CN107030719A - The built-in driving of multi-joint becomes grip time-delayed adaptive robot finger apparatus - Google Patents

The built-in driving of multi-joint becomes grip time-delayed adaptive robot finger apparatus Download PDF

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Publication number
CN107030719A
CN107030719A CN201710221752.4A CN201710221752A CN107030719A CN 107030719 A CN107030719 A CN 107030719A CN 201710221752 A CN201710221752 A CN 201710221752A CN 107030719 A CN107030719 A CN 107030719A
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CN
China
Prior art keywords
gear
segment
spring part
projection
driving lever
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Pending
Application number
CN201710221752.4A
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Chinese (zh)
Inventor
阮思乔
张文增
李特
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Casun Intelligent Robot Co Ltd
Tsinghua University
Original Assignee
Shenzhen Casun Intelligent Robot Co Ltd
Tsinghua University
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Publication date
Application filed by Shenzhen Casun Intelligent Robot Co Ltd, Tsinghua University filed Critical Shenzhen Casun Intelligent Robot Co Ltd
Priority to CN201710221752.4A priority Critical patent/CN107030719A/en
Publication of CN107030719A publication Critical patent/CN107030719A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

The built-in driving of multi-joint becomes grip time-delayed adaptive robot finger apparatus, belong to robot technical field, including pedestal, the first segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, two motors, two decelerators, 12 gears, six spring parts, four driving levers and four projections.The arrangement achieves the change grip grip built in driving with gripping compound self-adapting grasping function.Motor is placed in the middle part of finger by the device, reduce susceptor space to take, can have during crawl object and self-adapting grasping effect is obtained to different shape size objects, control is simple, without complicated sensing and control system, and it is high to act anthropomorphic degree, being capable of grip wisp, weight and big object can also be gripped, grasping force is variable.

Description

The built-in driving of multi-joint becomes grip time-delayed adaptive robot finger apparatus
Technical field
The invention belongs to robot technical field, the built-in driving of more particularly to a kind of multi-joint becomes grip time-delayed adaptive The structure design of robot finger apparatus.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, because number of motors is few, hides Bigger power and volume can be selected by entering the motor of palm, be exerted oneself big, while the reponse system of Purely mechanical is without to environment Sensitivity can also realize stable 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.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, and one kind is to grip.Grip is to use end finger Tip portion go grip object, using two points or two soft finger faces go contact object, mainly for small-size object or tool There is the larger object of opposite;Gripping is the contact for realizing multiple points around object with multiple segment enveloping rings of finger, is reached More stable shape envelope crawl.Traditional pure adaptive under-actuated finger can be held by the way of adaptive envelope object Hold, but end grip crawl can not be implemented.
The content of the invention
The invention aims to the weak point for overcoming prior art, there is provided driving change grip built in a kind of multi-joint Time-delayed adaptive robot finger apparatus.Motor is placed in the middle part of finger by the device, is reduced susceptor space and is taken, captures object When can have different shape size objects are obtained with self-adapting grasping effect, control is simple, without complicated sensing and control system System, and it is high to act anthropomorphic degree, can grip wisp, weight and big object can also be gripped, grasping force is variable.
Technical scheme is as follows:
The built-in driving of a kind of multi-joint that the present invention is designed becomes grip time-delayed adaptive robot finger apparatus, and its feature exists In:Including pedestal, the first segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, the first jackshaft, Second jackshaft, the 3rd jackshaft, the 4th jackshaft, the first motor, the second motor, the first decelerator, the second decelerator, first Gear, second gear, the 3rd gear, the 4th gear, the 5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear, Tenth gear, the 11st gear, the 12nd gear, the first spring part, the second spring part, the 3rd spring part, the 4th spring part, the 5th spring part, 6th spring part, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the first projection, the second projection, the 3rd projection and the 4th Projection;The nearly joint shaft is movably set in pedestal;First segment is actively socketed on nearly joint shaft;The middle joint Axle is movably set in the first segment;Second segment is actively socketed on middle joint shaft;The remote joint shaft is set in In two segments;3rd segment is socketed on remote joint shaft;First jackshaft, the second jackshaft are respectively sleeved at first In segment, the 3rd jackshaft, the 4th jackshaft are respectively sleeved in the second segment;First motor is arranged on the first finger Duan Zhong, first motor and the first segment are affixed, and the output shaft of first motor is connected with the input shaft of the first decelerator, The first gear is fixed on the output shaft of the first decelerator, and the first gear is engaged with second gear, second tooth Wheel is actively socketed on nearly joint shaft, and the two ends of the first spring part connect second gear and pedestal, first driving lever respectively Affixed with first gear, second driving lever and the 4th gear are affixed, and first driving lever and the second driving lever are in the range of stroke Movable contact, first driving lever is contacted or stood away with the second driving lever, and the 3rd gear is actively socketed on nearly pass On nodal axisn, the 3rd gear is engaged with the 4th gear, and the 4th gear is actively socketed on the first jackshaft, and the described 4th Gear is engaged with the 5th gear, and the 5th gear is actively socketed on the second jackshaft, the 5th gear and the 6th gear Engagement, the 6th gear is actively socketed on middle joint shaft, and the two ends of the 5th spring part connect the 6th gear and the respectively Two segments, first projection and pedestal are affixed, and second projection and the 3rd gear are affixed, first projection and second convex Block movable contact in the range of stroke, first projection and the second bump contact or stands away;Second motor It is arranged in the second segment, second motor and the second segment are affixed, the output shaft and the second decelerator of second motor Input shaft be connected, the 7th gear is fixed on the output shaft of the second decelerator, and the 7th gear is nibbled with eighth gear Close, the eighth gear is actively socketed on middle joint shaft, and the two ends of the 3rd spring part connect eighth gear and first respectively Segment, the 3rd driving lever and the 7th gear are affixed, and the 4th driving lever and the 5th gear are affixed, the 3rd driving lever and the 4th Driving lever movable contact in the range of stroke, the 3rd driving lever contacts or stood away with the 4th driving lever, the 9th tooth Wheel is actively socketed on middle joint shaft, and the 9th gear is engaged with the tenth gear, and the tenth gear is actively socketed on the 3rd On jackshaft, the tenth gear is engaged with the 11st gear, and the 11st gear is actively socketed on the 4th jackshaft, institute State the 11st gear to engage with the 12nd gear, the 12nd gear is actively socketed on remote joint shaft, the 6th spring part Two ends connect the 12nd gear and the 3rd segment respectively, the 3rd projection and the first segment are affixed, the 4th projection with 9th gear is affixed, the 3rd projection and the 4th projection movable contact in the range of stroke, the 3rd projection and the 4th convex Block contacts or stood away;The two ends of the second spring part connect pedestal and the 3rd gear respectively, and the second spring part makes Second projection is close to the first projection;The two ends of the 4th spring part connect the first segment and the 9th gear, the 4th spring respectively Part makes the 4th projection be close to the 3rd projection;The first gear is equal with the modulus of second gear, the 7th gear and the 8th The modulus of gear is equal, and the 3rd gear, the 4th gear, the 5th gear are equal with the modulus of the 6th gear, the 9th tooth Wheel, the tenth gear, the 11st gear are equal with the modulus of the 12nd gear;The first gear, second gear modulus it is equal; The output shaft of first jackshaft and the first decelerator is coaxial, and the output shaft of the 3rd jackshaft and the second decelerator is same Axle.
The built-in driving of multi-joint of the present invention becomes grip time-delayed adaptive robot finger apparatus, it is characterised in that: The number of teeth of 3rd gear is equal with the number of teeth of the 6th gear, and the number of teeth of the 9th gear is equal with the number of teeth of the 12nd gear.
The built-in driving of multi-joint of the present invention becomes grip time-delayed adaptive robot finger apparatus, it is characterised in that: The first spring part, the 3rd spring part, the 5th spring part, the 6th spring part use torsion spring;Second spring part, the 4th spring part are using drawing Spring.
The present invention compared with prior art, with advantages below and high-lighting effect:
Apparatus of the present invention realize drive using synthesis such as motor, gear combination, multiple spring parts, delay driving lever and projection constraints Built-in change grip grip is moved with gripping compound self-adapting grasping function.Motor is placed in the middle part of finger by the device, reduces base Seat space hold, can have during crawl object and different shape size objects are obtained with self-adapting grasping effect, control is simple, without Complicated sensing and control system, and it is high to act anthropomorphic degree, can grip wisp, weight and big thing can also be gripped Body, grasping force is variable.
Brief description of the drawings
Fig. 1 is that the built-in driving of multi-joint that the present invention is designed becomes a kind of real of grip time-delayed adaptive robot finger apparatus Apply the front section view of example.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (Fig. 2 left side view) of embodiment illustrated in fig. 1.
Fig. 4 is the location diagram of part in embodiment illustrated in fig. 1.
Fig. 5 is the location diagram of part in embodiment illustrated in fig. 1.
Fig. 6 be embodiment illustrated in fig. 1 in original state, the relative position of first gear, the first driving lever and the second driving lever Figure.
Fig. 7 be embodiment illustrated in fig. 1 in original state, the relative position of the 7th gear, the 3rd driving lever and the 4th driving lever Figure.
Fig. 8 is the schematic diagram that embodiment illustrated in fig. 1 first driving lever during crawl contacts the second driving lever.
Fig. 9 is the signal that embodiment illustrated in fig. 1 second driving lever of the first driving lever promotion during crawl turns over an angle Figure.
Figure 10 is the schematic diagram that embodiment illustrated in fig. 1 the 3rd driving lever during crawl contacts the 4th driving lever.
Figure 11 is the signal that embodiment illustrated in fig. 1 the 4th driving lever of the 3rd driving lever promotion during crawl turns over an angle Figure.
When Figure 12 to Figure 13 is embodiment illustrated in fig. 1 crawl object, the 3rd segment first contacts the situation of object.
When Figure 14 to Figure 16 is embodiment illustrated in fig. 1 crawl object, the first segment, the second segment are contacted prior to the 3rd segment The situation of object.
When Figure 17 to Figure 20 is embodiment illustrated in fig. 1 crawl object, the first segment, the second segment and the 3rd segment connect successively Touch the situation of object.
In Fig. 1 into Figure 20:
1- pedestals, the segments of 21- first, the segments of 22- second, the segments of 23- the 3rd,
Joint shaft in the nearly joint shafts of 31-, 32-, the remote joint shafts of 33-, the jackshafts of 341- first,
The jackshafts of 342- second, the jackshafts of 343- the 3rd, the jackshafts of 344- the 4th, the motors of 41- first,
The motors of 42- second, the decelerators of 411- first, the decelerators of 421- second, 51- first gears,
52- second gears, the gears of 53- the 3rd, the gears of 54- the 4th, the gears of 55- the 5th,
The gears of 56- the 6th, the gears of 57- the 7th, 58- eighth gears, the gears of 59- the 9th,
The gears of 60- the tenth, the gears of 61- the 11st, the gears of 62- the 12nd, 71- the first spring parts,
72- the second spring parts, the spring parts of 73- the 3rd, the spring parts of 74- the 4th, the spring parts of 75- the 5th,
The spring parts of 76- the 6th, the driving levers of 81- first, the driving levers of 82- second, the driving levers of 83- the 3rd,
The driving levers of 84- the 4th, the projections of 91- first, the projections of 92- second, the projections of 93- the 3rd,
The projections of 94- the 4th, 99- objects.
Embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail the present invention concrete structure, the content of operation principle.
The built-in driving of multi-joint that the present invention is designed becomes a kind of embodiment of grip time-delayed adaptive robot finger apparatus, As shown in Figures 1 to 7, including pedestal 1, the first segment 21, the second segment 22, the 3rd segment 23, nearly joint shaft 31, middle joint shaft 32nd, remote joint shaft 33, the first jackshaft 341, the second jackshaft 342, the 3rd jackshaft 343, the 4th the 344, first electricity of jackshaft Machine 41, the second motor 42, the first decelerator 411, the second decelerator 421, first gear 51, second gear 52, the 3rd gear 53, 4th gear 54, the 5th gear 55, the 6th gear 56, the 7th gear 57, eighth gear 58, the 9th gear 59, the tenth gear 60, 11st gear 61, the 12nd gear 62, the first spring part 71, the second spring part 72, the 3rd spring part 73, the 4th spring part 74, the 5th spring Part 75, the 6th spring part 76, the first driving lever 81, the second driving lever 82, the 3rd driving lever 83, the 4th driving lever 84, the first projection 91, second are convex Block 92, the 3rd projection 93 and the 4th projection 94;The nearly joint shaft 31 is movably set in pedestal 1;First segment 21 is lived It is dynamic to be socketed on nearly joint shaft 31;The middle joint shaft 32 is movably set in the first segment 21;The activity of second segment 22 It is socketed on joint shaft 32;The remote joint shaft 33 is set in the second segment 23;3rd segment 24 is socketed in remote pass On nodal axisn 33;First jackshaft 341, the second jackshaft 342 are respectively sleeved in the first segment 21, the 3rd jackshaft 343rd, the 4th jackshaft 344 is respectively sleeved in the second segment 22;First motor 41 is arranged in the first segment 21, described First motor 41 and the first segment 21 are affixed, and the output shaft of first motor 41 is connected with the input shaft of the first decelerator 411, The first gear 51 is fixed on the output shaft of the first decelerator 411, and the first gear 51 is engaged with second gear 52, institute State second gear 52 to be actively socketed on nearly joint shaft 31, the two ends of the first spring part 71 connect second gear 52 and base respectively Seat 1, first driving lever 81 and first gear 51 are affixed, and second driving lever 82 and the 4th gear 54 are affixed, described first group The movable contact in the range of stroke of driving lever 82 of bar 81 and second, first driving lever 81 contacts or left one section with the second driving lever 82 Distance, the 3rd gear 53 is actively socketed on nearly joint shaft 31, and the 3rd gear 53 is engaged with the 4th gear 54, described 4th gear 54 is actively socketed on the first jackshaft 341, and the 4th gear 54 is engaged with the 5th gear 55, the 5th tooth Wheel 55 is actively socketed on the second jackshaft 342, and the 5th gear 55 is engaged with the 6th gear 56, and the 6th gear 56 is lived Dynamic to be socketed on middle joint shaft 32, the two ends of the 5th spring part 75 connect the 6th gear 56 and the second segment 22 respectively, described First projection 92 and pedestal 1 are affixed, and second projection 92 and the 3rd gear 53 are affixed, the projection of the first projection 91 and second 92 in the range of stroke movable contact, first projection 91 contacts or stands away with the second projection 92;Described second Motor 42 is arranged in the second segment 22, and second motor 42 and the second segment 22 are affixed, the output of second motor 42 Axle is connected with the input shaft of the second decelerator 421, and the 7th gear 57 is fixed on the output shaft of the second decelerator 421, institute State the 7th gear 57 to engage with eighth gear 58, the eighth gear 58 is actively socketed on middle joint shaft 32, the 3rd spring The two ends of part 73 connect the segment 21 of eighth gear 58 and first respectively, and the 3rd driving lever 83 and the 7th gear 57 are affixed, described 4th driving lever 84 and the 5th gear 55 are affixed, the 3rd driving lever 83 and the 4th movable contact in the range of stroke of driving lever 84, institute State the 3rd driving lever 83 to contact or stand away with the 4th driving lever 84, the 9th gear 59 is actively socketed on middle joint shaft 32 On, the 9th gear 59 is engaged with the tenth gear 60, and the tenth gear 60 is actively socketed on the 3rd jackshaft 343, institute State the tenth gear 60 to engage with the 11st gear 61, the 11st gear 61 is actively socketed on the 4th jackshaft 344, described 11st gear 61 is engaged with the 12nd gear 62, and the 12nd gear 62 is actively socketed on remote joint shaft 33, and described The two ends of six spring parts 76 connect the 12nd gear 62 and the 3rd segment 23 respectively, and the 3rd projection 93 and the first segment 21 are solid Connect, the 4th projection 94 and the 9th gear 59 are affixed, the 3rd projection 93 and the 4th projection 94 are movable in the range of stroke Contact, the 3rd projection 93 contacts or stood away with the 4th projection 94;The two ends of the second spring part 72 connect respectively The gear 53 of pedestal 1 and the 3rd is connect, the second spring part 72 makes the second projection 92 be close to the first projection 91;The 4th spring part 74 Two ends connect the first segment 21 and the 9th gear 59 respectively, and the 4th spring part 74 makes the 4th projection 94 be close to the 3rd projection 93; The first gear 51 is equal with the modulus of second gear 52, and the 7th gear 57 is equal with the modulus of eighth gear 58, institute State the 3rd gear 53, the 4th gear 54, the 5th gear 55 equal with the modulus of the 6th gear 56, the 9th gear the 59, the tenth Gear 60, the 11st gear 61 are equal with the modulus of the 12nd gear 62;The first gear 51, the modulus phase of second gear 52 Deng;The output shaft of first jackshaft 341 and the first decelerator 411 is coaxial, the 3rd jackshaft 343 and the second decelerator 421 output shaft is coaxial.
In the present embodiment, the number of teeth of the 3rd gear 53 is equal with the number of teeth of the 6th gear 56, the tooth of the 9th gear 59 Number is equal with the number of teeth of the 12nd gear 62.
In the present embodiment, the first spring part 71, the 3rd spring part 73, the 5th spring part 75, the 6th spring part 76 use torsion spring; Second spring part 72, the 4th spring part 74 use extension spring.
The operation principle of the present embodiment, is described below with reference to accompanying drawing:
The device original state as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, now, the second spring part 72 makes second Projection 92 abuts the first projection 91 (as shown in Figure 4), and the 4th spring part 74 makes the 4th projection 94 against the 3rd projection 93 (such as Fig. 5 institutes Show), there is one section of angular distance (as shown in Figure 6), the 3rd driving lever 83 and the 4th driving lever 84 in the first driving lever 81 and the second driving lever 82 In the presence of one section of angular distance (as shown in Figure 7).
First motor 41 is rotated, and first gear 51 is driven by the first decelerator 411, second gear 52 is driven, due to base Seat 1 is motionless, so second gear 52 can drive the first segment 21 to be rotated around nearly joint shaft 31 by the first spring part 71, (i.e. first refers to Section 21 is close to object 99 and rotated), because the second spring part 72 makes the second projection 92 abut the first projection 91, so when the 3rd gear 53 Opposite base 1 is motionless, therefore the rotation of the first segment 21 can cause the 4th gear 54 to be rotated relative to the first segment 21, drives the 5th Gear 55, drives the 6th gear 56, drives the second segment 22 to rotate (i.e. the second segment around middle joint shaft 32 by the 5th spring part 75 22, which are close to object 99, rotates), now, and because the 4th spring part 74 makes the 4th projection 94 abut the 3rd projection 93, so the 9th tooth Wheel 59 is motionless relative to the first segment 21, therefore the rotation of the second segment 22 can cause the tenth gear 60 relative to the second segment 22 Rotate, drive the 11st gear 61, drive the 12nd gear 62, drive the 3rd segment 23 to go the long way round joint shaft by the 6th spring part 76 33 rotate (i.e. the 3rd segment 23 is close to object 99 and rotated), it is achieved thereby that the coupling linkage effect in three joints.
Now, it is likely encountered following different situation:
1) when the 3rd segment 23 contacts object 99, the first motor 41 many turns of low-angles, the first spring part the 71, the 5th again Spring part 75, the 6th spring part 76 deform, and the first spring part 71, the 5th spring part 75, the deformation elastic force of the 6th spring part 76 turn into crawl The grasping force source of object 99, crawl terminates, and this crawl process is as shown in Figure 12 and Figure 13;
2) when the first segment 21 contacts object 99, the first motor 41 is rotated further, and the first spring part 71 deforms, and first The idle running of the first driving lever 81 on gear 51 through (the i.e. first delay) after a while rotates the touched on the 4th gear 54 Two driving levers 82 (as shown in Figure 8), and the first driving lever 81 promotes the second driving lever 82 to rotate an angle (as shown in Figure 9), so that Have rotated the 4th gear 54, drive the 5th gear 55, drive the 6th gear 56, by the 5th spring part 75 drive the second segment 22 around Middle joint shaft 32 is rotated, and the 9th gear 59 is motionless relative to the first segment 21, and the tenth gear 60 is rotated relative to the second segment 22, band Dynamic 11st gear 61, drives the 12nd gear 62, drives the 3rd segment 23 joint shaft 33 of going the long way round to rotate by the 6th spring part 76.
Now, it is likely encountered following different situation:
A) when the 3rd segment 23 contacts object 99, the first motor 41 many turns of low-angles, the first spring part the 71, the 5th again Spring part 75, the 6th spring part 76 deform, and the first spring part 71, the 5th spring part 75, the deformation elastic force of the 6th spring part 76 turn into crawl The grasping force source of object 99, crawl terminates;
B) when the second segment 22 contacts object 99, the second motor 42 is restarted, and the 7th is driven by the second decelerator 421 Gear 57, drives eighth gear 58, drives the second segment 22 to be rotated around middle joint shaft 32 by the 3rd spring part 73, the second segment 22 Object 99 is close to, the 9th gear 59 is motionless relative to the first segment 21, the tenth gear 60 is rotated relative to the second segment 22, driven 11st gear 61, drives the 12nd gear 62, drives the 3rd segment 23 to rotate by the 6th spring part 76.
Now, it is likely encountered following different situation:
I) when the 3rd segment 23 contacts object 99, the second motor 42 many turns of low-angles, the 3rd spring part the 73, the 6th again Spring part 76 deforms, and the deformation elastic force of the 3rd spring part 73 and the 6th spring part 76 turns into the grasping force source of crawl object, crawl Terminate, this crawl process is as shown in Figure 14, Figure 15 and Figure 16;
II) when the second segment 22 contacts object 99, the second motor 42 is rotated further, and is driven by the second decelerator 421 The idle running of the 3rd driving lever 83 on 7th gear 57, the 7th gear 57 through (the i.e. second delay) after a while, which is rotated, touches the The 4th driving lever 84 (as shown in Figure 10) on ten gears 60, and the 3rd driving lever 83 promotes the 4th driving lever 84 to have rotated an angle (as shown in figure 11), so as to have rotated the tenth gear 60, drives the 11st gear 61, drives the 12nd gear 62, pass through the 6th Spring part 76 drives the 3rd segment 23 to rotate, and until the 3rd segment 23 contacts object, crawl terminates, this crawl process such as Figure 17, Shown in Figure 18, Figure 19 and Figure 20.
The crawl is that a kind of multiple joints are rotated simultaneously, can be good at adapting to simultaneously for different shape size objects, With adaptivity;When needing less grasp force, it is thus only necessary to start the first motor 41, when the grasp force that needs are larger When, after some segment (referring to the first segment 21, the second segment 22 or the 3rd segment 23) contact object, the first motor 41 continues The a bit of time is rotated, the first spring part 71, the 3rd spring part 73, the 5th spring part 75 and the 6th spring (can be referred to by different spring parts Part 76) changeable grasping force is realized, when needing king-sized grasp force, the second motor 42 can also be started and carry out collaboration crawl, this When grasp force provided jointly by the first motor 41, the second motor 42, grasp force increase is more.First motor 41 can bring three The then adaptive coupling adaptive that first couples of individual joint (nearly joint, middle joint and remote joint) is combined grasp mode, second Motor 42 can bring the then adaptive coupling adaptive that first couples in two joints (middle joint and remote joint) to be combined crawl Pattern.
When the self-adapting grasping in central joint occurs, the first segment 21 contacts object 99 and stops motionless by object 99, When first driving lever 81 promotes the rotation of the second driving lever 82, the 4th gear 54 is rotated, and the opposite base 1 of the 3rd gear 53 is rotated, the second spring Part 72 deforms;When the self-adapting grasping in remote joint occurs, the second segment 22 contacts object 99 and stopped by object 99 Motionless, when the 3rd driving lever 83 promotes the rotation of the 4th driving lever 84, the tenth gear 60 is rotated, relative 21 turns of first segment of the 9th gear 59 Dynamic, the 4th spring part 74 deforms.
When the present embodiment discharges object 99, the second motor 42 is inverted, and the first motor 41 is inverted, subsequent process and said process On the contrary, repeating no more.
Apparatus of the present invention realize drive using synthesis such as motor, gear combination, multiple spring parts, delay driving lever and projection constraints Built-in change grip grip is moved with gripping compound self-adapting grasping function.Motor is placed in the middle part of finger by the device, reduces base Seat space hold, can have during crawl object and different shape size objects are obtained with self-adapting grasping effect, control is simple, without Complicated sensing and control system, and it is high to act anthropomorphic degree, can grip wisp, weight and big thing can also be gripped Body, grasping force is variable.

Claims (3)

1. a kind of built-in driving of multi-joint becomes grip time-delayed adaptive robot finger apparatus, it is characterised in that:Including pedestal, One segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, the first jackshaft, the second jackshaft, Three jackshafts, the 4th jackshaft, the first motor, the second motor, the first decelerator, the second decelerator, first gear, the second tooth Wheel, the 3rd gear, the 4th gear, the 5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear, the tenth gear, 11 gears, the 12nd gear, the first spring part, the second spring part, the 3rd spring part, the 4th spring part, the 5th spring part, the 6th spring part, One driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the first projection, the second projection, the 3rd projection and the 4th projection;It is described near Joint shaft is movably set in pedestal;First segment is actively socketed on nearly joint shaft;The middle joint shaft is slidingly connected In the first segment;Second segment is actively socketed on middle joint shaft;The remote joint shaft is set in the second segment;Institute The 3rd segment is stated to be socketed on remote joint shaft;First jackshaft, the second jackshaft are respectively sleeved in the first segment, described 3rd jackshaft, the 4th jackshaft are respectively sleeved in the second segment;First motor is arranged in the first segment, and described One motor and the first segment are affixed, and the output shaft of first motor is connected with the input shaft of the first decelerator, first tooth Wheel is fixed on the output shaft of the first decelerator, and the first gear is engaged with second gear, the second gear pivot bush unit On nearly joint shaft, the two ends of the first spring part connect second gear and pedestal, first driving lever and first gear respectively Affixed, second driving lever and the 4th gear are affixed, the first driving lever and the second driving lever movable contact in the range of stroke, institute State the first driving lever to contact or stand away with the second driving lever, the 3rd gear is actively socketed on nearly joint shaft, described 3rd gear is engaged with the 4th gear, and the 4th gear is actively socketed on the first jackshaft, the 4th gear and the 5th Gear is engaged, and the 5th gear is actively socketed on the second jackshaft, and the 5th gear is engaged with the 6th gear, and described the Six gears are actively socketed on middle joint shaft, and the two ends of the 5th spring part connect the 6th gear and the second segment respectively, described First projection and pedestal are affixed, and second projection and the 3rd gear are affixed, and first projection and the second projection are in stroke model Enclose interior movable contact, first projection and the second bump contact or stand away;Second motor is arranged on second In segment, second motor and the second segment are affixed, the output shaft of second motor and the input shaft phase of the second decelerator Even, the 7th gear is fixed on the output shaft of the second decelerator, and the 7th gear is engaged with eighth gear, and the described 8th Gear is actively socketed on middle joint shaft, and the two ends of the 3rd spring part connect eighth gear and the first segment, described respectively Three driving levers and the 7th gear are affixed, and the 4th driving lever and the 5th gear are affixed, and the 3rd driving lever and the 4th driving lever are in stroke In the range of movable contact, the 3rd driving lever contacts or stands away with the 4th driving lever, the 9th gear pivot bush unit On middle joint shaft, the 9th gear is engaged with the tenth gear, and the tenth gear is actively socketed on the 3rd jackshaft, institute State the tenth gear to engage with the 11st gear, the 11st gear is actively socketed on the 4th jackshaft, the 11st tooth Wheel is engaged with the 12nd gear, and the 12nd gear is actively socketed on remote joint shaft, the two ends difference of the 6th spring part The 12nd gear and the 3rd segment are connected, the 3rd projection and the first segment are affixed, the 4th projection and the 9th gear are consolidated Connect, the 3rd projection and the 4th projection movable contact in the range of stroke, the 3rd projection and the 4th bump contact or from Open a segment distance;The two ends of the second spring part connect pedestal and the 3rd gear respectively, and the second spring part leans on the second projection To the first projection;The two ends of the 4th spring part connect the first segment and the 9th gear respectively, and the 4th spring part makes the 4th convex Block is close to the 3rd projection;The first gear is equal with the modulus of second gear, the modulus of the 7th gear and eighth gear Equal, the 3rd gear, the 4th gear, the 5th gear are equal with the modulus of the 6th gear, the 9th gear, the tenth tooth Wheel, the 11st gear are equal with the modulus of the 12nd gear;The first gear, second gear modulus it is equal;Described first The output shaft of jackshaft and the first decelerator is coaxial, and the output shaft of the 3rd jackshaft and the second decelerator is coaxial.
2. the built-in driving of multi-joint as claimed in claim 1 becomes grip time-delayed adaptive robot finger apparatus, its feature exists In:The number of teeth of 3rd gear is equal with the number of teeth of the 6th gear, the number of teeth and the number of teeth phase of the 12nd gear of the 9th gear Deng.
3. the built-in driving of multi-joint as claimed in claim 1 becomes grip time-delayed adaptive robot finger apparatus, its feature exists In:The first spring part, the 3rd spring part, the 5th spring part, the 6th spring part use torsion spring;Second spring part, the 4th spring part are used Extension spring.
CN201710221752.4A 2017-04-06 2017-04-06 The built-in driving of multi-joint becomes grip time-delayed adaptive robot finger apparatus Pending CN107030719A (en)

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CN108515528A (en) * 2018-03-15 2018-09-11 清华大学 The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line

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