CN107498572B - Rack idle stroke transmission parallel coupling switching self-adaptive robot finger device - Google Patents
Rack idle stroke transmission parallel coupling switching self-adaptive robot finger device Download PDFInfo
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- CN107498572B CN107498572B CN201710685285.0A CN201710685285A CN107498572B CN 107498572 B CN107498572 B CN 107498572B CN 201710685285 A CN201710685285 A CN 201710685285A CN 107498572 B CN107498572 B CN 107498572B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
A rack idle stroke transmission horizontal coupling switching self-adaptive robot finger device belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, a motor 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; 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 rack idle stroke transmission horizontal coupling switching self-adaptive robot finger device.
Background
The under-actuated robot hand has a self-adaptive grabbing function, can meet the grabbing requirements of reducing complex sensing and real-time control when being used in different occasions, improves the grabbing stability and accuracy, is simple and convenient, has low cost, small mass and small volume, and can be widely applied to industrial, agricultural and service robots or used as a dummy hand for disabled people.
An under-actuated robotic hand with two degrees of freedom mainly comprises two basic categories: one is a coupled grab mode and the other is an adaptive grab mode. The coupled grabbing mode refers to that two joints rotate simultaneously according to a certain proportion or a changed proportion, and can be divided into a forward coupling grabbing mode and a reverse coupling grabbing mode, wherein the forward coupling grabbing mode is often called coupling grabbing for short, and the grabbing mode in the reverse coupling grabbing mode according to the same proportion is widely applied, is often called parallel clamping coupling grabbing mode and is often called parallel clamping grabbing for short. Forward-coupled grasping is suitable for grasping small objects with end finger segments, while adaptive grasping is suitable for enveloping object grasping, commonly referred to as force grasping.
Among the basic classes of combinations, there are mainly two complex grasping modes: one is a coupled and then adaptive grabbing mode, called a coupled adaptive grabbing mode, or a coupled adaptive grabbing mode; the other mode is a parallel clamping and then self-adaptive grabbing mode, which is called a parallel clamping self-adaptive grabbing mode or a parallel self-grabbing mode. The self-coupling grabbing mode can have the characteristic of more human-simulated performance, and meanwhile the pinching effect of the tail end is easy to achieve. The flat self-gripping mode can have two parallel open and closed end finger sections, industrially suitable for parallel gripping of sheet-like objects or objects with two parallel faces.
There is a five-link clamping device with two degrees of freedom under actuated fingers, such as US8973958B2, which includes five links, springs, and mechanical constraints. The device realizes a parallel-clamping self-adaptive grabbing mode. During working, the posture of the tail end finger section is kept at the beginning stage to perform the proximal 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 the device can only realize a parallel clamping self-adaptive grabbing mode, and cannot realize a coupling self-adaptive grabbing mode; in addition, the multi-link mechanism is very complex, 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.
An existing flexible piece parallel clamping coupling switching self-adaptive robot finger device, as shown in chinese patent CN105835083A, includes a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a tendon rope, a plurality of transmission wheels, a half wheel connector, a rotation shaft, a half wheel bump, two spring pieces, and a limit bump. The device realizes the function that the robot finger parallel clamping self-adaptive grabbing mode and the coupling self-adaptive grabbing mode can be switched. The device has the disadvantages that the device uses too many flexible transmission parts for transmission, the transmission is unreliable and inaccurate, the switching between the flat clamp and the coupling is realized by rotating the half wheel, and the operation is complicated and inconvenient.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rack idle stroke transmission horizontal coupling switching self-adaptive robot finger device. The device can realize a parallel clamping self-adaptive grabbing mode, and can also realize a coupling self-adaptive grabbing mode after simple manual switching; the device can translate the second finger section to parallelly clamp an object, can rotate, bend, decouple and clamp the object by two joints simultaneously, and can also rotate the first finger section and the second finger section sequentially to self-adaptively envelope 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 rack idle stroke transmission horizontal coupling switching self-adaptive robot finger device which comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor and a transmission mechanism, 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 is movably sleeved on the near joint shaft, and the far joint shaft is movably sleeved in the first finger section; the second finger section is fixedly sleeved on the distal joint shaft; the motor is fixedly connected with the base, and the transmission mechanism is arranged in the base; the output shaft of the motor is connected with the input end of the transmission mechanism; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis; the method is characterized in that: the rack lost motion transmission parallel coupling switching self-adaptive robot finger device further comprises a first gear, a second gear, a third gear, a first rack, a second rack, a third rack, a fourth rack, a first spring piece, a second spring piece, a guide rail and a sliding block; the first gear is fixedly sleeved on the near joint shaft, and the output end of the transmission mechanism is connected with the near joint shaft; two ends of the first spring piece are respectively connected with the first gear and the first finger section; the first rack is slidably embedded in the first finger section, the first rack is meshed with the first gear, a fixedly connected transmission lug is arranged on the first rack, and the transmission lug is separated from the guide rail by a certain distance and is contacted with the guide rail within a stroke range; the second gear is movably sleeved on the proximal joint shaft; two ends of the second spring are respectively connected with the second gear and the base; the sliding block is movably embedded in the guide rail, and two ends of the sliding block are fixedly connected with a second rack and a third rack respectively; the third gear is fixedly sleeved on the far joint shaft, and the transmission ratio of the third gear to the second gear is equal to 1: 1; the fourth rack is meshed with the third gear, the fourth rack is fixedly connected with the guide rail, the fourth rack is embedded in the first finger section in a sliding mode, and the sliding direction of the fourth rack in the first finger section is parallel to that of the first rack; the sliding direction of the first rack in the first finger section is vertical to the sliding direction of the sliding block in the guide rail; the second rack and the second gear are separated from each other or meshed with each other at a certain distance, the third rack and the second gear are meshed with each other or separated from each other at a certain distance, and the second rack and the third rack are respectively positioned on two sides of the second gear; the first rack and the fourth rack are located on the same side: the first rack is positioned on the left side of the first gear and the fourth rack is positioned on the left side of the third gear, or the first rack is positioned on the right side of the first gear and the fourth rack is positioned on the right side of the third gear; when the sliding block slides to the left side of the guide rail, the second rack is meshed with the second gear, a point on the second gear, which is meshed with the second rack, is B, and the third rack is separated from the second gear by a certain distance; when the sliding block slides to the right side of the guide rail, the second rack and the second gear are separated by a certain distance, the third rack is meshed with the second gear, and a point on the second gear, which is meshed with the third rack, is C; defining the central point of the second gear as A, the central point of the third gear as D, and the meshing point of the fourth rack and the third gear as E; line segments AB, BE, ED and DA form a 8 shape, and the intersection point of the line segments DA and BE is positioned between A and D; the segments AC, CE, ED and DA form a parallelogram.
The invention relates to a rack idle stroke transmission parallel coupling switching self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring or a torsion spring.
The invention relates to a rack idle stroke transmission parallel coupling switching self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a tension spring or a torsion spring.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the function that the robot finger parallel clamping self-adaptive grabbing mode and the coupling self-adaptive grabbing mode can be simply switched by utilizing the motor, the transmission mechanism, the three gears, the four racks, the two spring pieces, the guide rail, the slide block 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 driver is utilized to drive 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 external view of an embodiment of a rack idle stroke transmission horizontal coupling switching adaptive robot finger device designed by the invention.
Fig. 2 is a front external view of the embodiment shown in fig. 1.
Fig. 3 is a side elevational view of the embodiment of fig. 1 (right side elevational view of fig. 2).
Fig. 4 is another side external view of the embodiment shown in fig. 1 (left side view of fig. 2).
Fig. 5 is an interior view of a front exterior view of the embodiment shown in fig. 1.
Fig. 6 is an internal view of the embodiment of fig. 1 from an angle (not shown with some parts).
Fig. 7 is an interior view of the embodiment of fig. 1 as the slide slides to the right of the rail (not shown with some parts).
Fig. 8 is an interior view of the embodiment of fig. 1 as the slide slides to the left of the guide rail (not shown with parts).
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 the object with the second finger section.
In fig. 1 to 24:
1-base, 101-base projection, 102-base front plate, 103-base left side plate,
104-right base side panel, 105-back base panel, 106-bottom base panel, 2-first finger section,
201-a first finger section front plate, 202-a first finger section left side plate, 203-a first finger section right side plate, 204-a first finger section rear plate,
205-first bump, 3-second finger, 4-proximal joint axis, 5-distal joint axis,
6-first gear, 7-second gear, 701-second bump, 8-third gear,
9-a first rack, 901-a transmission lug, 10-a second rack, 11-a third rack,
12-fourth rack, 13-first spring, 14-second spring, 15-guide,
16-slide block, 17-motor, 171-reducer, 172-first bevel gear,
173-second bevel gear, 174-transition shaft, 175-first pulley, 176-second pulley,
177-drive belt, 178-third projection, 18-bearing, 19-sleeve,
20-screw, 21-pin, 22-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.
An embodiment of the rack lost motion transmission horizontal coupling switching adaptive robot finger device designed by the 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, a motor 17 and a transmission mechanism; the proximal joint shaft 4 is movably sleeved in the base 1, the first finger section 2 is movably sleeved on the proximal joint shaft 4, and the distal joint shaft 5 is movably sleeved in the first finger section 2; the second finger section 3 is fixedly sleeved on the distal joint shaft 5; the motor 17 is fixedly connected with the base 1, the transmission mechanism is arranged in the base 1, and an output shaft of the motor 17 is connected with an input end of the transmission mechanism; the central line of the proximal joint shaft 4 is parallel to the central line of the distal joint shaft 5; the rack lost motion transmission parallel coupling switching self-adaptive robot finger device further comprises a first gear 6, a second gear 7, a third gear 8, a first rack 9, a second rack 10, a third rack 11, a fourth rack 12, a first spring piece 13, a second spring piece 14, a guide rail 15 and a sliding block 16; the first gear 6 is fixedly sleeved on the near joint shaft 4, and the output end of the transmission mechanism is connected with the near joint shaft 4; two ends of the first spring piece 13 are respectively connected with the first gear 6 and the first finger section 2; the first rack 9 is embedded in the first finger section 2 in a sliding manner, the first rack 9 is meshed with the first gear 6, a fixedly connected transmission lug 901 is arranged on the first rack 9, and the transmission lug 901 is separated from the guide rail 15 by a certain distance and is contacted within a stroke range; the second gear 7 is movably sleeved on the proximal joint shaft 4; two ends of the second spring 14 are respectively connected with the second gear 7 and the base 1; the sliding block 16 is movably embedded in the guide rail 15, and two ends of the sliding block 16 are fixedly connected with the second rack 10 and the third rack 11 respectively; the third gear 8 is fixedly sleeved on the far joint shaft 5, and the transmission ratio of the third gear 8 to the second gear 7 is equal to 1: 1; the fourth rack 12 is meshed with the third gear 8, the fourth rack 12 is fixedly connected with the guide rail 15, the fourth rack 12 is embedded in the first finger section 2 in a sliding manner, and the sliding direction of the fourth rack 12 in the first finger section 2 is parallel to that of the first rack 9; the sliding direction of the first rack 9 in the first finger section 2 is perpendicular to the sliding direction of the sliding block 16 in the guide rail 15; the second rack 10 is separated from or meshed with the second gear 7 for a certain distance, the third rack 11 is meshed with or separated from the second gear 7 for a certain distance, and the second rack 10 and the third rack 11 are respectively positioned at two sides of the second gear 7; the first rack 9 and the fourth rack 12 are located on the same side: the first rack 9 is located on the left side of the first gear 6 and the fourth rack 12 is located on the left side of the third gear 8, or the first rack 9 is located on the right side of the first gear 6 and the fourth rack 12 is located on the right side of the third gear 8; when the sliding block 16 slides to the left side of the guide rail 15 (as shown in fig. 8), the second rack 10 is meshed with the second gear 7, the point on the second gear 7 meshed with the second rack 10 is B, and the third rack 11 is separated from the second gear 7 by a certain distance; when the sliding block 16 slides to the right side of the guide rail 15 (as shown in fig. 7), the second rack 10 is separated from the second gear 7 by a certain distance, the third rack 11 is meshed with the second gear 7, and the point on the second gear 7 meshed with the third rack 11 is C; defining the central point of the second gear 7 as A, the meshing point of the second rack 10 and the second gear 7 as B, the central point of the third gear 8 as D, and the meshing point of the fourth rack 12 and the third gear 8 as E; line segments AB, BE, ED and DA form a 8 shape, and the intersection point of the line segments DA and BE is positioned between A and D; the segments AC, CE, ED and DA form a parallelogram.
The invention relates to a rack idle stroke transmission parallel coupling switching self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring or a torsion spring. In this embodiment, the first spring element 13 is a torsion spring.
The invention relates to a rack idle stroke transmission parallel coupling switching self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a tension spring or a torsion spring. In this embodiment, the second spring element 14 is a torsion spring.
The present embodiment further includes a base bump 101, a first bump 205, a second bump 701, and a third bump 178; the base convex block 101 is fixedly connected with the base 1, and the base convex block 101 is fixedly connected with one end of the second spring piece 14; the first bump 205 is fixedly connected with the first finger section 2; the second bump 701 is fixedly connected with a second gear 7; the third protrusion 178 is fixedly connected to the second pulley 176.
In the present embodiment, the transmission mechanism includes a speed reducer 171, a first bevel gear 172, a second bevel gear 173, a transition shaft 174, a first pulley 175, a second pulley 176, and a transmission belt 177; an output shaft of the motor 17 is connected with an input shaft of the speed reducer 171; the first bevel gear 172 is fixedly sleeved on an output shaft of the speed reducer 171; the second bevel gear 173 is fixedly sleeved on the transition shaft 174, and the second bevel gear 173 is meshed with the first bevel gear 172; the transition shaft 174 is sleeved in the base 1; the first pulley 175 is fixedly sleeved on the transition shaft 174; the second belt wheel 176 is fixedly sleeved on the proximal joint shaft 4; two ends of the first spring piece 13 are respectively connected with the second gear 176 and the first finger section 2; the belt 177 connects the first pulley 175 and the second pulley 176, and the belt 177, the first pulley 175 and the second pulley 176 are in a pulley-driven relationship.
In this embodiment, the base 1 includes a front base plate 102, a left base plate 103, a right base plate 104, a back base plate 105 and a bottom base plate 106, which are fixed together.
In this embodiment, the first finger section 2 includes a first finger section front plate 201, a first finger section left side plate 202, a first finger section right side plate 203, and a first finger section rear plate 204, which are fixedly connected together.
In this embodiment, a plurality of bearings 18, a plurality of sleeves 19, a plurality of screws 20, a plurality of pins 21, and the like are further employed, which belong to the known and commonly used technologies and are not described in detail.
The working principle of this embodiment is described below with reference to fig. 10 to 24:
the device has two modes of grabbing: one is a coupling self-adaptive grabbing mode, the other is a flat clamping self-adaptive grabbing mode, and the switching of the two modes can be realized by the sliding of the sliding block in the guide rail.
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 operate in an initial straightened state and the slider 16 is then dialed from one end of the guide 15 to the other.
In the initial state of the present embodiment, the fingers are in the straightened state, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8.
1) Realization of parallel-clamping self-adaptive grabbing mode
As shown in fig. 7, the slide 16 is moved to the right end of the guide rail 15, the second rack 10 is spaced apart from the second gear 7, the third rack 11 is engaged with the second gear 7, and the line segments AC, CE, ED and DA form a parallelogram. The following is a detailed description of the adaptive gripping mode for the parallel clamp:
the motor 17 rotates to drive the first bevel gear 172 through the speed reducer 171, drive the second bevel gear 173, drive the transition shaft 174, drive the first pulley 175, drive the second pulley 176 through the transmission belt 177 to rotate, and pull the first finger section 2 to rotate around the proximal joint shaft 4 through the first spring element 13, so as to realize the first joint rotation; at this time, the first gear 6 rotates along with the rotation of the proximal joint shaft 4, the first gear 6 drives the first rack 9 to move downwards, but the transmission lug 901 on the first rack 9 does not contact the guide rail 15 yet, and the second spring 14 pulls the second gear 7 to make it unable to rotate and keep the initial posture unchanged all the time; at this time, under the action of the second gear 7, the third rack 11, the fourth rack 12 and the first finger section 2, the third gear 8 and the second finger section 3 still maintain the initial posture, because: through the third rack 11 and the fourth rack 12, the second gear 7 and the third gear 8 rotate in the same direction and the transmission ratio is equal to 1, so when the first finger section 2 rotates around the proximal joint shaft 4 and the second gear 7 does not move, the third gear 8 only performs translational motion relative to the base 1 and cannot rotate, and because the third gear 8 is fixedly connected with the second finger section 3, the second finger section 3 only performs translational motion relative to the base 1 and cannot rotate, and the original posture is always kept.
a) Parallel grip (also called parallel opening and closing or flat grip) grabbing mode in which the second finger section 3 contacts the object 22:
when the second finger section 3 only performs translational motion relative to the base 1 without rotating and keeps the original posture all the time, if the second finger section 3 contacts the object 22, the parallel clamping and grabbing mode is performed. The course of action is shown in figures 15 to 17.
When the motor 17 continues to rotate and the first rack 9 continues to move downwards but the transmission lug 901 is not yet in contact with the guide rail 15, the first spring element 13 is greatly deformed, and the deformation elasticity of the first spring element 13 (the force is called as F)1) The grasping force applied to the object 22 by the second finger section 3 through the first finger section 2, the distal joint shaft 5, and the like is terminated if the grasping force is sufficient and the motor 17 is stopped.
After the above process, if the grasping force is insufficient, the first rack 9 continues to move downward, at which time the first spring member 13 is more deformed, F1Is larger; at the same time, the drive lug 901 contacts the guide rail 15 and exerts a force (this force is referred to as F)2) Feed rail 15, F2The gripping force of the second finger section 3 on the object 22 is exerted through the fourth rack 12, the third gear 8 and the like, the motor 17 is stopped, and the gripping is finished.
The parallel grip gripping mode is suitable for gripping the object 22 with the second finger segments 3 or for pulling the object 22 from the inside out with the second finger segments 3 by flaring. 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.
b) Adaptive grab mode with first finger segment 2 contacting object 22:
the combination of the parallel clamping in the first stage and the adaptive clamping in the second stage is called a parallel clamping adaptive clamping mode.
When the second finger section 3 only performs translational motion relative to the base 1 and does not rotate, and the original posture is always kept, if the first finger section 2 contacts the object 22, the parallel clamp self-adaptive grabbing mode is realized. The action process is shown in fig. 10 to 15.
When the first finger section 2 contacts the object 22 and is blocked by the object 22 and can not rotate any more, the self-adaptive grabbing phase is automatically entered. The motor 17 continues to rotate, the first rack 9 continues to move downwards, but the transmission lug 901 does not contact the guide rail 15, the first spring element 13 is greatly deformed, and the deformation elasticity of the first spring element 13 (the force is called F)1) Is applied to the gripping force of the first finger section 2 on the object 22.
The motor 17 continues to rotate and the first rack 9 continues to move downwards, at which point the first spring element 13 is more deformed, F1Is larger; meanwhile, the transmission bump 901 contacts the guide rail 15 and pushes the guide rail 15 to move downwards, the second gear 7 overcomes the deformation elasticity of the second spring piece 14 to rotate, the third rack 11 moves downwards, the fourth rack 12 moves downwards, the third gear 8 drives the second finger section 3 to rotate around the far joint shaft 5 until the second finger section 3 contacts the object 22 and applies a gripping force, the motor 17 stops rotating, gripping is finished, and the effect of gripping the object in a self-adaptive envelope manner is achieved.
The present embodiment is adaptive to objects of different shapes and sizes, and can grab various objects.
Process of releasing the object 22: the motor 17 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 22, and the description is omitted.
2) Implementation of coupled adaptive capture mode
As shown in fig. 8, the slider 16 is moved to the left end of the guide rail 15, the third rack 11 is separated from the second gear 7, the second rack 10 is engaged with the second gear 7, the line segments AB, BE, ED and DA form a figure "8", and the intersection point of the line segments DA and BE is located between a and D. The following is a detailed description of the coupled adaptive grab mode:
the motor 17 rotates to drive the first bevel gear 172 through the speed reducer 171, drive the second bevel gear 173, drive the transition shaft 174, drive the first pulley 175, drive the second pulley 176 through the transmission belt 177 to rotate, and pull the first finger section 2 to rotate around the proximal joint shaft 4 through the first spring element 13, so as to realize the first joint rotation; at this time, the first gear 6 rotates along with the rotation of the proximal joint shaft 4, the first gear 6 drives the first rack 9 to move downwards, but the transmission lug 901 on the first rack 9 does not contact the guide rail 15 yet, and the second spring 14 pulls the second gear 7 to make it unable to rotate and keep the initial posture unchanged all the time; at this time, under the action of the second gear 7, the second rack 10, the fourth rack 12 and the first finger section 2, the third gear 8 and the second finger section 3 rotate around the distal joint shaft 5 relative to the first finger section 2, and the rotation direction of the third gear 8 and the second finger section 3 around the distal joint shaft 5 is the same as the rotation direction of the first finger section 2 around the proximal joint shaft 4, so that the coupling rotation effect is achieved.
a) Coupled pinch grip mode with second finger section 3 contacting object 22:
if the second finger section 3 touches the object 22 at this time, the coupled pinch grip mode is used. The course of action is shown in figures 22 to 24.
The motor 17 continues to rotate, the first rack 9 continues to move downwards but the transmission lug 901 is not yet in contact with the guide rail 15, the first spring element 13 is greatly deformed, and the deformation elasticity of the first spring element 13 (the force is called F)1) The grasping force applied to the object 22 by the second finger section 3 through the first finger section 2, the distal joint shaft 5, and the like is terminated if the grasping force is sufficient and the motor 17 is stopped.
After the above process, if the grasping force is insufficient, the first rack 9 continues to move downward, at which time the first spring member 13 is more deformed, F1Is larger; at the same time, the drive lug 901 contacts the guide rail 15 and exerts a force (this force is referred to as F)2) Feed rail 15, F2The gripping force of the second finger section 3 on the object 22 is exerted through the fourth rack 12, the third gear 8 and the like, the motor 17 is stopped, and the gripping is finished.
b) Adaptive grab mode with first finger segment 2 contacting object 22:
if the first finger section 2 touches the object 22 at this time, the coupled adaptive grab mode is established. The course of action is shown in fig. 18 to 21.
When the first finger section 2 contacts the object22 and is blocked by the object 22 and can not rotate any more, the self-adaptive grabbing phase is automatically entered. The motor 17 continues to rotate, the first rack 9 continues to move downwards, but the transmission lug 901 does not contact the guide rail 15, the first spring element 13 is greatly deformed, and the deformation elasticity of the first spring element 13 (the force is called F)1) Is applied to the gripping force of the first finger section 2 on the object 22.
The motor 17 continues to rotate and the first rack 9 continues to move downwards, at which point the first spring element 13 is more deformed, F1Is larger; meanwhile, the transmission bump 901 contacts the guide rail 15 and pushes the guide rail 15 to move downwards, the second gear 7 overcomes the deformation elasticity of the second spring piece 14 to rotate, the second rack 10 moves downwards, the fourth rack 12 moves downwards, the third gear 8 drives the second finger section 3 to rotate around the far joint shaft 5 until the second finger section 3 contacts the object 22 and applies a gripping force, the motor 17 stops rotating, gripping is finished, and the effect of gripping the object in a self-adaptive envelope manner is achieved.
The present embodiment is adaptive to objects of different shapes and sizes, and can grab various objects.
Process of releasing the object 22: the motor 17 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 22, and the description is omitted.
The device comprehensively realizes the function that the robot finger parallel clamping self-adaptive grabbing mode and the coupling self-adaptive grabbing mode can be simply switched by utilizing the motor, the transmission mechanism, the three gears, the four racks, the two spring part guide rails, the sliding block 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 driver is utilized to drive 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 (3)
1. A rack idle stroke transmission horizontal coupling switching self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor and a transmission mechanism; the near joint shaft is movably sleeved in the base, the first finger section is movably sleeved on the near joint shaft, and the far joint shaft is movably sleeved in the first finger section; the second finger section is fixedly sleeved on the distal joint shaft; the motor is fixedly connected with the base, and the transmission mechanism is arranged in the base; the output shaft of the motor is connected with the input end of the transmission mechanism; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis; the method is characterized in that: the rack lost motion transmission parallel coupling switching self-adaptive robot finger device further comprises a first gear, a second gear, a third gear, a first rack, a second rack, a third rack, a fourth rack, a first spring piece, a second spring piece, a guide rail and a sliding block; the first gear is fixedly sleeved on the near joint shaft, and the output end of the transmission mechanism is connected with the near joint shaft; two ends of the first spring piece are respectively connected with the first gear and the first finger section; the first rack is slidably embedded in the first finger section, the first rack is meshed with the first gear, a fixedly connected transmission lug is arranged on the first rack, and the transmission lug is separated from the guide rail by a certain distance and is contacted with the guide rail within a stroke range; the second gear is movably sleeved on the proximal joint shaft; two ends of the second spring are respectively connected with the second gear and the base; the sliding block is movably embedded in the guide rail, and two ends of the sliding block are fixedly connected with a second rack and a third rack respectively; the third gear is fixedly sleeved on the far joint shaft, and the transmission ratio of the third gear to the second gear is equal to 1: 1; the fourth rack is meshed with the third gear, fixedly connected with the guide rail, slidably embedded in the first finger section, and parallel to the sliding direction of the first rack in the first finger section; the sliding direction of the first rack in the first finger section is vertical to the sliding direction of the sliding block in the guide rail; the second rack and the second gear are separated from each other or meshed with each other at a certain distance, the third rack and the second gear are meshed with each other or separated from each other at a certain distance, and the second rack and the third rack are respectively positioned on two sides of the second gear; the first rack and the fourth rack are located on the same side: the first rack is positioned on the left side of the first gear and the fourth rack is positioned on the left side of the third gear, or the first rack is positioned on the right side of the first gear and the fourth rack is positioned on the right side of the third gear; when the sliding block slides to the left side of the guide rail, the second rack is meshed with the second gear, a point on the second gear, which is meshed with the second rack, is B, and the third rack is separated from the second gear by a certain distance; when the sliding block slides to the right side of the guide rail, the second rack and the second gear are separated by a certain distance, the third rack is meshed with the second gear, and the meshing point of the third rack and the second gear is C; defining the central point of the second gear as A, the central point of the third gear as D, and the meshing point of the fourth rack and the third gear as E; line segments AB, BE, ED and DA form a 8 shape, and the intersection point of the line segments DA and BE is positioned between A and D; the segments AC, CE, ED and DA form a parallelogram.
2. The rack lost motion drive level-coupled switching adaptive robot finger device of claim 1, wherein: the first spring piece adopts a tension spring or a torsion spring.
3. The rack lost motion drive level-coupled switching adaptive robot finger device of claim 1, wherein: the second spring piece adopts a tension spring or a torsion spring.
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| CN201710685285.0A CN107498572B (en) | 2017-08-11 | 2017-08-11 | Rack idle stroke transmission parallel coupling switching self-adaptive robot finger device |
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| CN201710685285.0A CN107498572B (en) | 2017-08-11 | 2017-08-11 | Rack idle stroke transmission parallel coupling switching self-adaptive robot finger device |
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| CN107498572B true CN107498572B (en) | 2020-07-21 |
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| CN109129530B (en) * | 2018-09-14 | 2023-12-15 | 清华大学 | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device |
| CN110900641B (en) * | 2019-12-11 | 2021-04-27 | 北京工业大学 | Parallel-clamping self-adaptive three-finger under-actuated robot hand |
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| WO2012129288A2 (en) * | 2011-03-21 | 2012-09-27 | Re2, Inc. | Robotic hand with conformal finger |
| CN105798936A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Idle-stroke contact gear parallel clamping self-adaption robot finger device |
| CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN106393161A (en) * | 2016-10-12 | 2017-02-15 | 清华大学 | Double-rack parallel-clamping indirect adaptive robot finger device |
| CN106671113A (en) * | 2017-02-10 | 2017-05-17 | 清华大学 | Translational motion idle-stroke transmission coupled and self-adaptive robot finger device |
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| WO2012129288A2 (en) * | 2011-03-21 | 2012-09-27 | Re2, Inc. | Robotic hand with conformal finger |
| CN105798936A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Idle-stroke contact gear parallel clamping self-adaption robot finger device |
| CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN106393161A (en) * | 2016-10-12 | 2017-02-15 | 清华大学 | Double-rack parallel-clamping indirect adaptive robot finger device |
| CN106671113A (en) * | 2017-02-10 | 2017-05-17 | 清华大学 | Translational motion idle-stroke transmission coupled and self-adaptive robot finger device |
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