CN106625741B - Support link belt wheel transmission linear translation robot hand device - Google Patents
Support link belt wheel transmission linear translation robot hand device Download PDFInfo
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- CN106625741B CN106625741B CN201610891523.9A CN201610891523A CN106625741B CN 106625741 B CN106625741 B CN 106625741B CN 201610891523 A CN201610891523 A CN 201610891523A CN 106625741 B CN106625741 B CN 106625741B
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- driving wheel
- transmission
- connecting rod
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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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
Support link belt wheel transmission linear translation robot hand device, belong to robot technical field, including pedestal, motor, retarder, transmission mechanism and at least two finger units, the finger unit includes the first segment, the second segment, five axis, three connecting rods and two sets of belt wheel transmission mechanisms.Apparatus of the present invention realize the crawl effect clamped along level of approximation straight line parallel, end segment hardly happens the displacement of short transverse, centering crawl during fingers opening-closing, and the cooperation in robot arms joint is greatly reduced in folding when grabbing, crawl range is big, and grasping stability is reliable；The apparatus structure is simple, small in size, light-weight, and processing, assembly are low with maintenance cost, is suitably mounted in robot use as end gripper.
Description
Technical field
The invention belongs to robot technical field, in particular to a kind of support link belt wheel transmission linear translation robot
The structure of arm device designs.
Background technique
End gripper is one of important component of robot.Robot by using end gripper clamp, operation with
Object is discharged, the movement that operator arranges properly is completed.Since the shape of different objects is different, size difference is bigger, in industry
In largely use is all the end gripper with opposite finger, this clamper with opposite finger is directed to most objects
Body crawl task can well be completed to stablize crawl, and the manufacturing cost of end gripper is low, and reliability is very high.It is similar
Manpower, when removing clamping object using two or more fingers are opposite, the end segment for generally requiring two fingers is parallel to each other, this
Sample can obtain preferable crawl effect, and the gripper with this function is known as the clamper that is translatable.Existing translation clamper
Finger can generate an arc track in the folding stage, although two finger end segments maintain in parallel, on crawl desktop
When object, the motor movement for relying solely on clamper, which can not achieve, well to be grabbed because finger folding the stage, finger
The high and low position of end segment changes with the difference of folding angle, therefore according to the different size of object, and when crawl needs
The cooperation of multiple joint motions of robot arms (industrial robot) is just able to achieve the crawl to object.Considerable straight line is flat
Dynamic device is developed and is used as the end effector of industrial robot, they have sliding slot constraint, and volume is big, and weight is big,
Crawl object is limited in scope.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of support link belt wheel transmission straight line is provided
Be translatable robot hand device.The device is able to achieve the crawl effect clamped along level of approximation straight line parallel, and end segment is in hand
The displacement of short transverse, centering crawl are hardly happened during referring to folding, robots arm is greatly reduced when grabbing in folding
The cooperation in portion joint, crawl range is big while small in size, at low cost, is suitably mounted in robot as end gripper
It uses.
Technical scheme is as follows:
A kind of support link belt wheel transmission linear translation robot hand device that the present invention designs, it is characterised in that: including
Pedestal, motor, retarder, transmission mechanism and at least two finger units；The motor and pedestal are affixed；The output of the motor
Axis is connected with the input shaft of retarder, and the output shaft of the retarder is connected with the input shaft of transmission mechanism；The finger unit
Including the first segment, the second segment, first axle, the second axis, third axis, the 4th axis, the 5th axis, first connecting rod, second connecting rod,
Three-link, the first driving wheel, the second driving wheel, third driving wheel, the first driving member and the second driving member；The first axle,
Two axis, third axis, the 4th axis and the 5th axis are parallel to each other；The output shaft of the transmission mechanism is connected with first axle；Described first
Axis is movably set in pedestal；One end of the first connecting rod is fixed in first axle, and second axis is movably set in first
In the other end of connecting rod；One end of the second connecting rod is movably set on the second axis, the other end activity of the second connecting rod
It is set on the 4th axis, the third axis is movably set in the middle part of second connecting rod；One end pivot bush unit of the third connecting rod
On third axis, the other end of third connecting rod is actively socketed on the 5th axis, and the 5th axis is movably set in pedestal；It is described
First segment and second connecting rod are affixed, and second segment is socketed on the 4th axis；First driving wheel is actively socketed on
On five axis, first driving wheel and pedestal are affixed；Second driving wheel is actively socketed on third axis, the third transmission
Wheel is socketed on the 4th axis；The third driving wheel and the second segment are affixed；First driving member connect the first driving wheel and
Second driving wheel, first driving member use transmission belt, chain or tendon rope, first driving wheel using belt wheel, sprocket wheel or
Rope sheave；Second driving wheel uses belt wheel, sprocket wheel or rope sheave；First driving member, the first driving wheel and the second driving wheel
Three constitutes belt wheel transmission relationship, sprocket wheel drive connection or rope sheave drive connection, and first driving member is in O shape；Described second
Driving member connects the second driving wheel and third driving wheel, and second driving member uses transmission belt, chain or tendon rope, the third
Driving wheel uses belt wheel, sprocket wheel or rope sheave；Second driving member, the second driving wheel and third driving wheel constitute belt wheel transmission and close
System, sprocket wheel drive connection or rope sheave drive connection, second driving member are in O shape；If the first transmission takes turns to the second driving wheel
Transmission ratio is i, and the transmission ratio that the second transmission takes turns to third driving wheel is j, ij=1；If the center of first axle is point A, the second axis
Center be point B, the center of third axis is point C, and the center of the 4th axis is point D, and the center of the 5th axis is point E, the length of line segment BC
The length three of degree, the length of line segment CD and line segment CE is equal, and 2 times of length of the length equal to line segment AB of line segment AE, line segment
The length of CE is 2.5 times of the length of line segment AB.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention are realized using the synthesis such as motor, jointed gear unit, belt wheel transmission mechanism along level of approximation
The crawl effect of straight line parallel clamping, end segment hardly happens the displacement of short transverse during fingers opening-closing, right
The cooperation in robot arms joint is greatly reduced in middle crawl, folding when grabbing, crawl range is big, and grasping stability is reliable；The dress
It is simple, small in size, light-weight to set structure, processing, assembly are low with maintenance cost, are suitably mounted in robot press from both sides as end
Holder uses.
Detailed description of the invention
Fig. 1 is a kind of the vertical of the embodiment for the support link belt wheel transmission linear translation robot hand device that the present invention designs
Body outside drawing.
Fig. 2 is the side elevational schematic view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 3 is the stereoscopic viewing figure (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 4 is the right side view (being not drawn into part) of Fig. 2.
Fig. 5 is connecting rod schematic illustration.
Fig. 6 to Fig. 8 is embodiment illustrated in fig. 1 crawl object process schematic.
In Fig. 1 into Fig. 8:
1- pedestal, 2- finger unit, 3- motor, 31- retarder,
41- first bevel gear, 42- second bevel gear, 43- transition axis, 44- first gear,
45- second gear, 51- first pulley, the second belt wheel of 52-, 53- transmission belt,
The first segment of 21-, the second segment of 22-, 61- first axle, the second axis of 62-,
63- third axis, the 4th axis of 64-, the 5th axis of 65-, 71- first connecting rod,
72- second connecting rod, 73- third connecting rod, the first driving wheel of 81-, the second driving wheel of 82-,
83- third driving wheel, the first driving member of 84-, the second driving member of 85-, 9- 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 support link belt wheel transmission linear translation robot hand device that the present invention designs, extremely such as Fig. 1
Shown in Fig. 4, including pedestal 1, motor 3, retarder 31, transmission mechanism and two finger units 2；The motor 3 and pedestal 1 are solid
It connects；The output shaft of the motor 3 is connected with the input shaft of retarder 31, the output shaft of the retarder 31 and transmission mechanism it is defeated
Enter axis to be connected；The finger unit 2 includes the first segment 21, the second segment 22, first axle 61, the second axis 62, third axis 63, the
Four axis 64, the 5th axis 65, first connecting rod 71, second connecting rod 72, third connecting rod 73, the first driving wheel 81, the second driving wheel 82,
Three driving wheels 83, the first driving member 84 and the second driving member 85；The first axle 61, the second axis 62, third axis 63, the 4th axis 64
It is parallel to each other with the 5th axis 65；The output shaft of the transmission mechanism is connected with first axle 61；The first axle 61 is movably set in
In pedestal 1；One end of the first connecting rod 71 is fixed in first axle 61, and second axis 62 is movably set in first connecting rod 71
The other end in；One end of the second connecting rod 72 is movably set on the second axis 62, and the other end of the second connecting rod 72 is living
Dynamic to be set on the 4th axis 64, the third axis 63 is movably set in the middle part of second connecting rod 72；The one of the third connecting rod 73
End is actively socketed on third axis 63, and the other end of third connecting rod 73 is actively socketed on the 5th axis 65, and the 5th axis 65 is living
It is dynamic to be set in pedestal 1；First segment 21 and second connecting rod 72 are affixed, and second segment 22 is socketed in the 4th axis 64
On；First driving wheel 81 is actively socketed on the 5th axis 65, and first driving wheel 81 and pedestal 1 are affixed；Described second
Driving wheel 82 is actively socketed on third axis 63, and the third driving wheel 83 is socketed on the 4th axis 64；The third driving wheel
83 is affixed with the second segment 22；First driving member 84 connects the first driving wheel 81 and the second driving wheel 82, and described first passes
Moving part 84 is using transmission belt, chain or tendon rope, and first driving wheel 81 is using belt wheel, sprocket wheel or rope sheave；Second transmission
Wheel 82 is using belt wheel, sprocket wheel or rope sheave；First driving member 84, the first driving wheel 81 and 82 three of the second driving wheel constitute band
Drive connection, sprocket wheel drive connection or rope sheave drive connection are taken turns, first driving member 84 is in O shape；Second driving member 85
The second driving wheel 82 and third driving wheel 83 are connected, second driving member 85 is using transmission belt, chain or tendon rope, the third
Driving wheel 83 is using belt wheel, sprocket wheel or rope sheave；Second driving member 85, the second driving wheel 82 and third driving wheel 83 constitute band
Drive connection, sprocket wheel drive connection or rope sheave drive connection are taken turns, second driving member 85 is in O shape；If the first driving wheel 81 arrives
The transmission ratio of second driving wheel 82 is i, and the transmission ratio of the second driving wheel 82 to third driving wheel 83 is j, ij=1；If first axle
61 center is point A, and the center of the second axis 62 is point B, and the center of third axis 63 is point C, and the center of the 4th axis 64 is point D, the
The center of five axis 65 is point E, and the length three of the length of line segment BC, the length of line segment CD and line segment CE is equal, the length of line segment AE
2 times of length of the degree equal to line segment AB, the length of line segment CE is 2.5 times of the length of line segment AB.
In the present embodiment, the transmission ratio of first the 81 to the second driving wheel of driving wheel 82 is 1, and the second driving wheel 82 arrives third
The transmission ratio of driving wheel 83 is 1, therefore meets ij=1.
In the present embodiment, two fingers are arranged in symmetrical position.
In the present embodiment, the transmission mechanism includes first bevel gear 41, second bevel gear 42, transition axis 43, the first tooth
Wheel 44, second gear 45, first pulley 51, the second belt wheel 52 and transmission belt 53；The first bevel gear 41 is fixed in retarder
On 31 output shaft, the first bevel gear 41 is engaged with second bevel gear 42, and the second bevel gear 42 is fixed in transition axis
On 43, the transition axis 43 is movably set in pedestal 1, and the first gear 44 is fixed on transition axis 43, first tooth
Wheel 44 is engaged with second gear 45, and the second gear 45 is fixed in a finger unit (finger unit of left in Fig. 3)
First axle 61 on；The first pulley 51 is fixed on transition axis 43, and second belt wheel 52 is fixed in another finger list
In first axle 61 in first (finger unit of right in Fig. 3), the transmission belt 53 is separately connected first pulley 51 and the second band
Wheel 52.
The working principle of the present embodiment, is described below in conjunction with attached drawing:
The original state of the present embodiment is as shown in Figure 1, Figure 2 or Fig. 3 shown in.There are two the identical finger lists of structure in the present embodiment
Member 2 illustrates working principle by taking a finger unit 2 on the right in Fig. 2 as an example.
Motor 3 rotates forward, as shown in figure 3, driven first bevel gear 41 to rotate by retarder 31, the second cone tooth
42 rotation of wheel, transition axis 43 rotate, and first pulley 51 rotates, and by transmission belt 53 second belt wheel 52 are rotated, right in Fig. 3
Finger unit 2 in first axle 61 rotate, drive first connecting rod 71 rotate counterclockwise；Due to first connecting rod 71, second connecting rod
72 and the four-bar mechanism that constitutes of third connecting rod 73 and pedestal can generate operating principle as shown in Figure 5, i.e., when first connecting rod 71
During rotating counterclockwise to bottom from the top, the central point D of the 4th axis 64 can be along near linear to left, should
Translation trajectory line is parallel to line segment AE, is horizontal line in Fig. 5.
Due to being passed from the first driving wheel 81 by the first driving member 84, the second driving wheel 82, the second driving member 85 to third
The transmission of driving wheel 83 is constant speed drive, and the first driving wheel 81 and pedestal 1 are affixed, thus third driving wheel 83 is relative to pedestal 1
Remain constant posture --- will not opposite base 1 rotate, thus second segment 22 affixed with third driving wheel 83
Initial posture is remained with respect to pedestal 1.
In summary two aspects, the second segment 22 will be translatable relative to pedestal 1 along near linear.The support link band
Two finger units 2 in wheel drive linear translation robot hand device are to be arranged symmetrically, in two symmetrical finger units
Second segment 22 can reach centering crawl, parallel clamping crawl and along approximation along the direction relative motion of level of approximation line
The effect of linear motion, when the second segment 22 contacts object 9, crawl terminates, and has reached flat gripper and has taken effect.
The process schematic that the present embodiment grabs object is as shown in Figure 6 to 8.
When discharging object 9, motor 3 is rotated backward, as shown in Fig. 2, first connecting rod 71 rotates clockwise, the second segment 22 to
It is right to leave object 9 along near linear translation, reach release object.
Apparatus of the present invention are realized using the synthesis such as motor, jointed gear unit, belt wheel transmission mechanism along level of approximation
The crawl effect of straight line parallel clamping, end segment hardly happens the displacement of short transverse during fingers opening-closing, right
The cooperation in robot arms joint is greatly reduced in middle crawl, folding when grabbing, crawl range is big, and grasping stability is reliable；The dress
It is simple, small in size, light-weight to set structure, processing, assembly are low with maintenance cost, are suitably mounted in robot press from both sides as end
Holder uses.
Claims (1)
1. a kind of support link belt wheel transmission linear translation robot hand device, it is characterised in that: including pedestal, motor, deceleration
Device, transmission mechanism and at least two finger units；The motor and pedestal are affixed；The output shaft of the motor and retarder it is defeated
Enter axis to be connected, the output shaft of the retarder is connected with the input shaft of transmission mechanism；The finger unit includes the first segment, the
Two segments, first axle, the second axis, third axis, the 4th axis, the 5th axis, first connecting rod, second connecting rod, third connecting rod, the first transmission
Wheel, the second driving wheel, third driving wheel, the first driving member and the second driving member；The first axle, the second axis, third axis, the 4th
Axis and the 5th axis are parallel to each other；The output shaft of the transmission mechanism is connected with first axle；The first axle is movably set in pedestal
In；One end of the first connecting rod is fixed in first axle, and second axis is movably set in the other end of first connecting rod；Institute
The one end for stating second connecting rod is movably set on the second axis, and the other end of the second connecting rod is movably set on the 4th axis, institute
State the middle part that third axis is movably set in second connecting rod；One end of the third connecting rod is actively socketed on third axis, and third connects
The other end of bar is actively socketed on the 5th axis, and the 5th axis is movably set in pedestal；First segment connects with second
Bar is affixed, and second segment is socketed on the 4th axis；First driving wheel is actively socketed on the 5th axis, and described first passes
Driving wheel is affixed with pedestal；Second driving wheel is actively socketed on third axis, and the third driving wheel is socketed on the 4th axis；
The third driving wheel and the second segment are affixed；First driving member connects the first driving wheel and the second driving wheel, and described the
One driving member uses transmission belt, chain or tendon rope, and first driving wheel uses belt wheel, sprocket wheel or rope sheave；Second transmission
Wheel uses belt wheel, sprocket wheel or rope sheave；First driving member, the first driving wheel and the second driving wheel three constitute belt wheel transmission and close
System, sprocket wheel drive connection or rope sheave drive connection, first driving member are in O shape；Second driving member connection, second transmission
Wheel and third driving wheel, second driving member use transmission belt, chain or tendon rope, and the third driving wheel uses belt wheel, chain
Wheel or rope sheave；Second driving member, the second driving wheel and third driving wheel constitute belt wheel transmission relationship, sprocket wheel drive connection or
Rope sheave drive connection, second driving member are in O shape；If the transmission ratio that the first transmission takes turns to the second driving wheel is i, the second transmission
The transmission ratio for taking turns to third driving wheel is j, ij=1；If the center of first axle is point A, the center of the second axis is point B, third axis
Center be point C, the center of the 4th axis is point D, and the center of the 5th axis is point E, length, the length and line of line segment CD of line segment BC
The length three of section CE is equal, and 2 times of length of the length equal to line segment AB of line segment AE, the length of line segment CE is the length of line segment AB
2.5 times of degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891523.9A CN106625741B (en) | 2016-10-12 | 2016-10-12 | Support link belt wheel transmission linear translation robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891523.9A CN106625741B (en) | 2016-10-12 | 2016-10-12 | Support link belt wheel transmission linear translation robot hand device |
Publications (2)
| Publication Number | Publication Date |
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| CN106625741A CN106625741A (en) | 2017-05-10 |
| CN106625741B true CN106625741B (en) | 2019-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610891523.9A Active CN106625741B (en) | 2016-10-12 | 2016-10-12 | Support link belt wheel transmission linear translation robot hand device |
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| CN (1) | CN106625741B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823891B (en) * | 2019-11-13 | 2022-08-30 | 河北工程大学 | Digital holographic microscopic imaging equipment for cultural relic identification |
| CN113146217B (en) * | 2021-04-19 | 2022-07-15 | 东北大学 | Thread-assembly-oriented clamp holder |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648380B (en) * | 2009-09-09 | 2011-05-04 | 北京航空航天大学 | Gripper with heavy load and wide range |
| JP2016068192A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | Robot hand and robot |
| JP2016087749A (en) * | 2014-11-06 | 2016-05-23 | 株式会社豊田自動織機 | Robot hand |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN105583849A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel-clamping handy robot finger device with connection rods |
| CN105835077B (en) * | 2016-05-19 | 2018-02-02 | 清华大学 | The flat folder adaptive robot finger apparatus of closed loop flexible piece guide rod |
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