joint shaft 4, the convex block driver plate 12 and the first pendulum
Bar 9 is affixed；The spacing block set 18 and pedestal 1 are affixed；The convex block driver plate 12 includes affixed convex block 121；The convex block 121
It is in contact or stands away with spacing block set 18.The driven convex block 190 is in contact or leaves one section with active convex block 151
Distance；If the rotation direction that the first segment 2 is close to object 17 is nearly joint positive direction, the first rotation of the segment 2 far from object 17
Direction is nearly joint opposite direction；It is convex when the idle running kinematic link coupling adaptive robot finger apparatus is in original state
Block 121 is contacted with spacing block set 18, if the rotation angle of 12 opposite base 1 of convex block driver plate is 0 degree at this time, since the position,
Rotational angle when convex block driver plate 12 is rotated towards nearly joint positive direction is positive, when convex block driver plate 12 is rotated towards nearly joint opposite direction
Rotational angle is negative；The rotational angle that the spacing block set 18 limits convex block driver plate 12 can only be negative, i.e., convex block driver plate 12 can only
Along arrow instruction direction rotation as shown in figure 17.The both ends of the second spring part 13 are separately connected convex block driver plate 12 and pedestal
1, the second spring part 13 makes convex block driver plate 12 be close to spacing block set 18；It is filled in idle running kinematic link coupling adaptive robot finger
When setting in original state, the driven convex block 190 stands away with active convex block 151, as shown in Figure 7；It is dialled in active
It takes turns in 15 slewing areas, active convex block 151 can touch driven convex block 190, as shown in Figure 19 to Figure 22；The first spring part 16
Both ends be separately connected active thumb wheel 15 and the first segment 2, as shown in Figure 4.
Idle running kinematic link coupling adaptive robot finger apparatus of the present invention, it is characterised in that：The driving
Device 14 is using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 14 uses motor.
Idle running kinematic link coupling adaptive robot finger apparatus of the present invention, it is characterised in that：Described second
Spring part uses tension spring, pressure spring, leaf spring or torsional spring.In the present embodiment, the second spring part 13 uses tension spring.
Idle running kinematic link coupling adaptive robot finger apparatus of the present invention, it is characterised in that：Described first
Spring part uses tension spring, pressure spring, leaf spring or torsional spring.In the present embodiment, the first spring part 16 uses torsional spring.
In the present embodiment, first swing rod is equal with the drive diameter of the second swing rod, and the two joint being achieved in that is being opened
The coupling rotational stage angle of rotation of beginning is equal.
In the present embodiment, the pedestal 1 includes the pedestal foreboard 111 being fixed together, pedestal back plate 112, pedestal left side
Plate 113, pedestal right side plate 114, base-plates surface plate 115 and pedestal bottom plate 116.In the present embodiment, first segment 2 includes solid
The first segment surface plate 21 for being connected together, the first segment left plate 22, the first segment right side plate 23,24 and of the first segment foreboard
First segment back plate 25.
In the present embodiment, the intermediate transmission mechanism 19 uses concatenated gear drive and belt wheel transmission mechanism,
Middle gear transmission mechanism realizes reverse drive, and belt wheel transmission mechanism is co-rotating transmission, the intermediate transmission mechanism nearly joint
Rotating forward for driven thumb wheel 191 on axis becomes rotating backward for convex block driver plate 12.Concrete composition and connection relationship are as follows：Institute
Stating intermediate transmission mechanism 19 includes the first intermediate gear 191, the second intermediate gear 192, the 193, first centre of intermediate propeller shaft biography
Driving wheel 194, the second intermediate transmission wheel 196 and mediation member 195；The intermediate propeller shaft 193 is set in pedestal, it is described in
Between transmission shaft 193 center line and nearly joint shaft centerline parallel；First intermediate gear (i.e. driven thumb wheel) 191 is socketed
On nearly joint shaft 4；Second intermediate gear 192 is engaged with the first intermediate gear 191,192 sets of second intermediate gear
It connects on intermediate propeller shaft 193；The first intermediate transmission wheel 194 is socketed on intermediate propeller shaft 193, the first intermediate transmission wheel
194 is affixed with the second intermediate gear 192；The second intermediate transmission wheel 196 is socketed on nearly joint shaft 4, the intermediate transmission
Part 195 connects the first intermediate transmission wheel 194 and the second intermediate transmission wheel 196.The mediation member 195, the first intermediate transmission
Belt wheel transmission mechanism, chain wheel driving mechanism or rope sheave transmission mechanism are constituted between wheel 194 and 196 three of the second intermediate transmission wheel,
In the present embodiment, using belt wheel transmission mechanism.The intermediate transmission mechanism can also be reached using other kinds of drive from from
Purpose of the dynamic thumb wheel to convex block driver plate reverse drive.
In the present embodiment, the transition transmission mechanism include retarder 141, first bevel gear 142, second bevel gear 143,
Transition gear axle 144, transition pulley 145 and transition transmission belt 147；The input of the output shaft and retarder 141 of the motor 14
Axis is connected, and the first bevel gear 142 is fixed on the output shaft of retarder 141, and the second bevel gear 143 is fixed in transition
On gear shaft 144, the first bevel gear 142 is engaged with second bevel gear 143；The transition gear axle 144 is set in pedestal 1
In, the transition pulley 145 is fixed in transition gear axle 144, and the transition transmission belt 147 connects transition pulley 145 and master
Dynamic thumb wheel 15, the transition transmission belt 147, transition pulley 145 and active thumb wheel 15 form belt wheel transmission relationship.
If the present embodiment further includes dry bearing 83, several sleeves 84, several screws 85 and several pins 86 etc..
The working principle of the present embodiment, is described below in conjunction with attached drawing：
When the present embodiment is in original state, as shown in Fig. 1, Fig. 5, Fig. 6 and Fig. 7.
Motor 14 rotates, and drives first bevel gear 142 by speed reducer 141, drives second bevel gear 143, drives transition
Gear shaft 144 drives transition pulley 145, drives active thumb wheel 15 to rotate by transition transmission belt 147, passes through the first spring part 16
It pulls the first segment 2 to rotate around nearly joint shaft 4, realizes nearly articulation.
At this point, active convex block 151 contacts driven convex block 190 not yet, the second spring part 13, which hauls convex block driver plate 12, keeps it tight
It leans against on spacing block set 18, since convex block driver plate 12 and the first swing rod 9 are affixed, so the first swing rod 9 keeps initial attitude constant；
At this point, second segment 3 will rotate one relative to the first segment 2 under the action of the first swing rod 9, the second swing rod 10, connecting rod 11
Angle reaches coupling rotational effect.
Next, having achieved the effect that couple grip, crawl terminates if the second segment 3 contacts object.If second
Segment 3 also not in contact with arriving object, if at this point, the first segment 2 contact object is blocked from and is further continued for rotating, the first spring part
16 deform, and the power of motor will drive active thumb wheel 15 to continue to rotate, and are rotated by the idle running of a period of time, active thumb wheel
On active convex block 151 will touch the driven convex block 190 on driven thumb wheel 191, so that driven thumb wheel 191 be driven to rotate,
By intermediate transmission mechanism, convex block driver plate 12 can be made to rotate backward and leave spacing block set 18, the first swing rod 9 is driven reversely to turn
It is dynamic, by the transmission of connecting rod 11, so that the second swing rod 10 is continued to rotate with 3 forward direction of the second segment, it is finally reached the second segment 3 and connects
Object is touched, crawl terminates.
Release process is with the above process just on the contrary, not repeating.
For the object of different shapes and sizes, the present embodiment has adaptivity, can grab a variety of objects.
Fig. 6 be couple stage of gripping embodiment cross-sectional view (the A-A cross-sectional view of Fig. 2), which show convex block driver plate 12,
The case where spacing block set 18 and the second spring part 13.At this time the present embodiment be in initial position or be bent simultaneously the first segment,
Second segment, the second spring part 13 make convex block driver plate 12 be in contact with spacing block set 18, and such case is continued until adaptive packet
Network crawl starts.
Figure 17, Figure 18 are the opposite positions of the convex block driver plate 12 in self-adapting grasping stage, spacing block set 18 and the second spring part 13
Set situation of change.First segment 2 of the present embodiment has touched object 17 and has been blocked from movement at this time, in driver 14
Driving effect under, the second segment 3 joint shaft more than 5 of having gone the long way round rotates an angle, convex block driver plate 12 had left it is original always
The spacing block set 18 of contact.
Figure 19, Figure 20 are the situations for coupling stage of gripping active convex block and driven convex block.Figure 21, Figure 22 are adaptive
The situation of stage of gripping active convex block and driven convex block.
Apparatus of the present invention are dialled using driver, link mechanism, intermediate transmission mechanism, two spring parts, driven thumb wheel, convex block
Disk, spacing block set and active thumb wheel etc. are comprehensive to realize coupling and adaptive compound grasp mode, which can link two
Joint end grip object, movement personification degree is high, also can first rotate after the first segment touches object and be rotated further by the second segment packet
Network holds object, and crawl strength is big, reaches the self-adapting grasping effect to different shape size objects；Due on active thumb wheel
Have one section of idle running between driven convex block on active convex block and driven thumb wheel, the first segment rotation when, the second segment can because
Figure of eight link mechanism is acted on while being rotated, and has reached coupling grasp mode；After the first segment contact object is blocked, warp
The time (the first spring part deforms at this time) of one section of very little is spent, the active convex block on active thumb wheel can just be contacted and be stirred driven
Driven convex block on thumb wheel, to drive the first swing rod to rotate backward, by the figure of eight by the transmission of intermediate transmission mechanism
The transmission of link mechanism drives the second segment further to rotate, and until the second segment contact object, has reached self-adapting grasping mould
Formula.The device grasping stability is reliable；Two joints are driven merely with a driver, without complicated sensing and real-time control system
System；Structure is simple, small in size, light-weight simultaneously, and processing, assembly are low with maintenance cost, is suitable for robot.
Claims (4)
1. a kind of idle running kinematic link coupling adaptive robot finger apparatus, including it is pedestal, the first segment, the second segment, close
Joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The center line of the nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that：The idle running kinematic link coupling adaptive robot finger apparatus further includes transition driver
Structure, active thumb wheel, the first spring part, the first swing rod, the second swing rod, connecting rod, first axle, the second axis, driven thumb wheel, intermediate transmission machine
Structure, convex block driver plate, spacing block set and the second spring part；The nearly joint shaft is movably set in pedestal；The remote joint shaft activity
It is set in the first segment；First segment is actively socketed on nearly joint shaft；Second segment is socketed in remote joint shaft
On；The transition transmission mechanism is arranged in pedestal；The output shaft of the driver is connected with the input terminal of transition transmission mechanism,
The output end of the transition transmission mechanism is connected with active thumb wheel；The active thumb wheel includes affixed active convex block, the master
Dynamic thumb wheel is actively socketed on nearly joint shaft；First swing rod is actively socketed on nearly joint shaft；The second swing rod socket
On remote joint shaft, the second swing rod and the second segment are affixed；The first axle is movably set on the first swing rod, second axis
It is movably set on the second swing rod, the both ends of the connecting rod are socketed in respectively in first axle and the second axis；First swing rod connects
Bar, the second swing rod and the first segment constitute figure of eight four-bar mechanism；The driven thumb wheel is actively socketed on nearly joint shaft
On；The driven thumb wheel includes affixed driven convex block；The intermediate transmission mechanism is arranged in pedestal, the intermediate transmission machine
The input terminal of structure and driven thumb wheel are affixed, and the output end and convex block driver plate of intermediate transmission mechanism are affixed, the intermediate transmission mechanism
So that being reverse drive from driven thumb wheel to the transmission of convex block driver plate；The convex block driver plate is actively socketed on nearly joint shaft, institute
It states convex block driver plate and the first swing rod is affixed；The spacing block set and pedestal are affixed；The convex block driver plate includes affixed convex block；Institute
The convex block on convex block driver plate is stated to be in contact or stand away with spacing block set；The driven convex block is in contact with active convex block
Or it stands away；If the rotation direction that the first segment is close to object is nearly joint positive direction, the first segment is far from object
Rotation direction is nearly joint opposite direction；Original state is in the idle running kinematic link coupling adaptive robot finger apparatus
When, the convex block on the convex block driver plate is contacted with spacing block set, if the rotation angle of convex block driver plate opposite base is 0 degree at this time,
Since the position, rotational angle when convex block driver plate is rotated towards nearly joint positive direction is positive, and convex block driver plate is towards nearly joint negative side
It is negative to rotational angle when rotation；The rotational angle of the spacing block set limitation convex block driver plate can only be negative；Second spring
The both ends of part are separately connected convex block driver plate and pedestal；It is in just in the idle running kinematic link coupling adaptive robot finger apparatus
When beginning state, the driven convex block stands away with active convex block；In active thumb wheel slewing area, active convex block can be connect
Contact driven convex block；The both ends of the first spring part are separately connected active thumb wheel and the first segment.
2. idle running kinematic link coupling adaptive robot finger apparatus as described in claim 1, it is characterised in that：The drive
Dynamic device uses motor, cylinder or hydraulic cylinder.
3. idle running kinematic link coupling adaptive robot finger apparatus as described in claim 1, it is characterised in that：Described
Two spring parts use tension spring, pressure spring, leaf spring or torsional spring.
4. idle running kinematic link coupling adaptive robot finger apparatus as described in claim 1, it is characterised in that：Described
One spring part uses tension spring, pressure spring, leaf spring or torsional spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610538461.3A CN106426240B (en) | 2016-07-08 | 2016-07-08 | Idle running kinematic link coupling adaptive robot finger apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610538461.3A CN106426240B (en) | 2016-07-08 | 2016-07-08 | Idle running kinematic link coupling adaptive robot finger apparatus |
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| CN106426240A CN106426240A (en) | 2017-02-22 |
| CN106426240B true CN106426240B (en) | 2018-11-23 |
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| CN201610538461.3A Expired - Fee Related CN106426240B (en) | 2016-07-08 | 2016-07-08 | Idle running kinematic link coupling adaptive robot finger apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107030719B (en) * | 2017-04-06 | 2023-07-14 | 清华大学 | Multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device |
| CN107009375B (en) * | 2017-04-19 | 2023-07-14 | 清华大学 | Composite self-adaptive robot finger device with multiple grabbing force modes |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583840A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot finger device with function of parallel clamping realized by gear transmission and flexible member transmission |
| CN105583832A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Closed loop gear drive parallel-clamping and self-adapting robot finger device with flexible part |
| CN105583830A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot finger device capable of achieving parallel clamping through connecting rods and gears |
| CN105583833A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004223688A (en) * | 2003-01-27 | 2004-08-12 | Seiko Epson Corp | Articulated manipulator device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583840A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot finger device with function of parallel clamping realized by gear transmission and flexible member transmission |
| CN105583832A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Closed loop gear drive parallel-clamping and self-adapting robot finger device with flexible part |
| CN105583830A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot finger device capable of achieving parallel clamping through connecting rods and gears |
| CN105583833A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel connection type parallel-clamping and self-adapting robot finger device with flexible part and connection rods |
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| CN106426240A (en) | 2017-02-22 |
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