CN107009375B - Composite self-adaptive robot finger device with multiple grabbing force modes - Google Patents
Composite self-adaptive robot finger device with multiple grabbing force modes Download PDFInfo
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- CN107009375B CN107009375B CN201710256598.4A CN201710256598A CN107009375B CN 107009375 B CN107009375 B CN 107009375B CN 201710256598 A CN201710256598 A CN 201710256598A CN 107009375 B CN107009375 B CN 107009375B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
A composite self-adaptive robot finger device with multiple grabbing force modes belongs to the technical field of robot hands and comprises a base, a first finger section, a second finger section, a third finger section, a near joint shaft, a middle joint shaft, a far joint shaft, two motors, two reducers, eight gears, four belt pulleys, two transmission belts, six spring pieces, four deflector rods and four convex blocks. The device realizes the built-in variable gripping force pinching and holding composite self-adaptive grabbing function. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a composite self-adaptive robot finger device with multiple grabbing force modes.
Background
The self-adaptive underactuated robot hand adopts a small amount of motors to drive the joints with multiple degrees of freedom, the motors hidden in the palm can select larger power and volume due to the small number of the motors, the output force is large, meanwhile, a purely mechanical feedback system does not need to be sensitive to the environment, stable grabbing can be realized, the self-adaptive underactuated robot hand is automatically adapted to objects with different shapes and sizes, the requirements of real-time sensing and closed loop feedback control are eliminated, the control is simple and convenient, and the manufacturing cost is reduced.
There are mainly two gripping methods when gripping objects, one is pinching and the other is holding. The pinching is to pinch the object by the fingertip part of the tail end finger, and to contact the object by two points or two soft finger surfaces, mainly aiming at small-size objects or larger objects with opposite surfaces; the holding is to achieve contact of multiple points by wrapping multiple finger segments of fingers around an object, so as to achieve more stable shape wrapping and grabbing. The traditional purely self-adaptive under-actuated finger can be held in a self-adaptive object enveloping mode, but cannot be used for terminal pinching and grabbing.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a composite type self-adaptive robot finger device with multiple grabbing force modes. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.
The technical scheme of the invention is as follows:
the invention relates to a composite self-adaptive robot finger device with multiple grabbing force modes, which is characterized in that: the device comprises a base, a first finger section, a second finger section, a third finger section, a near joint shaft, a middle joint shaft, a far joint shaft, a first intermediate shaft, a second intermediate shaft, a first motor, a second motor, a first speed reducer, a second speed reducer, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a first deflector rod, a second deflector rod, a third deflector rod, a fourth deflector rod, a first lug, a second lug, a third lug, a fourth lug, a first driving wheel, a second driving wheel, a third driving wheel, a fourth driving wheel, a first driving belt and a second driving belt; the near joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the near joint shaft; the middle joint shaft is movably sleeved in the first finger section; the second finger section is movably sleeved on the middle joint shaft; the distal joint sleeve is sleeved in the second finger section; the third finger section is sleeved on the far joint shaft; the first middle shaft is sleeved in the first finger section, and the second middle shaft is sleeved in the second finger section; the first motor is arranged in a first finger section, the first motor is fixedly connected with the first finger section, an output shaft of the first motor is connected with an input shaft of a first speed reducer, a first gear is sleeved and fixed on an output shaft of the first speed reducer, the first gear is meshed with a second gear, the second gear is movably sleeved and fixed on a near joint shaft, two ends of a first spring part are respectively connected with a second gear and a base, a first driving wheel is fixedly connected with the first gear, the second driving wheel is fixedly connected with a fourth gear, the first driving wheel is movably contacted with the second driving wheel in a stroke range, a third gear is movably sleeved and fixed on the near joint shaft, the third gear is meshed with a fourth gear, the fourth gear is fixedly connected with a first driving wheel, the first driving wheel is in an O shape, the first driving belt is connected with the first driving wheel and the second driving wheel, the first driving wheel, the second driving wheel and the second driving wheel form a second driving wheel are matched with the second driving wheel, the second driving wheel is movably sleeved and fixed on the second middle shaft, the second driving wheel is fixedly connected with a second bump in the second joint section, and the second bump is fixedly connected with the second bump in the stroke range, and the second bump is fixedly connected with the second bump; the second motor is arranged in the second finger section, the second motor is fixedly connected with the second finger section, an output shaft of the second motor is connected with an input shaft of a second speed reducer, the fifth gear is fixedly sleeved on an output shaft of the second speed reducer, the fifth gear is meshed with a sixth wheel, the sixth gear is movably sleeved on a middle joint shaft, two ends of the third spring piece are respectively connected with a sixth gear and a first finger section, the third deflector rod is fixedly connected with the fifth gear, the fourth deflector rod is fixedly connected with an eighth gear, the third deflector rod is movably contacted with the fourth deflector rod in a stroke range, the seventh gear is movably sleeved on the middle joint shaft, the seventh gear is meshed with an eighth gear, the eighth gear is movably sleeved on the second intermediate shaft, the eighth gear is fixedly connected with a third transmission wheel, the second transmission belt is in an O shape, the second transmission belt is connected with the third transmission wheel and the fourth transmission wheel, the third transmission wheel, the fourth transmission wheel and the fourth transmission wheel are matched with the fourth transmission wheel and form a bump in a movable joint range, the fourth transmission wheel is movably sleeved on the fourth finger section, and the bump is fixedly connected with the fourth finger section; the two ends of the second spring piece are respectively connected with the base and the third gear, and the second spring piece enables the second protruding block to lean against the first protruding block; the two ends of the fourth spring piece are respectively connected with the first finger section and the seventh gear, and the fourth spring piece enables the fourth lug to lean against the third lug; the first gear and the second gear are equal in modulus, the third gear and the fourth gear are equal in modulus, the fifth gear and the sixth gear are equal in modulus, and the seventh gear and the eighth gear are equal in modulus; the first intermediate shaft is coaxial with the output shaft of the first speed reducer, and the second intermediate shaft is coaxial with the output shaft of the second speed reducer.
The invention relates to a composite self-adaptive robot finger device with multiple grabbing force modes, which is characterized in that: the number of teeth of the third gear is equal to the number of teeth of the fourth gear, the radius of the first driving wheel is equal to that of the second driving wheel, the number of teeth of the seventh gear is equal to that of the eighth gear, and the radius of the third driving wheel is equal to that of the fourth driving wheel.
The invention relates to a composite self-adaptive robot finger device with multiple grabbing force modes, which is characterized in that: the first spring piece, the third spring piece, the fifth spring piece and the sixth spring piece are all torsion springs; the second spring part and the fourth spring part are all tension springs.
Compared with the prior art, the invention has the following advantages and outstanding effects:
the device comprehensively realizes the pinch and holding composite self-adaptive grabbing function of driving built-in variable grabbing force by utilizing the motor, the gear combination, the belt wheel combination, the plurality of spring pieces, the delay deflector rod, the bump constraint and the like. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.
Drawings
FIG. 1 is a front cross-sectional view of one embodiment of a compound adaptive robot finger device with multiple grip force modes designed according to this invention.
Fig. 2 is a front view of the embodiment shown in fig. 1.
Fig. 3 is a side view (left side view of fig. 2) of the embodiment shown in fig. 1.
Fig. 4 is a diagram of the positional relationship of a part of the embodiment shown in fig. 1.
Fig. 5 is a diagram of the positional relationship of a part of the embodiment shown in fig. 1.
FIG. 6 is a diagram showing the relative positions of the first gear, the first lever and the second lever in the initial state according to the embodiment shown in FIG. 1.
FIG. 7 is a diagram showing the relative positions of the fifth gear, the third lever and the fourth lever in the initial state according to the embodiment shown in FIG. 1.
FIG. 8 is a schematic view of the embodiment of FIG. 1 with a first lever contacting a second lever during a grasping process.
FIG. 9 is a schematic view of the embodiment of FIG. 1 with the first lever pushing the second lever through an angle during a grasping process.
FIG. 10 is a schematic view of the embodiment of FIG. 1 with a third lever contacting a fourth lever during a grabbing process.
FIG. 11 is a schematic illustration of the embodiment of FIG. 1 with the third lever pushing the fourth lever through an angle during a grasping process.
Fig. 12-13 illustrate the embodiment of fig. 1 when the third finger section first contacts the object as it is grasped.
Fig. 14 to 16 show the embodiment of fig. 1 when the first finger section and the second finger section contact the object before the third finger section contacts the object.
Fig. 17 to 20 are views showing the case where the first finger section, the second finger section, and the third finger section sequentially contact the object while the embodiment shown in fig. 1 grips the object.
In fig. 1 to 20:
1-a base, 21-a first finger section, 22-a second finger section, 23-a third finger section,
31-proximal joint axis, 32-middle joint axis, 33-distal joint axis, 341-first intermediate axis,
342-second intermediate shaft, 41-first motor, 42-second motor, 411-first speed reducer,
421-second reducer, 51-first gear, 52-second gear, 53-third gear,
54-fourth gear, 55-fifth gear, 56-sixth gear, 57-seventh gear,
58-eighth gear, 71-first spring, 72-second spring, 73-third spring,
74-fourth spring element, 75-fifth spring element, 76-sixth spring element, 81-first lever,
82-second lever, 83-third lever, 84-fourth lever, 91-first bump,
92-second bump, 93-third bump, 94-fourth bump, 99-object,
101-a first driving wheel, 102-a second driving wheel, 103-a third driving wheel, 104-a fourth driving wheel,
111-first drive belt, 112-second drive belt.
Detailed Description
The details of the specific construction and operation of the present invention will be further described with reference to the accompanying drawings and examples.
As shown in fig. 1 to 7, one embodiment of the composite type self-adaptive robot finger device with multiple grabbing force modes, which is designed by the invention, comprises a base 1, a first finger section 21, a second finger section 22, a third finger section 23, a proximal joint shaft 31, a middle joint shaft 32, a distal joint shaft 33, a first middle shaft 341, a second middle shaft 342, a first motor 41, a second motor 42, a first speed reducer 411, a second speed reducer 412, a first gear 51, a second gear 52, a third gear 53, a fourth gear 54, a fifth gear 55, a sixth gear 56, a seventh gear 57, an eighth gear 58, a first spring 71, a second spring 72, a third spring 73, a fourth spring 74, a fifth spring 75, a sixth spring 76, a first deflector 81, a second deflector 82, a third deflector 83, a fourth deflector 84, a first bump 91, a second bump 92, a third bump 93, a fourth bump 94, a first transmission wheel 101, a second transmission wheel 103, a third transmission wheel 102, a fourth transmission wheel 111 and a fourth transmission wheel 111; the near joint shaft 31 is movably sleeved in the base 1; the first finger section 21 is movably sleeved on the near joint shaft 31; the middle joint shaft 32 is movably sleeved in the first finger section 21; the second finger section 22 is movably sleeved on the middle joint shaft 32; the far joint shaft 33 is sleeved in the second finger section 22; the third finger section 23 is sleeved on the far joint shaft 33; the first intermediate shaft 341 is sleeved in the first finger section 21, and the second intermediate shaft 342 is sleeved in the second finger section 22; the first motor 41 is arranged in the first finger section 21, the first motor 41 is fixedly connected with the first finger section 21, an output shaft of the first motor 41 is connected with an input shaft of the first speed reducer 411, the first gear 51 is sleeved and fixed on an output shaft of the first speed reducer 411, the first gear 51 is meshed with the second gear 52, the second gear 52 is movably sleeved and fixed on the near-joint shaft 31, two ends of the first spring piece 71 are respectively connected with the second gear 52 and the base 1, the first deflector rod 81 is fixedly connected with the first gear 51, the second deflector rod 82 is fixedly connected with the fourth gear 54, the first deflector rod 81 is movably contacted with the second deflector rod 82 in a range of travel, the third gear 53 is movably sleeved and fixed on the near-joint shaft 31, the third gear 53 is meshed with the fourth gear 54, the fourth gear 54 is movably sleeved and fixed on the first intermediate shaft 341 respectively, the fourth gear 54 is fixedly connected with the first transmission wheel 101, two ends of the first transmission wheel 111 are respectively connected with the second gear 52 and the base 1, the second deflector rod 82 is movably sleeved and fixed on the second transmission wheel 102, the second transmission wheel 102 is movably sleeved and fixed on the second transmission wheel 102, two ends of the second transmission wheel 102 are respectively, the second transmission wheel 102 and the second transmission wheel 102 are movably sleeved and the second transmission wheel 102 are fixedly connected with the base 102 in a range of travel, the second transmission wheel 102 is movably connected with the second transmission wheel 102, the second transmission wheel 102 is movably and the transmission wheel 102 is fixedly connected with the transmission wheel 102; the second motor 42 is arranged in the second finger section 22, the second motor 42 is fixedly connected with the second finger section 22, an output shaft of the second motor 42 is connected with an input shaft of the second speed reducer 412, the fifth gear 55 is sleeved and fixed on an output shaft of the second speed reducer 412, the fifth gear 55 is meshed with a sixth wheel, the sixth gear 56 is movably sleeved on the middle joint shaft 32, two ends of the third spring piece 73 are respectively connected with the sixth gear 56 and the first finger section 21, the third deflector rod 83 is fixedly connected with the fifth gear 55, the fourth deflector rod 84 is fixedly connected with the eighth gear 58, the third deflector rod 83 is movably contacted with the fourth deflector rod 84 in a range of travel, the seventh gear 57 is movably sleeved and fixed on the middle joint shaft 32, the seventh gear 57 is meshed with the eighth gear 58, the eighth gear 58 and the third transmission wheel 103 are respectively movably sleeved and fixed on the middle shaft 342, the eighth gear 58 is fixedly connected with the third transmission wheel 103, the second transmission wheel 103 is respectively connected with the fourth gear 56 and the first finger section 21, the fourth deflector rod 84 is movably contacted with the fourth transmission wheel 104, the fourth transmission wheel 104 is movably sleeved and fixedly connected with the fourth transmission wheel section 104, the fourth transmission wheel 94 is movably sleeved and the fourth transmission wheel section 104 is movably contacted with the fourth transmission wheel 104, the fourth transmission wheel section 104 is movably sleeved and the fourth transmission section 104 is movably contacted with the fourth transmission wheel 104 in a range of travel, the fourth transmission section 104 is movably sleeved and connected with the transmission section 104, the transmission wheel 104 is movably and is fixedly connected with the transmission wheel 4; both ends of the second spring element 72 are respectively connected with the base 1 and the third gear 53, and the second spring element 72 makes the second bump 92 lean against the first bump 91; the two ends of the fourth spring element 74 are respectively connected with the first finger section 21 and the seventh gear 57, and the fourth spring element 74 makes the fourth protruding block 94 lean against the third protruding block 93; the first gear 51 and the second gear 52 have the same modulus, the third gear 53 and the fourth gear 54 have the same modulus, the fifth gear 55 and the sixth gear 56 have the same modulus, and the seventh gear 57 and the eighth gear 58 have the same modulus; the first intermediate shaft 341 is coaxial with the output shaft of the first speed reducer 411, and the second intermediate shaft 342 is coaxial with the output shaft of the second speed reducer 421.
In this embodiment, the number of teeth of the third gear 53 is equal to the number of teeth of the fourth gear 54, the radius of the first driving wheel 101 is equal to the radius of the second driving wheel 102, the number of teeth of the seventh gear 57 is equal to the number of teeth of the eighth gear 58, and the radius of the third driving wheel 103 is equal to the radius of the fourth driving wheel 104.
In this embodiment, torsion springs are used for the first spring 71, the third spring 73, the fifth spring 75, and the sixth spring 76; the second spring element 72 and the fourth spring element 74 are both tension springs.
The working principle of the present embodiment is described below with reference to the accompanying drawings:
the initial state of the device is shown in fig. 1, 2, 3, 4, 5, 6 and 7, at this time, the second spring 72 makes the second protrusion 92 abut against the first protrusion 91 (shown in fig. 4), the fourth spring 74 makes the fourth protrusion 94 abut against the third protrusion 93 (shown in fig. 5), the first lever 81 and the second lever 82 have an angular distance (shown in fig. 6), and the third lever 83 and the fourth lever 84 have an angular distance (shown in fig. 7).
The first motor 41 rotates, the first gear 51 is driven by the first reducer 411 to drive the second gear 52, the second gear 52 drives the first finger segment 21 to rotate around the joint shaft 31 (namely, the first finger segment 21 rotates to lean against the object 99) through the first spring element 71, the second spring element 72 makes the second bump 92 abut against the first bump 91, so that the third gear 53 is fixed relative to the base 1, the rotation of the first finger segment 21 causes the fourth gear 54 to rotate relative to the first finger segment 21, the first driving wheel 101 is driven, the first driving belt 111 is driven, the second driving wheel 102 is driven, the second finger segment 22 is driven to rotate around the middle joint shaft 32 (namely, the second finger segment 22 rotates to lean against the object 99) through the fifth spring element 75, at this time, the seventh gear 57 is fixed relative to the first finger segment 21 due to the fourth bump 94, the rotation of the second finger segment 22 causes the eighth gear 58 to rotate relative to the second finger segment 22, the third driving wheel 103 is driven, the second driving belt 111 is driven, the second driving wheel 102 is driven, the third finger segment 23 is driven to rotate, and the third finger segment 23 is driven to rotate around the joint shaft 99 (namely, the third finger segment 23 is driven to rotate to lean against the object 99) through the fifth spring element 75).
At this time, the following different cases may be encountered:
1) When the third finger section 23 contacts the object 99, the first motor 41 rotates a small angle again, the first spring element 71, the fifth spring element 75 and the sixth spring element 76 deform, the deformation elasticity of the first spring element 71, the fifth spring element 75 and the sixth spring element 76 becomes the gripping force source for gripping the object 99, and the gripping process is finished, as shown in fig. 12 and 13;
2) When the first finger segment 21 contacts the object 99, the first motor 41 continues to rotate, the first spring element 71 deforms, the first shift lever 81 on the first gear 51 rotates to contact the second shift lever 82 on the fourth gear 54 (as shown in fig. 8) after a period of time (i.e., a first delay), and the first shift lever 81 pushes the second shift lever 82 to rotate by an angle (as shown in fig. 9), so that the fourth gear 54 is rotated, the first driving wheel 101 is driven to drive the first driving belt 111 to drive the second driving wheel 102, the second finger segment 22 is driven to rotate around the middle joint shaft 32 by the fifth spring element 75, the seventh gear 57 is fixed relative to the first finger segment 21, the eighth gear 58 rotates relative to the second finger segment 22, the third driving wheel 103 is driven to drive the second driving belt 112, and the fourth driving wheel 104 is driven to rotate around the far joint shaft 33 by the sixth spring element 76.
At this time, the following different cases may be encountered:
a) When the third finger section 23 contacts the object 99, the first motor 41 rotates a small angle again, the first spring 71, the fifth spring 75 and the sixth spring 76 deform, the deformation elasticity of the first spring 71, the fifth spring 75 and the sixth spring 76 becomes the gripping force source for gripping the object 99, and the gripping is finished;
b) When the second finger section 22 contacts the object 99, the second motor 42 is restarted, the second speed reducer 421 drives the fifth gear 55 to drive the sixth gear 56, the third spring 73 drives the second finger section 22 to rotate around the middle joint shaft 32, the second finger section 22 leans against the object 99, the seventh gear 57 is fixed relative to the first finger section 21, the eighth gear 58 rotates relative to the second finger section 22 to drive the third driving wheel 103, the second driving belt 112 to drive the fourth driving wheel 104, and the sixth spring 76 drives the third finger section 23 to rotate.
At this time, the following different cases may be encountered:
i) When the third finger section 23 contacts the object 99, the second motor 42 rotates a small angle again, the third spring member 73 and the sixth spring member 76 deform, the deformation elastic force of the third spring member 73 and the sixth spring member 76 becomes a gripping force source for gripping the object, and the gripping process is finished, as shown in fig. 14, 15 and 16;
II) when the second finger section 22 contacts the object 99, the second motor 42 continues to rotate, the second speed reducer 421 drives the fifth gear 55, the third shift lever 83 on the fifth gear 55 rotates to contact the fourth shift lever 84 on the eighth gear 58 after a period of time (i.e. a second delay time) (as shown in fig. 10), and the third shift lever 83 pushes the fourth shift lever 84 to rotate by an angle (as shown in fig. 11), thereby rotating the eighth gear 58, driving the third driving wheel 103, driving the second driving belt 112, driving the fourth driving wheel 104, driving the third finger section 23 to rotate by the sixth spring 76 until the third finger section 23 contacts the object, and the grabbing process is completed, as shown in fig. 17, 18, 19 and 20.
The grabbing is that a plurality of joints rotate simultaneously, and simultaneously, the grabbing device can adapt to objects with different shapes and sizes well and has self-adaptability; when a small grabbing force is needed, only the first motor 41 needs to be started, when a large grabbing force is needed, after a certain finger section (namely the first finger section 21, the second finger section 22 or the third finger section 23) contacts an object, the first motor 41 continues to rotate for a small period of time, the grabbing force can be changed through different spring pieces (namely the first spring piece 71, the third spring piece 73, the fifth spring piece 75 and the sixth spring piece 76), and when a particularly large grabbing force is needed, the second motor 42 can also be started to perform collaborative grabbing, and the grabbing force at the moment is provided by the first motor 41 and the second motor 42 together, so that the grabbing force is increased more. The first motor 41 may bring about a coupling-first-then-adaptive-coupling-adaptive composite gripping mode of three joints (proximal, middle and distal), and the second motor 42 may bring about a coupling-first-then-adaptive-coupling-adaptive composite gripping mode of two joints (middle and distal).
When the self-adapting grabbing of the middle joint occurs, the first finger section 21 contacts the object 99 and is blocked by the object 99, when the first deflector rod 81 pushes the second deflector rod 82 to rotate, the fourth gear 54 rotates, the third gear 53 rotates relative to the base 1, and the second spring piece 72 deforms; when the adaptive grabbing of the distal joint occurs, the second finger section 22 contacts the object 99 and is blocked by the object 99, and when the third lever 83 pushes the fourth lever 84 to rotate, the eighth gear 58 rotates, the seventh gear 57 rotates relative to the first finger section 21, and the fourth spring element 74 deforms.
When the object 99 is released in this embodiment, the second motor 42 is reversed, the first motor 41 is reversed, and the subsequent process is reverse to the above process, and will not be described again.
The device comprehensively realizes the pinch and holding composite self-adaptive grabbing function of driving built-in variable grabbing force by utilizing the motor, the gear combination, the belt wheel combination, the plurality of spring pieces, the delay deflector rod, the bump constraint and the like. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.
Claims (3)
1. A compound self-adaptation robot finger device with multiple grabbing force modes is characterized in that: the device comprises a base, a first finger section, a second finger section, a third finger section, a near joint shaft, a middle joint shaft, a far joint shaft, a first intermediate shaft, a second intermediate shaft, a first motor, a second motor, a first speed reducer, a second speed reducer, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a first deflector rod, a second deflector rod, a third deflector rod, a fourth deflector rod, a first lug, a second lug, a third lug, a fourth lug, a first driving wheel, a second driving wheel, a third driving wheel, a fourth driving wheel, a first driving belt and a second driving belt; the near joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the near joint shaft; the middle joint shaft is movably sleeved in the first finger section; the second finger section is movably sleeved on the middle joint shaft; the distal joint sleeve is sleeved in the second finger section; the third finger section is sleeved on the far joint shaft; the first middle shaft is sleeved in the first finger section, and the second middle shaft is sleeved in the second finger section; the first motor is arranged in a first finger section, the first motor is fixedly connected with the first finger section, an output shaft of the first motor is connected with an input shaft of a first speed reducer, a first gear is sleeved and fixed on an output shaft of the first speed reducer, the first gear is meshed with a second gear, the second gear is movably sleeved and fixed on a near joint shaft, two ends of a first spring part are respectively connected with a second gear and a base, a first driving wheel is fixedly connected with the first gear, the second driving wheel is fixedly connected with a fourth gear, the first driving wheel is movably contacted with the second driving wheel in a stroke range, a third gear is movably sleeved and fixed on the near joint shaft, the third gear is meshed with a fourth gear, the fourth gear is fixedly connected with a first driving wheel, the first driving wheel is in an O shape, the first driving belt is connected with the first driving wheel and the second driving wheel, the first driving wheel, the second driving wheel and the second driving wheel form a second driving wheel are matched with the second driving wheel, the second driving wheel is movably sleeved and fixed on the second middle shaft, the second driving wheel is fixedly connected with a second bump in the second joint section, and the second bump is fixedly connected with the second bump in the stroke range, and the second bump is fixedly connected with the second bump; the second motor is arranged in the second finger section, the second motor is fixedly connected with the second finger section, an output shaft of the second motor is connected with an input shaft of a second speed reducer, the fifth gear is fixedly sleeved on an output shaft of the second speed reducer, the fifth gear is meshed with a sixth wheel, the sixth gear is movably sleeved on a middle joint shaft, two ends of the third spring piece are respectively connected with a sixth gear and a first finger section, the third deflector rod is fixedly connected with the fifth gear, the fourth deflector rod is fixedly connected with an eighth gear, the third deflector rod is movably contacted with the fourth deflector rod in a stroke range, the seventh gear is movably sleeved on the middle joint shaft, the seventh gear is meshed with an eighth gear, the eighth gear is movably sleeved on the second intermediate shaft, the eighth gear is fixedly connected with a third transmission wheel, the second transmission belt is in an O shape, the second transmission belt is connected with the third transmission wheel and the fourth transmission wheel, the third transmission wheel, the fourth transmission wheel and the fourth transmission wheel are matched with the fourth transmission wheel and form a bump in a movable joint range, the fourth transmission wheel is movably sleeved on the fourth finger section, and the bump is fixedly connected with the fourth finger section; the two ends of the second spring piece are respectively connected with the base and the third gear, and the second spring piece enables the second protruding block to lean against the first protruding block; the two ends of the fourth spring piece are respectively connected with the first finger section and the seventh gear, and the fourth spring piece enables the fourth lug to lean against the third lug; the first gear and the second gear are equal in modulus, the third gear and the fourth gear are equal in modulus, the fifth gear and the sixth gear are equal in modulus, and the seventh gear and the eighth gear are equal in modulus; the first intermediate shaft is coaxial with the output shaft of the first speed reducer, and the second intermediate shaft is coaxial with the output shaft of the second speed reducer.
2. The compound adaptive robot finger device with multiple grip force modes of claim 1, wherein: the number of teeth of the third gear is equal to the number of teeth of the fourth gear, the radius of the first driving wheel is equal to that of the second driving wheel, the number of teeth of the seventh gear is equal to that of the eighth gear, and the radius of the third driving wheel is equal to that of the fourth driving wheel.
3. The compound adaptive robot finger device with multiple grip force modes of claim 1, wherein: the first spring piece, the third spring piece, the fifth spring piece and the sixth spring piece are all torsion springs; the second spring part and the fourth spring part are all tension springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256598.4A CN107009375B (en) | 2017-04-19 | 2017-04-19 | Composite self-adaptive robot finger device with multiple grabbing force modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256598.4A CN107009375B (en) | 2017-04-19 | 2017-04-19 | Composite self-adaptive robot finger device with multiple grabbing force modes |
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| CN108274483B (en) * | 2017-12-28 | 2020-06-26 | 中国科学院沈阳自动化研究所 | Single-drive shape self-adaptive mechanical finger |
| CN108946138B (en) * | 2018-06-27 | 2023-10-31 | 江苏伟正电气科技有限公司 | Anti-drop mechanism of battery |
| CN110000804B (en) * | 2019-05-22 | 2024-01-30 | 清研(洛阳)先进制造产业研究院 | Two-way grabbing triggering self-adaptive robot finger device |
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| US9039057B2 (en) * | 2009-09-22 | 2015-05-26 | Ariel-University Research And Development Company Ltd. | Orientation controller, mechanical arm, gripper and components thereof |
| US9814604B2 (en) * | 2012-08-12 | 2017-11-14 | 5Th Element Limited | Gripping device |
| US8936290B1 (en) * | 2012-08-29 | 2015-01-20 | Sandia Corporation | Robotic hand with modular extensions |
| CN106426240B (en) * | 2016-07-08 | 2018-11-23 | 清华大学 | Idle running kinematic link coupling adaptive robot finger apparatus |
| CN206811980U (en) * | 2017-04-19 | 2017-12-29 | 清华大学 | Compound adaptive robot finger apparatus with a variety of crawl force modes |
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