CN107234631B - Crankshaft Connecting Rod Flat Clamp Coupling Switching Adaptive Robotic Hand Device - Google Patents

Abstract

The utility model provides a bent axle connecting rod parallel clip coupling switches self-adaptation robot hand device, belongs to robot hand technical field, including base, drive mechanism, motor, two finger sections, two joint axles, seven connecting rods, four round pin axles, connecting piece, pivot, sleeve, jackshaft, spring piece, connecting rod lug and two stopper etc.. The device realizes the function of simply switching the self-adaptive grabbing mode of the robot finger flat clamp and the coupling self-adaptive grabbing mode. In the flat clamp self-adaptive grabbing mode, the device can not only translate the second finger section to pinch the object, but also sequentially rotate the first finger section and the second finger section to envelop the object with different shapes and sizes; in the coupling self-adaptive grabbing mode, the device can simultaneously link two joints to rotate, and naturally shifts to a self-adaptive grabbing stage of bending the second finger section after the first finger section is blocked from contacting an object; the grabbing range is wide; the device has compact and simple structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands in various fields of agriculture, industry, service industry and the like.

Description

Crankshaft Connecting Rod Flat Clamp Coupling Switching Adaptive Robotic Hand Device

technical field

The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a crankshaft connecting rod flat clip coupling switching self-adaptive robot hand device.

Background technique

An underactuated robot hand refers to a robot hand with fewer motors than joints. It can achieve adaptive grasping of different objects, and can also adapt to the grasping of various objects. Applied in different occasions, it can meet the needs of reducing complex sensing and real-time control, and improve the stability and accuracy of grasping. At the same time, the device is simple, low in cost, small in quality and small in size, and can be widely used in agricultural , industrial and service robots, and can also be used in medical treatment, such as providing prosthetic hands for the disabled.

Underactuated robotic hands with two degrees of freedom mainly include two basic categories: one is the coupled grasping mode, and the other is the adaptive grasping mode. Among them, the coupled grasping mode refers to the simultaneous rotation of two joints according to a certain ratio or a changing ratio. Specifically, it can be divided into forward coupled grasping mode and reverse coupled grasping mode. Forward coupled grasping is often referred to as coupled grasping , the grasping mode with the same ratio in the reverse coupling grasping mode is widely used, often called parallel clamping coupled grasping mode, often referred to as flat clamping grasping. Forward coupled grasping is suitable for pinching small objects with the end fingers, while adaptive grasping is suitable for enveloped object grasping, often called force grasping.

In the combination of basic categories, there are mainly two composite grasping modes: one is the first coupled and then adaptive grasping mode, called coupled adaptive grasping mode, or coupled self-grasping mode; the other is the first The gripping mode of parallel clamping and then self-adaptive is called flat clamping adaptive grabbing mode, or flat self-grabbing mode. Among them, the coupled self-grabbing mode has more anthropomorphic characteristics, and the pinching effect at the end is also easier to achieve. The flat self-grabbing mode can have two terminal finger segments that open and close in parallel, and is industrially suitable for pinching sheet-shaped objects in parallel or objects with two parallel surfaces.

An existing link underactuated three-finger manipulator device, such as the Canadian Laval University patent US5762390, includes multiple links, three springs and mechanical constraints. The device realizes the flat clip adaptive grabbing mode. When working, at the beginning stage, the posture of the end finger segment is maintained for near-joint bending, and then the function of parallel pinching or adaptive envelope holding can be realized according to the position of the object. Its shortcoming is that the device can only realize the flat clip adaptive grabbing mode, but cannot realize the coupling adaptive grabbing mode, and is not suitable for fast grabbing conditions, and the efficiency is relatively low; it uses a complex multi-link mechanism , the mechanism has large volume, many friction pairs, and low energy utilization rate; due to the large number of connecting rods, lack of flexibility, high manufacturing cost, large dead zone in motion, and small grasping range.

An existing flexible piece flat clip coupling switching adaptive robot finger device (Chinese patent CN105835083A), including a base, two finger segments, two joint shafts, a driver, a flexible transmission piece, a tendon rope, a plurality of transmission wheels, Half-wheel, half-wheel connecting piece, rotating shaft, half-wheel bump, two spring parts and limit bump etc. The device realizes the function that the robot finger flat clamp adaptive grasping mode and the coupled adaptive grasping mode can be switched easily. Its shortcoming is that the device uses the tendon rope to drive the transmission wheel to rotate. After the working time is too long, the elasticity of the tendon rope will decrease, and the movement accuracy of the mechanism will decrease accordingly; Difficult to install and maintain, high manufacturing cost;

An existing precise flat clip adaptive and coupling adaptive mode switching robot finger device (Chinese patent CN106799742A), including a base, two finger segments, two joint shafts, a motor, tendon ropes, driven pulleys, connectors, Shafts, sector wheels, ball missing parts, gears, racks and springs, etc. The device realizes multiple grasping modes of robot finger flat clamp grasping, coupled grasping and adaptive grasping. The device uses the spherical surface of the spherical part to realize the smooth switching between the flat clip and the coupling, and the setting of the spherical part improves the transmission accuracy of the flat clip and the coupling stage; the disadvantage is that the device uses the tension of the tendon rope and the spring The corresponding functions can be achieved by matching the degree of tightness. After working for a long time, the tendon rope and the spring will fail due to fatigue, their elasticity will decrease, and the movement accuracy of the mechanism will decrease accordingly; in addition, the mechanism is more complicated with multiple transmission wheels; And rack, installation and maintenance are difficult, and the manufacturing cost is relatively high.

Contents of the invention

The purpose of the present invention is to overcome the defects of the prior art, and provide a crankshaft connecting rod flat clip coupling switching self-adaptive robot hand device. The device can realize the flat clamp adaptive grasping mode, and after a simple manual switch, it can also realize the coupling adaptive grasping mode; By pinching objects with bending coupling, you can also rotate the first finger segment and the second finger segment to adaptively envelope objects of different shapes and sizes; the grasping range is large; no complicated sensing and control systems are required.

The purpose of the present invention and its technical problem are solved by adopting the following technical solutions. According to the present invention, the crankshaft-connecting-rod flat clip coupling switching adaptive robot hand device includes a base 1, a first finger segment 2, a second finger end 3, a joint-proximate shaft 4, a motor 12, and a transmission mechanism. The joint-proximal shaft 4 is movably sleeved in the base 1, the distal joint shaft 5 is movably sleeved in the first finger section 2, the centerline of the proximal joint shaft 4 is parallel to the centerline of the distal joint shaft 5; the first finger section 2 is sleeved on the proximal joint shaft 4, and the second finger section 3 is sleeved on the distal joint shaft 5; the motor 12 is fixedly connected to the base 1, and the transmission mechanism is arranged in the base 1, and the motor 12 The output shaft is connected with the input end of the transmission mechanism;

The crankshaft connecting rod flat clip coupling switching adaptive robot hand device also includes a first connecting rod 61, a second connecting rod 62, a third connecting rod 63, a fourth connecting rod 64, a fifth connecting rod 65, and a sixth connecting rod 66. , the seventh connecting rod 67, the sleeve 68, the intermediate shaft 69, the rotating shaft 41, the connector 42, the first limiting block 91, the second limiting block 92, the connecting rod protrusion 10 and the spring member 11, the aforementioned transmission mechanism The output end is fixedly connected with the first connecting rod 61, and the first connecting rod 61 is sleeved on the proximal joint shaft 4; the second connecting rod 62 is sleeved on the first connecting rod 61 through the first pin shaft 71; One end of the three connecting rods 63 is sleeved on the second connecting rod 62 through the second pin shaft 72, and the other end is sleeved on the distal joint shaft 5; the length of the first connecting rod 61 is greater than the length of the third connecting rod 63; The second finger end 3 is fixedly connected to the third connecting rod 63;

The connecting member 42 is sleeved on the proximal joint shaft 4; the rotating shaft 41 is sleeved on the connecting member 42, and its centerline intersects and is perpendicular to the centerline of the proximal joint shaft 4; the fourth connecting rod 64 is sleeved on the rotating shaft 41 On; the lower end of the sixth connecting rod 66 is sleeved on the fourth connecting rod 64 through the third pin shaft 73, and its upper end is fixedly connected with the sleeve 68; the upper end of the seventh connecting rod 67 is sleeved through the fourth pin shaft 74 Connected to the fifth connecting rod 65, its lower end is fixedly connected to the intermediate shaft 69; the intermediate shaft 69 is sleeved in the sleeve 68, and its center line is located at the center line of the proximal joint shaft 4 and the center of the distal joint shaft 5 line and perpendicular to the centerline of the proximal joint shaft 4; the fifth connecting rod 65 is sleeved on the distal joint shaft 5, and the second finger end 3 is affixed to the fifth connecting rod 65; The length of the fourth connecting rod 64 is equal to the length of the fifth connecting rod 65;

The first limiting block 91 and the second limiting block 92 are respectively affixed to the base 1; the connecting rod projection 10 is affixed to the fourth connecting rod 64, and the two ends of the spring member 11 are respectively connected to the connecting rod projection 10. Base 1; when the crankshaft rod member flat clip coupling switching adaptive robot hand device is in the flat clip initial state, the connecting rod protrusion 10 is in contact with the first limit block 91, and the fourth connecting rod 64, the second The five connecting rods 65, the sixth connecting rod 66, the seventh connecting rod 67, the rotating shaft 41 and the sleeve 68 cooperate to form a connecting rod transmission relationship, which is a parallelogram mechanism; When the hand device was in the coupling initial state, the connecting rod projection 10 was in contact with the second stop block 92, and the fourth connecting rod 64, the fifth connecting rod 65, the sixth connecting rod 66, the seventh connecting rod 67, the rotating shaft 41 and the sleeve The cylinders 68 cooperate to form a connecting rod transmission relationship, and are an "8"-shaped mechanism.

The purpose of the present invention and the solution to its technical problems also adopt the following technical measures to further realize.

In the aforementioned crankshaft-connecting-rod flat-clip coupling switching adaptive robot hand device, the spring member 11 is a tension spring, compression spring, leaf spring or torsion spring.

The device of the present invention utilizes a motor, a transmission mechanism, two finger segments, two joint shafts, seven connecting rods, four pin shafts, a connector, a rotating shaft, a sleeve, an intermediate shaft, a spring, a connecting rod projection and two Components such as limit blocks comprehensively realize the function of simple switching between the flat clamp adaptive grasping mode and the coupling adaptive grasping mode of the robot hand device: the device can realize the flat clamp adaptive grasping mode, and after simple manual switching , and can realize the coupling adaptive grasping mode; in the flat clip adaptive grasping mode, the device can not only translate the second finger segment to pinch the object, but also rotate the first finger segment and the second finger segment envelope in turn Objects of different shapes and sizes; in the coupling adaptive grasping mode, the device can simultaneously link the two joints to rotate, and naturally turn to the adaptive grasping of the second finger segment after the first finger segment touches the object and is blocked stage; wide grasping range; under-actuated way, using one motor to drive two joints, without complex sensing and control system; the device is compact, simple, small in size, low in manufacturing and maintenance costs, suitable for agriculture, Robotic hands in various fields such as industry and services.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the following preferred embodiments are specifically cited below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a three-dimensional appearance view of an embodiment of the crankshaft connecting rod flat clip coupling switching adaptive robot hand device designed by the present invention.

Fig. 2 is a front appearance view of the embodiment shown in Fig. 1 .

Fig. 3 is a side appearance view of the embodiment shown in Fig. 1 (right side view of Fig. 2).

Fig. 4 is another side appearance view of the embodiment shown in Fig. 1 (the left side view of Fig. 2 ).

Fig. 5 is a cross-sectional view along line A-A of Fig. 2 .

Fig. 6 is a B-B sectional view of Fig. 2 .

Fig. 7 is an internal perspective view from an angle of the embodiment shown in Fig. 1 (parts not shown).

Fig. 8 is an internal perspective view from another angle of the embodiment shown in Fig. 1 (parts not shown).

Fig. 9 is an internal perspective view from a third angle of the embodiment shown in Fig. 1 (parts not shown).

FIG. 10 to FIG. 14 are schematic diagrams of the action process of the embodiment shown in FIG. 1 grasping an object in an envelope gripping mode in the flat clip adaptive mode.

15 to 17 are schematic diagrams of the action process of the embodiment shown in FIG. 1 in the parallel opening and closing of the second finger segment to clamp the object in the flat clamp adaptive mode.

FIG. 18 to FIG. 21 are schematic diagrams of the action process of the embodiment shown in FIG. 1 grasping an object in the form of envelope grip in the coupling adaptive mode.

FIG. 22 to FIG. 24 are schematic diagrams of the action process of the embodiment shown in FIG. 1 in the coupling-bending second finger segment clamping an object in the coupling-adaptive mode.

[Description of main component symbols]

1-base, 111-base front panel, 112-base rear panel, 113-base left panel,

114-base right side plate, 115-base surface plate, 116-base bottom plate, 117-base side cover plate,

2-first finger segment, 21-first finger segment skeleton, 22-first finger segment left board, 23-first finger segment right board,

24-the surface plate of the first finger segment, 25-the front plate of the first finger segment, 26-the rear plate of the first finger segment, 3-the second finger segment,

4-proximal joint shaft, 41-rotation shaft, 42-connector, 5-distal joint shaft,

61-first connecting rod, 62-second connecting rod, 63-third connecting rod, 64-fourth connecting rod,

65-fifth connecting rod, 66-sixth connecting rod, 67-seventh connecting rod, 68-sleeve,

69-intermediate shaft, 71-first pin shaft, 72-second pin shaft, 73-third pin shaft,

74-the fourth pin, 81-bearing, 82-bearing end cover, 83-sleeve,

84-pin, 85-screw 91-the first limit block, 92-the second limit block

10-connecting rod bump, 11-spring, 12-motor, 121-reducer,

122-the first bevel gear, 123-the second bevel gear, 124-transition gear shaft, 125-the first pulley,

126-second pulley, 127-transmission belt, 17-object

Detailed ways

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, below in conjunction with the accompanying drawings and preferred embodiments, the specific implementation of the crankshaft connecting rod flat clip coupling switching adaptive robot hand device proposed according to the present invention Mode, structure, feature and effect thereof are as follows in detail.

Please refer to Fig. 1 to Fig. 9, an embodiment of the crankshaft-connecting-rod flat clip coupling switching adaptive robot hand device designed for the present invention, including a base 1, a first finger segment 2, a second finger end 3, a proximal joint Shaft 4, motor 12, transmission mechanism, the proximal joint shaft 4 is movably sleeved in the base 1, the distal joint shaft 5 is movably sleeved in the first finger section 2, the center line of the proximal joint shaft 4 is in line with the far The center line of the joint shaft 5 is parallel; the first finger segment 2 is sleeved on the proximal joint shaft 4, and the second finger segment 3 is sleeved on the far joint shaft 5; the motor 12 is fixedly connected to the base 1, and the transmission The mechanism is arranged in the base 1, and the output shaft of the motor 12 is connected with the input end of the transmission mechanism.

The crankshaft connecting rod flat clip coupling switching adaptive robot hand device also includes a first connecting rod 61, a second connecting rod 62, a third connecting rod 63, a fourth connecting rod 64, a fifth connecting rod 65, and a sixth connecting rod 66. , the seventh connecting rod 67, the sleeve 68, the intermediate shaft 69, the rotating shaft 41, the connector 42, the first limiting block 91, the second limiting block 92, the connecting rod protrusion 10 and the spring member 11, the aforementioned transmission mechanism The output end is fixedly connected with the first connecting rod 61, and the first connecting rod 61 is sleeved on the proximal joint shaft 4; the second connecting rod 62 is sleeved on the first connecting rod 61 through the first pin shaft 71; One end of the three connecting rods 63 is sleeved on the second connecting rod 62 through the second pin shaft 72, and the other end is sleeved on the distal joint shaft 5; the length of the first connecting rod 61 is greater than the length of the third connecting rod 63; The second finger end 3 is fixedly connected to the third connecting rod 63;

The connecting member 42 is sleeved on the proximal joint shaft 4; the rotating shaft 41 is sleeved on the connecting member 42, and its centerline intersects and is perpendicular to the centerline of the proximal joint shaft 4; the fourth connecting rod 64 is sleeved on the rotating shaft 41 On; the lower end of the sixth connecting rod 66 is sleeved on the fourth connecting rod 64 through the third pin shaft 73, and its upper end is fixedly connected with the sleeve 68; the upper end of the seventh connecting rod 67 is sleeved through the fourth pin shaft 74 Connected to the fifth connecting rod 65, its lower end is fixedly connected to the intermediate shaft 69; the intermediate shaft 69 is sleeved in the sleeve 68, and its center line is located at the center line of the proximal joint shaft 4 and the center of the distal joint shaft 5 line and perpendicular to the centerline of the proximal joint shaft 4; the fifth connecting rod 65 is sleeved on the distal joint shaft 5, and the second finger end 3 is affixed to the fifth connecting rod 65; The length of the fourth connecting rod 64 is equal to the length of the fifth connecting rod 65;

Define one side of grabbing the object as the front of the crankshaft bar flat clip coupling switching adaptive robot hand device, and the opposite side, that is, the side far away from the grabbing object, is the rear of the device; the first limit block 91. The second limit block 92 is fixedly connected to the base 1 respectively; the connecting rod protrusion 10 is fixedly connected to the fourth connecting rod 64, and the two ends of the spring member 11 are respectively connected to the connecting rod protrusion 10 and the base 1; Let the rotation direction of the first finger segment 2 close to the object be the positive direction near the joint, and the rotation direction of the first finger segment 2 away from the object is the reverse direction near the joint; When clamping the initial state, the connecting rod projection 10 is in contact with the first stop block 91, the fourth connecting rod 64, the fifth connecting rod 65, the sixth connecting rod 66, the seventh connecting rod 67, the rotating shaft 41 and the sleeve 68 cooperate to form a connecting rod transmission relationship, and it is a parallelogram mechanism; when the crankshaft rod flat clip coupling switching adaptive robot hand device is in the initial state of coupling, the connecting rod projection 10 is in contact with the second limit block 92, The fourth connecting rod 64, the fifth connecting rod 65, the sixth connecting rod 66, the seventh connecting rod 67, the rotating shaft 41 and the sleeve 68 cooperate to form a connecting rod transmission relationship, which is an "8" shaped mechanism.

Preferably, the spring member 11 is a tension spring, compression spring, leaf spring or torsion spring. In this embodiment, the spring member 11 is a tension spring.

In this embodiment, the base 1 includes a base front plate 111, a base rear plate 112, a base left side plate 113, a base right side plate 114, a base surface plate 115, a base Bottom plate 116 and base side cover plate 117 . The first finger segment 2 includes a first finger segment skeleton 21, a first finger segment left side plate 22, a first finger segment right side plate 23, a first finger segment surface plate 24, a first finger segment Front panel 25 and first finger section rear panel 26 .

In this embodiment, the transmission mechanism includes a speed reducer 121, a first bevel gear 122, a second bevel gear 123, a transition gear shaft 124, a first pulley 125, a second pulley 126 and a transmission belt 127, the motor 12 The output shaft is connected to the input shaft of the reducer 121, the first bevel gear 122 is sleeved on the output shaft of the reducer 121, the second bevel gear 123 is sleeved on the transition gear shaft 124, and the first bevel gear 122 Mesh with the second bevel gear 123; the transition gear shaft 124 is sleeved in the base 1, the first pulley 125 is sleeved on the transition gear shaft 124, and the second pulley 126 is movably sleeved on the proximal joint shaft 4, the second pulley 126 is fixedly connected to the first connecting rod 61; the transmission belt 127 is in the shape of an "O" and is used to connect the first pulley 125 and the second pulley 126, and the three form a pulley transmission relationship .

The present embodiment also adopts some bearings 81, some sleeves 83, some pins 84, some screws 85 and other parts, which belong to the known and commonly used technologies, and will not be described in detail.

The working principle of the present embodiment, in conjunction with Fig. 10 to Fig. 24, is described as follows:

The device has two grabbing modes: one is the coupling adaptive grabbing mode, the other is the flat clip adaptive grabbing mode, and the switching between the two modes can be performed by the rotation of the fourth connecting rod around the rotation axis and the sixth connecting rod. The rotation of the rod around the intermediate axis is realized.

The manual switching method between flat clip adaptive grabbing mode and coupling adaptive grabbing mode is:

Adjust the operation of the device to a straight state, and then rotate the fourth connecting rod 64 around the rotating shaft 41 and the sixth connecting rod 66 around the intermediate shaft 69 by 180 degrees at the same time.

1) Realization of self-adaptive grasping mode of flat clamp

Rotate the fourth connecting rod 64 to the position where it is in contact with the first stop block 91 , the fourth connecting rod 64 , the fifth connecting rod 65 , the sixth connecting rod 66 , the seventh connecting rod 67 , the rotating shaft 41 and the sleeve 68 Cooperate between them to form a connecting rod transmission relationship, and it is a parallelogram mechanism. At this time, the crankshaft connecting rod flat clip coupling switching adaptive robot hand device is in the flat clip initial state. The following is a detailed description of the flat clip adaptive grabbing mode:

The initial position is the finger straight state.

a) When the rotation angle of the fourth connecting rod 64 is 0 degrees, the position of the fourth connecting rod 64 relative to the base 1 remains unchanged; since the length of the fourth connecting rod 64 and the fifth connecting rod 65 are equal (that is, the rotation angles of the two Same, the transmission ratio is 1), under the effect of the sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68, and the intermediate shaft 69, no matter where the first finger section 2 is, the fifth connecting rod 65 is always in line with the first The four connecting rods 64 maintain the same angle, and the fifth connecting rod 65 only performs a translational movement relative to the base 1 and does not rotate. Since the fifth connecting rod 65 is fixedly connected to the second finger segment 3, the second finger segment 3 is connected to the base. 1 does only translational movement and no rotation.

b) When the rotation angle of the fourth connecting rod is positive, under the actions of the sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68 and the intermediate shaft 69, the rotation angle of the fifth connecting rod 65 is equal to that of the fourth connecting rod. The corner of the rod 64.

When the present embodiment grasps the object 17, the motor 12 is driven by the transmission mechanism, so that the first connecting rod 61 rotates forward, and the rotation angle of the first connecting rod 61 relative to the base 1 is α. Under the action of the second connecting rod 62 , the rotation angle of the first connecting rod 61 relative to the first finger segment 2 is proportional to the rotation angle of the third connecting rod 63 relative to the first finger segment 2 . If the transmission ratio from the first connecting rod 61 to the third connecting rod 63 by the second connecting rod 62 is i, this transmission ratio is the rotating speed (relative to the first finger section 2) of the first connecting rod 61 and the third connecting rod 61 The ratio of the rotational speed of the rod 63 (relative to the first finger segment 2 ) is equal to the ratio of the length of the third link 63 to the length of the first link 61 . Since the length of the first connecting rod 61 is greater than the length of the third connecting rod 63, it is a speed-up transmission, and the output speed is greater than the input speed, so the transmission ratio i is less than 1. Let the rotation angle of the first finger segment 2 around the proximal joint axis 4 be δ. Since the third connecting rod 63 is fixedly connected to the second finger segment 3, and the second finger segment 3 does not rotate relative to the base 1, the third connecting rod 63 does not rotate relative to the base 1 at this time, so It can be deduced that the device of this 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 where α and δ are respectively positive can be obtained (where α is smaller than δ). Therefore, when the motor 12 is driven by the transmission mechanism, the first connecting rod 61 rotates through an angle α, and at this time, the first finger segment 2 rotates through an angle δ around the proximal joint axis 4, and the second finger segment 3 rotates relative to the base 1 It's always the same pose, just the position has changed. This is the stage of parallel clamping (as shown in Figure 10, Figure 11, Figure 12, Figure 18). This stage is suitable for holding the object 17 by the second finger segment 3 , or by stretching out the second finger segment 3 to open the object 17 from inside to outside. For example, in the taking of a hollow cylinder, the inner side of the object is spread out to support the wall of the cylinder, so as to take the object.

When the first finger section 2 touches the object 17 and is blocked by the object 17 and cannot rotate anymore, it will enter the second stage of the adaptive envelope (as shown in Figure 13, Figure 14, Figure 19, Figure 20, Figure 21), at this time The motor 12 drives the first connecting rod 61 through the transmission of the transmission mechanism, so that the second finger section 3, the third connecting rod 63 and the fifth connecting rod 65 that are fixed together rotate around the distal joint axis 5 at the same time, and the sixth connecting rod 66. The seventh connecting rod 67, the sleeve 68, and the intermediate shaft 69 drive the fourth connecting rod 64 to rotate around the proximal joint axis 4, and the spring element 11 is deformed (as shown in Fig. 13 and Fig. 19 ), at this time, the second finger segment 3 will continue to rotate around the centerline of the distal joint axis 5 until the second finger segment 3 touches the object 17 to complete the effect of the adaptive envelope grabbing the object. For objects of different shapes and sizes, this embodiment is self-adaptive and can universally grasp various objects.

The process of releasing the object 17: the motor 12 reverses, and the follow-up process is just opposite to the above-mentioned process of grabbing the object 17, which will not be described in detail.

2) Realization of coupling adaptive grabbing mode

The fourth connecting rod 64 is moved to the side (the front) towards the grasping object 17, the fourth connecting rod 64 drives the sixth connecting rod 66, and the sleeve 68 rotates to the front around the intermediate shaft 69, and the fourth connecting rod 64 , The sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68, the intermediate shaft 69, the fourth connecting rod 64 and the fifth connecting rod 65 constitute an "8"-shaped mechanism to realize reverse constant speed transmission.

The following is an introduction to the coupled adaptive grabbing mode.

When the motor 12 drives the first finger segment 2 forwardly to rotate against the object 17 through the first connecting rod 61, the second connecting rod 62 and the third connecting rod 63, since the fourth connecting rod 64 leans against the second limit block all the time 92 without rotation, the rotation of the first finger section 2 relative to the fourth connecting rod 64 will make the sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68 and the intermediate shaft 69 drive the fourth connecting rod 64, At this time, the spring part 11 pulls the second finger segment 3 to the grab object 17 side, and the sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68, and the intermediate shaft 69 will drive the fifth connecting rod 65, the fifth connecting rod The connecting rod will drive the second finger section 3 to rotate towards the direction of the object 17 . At this point there will be:

α=δ(1+i) (Formula 2)

The process of releasing the object 17 is opposite to the process described above, and will not be described in detail.

The device of the present invention utilizes a motor, a transmission mechanism, two finger segments, two joint shafts, seven connecting rods, four pin shafts, a connector, a rotating shaft, a sleeve, an intermediate shaft, a spring, a connecting rod projection and two Components such as limit blocks comprehensively realize the function of simple switching between the flat clamp adaptive grasping mode and the coupling adaptive grasping mode of the robot hand device: the device can realize the flat clamp adaptive grasping mode, and after simple manual switching , and can realize the coupling adaptive grasping mode; in the flat clip adaptive grasping mode, the device can not only translate the second finger segment to pinch the object, but also rotate the first finger segment and the second finger segment envelope in turn Objects of different shapes and sizes; in the coupling adaptive grasping mode, the device can simultaneously link the two joints to rotate, and naturally turn to the adaptive grasping of the second finger segment after the first finger segment touches the object and is blocked stage; wide grasping range; under-actuated way, using one motor to drive two joints, without complex sensing and control system; the device is compact, simple, small in size, low in manufacturing and maintenance costs, suitable for agriculture, Robotic hands in various fields such as industry and services.

The above is only a preferred embodiment of the present invention, and any simple modification or equivalent to any simple modification made to the above embodiments according to the technical essence of the present invention without departing from the scope of the technical solution of the present invention. Changes and modifications all still belong to the scope of the technical solution of the present invention.

Claims (1)

1. A crankshaft connecting rod flat clip coupling switching adaptive robot hand device, comprising a base (1), a first finger segment (2), a second finger segment (3), a proximal joint shaft (4), a motor (12 ), a transmission mechanism, the proximal joint shaft (4) is movably sleeved in the base (1), the distal joint shaft (5) is movably sleeved in the first finger segment (2), and the proximal joint shaft (4) ) is parallel to the centerline of the far joint shaft (5); the first finger segment (2) is sleeved on the proximal joint shaft (4), and the second finger segment (3) is sleeved on the far joint shaft ( 5) above; the motor (12) is fixedly connected to the base (1), the transmission mechanism is arranged in the base (1), and the output shaft of the motor (12) is connected to the input end of the transmission mechanism; It is characterized in that: the crankshaft-connecting-rod flat clip coupling switching adaptive robot hand device also includes a first connecting rod (61), a second connecting rod (62), a third connecting rod (63), and a fourth connecting rod (64) , the fifth connecting rod (65), the sixth connecting rod (66), the seventh connecting rod (67), the sleeve (68), the intermediate shaft (69), the rotating shaft (41), the connector (42), the first The limit block (91), the second limit block (92), the connecting rod projection (10) and the spring (11), the output end of the aforementioned transmission mechanism is fixedly connected with the first connecting rod (61), and the first The connecting rod (61) is sleeved on the proximal joint shaft (4); the second connecting rod (62) is sleeved on the first connecting rod (61) through the first pin shaft (71); the third connecting rod ( 63) One end is sleeved on the second connecting rod (62) through the second pin shaft (72), and the other end is sleeved on the distal joint shaft (5); the length of the first connecting rod (61) is greater than that of the third The length of the connecting rod (63); the second finger segment (3) is affixed to the third connecting rod (63); The connecting piece (42) is sleeved on the proximal joint shaft (4); the rotating shaft (41) is sleeved on the connecting piece (42), and its center line intersects and is perpendicular to the center line of the proximal joint shaft (4); The fourth connecting rod (64) is sleeved on the rotating shaft (41); the lower end of the sixth connecting rod (66) is sleeved on the fourth connecting rod (64) through the third pin shaft (73), and its upper end and sleeve The cylinder (68) is firmly connected; the upper end of the seventh connecting rod (67) is sleeved on the fifth connecting rod (65) through the fourth pin shaft (74), and its lower end is fixedly connected with the intermediate shaft (69); the middle The shaft (69) is sleeved in the sleeve (68), and its centerline is located on the plane U formed by the centerline of the proximal joint axis (4) and the centerline of the distal joint axis (5) and is aligned with the proximal joint axis ( 4) is vertical to the centerline; the fifth connecting rod (65) is sleeved on the distal joint shaft (5), and the second finger segment (3) is fixedly connected to the fifth connecting rod (65); the fourth The length of connecting rod (64) is equal to the length of the fifth connecting rod (65); The first limiting block (91) and the second limiting block (92) are fixedly connected to the base (1) respectively; the connecting rod projection (10) is fixedly connected to the fourth connecting rod (64), and the spring member The two ends of (1) are respectively connected connecting rod projection (10), base (1); 10) Contact with the first limit block (91), the fourth connecting rod (64), the fifth connecting rod (65), the sixth connecting rod (66), the seventh connecting rod (67), the rotating shaft (41) and Cooperate between the sleeves (68) to form a connecting rod transmission relationship, and it is a parallelogram mechanism; The limit block (92) contacts, the fourth connecting rod (64), the fifth connecting rod (65), the sixth connecting rod (66), the seventh connecting rod (67), the rotating shaft (41) and the sleeve (68) Cooperate with each other to form a connecting rod transmission relationship, and it is an "8"-shaped mechanism; The spring part (11) adopts extension spring, compression spring, leaf spring or torsion spring; The crankshaft connecting rod flat clip coupling switching adaptive robot hand device has two grasping modes: one is the coupling adaptive grasping mode, the other is the flat clamp adaptive grasping mode, and the switching between the two grasping modes It is realized by the rotation of the fourth connecting rod around the rotating shaft and the rotation of the sixth connecting rod around the intermediate shaft.

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