CN107053220A - The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line - Google Patents

The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line Download PDF

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Publication number
CN107053220A
CN107053220A CN201610892202.0A CN201610892202A CN107053220A CN 107053220 A CN107053220 A CN 107053220A CN 201610892202 A CN201610892202 A CN 201610892202A CN 107053220 A CN107053220 A CN 107053220A
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China
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axle
rod
gear
segment
length
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CN201610892202.0A
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Chinese (zh)
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CN107053220B (en
Inventor
胡汉东
张文增
徐向荣
冷护基
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Tsinghua University
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Tsinghua University
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    • 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 flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line, belongs to robot technical field, including pedestal, two segments, two joint shafts, rack, multiple gears, two drives, driving member, guide rod and spring part etc..The arrangement achieves the clamping of robot finger's straight line parallel and the function of self-adapting grasping;The linear motion of remote joint shaft is realized using linkage, coordinates rackwork to realize the posture that the second segment keeps opposite base to fix in the first stage of gripping using spring part;Realized using rackwork when object contacts the first segment, the second segment is gone the long way round the adaptive rotation of joint shaft;It is adapted to the crawl of different shapes and sizes object;Capture scope big, grasping stability is reliable, and simple in construction, cost is low.

Description

The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line
Technical field
The invention belongs to robot technical field, the flat folder indirect self-adaptive machine of more particularly to a kind of connecting rod rack straight line The structure design of finger device.
Background technology
With the development of automatic technology, robot technology has welcome new peak, and robot is used as the one of robot End effector is planted, also causes more concerns, the research in terms of robot is also more and more.For assist, people exists More tasks are in particular cases completed, diversified robot, such as Dextrous Hand, extraordinary hand, tong-like is developed Hand (industrial clamper) etc..Object in space has six-freedom degree, and robot needs limitation while object is caught What the six-freedom degree of object could be stablized catches object, and tong-like hand is only capable of limitation and do not surpassed typically by the way of parallel clamping Four frees degree are crossed, in order to keep the stability of clamping, it is necessary to apply larger clamping force, using between object and robot Frictional force ensures stable crawl object, but huge clamping force can make body surface produce larger strain, or even makes Object produces plastic deformation or object destruction, and especially for the relatively low object of thin wall body and hardness, tong-like hand can not be pressed from both sides directly Take.
The robot clamped with linear translation has been developed, such as patent WO2016063314A1, including Some connecting rods, a clamping segment, driver composition.The device can realize the linear translation of clamping segment, be referred to using clamping Section move in parallel the function that parallel clamping is realized to different size of object.It is disadvantageous in that:The device can only be realized Straight line parallel holding function, it is impossible to realize that adaptive envelope captures the function of object.
Adaptive envelope grasping body is the thought using differential, being capable of adaptive object when allowing the robot to capture object Surface, allow more surfaces to be contacted with object, capture object when can limit the more frees degree of object, so as to reach not Need too big chucking power with regard to crawl object that can be stable, robot is to object when reduction that so can be larger captures object Damage, for the crawl of object in irregular shape, adaptive robot hand has obvious advantage.Dextrous Hand can also be realized suitable The crawl of body surface is answered, but because Dextrous Hand needs multiple drivers to control respectively, its control system is complicated, required precision High, maintenance cost is high so that the cost of Dextrous Hand is higher, is unfavorable for universal production and application.Then adaptive drive lacking hand quilt Develop, adaptive under-actuated robot hand only needs less driver just to drive close more more than driver number Section, to realize the crawl object of the adaptive envelope of robot.Cost of the cost of under-actuated robot hand relative to Dextrous Hand Substantially reduce, compact conformation, without complicated control system.For example, a kind of existing under-actuated two-articulated robot finger dress Put (Chinese invention patent CN101234489A), including pedestal, motor, middle part segment, end segment are driven with parallel belt wheel Mechanism etc..The arrangement achieves the special-effect of doublejointed under-actuated finger bending crawl object, with adaptivity.This owes to drive Dynamic mechanical finger device with functions is disadvantageous in that:Straight configuration is presented in finger all the time before object is not touched, and Grasp Modes are main For holding mode, it is difficult to realize the parallel clamping crawl effect in preferable end.But for the object of small volume, due to body surface It is small, and the length of each segment of under-driving robot finger is long for body surface, it is difficult to adaptive object Surface, now it is parallel clamping just achieve obvious advantage.Therefore with the parallel machine clamped with self-adapting grasping function Human hand is very necessary, expands the scope of the crawl object of robot, there is larger benefit to industrial production and daily life.
Traditional drive lacking hand with two kinds of grasp modes has been developed that, a kind of existing under-actuated finger, such as United States Patent (USP) US8973958B2, including five connecting rods, spring, mechanical constraint and driver etc..It is parallel the arrangement achieves circular arc Clamping and self-adapting grasping pattern.Operationally, the incipient stage keeps the posture of end segment to carry out nearly joint relative to pedestal Flexure operation, can realize the function that parallel clamping or adaptive envelope are gripped according to the position of object afterwards.Its weak point It is, (1) device is only capable of realizing the parallel holding function of circular arc, it is impossible to realizes straight line parallel holding function, presss from both sides on the table The cooperation of robot arms athleticism is needed to realize crawl when holding various sizes of sheet goods, therefore crawl is present seriously not Foot;(2) device uses multi-connecting-rod mechanism, and motion has larger dead band, and crawl scope is small.
The content of the invention
The invention aims to the weak point for overcoming prior art, there is provided a kind of flat folder of connecting rod rack straight line is indirect Adaptive robot finger apparatus.The device has straight line parallel clamping and two kinds of grasp modes of self-adapting grasping, without to thing Body environment carries out complicated real-time detection, planning, can along linear translation end the second segment de-clamping object, also can be first The object of the first segment and the adaptive envelope different shapes and sizes of the second segment is moved afterwards;Capture scope big.
Technical scheme is as follows:
A kind of flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line that the present invention is designed, including pedestal, the One segment, the second segment, nearly joint shaft, remote joint shaft;The center line of the nearly joint shaft and the centerline parallel of remote joint shaft; First segment is socketed on nearly joint shaft, and the remote joint shaft is set in the first segment, and second segment is socketed in On remote joint shaft;It is characterized in that:The flat folder indirect self-adaptive robot finger apparatus of the connecting rod rack straight line also includes first and passed Driving wheel, driving member, the second drive, first axle, the second axle, first gear, second gear, the 3rd gear, the 4th gear, the 5th Gear, rack, spring part and guide rod;The guide rod and pedestal are affixed, and the guide rod is slided and is embedded in the first segment, and described first Axle sleeve is located in the first segment, and second axle sleeve is located in the first segment, and the 3rd axle sleeve is located in the first segment;It is described First axle, the second axle, the center line of the 3rd axle and nearly joint shaft are parallel to each other;The center line of the center of pilot line and first axle Vertically;First driving wheel tube is connected on remote joint shaft, and the first drive and the second segment are affixed, second driving wheel tube Be connected in first axle, the driving member connects the first drive and the second drive respectively, the driving member, the first drive and Second drive three constitutes drive connection;The first gear is socketed in first axle, and first gear is consolidated with the second drive Connect, the second gear is socketed on the second axle, and second gear is engaged with first gear;3rd gear is socketed in the second axle On, the 3rd gear and second gear are affixed, and the 4th gear is socketed on nearly joint shaft, and the 3rd gear is nibbled with the 4th gear Close;Pass through the biography of driving member, the first drive, the second drive, first gear, second gear, the 3rd gear and the 4th gear It is dynamic, take turns to the 4th gear from the first transmission and constitute co-rotating transmission relation;5th gear is socketed on nearly joint shaft, the 5th tooth Wheel is affixed with the 4th gear, and the rack is fixed in frame, and rack and the 5th gear constitute drive connection;The two of the spring part End connects the first segment and pedestal respectively.
The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line of the present invention, it is characterised in that:Also wrap Including rack, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connect Bar, the 3rd axle, the 4th axle, the 5th axle, the 6th axle, the 7th axle, the 8th axle, the 9th axle, the tenth axle, the 11st axle, the 12nd axle, Transmission mechanism and driver;The driver is fixed in frame, the output end of the driver and the input of transmission mechanism It is connected;The output end of the transmission mechanism is connected with the 11st axle;11st axle sleeve is located in frame;The six-bar linkage One end be fixed on the 11st axle, the other end of six-bar linkage is socketed on the 7th axle;One end of the second connecting rod is set in On 7th axle, the other end of second connecting rod is set on the 4th axle;One end of the first connecting rod is socketed on the 3rd axle, and first The other end of connecting rod is socketed on the 4th axle, and first connecting rod is affixed with pedestal;5th axle sleeve is located at the middle part of second connecting rod; One end of the fourth link is set on the 5th axle, and the other end of fourth link is fixed on the 9th axle;9th axle sleeve It is located in frame;12nd axle sleeve is located in frame;One end of the seven-link assembly is socketed on the 12nd axle, and the 7th connects The other end of bar is socketed on the 8th axle;One end of the third connecting rod is set on the 8th axle, the other end set of third connecting rod It is located on the 3rd axle;6th axle is fixed in the middle part of third connecting rod;One end of 5th connecting rod is set on the 6th axle, The other end of 5th connecting rod is fixed on the tenth axle;Tenth axle sleeve is located in frame;One end socket of 8th connecting rod On the 7th axle, the other end of the 8th connecting rod is socketed on the 8th axle;If the center of the 12nd axle is point A, the center of the 8th axle For point B, the center of the 6th axle is point C, and the center of nearly joint shaft is point D, and the center of the tenth axle is point E, if in the 11st axle The heart is point A ', and the center of the 7th axle is point B ', and the center of the 5th axle is point C ', during the center of the 4th axle is point D ', the 9th axle The heart is equal for the length three of point E ', line segment BC length, line segment CD length and line segment CE, and line segment AE length is equal to line segment 2 times of AB length, line segment CE length is 2.5 times of line segment AB length, line segment B ' C ' length, line segment C ' D ' length Equal with line segment C ' E ' length three, line segment A ' E ' length is equal to 2 times of line segment A ' B ' length, line segment C ' E ' length It is 2.5 times of line segment A ' B ' length, line segment AA ' length, line segment BB ' length, line segment DD ' length and line segment EE ' Length is equal, and line segment AB length is equal to line segment A ' B ' length;Point A, point A ', point E, 4 points of point E ' are conllinear, if straight line AA ' is K.
The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line of the present invention, it is characterised in that:It is described Driving member uses gear, connecting rod, transmission belt, chain or rope.
The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line of the present invention, it is characterised in that:Straight line K It is parallel with center of pilot line.
The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line of the present invention, it is characterised in that:It is described Driver uses motor, cylinder or hydraulic cylinder.
Toggle slide bar adaptive robot finger apparatus of the present invention, it is characterised in that:The spring part uses stage clip.
The present invention compared with prior art, with advantages below and high-lighting effect:
Apparatus of the present invention are realized using the synthesis such as driver, linkage train, rackwork, transmission mechanism and spring part Robot finger's straight line parallel clamps the function with self-adapting grasping;The straight line fortune of remote joint shaft is realized using linkage It is dynamic, coordinate rackwork to realize the posture that the second segment keeps opposite base to fix in the first stage of gripping using spring part;Using Rackwork realized when object contacts the first segment, and the second segment is gone the long way round the adaptive rotation of joint shaft.The device is according to thing Shape and the difference of position, the energy segment of linear translation first and the second segment de-clamping object, in particular for thin-walled or outer The clamping of the complicated object of shape, moreover it is possible to after the first segment contact object, automatic second segment that rotates goes to contact object, reaches The purpose of adaptive envelope different shapes and sizes object;Capture scope big, grasping stability is reliable;Using a driver simultaneously The translation and the second segment for driving finger are gone the long way round the adaptive rotation of joint shaft;The apparatus structure is simple, cost is low.
Brief description of the drawings
Fig. 1 is a kind of embodiment for the flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line that the present invention is designed Side partial sectional view (being not drawn into part).
Fig. 2 is Fig. 1 left view.
Fig. 3 is the explosive view of embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure of embodiment illustrated in fig. 1.
Fig. 5 is Fig. 1 external view.
Fig. 6 is Fig. 1 external view (being not drawn into part).
Fig. 7 is the side outward appearance of embodiment illustrated in fig. 1, shows point A, B, C, D, E, A ', B ', C ', D ' and E ' position.
Fig. 8 is that in the action schematic diagram of straight line parallel reception step, (wherein dotted line represents flat gripper and held embodiment illustrated in fig. 1 The final state of object).
Fig. 9 to Figure 12 is action process figure of the embodiment illustrated in fig. 1 in the adaptive envelope stage.
In Fig. 1 into Figure 12:
111- pedestals, 1- frames, the segments of 2- first, the segments of 3- second,
The nearly joint shafts of 4-, the remote joint shafts of 5-, the drives of 6- first, 7- driving members,
The drives of 8- second, 25- first axles, the axles of 26- second, 9 first gears,
10- second gears, the gears of 11- the 3rd, the gears of 12- the 4th, the gears of 13- the 5th,
14- racks, 15- spring parts, 16- guide rods, 17- first connecting rods,
18- second connecting rods, 19- third connecting rods 19,20- fourth links, the connecting rods of 21- the 5th,
22- six-bar linkages, 23- seven-link assemblies, the connecting rods of 24- the 8th, the axles of 27- the 3rd,
The axles of 28- the 4th, the axles of 29- the 5th, the axles of 30- the 6th, the axles of 31- the 7th,
The axles of 32- the 8th, the axles of 33- the 9th, the axles of 34- the tenth, the axles of 35- the 11st,
The axles of 36- the 12nd, 39- transmission mechanisms, 391- decelerators, 392- first bevel gears,
393- second bevel gears, 40- drivers, 50- 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.
A kind of embodiment for the flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line that the present invention is designed, such as schemes Shown in 1 to Fig. 7, including pedestal 111, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5;The nearly joint shaft 4 Center line and remote joint shaft 5 centerline parallel;First segment 2 is socketed on nearly joint shaft 4, the remote joint shaft 5 It is set in the first segment 2, second segment 3 is socketed on remote joint shaft 5;The adaptive robot finger of slide bar rack 14 Device also includes the first drive 6, driving member 7, the second drive 8, first axle 25, the second axle 26, first gear 9, the second tooth Take turns the 10, the 3rd gear 11, the 4th gear 12, the 5th gear 13, rack 14, spring part 15 and guide rod 16;The guide rod 16 and pedestal 111 is affixed, and the guide rod 16 is slided and is embedded in the first segment 2, and the first axle 25 is set in the first segment 2, and described the Two axles 26 are set in the first segment 2, and the 3rd axle 27 is set in the first segment 2;The first axle 25, the second axle 26, The center line of 3rd axle 27 and nearly joint shaft 4 is parallel to each other;The center line of guide rod 16 and the central axis of first axle 25;Institute State the first drive 6 to be socketed on remote joint shaft 5, the first drive 6 and the second segment 3 are affixed, and second drive 8 is socketed In first axle 25, the driving member 7 connects the first drive 6 and the second drive 8 respectively, and the driving member 7, first is driven Wheel 6 and the three of the second drive 8 constitute drive connection;The first gear 9 is socketed in first axle 25, first gear 9 and Two drives 8 are affixed, and the second gear 10 is socketed on the second axle 26, and second gear 10 is engaged with first gear 9;Described Three gears 11 are socketed on the second axle 26, and the 3rd gear 11 and second gear 10 are affixed, and the 4th gear 12 is socketed in nearly pass On nodal axisn 4, the 3rd gear 11 is engaged with the 4th gear 12;Pass through driving member 7, the first drive 6, the second drive 8, the first tooth The transmission of 9, second gear 10, the 3rd gear 11 and the 4th gear 12 is taken turns, is constituted in the same direction to the 4th gear 12 from the first drive 6 Drive connection;5th gear 13 is socketed on nearly joint shaft 4, and the 5th gear 13 and the 4th gear 12 are affixed, the rack 14 are fixed in frame 1, and the gear 13 of rack 14 and the 5th constitutes drive connection;The two ends of the spring part 15 connect the first finger respectively Section 2 and pedestal 111.
The present embodiment also includes frame 1, first connecting rod 17, second connecting rod 18, third connecting rod 19, fourth link the 20, the 5th Connecting rod 21, six-bar linkage 22, seven-link assembly 23, the 8th connecting rod 24, the 3rd axle 27, the 4th axle 28, the 5th axle 29, the 6th axle 30, 7th axle 31, the 8th axle 32, the 9th axle 33, the tenth axle 34, the 11st axle 35, the 12nd axle 36, transmission mechanism 39 and driver 40;The driver 40 is fixed in frame 1, and the output end of the driver 40 is connected with the input of transmission mechanism 39;Institute The output end for stating transmission mechanism 39 is connected with the 11st axle 35;11st axle 35 is set in frame 1;The six-bar linkage 22 one end is fixed on the 11st axle 35, and the other end of six-bar linkage 22 is socketed on the 7th axle 31;The second connecting rod 18 One end is set on the 7th axle 31, and the other end of second connecting rod 18 is set on the 4th axle 28;One end of the first connecting rod 17 It is socketed on the 3rd axle 27, the other end of first connecting rod 17 is socketed on the 4th axle 28, first connecting rod 17 and pedestal 111 are affixed; 5th axle 29 is set in the middle part of second connecting rod 18;One end of the fourth link 20 is set on the 5th axle 29, and the 4th The other end of connecting rod 20 is fixed on the 9th axle 33;9th axle 33 is set in frame 1;12nd axle 36 is set in In frame 1;One end of the seven-link assembly 23 is socketed on the 12nd axle 36, and the other end of seven-link assembly 23 is socketed in the 8th axle On 32;One end of the third connecting rod 19 is set on the 8th axle 32, and the other end of third connecting rod 19 is set on the 3rd axle 27; 6th axle 30 is fixed in the middle part of third connecting rod 19;One end of 5th connecting rod 21 is set on the 6th axle 30, and the 5th The other end of connecting rod 21 is fixed on the tenth axle 34;Tenth axle 34 is set in frame 1;One end of 8th connecting rod 24 It is socketed on the 7th axle 31, the other end of the 8th connecting rod 24 is socketed on the 8th axle 32;If the center of the 12nd axle 36 is point A, The center of 8th axle 32 is point B, and the center of the 6th axle 30 is point C, and the center of nearly joint shaft 4 is point D, and the center of the tenth axle 34 is Point E, if the center of the 11st axle 35 is point A ', the center of the 7th axle 31 is point B ', and the center of the 5th axle 29 is point C ', the 4th axle 28 center is point D ', and the center of the 9th axle 33 is point E ', the length three of line segment BC length, line segment CD length and line segment CE Person is equal, and line segment AE length is equal to 2 times of line segment AB length, and line segment CE length is 2.5 times of line segment AB length, line The length three of section B ' C ' length, line segment C ' D ' length and line segment C ' E ' is equal, and line segment A ' E ' length is equal to line segment A ' 2 times of B ' length, line segment C ' E ' length is 2.5 times of line segment A ' B ' length, line segment AA ' length, line segment BB ' length The length of degree, line segment DD ' length and line segment EE ' is equal, and line segment AB length is equal to line segment A ' B ' length;Point A, point A ', point E, 4 points of point E ' are conllinear, if straight line AA ' is K.
The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line of the present invention, it is characterised in that:It is described Driving member 7 is using gear, connecting rod, transmission belt, chain or rope.In the present embodiment, the driving member 7 uses transmission belt.
In the present embodiment, straight line K and the centerline parallel of guide rod 16.
The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line of the present invention, it is characterised in that:It is described Driver 40 is using motor, cylinder or hydraulic cylinder.In the present embodiment, the driver 40 uses motor.
In the present embodiment, the spring part 15 uses stage clip.
In the present embodiment, the transmission mechanism 39 includes decelerator 391, first bevel gear 392 and second bevel gear 393, The output shaft of the driver 40 is connected with the input shaft of decelerator 391, and the first bevel gear 392 is fixed in decelerator 391 Output shaft on, the second bevel gear 393 is fixed on the 11st axle 35, the first bevel gear 392 and second bevel gear 393 engagements.
The operation principle of the present embodiment, is described below with reference to accompanying drawing:
When the present embodiment is in original state, as shown in Figure 1.
Driver 40 is rotated, and drives six-bar linkage 22 to be rotated around the center line of the 11st axle 35 by transmission mechanism 39; Because second connecting rod 18, fourth link 20, six-bar linkage 22 and frame 1 constitute quadric chain, third connecting rod the 19, the 5th connects Bar 21, seven-link assembly 23 and frame 1 constitute quadric chain, and meet following condition:
A) the length three of line segment BC length, line segment CD length and line segment CE is equal,
B) 2 times of length of the line segment AE length equal to line segment AB,
C) line segment CE length is 2.5 times of line segment AB length,
D) line segment AA ' length, line segment BB ' length, line segment DD ' length and line segment EE ' length are equal,
E) line segment AB length is equal to line segment A ' B ' length,
F) point A, point A ', point E, 4 points of point E ' are conllinear.
As shown in Fig. 8 to Figure 12, the quadric chain is by because the rotation of six-bar linkage 22 drives the end of the first segment 2 (remote joint shaft 5) moves along a straight line, and then remote joint shaft 5 will be along linear translation, as shown in Fig. 8 to Figure 12.
During this, the second segment, which is encountered object and then captured, to be terminated, and has reached the purpose of parallel clamping object, such as Fig. 8 It is shown.
When the second segment will not hit on object, and when the first segment 2 encounters object, the stop motion of the first segment 2, driving Device 30 continues to rotate forward, and spring part 15 is pressurized and shortened, and guide rod 16 is slided with respect to the first segment 2, and rack 14 is transported relative to the 5th gear 13 Dynamic, the 5th gear 13 rotates clockwise (described be clockwise clockwise in Fig. 1, similarly hereinafter) and passes through driving member 7, the first drive 6th, the transmission of the second drive 8, first gear 9, second gear 10, the 3rd gear 11 and the 4th gear 12, from the first drive 6 Co-rotating transmission relation is constituted to the 4th gear 12, drives the second segment 3 joint shaft 5 of going the long way round to rotate clockwise;When the second segment 3 connects When touching object 50, the stop motion of the second segment 3, driver 30 continues to clamping force grip objects 50, forms adaptive envelope Object 50, as shown in Fig. 9 to Figure 12.
Discharge object 50 when, driver 30 is inverted, discharge object 50 process with crawl process on the contrary, repeating no more.
Apparatus of the present invention are realized using the synthesis such as driver, linkage train, rackwork, transmission mechanism and spring part Robot finger's straight line parallel clamps the function with self-adapting grasping;The straight line fortune of remote joint shaft is realized using linkage It is dynamic, coordinate rackwork to realize the posture that the second segment keeps opposite base to fix in the first stage of gripping using spring part;Using Rackwork realized when object contacts the first segment, and the second segment is gone the long way round the adaptive rotation of joint shaft.The device is according to thing Shape and the difference of position, the energy segment of linear translation first and the second segment de-clamping object, in particular for thin-walled or outer The clamping of the complicated object of shape, moreover it is possible to after the first segment contact object, automatic second segment that rotates goes to contact object, reaches The purpose of adaptive envelope different shapes and sizes object;Capture scope big, grasping stability is reliable;Using a driver simultaneously The translation and the second segment for driving finger are gone the long way round the adaptive rotation of joint shaft;The apparatus structure is simple, cost is low.

Claims (6)

1. a kind of flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line, including pedestal, the first segment, the second finger Section, nearly joint shaft, remote joint shaft;The center line of the nearly joint shaft and the centerline parallel of remote joint shaft;First segment It is socketed on nearly joint shaft, the remote joint shaft is set in the first segment, second segment is socketed on remote joint shaft;Its It is characterised by:The flat folder indirect self-adaptive robot finger apparatus of the connecting rod rack straight line also includes the first drive, driving member, the Two drives, first axle, the second axle, first gear, second gear, the 3rd gear, the 4th gear, the 5th gear, rack, spring part And guide rod;The guide rod and pedestal are affixed, and the guide rod is slided and is embedded in the first segment, and the first axle is set in the first finger Duan Zhong, second axle sleeve is located in the first segment, and the 3rd axle sleeve is located in the first segment;The first axle, the second axle, The center line of 3rd axle and nearly joint shaft is parallel to each other;The central axis of the center of pilot line and first axle;Described first Driving wheel tube is connected on remote joint shaft, and the first drive and the second segment are affixed, and second driving wheel tube is connected in first axle, The driving member connects the first drive and the second drive, the driving member, the first drive and the second drive three respectively Person constitutes drive connection;The first gear is socketed in first axle, and first gear and the second drive are affixed, second tooth Wheel is socketed on the second axle, and second gear is engaged with first gear;3rd gear is socketed on the second axle, the 3rd gear with Second gear is affixed, and the 4th gear is socketed on nearly joint shaft, and the 3rd gear is engaged with the 4th gear;By driving member, First drive, the second drive, first gear, second gear, the transmission of the 3rd gear and the 4th gear, from the first drive Co-rotating transmission relation is constituted to the 4th gear;5th gear is socketed on nearly joint shaft, and the 5th gear and the 4th gear are solid Connect, the rack is fixed in frame, rack and the 5th gear constitute drive connection;The two ends of the spring part connect first respectively Segment and pedestal.
2. the flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line as claimed in claim 1, it is characterised in that:Also Including frame, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th Connecting rod, the 3rd axle, the 4th axle, the 5th axle, the 6th axle, the 7th axle, the 8th axle, the 9th axle, the tenth axle, the 11st axle, the 12nd Axle, transmission mechanism and driver;The driver is fixed in frame, the output end of the driver and the input of transmission mechanism End is connected;The output end of the transmission mechanism is connected with the 11st axle;11st axle sleeve is located in frame;Described 6th connects One end of bar is fixed on the 11st axle, and the other end of six-bar linkage is socketed on the 7th axle;One end of the second connecting rod is arranged On the 7th axle, the other end of second connecting rod is set on the 4th axle;One end of the first connecting rod is socketed on the 3rd axle, the The other end of one connecting rod is socketed on the 4th axle, and first connecting rod is affixed with pedestal;5th axle sleeve is located in second connecting rod Portion;One end of the fourth link is set on the 5th axle, and the other end of fourth link is fixed on the 9th axle;9th axle It is set in frame;12nd axle sleeve is located in frame;One end of the seven-link assembly is socketed on the 12nd axle, and the 7th The other end of connecting rod is socketed on the 8th axle;One end of the third connecting rod is set on the 8th axle, the other end of third connecting rod It is set on the 3rd axle;6th axle is fixed in the middle part of third connecting rod;One end of 5th connecting rod is set in the 6th axle On, the other end of the 5th connecting rod is fixed on the tenth axle;Tenth axle sleeve is located in frame;One end set of 8th connecting rod It is connected on the 7th axle, the other end of the 8th connecting rod is socketed on the 8th axle;If the center of the 12nd axle is point A, in the 8th axle The heart is point B, and the center of the 6th axle is point C, and the center of nearly joint shaft is point D, and the center of the tenth axle is point E, if the 11st axle Center is point A ', and the center of the 7th axle is point B ', and the center of the 5th axle is point C ', and the center of the 4th axle is point D ', the 9th axle Center is equal for the length three of point E ', line segment BC length, line segment CD length and line segment CE, and line segment AE length is equal to line 2 times of section AB length, line segment CE length is 2.5 times of line segment AB length, line segment B ' C ' length, line segment C ' D ' length Degree is equal with line segment C ' E ' length three, and line segment A ' E ' length is equal to 2 times of line segment A ' B ' length, line segment C ' E ' length Degree is 2.5 times of line segment A ' B ' length, line segment AA ' length, line segment BB ' length, line segment DD ' length and line segment EE ' Length it is equal, line segment AB length is equal to line segment A ' B ' length;Point A, point A ', point E, 4 points of point E ' are conllinear, if directly Line AA ' is K.
3. the flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line as claimed in claim 1, it is characterised in that:Institute Driving member is stated using gear, connecting rod, transmission belt, chain or rope.
4. the flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line as claimed in claim 2, it is characterised in that:Directly Line K is parallel with center of pilot line.
5. the flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line as claimed in claim 1, it is characterised in that:Institute Driver is stated using motor, cylinder or hydraulic cylinder.
6. toggle slide bar adaptive robot finger apparatus as claimed in claim 1, it is characterised in that:The spring part is using pressure Spring.
CN201610892202.0A 2016-10-12 2016-10-12 Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack Active CN107053220B (en)

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Publication number Priority date Publication date Assignee Title
CN107598949A (en) * 2017-09-21 2018-01-19 清华大学 The compound crawl robot finger apparatus of rack-and-pinion end near linear
CN108189053A (en) * 2017-11-22 2018-06-22 清华大学 The compound crawl robot finger apparatus of lever end precise linear
CN108189055A (en) * 2017-11-22 2018-06-22 清华大学 The rack cosine straight line that stretches puts down the adaptive finger apparatus of folder
CN108212807A (en) * 2017-12-29 2018-06-29 深圳市越疆科技有限公司 A kind of method, apparatus and mechanical arm of robot segregating articles
CN108274487A (en) * 2018-03-23 2018-07-13 清华大学 The flat folder indirect self-adaptive robot finger apparatus of rack slide bar straight line
CN108818580A (en) * 2018-06-19 2018-11-16 清华大学 The flat adaptive finger apparatus of folder of concyclic link gear sliding shaft straight line
CN108927817A (en) * 2018-03-23 2018-12-04 清华大学 The flat folder indirect self-adaptive robot finger apparatus of brace double-slider straight line
CN109129548A (en) * 2018-09-14 2019-01-04 清华大学 Become the flat folder adaptive robot finger apparatus of geometry straight line

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CN1410233A (en) * 2002-11-29 2003-04-16 清华大学 Under driving mechanical finger device capable of shape self adaptation
CN101049695A (en) * 2007-04-27 2007-10-10 清华大学 Underactuated drive finger device of imitating cascaded connection of hand of robot
CN103009384A (en) * 2012-12-27 2013-04-03 广西大学 Controllable stacking robot

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Publication number Priority date Publication date Assignee Title
CN1410233A (en) * 2002-11-29 2003-04-16 清华大学 Under driving mechanical finger device capable of shape self adaptation
CN101049695A (en) * 2007-04-27 2007-10-10 清华大学 Underactuated drive finger device of imitating cascaded connection of hand of robot
CN103009384A (en) * 2012-12-27 2013-04-03 广西大学 Controllable stacking robot

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107598949A (en) * 2017-09-21 2018-01-19 清华大学 The compound crawl robot finger apparatus of rack-and-pinion end near linear
CN107598949B (en) * 2017-09-21 2020-05-01 清华大学 Gear rack tail end approximate straight line composite grabbing robot finger device
CN108189053A (en) * 2017-11-22 2018-06-22 清华大学 The compound crawl robot finger apparatus of lever end precise linear
CN108189055A (en) * 2017-11-22 2018-06-22 清华大学 The rack cosine straight line that stretches puts down the adaptive finger apparatus of folder
CN108189055B (en) * 2017-11-22 2020-09-25 清华大学 Rack cosine telescopic straight-line parallel clamping self-adaptive finger device
CN108189053B (en) * 2017-11-22 2020-02-11 清华大学 Finger device of lever type tail end accurate linear composite grabbing robot
CN108212807A (en) * 2017-12-29 2018-06-29 深圳市越疆科技有限公司 A kind of method, apparatus and mechanical arm of robot segregating articles
CN108274487B (en) * 2018-03-23 2020-09-25 清华大学 Indirect self-adaptive robot finger device with linear flat clamping of rack and slide bar
CN108927817A (en) * 2018-03-23 2018-12-04 清华大学 The flat folder indirect self-adaptive robot finger apparatus of brace double-slider straight line
CN108274487A (en) * 2018-03-23 2018-07-13 清华大学 The flat folder indirect self-adaptive robot finger apparatus of rack slide bar straight line
CN108927817B (en) * 2018-03-23 2020-09-25 清华大学 Inclined rod double-slider linear flat clamping indirect self-adaptive robot finger device
CN108818580B (en) * 2018-06-19 2020-09-25 清华大学 Coaxial connecting rod gear sliding shaft type linear parallel clamping self-adaptive finger device
CN108818580A (en) * 2018-06-19 2018-11-16 清华大学 The flat adaptive finger apparatus of folder of concyclic link gear sliding shaft straight line
CN109129548A (en) * 2018-09-14 2019-01-04 清华大学 Become the flat folder adaptive robot finger apparatus of geometry straight line

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