CN107186744B - Finger device of rack flat clamp coupling conversion smart robot - Google Patents
Finger device of rack flat clamp coupling conversion smart robot Download PDFInfo
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- CN107186744B CN107186744B CN201710428783.7A CN201710428783A CN107186744B CN 107186744 B CN107186744 B CN 107186744B CN 201710428783 A CN201710428783 A CN 201710428783A CN 107186744 B CN107186744 B CN 107186744B
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- shaft
- joint shaft
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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
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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 smart robot finger device with rack parallel-clamping coupling conversion belongs to the technical field of robot fingers and comprises a base, a first motor, a first transmission mechanism, a second motor, a second transmission mechanism, a middle finger section, a tail end finger section, a near joint shaft, a far joint shaft, a connecting piece, a rotating shaft, a half gear, a lower rack, an upper rack, a sleeve, a middle shaft and a gear. The device realizes the function that the robot finger flat clamp active grabbing mode and the coupling active grabbing mode can be switched in a simple translational mode. The device not only can achieve the coupling effect that a single motor drives a plurality of joints to rotate simultaneously, which is realized by the traditional coupling fingers, but also has the decoupling grabbing effect that the traditional coupling fingers independently rotate the single joint, and organically fuses the two traditional effects, so that the object grabbing control is easy and convenient; all motors and reducers are hidden in the base, and the rotating part of the finger is small in size and light in weight.
Description
Technical Field
The invention belongs to the technical field of robot fingers, and particularly relates to a structural design of a rack parallel-clamping coupling conversion smart robot finger device.
Background
With the rapid development of industrialization and intelligent progress, robots are used in more and more production and living. One of the most important functions of robot fingers is to grasp objects, which is a hot spot for current research in the robot field. The human hand has more than 20 degrees of freedom, is mainly distributed on 5 finger joints, and if motor drive control is adopted, the real-time performance requirement of the control is high, and even a simple object is grabbed, complicated sensing and control are needed. In order to reduce the difficulty of control, one method is to reduce the number of motors to be controlled simultaneously, so that the real-time performance of gripping an object can be ensured more easily, but there is a problem: how to drive more joints by fewer motors, the object grabbing is still stable and reliable, i.e. how to realize underactuation. Meanwhile, how to realize forward coupling and reverse coupling on the basis of underactuation.
Under-actuated gripping is typically achieved in two ways, one is an adaptive under-actuated finger mechanism, often referred to as an adaptive finger or under-actuated finger, and the other is a coupled under-actuated finger mechanism, often referred to as a coupled finger. The coupling grabbing mode refers to that two joints rotate simultaneously according to a certain proportion or a variable proportion, and can be specifically divided into a forward coupling grabbing mode and a reverse coupling grabbing mode. The forward coupling grabbing mode is often simply called coupling grabbing, and grabbing modes with the same proportion in the reverse coupling grabbing mode are widely applied and are often called parallel clamping coupling grabbing modes and are often simply called flat clamping grabbing. If the underactuated grabbing mode, the forward coupling grabbing mode and the reverse coupling grabbing mode are combined, the grabbing process is more anthropomorphic, and under-actuated flat clamping and under-actuated coupling can be realized in industry.
The traditional rack flat clamp coupling conversion smart robot finger device (Chinese patent invention CN 102514012) comprises a base, two motors, a near joint shaft, a far joint shaft, a middle finger section, a tail end finger section, a plurality of belt wheel transmission mechanisms, a first gear, a second gear and racks, wherein the device realizes four grabbing modes with two degrees of freedom, can achieve a coupling effect that a plurality of joints are driven by a single motor to rotate simultaneously by a coupling finger and a decoupling grabbing effect that the coupling finger does not independently rotate the single joint, and has the defects that under-actuated flat clamp coupling cannot be realized, when a regular object or the object is large in size, the contact area of the robot finger and the object is small, the grabbing force applied to the object is small, and therefore the grabbing effect is poor.
An existing flexible piece parallel-clamping coupling switching self-adaptive robot finger device (Chinese patent invention CN 105835083A) comprises a base, a motor, a middle finger section, an end finger section, a spring, a half-wheel lug, a rotating shaft and the like. The device realizes the mutual conversion function of the coupling self-adaptive grabbing mode and the flat clamp self-adaptive grabbing mode, the transmission mechanism drives the middle finger section to rotate around the near joint shaft, and the tail finger section simultaneously rotates by an angle, so that the coupling rotation effect of the simultaneous rotation of the near joint shaft and the far joint shaft is achieved; when the half wheel is rotated to the opposite side, a flat clamp self-adaptive grabbing mode can be realized. The device has the defects that the flexible tendon rope is easy to bend, and the phenomenon of unstable transmission can be caused, so that the grabbing effect is poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rack flat clamp coupling conversion smart robot finger device which is provided with a plurality of grabbing modes, can realize a coupling self-adaptive grabbing mode, and can realize a flat clamp self-adaptive grabbing mode after a half gear and a chain are switched; the device can translate the second finger section to clamp the object in parallel, can simultaneously forward bend and couple and pinch the object, and can rotate the first finger section and the second finger section in sequence to adaptively envelop the objects with different shapes and sizes; the grabbing range is large; no complex sensing and control system is required.
The technical scheme of the invention is as follows:
a smart robot finger device with rack parallel-clamping coupling conversion comprises a base, a first motor, a first transmission mechanism, a second motor, a second transmission mechanism, a middle finger section, a tail finger section, a near joint shaft and a far joint shaft; the near joint shaft is sleeved in the base, the middle finger section is sleeved on the near joint shaft, the far joint shaft is sleeved in the middle finger section, the near joint shaft is parallel to the far joint shaft, the tail end finger section is sleeved and fixed on the far joint shaft, the first motor is fixedly connected with the base, the output shaft of the first motor is connected with the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected with the middle finger section; the second motor is fixedly connected with the base, and an output shaft of the second motor is connected with an input end of the second transmission mechanism; the method is characterized in that: the smart robot finger device with the rack parallel-clamping coupling conversion further comprises a connecting piece, a rotating shaft, a half gear, a lower rack, an upper rack, a sleeve, a middle shaft and a gear; the output end of the second transmission mechanism is connected with the near joint shaft; the connecting piece is sleeved and fixed on the near joint shaft; the rotating shaft is sleeved on the connecting piece; the central line of the rotating shaft is perpendicular to the central line of the near joint shaft; the half gear is sleeved on the rotating shaft; the semi-gear is concentric with the near joint shaft; the gear is sleeved and fixed on the far joint shaft; the upper rack is slidably embedded in the middle finger section; the lower rack is meshed with the half gear, and the upper rack is meshed with the gear; the lower end of the upper rack is fixedly connected with the intermediate shaft, and the upper end of the lower rack is fixedly connected with the sleeve; the middle shaft is sleeved in the sleeve; a plane U formed by the center line of the near joint shaft and the center line of the far joint shaft; the central line of the intermediate shaft is on a plane U and perpendicular to the central line of the near joint shaft; the intermediate shaft is coplanar with the rotating shaft; the second transmission mechanism adopts a speed reduction transmission mechanism with self-locking characteristic.
In the above-mentioned technical scheme, its characterized in that: the first transmission mechanism comprises a first belt wheel, a first transmission belt and a second belt wheel; the first belt pulley is sleeved and fixed on an output shaft of the first motor, the second belt pulley is sleeved and connected on the near joint shaft, and the first belt pulley and the second belt pulley are connected through a first transmission belt and form a belt transmission relationship; the second belt wheel is fixedly connected with the middle finger section.
In the above technical scheme, the second transmission mechanism comprises a third belt wheel, a second transmission belt and a fourth belt wheel; the third belt pulley is sleeved and fixed on an output shaft of the second motor, the fourth belt pulley is sleeved and fixed on the near joint shaft, and the third belt pulley and the fourth belt pulley are connected through a second transmission belt and form a belt transmission relationship.
Compared with the prior art, the invention has the following advantages and outstanding effects:
the device realizes seven grabbing modes with two degrees of freedom: 1) A double-joint coupling rotation grabbing mode; 2) The double joints independently rotate to grasp the mode; 3) A grabbing mode that the double joints are coupled to rotate firstly and then independently rotate; 4) The double joints are rotated independently firstly, and then are coupled with a grabbing mode of rotation; 5) A double-joint translational grabbing mode; 6) A grabbing mode that the double joints are firstly clamped flatly and then independently rotated; 7) The double joints rotate independently first and then clamp the active grabbing mode. The device not only can achieve the coupling effect that a single motor drives a plurality of joints to rotate simultaneously, which is realized by the traditional coupling fingers, but also has the decoupling grabbing effect that the traditional coupling fingers independently rotate the single joint, and organically fuses the two traditional effects, so that the object grabbing control is easy and convenient; all motors and reducers are hidden in the base, and the rotating part of the finger is small in size and light in weight.
Drawings
FIG. 1 is an overall appearance of one embodiment of a rack flat clamp coupled conversion smart robotic finger device provided by the present invention.
Fig. 2 is a front view of the present embodiment.
Fig. 3 is a side view of the present embodiment.
Fig. 4 is a front view of the internal transmission structure of the present embodiment.
Fig. 5 shows a half gear meshing point a, a gear meshing point B, and a half gear center O corresponding to fig. 3 and 4 1 And gear center O 2 A line graph of these four points.
FIG. 6 shows half gear mesh point A, gear mesh point B and half gear center O of the flat grip object 1 And gear center O 2 A line graph of these four points.
Fig. 7 is a three-dimensional appearance diagram of the present embodiment.
Fig. 8, 9, 10 and 11 are schematic side views of several key positions in the process of gripping an object according to the present embodiment.
Fig. 12 is a schematic view of a case where an object is pinched in the present embodiment.
In fig. 1 to 12:
1-base, 2-middle finger section, 3-end finger section,
4-near joint axis, 5-far joint axis,
61-half gear, 62-gear, 63-lower rack,
64-upper rack, 65-sleeve, 66-intermediate shaft
71-first motor, 72-second motor,
73-a first transmission mechanism 741 a third belt pulley, 742 a second belt,
743 fourth pulley, 74-second transmission mechanism, 741 third pulley,
742, a second belt, 743 a fourth pulley, 8-connection,
9-a rotating shaft.
Detailed Description
The specific structure and operation of the present invention will be further described with reference to the accompanying drawings and examples.
The invention relates to a rack flat clamp coupling conversion dexterous robot finger device, which comprises a base 1, a first motor 71, a first transmission mechanism 73, a second motor 72, a second transmission mechanism 74, a middle finger section 2, a tail end finger section 3, a near joint shaft 4 and a far joint shaft 5; the near joint shaft 4 is sleeved in the base 1, the middle finger section 2 is sleeved on the near joint shaft 4, the far joint shaft 5 is sleeved in the middle finger section 2, the near joint shaft 4 and the far joint shaft 5 are parallel, the tail end finger section 3 is fixedly sleeved on the far joint shaft 5, the first motor 71 is fixedly connected with the base 1, an output shaft of the first motor 71 is connected with an input end of the first transmission mechanism 73, and an output end of the first transmission mechanism 73 is connected with the middle finger section 2; the second motor 72 is fixedly connected with the base 1, and an output shaft of the second motor 72 is connected with an input end of the second transmission mechanism 74; the method is characterized in that: the rack parallel-clamping coupling conversion smart robot finger device further comprises a connecting piece 8, a rotating shaft 9, a half gear 61, a lower rack 63, an upper rack 64, a sleeve 65, an intermediate shaft 66 and a gear 62; the output end of the second transmission mechanism 74 is connected with the near joint shaft 4; the connecting piece 8 is sleeved and fixed on the near joint shaft 4; the rotating shaft 9 is sleeved on the connecting piece 8; the central line of the rotating shaft 9 is perpendicular to the central line of the near joint shaft 4; the half gear 61 is sleeved on the rotating shaft 9; the half gear 61 is concentric with the proximal joint shaft 4; the gear 62 is sleeved and fixed on the far joint shaft 5; the upper rack 64 is slidably embedded in the middle finger section 2; the lower rack 63 is meshed with the half gear 61, and the upper rack 64 is meshed with the gear 62; the lower end of the upper rack 64 is fixedly connected with a middle shaft 66, and the upper end of the lower rack 63 is fixedly connected with a sleeve 65; the intermediate shaft 66 is sleeved in the sleeve 65; a plane U formed by the center line of the near joint shaft 4 and the center line of the far joint shaft 5; the centerline of the intermediate shaft 66 is on plane U and perpendicular to the centerline of the proximal joint shaft 4; the intermediate shaft 66 is coplanar with the rotating shaft 9; the second transmission mechanism 74 is a reduction transmission mechanism with self-locking characteristic.
The invention relates to a rack flat clamp coupling conversion smart robot finger device, which is characterized in that: the first transmission mechanism 73 includes a first pulley 731, a first belt 732, and a second pulley 733; the first belt wheel 731 is sleeved and fixed on the output shaft of the first motor 71, the second belt wheel 733 is sleeved and connected on the near joint shaft 4, and the first belt wheel 731 and the second belt wheel 733 are connected through a first transmission belt 732 and form a belt transmission relationship; the second pulley 733 is fixedly connected with the middle finger section 2.
The invention relates to a rack flat clamp coupling conversion smart robot finger device, which is characterized in that: the second transmission mechanism 74 includes a third pulley 741, a second transmission belt 742, and a fourth pulley 743; the third pulley sleeve 741 is fixed on the output shaft of the second motor 72, the fourth pulley 743 is fixed on the proximal joint shaft 4, the third pulley 741 and the fourth pulley 743 are connected by a second transmission belt 742, and the three form a belt transmission relationship.
The working principle of the present embodiment, with reference to fig. 7 to 11, is described as follows:
the embodiment adopts half rack and pinion, rack and pinion drive mechanism, two sets of motors and reduction gear to synthesize 8 kinds of modes of snatching that have realized two degrees of freedom robot finger, includes:
1) Double-joint flat clamp rotation grabbing mode: at this time, the first motor 71 rotates, the middle finger section 2 rotates forward by α, and the end finger section 3 rotates forward by α with respect to the middle finger section 2;
2) Double-joint independent rotation grabbing mode: at this time, the first motor 71 and the second motor 72 rotate simultaneously, the first motor 71 can make the finger generate the parallel clamp linkage, and the second motor 72 can change the angle of the end finger section at will on the basis;
3) The double-joint is firstly flat-clamped to rotate, and then the double-joint is independently rotated to grasp the pattern: at this time, the first motor 71 is rotated first, and after the middle finger section touches an object, the first motor 71 is stopped, and then the second motor 72 is rotated;
4) The double joints are firstly rotated independently, and then the grabbing mode of flat clamp rotation is adopted: at this time, the two motors are started at the same time, then the second motor 72 is stopped, and the first motor 71 continues to rotate;
5) Double-joint coupling rotation grabbing mode: at this time, the first motor 71 rotates, and the second motor 72 does not rotate;
6) Double-joint independent rotation grabbing mode: at this time, the two motors rotate simultaneously, the first motor 71 causes the fingers to generate coupling linkage, and the second motor 72 randomly changes the angle of the end finger section on the basis;
7) The double joints are coupled and rotated firstly, and then the grabbing mode of independent rotation is adopted: first, the first motor 71 is rotated, and after the middle finger section touches an object, the first motor 71 is stopped, and then the second motor 72 is rotated;
8) The double joints rotate independently firstly, and then are coupled with a grabbing mode of rotation: the two motors are started simultaneously, then the second motor 72 is stopped, and the first motor 71 is rotated again;
the principle of operation is further illustrated in the following general gripping mode. The device adopts a seventh grabbing mode to grab the object: the double joints are coupled to rotate firstly, and then the double joints are independently rotated to form a grabbing mode stage.
The initial position of the device is shown in fig. 8, wherein the middle finger section 2 and the end finger sections 3 are in a state of being straightened with the base 1. When the robot finger of the embodiment is used for grabbing objects, the half gear rack is rotated so that the circle center O of the gear is formed 2 Gear rack meshing point B, half gear rack meshing point A and rotating shaft center O 1 Formed pattern ABO 1 O 2 Is shaped like an 8. At this time, the first motor 71 is rotated, and the middle finger section is rotated by an angle α with respect to the base, and the end finger sections are rotated by an angle α with respect to the middle finger section in the same direction, i.e., by an angle 2α with respect to the base. The first motor 71 is then stopped, the second motor 72 is rotated, and the end finger segment continues to rotate until it contacts the object.
The device utilizes a motor, a half-gear rack mechanism, a gear rack transmission mechanism, a rotating shaft, a half-gear connecting piece and the like, so that the coupling effect that a single motor drives a plurality of joints to rotate simultaneously, which is realized by coupling fingers, is realized, the decoupling grabbing effect that the coupling fingers do not independently rotate the single joint is also realized, and the object grabbing control is easy; all motors and reducers are hidden in the base, and the rotating part of the finger is small in size and light in weight. No complex sensing and control system is required; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Claims (1)
1. A smart robot finger device with rack parallel-clamping coupling conversion comprises a base, a first motor, a first transmission mechanism, a second motor, a second transmission mechanism, a middle finger section, a tail finger section, a near joint shaft and a far joint shaft; the near joint shaft is sleeved in the base, the middle finger section is sleeved on the near joint shaft, the far joint shaft is sleeved in the middle finger section, the near joint shaft is parallel to the far joint shaft, the tail end finger section is sleeved and fixed on the far joint shaft, the first motor is fixedly connected with the base, the output shaft of the first motor is connected with the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected with the middle finger section; the second motor is fixedly connected with the base, and an output shaft of the second motor is connected with an input end of the second transmission mechanism; the method is characterized in that: the smart robot finger device with the rack parallel-clamping coupling conversion further comprises a connecting piece, a rotating shaft, a half gear, a lower rack, an upper rack, a sleeve, a middle shaft and a gear; the output end of the second transmission mechanism is connected with the near joint shaft; the connecting piece is sleeved and fixed on the near joint shaft; the rotating shaft is sleeved on the connecting piece; the central line of the rotating shaft is perpendicular to the central line of the near joint shaft; the half gear is sleeved on the rotating shaft; the semi-gear is concentric with the near joint shaft; the gear is sleeved and fixed on the far joint shaft; the upper rack is slidably embedded in the middle finger section; the lower rack is meshed with the half gear, and the upper rack is meshed with the gear; the lower end of the upper rack is fixedly connected with the intermediate shaft, and the upper end of the lower rack is fixedly connected with the sleeve; the middle shaft is sleeved in the sleeve; a plane U formed by the center line of the near joint shaft and the center line of the far joint shaft; the central line of the intermediate shaft is on a plane U and perpendicular to the central line of the near joint shaft; the intermediate shaft is coplanar with the rotating shaft; the second transmission mechanism adopts a speed reduction transmission mechanism with self-locking characteristic;
the first transmission mechanism comprises a first belt wheel, a first transmission belt and a second belt wheel; the first belt pulley is sleeved and fixed on an output shaft of the first motor, the second belt pulley is sleeved and connected on the near joint shaft, and the first belt pulley and the second belt pulley are connected through a first transmission belt and form a belt transmission relationship; the second belt wheel is fixedly connected with the middle finger section;
the second transmission mechanism comprises a third belt pulley, a second transmission belt and a fourth belt pulley; the third belt pulley is sleeved and fixed on an output shaft of the second motor, the fourth belt pulley is sleeved and fixed on the near joint shaft, and the third belt pulley and the fourth belt pulley are connected through a second transmission belt and form a belt transmission relationship.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710428783.7A CN107186744B (en) | 2017-06-08 | 2017-06-08 | Finger device of rack flat clamp coupling conversion smart robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710428783.7A CN107186744B (en) | 2017-06-08 | 2017-06-08 | Finger device of rack flat clamp coupling conversion smart robot |
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| CN107186744A CN107186744A (en) | 2017-09-22 |
| CN107186744B true CN107186744B (en) | 2023-06-16 |
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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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