CN107053220B - Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack - Google Patents
Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack Download PDFInfo
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- CN107053220B CN107053220B CN201610892202.0A CN201610892202A CN107053220B CN 107053220 B CN107053220 B CN 107053220B CN 201610892202 A CN201610892202 A CN 201610892202A CN 107053220 B CN107053220 B CN 107053220B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
A connecting rod and rack straight line parallel clamping indirect self-adaptive robot finger device belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, a rack, a plurality of gears, two transmission wheels, a transmission part, a guide rod, a spring part and the like. The device realizes the functions of linear parallel clamping and self-adaptive grabbing of the fingers of the robot; the linear motion of the far joint shaft is realized by adopting a connecting rod mechanism, and the posture of the second finger section fixed relative to the base is kept in the first grabbing stage by adopting a spring piece matched with a rack mechanism; a rack mechanism is adopted to realize the self-adaptive rotation of the second finger section around the far joint shaft when an object contacts the first finger section; can be suitable for grabbing objects with different shapes and sizes; the grabbing range is large, the grabbing is stable and reliable, the structure is simple, and the cost is low.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device.
Background
With the development of automation technology, robot technology is coming to a new peak, and the robot hand also draws more attention as an end effector of the robot, and research on the aspect of the robot hand is more and more. To assist robots in performing more tasks in special situations, a wide variety of robot hands have been developed, such as dexterous hands, special hands, pliers (industrial grippers), and the like. The robot hand can stably grasp the object by limiting the six degrees of freedom of the object when grasping the object, the pincer-shaped hand generally adopts a parallel clamping mode and can only limit not more than four degrees of freedom, in order to keep the stability of clamping, a large clamping force needs to be applied, the stable object grasping is ensured by utilizing the friction force between the object and the robot hand, however, the large clamping force can generate large strain on the surface of the object, even the object generates plastic deformation or is damaged, and particularly for thin-wall objects and objects with low hardness, the pincer-shaped hand cannot directly grasp the object.
A robot hand with linear translational clamping has been invented, for example, in patent WO2016063314a1, which comprises a plurality of links, a clamping finger section, and a driver. The device can realize the linear translation of the clamping finger sections, and realizes the function of parallel clamping of objects with different sizes by utilizing the parallel movement of the clamping finger sections. The disadvantages are that: the device can only realize the parallel clamping function of straight line, can not realize the function that self-adaptation envelope snatched the object.
Self-adaptation envelope object snatchs utilizes differential thought, can the surface of self-adaptation object when letting the robot hand snatch the object, lets more surfaces and object contact, can restrict more degrees of freedom of object when snatching the object to reach and do not need too big clamping-force just can be stable snatch the object, robot hand when the reduction that can be great snatchs the object like this to the damage of object, to the snatching of the irregular object of shape, the self-adaptation robot hand has obvious advantage. The dexterous hand can also realize the snatching of adaptation object surface, but because dexterous hand needs a plurality of drivers to control respectively, its control system is complicated, the required precision is high, the maintenance cost is high for dexterous hand's cost is higher, is unfavorable for general production and use. Therefore, the self-adaptive under-actuated robot hand is developed, and the self-adaptive under-actuated robot hand can drive more joints than the number of the drivers by fewer drivers to realize the self-adaptive enveloping object grabbing of the robot hand. Compared with the cost of a dexterous hand, the cost of the under-actuated robot hand is greatly reduced, the structure is compact, and a complex control system is not needed. For example, an under-actuated two-joint robot finger device (chinese patent CN101234489A) is provided, which includes a base, a motor, a middle finger section, a tail finger section, and a parallel belt-pulley transmission mechanism. The device realizes the special effect that the double-joint under-actuated fingers grasp objects in a bending way, and has self-adaptability. The under-actuated mechanical finger device has the following defects: the fingers are always in a straight state before touching the object, the grabbing mode is mainly a holding mode, and the better parallel clamping and grabbing effect of the tail end is difficult to realize. However, for an object with a small volume, because the surface of the object is small, and the length of each finger segment of the under-actuated robot finger is too long relative to the surface of the object, the surface of the object is difficult to adapt, and the parallel clamping has obvious advantages. Therefore, the robot hand with the parallel clamping and self-adaptive grabbing functions is very necessary, the range of objects to be grabbed by the robot hand is expanded, and the robot hand has great benefits for industrial production and daily life.
A conventional under-actuated hand with two grasping modes has been developed, and one type of under-actuated finger, such as US8973958B2, includes five links, springs, mechanical restraints, and actuators, among others. The device realizes the circular arc parallel clamping and self-adaptive grabbing mode. During operation, the posture of the tail end finger section is kept relative to the base at the beginning stage to perform the proximal joint bending action, and then the parallel clamping or the self-adaptive envelope holding function can be realized according to the position of an object. The device has the disadvantages that (1) the device can only realize the arc parallel clamping function and cannot realize the straight line parallel clamping function, and when sheet objects with different sizes are clamped on a workbench, the robot arm moves to realize the grabbing in a matching way, so that the grabbing has serious defects; (2) the device adopts many link mechanism, and the motion has great dead zone, and it is little to snatch the scope.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device. The device has two grabbing modes of straight-line parallel clamping and self-adaptive grabbing, does not need to carry out complex real-time detection and planning on the environment of an object, can clamp the object along a second finger section at the tail end of straight-line translation, and can also move a first finger section and a second finger section in sequence to carry out self-adaptive enveloping on the objects with different shapes and sizes; the grabbing range is large.
The technical scheme of the invention is as follows:
the invention relates to a connecting rod rack linear flat clamp indirect self-adaptive robot finger device which comprises a base, a first finger section, a second finger section, a proximal joint shaft and a distal joint shaft, wherein the base is provided with a first finger section and a second finger section; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis; the first finger section is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger section, and the second finger section is sleeved on the distal joint shaft; the method is characterized in that: the connecting rod rack linear flat clamping indirect self-adaptive robot finger device further comprises a first driving wheel, a driving part, a second driving wheel, a first shaft, a second shaft, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a rack, a spring part and a guide rod; the guide rod is fixedly connected with the base, the guide rod is embedded in the first finger section in a sliding mode, the first shaft is sleeved in the first finger section, the second shaft is sleeved in the first finger section, and the third shaft is sleeved in the first finger section; the central lines of the first shaft, the second shaft, the third shaft and the proximal joint shaft are parallel to each other; the central line of the guide rod is vertical to the central line of the first shaft; the first driving wheel is sleeved on the far joint shaft and fixedly connected with the second finger section, the second driving wheel is sleeved on the first shaft, the driving part is respectively connected with the first driving wheel and the second driving wheel, and the driving part, the first driving wheel and the second driving wheel form a driving relation; the first gear is sleeved on the first shaft and fixedly connected with the second driving wheel, the second gear is sleeved on the second shaft, and the second gear is meshed with the first gear; the third gear is sleeved on the second shaft and fixedly connected with the second gear, the fourth gear is sleeved on the proximal joint shaft and meshed with the fourth gear; through the transmission of the transmission part, the first transmission wheel, the second transmission wheel, the first gear, the second gear, the third gear and the fourth gear, a homodromous transmission relationship is formed from the first transmission wheel to the fourth gear; the fifth gear is sleeved on the proximal joint shaft and fixedly connected with the fourth gear, the rack is fixedly connected on the rack, and the rack and the fifth gear form a transmission relation; and two ends of the spring piece are respectively connected with the first finger section and the base.
The invention relates to a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device, which is characterized in that: the device also comprises a rack, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft, a seventh shaft, an eighth shaft, a ninth shaft, a tenth shaft, an eleventh shaft, a twelfth shaft, a transmission mechanism and a driver; the driver is fixedly connected to the rack, and the output end of the driver is connected with the input end of the transmission mechanism; the output end of the transmission mechanism is connected with the eleventh shaft; the eleventh shaft is sleeved on the rack; one end of the sixth connecting rod is fixedly 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, and 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, the other end of the first connecting rod is sleeved on the fourth shaft, and the first connecting rod is fixedly connected with 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, and the other end of the fourth connecting rod is fixedly sleeved on the ninth shaft; the ninth shaft is sleeved on the rack; the twelfth shaft is sleeved on the rack; one end of the seventh connecting rod is sleeved on the twelfth shaft, and 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 sleeve is fixedly arranged in 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 fixedly sleeved on the tenth shaft; the tenth shaft is sleeved on the rack; 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; setting the center of the twelfth axis as point A, the center of the eighth axis as point B, the center of the sixth axis as point C, the center of the proximal joint axis as point D, the center of the tenth axis as point E, the center of the eleventh axis as point A ', the center of the seventh axis as point B ', the center of the fifth axis as point C ', the center of the fourth axis as point D ', the center of the ninth axis as point E ', the length of the line segment BC, the length of the line segment CD and the length of the line segment CE are equal, the length of the line segment AE is equal to 2 times 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 ', the length of the line segment C ' D ' and the length of the line segment C ' E ' are equal, the length of the line segment A ' E ' is equal to 2 times the length of the line segment A ' B ', the length of the line segment C ' E ' is 2.5 times the length of the line segment A ' B ', and the length of the line segment, The length of the line segment BB ', the length of the line segment DD ' and the length of the line segment EE ' are equal, and the length of the line segment AB is equal to the length of the line segment A ' B '; the four points of the point A, the point A ', the point E and the point E ' are collinear, and a straight line AA ' is set as K.
The invention relates to a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device, which is characterized in that: the transmission part adopts gears, connecting rods, a transmission belt, chains or ropes.
The invention relates to a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device, which is characterized in that: the straight line K is parallel to the central line of the guide rod.
The invention relates to a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device, which is characterized in that: the driver adopts a motor, an air cylinder or a hydraulic cylinder.
The invention relates to a wrist sliding rod self-adaptive robot finger device, which is characterized in that: the spring part adopts a pressure spring.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the functions of linear parallel clamping and self-adaptive grabbing of the fingers of the robot by utilizing a driver, a link mechanism wheel train, a rack mechanism, a transmission mechanism, a spring piece and the like; the linear motion of the far joint shaft is realized by adopting a connecting rod mechanism, and the posture of the second finger section fixed relative to the base is kept in the first grabbing stage by adopting a spring piece matched with a rack mechanism; and a rack mechanism is adopted to realize the self-adaptive rotation of the second finger section around the far joint shaft when an object contacts the first finger section. The device can linearly translate the first finger section and the second finger section to clamp an object according to the difference of the shape and the position of the object, particularly clamp the thin-walled or complex-shaped object, and automatically rotate the second finger section to contact the object after the first finger section contacts the object, so that the purpose of self-adaptively enveloping the objects with different shapes and sizes is achieved; the grabbing range is large, and grabbing is stable and reliable; simultaneously driving the translation of the finger and the self-adaptive rotation of the second finger section around the far joint shaft by using a driver; the device has simple structure and low cost.
Drawings
Fig. 1 is a side partial sectional view (not shown in part) of one embodiment of a link-rack linear clamp indirect adaptive robot finger device designed by the invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is an exploded view of the embodiment shown in fig. 1.
Fig. 4 is a perspective external view of the embodiment shown in fig. 1.
Fig. 5 is an external view of fig. 1.
Fig. 6 is an external view of fig. 1 (not shown in part).
FIG. 7 is a side view of the embodiment of FIG. 1 showing the locations of points A, B, C, D, E, A ', B ', C ', D ', and E '.
FIG. 8 is a schematic diagram of the embodiment of FIG. 1 during a straight parallel clamping phase (where the dashed lines represent the end of the flat clamp gripping an object).
Fig. 9 to 12 are action process diagrams of the embodiment shown in fig. 1 in the adaptive envelope phase.
In fig. 1 to 12:
111-base, 1-frame, 2-first finger section, 3-second finger section,
4-a proximal joint shaft, 5-a distal joint shaft, 6-a first transmission wheel, 7-a transmission part,
8-a second transmission wheel, 25-a first shaft, 26-a second shaft, 9a first gear,
10-second gear, 11-third gear, 12-fourth gear, 13-fifth gear,
14-rack, 15-spring, 16-guide rod, 17-first connecting rod,
18-second link, 19-third link 19, 20-fourth link, 21-fifth link,
22-sixth link, 23-seventh link, 24-eighth link, 27-third axis,
28-fourth axis, 29-fifth axis, 30-sixth axis, 31-seventh axis,
32-eighth axis, 33-ninth axis, 34-tenth axis, 35-eleventh axis,
36-twelfth shaft, 39-transmission mechanism, 391-reducer, 392-first bevel gear,
393-second bevel gear, 40-driver, 50-object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
One embodiment of the indirect self-adaptive robot finger device with the link and rack linear clamp according to the present invention, as shown in fig. 1 to 7, includes a base 111, a first finger section 2, a second finger section 3, a proximal joint shaft 4, and a distal joint shaft 5; the central line of the proximal joint shaft 4 is parallel to the central line of the distal joint shaft 5; the first finger section 2 is sleeved on the proximal joint shaft 4, the distal joint shaft 5 is sleeved in the first finger section 2, and the second finger section 3 is sleeved on the distal joint shaft 5; the sliding rod and rack 14 self-adaptive robot finger device further comprises a first transmission wheel 6, a transmission piece 7, a second transmission wheel 8, a first shaft 25, a second shaft 26, a first gear 9, a second gear 10, a third gear 11, a fourth gear 12, a fifth gear 13, a rack 14, a spring piece 15 and a guide rod 16; the guide rod 16 is fixedly connected with the base 111, the guide rod 16 is slidably embedded in the first finger section 2, the first shaft 25 is sleeved in the first finger section 2, 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 centre lines of the first shaft 25, the second shaft 26, the third shaft 27 and the proximal joint shaft 4 are parallel to each other; the center line of the guide rod 16 is vertical to the center line of the first shaft 25; the first driving wheel 6 is sleeved on the far joint shaft 5, the first driving wheel 6 is fixedly connected with the second finger section 3, the second driving wheel 8 is sleeved on the first shaft 25, the driving part 7 is respectively connected with the first driving wheel 6 and the second driving wheel 8, and the driving part 7, the first driving wheel 6 and the second driving wheel 8 form a driving relation; the first gear 9 is sleeved on the first shaft 25, the first gear 9 is fixedly connected with the second transmission wheel 8, the second gear 10 is sleeved on the second shaft 26, and the second gear 10 is meshed with the first gear 9; the third gear 11 is sleeved on the second shaft 26, the third gear 11 is fixedly connected with the second gear 10, the fourth gear 12 is sleeved on the proximal joint shaft 4, and the third gear 11 is meshed with the fourth gear 12; through the transmission of the transmission part 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 12, the same-direction transmission relationship is formed from the first transmission wheel 6 to the fourth gear 12; the fifth gear 13 is sleeved on the proximal joint shaft 4, the fifth gear 13 is fixedly connected with the fourth gear 12, the rack 14 is fixedly connected on the rack 1, and the rack 14 and the fifth gear 13 form a transmission relation; the two ends of the spring element 15 are respectively connected with the first finger section 2 and the base 111.
The present embodiment further includes a frame 1, a first link 17, a second link 18, a third link 19, a fourth link 20, a fifth link 21, a sixth link 22, a seventh link 23, an eighth link 24, a third shaft 27, a fourth shaft 28, a fifth shaft 29, a sixth shaft 30, a seventh shaft 31, an eighth shaft 32, a ninth shaft 33, a tenth shaft 34, an eleventh shaft 35, a twelfth shaft 36, a transmission mechanism 39 and a driver 40; the driver 40 is fixedly connected to the frame 1, and the output end of the driver 40 is connected with the input end of the transmission mechanism 39; the output end of the transmission mechanism 39 is connected with the eleventh shaft 35; the eleventh shaft 35 is sleeved on the rack 1; one end of the sixth connecting rod 22 is fixedly sleeved on the eleventh shaft 35, and the other end of the sixth connecting rod 22 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; one end of the first connecting 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 with 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 fixedly sleeved on the ninth shaft 33; the ninth shaft 33 is sleeved on the rack 1; the twelfth shaft 36 is sleeved on the rack 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 is 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 is fixedly sleeved 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 fixedly sleeved on the tenth shaft 34; the tenth shaft 34 is sleeved on the rack 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; assuming that the center of the twelfth axis 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, the center of the tenth axis 34 is point E, the center of the eleventh 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 ', the center of the ninth axis 33 is point E ', the length of the segment BC, the length of the segment CD and the length of the segment CE are equal to each other, the length of the segment AE is 2 times the length of the segment AB, the length of the segment CE is 2.5 times the length of the segment AB, the length of the segment B ' C ', the length of the segment C ' D ' and the length of the segment C ' E ' are equal to each other, the length of the segment a ' E ' is 2 times the length of the segment a ' B ', and the segment C ' E ' is 2.5 times the length of the segment a ' B ', 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, and the length of the line segment AB is equal to the length of the line segment A 'B'; the four points of the point A, the point A ', the point E and the point E ' are collinear, and a straight line AA ' is set as K.
The invention relates to a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device, which is characterized in that: the transmission member 7 adopts a gear, a connecting rod, a transmission belt, a chain or a rope. In this embodiment, the transmission member 7 is a transmission belt.
In this embodiment, the line K is parallel to the center line of the guide bar 16.
The invention relates to a connecting rod rack linear parallel clamping indirect self-adaptive robot finger device, which is characterized in that: the driver 40 is a motor, an air cylinder or a hydraulic cylinder. In this embodiment, the driver 40 is a motor.
In this embodiment, the spring member 15 is a compression spring.
In this embodiment, the transmission mechanism 39 includes a speed reducer 391, a first bevel gear 392 and a second bevel gear 393, an output shaft of the driver 40 is connected to an input shaft of the speed reducer 391, the first bevel gear 392 is fixed to the output shaft of the speed reducer 391, the second bevel gear 393 is fixed to the tenth shaft 35, and the first bevel gear 392 is engaged with the second bevel gear 393.
The working principle of the embodiment is described as follows in combination with the attached drawings:
this embodiment is in an initial state, as shown in fig. 1.
The driver 40 rotates to drive the sixth link 22 to rotate around the center line of the eleventh shaft 35 through the transmission mechanism 39; since the second link 18, the fourth link 20, the sixth link 22 and the frame 1 constitute a four-link mechanism, the third link 19, the fifth link 21, the seventh link 23 and the frame 1 constitute a four-link mechanism, and the following conditions are satisfied:
a) the length of the segment BC, the length of the segment CD and the length of the segment CE are equal to each other,
b) the length of the line segment AE is equal to 2 times the length of the line segment AB,
c) the length of the line segment CE is 2.5 times the length of the line segment AB,
d) the length of line segment AA ', BB', DD 'and EE' are equal,
e) the length of segment AB is equal to the length of segment a 'B',
f) the four points of the point A, the point A ', the point E and the point E' are collinear.
As shown in fig. 8 to 12, the four-bar linkage mechanism will drive the end of the first finger section 2 (the distal joint shaft 5) to move linearly due to the rotation of the sixth link 22, so that the distal joint shaft 5 will translate along a straight line, as shown in fig. 8 to 12.
In the process, the second finger section touches the object and the grabbing is finished, so that the object is clamped in parallel, as shown in fig. 8.
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 forwards, the spring element 15 is pressed to be shortened, the guide rod 16 slides relative to the first finger section 2, the rack 14 moves relative to the fifth gear 13, the fifth gear 13 rotates clockwise (the clockwise direction is clockwise direction in fig. 1, the same direction is adopted below), and the transmission relationship from the first transmission wheel 6 to the fourth gear 12 is formed through the transmission of the transmission element 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 12, so that the second finger section 3 is driven to rotate clockwise around the far joint shaft 5; when second finger section 3 contacts object 50, second finger section 3 stops moving, and driver 30 continues to apply a clamping force to clamp object 50, forming an adaptive envelope object 50, as shown in fig. 9-12.
When the object 50 is released, the driver 30 is reversed, and the process of releasing the object 50 is opposite to the grabbing process, which is not described in detail.
The device comprehensively realizes the functions of linear parallel clamping and self-adaptive grabbing of the fingers of the robot by utilizing a driver, a link mechanism wheel train, a rack mechanism, a transmission mechanism, a spring piece and the like; the linear motion of the far joint shaft is realized by adopting a connecting rod mechanism, and the posture of the second finger section fixed relative to the base is kept in the first grabbing stage by adopting a spring piece matched with a rack mechanism; and a rack mechanism is adopted to realize the self-adaptive rotation of the second finger section around the far joint shaft when an object contacts the first finger section. The device can linearly translate the first finger section and the second finger section to clamp an object according to the difference of the shape and the position of the object, particularly clamp the thin-walled or complex-shaped object, and automatically rotate the second finger section to contact the object after the first finger section contacts the object, so that the purpose of self-adaptively enveloping the objects with different shapes and sizes is achieved; the grabbing range is large, and grabbing is stable and reliable; simultaneously driving the translation of the finger and the self-adaptive rotation of the second finger section around the far joint shaft by using a driver; the device has simple structure and low cost.
Claims (6)
1. A connecting rod rack linear flat clamping indirect self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft and a far joint shaft; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis; the first finger section is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger section, and the second finger section is sleeved on the distal joint shaft; the method is characterized in that: the connecting rod rack linear flat clamping indirect self-adaptive robot finger device further comprises a first driving wheel, a driving part, a second driving wheel, a first shaft, a second shaft, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a rack, a spring part and a guide rod; the guide rod is fixedly connected with the base, the guide rod is embedded in the first finger section in a sliding mode, the first shaft is sleeved in the first finger section, the second shaft is sleeved in the first finger section, and the third shaft is sleeved in the first finger section; the central lines of the first shaft, the second shaft, the third shaft and the proximal joint shaft are parallel to each other; the central line of the guide rod is vertical to the central line of the first shaft; the first driving wheel is sleeved on the far joint shaft and fixedly connected with the second finger section, the second driving wheel is sleeved on the first shaft, the driving part is respectively connected with the first driving wheel and the second driving wheel, and the driving part, the first driving wheel and the second driving wheel form a driving relation; the first gear is sleeved on the first shaft and fixedly connected with the second driving wheel, the second gear is sleeved on the second shaft, and the second gear is meshed with the first gear; the third gear is sleeved on the second shaft and fixedly connected with the second gear, the fourth gear is sleeved on the proximal joint shaft and meshed with the fourth gear; through the transmission of the transmission part, the first transmission wheel, the second transmission wheel, the first gear, the second gear, the third gear and the fourth gear, a homodromous transmission relationship is formed from the first transmission wheel to the fourth gear; the fifth gear is sleeved on the proximal joint shaft and fixedly connected with the fourth gear, the rack is fixedly connected on the rack, and the rack and the fifth gear form a transmission relation; and two ends of the spring piece are respectively connected with the first finger section and the base.
2. The indirect self-adaptive robot finger device with the link and rack linear parallel clamping as claimed in claim 1, wherein: the device also comprises a rack, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft, a seventh shaft, an eighth shaft, a ninth shaft, a tenth shaft, an eleventh shaft, a twelfth shaft, a transmission mechanism and a driver; the driver is fixedly connected to the rack, and the output end of the driver is connected with the input end of the transmission mechanism; the output end of the transmission mechanism is connected with the eleventh shaft; the eleventh shaft is sleeved on the rack; one end of the sixth connecting rod is fixedly 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, and 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, the other end of the first connecting rod is sleeved on the fourth shaft, and the first connecting rod is fixedly connected with 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, and the other end of the fourth connecting rod is fixedly sleeved on the ninth shaft; the ninth shaft is sleeved on the rack; the twelfth shaft is sleeved on the rack; one end of the seventh connecting rod is sleeved on the twelfth shaft, and 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 sleeve is fixedly arranged in 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 fixedly sleeved on the tenth shaft; the tenth shaft is sleeved on the rack; 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; setting the center of the twelfth axis as point A, the center of the eighth axis as point B, the center of the sixth axis as point C, the center of the proximal joint axis as point D, the center of the tenth axis as point E, the center of the eleventh axis as point A ', the center of the seventh axis as point B ', the center of the fifth axis as point C ', the center of the fourth axis as point D ', the center of the ninth axis as point E ', the length of the line segment BC, the length of the line segment CD and the length of the line segment CE are equal, the length of the line segment AE is equal to 2 times 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 ', the length of the line segment C ' D ' and the length of the line segment C ' E ' are equal, the length of the line segment A ' E ' is equal to 2 times the length of the line segment A ' B ', the length of the line segment C ' E ' is 2.5 times the length of the line segment A ' B ', and the length of the line segment, The length of the line segment BB ', the length of the line segment DD ' and the length of the line segment EE ' are equal, and the length of the line segment AB is equal to the length of the line segment A ' B '; the four points of the point A, the point A ', the point E and the point E ' are collinear, and a straight line AA ' is set as K.
3. The indirect self-adaptive robot finger device with the link and rack linear parallel clamping as claimed in claim 1, wherein: the transmission part adopts gears, connecting rods, a transmission belt, chains or ropes.
4. The indirect self-adaptive robot finger device with the link and rack linear parallel clamping function as claimed in claim 2, wherein: the straight line K is parallel to the central line of the guide rod.
5. The indirect self-adaptive robot finger device with the link and rack linear parallel clamping function as claimed in claim 2, wherein: the driver adopts a motor, an air cylinder or a hydraulic cylinder.
6. The indirect self-adaptive robot finger device with the link and rack linear parallel clamping as claimed in claim 1, wherein: the spring part adopts a pressure spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610892202.0A CN107053220B (en) | 2016-10-12 | 2016-10-12 | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610892202.0A CN107053220B (en) | 2016-10-12 | 2016-10-12 | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack |
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| CN107053220A CN107053220A (en) | 2017-08-18 |
| CN107053220B true CN107053220B (en) | 2020-04-03 |
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|---|---|---|---|---|
| CN107598949B (en) * | 2017-09-21 | 2020-05-01 | 清华大学 | Gear rack tail end approximate straight line composite grabbing robot finger device |
| 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 |
| CN108212807B (en) * | 2017-12-29 | 2021-12-31 | 深圳市越疆科技有限公司 | Method and device for sorting articles by robot and mechanical arm |
| CN108312163B (en) * | 2018-03-09 | 2023-12-29 | 清华大学 | Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device |
| 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 |
| 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 |
| CN108972605B (en) * | 2018-09-10 | 2024-04-16 | 河南翔宇医疗设备股份有限公司 | Bionic hand simulating hand movement |
| CN109129549B (en) * | 2018-09-14 | 2021-08-17 | 清华大学 | Sliding chute double-crank linear parallel clamping self-adaptive robot finger device |
| CN109129548B (en) * | 2018-09-14 | 2021-09-14 | 清华大学 | Variable-geometry linear parallel clamping self-adaptive robot finger device |
| CN109605404B (en) * | 2018-11-27 | 2022-05-03 | 安徽工业大学 | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
| WO2023147606A1 (en) | 2022-01-27 | 2023-08-03 | Loc Vo Gia | A robotic gripper, a robot arm and a robot comprising the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1215926C (en) * | 2002-11-29 | 2005-08-24 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
| CN100469540C (en) * | 2007-04-27 | 2009-03-18 | 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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