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 PDFInfo
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Abstract
连杆齿条直线平夹间接自适应机器人手指装置,属于机器人手技术领域,包括基座、两个指段、两个关节轴、齿条、多个齿轮、两个传动轮、传动件、导杆和簧件等。该装置实现了机器人手指直线平行夹持与自适应抓取的功能;采用连杆机构实现了远关节轴的直线运动,采用簧件配合齿条机构实现第二指段在第一抓取阶段保持相对基座固定的姿态;采用齿条机构实现当物体接触第一指段时,第二指段绕远关节轴的自适应转动;可以适应不同形状、大小物体的抓取;抓取范围大,抓取稳定可靠,结构简单、成本低。
The connecting rod and rack linear flat clip indirect self-adaptive robot finger device belongs to the field of robot hand technology, and includes a base, two finger segments, two joint shafts, a rack, multiple gears, two transmission wheels, transmission parts, and guides. rods and springs etc. The device realizes the functions of straight-line parallel clamping and adaptive grasping of the robot fingers; the linear movement of the distal joint axis is realized by using the link mechanism, and the second finger segment is kept in the first grasping stage by using the spring element and the rack mechanism. The posture is fixed relative to the base; the rack mechanism is used to realize the self-adaptive rotation of the second finger around the distal joint axis when the object touches the first finger segment; it can adapt to the grasping of objects of different shapes and sizes; the grasping range is large, and the grasping It is stable and reliable, simple in structure and low in cost.
Description
技术领域technical field
本发明属于机器人手技术领域,特别涉及一种连杆齿条直线平夹间接自适应机器人手指装置的结构设计。The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a connecting rod rack linear flat clip indirect self-adaptive robot finger device.
背景技术Background technique
随着自动化技术的发展,机器人技术迎来了新的高峰,机器人手作为机器人的一种末端执行器,也引起更多的关注,在机器人手方面的研究也越来越多。为了协助机器人在特殊情况下完成更多的任务,人们开发了多种多样的机器人手,例如灵巧手、特种手、钳状手(工业夹持器)等。空间中的物体具有六个自由度,机器人手在抓住物体的同时需要限制物体的六个自由度才能稳定的抓住物体,钳状手一般采用平行夹持的方式,仅能限制不超过四个自由度,为了保持夹持的稳定性,需要施加较大的夹紧力,利用物体与机器人手间的摩擦力来保证稳定的抓取物体,然而巨大的夹紧力会使物体表面产生较大的应变,甚至使物体产生塑性变形或物体破坏,特别对于薄壁物体和硬度较低的物体,钳状手不能直接夹取。With the development of automation technology, robot technology has ushered in a new peak. As a kind of end effector of robot, the robot hand has attracted more attention, and more and more researches have been done on the robot hand. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robotic hands, such as dexterous hands, special hands, pincer hands (industrial grippers), etc. Objects in space have six degrees of freedom. The robot hand needs to limit the six degrees of freedom of the object while grasping the object to stably grasp the object. The clamp-like hand generally adopts a parallel clamping method, which can only limit no more than four degrees of freedom. One degree of freedom, in order to maintain the stability of the clamping, it is necessary to apply a large clamping force, and use the friction between the object and the robot hand to ensure the stable grasping of the object, but the huge clamping force will cause a relatively large clamping force on the surface of the object. Large strains can even cause plastic deformation or destruction of the object, especially for thin-walled objects and objects with low hardness, the pliers-like hands cannot be directly grasped.
具有直线平动夹持的机器人手已经被发明出来,例如专利WO2016063314A1,包括若干连杆,一个夹持指段,驱动器组成。该装置能够实现夹持指段的直线平动,利用夹持指段的平行移动对不同大小的物体实现平行夹持的功能。其不足之处在于:该装置只能实现直线平行夹持功能,无法实现自适应包络抓取物体的功能。A robot hand with linear translation clamping has been invented, such as patent WO2016063314A1, which consists of several connecting rods, a clamping finger segment, and a driver. The device can realize the linear translation of the clamping finger segment, and realize the parallel clamping function for objects of different sizes by using the parallel movement of the clamping finger segment. Its shortcoming is that the device can only realize the function of linear parallel clamping, but cannot realize the function of adaptive envelope grabbing objects.
自适应包络物体抓取是利用微分的思想,让机器人手抓取物体时能够自适应物体的表面,让更多的表面与物体接触,在抓取物体时能够限制物体更多的自由度,从而达到不需要太大的夹持力就能稳定的抓取物体,这样能较大的减少抓取物体时机器人手对物体的损坏,对于形状不规则的物体的抓取,自适应机器人手具有明显的优势。灵巧手也可实现适应物体表面的抓取,但由于灵巧手需要多个驱动器分别控制,其控制系统复杂、精度要求高、维护成本高,使得灵巧手的成本较高,不利于普遍的生产使用。于是自适应欠驱动手被研发出来,自适应欠驱动机器人手只需较少的驱动器就能够驱动比驱动器数目更多的关节,来实现机器人手自适应包络的抓取物体。欠驱动机器人手的成本相对于灵巧手的成本大大降低,结构紧凑,无需复杂的控制系统。例如,已有的一种欠驱动两关节机器人手指装置(中国发明专利CN101234489A),包括基座、电机、中部指段、末端指段和平行带轮式传动机构等。该装置实现了双关节欠驱动手指弯曲抓取物体的特殊效果,具有自适应性。该欠驱动机械手指装置的不足之处在于:手指在未碰触物体前始终呈现伸直状态,抓取方式主要为握持方式,难以实现较好的末端平行夹持抓取效果。但对于体积小的物体,由于物体表面小,而欠驱动机器人手指的每个指段的长度相对于物体表面来说又过长,难以自适应物体的表面,此时平行夹持就取得了明显的优势。因此具有平行夹持和自适应抓取功能的机器人手非常必要,扩大了机器人手的抓取对象的范围,对工业生产和日常生活有较大的益处。Adaptive envelope object grasping uses the idea of differentiation, so that the robot hand can adapt to the surface of the object when grasping the object, so that more surfaces can be in contact with the object, and it can limit more degrees of freedom of the object when grasping the object. In this way, the object can be grasped stably without too much clamping force, which can greatly reduce the damage of the robot hand to the object when grasping the object. For the grasping of irregularly shaped objects, the adaptive robot hand has obvious advantage. The dexterous hand can also grasp the surface of the object, but because the dexterous hand requires multiple drivers to be controlled separately, the control system is complex, the precision is high, and the maintenance cost is high, which makes the cost of the dexterous hand relatively high, which is not conducive to general production and use. . Therefore, the adaptive underactuated hand was developed, and the adaptive underactuated robot hand only needs fewer drivers to drive more joints than the number of drivers, so as to realize the grasping object of the robot hand adaptive envelope. Compared with dexterous hands, the cost of underactuated robotic hands is greatly reduced, the structure is compact, and complex control systems are not required. For example, an existing underactuated two-joint robot finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle finger section, an end finger section, and a parallel pulley transmission mechanism. The device realizes the special effect of double-joint underactuated fingers bending and grabbing objects, and is self-adaptive. The disadvantage of the underactuated mechanical finger device is that the fingers are always in a straight state before they touch the object, and the grasping method is mainly a gripping method, which makes it difficult to achieve a better end-parallel clamping and grasping effect. But for small objects, due to the small surface of the object, and the length of each segment of the underactuated robot finger is too long relative to the surface of the object, it is difficult to adapt to the surface of the object. At this time, parallel clamping has achieved obvious The advantages. Therefore, a robot hand with parallel clamping and adaptive grasping functions is very necessary, which expands the scope of the robot hand's grasping objects, and is of great benefit to industrial production and daily life.
具有两种抓取模式的传统欠驱动手已经被开发出来,已有的一种欠驱动手指,如美国专利US8973958B2,包括五个连杆、弹簧、机械约束和驱动器等。该装置实现了圆弧平行夹持与自适应抓取模式。在工作时,开始阶段相对于基座保持末端指段的姿态进行近关节弯曲动作,之后根据物体的位置可以实现平行夹持或自适应包络握持的功能。其不足之处在于,(1)该装置仅能实现圆弧平行夹持功能,无法实现直线平行夹持功能,在工作台上夹持不同尺寸的薄板物体时需要机器人臂部运动才能配合实现抓取,因此抓取存在严重不足;(2)该装置采用多连杆机构,运动存在较大的死区,抓取范围小。A traditional underactuated hand with two grasping modes has been developed. An existing underactuated finger, such as US Pat. The device realizes arc parallel clamping and adaptive grabbing mode. When working, at the beginning stage, the posture of the terminal finger segment is maintained relative to the base for proximal joint bending, and then the function of parallel clamping or adaptive envelope holding can be realized according to the position of the object. Its disadvantages are: (1) The device can only realize the arc parallel clamping function, and cannot realize the straight line parallel clamping function. When clamping thin plate objects of different sizes on the workbench, the movement of the robot arm is needed to cooperate to realize the grasping. Therefore, there is a serious deficiency in grasping; (2) the device adopts a multi-link mechanism, and there is a large dead zone in motion, and the grasping range is small.
发明内容Contents of the invention
本发明的目的是为了克服已有技术的不足之处,提供一种连杆齿条直线平夹间接自适应机器人手指装置。该装置具有直线平行夹持和自适应抓取两种抓取模式,无需对物体环境进行复杂的实时检测、规划,既能沿着直线平动末端的第二指段去夹持物体,也能先后运动第一指段和第二指段自适应包络不同形状、大小的物体;抓取范围大。The object of the present invention is to overcome the disadvantages of the prior art, and provide a link rack linear flat clip indirect self-adaptive robot finger device. The device has two grasping modes: linear parallel clamping and self-adaptive grasping. It does not need complex real-time detection and planning of the object environment. The first finger segment and the second finger segment are moved successively to adaptively envelope objects of different shapes and sizes; the grasping range is large.
本发明的技术方案如下:Technical scheme of the present invention is as follows:
本发明设计的一种连杆齿条直线平夹间接自适应机器人手指装置,包括基座、第一指段、第二指段、近关节轴、远关节轴;所述近关节轴的中心线与远关节轴的中心线平行;所述第一指段套接在近关节轴上,所述远关节轴套设在第一指段中,所述第二指段套接在远关节轴上;其特征在于:该连杆齿条直线平夹间接自适应机器人手指装置还包括第一传动轮、传动件、第二传动轮、第一轴、第二轴、第一齿轮、第二齿轮、第三齿轮、第四齿轮、第五齿轮、齿条、簧件和导杆;所述导杆与基座固接,所述导杆滑动镶嵌在第一指段中,所述第一轴套设在第一指段中,所述第二轴套设在第一指段中,所述第三轴套设在第一指段中;所述第一轴、第二轴、第三轴和近关节轴的中心线相互平行;所述导杆中心线与第一轴的中心线垂直;所述第一传动轮套接在远关节轴上,第一传动轮与第二指段固接,所述第二传动轮套接在第一轴上,所述传动件分别连接第一传动轮和第二传动轮,所述传动件、第一传动轮和第二传动轮三者构成传动关系;所述第一齿轮套接在第一轴上,第一齿轮与第二传动轮固接,所述第二齿轮套接在第二轴上,第二齿轮与第一齿轮啮合;所述第三齿轮套接在第二轴上,第三齿轮与第二齿轮固接,所述第四齿轮套接在近关节轴上,第三齿轮与第四齿轮啮合;通过传动件、第一传动轮、第二传动轮、第一齿轮、第二齿轮、第三齿轮和第四齿轮的传动,从第一传动轮到第四齿轮构成同向传动关系;所述第五齿轮套接在近关节轴上,第五齿轮与第四齿轮固接,所述齿条固接在机架上,齿条与第五齿轮构成传动关系;所述簧件的两端分别连接第一指段和基座。A connecting rod and rack linear flat clip indirect self-adaptive robot finger device designed by the present invention comprises a base, a first finger section, a second finger section, a proximal joint axis, and a distal joint axis; the center line of the proximal joint axis Parallel to the centerline of the distal joint shaft; the first finger segment is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger segment, and the second finger segment is sleeved on the distal joint shaft ; It is characterized in that: the connecting rod and rack linear flat clip indirect adaptive robot finger device also includes a first transmission wheel, a transmission member, a second transmission wheel, a first shaft, a second shaft, a first gear, a second gear, The third gear, the fourth gear, the fifth gear, a rack, a spring and a guide rod; Set in the first finger segment, the second shaft is sleeved in the first finger segment, the third shaft is sleeved in the first finger segment; the first shaft, the second shaft, the third shaft and The centerlines of the proximal joint shafts are parallel to each other; the centerline of the guide rod is perpendicular to the centerline of the first shaft; the first transmission wheel is sleeved on the distal joint shaft, and the first transmission wheel is fixedly connected to the second finger segment, The second transmission wheel is sleeved on the first shaft, the transmission member is respectively connected to the first transmission wheel and the second transmission wheel, and the transmission member, the first transmission wheel and the second transmission wheel form a transmission relationship; The first gear is sleeved on the first shaft, the first gear is fixedly connected to the second transmission wheel, the second gear is sleeved on the second shaft, and the second gear meshes with the first gear; the third The gear is sleeved on the second shaft, the third gear is fixedly connected to the second gear, the fourth gear is sleeved on the proximal joint shaft, and the third gear meshes with the fourth gear; through the transmission member, the first transmission wheel, The transmission of the second transmission wheel, the first gear, the second gear, the third gear and the fourth gear constitutes a transmission relationship in the same direction from the first transmission wheel to the fourth gear; the fifth gear is sleeved on the proximal joint shaft , the fifth gear is fixedly connected to the fourth gear, the rack is fixedly connected to the frame, and the rack and the fifth gear form a transmission relationship; the two ends of the spring member are respectively connected to the first finger section and the base.
本发明所述的连杆齿条直线平夹间接自适应机器人手指装置,其特征在于:还包括机架、第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆、第八连杆、第三轴、第四轴、第五轴、第六轴、第七轴、第八轴、第九轴、第十轴、第十一轴、第十二轴、传动机构和驱动器;所述驱动器固接在机架上,所述驱动器的输出端与传动机构的输入端相连;所述传动机构的输出端与第十一轴相连;所述第十一轴套设在机架上;所述第六连杆的一端套固在第十一轴上,第六连杆的另一端套接第七轴上;所述第二连杆的一端套设在第七轴上,第二连杆的另一端套设在第四轴上;所述第一连杆的一端套接在第三轴上,第一连杆的另一端套接在第四轴上,第一连杆与基座固接;所述第五轴套设在第二连杆的中部;所述第四连杆的一端套设在第五轴上,第四连杆的另一端套固在第九轴上;所述第九轴套设在机架上;所述第十二轴套设在机架上;所述第七连杆的一端套接在第十二轴上,第七连杆的另一端套接在第八轴上;所述第三连杆的一端套设在第八轴上,第三连杆的另一端套设在第三轴上;所述第六轴套固在第三连杆的中部;所述第五连杆的一端套设在第六轴上,第五连杆的另一端套固在第十轴上;所述第十轴套设在机架上;所述第八连杆的一端套接在第七轴上,第八连杆的另一端套接在第八轴上;设第十二轴的中心为点A,第八轴的中心为点B,第六轴的中心为点C,近关节轴的中心为点D,第十轴的中心为点E,设第十一轴的中心为点A’,第七轴的中心为点B’,第五轴的中心为点C’,第四轴的中心为点D’,第九轴的中心为点E’,线段BC的长度、线段CD的长度和线段CE的长度三者相等,线段AE的长度等于线段AB的长度的2倍,线段CE的长度是线段AB的长度的2.5倍,线段B’C’的长度、线段C’D’的长度和线段C’E’的长度三者相等,线段A’E’的长度等于线段A’B’的长度的2倍,线段C’E’的长度是线段A’B’的长度的2.5倍,线段AA’的长度、线段BB’的长度、线段DD’的长度和线段EE’的长度四者相等,线段AB的长度等于线段A’B’的长度;点A、点A’、点E、点E’四点共线,设直线AA’为K。The indirect self-adaptive robot finger device of connecting rod and rack linear flat clip according to the present invention is characterized in that it also includes a frame, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod Connecting rod, sixth connecting rod, seventh connecting rod, eighth connecting rod, third shaft, fourth shaft, fifth shaft, sixth shaft, seventh shaft, eighth shaft, ninth shaft, tenth shaft, The eleventh shaft, the twelfth shaft, the transmission mechanism and the driver; the driver is fixed on the frame, and the output end of the driver is connected to the input end of the transmission mechanism; the output end of the transmission mechanism is connected to the eleventh The shafts are connected; the eleventh shaft is sleeved on the frame; one end of the sixth connecting rod is sleeved on the eleventh shaft, and the other end of the sixth connecting rod is sleeved on the seventh shaft; One end of the second connecting rod is sleeved on the seventh shaft, the other end of the second connecting rod is sleeved on the fourth shaft; one end of the first connecting rod is sleeved on the third shaft, and the other end of the first connecting rod is sleeved on the third shaft. One end is sleeved on the fourth shaft, the first connecting rod is fixedly connected to the base; the fifth shaft is sleeved in the middle of the second connecting rod; one end of the fourth connecting rod is sleeved on the fifth shaft, The other end of the fourth connecting rod is sleeved on the ninth shaft; the ninth shaft is sleeved on the frame; the twelfth shaft is sleeved on the frame; one end of the seventh connecting rod is sleeved On the twelfth shaft, the other end of the seventh connecting rod is sleeved on the eighth shaft; one end of the third connecting rod is sleeved on the eighth shaft, and the other end of the third connecting rod is sleeved on the third shaft; the sixth shaft is sleeved on the middle of the third connecting rod; one end of the fifth connecting rod is sleeved on the sixth shaft, and the other end of the fifth connecting rod is sleeved on the tenth shaft; The tenth shaft is sleeved on the frame; one end of the eighth connecting rod is sleeved on the seventh shaft, and the other end of the eighth connecting rod is sleeved on the eighth shaft; the center of the twelfth shaft is Point A, the center of the eighth axis is point B, the center of the sixth axis is point C, the center of the proximal joint axis is point D, the center of the tenth axis is point E, and the center of the eleventh axis is point A' , the center of the seventh axis is point B', the center of the fifth axis is point C', the center of the fourth axis is point D', the center of the ninth axis is point E', the length of line segment BC, the length of line segment CD The three are equal to the length of the line segment CE, the length of the line segment AE is equal to twice the length of the line segment AB, the length of the line segment CE is 2.5 times the length of the line segment AB, the length of the line segment B'C', and the length of the line segment C'D' The three are equal to the length of line segment C'E', the length of line segment A'E' is equal to twice the length of line segment A'B', the length of line segment C'E' is 2.5 times the length of line segment A'B', The length of line segment AA', the length of line segment BB', the length of line segment DD' and the length of line segment EE' are equal; the length of line segment AB is equal to the length of line segment A'B'; point A, point A', point E, The four points of point E' are collinear, and the straight line AA' is set as K.
本发明所述的连杆齿条直线平夹间接自适应机器人手指装置,其特征在于:所述传动件采用齿轮、连杆、传动带、链条或绳。The indirect self-adaptive robot finger device of the connecting rod and rack straight line flat clip according to the present invention is characterized in that the transmission part adopts gears, connecting rods, transmission belts, chains or ropes.
本发明所述的连杆齿条直线平夹间接自适应机器人手指装置,其特征在于:直线K与导杆中心线平行。The indirect self-adaptive robotic finger device of the connecting rod and rack linear flat clip according to the present invention is characterized in that the straight line K is parallel to the central line of the guide rod.
本发明所述的连杆齿条直线平夹间接自适应机器人手指装置,其特征在于:所述驱动器采用电机、气缸或液压缸。The indirect self-adaptive robot finger device of the connecting rod and rack linear flat gripper according to the present invention is characterized in that the driver adopts a motor, an air cylinder or a hydraulic cylinder.
本发明所述的肘节滑杆自适应机器人手指装置,其特征在于:所述簧件采用压簧。The toggle sliding bar self-adaptive robot finger device according to the present invention is characterized in that the spring element is a compression spring.
本发明与现有技术相比,具有以下优点和突出性效果:Compared with the prior art, the present invention has the following advantages and outstanding effects:
本发明装置利用驱动器、连杆机构轮系、齿条机构、传动机构和簧件等综合实现了机器人手指直线平行夹持与自适应抓取的功能;采用连杆机构实现了远关节轴的直线运动,采用簧件配合齿条机构实现第二指段在第一抓取阶段保持相对基座固定的姿态;采用齿条机构实现当物体接触第一指段时,第二指段绕远关节轴的自适应转动。该装置根据物体形状和位置的不同,能直线平动第一指段和第二指段去夹持物体,尤其是针对薄壁或外形复杂的物体的夹持,还能在第一指段接触物体之后,自动转动第二指段去接触物体,达到自适应包络不同形状、大小物体的目的;抓取范围大,抓取稳定可靠;利用一个驱动器同时驱动手指的平动和第二指段绕远关节轴的自适应转动;该装置结构简单、成本低。The device of the present invention realizes the functions of straight line parallel clamping and self-adaptive grasping of the robot fingers by comprehensively utilizing the driver, the link mechanism wheel train, the rack mechanism, the transmission mechanism and the spring element; Movement, the spring is used to cooperate with the rack mechanism to realize that the second finger segment maintains a fixed posture relative to the base in the first grasping stage; the rack mechanism is used to realize the movement of the second finger segment around the distal joint axis when the object touches the first finger segment Adaptive rotation. According to the shape and position of the object, the device can linearly move the first finger segment and the second finger segment to clamp the object, especially for the clamping of thin-walled or complex-shaped objects. After the object, the second finger segment is automatically rotated to touch the object, so as to achieve the purpose of adaptively enveloping objects of different shapes and sizes; the grasping range is large, and the grasping is stable and reliable; a driver is used to simultaneously drive the translation of the finger and the second finger segment Self-adaptive rotation around the distal joint axis; the device has simple structure and low cost.
附图说明Description of drawings
图1是本发明设计的连杆齿条直线平夹间接自适应机器人手指装置的一种实施例的侧面局部剖视图(未画出部分零件)。Fig. 1 is the side partial cross-sectional view (not drawing some parts) of an embodiment of the indirect self-adaptive robot finger device of the connecting rod and rack straight line flat clip of the present invention design.
图2是图1的左视图。Fig. 2 is a left side view of Fig. 1 .
图3是图1所示实施例的爆炸图。Fig. 3 is an exploded view of the embodiment shown in Fig. 1 .
图4是图1所示实施例的立体外观图。Fig. 4 is a perspective view of the embodiment shown in Fig. 1 .
图5是图1的外观视图。Fig. 5 is an external view of Fig. 1 .
图6是图1的外观视图(未画出部分零件)。Fig. 6 is the appearance view of Fig. 1 (partial parts are not drawn).
图7是图1所示实施例的侧面外观,显示出点A、B、C、D、E、A’、B’、C’、D’和E’的位置。Figure 7 is a side view of the embodiment shown in Figure 1 showing the locations of points A, B, C, D, E, A', B', C', D' and E'.
图8是图1所示实施例在直线平行夹持阶段的动作示意图(其中虚线代表平夹抓持物体的终止状态)。Fig. 8 is a schematic diagram of the action of the embodiment shown in Fig. 1 in the linear parallel clamping stage (wherein the dotted line represents the end state of the flat clamp gripping the object).
图9至图12是图1所示实施例在自适应包络阶段的动作过程图。FIG. 9 to FIG. 12 are action process diagrams of the embodiment shown in FIG. 1 in the adaptive envelope stage.
在图1至图12中:In Figures 1 to 12:
111-基座,1-机架, 2-第一指段, 3-第二指段,111-base, 1-frame, 2-first finger segment, 3-second finger segment,
4-近关节轴, 5-远关节轴, 6-第一传动轮, 7-传动件,4-proximal joint shaft, 5-distal joint shaft, 6-first transmission wheel, 7-transmission member,
8-第二传动轮, 25-第一轴, 26-第二轴, 9 第一齿轮,8-the second transmission wheel, 25-the first shaft, 26-the second shaft, 9 the first gear,
10-第二齿轮,11-第三齿轮, 12-第四齿轮, 13-第五齿轮,10-second gear, 11-third gear, 12-fourth gear, 13-fifth gear,
14-齿条, 15-簧件,16-导杆,17-第一连杆,14-rack, 15-spring, 16-guide rod, 17-first connecting rod,
18-第二连杆,19-第三连杆19, 20-第四连杆,21-第五连杆,18-second connecting rod, 19-third connecting rod 19, 20-fourth connecting rod, 21-fifth connecting rod,
22-第六连杆,23-第七连杆,24-第八连杆,27-第三轴,22-sixth connecting rod, 23-seventh connecting rod, 24-eighth connecting rod, 27-third shaft,
28-第四轴,29-第五轴,30-第六轴,31-第七轴,28-fourth axis, 29-fifth axis, 30-sixth axis, 31-seventh axis,
32-第八轴,33-第九轴,34-第十轴,35-第十一轴,32-eighth axis, 33-ninth axis, 34-tenth axis, 35-eleventh axis,
36-第十二轴,39-传动机构,391-减速器,392-第一锥齿轮,36-the twelfth shaft, 39-transmission mechanism, 391-reducer, 392-the first bevel gear,
393-第二锥齿轮,40-驱动器,50-物体。393-second bevel gear, 40-driver, 50-object.
具体实施方式detailed description
下面结合附图及实施例进一步详细介绍本发明的具体结构、工作原理的内容。The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
本发明设计的连杆齿条直线平夹间接自适应机器人手指装置的一种实施例,如图1至图7所示,包括基座111、第一指段2、第二指段3、近关节轴4、远关节轴5;所述近关节轴4的中心线与远关节轴5的中心线平行;所述第一指段2套接在近关节轴4上,所述远关节轴5套设在第一指段2中,所述第二指段3套接在远关节轴5上;该滑杆齿条14自适应机器人手指装置还包括第一传动轮6、传动件7、第二传动轮8、第一轴25、第二轴26、第一齿轮9、第二齿轮10、第三齿轮11、第四齿轮12、第五齿轮13、齿条14、簧件15和导杆16;所述导杆16与基座111固接,所述导杆16滑动镶嵌在第一指段2中,所述第一轴25套设在第一指段2中,所述第二轴26套设在第一指段2中,所述第三轴27套设在第一指段2中;所述第一轴25、第二轴26、第三轴27和近关节轴4的中心线相互平行;所述导杆16中心线与第一轴25的中心线垂直;所述第一传动轮6套接在远关节轴5上,第一传动轮6与第二指段3固接,所述第二传动轮8套接在第一轴25上,所述传动件7分别连接第一传动轮6和第二传动轮8,所述传动件7、第一传动轮6和第二传动轮8三者构成传动关系;所述第一齿轮9套接在第一轴25上,第一齿轮9与第二传动轮8固接,所述第二齿轮10套接在第二轴26上,第二齿轮10与第一齿轮9啮合;所述第三齿轮11套接在第二轴26上,第三齿轮11与第二齿轮10固接,所述第四齿轮12套接在近关节轴4上,第三齿轮11与第四齿轮12啮合;通过传动件7、第一传动轮6、第二传动轮8、第一齿轮9、第二齿轮10、第三齿轮11和第四齿轮12的传动,从第一传动轮6到第四齿轮12构成同向传动关系;所述第五齿轮13套接在近关节轴4上,第五齿轮13与第四齿轮12固接,所述齿条14固接在机架1上,齿条14与第五齿轮13构成传动关系;所述簧件15的两端分别连接第一指段2和基座111。An embodiment of the indirect self-adaptive robot finger device of the connecting rod and rack linear flat clamp designed in the present invention, as shown in Figures 1 to 7, includes a base 111, a first finger segment 2, a second finger segment 3, a joint shaft 4, far joint shaft 5; the center line of the near joint shaft 4 is parallel to the center line of the far joint shaft 5; the first finger section 2 is sleeved on the near joint shaft 4, and the far joint shaft 5 Sleeved in the first finger segment 2, the second finger segment 3 is sleeved on the distal joint shaft 5; the slider rack 14 adaptive robotic finger device also includes a first transmission wheel 6, a transmission member 7, a first Two transmission wheels 8, the first shaft 25, the second shaft 26, the first gear 9, the second gear 10, the third gear 11, the fourth gear 12, the fifth gear 13, the rack 14, the spring element 15 and the guide rod 16. The guide rod 16 is fixedly connected to the base 111, the guide rod 16 is slidably embedded in the first finger segment 2, the first shaft 25 is sleeved in the first finger segment 2, and the second shaft 26 is sleeved in the first finger section 2, and the third shaft 27 is sleeved in the first finger section 2; the center of the first shaft 25, the second shaft 26, the third shaft 27 and the proximal joint shaft 4 The lines are parallel to each other; the centerline of the guide rod 16 is perpendicular to the centerline of the first shaft 25; the first transmission wheel 6 is sleeved on the distal joint shaft 5, and the first transmission wheel 6 is fixedly connected to the second finger segment 3 , the second transmission wheel 8 is sleeved on the first shaft 25, the transmission member 7 is respectively connected to the first transmission wheel 6 and the second transmission wheel 8, and the transmission member 7, the first transmission wheel 6 and the second transmission wheel The three transmission wheels 8 form a transmission relationship; the first gear 9 is sleeved on the first shaft 25, the first gear 9 is fixedly connected to the second transmission wheel 8, and the second gear 10 is sleeved on the second shaft 26 Above, the second gear 10 meshes with the first gear 9; the third gear 11 is sleeved on the second shaft 26, the third gear 11 is fixedly connected to the second gear 10, and the fourth gear 12 is sleeved close to On the joint shaft 4, the third gear 11 meshes with the fourth gear 12; through the transmission member 7, the first transmission wheel 6, the second transmission wheel 8, the first gear 9, the second gear 10, the third gear 11 and the fourth gear The transmission of the gear 12 constitutes a transmission relationship in the same direction from the first transmission wheel 6 to the fourth gear 12; the fifth gear 13 is sleeved on the proximal joint shaft 4, and the fifth gear 13 is fixedly connected to the fourth gear 12, so The rack 14 is fixedly connected to the frame 1 , and the rack 14 forms a transmission relationship with the fifth gear 13 ; the two ends of the spring 15 are respectively connected to the first finger segment 2 and the base 111 .
本实施例还包括机架1、第一连杆17、第二连杆18、第三连杆19、第四连杆20、第五连杆21、第六连杆22、第七连杆23、第八连杆24、第三轴27、第四轴28、第五轴29、第六轴30、第七轴31、第八轴32、第九轴33、第十轴34、第十一轴35、第十二轴36、传动机构39和驱动器40;所述驱动器40固接在机架1上,所述驱动器40的输出端与传动机构39的输入端相连;所述传动机构39的输出端与第十一轴35相连;所述第十一轴35套设在机架1上;所述第六连杆22的一端套固在第十一轴35上,第六连杆22的另一端套接第七轴31上;所述第二连杆18的一端套设在第七轴31上,第二连杆18的另一端套设在第四轴28上;所述第一连杆17的一端套接在第三轴27上,第一连杆17的另一端套接在第四轴28上,第一连杆17与基座111固接;所述第五轴29套设在第二连杆18的中部;所述第四连杆20的一端套设在第五轴29上,第四连杆20的另一端套固在第九轴33上;所述第九轴33套设在机架1上;所述第十二轴36套设在机架1上;所述第七连杆23的一端套接在第十二轴36上,第七连杆23的另一端套接在第八轴32上;所述第三连杆19的一端套设在第八轴32上,第三连杆19的另一端套设在第三轴27上;所述第六轴30套固在第三连杆19的中部;所述第五连杆21的一端套设在第六轴30上,第五连杆21的另一端套固在第十轴34上;所述第十轴34套设在机架1上;所述第八连杆24的一端套接在第七轴31上,第八连杆24的另一端套接在第八轴32上;设第十二轴36的中心为点A,第八轴32的中心为点B,第六轴30的中心为点C,近关节轴4的中心为点D,第十轴34的中心为点E,设第十一轴35的中心为点A’,第七轴31的中心为点B’,第五轴29的中心为点C’,第四轴28的中心为点D’,第九轴33的中心为点E’,线段BC的长度、线段CD的长度和线段CE的长度三者相等,线段AE的长度等于线段AB的长度的2倍,线段CE的长度是线段AB的长度的2.5倍,线段B’C’的长度、线段C’D’的长度和线段C’E’的长度三者相等,线段A’E’的长度等于线段A’B’的长度的2倍,线段C’E’的长度是线段A’B’的长度的2.5倍,线段AA’的长度、线段BB’的长度、线段DD’的长度和线段EE’的长度四者相等,线段AB的长度等于线段A’B’的长度;点A、点A’、点E、点E’四点共线,设直线AA’为K。Present embodiment also includes frame 1, first connecting rod 17, second connecting rod 18, third connecting rod 19, fourth connecting rod 20, fifth connecting rod 21, sixth connecting rod 22, seventh connecting rod 23 , the eighth connecting rod 24, the third shaft 27, the fourth shaft 28, the fifth shaft 29, the sixth shaft 30, the seventh shaft 31, the eighth shaft 32, the ninth shaft 33, the tenth shaft 34, the eleventh Shaft 35, the twelfth shaft 36, transmission mechanism 39 and driver 40; Said driver 40 is fixedly connected on the frame 1, and the output end of described driver 40 links to each other with the input end of transmission mechanism 39; The transmission mechanism 39 The output end is connected with the eleventh shaft 35; the eleventh shaft 35 is sleeved on the frame 1; one end of the sixth connecting rod 22 is sleeved on the eleventh shaft 35, and the sixth connecting rod 22 The other end is sleeved on the seventh shaft 31; one end of the second connecting rod 18 is sleeved on the seventh shaft 31, and the other end of the second connecting rod 18 is sleeved on the fourth shaft 28; the first connecting rod 18 is sleeved on the seventh shaft 31; One end of the rod 17 is sleeved on the third shaft 27, the other end of the first connecting rod 17 is sleeved on the fourth shaft 28, and the first connecting rod 17 is fixedly connected to the base 111; the fifth shaft 29 is sleeved In the middle of the second connecting rod 18; one end of the fourth connecting rod 20 is sleeved on the fifth shaft 29, and the other end of the fourth connecting rod 20 is sleeved on the ninth shaft 33; the ninth shaft 33 Sleeved on the frame 1; the twelfth shaft 36 is sleeved on the frame 1; one end of the seventh connecting rod 23 is sleeved on the twelfth shaft 36, and the other end of the seventh connecting rod 23 Sleeved on the eighth shaft 32; one end of the third connecting rod 19 is sleeved on the eighth shaft 32, and the other end of the third connecting rod 19 is sleeved on the third shaft 27; the sixth shaft 30 Set in the middle of the third connecting rod 19; one end of the fifth connecting rod 21 is sleeved on the sixth shaft 30, and the other end of the fifth connecting rod 21 is sleeved on the tenth shaft 34; the tenth The shaft 34 is sleeved on the frame 1; one end of the eighth connecting rod 24 is sleeved on the seventh shaft 31, and the other end of the eighth connecting rod 24 is sleeved on the eighth shaft 32; the twelfth shaft The center of 36 is point A, the center of the eighth axis 32 is point B, the center of the sixth axis 30 is point C, the center of the proximal joint axis 4 is point D, and the center of the tenth axis 34 is point E. The center of the first axis 35 is point A', the center of the seventh axis 31 is point B', the center of the fifth axis 29 is point C', the center of the fourth axis 28 is point D', and the center of the ninth axis 33 is At point E', the length of line segment BC, the length of line segment CD and the length of line segment CE are equal, the length of line segment AE is equal to twice the length of line segment AB, the length of line segment CE is 2.5 times the length of line segment AB, and the length of line segment B The length of 'C', the length of line segment C'D' and the length of line segment C'E' are three equal, the length of line segment A'E' is equal to twice the length of line segment A'B', and the length of line segment C'E' The length is 2.5 times the length of line segment A'B', the length of line segment AA', the length of line segment BB', the length of line segment DD' and the length of line segment EE' are equal, the length of line segment AB is equal to the length of line segment A'B' length; point A, point A', point E, The four points of point E' are collinear, and the straight line AA' is set as K.
本发明所述的连杆齿条直线平夹间接自适应机器人手指装置,其特征在于:所述传动件7采用齿轮、连杆、传动带、链条或绳。本实施例中,所述传动件7采用传动带。The indirect self-adaptive robot finger device of the connecting rod and rack straight line and flat clip according to the present invention is characterized in that: the transmission part 7 adopts gears, connecting rods, transmission belts, chains or ropes. In this embodiment, the transmission member 7 is a transmission belt.
本实施例中,直线K与导杆16中心线平行。In this embodiment, the straight line K is parallel to the centerline of the guide rod 16 .
本发明所述的连杆齿条直线平夹间接自适应机器人手指装置,其特征在于:所述驱动器40采用电机、气缸或液压缸。本实施例中,所述驱动器40采用电机。The indirect self-adaptive robotic finger device of the connecting rod and rack linear flat gripper according to the present invention is characterized in that: the driver 40 adopts a motor, an air cylinder or a hydraulic cylinder. In this embodiment, the driver 40 is a motor.
本实施例中,所述簧件15采用压簧。In this embodiment, the spring member 15 is a compression spring.
本实施例中,所述传动机构39包括减速器391、第一锥齿轮392和第二锥齿轮393,所述驱动器40的输出轴与减速器391的输入轴相连,所述第一锥齿轮392套固在减速器391的输出轴上,所述第二锥齿轮393套固在第十一轴35上,所述第一锥齿轮392与第二锥齿轮393啮合。In this embodiment, the transmission mechanism 39 includes a speed reducer 391, a first bevel gear 392 and a second bevel gear 393, the output shaft of the driver 40 is connected with the input shaft of the speed reducer 391, and the first bevel gear 392 The second bevel gear 393 is sleeved on the eleventh shaft 35 , and the first bevel gear 392 meshes with the second bevel gear 393 .
本实施例的工作原理,结合附图叙述如下:The working principle of the present embodiment is described as follows in conjunction with the accompanying drawings:
本实施例处于初始状态时,如图1所示。When this embodiment is in an initial state, it is shown in FIG. 1 .
驱动器40转动,通过传动机构39带动第六连杆22绕着第十一轴35的中心线转动;因为第二连杆18、第四连杆20、第六连杆22和机架1构成了四连杆机构,第三连杆19、第五连杆21、第七连杆23和机架1构成了四连杆机构,,并且满足以下条件:The driver 40 rotates, and drives the sixth connecting rod 22 to rotate around the center line of the eleventh shaft 35 through the transmission mechanism 39; because the second connecting rod 18, the fourth connecting rod 20, the sixth connecting rod 22 and the frame 1 constitute a Four-bar linkage mechanism, the third linkage 19, the fifth linkage 21, the seventh linkage 23 and the frame 1 constitute a four-bar linkage, and satisfy the following conditions:
a)线段BC的长度、线段CD的长度和线段CE的长度三者相等,a) The lengths of the line segment BC, the length of the line segment CD and the length of the line segment CE are three equal,
b)线段AE的长度等于线段AB的长度的2倍,b) The length of line segment AE is equal to twice the length of line segment AB,
c)线段CE的长度是线段AB的长度的2.5倍,c) The length of the line segment CE is 2.5 times the length of the line segment AB,
d)线段AA’的长度、线段BB’的长度、线段DD’的长度和线段EE’的长度四者相等,d) The length of the line segment AA', the length of the line segment BB', the length of the line segment DD' and the length of the line segment EE' are equal,
e)线段AB的长度等于线段A’B’的长度,e) The length of line segment AB is equal to the length of line segment A'B',
f)点A、点A’、点E、点E’四点共线。f) Point A, point A', point E, and point E' are collinear.
如图8至图12所示,该四连杆机构将因为第六连杆22的转动带动第一指段2末端(远关节轴5)直线运动,于是远关节轴5将沿着直线平动,如图8至图12所示。As shown in Figures 8 to 12, the four-bar linkage mechanism will drive the end of the first finger segment 2 (distal joint axis 5) to move linearly due to the rotation of the sixth link 22, so the distal joint axis 5 will translate along the straight line , as shown in Figure 8 to Figure 12.
当此过程中,第二指段碰到物体则抓取结束,达到了平行夹持物体的目的,如图8所示。When the second finger touches the object during this process, the grasping ends, and the purpose of holding the object in parallel is achieved, as shown in FIG. 8 .
当第二指段没有碰到物体,且当第一指段2碰到物体时,第一指段2停止运动,驱动器30继续正转,簧件15受压变短,导杆16相对第一指段2滑动,齿条14相对于第五齿轮13运动,第五齿轮13顺时针转动(所述顺时针为图1中的顺时针,下同)通过传动件7、第一传动轮6、第二传动轮8、第一齿轮9、第二齿轮10、第三齿轮11和第四齿轮12的传动,从第一传动轮6到第四齿轮12构成同向传动关系,带动第二指段3绕远关节轴5顺时针转动;当第二指段3接触物体50时,第二指段3停止运动,驱动器30继续施加夹紧力夹紧物体50,形成自适应包络物体50,如图9至图12所示。When the second finger section does not touch the object, and when the first finger section 2 touches the object, the first finger section 2 stops moving, the driver 30 continues to rotate forward, the spring member 15 is compressed and shortened, and the guide rod 16 is relatively short relative to the first finger section. The finger segment 2 slides, the rack 14 moves relative to the fifth gear 13, and the fifth gear 13 rotates clockwise (the clockwise is the clockwise in Fig. 1, the same below) through the transmission member 7, the first transmission wheel 6, The transmission of the second transmission wheel 8, the first gear 9, the second gear 10, the third gear 11 and the fourth gear 12 constitutes the same direction transmission relationship from the first transmission wheel 6 to the fourth gear 12, driving the second finger section 3 rotate clockwise around the distal joint axis 5; when the second finger segment 3 touches the object 50, the second finger segment 3 stops moving, and the driver 30 continues to apply clamping force to clamp the object 50 to form an adaptive envelope object 50, as shown in the figure 9 to Figure 12.
释放物体50时,驱动器30反转,释放物体50的过程与抓取过程相反,不再赘述。When releasing the object 50, the driver 30 is reversed, and the process of releasing the object 50 is opposite to the grasping process, and will not be repeated here.
本发明装置利用驱动器、连杆机构轮系、齿条机构、传动机构和簧件等综合实现了机器人手指直线平行夹持与自适应抓取的功能;采用连杆机构实现了远关节轴的直线运动,采用簧件配合齿条机构实现第二指段在第一抓取阶段保持相对基座固定的姿态;采用齿条机构实现当物体接触第一指段时,第二指段绕远关节轴的自适应转动。该装置根据物体形状和位置的不同,能直线平动第一指段和第二指段去夹持物体,尤其是针对薄壁或外形复杂的物体的夹持,还能在第一指段接触物体之后,自动转动第二指段去接触物体,达到自适应包络不同形状、大小物体的目的;抓取范围大,抓取稳定可靠;利用一个驱动器同时驱动手指的平动和第二指段绕远关节轴的自适应转动;该装置结构简单、成本低。The device of the present invention realizes the functions of straight line parallel clamping and self-adaptive grasping of the robot fingers by comprehensively utilizing the driver, the link mechanism wheel train, the rack mechanism, the transmission mechanism and the spring element; Movement, the spring is used to cooperate with the rack mechanism to realize that the second finger segment maintains a fixed posture relative to the base in the first grasping stage; the rack mechanism is used to realize the movement of the second finger segment around the distal joint axis when the object touches the first finger segment Adaptive rotation. According to the shape and position of the object, the device can linearly move the first finger segment and the second finger segment to clamp the object, especially for the clamping of thin-walled or complex-shaped objects. After the object, the second finger segment is automatically rotated to touch the object, so as to achieve the purpose of adaptively enveloping objects of different shapes and sizes; the grasping range is large, and the grasping is stable and reliable; a driver is used to simultaneously drive the translation of the finger and the second finger segment Self-adaptive rotation around the distal joint axis; the device has simple structure and low cost.
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