CN107186744A - A kind of flat folder coupling conversion handyman finger apparatus of rack - Google Patents
A kind of flat folder coupling conversion handyman finger apparatus of rack Download PDFInfo
- Publication number
- CN107186744A CN107186744A CN201710428783.7A CN201710428783A CN107186744A CN 107186744 A CN107186744 A CN 107186744A CN 201710428783 A CN201710428783 A CN 201710428783A CN 107186744 A CN107186744 A CN 107186744A
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- China
- Prior art keywords
- joint shaft
- motor
- rack
- belt wheel
- shaft
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Classifications
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of flat folder coupling conversion handyman finger apparatus of rack, belong to robot finger's technical field, including pedestal, the first motor, the first transmission mechanism, the second motor, the second transmission mechanism, middle part segment, end segment, nearly joint shaft, remote joint shaft, connector, rotating shaft, half gear, lower rack, upper rack, sleeve, jackshaft and gear.The arrangement achieves the flat folder active grasp mode of robot finger and couple active grasp mode can function that simply translation switches.The device can reach that the single motor that tradition coupling finger is realized drives multiple joints while the coupling effect rotated, there is tradition coupling finger independently to rotate the decoupling crawl effect of single joint again, two traditional effects are organically merged so that controlled easily, conveniently during crawl object；All motors, decelerator are hidden in pedestal, finger rotating part small volume, lightweight.
Description
Technical field
The invention belongs to robot finger's technical field, the flat folder coupling conversion handyman hand of more particularly to a kind of rack
Refer to the structure design of device.
Background technology
As industrialization, intelligent Process quickly develop, robot is used in increasing production and living.Machine
One of most important function of finger is crawl object, is the focus of current robot field's research.Human hand has more than 20
The free degree, be mainly distributed on 5 articulations digitorum manus, if all use drive and control of electric machine, its control requirement of real-time compared with
Height, even if one simple object of crawl is also required to sensing and the control of complexity.In order to reduce the difficulty of control, a kind of method is
Reduction is while the quantity of controlled motor, so capturing the real-time of object can be easier to ensure that, but bring a problem：Such as
What allows less motor to drive more joint, and crawl object is still reliable and stable, i.e., how to realize drive lacking.Meanwhile, how
Positive coupling and reverse coupled are realized on the basis of drive lacking.
Generally there is two ways to realize that drive lacking is captured, one kind is adaptive under-actuated finger mechanism, often referred to as
For adaptive finger or under-actuated finger, another is coupling under-actuated finger mechanism, is often simply referred to as coupling finger.Coupling is grabbed
Modulus formula refers to two joints according to a certain percentage or the ratio of change is rotated simultaneously, can specifically be divided into positive couple and capture
Pattern and reverse coupled grasp mode.In forward direction coupling grasp mode usually simply coupled crawl, reverse coupled grasp mode
Applied by the grasp mode of same ratio than wide, frequently referred to parallel clamping coupling grasp mode, usually referred to as flat gripper
Take.If drive lacking captured, positive coupling grasp mode and reverse coupled grasp mode combine and would is that crawl process
More personalize, industrially in can not only the flat folder of drive lacking, moreover it is possible to realize that drive lacking is coupled.
The flat folder coupling conversion handyman finger apparatus (Chinese invention patent CN102514012) of existing rack, bag
Include pedestal, two motors, nearly joint shaft, remote joint shaft, middle part segment, end segment, multiple belt wheel transmission mechanisms, the first teeth
Wheel, second gear and rack, the arrangement achieves the four of two-freedom kind grasp mode, can reach the list that coupling finger is realized
Individual motor drive coupling effect and coupling finger that multiple joints rotate simultaneously without the decoupling of independent rotation single joint grab
Effect is taken, the device, which is disadvantageous in that, can not realize the flat folder coupling of drive lacking, when rules for grasping object or object volume
When larger, the contact area of robot finger and object is smaller, smaller to object application grasping force, therefore crawl effect is not
It is good.
The flat folder coupling switching adaptive robot finger apparatus (Chinese invention patent of existing flexible piece
), including pedestal, motor, middle part segment, end segment, spring, half wheel projection, rotating shaft etc. CN105835083A.The device is realized
The function that coupling adaptive grasp mode is mutually changed with flat folder self-adapting grasping pattern, transmission mechanism drive middle part segment around
Nearly joint shaft is rotated, and end segment can rotate an angle simultaneously, reaches nearly joint shaft and remote joint shaft while the coupling rotated
Rotating effect；When rotating half wheel to opposite, flat folder self-adapting grasping pattern can be realized again.The device is disadvantageous in that flexibility
Tendon rope is flexible, can cause to be driven unstable phenomenon, therefore crawl effect is bad.
The content of the invention
The purpose of the present invention is that the weak point for being directed to prior art changes dexterity machine there is provided a kind of flat folder coupling of rack
Finger device, the device has a variety of grasp modes, and the device can realize coupling adaptive grasp mode, is switching half tooth
After wheel and chain, flat folder self-adapting grasping pattern can be realized again,；The device can the parallel clamping object of the segment of translation second,
Two joints also positive bending can couple grip object simultaneously, successively can also rotate the first segment and the second segment is adaptively wrapped
The object of network different shapes and sizes；Capture scope big；Sensing and control system that need not be complicated.
Technical scheme is as follows：
A kind of flat folder coupling conversion handyman finger apparatus of rack, including pedestal, the first motor, the first driver
Structure, the second motor, the second transmission mechanism, middle part segment, end segment, nearly joint shaft and remote joint shaft；The nearly joint axle sleeve
It is located in pedestal, middle part segment is socketed on nearly joint shaft, the remote joint shaft is set in the segment of middle part, nearly joint shaft and remote
Joint shaft is parallel, and end segment is fixed on remote joint shaft, and first motor and pedestal are affixed, the output of first motor
Axle is connected with the input of the first transmission mechanism, and the output end of the first transmission mechanism is connected with middle part segment；Second motor
Affixed with pedestal, the output shaft of the second motor is connected with the input of the second transmission mechanism；It is characterized in that：The flat folder coupling of the rack
Close conversion handyman finger apparatus also include connector, rotating shaft, half gear, lower rack, upper rack, sleeve, jackshaft and
Gear；The output end of second transmission mechanism is connected with nearly joint shaft；The connector is fixed in nearly joint shaft；The rotating shaft is arranged
On connector；The central axis of the center line of the rotating shaft and nearly joint shaft；Half gear is socketed in rotating shaft；It is described
Half gear and nearly joint shaft are concentric；The gear is fixed on remote joint shaft；The upper rack, which is slided, to be embedded in the segment of middle part；
The lower rack is engaged with half gear, and the upper rack is engaged with gear；The lower end of the upper rack and jackshaft are affixed, described
The upper end of lower rack and sleeve are affixed；The jackshaft is set in sleeve；In the center line and remote joint shaft of nearly joint shaft
The plane U that heart line is constituted；The center line of the jackshaft is on plane U and perpendicular to the center line of nearly joint shaft；The centre
Axle is coplanar with rotating shaft；Second transmission mechanism uses the reduction gearing mechanism with latching characteristics.
In above-mentioned technical proposal, it is characterised in that：First transmission mechanism includes the first belt wheel, the first transmission belt, the
Two belt wheels；The first band wheel is fixed on the output shaft of the first motor, and the second belt wheel is socketed on nearly joint shaft, the first belt wheel
It is connected between the second belt wheel by the first transmission belt and three forms V belt translation relation；Second belt wheel is consolidated with middle part segment
Connect.
In above-mentioned technical proposal, second transmission mechanism includes the 3rd belt wheel, the second transmission belt and the 4th belt wheel；It is described
3rd belt wheel is fixed on the output shaft of the second motor, and the 4th belt wheel is fixed on nearly joint shaft, the 3rd belt wheel and the 4th belt wheel
Between pass through the second transmission belt connection and three formed V belt translation relation.
The present invention compared with the prior art, with advantages below and high-lighting effect：
Apparatus of the present invention realize seven kinds of grasp modes of two-freedom：1) doublejointed coupling rotational grasp mode；2) it is double
Joint independently rotates grasp mode；3) the first coupling rotational of doublejointed, the grasp mode independently rotated again afterwards；4) doublejointed is first only
It is vertical to rotate, the grasp mode of coupling rotational again afterwards；5) doublejointed translation grasp mode；6) doublejointed first puts down folder, only again afterwards
The vertical grasp mode rotated；7) doublejointed is first independent rotates, and puts down the grasp mode for pressing from both sides active again afterwards.The device can reach biography
The single motor that system coupling finger is realized drives multiple joints while the coupling effect rotated, has tradition coupling finger only again
The vertical decoupling crawl effect for rotating single joint, two traditional effects is organically merged so that crawl object time control
System is easily, conveniently；All motors, decelerator are hidden in pedestal, finger rotating part small volume, lightweight.
Brief description of the drawings
Fig. 1 is a kind of synthesis of the embodiment for the flat folder coupling conversion handyman finger apparatus of rack that the present invention is provided
Outside drawing.
Fig. 2 is the front view of the present embodiment.
Fig. 3 is the side view of the present embodiment.
Fig. 4 is the internal drive structure front view of the present embodiment.
Fig. 5 is half point of mesh A corresponding with Fig. 3, Fig. 4, point of mesh B, half gear centre O1With gear centre O2
The line graph of this four points.
Fig. 6 is that the point of mesh A of object half, point of mesh B, half gear centre O are held in flat nip1With gear centre O2This
The line graph of four points.
Fig. 7 is the three-dimensional appearance figure of the present embodiment.
Fig. 8, Fig. 9, Figure 10 and Figure 11 are several key position sides schematic appearances that the present embodiment grasps object process.
Figure 12 is the situation schematic diagram of the present embodiment grip object.
In Fig. 1 into Figure 12：
1-pedestal, 2-middle part segment, 3-end segment,
4-nearly joint shaft, 5-remote joint shaft,
61-half gear, 62-gear, 63-lower rack,
64-upper rack, 65-sleeve, 66-jackshaft
71-the first motor, the 72-the second motor,
73-the first transmission mechanism, 741 the 3rd belt wheels, 742 second transmission belts,
743 the 4th belt wheels, the 74-the second transmission mechanism, 741 the 3rd belt wheels,
742 second transmission belts, 743 the 4th belt wheels, 8-connector,
9-rotating shaft.
Embodiment
Below in conjunction with the accompanying drawings and example be further described the present invention concrete structure, operation principle.
The flat folder coupling conversion handyman finger apparatus of a kind of rack that the present invention is designed, including pedestal 1, the first motor
71st, the first transmission mechanism 73, the second motor 72, the second transmission mechanism 74, middle part segment 2, end segment 3, nearly joint shaft 4 and remote
Joint shaft 5；The nearly joint shaft 4 is set in pedestal 1, and middle part segment 2 is socketed on nearly joint shaft 4, remote 5 sets of the joint shaft
It is located in the segment 2 of middle part, nearly joint shaft 4 is parallel with remote joint shaft 5, and end segment 3 is fixed on remote joint shaft 5, described first
Motor 71 and pedestal 1 are affixed, and the output shaft of first motor 71 is connected with the input of the first transmission mechanism 73, the first transmission
The output end of mechanism 73 is connected with middle part segment 2；Second motor 72 and pedestal 1 are affixed, the output shaft of the second motor 72 with
The input of second transmission mechanism 74 is connected；It is characterized in that：The flat folder coupling conversion handyman finger apparatus of the rack is also
Including connector 8, rotating shaft 9, half gear 61, lower rack 63, upper rack 64, sleeve 65, jackshaft 66 and gear 62；Second transmission
The output end of mechanism 74 is connected with nearly joint shaft 4；The connector 8 is fixed in nearly joint shaft 4；The rotating shaft 9 is set in connection
On part 8；The central axis of the center line of the rotating shaft 9 and nearly joint shaft 4；Half gear 61 is socketed in rotating shaft 9；It is described
Half gear 61 and nearly joint shaft 4 are concentric；The gear 62 is fixed on remote joint shaft 5；During the slip of upper rack 64 is embedded in
In portion's segment 2；The lower rack 63 is engaged with half gear 61, and the upper rack 64 is engaged with gear 62；The upper rack 64
Lower end and jackshaft 66 are affixed, and the upper end of the lower rack 63 and sleeve 65 are affixed；The jackshaft 66 is set in sleeve 65；
The plane U that the center line of nearly joint shaft 4 is constituted with the center line of remote joint shaft 5；The center line of the jackshaft 66 is on plane U
And perpendicular to the center line of nearly joint shaft 4；The jackshaft 66 and rotating shaft 9 are coplanar；Second transmission mechanism 74, which is used, to be had
The reduction gearing mechanism of latching characteristics.
The flat folder coupling conversion handyman finger apparatus of rack of the present invention, it is characterised in that：First transmission
Mechanism 73 includes the first belt wheel 731, the first transmission belt 732, the second belt wheel 733；First belt wheel 731 is fixed in the first motor
On 71 output shaft, the second belt wheel 733 is socketed on nearly joint shaft 4, passes through between the first belt wheel 731 and the second belt wheel 733
One transmission belt 732 is connected and three forms V belt translation relation；Second belt wheel 733 and middle part segment 2 are affixed.
The flat folder coupling conversion handyman finger apparatus of rack of the present invention, it is characterised in that：Second transmission
Mechanism 74 includes the 3rd belt wheel 741, the second transmission belt 742, the 4th belt wheel 743；The 3rd band wheel case 741 is solid in the second motor
On 72 output shaft, the 4th belt wheel 743 is fixed on nearly joint shaft 4, passes through between the 3rd belt wheel 741 and the 4th belt wheel 743
Two transmission belts 742 are connected and three forms V belt translation relation.
The operation principle of the present embodiment, with reference to accompanying drawing 7 to Figure 11, is described below：
The present embodiment is integrated using half rack-and-pinion, rack and pinion drive mechanism, two sets of motors and decelerator realizes two
8 kinds of grasp modes of degree of freedom robot finger, including：
1) the flat folder of doublejointed rotates grasp mode：Now the first motor 71 is rotated, and middle part segment 2 rotates forward α, and end refers to
Section 3 rotates forward α relative to middle part segment 2；
2) doublejointed independently rotates grasp mode：Now the first motor 71 and the second motor 72 are rotated simultaneously, the first motor
71 can cause finger to produce flat folder linkage, and the second motor 72 can arbitrarily change the angle of end segment on this basis；
3) doublejointed is first put down folder and rotated, the grasp mode independently rotated again afterwards：The first motor 71 is now first rotated, it is central
Portion's segment is touched after object, is stopped the first motor 71, is rotated further by the second motor 72；
4) doublejointed is first independent rotates, and puts down the grasp mode that folder is rotated again afterwards：Now first start two motors simultaneously, so
After stop the second motor 72, the first motor 71 is rotated further；
5) doublejointed coupling rotational grasp mode：Now the first motor 71 is rotated, and the second motor 72 is not rotated；
6) doublejointed independently rotates grasp mode：Now two motors are rotated simultaneously, and the first motor 71 causes finger to produce
Coupling linkage, the second motor 72 arbitrarily changes the angle of end segment on this basis；
7) the first coupling rotational of doublejointed, the grasp mode independently rotated again afterwards：The first motor 71 is first rotated, when middle part refers to
Section is touched after object, is stopped the first motor 71, is rotated further by the second motor 72；
8) doublejointed is first independent rotates, afterwards the grasp mode of coupling rotational again：Two motors start simultaneously, then stop
Second motor 72, is rotated further by the first motor 71；
Below to conventional its operating principle of the further illustration of grasp mode.The device is using the 7th kind of grasp mode
Capture the process of object：Doublejointed elder generation coupling rotational, the grasp mode stage independently rotated again afterwards.
The initial position of the device is as shown in figure 8, now middle part segment 2 and end segment 3 stretch shape with pedestal 1 in finger
State.When capturing object using the robot finger of the present embodiment, rotate half rack-and-pinion and cause gear center of circle O2, rack-and-pinion
Meshing point B, half rack and pinion engagement point A, spindle central O1Constituted figure ABO1O2For the font of shape ' 8 '.Now, first is rotated
Motor 71, middle part segment relative to pedestal rotational angle α, end segment relative to middle part segment to equidirectional rotational angle α,
I.e. relative to pedestal dress rotational angle 2 α.Then stop the first motor 71, rotate the second motor 72, end segment is rotated further,
Untill contacting object.
Apparatus of the present invention utilize motor, half pinion and rack, rack and pinion drive mechanism, rotating shaft, half gear linkage
Deng can reach that the single motor realized of coupling finger drives multiple joints while the coupling effect rotated, has coupling again
Finger without the independent decoupling for rotating single joint capture effect, control is easy during crawl object；All motors, decelerator are equal
Hide in pedestal, it is finger rotating part small volume, lightweight.Without complicated sensing and control system；The apparatus structure is compact,
Small volume, manufacture and maintenance cost are low, it is adaptable to robot.
Claims (3)
1. a kind of flat folder coupling conversion handyman finger apparatus of rack, including pedestal, the first motor, the first transmission mechanism,
Second motor, the second transmission mechanism, middle part segment, end segment, nearly joint shaft and remote joint shaft；The nearly joint shaft is set in
In pedestal, middle part segment is socketed on nearly joint shaft, and the remote joint shaft is set in the segment of middle part, nearly joint shaft and remote joint
Axle is parallel, and end segment is fixed on remote joint shaft, and first motor and pedestal are affixed, the output shaft of first motor with
The input of first transmission mechanism is connected, and the output end of the first transmission mechanism is connected with middle part segment；Second motor and base
Seat is affixed, and the output shaft of the second motor is connected with the input of the second transmission mechanism；It is characterized in that：The flat folder coupling of the rack turns
Changing handyman finger apparatus also includes connector, rotating shaft, half gear, lower rack, upper rack, sleeve, jackshaft and gear；
The output end of second transmission mechanism is connected with nearly joint shaft；The connector is fixed in nearly joint shaft；The rotating shaft is set in company
On fitting；The central axis of the center line of the rotating shaft and nearly joint shaft；Half gear is socketed in rotating shaft；Half tooth
Wheel is concentric with nearly joint shaft；The gear is fixed on remote joint shaft；The upper rack, which is slided, to be embedded in the segment of middle part；It is described
Lower rack is engaged with half gear, and the upper rack is engaged with gear；The lower end of the upper rack and jackshaft are affixed, the lower tooth
The upper end of bar and sleeve are affixed；The jackshaft is set in sleeve；The center line of the center line and remote joint shaft of nearly joint shaft
The plane U of composition；The center line of the jackshaft is on plane U and perpendicular to the center line of nearly joint shaft；The jackshaft with
Rotating shaft is coplanar；Second transmission mechanism uses the reduction gearing mechanism with latching characteristics.
2. the flat folder coupling conversion handyman finger apparatus of rack as claimed in claim 1, it is characterised in that：Described first passes
Motivation structure includes the first belt wheel, the first transmission belt, the second belt wheel；The first band wheel is fixed on the output shaft of the first motor,
Second belt wheel is socketed on nearly joint shaft, is connected between the first belt wheel and the second belt wheel by the first transmission belt and three forms band
Drive connection；Second belt wheel and middle part segment are affixed.
3. the flat folder coupling conversion handyman finger apparatus of rack as claimed in claim 1, it is characterised in that：Described second passes
Motivation structure includes the 3rd belt wheel, the second transmission belt and the 4th belt wheel；3rd belt wheel is fixed on the output shaft of the second motor,
4th belt wheel is fixed on nearly joint shaft, is connected between the 3rd belt wheel and the 4th belt wheel by the second transmission belt and three forms band
Drive connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710428783.7A CN107186744B (en) | 2017-06-08 | 2017-06-08 | Finger device of rack flat clamp coupling conversion smart robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710428783.7A CN107186744B (en) | 2017-06-08 | 2017-06-08 | Finger device of rack flat clamp coupling conversion smart robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107186744A true CN107186744A (en) | 2017-09-22 |
| CN107186744B CN107186744B (en) | 2023-06-16 |
Family
ID=59877440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710428783.7A Active CN107186744B (en) | 2017-06-08 | 2017-06-08 | Finger device of rack flat clamp coupling conversion smart robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186744B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514012A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Rack coupling type dexterous robot finger device |
| WO2012129288A2 (en) * | 2011-03-21 | 2012-09-27 | Re2, Inc. | Robotic hand with conformal finger |
| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN207071940U (en) * | 2017-06-08 | 2018-03-06 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | A kind of flat folder coupling conversion handyman finger apparatus of rack |
-
2017
- 2017-06-08 CN CN201710428783.7A patent/CN107186744B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012129288A2 (en) * | 2011-03-21 | 2012-09-27 | Re2, Inc. | Robotic hand with conformal finger |
| CN102514012A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Rack coupling type dexterous robot finger device |
| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN207071940U (en) * | 2017-06-08 | 2018-03-06 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | A kind of flat folder coupling conversion handyman finger apparatus of rack |
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| Publication number | Publication date |
|---|---|
| CN107186744B (en) | 2023-06-16 |
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