CN107234626B - Fluid self-adaptive parallel clamping coupling switching robot finger device - Google Patents
Fluid self-adaptive parallel clamping coupling switching robot finger device Download PDFInfo
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- CN107234626B CN107234626B CN201710429278.4A CN201710429278A CN107234626B CN 107234626 B CN107234626 B CN 107234626B CN 201710429278 A CN201710429278 A CN 201710429278A CN 107234626 B CN107234626 B CN 107234626B
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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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
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Abstract
A fluid self-adaptive parallel clamping coupling switching robot finger device belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, a motor, a corrugated pipe, a hose, fluid, a driving plate, a switching plate connecting piece, a rotating shaft, a spring piece, a limiting bump and the like. The device realizes the function that the robot finger parallel clamping self-adaptive grabbing mode and the coupling self-adaptive grabbing mode can be simply switched. In the flat clamp self-adaptive grabbing mode, the device can translate the second finger section to grab objects, and can also rotate the first finger section and the second finger section in sequence to envelop the objects with different shapes and sizes; in a coupling self-adaptive grabbing mode, the device can be linked with two joints to rotate simultaneously, and naturally shifts to a self-adaptive grabbing stage of bending a second finger section after a first finger section is blocked from contacting an object; the grabbing range is large, and the grabbing is stable and reliable; an under-actuated mode is adopted, one motor is used for driving two finger sections, and a complex sensing and control system is not needed; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a fluid self-adaptive parallel clamping coupling switching robot finger device.
Background
The self-adaptive under-actuated robot hand is characterized in that a small number of motors are adopted to drive a plurality of freedom degree joints, the motors hidden in a palm can select larger power and size due to the small number of the motors, the output is large, meanwhile, a purely mechanical feedback system is not sensitive to the environment and can stably grab objects with different shapes and sizes, the self-adaptive under-actuated robot hand does not need real-time electronic sensing and closed-loop feedback control, is simple and convenient to control, low in cost, light in weight and small in size, and can be widely applied to industrial, agricultural and service robots or used as artificial limbs for disabled people.
When an object is grabbed, two grabbing methods are mainly used, one is pinching and the other is holding. The pinching is to use the fingertip part of the end finger to clamp an object, and two points or two soft finger surfaces are used to contact the object, mainly aiming at small-size objects or larger objects with opposite surfaces; the holding is realized by enveloping the object with a plurality of finger segments of the fingers to realize the contact of a plurality of points, thereby achieving more stable shape envelope grabbing. The industrial gripper generally adopts a pinching mode, is difficult to have a stable gripping function and cannot adapt to stable envelope gripping of objects with various shapes; the self-adaptive under-actuated finger can be held in a self-adaptive object enveloping manner, but cannot be held and grabbed; the coupled multi-joint hand can realize simultaneous rotation of multiple joints, can realize pinching and cannot realize stable multi-point enveloping holding for objects in various shapes. All three hands have great lifting space.
There is a five-bar clamping device with two degrees of freedom under-actuated fingers, such as US8973958B2, which includes five bars, springs, and mechanical constraints. When the device works, the posture of the tail end finger section is kept at the beginning stage to perform the near-joint bending action, and then the function of parallel pinching or self-adaptive envelope gripping can be realized according to the position of an object. The device has the disadvantages that a very complex multi-link mechanism is adopted, a large dead zone exists in movement, the grabbing range is small, the mechanism is large in size, the flexibility is lacked, and the manufacturing cost is too high.
An existing double-joint parallel under-actuated robot finger device, such as chinese patent CN101633171B, includes a base, a motor, two joint shafts, two finger sections, a coupling transmission mechanism, an under-actuated transmission mechanism, and a plurality of spring members. The device realizes a coupling self-adaptive grabbing mode, presents the effect of multi-joint coupling rotation before a finger touches an object, is very anthropomorphic, and is also beneficial to grabbing the object in a pinching and holding mode; when the finger touches the object, the effect of multi-joint under-actuated rotation is adopted, and the automatic size-adaptive robot has the advantage of automatically adapting to the size of the grasped object. The device has the disadvantages that the device can only realize a coupling self-adaptive grabbing mode, and cannot realize a parallel clamping self-adaptive grabbing mode; in addition, the mechanism is complex and difficult to install and maintain; the spring parts are too many in number, and the spring parts are often deformed greatly by utilizing the contradiction between the spring part decoupling and harmonic coupling transmission mechanism and the self-adaptive transmission mechanism, so that overlarge and unnecessary energy loss is caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a fluid self-adaptive parallel clamping coupling switching robot finger device. The device has multiple grabbing modes, can realize a parallel clamping self-adaptive grabbing mode, and can realize a coupling self-adaptive grabbing mode after simple switching; the device can translate the second finger section to parallelly clamp an object, can also bend, decouple and pinch the object by two joints in the positive direction at the same time, and can also rotate the first finger section and the second finger section in sequence to self-adaptively envelop objects with different shapes and sizes; the grabbing range is large; no complex sensing and control systems are required.
The technical scheme of the invention is as follows:
the invention relates to a fluid self-adaptive parallel clamping coupling switching robot finger device which comprises a base, a first finger section, a second finger section, a proximal joint shaft, a distal joint shaft and a motor, wherein the base is provided with a first end and a second end; the near joint shaft is movably sleeved in the base, the first finger section movable sleeve is close to the joint shaft, the far joint shaft is movably sleeved in the first finger section, and the second finger section is sleeved on the far joint shaft; the motor is fixedly connected with the base; the center line of the proximal joint shaft is parallel to the center line of the distal joint shaft; the method is characterized in that: the fluid self-adaptive parallel-clamping coupling switching robot finger device further comprises a transmission mechanism, a first corrugated pipe, a second corrugated pipe, a third corrugated pipe, a fourth corrugated pipe, a first pipe clamp, a second pipe clamp, a first hose, a second hose, a first fluid, a second fluid, a first limiting bump, a second limiting bump, a driving plate, a switching plate connecting piece, a rotating shaft and a spring piece; the transmission mechanism is arranged in the base; an output shaft of the motor is connected with an input end of a transmission mechanism, and an output end of the transmission mechanism is connected with the first finger section; the first hose and the second hose are both non-telescopic rubber tubes, and the first hose and the second hose are both positioned in the first finger section; the first corrugated pipe, the second corrugated pipe, the third corrugated pipe and the fourth corrugated pipe are all retractable and bendable hollow pipes, the lower part of the first corrugated pipe is fixedly connected with the driving plate, the upper part of the first corrugated pipe is fixedly arranged at the lower part of the first finger section, and the upper part of the first corrugated pipe is communicated with the lower part of the first hose in a sealing manner; the upper part of the second corrugated pipe is fixedly connected with the first connecting block, the lower part of the second corrugated pipe is fixedly arranged on the upper part of the first finger section, and the lower part of the second corrugated pipe is communicated with the upper part of the first hose in a sealing way; the lower part of the third corrugated pipe is fixedly connected with the switching plate, the upper part of the third corrugated pipe is fixedly arranged at the lower part of the first finger section, and the third corrugated pipe is communicated with the second hose in a sealing way; the upper part of the fourth corrugated pipe is fixedly connected with the second connecting block, the lower part of the fourth corrugated pipe is hermetically communicated with the second hose, and the lower part of the fourth corrugated pipe is fixedly arranged on the upper part of the first finger section; (ii) a The first fluid 8 is sealed in a first bellows, a first hose and a second bellows; the second fluid is sealed in a third bellows, a second bellows, and a fourth bellows; the pipe clamp is fixedly connected with the switching plate; the first pipe clamp and the second pipe clamp are fixedly connected with the first finger section respectively; the switching plate connecting piece is fixedly connected to the near joint shaft; the rotating shaft is sleeved on the switching plate connecting piece, and the switching plate is sleeved on the rotating shaft; the first limiting lug and the second limiting lug are fixedly connected with the base respectively; in a flat clamping grabbing mode, the switching plate is positioned on one side far away from a grabbed object, the upper part of the third corrugated pipe is embedded into the first pipe clamp, and the switching plate is in contact with the first limiting bump; when the grabbing mode is coupled, the switching plate is positioned on one side close to the object to be grabbed, the upper part of the third corrugated pipe is embedded into the second pipe clamp, and the switching plate is in contact with the second limiting bump; the distance between the center line of the third corrugated pipe and the center line of the near joint shaft is a, the distance between the center line of the fourth corrugated pipe and the center line of the far joint shaft is b, and a is equal to b; the inner diameter of the third corrugated pipe is equal to that of the fourth corrugated pipe; the length of the third corrugated pipe is equal to that of the fourth corrugated pipe; two ends of the spring piece are respectively connected with the base and the switching plate; the distance between the center line of the first corrugated pipe and the center line of the near joint shaft is c, the distance between the center line of the second corrugated pipe and the center line of the far joint shaft is d, and c is larger than d; the inner diameter of the first bellows is equal to the inner diameter of the second bellows.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the parallel clamping and the coupling pinching switching of the fingers of the double-joint robot and has the self-adaptive grabbing function by utilizing a motor, a closed flexible part transmission mechanism, a corrugated pipe, fluid, a spring part, a driving plate, a switching plate, a limiting lug and the like, and in the flat-clamping self-adaptive grabbing mode, according to the difference of the shape and the position of a target object, the device can translate a second finger section to pinch the object or externally stretch the object and can also sequentially rotate the first finger section and the second finger section to envelop the objects with different shapes and sizes; in the coupling self-adaptive grabbing mode, the device can simultaneously link two joints to rotate and naturally shift to a self-adaptive grabbing stage of bending the second finger section after the first finger section is blocked from contacting an object; the device has a large grabbing range; an under-actuated mode is adopted, one motor is used for driving two joints, and a complex sensing and control system is not needed; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Drawings
FIG. 1 is a perspective view of an embodiment of a fluidic adaptive clamp-in coupling switching robot finger device designed according to this invention.
Fig. 2 is a front external view of the embodiment shown in fig. 1.
Fig. 3 is a side external view (left side view of fig. 2) of the embodiment shown in fig. 1.
Fig. 4 is another side elevational view of the embodiment shown in fig. 1 (right side elevational view of fig. 2).
Fig. 5 is an internal perspective view of the embodiment of fig. 1 from an angle (not shown with some parts).
Fig. 6 is an internal perspective view of the embodiment of fig. 1 from another angle (with some parts not shown).
FIG. 7 is an internal perspective view of the embodiment of FIG. 1 from another angle (with some parts not shown).
Fig. 8 is a front view of the embodiment shown in fig. 1 (base front panel, base surface panel, first finger front panel, first finger surface panel not shown).
Fig. 9 is an exploded view of the embodiment shown in fig. 1.
Fig. 10 to 14 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 for gripping an object in an envelope holding manner in the flat clamp adaptive mode.
Fig. 15 to 17 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 for parallel opening and closing the second finger section to clamp an object in the flat clamp adaptive mode.
Fig. 18 to 21 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 in the coupled adaptive mode to grasp an object in an envelope holding manner.
Fig. 22 to 24 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 in the coupling adaptive mode for coupling and bending to clamp an object with the second finger segment.
Figure 25 is a schematic view of the distance between the centerline of the third bellows and the centerline of the proximal joint axis.
Fig. 26 is a schematic distance diagram of the center line of the fourth bellows from the center line of the distal joint axis.
Figure 27 is a schematic of the distance of the centerline of the first bellows from the centerline of the proximal joint axis.
Fig. 28 is a schematic distance of the centerline of the second bellows from the centerline of the distal joint axis.
In fig. 1 to 28:
1-base, 111-base front plate, 112-base rear plate, 113-base left side plate,
114-base right side panel, 115-base surface panel, 116-base bottom panel, 2-first finger section,
21-a first finger section framework, 22-a first finger section left side plate, 23-a first finger section right side plate, 24-a first finger section surface plate,
25-a front plate of a first finger section, 26-a rear plate of the first finger section, 3-a second finger section, 4-a proximal joint shaft,
5-distal joint axis, 6-first bellows, 61-active plate, 62-second bellows,
63-a third bellows, 631-a switching plate, 632-a first collet, 633-a second collet,
64-fourth bellows, 7-first hose, 71-second hose, 8-first fluid,
81-second fluid, 82-sleeve, 83-bearing, 84-screw,
85-pin, 9-spring, 10-switch board connecting piece, 11-rotating shaft,
12-a first limit bump, 13-a second limit bump, 14-a motor, 141-a reducer,
142-first bevel gear, 143-second bevel gear, 144-transition gear shaft, 145-first pulley,
146-second pulley, 147-drive belt, 15-first link, 16-second link,
17-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 a fluidic adaptive clamp-flat coupling switching robot finger device designed by the present invention, as shown in fig. 1 to 9, comprises a base 1, a first finger section 2, a second finger section 3, a proximal joint shaft 4, a distal joint shaft 5 and a motor 14; the near joint shaft 4 is movably sleeved in the base 1, the first finger section 3 is movably sleeved on the near joint shaft, the far joint shaft 5 is movably sleeved in the first finger section 2, and the second finger section 3 is sleeved on the far joint shaft 5; the motor 14 is fixedly connected with the base 1; the central line of the proximal joint shaft 4 is parallel to the central line of the distal joint shaft 5; the device further comprises a transmission mechanism, a first corrugated pipe 61, a driving plate 61, a second corrugated pipe 62, a third corrugated pipe 63, a switching plate 631, a first pipe clamp 632, a second pipe clamp 633, a fourth corrugated pipe 64, a first hose 7, a second hose 71, a first fluid 8, a second fluid 81, a spring 9, a switching plate connecting piece 10, a rotating shaft 11, a first limit bump 12 and a second limit bump 13; the transmission mechanism is arranged in the base 1; an output shaft of the motor 14 is connected with an input end of a transmission mechanism, and an output end of the transmission mechanism is connected with the first finger section 2; the first hose 7 and the second hose 71 are both non-telescopic rubber hoses, and the first hose 7 and the second hose 71 are both positioned in the first finger section 2; the first corrugated pipe 61, the second corrugated pipe 62, the third corrugated pipe 62 and the fourth corrugated pipe 64 are all retractable and bendable hollow pipes, the lower part of the first corrugated pipe 6 is fixedly connected with the active plate 61, the upper part of the first corrugated pipe 6 is fixedly arranged at the lower part of the first finger section 2, and the upper part of the first corrugated pipe 6 is hermetically communicated with the lower part of the first hose 7; the upper part of the second corrugated pipe 62 is fixedly connected with the first connecting block 13, the lower part of the second corrugated pipe 62 is fixedly arranged on the upper part of the first finger section 2, and the lower part of the second corrugated pipe 62 is communicated with the upper part of the first hose 7 in a sealing way; the lower part of the third corrugated pipe 63 is fixedly connected with the switching plate 631, the upper part of the third corrugated pipe 63 is fixedly arranged at the lower part of the first finger section 2, and the third corrugated pipe 63 is communicated with the second hose 71 in a sealing way; the upper part of the fourth corrugated pipe 64 is fixedly connected with the second connecting block 131, the lower part of the fourth corrugated pipe is hermetically communicated with the second hose 71, and the lower part of the fourth corrugated pipe 64 is fixedly arranged on the upper part of the first finger section 2; the first fluid 8 is sealed in the first bellows 6, the first hose 7 and the second bellows 62; the second fluid 81 is sealed in the third bellows 63, the second hose 71 and the fourth bellows 64; the pipe clamp 632 is fixedly connected with the switching plate 631; the first pipe clamp 632 and the second pipe clamp 633 are fixedly connected with the first finger section 2 respectively; the switching plate connecting piece 10 is fixedly connected to the near joint shaft 4; the rotating shaft 11 is sleeved on the switching plate connecting piece 10, and the switching plate 631 is sleeved on the rotating shaft 11; the first limiting lug 12 and the second limiting lug 13 are fixedly connected with the base 1 respectively; let a be the distance between the center line of the third bellows 63 and the center line of the proximal joint shaft 4, b be the distance between the center line of the fourth bellows 64 and the center line of the distal joint shaft 5, and a and b be equal; the inner diameter of the third bellows 63 is equal to the inner diameter of the fourth bellows 64; the length of the third bellows 63 is equal to the length of the fourth bellows 64; two ends of the spring element 9 are respectively connected with the base 1 and the switching plate 631; the distance between the central line of the first corrugated pipe 61 and the central line of the proximal joint shaft 4 is c, the distance between the central line of the second corrugated pipe 62 and the central line of the distal joint shaft 5 is d, and c is greater than d; the first bellows 61 has an inner diameter equal to that of the second bellows 62.
The invention relates to a fluid self-adaptive parallel-clamping coupling switching robot finger device, which is characterized in that: the spring is a tension spring, a pressure spring, a leaf spring or a torsion spring. In this embodiment, the spring 9 is a tension spring.
In this embodiment, the first fluid and the second fluid are liquid or gas, and preferably liquid with low compressibility. In this embodiment, the first fluid 8 and the second fluid 81 are both water.
In this embodiment, let a be the distance between the center line of the third bellows 63 and the center line of the proximal joint shaft 4, b be the distance between the center line of the fourth bellows 64 and the center line of the distal joint shaft 5, and a and b are equal; the inner diameter of the third bellows 63 is equal to the inner diameter of the fourth bellows 64; let the length of the third bellows 63 be equal to the length of the fourth bellows 64. This arrangement achieves a constant velocity transmission effect from the third bellows 63 to the fourth bellows 64: the rotation speed of the switch plate 631 relative to the first finger section 2 is defined as ω 1 Defining the rotation speed of the second finger section 3 relative to the first finger section 2 as omega 2 ω is transmitted by the third bellows 63, the second fluid 81 and the fourth bellows 64 1 ＝ω 2 I.e. the transmission ratio is 1.
In this embodiment, the switching plate 631 is movably sleeved on the proximal joint shaft 4; the first limit bump 12 is fixedly connected with the base 1; in the parallel clamp self-adaptive grabbing mode, the switching plate 631 is located on the side away from the object to be grabbed, and the upper part of the third bellows 63 is embedded in the first bellows clamp 632; the switching plate 631 is in contact with or separated from the first limit bump 12 by a certain distance; setting the rotation direction of the first finger section 2 toward the object 17 as a forward direction close to the joint (clockwise direction in fig. 11), and setting the rotation direction of the first finger section 2 away from the object 17 as a reverse direction close to the joint; when the fluid adaptive parallel-clamping coupling switching robot finger device is in an initial state (a straightened state shown in fig. 10 and fig. 15), the switching plate 631 is in contact with the first limit projection 12, and when the rotation angle of the switching plate 631 relative to the base 1 is 0 degree (shown in fig. 19), from this position, the rotation angle of the switching plate 631 when rotating in the forward direction of the proximal joint (less than 180 degrees) is positive, and the rotation angle of the switching plate 631 when rotating in the reverse direction of the proximal joint (less than 180 degrees) is negative; the first limit protrusion 12 limits the rotation angle of the switching plate 631 to be positive, that is, the switching plate 631 can only rotate in the clockwise direction. The two ends of the spring element 9 are respectively connected with the switching plate 631 and the base 1, and the spring element 9 enables the switching plate 631 to lean against the first limit bump 12. The first limit bump 12 is fixedly connected with the base 1; when the adaptive grabbing mode is coupled, the switching plate 631 is located at a side close to the object to be grabbed, and the upper part of the third bellows 63 is embedded in the second bellows clamp 633; the switching plate 631 is in contact with or separated from the second limit bump 13 by a certain distance; setting the rotation direction of the first finger section 2 toward the object 17 as a forward direction close to the joint (clockwise direction in fig. 11), and setting the rotation direction of the first finger section 2 away from the object 17 as a reverse direction close to the joint; when the fluid adaptive parallel-clamping coupling switching robot finger device is in an initial state (a straightened state shown in fig. 10 and fig. 15), the switching plate 631 is in contact with the second limit projection 13, and when the rotation angle of the switching plate 631 relative to the base 1 is 0 degree (shown in fig. 19), from this position, the rotation angle of the switching plate 631 when rotating in the forward direction of the proximal joint (less than 180 degrees) is positive, and the rotation angle of the switching plate 631 when rotating in the reverse direction of the proximal joint (less than 180 degrees) is negative; the second limit protrusion 13 limits the rotation angle of the switching plate 631 to be positive, that is, the switching plate 631 can only rotate in the counterclockwise direction. The two ends of the spring element 9 are respectively connected with the switching plate 631 and the base 1, and the spring element 9 enables the switching plate 631 to lean against the second limit bump 13.
The present embodiment further includes a first connecting member 15, the first connecting member 15 is sleeved on the distal joint shaft 5, and the second finger section 3 is fixedly connected to the first connecting member 15. .
The present embodiment further includes a second connector 16, the second connector 16 is sleeved on the distal joint shaft 5, and the second finger section 3 is fixedly connected to the second connector 16.
In this embodiment, the base 1 includes a front base plate 111, a rear base plate 112, a left base plate 113, a right base plate 114, a front base plate 115, a bottom base plate 116, and a side base cover plate 117, which are fixedly connected together. In this embodiment, the first finger section 2 includes a first finger section framework 21, a first finger section left side plate 22, a first finger section right side plate 23, a first finger section surface plate 24, a first finger section front plate 25, and a first finger section back plate 26, which are fixedly connected together.
In the present embodiment, the transmission mechanism includes a speed reducer 141, a first bevel gear 142, a second bevel gear 143, a transition gear shaft 144, a first pulley 145, a second pulley 146, and a transmission belt 147; the output shaft of the motor 14 is connected to the input shaft of the speed reducer 141, the first bevel gear 142 is fixedly sleeved on the output shaft of the speed reducer 141, the second bevel gear 143 is fixedly sleeved on the transition gear shaft 144, and the first bevel gear 142 is meshed with the second bevel gear 143; the transition gear shaft 144 is sleeved in the base 1, the first belt pulley 145 is sleeved on the transition gear shaft 144, and the second belt pulley 146 is movably sleeved on the proximal joint shaft 4.
In this embodiment, a plurality of sleeves 82, a plurality of bearings 83, a plurality of screws 84, a plurality of pins 85, and the like are also used, which belong to the known and commonly used technologies and are not described again.
The working principle of this embodiment is described below with reference to fig. 10 to 28:
the device has two modes of grabbing: one is a coupling adaptive grabbing mode, the other is a flat clamping adaptive grabbing mode, and the switching of the two modes can be realized by the rotation of the switching plate 631.
The manual switching method of the parallel clamping self-adaptive grabbing mode and the coupling self-adaptive grabbing mode comprises the following steps:
the device is adjusted to a straight state and then the switch plate 631 is rotated 180 degrees around the rotation shaft 11.
1) Realization of parallel-clamping self-adaptive grabbing mode
And the switching plate is shifted to one side close to the rear part, and the switching plate, the third corrugated pipe, the second hose, the second fluid, the fourth corrugated pipe and the second connecting piece form equidirectional and constant-speed transmission. The following is a detailed description of the parallel clamping adaptive grabbing mode:
the initial position is the finger straightened state.
a) When the rotation angle of the switching plate 631 is 0 degree (as shown in fig. 19), the spring 9 pulls the switching plate 631 to abut against the first limit projection 12, and when the first finger section 2 rotates around the center line of the proximal joint shaft 4, the second finger section 3 is still maintained in the initial position under the action of the second fluid 81, because: since the switching plate 631 is fixed to the third bellows 63, since the transmission ratio of the transmission system formed by the third bellows 63, the second hose 71, the second fluid 81, and the fourth bellows 64 is 1, and the second fluid 81 is incompressible, the extension of the third bellows 63 pushes the shortening of the fourth bellows 64 with the same arc length change by the second fluid 81, so that the second connecting member 132 only performs the translational motion relative to the base 1 without rotating, and since the second connecting member 16 is fixed to the second finger 3, the second finger 3 only performs the translational motion relative to the base 1 without rotating, thereby always maintaining the original posture.
b) When the rotation angle of the switching plate 631 is positive, the rotation angle of the second link 16 (i.e., the rotation angle of the second finger) is equal to the rotation angle of the switching plate 631 by the second fluid 81.
When the present embodiment grabs the object 17, the motor 14 drives the driving plate 61 to rotate through the closed bellows transmission mechanism, and the rotation angle of the driving plate 61 relative to the base 1 is α. Under the action of the first fluid 8, the angle of rotation of the active plate 61 relative to the first finger section 2 is in proportional relationship to the angle of rotation of the first connecting member 15 relative to the first finger section 2. Let i be the transmission ratio from the driving plate 61 to the first connection via the first fluid 8, which is the ratio of the rotational speed of the driving plate 61 (relative to the first finger section 2) to the rotational speed of the first connection 15 (relative to the first finger section 2). Since the transmission ratio i is less than 1, the transmission is a step-up transmission, and the output speed is greater than the input speed. Let the angle of rotation of the first finger section 2 about the proximal joint axis 4 be δ. Since the first connecting member 15 is fixedly connected to the second finger section 3, and the second finger section 3 does not rotate relative to the base 1, the first connecting member 15 does not rotate relative to the base 1, and it can be derived that the device of the present embodiment will be balanced at a position satisfying the following (formula 1):
α = δ (1-i) (formula 1)
Since i is less than 1, a different angle can be found where α and δ are positive respectively (where α is less than δ). Therefore, when the motor 14 is driven by the closed corrugated piece transmission mechanism, the driving plate rotates by an angle alpha, at the moment, the first finger section 2 rotates by an angle delta around the near joint shaft 4, and the second finger section 3 is always in the same posture relative to the base 1 and only changes in position. This is the stage of parallel clamping (see fig. 10, 11, 12, 15, 16, 17, 21). This stage is suitable for holding the object 17 with the second finger section 3 or for holding the object 17 by means of the second finger section 3 by means of a flaring in such a way that it opens from the inside to the outside. Such as the handling of a hollow cylindrical barrel, by flaring the barrel wall outwardly from the inside of the object to thereby handle the object.
When the first finger segment 2 contacts the object 17 and is blocked by the object 17 and cannot rotate any more, the second finger segment 3 rotates around the proximal joint shaft 4 in the second stage of the adaptive envelope (as shown in fig. 13, 14, 19, 20 and 22), the spring 9 deforms (as shown in fig. 13 and 19), and the second finger segment 3 continues to rotate around the centerline of the distal joint shaft 5 until the second finger segment 3 contacts the object 17, so that the effect of grabbing the object by the adaptive envelope is achieved. The present embodiment has adaptivity to objects of different shapes and sizes, and can grasp a variety of objects in common.
Fig. 10 to 14 are schematic diagrams illustrating an operation process of gripping the object 17 in an envelope holding manner according to the embodiment shown in fig. 1, where fig. 10 is an initial state, fig. 10 to 12 are operation processes before the first finger section 2 contacts the object 17, i.e., parallel opening and closing operation, fig. 12 is a situation when the first finger section 2 just contacts the object, fig. 12 to 14 are operation processes after the first finger section 2 contacts the object 17, i.e., adaptive enveloping of the object, until the second finger section 3 contacts the object, as shown in fig. 14, and gripping is finished.
Fig. 15 to 17 show another possible way of grabbing the object 17 according to the embodiment shown in fig. 1, i.e. a typical motion process of holding the object in parallel until the second finger section 3 contacts the object 17, as shown in fig. 17, and grabbing is finished.
2) Implementation of coupled adaptive capture mode
The switch plate 631 is shifted to the rear side, and the switch plate, the third bellows, the second hose, the second fluid, the fourth bellows and the second connector form reverse constant-speed transmission.
The following is a detailed description of the adaptive gripping mode for the parallel clamp:
when the motor 14 drives the first finger section 2 to rotate forward by the driving plate 6, the first hose 7, the first fluid 8 and the first connecting piece 15 to lean on the object 17, because the switching plate 631 always leans on the second limit bump 13 without rotating, the first bellows compresses, the second bellows correspondingly extends, so that the second finger section 3 leans on to rotate in the direction of the object 17, and at this time, there are:
α＝δ(1+i)
process of releasing the object 15: the motor 14 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 15, and the description is omitted.
The device comprehensively realizes the function of simply switching between a horizontal clamping self-adaptive grabbing mode and a coupling self-adaptive grabbing mode of the fingers of the robot by utilizing the motor, the closed corrugated part transmission mechanism, the corrugated pipe, the fluid, the spring part, the switching plate connecting part, the rotating shaft, the switching plate, the limiting bump and the like. The device can realize the parallel-clamping self-adaptive grabbing mode, and can realize the coupling self-adaptive grabbing mode after simple manual switching. In the flat clamp self-adaptive grabbing mode, the device can translate the second finger section to grab objects, and can also rotate the first finger section and the second finger section in sequence to envelop the objects with different shapes and sizes; in a coupling self-adaptive grabbing mode, the device can be linked with two joints to rotate simultaneously, and naturally shifts to a self-adaptive grabbing stage of bending a second finger section after a first finger section is blocked from contacting an object; the grabbing range is large; an under-actuated mode is adopted, one motor is used for driving two joints, and a complex sensing and control system is not needed; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Claims (1)
1. A fluid self-adaptive parallel clamping coupling switching robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft and a motor; the near joint shaft is movably sleeved in the base, the first finger section movable sleeve is close to the joint shaft, the far joint shaft is movably sleeved in the first finger section, and the second finger section is sleeved on the far joint shaft; the motor is fixedly connected with the base; the center line of the proximal joint shaft is parallel to the center line of the distal joint shaft; the method is characterized in that: the fluid self-adaptive parallel-clamping coupling switching robot finger device further comprises a transmission mechanism, a first corrugated pipe, a second corrugated pipe, a third corrugated pipe, a fourth corrugated pipe, a first pipe clamp, a second pipe clamp, a first hose, a second hose, a first fluid, a second fluid, a first limiting bump, a second limiting bump, a driving plate, a switching plate connecting piece, a rotating shaft and a spring piece; the transmission mechanism is arranged in the base; an output shaft of the motor is connected with an input end of a transmission mechanism, and an output end of the transmission mechanism is connected with the first finger section; the first hose and the second hose are both non-telescopic rubber tubes, and the first hose and the second hose are both positioned in the first finger section; the first corrugated pipe, the second corrugated pipe, the third corrugated pipe and the fourth corrugated pipe are all retractable and bendable hollow pipes, the lower part of the first corrugated pipe is fixedly connected with the driving plate, the upper part of the first corrugated pipe is fixedly arranged at the lower part of the first finger section, and the upper part of the first corrugated pipe is communicated with the lower part of the first hose in a sealing way; the upper part of the second corrugated pipe is fixedly connected with the first connecting block, the lower part of the second corrugated pipe is fixedly arranged on the upper part of the first finger section, and the lower part of the second corrugated pipe is communicated with the upper part of the first hose in a sealing way; the lower part of the third corrugated pipe is fixedly connected with the switching plate, the upper part of the third corrugated pipe is fixedly arranged at the lower part of the first finger section, and the third corrugated pipe is communicated with the second hose in a sealing way; the upper part of the fourth corrugated pipe is fixedly connected with the second connecting block, the lower part of the fourth corrugated pipe is hermetically communicated with the second hose, and the lower part of the fourth corrugated pipe is fixedly arranged on the upper part of the first finger section; the first fluid is sealed in a first bellows, a first hose, and a second bellows; the second fluid is sealed in a third bellows, a second hose, and a fourth bellows; the pipe clamp is fixedly connected with the switching plate; the first pipe clamp and the second pipe clamp are fixedly connected with the first finger section respectively; the switching plate connecting piece is fixedly connected to the near joint shaft; the rotating shaft is sleeved on the switching plate connecting piece, and the switching plate is sleeved on the rotating shaft; the first limiting lug and the second limiting lug are fixedly connected with the base respectively; in a flat clamping grabbing mode, the switching plate is positioned on one side far away from a grabbed object, the upper part of the third corrugated pipe is embedded into the first pipe clamp, and the switching plate is in contact with the first limiting bump; when the grabbing mode is coupled, the switching plate is positioned on one side close to the object to be grabbed, the upper part of the third corrugated pipe is embedded into the second pipe clamp, and the switching plate is in contact with the second limiting bump; the distance between the center line of the third corrugated pipe and the center line of the near joint shaft is a, the distance between the center line of the fourth corrugated pipe and the center line of the far joint shaft is b, and a is equal to b; the inner diameter of the third corrugated pipe is equal to that of the fourth corrugated pipe; the length of the third corrugated pipe is equal to that of the fourth corrugated pipe; two ends of the spring piece are respectively connected with the base and the switching plate; the distance between the center line of the first corrugated pipe and the center line of the near joint shaft is c, the distance between the center line of the second corrugated pipe and the center line of the far joint shaft is d, and c is larger than d; the inner diameter of the first corrugated pipe is equal to that of the second corrugated pipe;
the spring part adopts a tension spring, a pressure spring, a leaf spring or a torsion spring;
the transmission mechanism comprises a speed reducer, a first bevel gear, a second bevel gear, a transition gear shaft, a first belt wheel, a second belt wheel and a transmission belt; an output shaft of the motor is connected with an input shaft of the speed reducer, the first bevel gear is fixedly sleeved on the output shaft of the speed reducer, the second bevel gear is fixedly sleeved on the transition gear shaft, and the first bevel gear is meshed with the second bevel gear; the transition gear shaft is sleeved in the base, the first belt wheel is fixedly sleeved on the transition gear shaft, and the second belt wheel is movably sleeved on the near joint shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710429278.4A CN107234626B (en) | 2017-06-08 | 2017-06-08 | Fluid self-adaptive parallel clamping coupling switching robot finger device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710429278.4A CN107234626B (en) | 2017-06-08 | 2017-06-08 | Fluid self-adaptive parallel clamping coupling switching robot finger device |
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| CN107234626A CN107234626A (en) | 2017-10-10 |
| CN107234626B true CN107234626B (en) | 2023-04-18 |
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| CN109986592B (en) * | 2019-05-15 | 2024-02-06 | 清研(洛阳)先进制造产业研究院 | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device |
| CN112621796B (en) * | 2021-03-10 | 2021-07-13 | 中国科学院自动化研究所 | Rigid-flexible coupling under-actuated finger and three-finger under-actuated robot hand |
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| US6484601B1 (en) * | 1998-08-05 | 2002-11-26 | Vincenzo Arrichiello | Bellows actuation device, specially for robotic manipulator, and method to operate said device |
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| CN105773608A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Gear fluid parallel clamping self-adaptive robot finger device |
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| CN107234626A (en) | 2017-10-10 |
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