CN106564063A - Motor-centering rack-parallel flat clamping indirect self-adaptive robot finger device - Google Patents
Motor-centering rack-parallel flat clamping indirect self-adaptive robot finger device Download PDFInfo
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- CN106564063A CN106564063A CN201610890799.5A CN201610890799A CN106564063A CN 106564063 A CN106564063 A CN 106564063A CN 201610890799 A CN201610890799 A CN 201610890799A CN 106564063 A CN106564063 A CN 106564063A
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- gear
- drive
- segment
- joint shaft
- motor
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A motor-centering rack-parallel flat clamping indirect self-adaptive robot finger device belongs to the technical field of robot hands and includes a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, a plurality of gears, belt wheels and a spring member. The robot finger device can achieve flat clamping and indirect self-adaptive complex grabbing mode of a dual-joint robot finger; and a single motor drives the second finger section to perform parallel clamping, or when the first finger section contacts an article, the grabbing mode is automatically switched into a self-adaptive grabbing mode for allowing the second finger section to continuously rotate; The robot finger device can be used for grabbing articles with different shapes and different sizes, is large in grabbing force, is stable in grabbing, is easy to control, is accurate in driving, is low in cost, and is high in efficiency. The motor, a speed reducer, and a driving mechanism of the robot finger device are completely embedded in the first finger section, and do not occupy palm space of the robot hand. The robot finger device can be applied to robot hands.
Description
Technical field
The invention belongs to robot technical field, puts tooth bar flat folder indirect self-adaptive in parallel in more particularly to a kind of motor
The structure design of robot finger apparatus.
Background technology
In the industrial production, robot has become indispensable core force.With industrial expansion, for machine
The needing of device staff is gradually increased, and robot needs to possess the ability for adapting to environment, and performs some increasingly complex tasks,
The simple end effector of only folding function can not meet demand.The appearance of under-actuated robot hand has been just met for this
One class important need.Under-actuated robot hand can realize preferable self-adapting grasping, can adapt to automatically different size, shape
Object, and grasping stability and control it is simple and convenient, with low cost, with good using effect, this also becomes closely
The focus studied over year.But traditional drive lacking handss typically only have a kind of grasp mode of rigid fixation, lack flat gripper and take
Pattern, causes its underaction.Two kind grasp modes compound is needed in reality usually.
General crawl object is using clamping or grips two big class grasp modes.Clamping grasp mode is used uses end
Finger tip grips object, contacts object with or two faces at 2 points, and such crawl is more accurate, also referred to as accurate to capture, and compares
Good effect is that parallel clamping grasp mode, i.e. end segment remain parallel during crawl；Gripping grasp mode is
The Multi-contact of circulating type is carried out with the multiple segments of finger to object, this gripping crawl is more stable, and crawl strength is bigger,
Also referred to as strength crawl.
Industrial clamper is typically using the method for clamping that end is parallel, it is difficult to envelope holding function, it is impossible to adapt to many
Plant the stable envelope crawl of shape；Self adaptation drive lacking handss can be gripped by the way of envelope, but are difficult to reality with self adaptation object
The crawl effect of existing parallel clamping.
A kind of existing under-actuated robot finger device (Chinese invention patent CN1215926C), including first knuckle,
Unactuated joint and second knuckle etc..The arrangement achieves the indirect self-adaptive pattern in the adaptive Grasp Modes of finger.Its
Deficiency is to realize parallel clamping grasp mode.A kind of existing under-actuated two-articulated robot finger device (middle promulgated by the State Council
Bright patent CN101234489A), including pedestal, motor, middle part segment, end segment and parallel gear type driving mechanism etc..Should
Device realizes doublejointed self-adapting grasping effect.The weak point of the device is：Finger is presented before object is not touched all the time
Straight configuration, Grasp Modes only have holding mode, it is impossible to realize parallel clamping crawl effect.
A kind of existing under-actuated finger device (Chinese invention patent CN105798945A), including pedestal, the first segment,
Second segment, nearly joint shaft, remote joint shaft, driver, the first drive, the second drive, flexible drive parts, projection driver plate,
Thumb wheel, drive mechanism, the first spring part, the second spring part and spacing block set.The device is combined parallel clamping one with self adaptation
Rise, but which is disadvantageous in that the device is placed on motor in finger bottom, occupies big quantity space, cause pedestal larger etc.
Problem, is not easy to be equipped in palm.
The content of the invention
The purpose of the present invention is the weak point for prior art, there is provided tooth bar flat folder in parallel is put in a kind of motor indirect
Adaptive robot finger apparatus, the device are capable of achieving parallel clamping with the compound grasp mode of indirect self-adaptive, and single motor drives
Two joints are moved, the device can both realize parallel clamping grasp mode, there can be self adaptation envelope crawl object again
Function, can adapt to the crawl of different shape size objects, and motor and drive mechanism are completely embedded in the middle part of finger, are not take up handss
Palm space.
Technical scheme is as follows：
Tooth bar flat folder indirect self-adaptive robot finger apparatus in parallel, including base are put in a kind of motor of present invention design
Seat, motor, decelerator, the first segment, the second segment, nearly joint shaft and remote joint shaft；The nearly joint shaft is set in pedestal；
First segment is actively socketed on nearly joint shaft, and the remote joint shaft is movably set in the first segment；Described second refers to
Section is actively socketed on remote joint shaft；The nearly joint shaft is parallel with remote joint shaft；The output shaft of the motor and decelerator
Input shaft is connected；It is characterized in that：Tooth bar flat folder indirect self-adaptive robot finger apparatus in parallel are put in the motor also to be included sliding
Dynamic shell, transition axis, driving gear, first gear, second gear, the first drive, the second drive, flexible drive parts,
Three gears, tooth bar and spring part；The motor is affixed with the first segment, and the driving gear is fixed on reducer output shaft；Institute
State transition axis to be set in the first segment, the transition axis is parallel to each other with nearly joint shaft；The driving gear and first gear
Engagement, first gear are socketed on transition axis；The second gear is engaged with first gear；Second gear is socketed in nearly joint shaft
On, the second gear is affixed with pedestal；First drive is fixed on the output shaft of decelerator；First drive
It is affixed with driving gear；Second driving wheel tube is connected on remote joint shaft；The flexible drive parts connect the first transmission respectively
Wheel, the second drive, first drive adopt belt wheel, sprocket wheel or rope sheave, second drive using belt wheel, sprocket wheel or
Rope sheave, the flexible drive parts adopt transmission belt, chain or tendon rope, first drive, the second drive and Flexible Transmission
Part three constitutes belt wheel transmission relation, chain gear transmission relation or rope sheave drive connection, and the flexible drive parts are in " O " shape；It is described
The two ends of spring part connect the second drive and the second segment respectively；3rd gear is socketed on remote joint shaft, the 3rd gear
It is affixed with the second segment；The slide is provided with affixed slide bumping, and the slide bumping slides and is embedded in the first segment
Sliding groove in；The tooth bar is affixed with slide, and tooth bar is engaged with the 3rd gear；By the transmission of first gear, from master
Moving gear to second gear gear ratio be i；By the transmission of flexible drive parts, the biography of the second drive is taken turns to from the first transmission
Dynamic ratio is j, i=j.
Tooth bar flat folder indirect self-adaptive robot finger apparatus in parallel are put in motor of the present invention, it is characterised in that：
The spring part adopts torsion spring.
The present invention compared with prior art, with advantages below and salience effect：
The device comprehensively realizes doublejointed machine using motor, five wheel drive mechanisms and the spring part for being arranged on the first segment
The flat folder of finger and the compound grasp mode of indirect self-adaptive；The device drives two joints, the device to grab by single motor
When taking object, first using parallel gripping grasp mode, great efforts, grasping stability under this pattern, are captured；When the first segment contactant
After body, the indirect self-adaptive grasp mode that the second segment is rotated further is automatically switched to, the device can adapt to different shape chi
The crawl of very little object, simple structure, is easily controlled, is driven accurate, low cost, efficiency high, the motor and drive mechanism of the device
It is completely embedded in the first segment, is not take up susceptor space, used in is easy to be assembled to robot.
Description of the drawings
Fig. 1 be the present invention motor in put a kind of embodiment of tooth bar folder indirect self-adaptive robot finger apparatus in parallel flat
Stereo appearance figure.
Fig. 2 is the side external view of embodiment illustrated in fig. 1.
Fig. 3 is the axonometric chart (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 4 is the front view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 5 is the A-A sectional views of embodiment illustrated in fig. 4.
Fig. 6 is the B-B sectional views of embodiment illustrated in fig. 4.
Fig. 7 is the location diagram (right side view of Fig. 4) of part in embodiment illustrated in fig. 1.
Fig. 8 is the three-dimensional view of Fig. 7.
Fig. 9 to Figure 12 be embodiment illustrated in fig. 1 crawl object during when rack-and-pinion change in location figure.
Figure 13 to Figure 16 is the side external view of several key positions during embodiment illustrated in fig. 1 crawl object.
Figure 17 and two kinds of situations that Figure 18 is that embodiment illustrated in fig. 1 captures object using parallel method of clamping respectively.
In Fig. 1 to Figure 18：
1- pedestals, 20- driving gears, 21- first gears, 22- second gears,
The first drives of 23-, the second drives of 24-, 25- flexible drive parts, the 3rd gears of 26-,
The remote joint shafts of 31-, 32- reducer output shafts, 33- transition axises, the nearly joint shafts of 34-,
4- motors, 5- decelerators, 6- tooth bars, 7- spring parts,
8- slide, 81- slide bumpings, the first segments of 9-, 91- sliding grooves,
The second segments of 10-, 11- objects.
Specific embodiment
Below in conjunction with the accompanying drawings and multiple embodiments be described in further detail the present invention concrete structure, operation principle it is interior
Hold.
A kind of embodiment of tooth bar flat folder indirect self-adaptive robot finger apparatus in parallel is put in the motor of present invention design,
As shown in Figures 1 to 12, including pedestal 1, motor 4, decelerator 5, the first segment 9, the second segment 10, nearly joint shaft 34 and remote pass
Nodal axisn 31；The nearly joint shaft 34 is set in pedestal 1；First segment 9 is actively socketed on nearly joint shaft 34, described remote
Joint shaft 31 is movably set in the first segment 9；Second segment 10 is actively socketed on remote joint shaft 31；Nearly joint shaft 34
It is parallel with remote joint shaft 31；The output shaft of the motor 4 is connected with the input shaft of decelerator 5；Tooth bar is put in the motor in parallel flat
Folder indirect self-adaptive robot finger apparatus also include slide 8, transition axis 33, driving gear 20, first gear 21, second
Gear 22, the first drive 23, the second drive 24, flexible drive parts 25, the 3rd gear 26, tooth bar 6 and spring part 7；The electricity
Machine 4 is affixed with the first segment 9, and the driving gear 20 is fixed on the output shaft 32 of decelerator 5；The transition axis 33 is set in
In first segment 9, the transition axis 33 is parallel to each other with nearly joint shaft 34；The driving gear 20 is engaged with first gear 21,
First gear 21 is actively socketed on transition axis 33；The second gear 22 is engaged with first gear 21；Second gear 22 is socketed
On nearly joint shaft 34, the second gear 22 is affixed with pedestal 1；First drive 23 is fixed in reducer output shaft 32
On；Second drive 24 is fixed on remote joint shaft 31；The flexible drive parts 25 connect 23 He of the first drive respectively
Second drive 24, first drive 23 adopt belt wheel, sprocket wheel or rope sheave, second drive 24 to adopt belt wheel, chain
Wheel or rope sheave, the flexible drive parts 25 adopt transmission belt, chain or tendon rope, first drive 23, the second drive 24
Belt wheel transmission relation, chain gear transmission relation or rope sheave drive connection, the flexible drive parts are constituted with 25 three of flexible drive parts
25 is in " O " shape；The two ends of the spring part 7 connect the second drive 24 and the second segment 10 respectively；3rd gear 26 is socketed
On remote joint shaft 31, the 3rd gear 26 is affixed with the second segment 10；The slide 8 is provided with affixed slide bumping 81,
The slide bumping 81 slides and is embedded in the sliding groove 91 of the first segment 9；The tooth bar 6 is affixed with slide 8, tooth bar 6
Engage with the 3rd gear 26；By the transmission of first gear, the gear ratio from driving gear to second gear is i, by flexibility
The transmission of driving member, is j, i=j from the gear ratio of first the 23 to the second drive of drive 24；The second gear 22 and
The reference diameter of one gear 21 is equal, and the driving gear 20 is equal with the reference diameter of first gear 21；First transmission
Wheel 23 is equal with the transmission radius of the second drive 24；By the transmission of first gear 21, from driving gear 20 to second gear
22 gear ratio is 1, by the transmission of flexible drive parts 25, is 1 from the gear ratio of first the 23 to the second drive of drive 24.
Heretofore described spring part 7 adopts torsion spring.The present embodiment adopts torsion spring.
The concrete operating principle of the present embodiment, with reference to shown in accompanying drawing 13 is to Figure 18, is described below：
As shown in figure 13, the output shaft of motor 4 is rotated forward the original state of the present embodiment device, and Jing decelerators 5 drive
Driving gear 20 and the first drive 23 (referring to the clockwise direction on Figure 13) clockwise are rotated.Driven by driving gear 20 and covered
The first gear 21 for being connected on transition axis is rotated counterclockwise, and as second gear 22 is affixed and pedestal, second gear 22 is motionless all the time,
Therefore the rotation of first gear 21 causes whole first segment 9 rotate counterclockwise around nearly joint shaft 33；Now, the first transmission
Wheel 23 is rotated clockwise, and second drive 24 is rotated clockwise by flexible drive parts 25, pulls second to refer to by spring part 7
Section 10 is rotated clockwise.Due to being constant speed drive, thus the second segment 10 to rotate clockwise angle counterclockwise equal to the first segment 9
Rotational angle, the second segment 10 remain and original state identical attitude translation, this process such as Figure 13, Figure 14 and Figure 15 institute
Show.
In said process, if the contact object of the second segment 10, crawl terminates, and has reached parallel clamping crawl effect, has such as schemed
Shown in 17 or Figure 18.
When object 11 is contacted and blocks the first segment 9, as shown in figure 15, driving gear 20 is rotated further an angle,
First drive 23, the second drive 24 are rotated further an angle, and the first segment 9 is rotated further a low-angle, slide outer
Shell 91 is extruded by object 11, slid inward, is promoted tooth bar 6, is rotated the 3rd gear 26.3rd gear 23 drives affixed therewith
The second segment 10 rotate.The spring part 7 being now placed between the second drive 24 and the second segment 10 is deformed upon.Until second
Segment 10 contacts object 11, and crawl process terminates, as shown in figure 16.Realize the effect of self-adapting grasping object.
Above-mentioned two process has reached the first parallel effect for clamping then again self-adapting grasping object.
Fig. 9 to Figure 12 is the process schematic that indirect self-adaptive captures the operating principle of component near hour rack.Fig. 9 is first
Beginning state, Figure 12 are the final state for capturing object.When the first segment is rotated along (direction of arrow below Figure 10) clockwise, by
Can rotate counterclockwise around remote joint shaft (parallel clamping stage of gripping) in the second segment, threeth gear affixed with the second segment
Therefore 26 (upper arrow direction in Figure 10) counterclockwise can rotate so that tooth bar 6 is moved out, so as to slide is to outward transport
It is dynamic, as shown in Figure 10；When slide contacts object, as shown in figure 11；Afterwards, the first segment is rotated further, due to object
Stop, tooth bar no longer inwardly moves, and the second segment is no longer rotated counterclockwise, and spring part 7 deforms, moreover, when first
During segment is rotated further, object can extrude slide and inwardly move, and band carry-over bar is inwardly moved, so that gear
And second segment can rotate clockwise, until the second segment contact object till, as shown in figure 12, crawl object terminate, no
Only slide contacts object, and the second segment also contacts object, has reached the envelop-type contact of two contact points, real
Strength crawl is showed.
The device comprehensively realizes doublejointed machine using motor, five wheel drive mechanisms and the spring part for being arranged on the first segment
The flat folder of finger and the compound grasp mode of indirect self-adaptive；The device drives two joints, the device to grab by single motor
When taking object, first using parallel gripping grasp mode, great efforts, grasping stability under this pattern, are captured；When the first segment contactant
After body, the indirect self-adaptive grasp mode that the second segment is rotated further is automatically switched to, the device can adapt to different shape chi
The crawl of very little object, simple structure, is easily controlled, is driven accurate, low cost, efficiency high, the motor and drive mechanism of the device
It is completely embedded in the first segment, is not take up susceptor space, used in is easy to be assembled to robot.
Claims (2)
1. in a kind of motor, put tooth bar folder indirect self-adaptive robot finger apparatus in parallel flat, including pedestal, motor, decelerator,
First segment, the second segment, nearly joint shaft and remote joint shaft；The nearly joint shaft is set in pedestal；First segment is lived
Dynamic to be socketed on nearly joint shaft, the remote joint shaft is movably set in the first segment；Second segment is actively socketed on far
On joint shaft；The nearly joint shaft is parallel with remote joint shaft；The output shaft of the motor is connected with the input shaft of decelerator；Which is special
Levy and be：Tooth bar flat folder indirect self-adaptive robot finger apparatus in parallel are put in the motor also includes slide, transition axis, master
Moving gear, first gear, second gear, the first drive, the second drive, flexible drive parts, the 3rd gear, tooth bar and spring
Part；The motor is affixed with the first segment, and the driving gear is fixed on the output shaft of decelerator；The transition axis is set in
In first segment, the transition axis is parallel to each other with nearly joint shaft；The driving gear is engaged with first gear, first gear set
It is connected on transition axis；The second gear is engaged with first gear；Second gear is socketed on nearly joint shaft, the second gear
It is affixed with pedestal；First drive is fixed on reducer output shaft；First drive is affixed with driving gear；Institute
State the second driving wheel tube to be connected on remote joint shaft；The flexible drive parts connect the first drive, the second drive respectively, described
First drive adopts belt wheel, sprocket wheel or rope sheave, second drive to adopt belt wheel, sprocket wheel or rope sheave, the Flexible Transmission
Part adopts transmission belt, chain or tendon rope, first drive, the second drive and flexible drive parts three to constitute belt wheel transmission
Relation, chain gear transmission relation or rope sheave drive connection, the flexible drive parts are in " O " shape；The two ends of the spring part connect respectively
Second drive and the second segment；3rd gear is socketed on remote joint shaft, and the 3rd gear is affixed with the second segment；It is described
Slide is provided with affixed slide bumping, and the slide bumping slides and is embedded in the sliding groove of the first segment；The tooth bar
Affixed with slide, tooth bar is engaged with the 3rd gear；By the transmission of first gear, the biography from driving gear to second gear
Dynamic ratio is i；By the transmission of flexible drive parts, the gear ratio for taking turns to the second drive from the first transmission is j, i=j.
2. the flat folder indirect self-adaptive robot finger apparatus of four gears are put in motor as claimed in claim 1, it is characterised in that：Institute
State spring part and adopt torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890799.5A CN106564063B (en) | 2016-10-12 | 2016-10-12 | The flat folder indirect self-adaptive robot finger apparatus of rack gear parallel connection is set in motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890799.5A CN106564063B (en) | 2016-10-12 | 2016-10-12 | The flat folder indirect self-adaptive robot finger apparatus of rack gear parallel connection is set in motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106564063A true CN106564063A (en) | 2017-04-19 |
| CN106564063B CN106564063B (en) | 2019-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610890799.5A Active CN106564063B (en) | 2016-10-12 | 2016-10-12 | The flat folder indirect self-adaptive robot finger apparatus of rack gear parallel connection is set in motor |
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| Country | Link |
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| CN (1) | CN106564063B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453768A (en) * | 2018-03-09 | 2018-08-28 | 北京电子科技职业学院 | Bar wheel parallel connection racing envelope adaptive robot finger apparatus |
| CN108972602A (en) * | 2018-08-14 | 2018-12-11 | 清华大学 | Link gear sliding slot robot finger apparatus with linear parallel crawl |
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| CN1410233A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
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| CN101444917A (en) * | 2008-12-26 | 2009-06-03 | 清华大学 | Mechanical finger device with functions of bionic displacement and self-adapting grasping |
| CN105583837A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Gear type self-adaptive robot finger device with rope and springs assisting in grabbing |
| CN206393654U (en) * | 2016-10-12 | 2017-08-11 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of rack parallel connection is put in motor |
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2016
- 2016-10-12 CN CN201610890799.5A patent/CN106564063B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| CN1410234A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| CN1410233A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453768A (en) * | 2018-03-09 | 2018-08-28 | 北京电子科技职业学院 | Bar wheel parallel connection racing envelope adaptive robot finger apparatus |
| CN108972602A (en) * | 2018-08-14 | 2018-12-11 | 清华大学 | Link gear sliding slot robot finger apparatus with linear parallel crawl |
| CN108972602B (en) * | 2018-08-14 | 2021-08-17 | 清华大学 | Connecting rod gear chute robot finger device with linear parallel grabbing function |
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|---|---|
| CN106564063B (en) | 2019-09-20 |
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