CN107234631B - Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod - Google Patents
Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod Download PDFInfo
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- CN107234631B CN107234631B CN201710576128.6A CN201710576128A CN107234631B CN 107234631 B CN107234631 B CN 107234631B CN 201710576128 A CN201710576128 A CN 201710576128A CN 107234631 B CN107234631 B CN 107234631B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a crankshaft connecting rod parallel clamping coupling switching self-adaptive robot hand device.
Background
The under-actuated robot hand refers to a robot hand with the number of motors being less than the number of joints, and can realize self-adaptive grabbing of different objects and also adapt to grabbing of various objects. The device is simple and convenient, low in cost, small in mass and small in volume, can be widely applied to agricultural, industrial and service robots, can be used for medical treatment, and can provide artificial hands for disabled people.
Under-actuated robots with two degrees of freedom mainly include two basic categories: one is a coupled grabbing mode, and the other is an adaptive grabbing mode. 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, wherein the forward coupling grabbing mode is often simply called coupling grabbing, and the grabbing mode according to the same proportion in the reverse coupling grabbing mode is widely applied and is often called parallel clamping coupling grabbing mode, and is often simply called flat clamping grabbing. Forward coupled gripping is suitable for holding small objects with end finger segments, while adaptive gripping is suitable for enveloping object gripping, often referred to as force gripping.
In the basic category combination, there are mainly two composite capture modes: one is a first-coupled-then-adaptive gripping mode, referred to as a coupled-adaptive gripping mode, or a coupled-self gripping mode; the other is a parallel clamping and then self-adapting grabbing mode, which is called a flat clamping self-adapting grabbing mode or a flat self-grabbing mode. The self-grabbing mode has the characteristic of being more humanized, and meanwhile, the terminal pinching effect is easy to achieve. The flat self-gripping mode can have two parallel open and close end finger segments, which is industrially suitable for holding sheet-like objects in parallel or objects with two parallel faces.
An existing connecting rod underactuated three-finger manipulator device, such as the Canadian Laval university patent US5762390, comprises a plurality of connecting rods, three spring pieces, mechanical constraints and the like. The device realizes a flat clamp self-adaptive grabbing mode. During working, the gesture of the tail end finger section is kept at the beginning stage to perform near joint bending action, and then the parallel pinching or self-adaptive enveloping holding function can be realized according to the position of an object. The device has the advantages that the device can only realize a flat clamp self-adaptive grabbing mode, cannot realize a coupling self-adaptive grabbing mode, is not suitable for a rapid grabbing working condition, and has low efficiency; the complex multi-link mechanism is adopted, the mechanism is large in size, more in friction pairs and low in energy utilization rate; because the connecting rods are large in number and lack of flexibility, the manufacturing cost is high, a large dead zone exists in motion, and the grabbing range is small.
An existing flexible part parallel clamping coupling switching self-adaptive robot finger device (Chinese patent CN 105835083A) comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission part, a tendon rope, a plurality of driving wheels, half wheel connecting parts, a rotating shaft, half wheel protruding blocks, two spring parts, limiting protruding blocks and the like. The device realizes the function that the self-adaptive grabbing mode of the robot finger flat clamp and the coupling self-adaptive grabbing mode can be simply switched. The device has the defects that the tendon rope is adopted to drive the driving wheel to rotate, after the working time is too long, the elasticity of the tendon rope can be reduced, and the movement accuracy of the mechanism can be reduced; in addition, a plurality of driving wheels are adopted, so that the mechanism is complex, the installation and maintenance are difficult, and the manufacturing cost is high;
an existing accurate flat clamp self-adaptive and coupling self-adaptive mode switching robot finger device (Chinese patent CN 106799742A) comprises a base, two finger sections, two joint shafts, a motor, a tendon rope, a driven pulley, a connecting piece, a rotating shaft, a sector wheel, a segment piece, a gear, a rack, a spring and the like. The device realizes the robot finger flat clamp grabbing, coupling grabbing and self-adaptive grabbing multiple grabbing modes. The device realizes stable switching between the flat clamp and the coupling by utilizing the spherical surface of the segment, and the arrangement of the segment improves the transmission precision of the flat clamp and the coupling stage; the device has the advantages that the device adopts the matching of the tensioning degree of the tendon rope and the spring to realize the corresponding function, after long-time work, the tendon rope and the spring can be subjected to fatigue failure, the elasticity of the tendon rope and the spring can be reduced, and the movement accuracy of the mechanism can be reduced; in addition, a plurality of driving wheels are adopted, so that the mechanism is complex; the gear and the rack are adopted, so that the installation and maintenance are difficult, and the manufacturing cost is high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a self-adaptive robot hand device for parallel clamping coupling switching of a crankshaft connecting rod. The device can realize a flat clamp self-adaptive grabbing mode, and can realize a coupling self-adaptive grabbing mode after simple manual switching; the device can not only translate the second finger section to clamp the object in parallel, but also simultaneously forward bend and couple the two joints to pinch the object, and can also rotate the first finger section and the second finger section to adaptively envelop the objects with different shapes and sizes; the grabbing range is large; no complex sensing and control system is required.
The invention aims at solving the technical problems by adopting the following technical scheme. The invention provides a crankshaft connecting rod parallel clamp coupling switching self-adaptive robot hand device, which comprises a base 1, a first finger section 2, a second finger end 3, a near joint shaft 4, a motor 12 and a transmission mechanism, wherein the near joint shaft 4 is movably sleeved in the base 1, a far joint shaft 5 is movably sleeved in the first finger section 2, and the central line of the near joint shaft 4 is parallel to the central line of the far joint shaft 5; the first finger section 2 is sleeved on the near joint shaft 4, and the second finger section 3 is sleeved on the far joint shaft 5; the motor 12 is fixedly connected with the base 1, the transmission mechanism is arranged in the base 1, and an output shaft of the motor 12 is connected with an input end of the transmission mechanism;
the self-adaptive robot hand device for parallel clamping coupling switching of the crank shaft and the connecting rod further comprises 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, a sixth connecting rod 66, a seventh connecting rod 67, a sleeve 68, an intermediate shaft 69, a rotating shaft 41, a connecting piece 42, a first limiting block 91, a second limiting block 92, a connecting rod lug 10 and a spring piece 11, wherein the output end of the transmission mechanism is fixedly connected with the first connecting rod 61, and the first connecting rod 61 is sleeved on the near-joint shaft 4; the second connecting rod 62 is sleeved on the first connecting rod 61 through a first pin 71; one end of the third connecting rod 63 is sleeved on the second connecting rod 62 through a second pin shaft 72, and the other end is sleeved on the far joint shaft 5; the length of the first link 61 is greater than the length of the third link 63; the second finger end 3 is fixedly connected with a third connecting rod 63;
the connecting piece 42 is sleeved on the near joint shaft 4; the rotating shaft 41 is sleeved on the connecting piece 42, and the central line of the rotating shaft is intersected with and vertical to the central line of the near 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 a third pin shaft 73, and the upper end of the sixth connecting rod is fixedly connected with the sleeve 68; the upper end of the seventh connecting rod 67 is sleeved on the fifth connecting rod 65 through a fourth pin 74, and the lower end of the seventh connecting rod is fixedly connected with the intermediate shaft 69; the intermediate shaft 69 is sleeved in the sleeve 68, and the center line of the intermediate shaft is positioned on a plane U formed by the center line of the near joint shaft 4 and the center line of the far joint shaft 5 and is perpendicular to the center line of the near joint shaft 4; the fifth connecting rod 65 is sleeved on the far joint shaft 5, and the second finger end 3 is fixedly connected with the fifth connecting rod 65; the length of the fourth connecting rod 64 is equal to that of the fifth connecting rod 65;
the first limiting block 91 and the second limiting block 92 are fixedly connected with the base 1 respectively; the connecting rod lug 10 is fixedly connected with the fourth connecting rod 64, and two ends of the spring piece 11 are respectively connected with the connecting rod lug 10 and the base 1; when the self-adaptive robot hand device for switching the parallel clamping coupling of the crank shaft rod piece is in a parallel clamping initial state, the connecting rod lug 10 is in contact with the first limiting block 91, 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 68 are matched to form a connecting rod transmission relationship and are a parallelogram mechanism; when the self-adaptive robot hand device for parallel clamping coupling switching of the crank shaft rod piece is in a coupling initial state, the connecting rod lug 10 is in contact with the second limiting 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 68 are matched to form a connecting rod transmission relationship, and the self-adaptive robot hand device is an 8-shaped mechanism.
The aim of the invention and the solution of the technical problems are further achieved by adopting the following technical measures.
The crank shaft connecting rod parallel clamp coupling switching self-adaptive robot hand device is characterized in that the spring piece 11 is a tension spring, a pressure spring, a leaf spring or a torsion spring.
The device disclosed by the invention comprehensively realizes the function of simply switching between a parallel clamping self-adaptive grabbing mode and a coupling self-adaptive grabbing mode of the robot hand device by utilizing components such as a motor, a transmission mechanism, two finger sections, two joint shafts, seven connecting rods, four pin shafts, a connecting piece, a rotating shaft, a sleeve, an intermediate shaft, a spring piece, a connecting rod lug, two limiting blocks and the like: the device can realize a flat clamp self-adaptive grabbing mode, and can realize a coupling self-adaptive grabbing mode after simple manual switching; in the flat clamp self-adaptive grabbing mode, the device can not only translate the second finger section to hold an object, but also sequentially rotate the first finger section and the second finger section to envelop objects 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 contacts an object; the grabbing range is wide; the 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 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.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention, as well as the preferred embodiments thereof, together with the following detailed description of the invention given in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a perspective view of one embodiment of a bent rod-parallel clamp coupled switching adaptive robot hand apparatus designed in accordance with the present invention.
Fig. 2 is a front view of the embodiment of fig. 1.
Fig. 3 is a side view of the embodiment of fig. 1 (right side view of fig. 2).
Fig. 4 is another side view of the embodiment of fig. 1 (left view of fig. 2).
Fig. 5 is a cross-sectional view A-A of fig. 2.
Fig. 6 is a B-B cross-sectional view of fig. 2.
Fig. 7 is an internal perspective view (parts not shown) of the embodiment of fig. 1 from an angle.
Fig. 8 is an internal perspective view (parts not shown) of the embodiment of fig. 1 from another angle.
Fig. 9 is an internal perspective view (parts not shown) of the embodiment of fig. 1 from a third angle.
Fig. 10 to 14 are schematic diagrams illustrating the operation of the embodiment of fig. 1 for gripping an object in a form-fitting manner in a flat-grip adaptive mode.
Fig. 15 to 17 are schematic views illustrating an operation procedure of the embodiment of fig. 1 for holding an object by parallel opening and closing of the second finger sections in the flat clip adaptive mode.
Fig. 18 to 21 are schematic diagrams of the motion process of the embodiment of fig. 1 for gripping an object in a enveloping grip in a coupled adaptive mode.
Fig. 22 to 24 are schematic diagrams illustrating the operation of the embodiment of fig. 1 for clamping an object with the second finger section for coupling bending in the coupling adaptive mode.
[ Main element symbols description ]
1-base, 111-base front plate, 112-base rear plate, 113-base left plate,
114-base right side panel, 115-base surface panel, 116-base bottom panel, 117-base side cover panel,
2-first finger section, 21-first finger section framework, 22-first finger section left side plate, 23-first finger section right side plate,
24-first finger section surface plate, 25-first finger section front plate, 26-first finger section rear plate, 3-second finger section,
4-proximal joint shaft, 41-rotating shaft, 42-connecting piece, 5-distal joint shaft,
61-first link, 62-second link, 63-third link, 64-fourth link,
65-fifth link, 66-sixth link, 67-seventh link, 68-sleeve,
69-intermediate shaft, 71-first pin, 72-second pin, 73-third pin,
74-fourth pin, 81-bearing, 82-bearing end cap, 83-sleeve,
84-pin, 85-screw 91-first limiting block, 92-second limiting block
10-connecting rod lugs, 11-spring parts, 12-motors, 121-reducers,
122-first bevel gears, 123-second bevel gears, 124-transition gear shafts, 125-first pulleys,
126-second pulley, 127-drive belt, 17-object
Detailed Description
In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description refers to the specific implementation, structure, characteristics and effects of the crankshaft connecting rod parallel clamping coupling switching self-adaptive robot hand device according to the invention by combining the accompanying drawings and the preferred embodiment.
Referring to fig. 1 to 9, an embodiment of a crankshaft connecting rod parallel-clamping coupling switching self-adaptive robot hand device designed by the invention comprises a base 1, a first finger section 2, a second finger end 3, a near joint shaft 4, a motor 12 and a transmission mechanism, wherein the near joint shaft 4 is movably sleeved in the base 1, the far joint shaft 5 is movably sleeved in the first finger section 2, and the central line of the near joint shaft 4 is parallel to the central line of the far joint shaft 5; the first finger section 2 is sleeved on the near joint shaft 4, and the second finger section 3 is sleeved on the far joint shaft 5; the motor 12 is fixedly connected with the base 1, the transmission mechanism is arranged in the base 1, and an output shaft of the motor 12 is connected with an input end of the transmission mechanism.
The self-adaptive robot hand device for parallel clamping coupling switching of the crank shaft and the connecting rod further comprises 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, a sixth connecting rod 66, a seventh connecting rod 67, a sleeve 68, an intermediate shaft 69, a rotating shaft 41, a connecting piece 42, a first limiting block 91, a second limiting block 92, a connecting rod lug 10 and a spring piece 11, wherein the output end of the transmission mechanism is fixedly connected with the first connecting rod 61, and the first connecting rod 61 is sleeved on the near-joint shaft 4; the second connecting rod 62 is sleeved on the first connecting rod 61 through a first pin 71; one end of the third connecting rod 63 is sleeved on the second connecting rod 62 through a second pin shaft 72, and the other end is sleeved on the far joint shaft 5; the length of the first link 61 is greater than the length of the third link 63; the second finger end 3 is fixedly connected with a third connecting rod 63;
the connecting piece 42 is sleeved on the near joint shaft 4; the rotating shaft 41 is sleeved on the connecting piece 42, and the central line of the rotating shaft is intersected with and vertical to the central line of the near 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 a third pin shaft 73, and the upper end of the sixth connecting rod is fixedly connected with the sleeve 68; the upper end of the seventh connecting rod 67 is sleeved on the fifth connecting rod 65 through a fourth pin 74, and the lower end of the seventh connecting rod is fixedly connected with the intermediate shaft 69; the intermediate shaft 69 is sleeved in the sleeve 68, and the center line of the intermediate shaft is positioned on a plane U formed by the center line of the near joint shaft 4 and the center line of the far joint shaft 5 and is perpendicular to the center line of the near joint shaft 4; the fifth connecting rod 65 is sleeved on the far joint shaft 5, and the second finger end 3 is fixedly connected with the fifth connecting rod 65; the length of the fourth connecting rod 64 is equal to that of the fifth connecting rod 65;
defining one side of the object grabbing device as the front of the self-adaptive robot hand device for parallel clamping and coupling switching of the crank rod piece, and defining the opposite side, namely the side far away from the object grabbing device, as the rear of the device; the first limiting block 91 and the second limiting block 92 are fixedly connected with the base 1 respectively; the connecting rod lug 10 is fixedly connected with the fourth connecting rod 64, and two ends of the spring piece 11 are respectively connected with the connecting rod lug 10 and the base 1; setting the rotation direction of the first finger section 2 close to the object as the joint approaching direction, and setting the rotation direction of the first finger section 2 far away from the object as the joint approaching opposite direction; when the self-adaptive robot hand device for switching the parallel clamping coupling of the crank shaft rod piece is in a parallel clamping initial state, the connecting rod lug 10 is in contact with the first limiting block 91, 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 68 are matched to form a connecting rod transmission relationship and are a parallelogram mechanism; when the self-adaptive robot hand device for parallel clamping coupling switching of the crank shaft rod piece is in a coupling initial state, the connecting rod lug 10 is in contact with the second limiting 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 68 are matched to form a connecting rod transmission relationship, and the self-adaptive robot hand device is an 8-shaped mechanism.
Preferably, the spring element 11 adopts a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the spring member 11 adopts a tension spring.
In this embodiment, the base 1 includes a base front plate 111, a base rear plate 112, a base left plate 113, a base right plate 114, a base surface plate 115, a base bottom plate 116, and a base side cover plate 117, which are fixedly connected together. The first finger section 2 comprises 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 rear plate 26 which are fixedly connected together.
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 belt pulley 125, a second belt pulley 126 and a transmission belt 127, the output shaft of the motor 12 is connected with the input shaft of the speed reducer 121, the first bevel gear 122 is sleeved and fixed on the output shaft of the speed reducer 121, the second bevel gear 123 is sleeved and fixed on the transition gear shaft 124, and the first bevel gear 122 is meshed with the second bevel gear 123; the transition gear shaft 124 is sleeved in the base 1, the first belt wheel 125 is sleeved on the transition gear shaft 124, the second belt wheel 126 is movably sleeved on the near joint shaft 4, and the second belt wheel 126 is fixedly connected with the first connecting rod 61; the belt 127 is "O" shaped for connecting the first pulley 125 and the second pulley 126 in pulley driving relationship.
The present embodiment further adopts a plurality of bearings 81, a plurality of sleeves 83, a plurality of pins 84, a plurality of screws 85, and other parts, which belong to the known common technology and are not described in detail.
The working principle of the present embodiment is described below with reference to fig. 10 to 24:
the device has two modes of gripping: one is a coupling self-adaptive grabbing mode, the other is a flat clamp self-adaptive grabbing mode, and the switching of the two modes can be realized by the rotation of the fourth connecting rod around the rotating shaft and the rotation of the sixth connecting rod around the middle shaft.
The manual switching method of the flat clamp self-adaptive grabbing mode and the coupling self-adaptive grabbing mode comprises the following steps:
the device operation is adjusted to a straightened state and then the fourth link 64 is simultaneously rotated 180 degrees about the intermediate shaft 69 about the rotation axis 41 and the sixth link 66.
1) Implementation of flat clamp self-adaptive grabbing mode
The fourth link 64 is rotated to a position contacting the first limiting block 91, and the fourth link 64, the fifth link 65, the sixth link 66, the seventh link 67, the rotating shaft 41 and the sleeve 68 cooperate to form a link transmission relationship, and are a parallelogram mechanism, at this time, the crankshaft-link parallel-clamping coupling switching adaptive robot hand device is in a parallel-clamping initial state. The following details regarding the flat clip adaptive grabbing mode:
the initial position is the finger straightened state.
a) When the rotation angle of the fourth link 64 is 0 degrees, the position of the fourth link 64 with respect to the base 1 is unchanged; because the lengths of the fourth connecting rod 64 and the fifth connecting rod 65 are equal (namely, the rotation angles of the fourth connecting rod 64 and the fifth connecting rod are the same, the transmission ratio is 1), under the action 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 located, the fifth connecting rod 65 always keeps the same angle with the fourth connecting rod 64, the fifth connecting rod 65 only carries out translational motion relative to the base 1 and cannot rotate, and because the fifth connecting rod 65 is fixedly connected with the second finger section 3, the second finger section 3 only carries out translational motion relative to the base 1 and cannot rotate.
b) When the rotation angle of the fourth link is positive, the rotation angle of the fifth link 65 is equal to the rotation angle of the fourth link 64 by the sixth link 66, the seventh link 67, the sleeve 68, and the intermediate shaft 69.
When the present embodiment grips the object 17, the motor 12 rotates the first link 61 forward by the transmission of the transmission mechanism, and the rotation angle of the first link 61 with respect 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 section 2 has a proportional relationship with the rotation angle of the third connecting rod 63 relative to the first finger section 2. Let i be the transmission ratio from the first link 61 to the third link 63 through the second link 62, which is the ratio of the rotational speed of the first link 61 (relative to the first finger section 2) to the rotational speed of the third link 63 (relative to the first finger section 2), which 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 link 61 is longer than that of the third link 63, the speed-increasing transmission is performed, and the output speed is greater than the input speed, so that the transmission ratio i is less than 1. Let the rotation angle of the first finger section 2 around the proximal joint axis 4 be δ. Since the third link 63 is fixedly connected with the second finger section 3, and the second finger section 3 does not rotate relative to the base 1, the third link 63 does not rotate relative to the base 1 at this time, so that it can be deduced that the device of the embodiment will balance in a position satisfying the following (formula 1):
alpha=δ (1-i) (formula 1)
Since i is smaller than 1, a different angle can be found where α is smaller than δ and δ is positive, respectively. Thus, when the motor 12 is driven by the driving mechanism, the first link 61 rotates by an angle α, and at this time, the first finger section 2 rotates by an angle δ about the proximal joint axis 4, and the second finger section 3 is always in the same posture with respect to the base 1, but the position is changed. This is the stage of parallel clamping (fig. 10, 11, 12, 18). This stage is suitable for gripping the object 17 with the second finger section 3 or for stretching the object 17 by stretching the object by opening the second finger section 3 from inside to outside. For example, a hollow cylinder is taken out, and the cylinder wall is stretched outwards from the inner side of the object so as to take the object.
When the first finger section 2 contacts the object 17 and is blocked by the object 17 and can not rotate any more, the second stage of the self-adaptive envelope is carried out (as shown in fig. 13, 14, 19, 20 and 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 which are fixedly connected together rotate around the far joint shaft 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 near joint shaft 4, so that the spring element 11 deforms (as shown in fig. 13 and 19), and at this time, the second finger section 3 can rotate around the center line of the far joint shaft 5 until the second finger section 3 contacts the object 17, thereby completing the effect of grabbing the object by the self-adaptive envelope. Aiming at objects with different shapes and sizes, the embodiment has self-adaptability and can grasp various objects in a common way.
Process of releasing object 17: the motor 12 is reversed, and the subsequent process is exactly opposite to the process of grabbing the object 17, which is not described in detail.
2) Implementation of coupled adaptive grabbing mode
The fourth connecting rod 64 is shifted to one side (front) close to the object 17 to be grabbed, the fourth connecting rod 64 drives the sixth connecting rod 66 and the sleeve 68 to rotate around the intermediate shaft 69 to the front, 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 form an 8-shaped mechanism, so that reverse constant-speed transmission is realized.
The following is presented for a coupled adaptive grabbing mode.
When the motor 12 drives the first finger section 2 to rotate forward to lean against the object 17 through the first connecting rod 61, the second connecting rod 62 and the third connecting rod 63, the fourth connecting rod 64 always leans against the second limiting block 92 without rotation, at this time, the rotation of the first finger section 2 relative to the fourth connecting rod 64 can enable the sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68 and the intermediate shaft 69 to drive the fourth connecting rod 64, at this time, the spring 11 pulls the second finger section 3 to the object 17 side, the sixth connecting rod 66, the seventh connecting rod 67, the sleeve 68 and the intermediate shaft 69 can drive the fifth connecting rod 65, and the fifth connecting rod can drive the second finger section 3 to lean against the object 17. At this time, there are:
α=δ (1+i) (formula 2)
The process of releasing the object 17 is opposite to the above-described process and will not be described in detail.
The device disclosed by the invention comprehensively realizes the function of simply switching between a parallel clamping self-adaptive grabbing mode and a coupling self-adaptive grabbing mode of the robot hand device by utilizing components such as a motor, a transmission mechanism, two finger sections, two joint shafts, seven connecting rods, four pin shafts, a connecting piece, a rotating shaft, a sleeve, an intermediate shaft, a spring piece, a connecting rod lug, two limiting blocks and the like: the device can realize a flat clamp self-adaptive grabbing mode, and can realize a coupling self-adaptive grabbing mode after simple manual switching; in the flat clamp self-adaptive grabbing mode, the device can not only translate the second finger section to hold an object, but also sequentially rotate the first finger section and the second finger section to envelop objects 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 contacts an object; the grabbing range is wide; the 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 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.
The above description is only of the preferred embodiments of the present invention, and any simple modification, equivalent variation and modification of the above embodiments according to the technical principles of the present invention will still fall within the scope of the technical solutions of the present invention.
Claims (1)
1. The utility model provides a bent axle connecting rod parallel clamp coupling switches self-adaptation robot hand device, includes base (1), first finger section (2), second finger section (3), near joint axle (4), motor (12), drive mechanism, and near joint axle (4) activity cover is established in base (1), and far joint axle (5) activity cover is established in first finger section (2), near joint axle (4) central line and far joint axle (5) central line are parallel; the first finger section (2) is sleeved on the near joint shaft (4), and the second finger section (3) is sleeved on the far joint shaft (5); the motor (12) is fixedly connected with the base (1), the transmission mechanism is arranged in the base (1), and an output shaft of the motor (12) is connected with an input end of the transmission mechanism;
the method is characterized in that: the parallel-clamping coupling switching self-adaptive robot hand device of the crankshaft connecting rod further comprises 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), a sixth connecting rod (66), a seventh connecting rod (67), a sleeve (68), an intermediate shaft (69), a rotating shaft (41), a connecting piece (42), a first limiting block (91), a second limiting block (92), a connecting rod lug (10) and a spring piece (11), wherein the output end of the transmission mechanism is fixedly connected with the first connecting rod (61), and the first connecting rod (61) is sleeved on a near-joint shaft (4); the second connecting rod (62) is sleeved on the first connecting rod (61) through a first pin shaft (71); one end of the third connecting rod (63) is sleeved on the second connecting rod (62) through a second pin shaft (72), and the other end of the third connecting rod is sleeved on the far joint shaft (5); the length of the first connecting rod (61) is longer than that of the third connecting rod (63); the second finger section (3) is fixedly connected with a third connecting rod (63);
the connecting piece (42) is sleeved on the near joint shaft (4); the rotating shaft (41) is sleeved on the connecting piece (42), and the central line of the rotating shaft is intersected with and vertical to the central line of the near 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 a third pin shaft (73), and the upper end of the sixth connecting rod is fixedly connected with the sleeve (68); the upper end of the seventh connecting rod (67) is sleeved on the fifth connecting rod (65) through a fourth pin shaft (74), and the lower end of the seventh connecting rod is fixedly connected with the intermediate shaft (69); the intermediate shaft (69) is sleeved in the sleeve (68), and the center line of the intermediate shaft is positioned on a plane U formed by the center line of the near joint shaft (4) and the center line of the far joint shaft (5) and is perpendicular to the center line of the near joint shaft (4); the fifth connecting rod (65) is sleeved on the far joint shaft (5), and the second finger section (3) is fixedly connected with the fifth connecting rod (65); the length of the fourth connecting rod (64) is equal to that of the fifth connecting rod (65);
the first limiting block (91) and the second limiting block (92) are fixedly connected with the base (1) respectively; the connecting rod lug (10) is fixedly connected with the fourth connecting rod (64), and the two ends of the spring piece (1) are respectively connected with the connecting rod lug (10) and the base (1); when the crankshaft connecting rod parallel clamp coupling switching self-adaptive robot hand device is in a parallel clamp initial state, the connecting rod lug (10) is in contact with the first limiting block (91), and a connecting rod transmission relation is formed by matching among 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), and the self-adaptive robot hand device is a parallelogram mechanism; when the crank shaft connecting rod parallel clamp coupling switching self-adaptive robot hand device is in a coupling initial state, the connecting rod lug (10) is in contact with the second limiting block (92), and a connecting rod transmission relation is formed by matching among 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), and the crank shaft connecting rod parallel clamp switching self-adaptive robot hand device is an 8-shaped mechanism;
the spring piece (11) adopts a tension spring, a compression spring, a leaf spring or a torsion spring;
the crankshaft connecting rod parallel clamp coupling switching self-adaptive robot hand device has two grabbing modes: one is a coupling self-adaptive grabbing mode, the other is a flat clamp self-adaptive grabbing mode, and the switching of the two grabbing modes is realized by the rotation of the fourth connecting rod around the rotating shaft and the rotation of the sixth connecting rod around the middle shaft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576128.6A CN107234631B (en) | 2017-07-14 | 2017-07-14 | Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576128.6A CN107234631B (en) | 2017-07-14 | 2017-07-14 | Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod |
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| Publication Number | Publication Date |
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| CN107234631A CN107234631A (en) | 2017-10-10 |
| CN107234631B true CN107234631B (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710576128.6A Active CN107234631B (en) | 2017-07-14 | 2017-07-14 | Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189053B (en) * | 2017-11-22 | 2020-02-11 | 清华大学 | Finger device of lever type tail end accurate linear composite grabbing robot |
| CN108453768B (en) * | 2018-03-09 | 2020-11-27 | 北京电子科技职业学院 | Rod wheel parallel racing envelope self-adaptive robot finger device |
| CN111618901B (en) * | 2020-05-26 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
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| CN103128744A (en) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | Humanoid flexible mechanical arm 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011118646A1 (en) * | 2010-03-24 | 2011-09-29 | 株式会社安川電機 | Robot hand and robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128744A (en) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | Humanoid flexible mechanical arm 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 |
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| Title |
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| 平夹自适应欠驱动手的参数优化与稳定性分析;梁达尧等;《机器人》;20170515(第03期);全文 * |
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