CN108189053B - Finger device of lever type tail end accurate linear composite grabbing robot - Google Patents

Finger device of lever type tail end accurate linear composite grabbing robot Download PDF

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Publication number
CN108189053B
CN108189053B CN201711173398.9A CN201711173398A CN108189053B CN 108189053 B CN108189053 B CN 108189053B CN 201711173398 A CN201711173398 A CN 201711173398A CN 108189053 B CN108189053 B CN 108189053B
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China
Prior art keywords
rotating shaft
connecting rod
sleeved
finger section
line segment
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CN201711173398.9A
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CN108189053A (en
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姚守菊
张文增
徐向荣
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A finger device of a lever-type robot with accurate linear composite grabbing at the tail end belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, a motor, a plurality of connecting rods, a lever, a gear, two racks, a spring and two limiting convex blocks. The device has realized that straight line parallel clamp and self-adaptation compound snatch the mode: the second finger section can be translated to clamp an object, and the first finger section can be rotated to touch the object and then the second finger section is rotated to envelope the objects with different shapes and sizes; in the stage of clamping an object by the second translation finger section, the tail end of the second finger section always keeps linear track motion, so that the thin plate object can be grabbed on the workbench, and the programming requirement of the mechanical arm is reduced; only one motor is used for driving two joints, the structure is simple and compact, the cost is low, a complex sensing and control system is not needed, and the robot is suitable for occasions where the robot needs to grab and operate objects with different sizes.

Description

Finger device of lever type tail end accurate linear composite grabbing robot
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a finger device of a lever type end precise linear composite grabbing robot.
Background
With the rapid development of the industry, robotic hands have become an important tool for increasing productivity. The robot hand can be divided into three categories of an industrial clamp holder, a dexterous hand and an under-actuated hand.
The industrial clamp holder is the most widely used practical robot hand at present, and has the advantages of relatively simple structure and simple control. An industrial gripper device for linear parallel clamping, such as WO2016063314A1 of Kawasaki heavy industry application, comprises a base, a motor, a transmission mechanism, a plurality of connecting rods and the like, and can realize the linear parallel clamping function. The device has the following disadvantages: the self-adaption can not be realized, so that the working mode of the device is single, only objects can be pinched, and the objects with complex shapes are difficult to grasp.
The self-adaptive under-actuated finger can realize holding of a self-adaptive enveloped object, but cannot implement parallel clamping and grabbing of the tail end, for example, an existing under-actuated two-joint robot finger device (Chinese invention patent CN101234489A) comprises a base, a motor, a middle finger section, a tail end finger section, a parallel belt wheel type transmission mechanism and the like. The device realizes the special effect that the double-joint under-actuated fingers grasp objects in a bending way, and has self-adaptability. The under-actuated mechanical finger device has the following defects: the fingers are always in a straight state before touching the object, the grabbing mode is mainly a holding mode, and the better parallel clamping and grabbing effect of the tail end is difficult to realize.
A parallel clamping adaptive under-actuated robot hand with two gripping modes of parallel clamping and adaptive enveloping has been developed, for example, patent US5762390A of Laval university in canada includes a base, a driver, a transmission mechanism, six connecting rods, three finger sections, a limiting mechanism, a plurality of springs, and the like. The device has realized the effect of parallel clip and self-adaptation envelope object: the device rotates wholly around the root nearly joint and rotates in the initial stage, and simultaneously the terminal finger section keeps vertical initial gesture unchangeable for the base, and until nearly finger section contact object, the middle part joint rotates, and the middle part finger section contacts the object, and terminal joint rotates, and terminal finger section just finally rotates and detains to the object, reaches the special effect that a plurality of finger sections all enveloped snatched the object at last. The device has the following disadvantages: in the initial stage of the parallel clamping, the tail ends of the fingers move in a circular arc manner, namely the tail ends move in a circular arc translation manner, the effect of linear translation of the tail end finger sections cannot be realized, and when a desktop object is clamped, the mechanical arms need to be well matched, so that the dependence on cooperative control programming of the mechanical arms is increased. However, the tail ends of the fingers do circular arc parallel motion, so that when the thin plate objects with different sizes are clamped on the workbench, the robot arms are required to move to realize grabbing in a matched mode, and therefore the grabbing defects exist.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a finger device of a lever type robot with the tail end capable of precisely and linearly grabbing. The device can realize the straight line parallel clamping and self-adaptive composite grabbing mode: the second finger section can be translated to clamp an object, and the first finger section can be rotated to touch the object and then the second finger section is rotated to envelope the objects with different shapes and sizes; in the stage of clamping an object by the second translation finger section, the tail end of the second finger section always keeps linear track motion, so that the thin plate object can be grabbed on the workbench, and the programming requirement of the mechanical arm is reduced; only one motor is used for driving two joints, and a complex sensing and control system is not needed.
The technical scheme of the invention is as follows:
the invention discloses a lever type tail end accurate linear composite grabbing 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, a transmission mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a second finger section connecting rod, a first rotating shaft, a second rotating shaft, a third rotating shaft, a spring, a first limiting lug and a second limiting lug, wherein the first finger section is arranged on the base; the near joint shaft is sleeved in the base, the first finger section is sleeved on the near joint shaft, the far joint shaft is sleeved in the first finger section, the second finger section is sleeved on the far joint shaft, and the near joint shaft is parallel to the central line of the far joint shaft; the motor is fixedly connected in the base, an output shaft of the motor is connected with an input end of the transmission mechanism, and an output end of the transmission mechanism is connected with the third connecting rod; one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is sleeved on the first rotating shaft; one end of the second connecting rod is sleeved on the first rotating shaft, and the other end of the second connecting rod is sleeved on the third rotating shaft; one end of the second finger section connecting rod is sleeved on the third rotating shaft, the other end of the second finger section connecting rod is sleeved on the far joint shaft, and the second finger section connecting rod is fixedly connected with the second finger section; one end of the third connecting rod is sleeved on the proximal joint shaft, and the other end of the third connecting rod is sleeved on the second rotating shaft; one end of the fourth connecting rod is sleeved on the second rotating shaft, and the other end of the fourth connecting rod is sleeved on the third rotating shaft; the first limiting lug is fixedly connected to the first connecting rod, the second limiting lug is fixedly connected to the base, and the second limiting lug is in contact with the first limiting lug at an initial position; two ends of the spring are respectively connected with the base and the first connecting rod; setting the central point of a near joint shaft as A, the central point of a first rotating shaft as B, the central point of a third rotating shaft as C, the central point of a far joint shaft as D, the central point of a second rotating shaft as E, a line segment AB, a line segment BC, a line segment CD and a line segment DA form a parallelogram, a line segment AE, a line segment EC, a line segment CD and a line segment DA form a quadrangle, and the length of the line segment AE is greater than that of the line segment AB; the method is characterized in that: the finger device of the lever type end precise linear composite grabbing robot further comprises a fifth connecting rod, an L-shaped connecting rod, a lever, a fourth rotating shaft, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft, an eighth rotating shaft, a gear, a first rack, a second rack and a second finger section surface cover; the fourth rotating shaft is sleeved in the second connecting rod, the fifth rotating shaft is sleeved in the first finger section, one end of the fifth connecting rod is sleeved on the fourth rotating shaft, the other end of the fifth connecting rod is sleeved on the fifth rotating shaft, a first chute fixedly connected is arranged on the fifth connecting rod, the L-shaped connecting rod is slidably embedded in the first chute, the sliding direction of the L-shaped connecting rod is parallel to the CD, the sixth rotating shaft is sleeved in the L-shaped connecting rod, the seventh rotating shaft is sleeved in the second finger section connecting rod, the lever is sleeved on the seventh rotating shaft, one end of the lever is sleeved on the sixth rotating shaft, the other end of the lever is sleeved on the eighth rotating shaft, a second chute fixedly connected is arranged on the first rack, the eighth rotating shaft is slidably embedded in the second chute, the sliding direction of the eighth rotating shaft is parallel to the CD, and the first rack is meshed with the gear, the first rack is slidably embedded in the second finger section, the second rack is meshed with the gear, the second rack is slidably embedded in the second finger section, and the second rack is fixedly connected with the surface cover of the second finger section; the sliding directions of the first rack and the second rack are parallel, the meshing point of the first rack and the gear is M, the meshing point of the second rack and the gear is N, the M and the N are respectively positioned on two sides of the gear, the gear is movably sleeved on the far joint shaft, the second finger section surface cover is slidably embedded on the second finger section, the sliding direction of the second finger section surface cover is perpendicular to the line section CD, the central point of the fourth rotating shaft is F, the central point of the fifth rotating shaft is G, the central point of the sixth rotating shaft is H, the central point of the seventh rotating shaft is I, the central point of the eighth rotating shaft is J, the ratio of the line section CF to the line section BC is I, the ratio of the line section DG to the line section AD is I, the line section AB, the line section BF, the line section ABFG and the line section GA form a parallelogram, and the ratio of the line section HI.
Compared with the prior art, the invention has the following advantages and prominent effects:
this device utilizes motor, connecting rod drive mechanism, lever, rack and pinion drive mechanism, spring and spacing lug etc. to synthesize and has realized the straight line parallel clamp and the compound mode of snatching of self-adaptation: the second finger section can be translated to clamp an object, and the first finger section can be rotated to touch the object and then the second finger section is rotated to envelope the objects with different shapes and sizes; in the stage of clamping an object by the second translation finger section, the tail end of the second finger section always keeps linear track motion, so that the thin plate object can be grabbed on the workbench, and the programming requirement of the mechanical arm is reduced; only one motor is used for driving two joints, the structure is simple and compact, the cost is low, a complex sensing and control system is not needed, the robot is suitable for occasions where the robot needs to grab and operate objects with different sizes, the working requirements of manual programming, debugging, maintenance and the like are reduced, the production efficiency is improved, and the intelligent level in the processing and manufacturing fields is improved.
Drawings
Fig. 1 is a perspective external view of an embodiment of a finger device of a lever type end precise linear compound grabbing robot designed by the invention.
Fig. 2 is a front view of the embodiment shown in fig. 1.
Fig. 3 is a side view of the embodiment shown in fig. 1 (left side view of fig. 2).
Fig. 4 is a sectional view a-a of fig. 2.
Fig. 5 is an internal perspective view of the embodiment of fig. 1 from an angle (base back cover not shown).
Fig. 6 is a rear perspective view of the embodiment of fig. 1 (base back cover not shown).
Fig. 7 is an exploded view of the embodiment shown in fig. 1.
Fig. 8 is a schematic diagram of the embodiment of fig. 1 in gripping an object in a parallel grip.
Fig. 9 to 12 show the relative position change of the connecting rod, the lever and the rack and pinion in the embodiment of fig. 1 at several key positions during the parallel clamping and adaptive grabbing actions.
The embodiment shown in fig. 13 to 15 is a schematic view of the operation process of grabbing an object in a parallel clamping manner.
Fig. 16 to 18 are schematic diagrams of the operation process of the embodiment shown in fig. 1 in grabbing the object on the workbench in a parallel clamping manner.
Fig. 19 to 23 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 in grabbing an object in an adaptive envelope gripping manner.
In fig. 1 to 23:
10-base, 101-base back cover plate, 11-first finger section, 12-second finger section,
121-a second finger section connecting rod, 2-a motor, 21-a speed reducer, 22-a transition shaft,
23-a first bevel gear, 24-a second bevel gear, 25-a first pulley, 26-a second pulley,
27-a transmission belt, 31-a proximal joint shaft, 32-a distal joint shaft, 41-a first connecting rod,
42-second link, 43-third link, 44-fourth link, 45-fifth link,
451-a first runner, 46-an L-shaped connecting rod, 47-a lever, 51-a first rotating shaft,
52-second rotating shaft, 53-third rotating shaft, 54-fourth rotating shaft, 55-fifth rotating shaft,
56-sixth rotating shaft, 57-seventh rotating shaft, 58-eighth rotating shaft, 6-gear,
61-first rack, 611-second runner, 62-second rack, 71-spring,
73-a first limit bump, 74-a second limit bump, 8-a second finger-section surface cover, 9-an object,
91-table top.
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 a lever-type end precise linear composite grabbing robot finger device designed by the invention, as shown in fig. 1 to 7, comprises a base 10, a first finger section 11, a second finger section 12, a proximal joint shaft 31, a distal joint shaft 32, a motor 2, a transmission mechanism, a first connecting rod 41, a second connecting rod 42, a third connecting rod 43, a fourth connecting rod 44, a second finger section connecting rod 121, a first rotating shaft 51, a second rotating shaft 52, a third rotating shaft 53, a spring 71, a first limit bump 73 and a second limit bump 74; the proximal joint shaft 31 is sleeved in the base 10, the first finger section 11 is sleeved on the proximal joint shaft 31, the distal joint shaft 32 is sleeved in the first finger section 11, the second finger section 12 is sleeved on the distal joint shaft 32, and the proximal joint shaft 31 is parallel to the central line of the distal joint shaft 32; the motor 2 is fixedly connected in the base 10, an output shaft of the motor 2 is connected with an input end of a transmission mechanism, and an output end of the transmission mechanism is connected with a third connecting rod 43; one end of the first connecting rod 41 is sleeved on the proximal joint shaft 31, and the other end of the first connecting rod 41 is sleeved on the first rotating shaft 51; one end of the second connecting rod 42 is sleeved on the first rotating shaft 51, and the other end of the second connecting rod 42 is sleeved on the third rotating shaft 53; one end of the second finger section connecting rod 121 is sleeved on the third rotating shaft 53, the other end of the second finger section connecting rod 121 is sleeved on the far joint shaft 32, and the second finger section connecting rod 121 is fixedly connected with the second finger section 12; one end of the third connecting rod 43 is sleeved on the proximal joint shaft 31, and the other end of the third connecting rod 43 is sleeved on the second rotating shaft 52; one end of the fourth connecting rod 44 is sleeved on the second rotating shaft 52, and the other end of the fourth connecting rod 44 is sleeved on the third rotating shaft 53; the first limit bump 73 is fixedly connected to the first link 41, the second limit bump 74 is fixedly connected to the base 10, and the second limit bump 74 and the first limit bump 73 are in contact with each other at an initial position; two ends of the spring 71 are respectively connected with the base 10 and the first connecting rod 41; setting the central point of the proximal joint shaft 31 as A, the central point of the first rotating shaft 51 as B, the central point of the third rotating shaft 53 as C, the central point of the distal joint shaft 32 as D, the central point of the second rotating shaft 52 as E, a line segment AB, a line segment BC, a line segment CD and a line segment DA form a parallelogram ABCD, a line segment AE, a line segment EC, a line segment CD and a line segment DA form a quadrangle AECD, and the length of the line segment AE is greater than that of the line segment AB; the present embodiment further includes a fifth connecting rod 45, an L-shaped connecting rod 46, a lever 47, a fourth rotating shaft 54, a fifth rotating shaft 55, a sixth rotating shaft 56, a seventh rotating shaft 57, an eighth rotating shaft 58, a gear 6, a first rack 61, a second rack 62, and a second finger section surface cover 8; the fourth rotating shaft 54 is sleeved in the second connecting rod 42, the fifth rotating shaft 55 is sleeved in the first finger section 11, one end of the fifth connecting rod 45 is sleeved on the fourth rotating shaft 54, the other end of the fifth connecting rod 45 is sleeved on the fifth rotating shaft 55, the fifth connecting rod 45 is provided with a first chute 451 fixedly connected, the L-shaped connecting rod 46 is slidably embedded on the first chute 451, the sliding direction of the L-shaped connecting rod 46 is parallel to the line segment CD, the sixth rotating shaft 56 is sleeved in the L-shaped connecting rod 46, the seventh rotating shaft 57 is sleeved in the second finger section connecting rod 121, the lever 47 is sleeved on the seventh rotating shaft 57, one end of the lever 47 is sleeved on the sixth rotating shaft 56, the other end of the lever 47 is sleeved on the eighth rotating shaft 58, the first rack 61 is provided with a second chute 611 fixedly connected, and the eighth rotating shaft 58 is slidably embedded in the second chute 611, the sliding direction of the eighth rotating shaft 58 is parallel to the line segment CD, the first rack 61 is engaged with the gear 6, the first rack 61 is slidably embedded in the second finger segment 12, the second rack 62 is engaged with the gear 6, the second rack 62 is slidably embedded in the second finger segment 12, the second rack 62 is fixedly connected with the second finger segment surface cover 8, the sliding directions of the first rack 61 and the second rack 62 are parallel, the engaging point of the first rack 61 and the gear 6 is M, the engaging point of the second rack 62 and the gear 6 is N, points M and N are respectively located on two sides of the gear 6, the gear 6 is movably sleeved on the distal joint shaft 32, the second finger segment surface cover 8 is slidably embedded on the second finger segment 12, the sliding direction of the second finger segment surface cover 8 is perpendicular to the line segment CD, the central point of the fourth rotating shaft 54 is F, the central point of the fifth rotating shaft 55 is G, the center point of the sixth rotating shaft 56 is H, the center point of the seventh rotating shaft 57 is I, the center point of the eighth rotating shaft 58 is J, the ratio of the line segment CF to the line segment BC is I, the ratio of the line segment DG to the line segment AD is I, the line segment AB, the line segment BF, the line segment FG and the line segment GA form a parallelogram ABFG, and the ratio of the line segment HI to the line segment IJ is I.
In the present embodiment, the transmission mechanism includes a speed reducer 21, a transition shaft 22, a first bevel gear 23, a second bevel gear 24, a first pulley 25, a second pulley 26, and a transmission belt 27; the output shaft of the motor 2 is connected with the input shaft of the speed reducer 21, the first bevel gear 23 is fixedly sleeved on the output shaft of the speed reducer 21, the first bevel gear 23 is meshed with the second bevel gear 24, the second bevel gear 24 is fixedly sleeved on the transition shaft 22, the first belt pulley 25 is connected with the second belt pulley 26 through a transmission belt 27, the second belt pulley 26 is sleeved on the near-joint shaft 31, and the second belt pulley 26 is fixedly connected with the third connecting rod 43.
In this embodiment, the base further includes a base rear cover 101 fixedly connected to the base.
The working principle of the embodiment is described as follows in combination with the attached drawings:
this embodiment is in an initial state, as shown in fig. 4. The motor 2 rotates to drive the third link 43 to rotate through the transmission mechanism, so that the quadrangle AECD (as shown in fig. 8) is deformed to drive the first finger section 11 to rotate clockwise around the proximal joint shaft 31 by an angle θ (as shown in fig. 8) relative to the base 10, because the spring 71 pulls the first limit bump 73 to abut against the second limit bump 74, the first link 41 maintains the initial posture, the parallelogram ABCD and the parallelogram ABFG deform, and the line segment CD and the line segment FG translate (circular arc trajectory translation) and are parallel to the first link 41, at this time, the height h (as shown in fig. 8) of the second finger section link 121, which is reduced in the vertical direction relative to the base 10, is:
h ═ L (1-cos θ), (equation 1)
Wherein L is the length of the first finger section 11 (i.e. the distance between the far joint axis 32 and the near joint axis 31), and the fifth link 45 is lowered by a height h in the vertical direction relative to the base 10 1(as shown in FIG. 8) is:
h 1not (1-i) L (1-cos θ), (formula 2)
Drives the first sliding groove 451 to descend by the same height h 1The first sliding groove 451 is vertically raised by a height h relative to the second finger-section connecting rod 121 2(as shown in FIG. 8) is:
h 2=h-h 1(formula 3)
One end of the lever 47 is pushed by the L-shaped connecting rod 46 to rise by the same height h in the vertical direction relative to the line segment CD 2While pushing the other end of the lever 47 to opposeThe second finger-section connecting rod 121 descends by a height h in the vertical direction 3(as shown in FIG. 8) is:
h 3=h 2i, (formula 4)
The first rack 61 is driven by the second sliding groove 611 to descend by the same height h in the vertical direction relative to the second finger-section connecting rod 121 3The gear 6 is driven to rotate, and the second rack 62 meshed with the gear 6 rises h along the vertical direction relative to the second finger section connecting rod 121 3The second rack 62 pushes the second finger section surface cover 8 to rise by the same height h relative to the second finger section connecting rod 121 along the vertical direction 3To compensate for the height h of the drop of the second finger section 12, the following equations are derived from equation 1, equation 2, equation 3 and equation 4:
h 3=h.
the purpose that the tail end of the second finger section surface cover 8 always keeps linear track motion in the stage that the second translational finger section 12 clamps an object is achieved; in the above process, when the second finger section 12 contacts the object 9, the grabbing is finished, and the action process is as shown in fig. 13 to fig. 15.
The situation of grabbing the object on the tabletop 91 in the present embodiment is shown in fig. 16 to 18.
During the above-mentioned clamp-on process, when the first finger section 11 is blocked from contacting the object 9, another grip mode is entered. The motor 2 rotates continuously, the third link 43 rotates continuously through the transmission mechanism, the second finger section link 121 rotates around the far joint shaft through the fourth link 44, the second finger section 12 rotates around the far joint shaft 32, at this time, the parallelogram ABCD and the parallelogram ABFG deform to drive the first link 41 to rotate, the spring 71 deforms greatly to separate the first limit bump 73 from the second limit bump 74, the second finger section 12 rotates around the far joint shaft 32, at this time, the distance between the line segment CD and the line segment FG becomes larger and smaller, the first rack 61 is pulled by the L-shaped link 46 and the lever 47 to ascend and descend along the direction perpendicular to the CD, the first rack 61 is engaged with the gear 6, the second rack 62 is engaged with the gear 6, the first rack 61 and the second rack 62 rotate around the gear 6 and approach the first finger section 11, the second finger section surface cover 8 shortens and extends until the second finger section surface cover 8 contacts the object 9 and exerts a gripping force, and stopping the motor 2, finishing grabbing, and finishing the effect of grabbing the object 9 in a self-adaptive envelope manner. The course of action is shown in figures 19 to 23.
Fig. 3 is an initial state, and a sectional view thereof is as shown in fig. 4, an internal state thereof is as shown in fig. 9, and internal states thereof are as shown in fig. 10, 11 and 12 in fig. 15, 22 and 23.
When releasing the object 9, the motor 2 is reversed, contrary to the above-described procedure, which is not described in detail.
This device utilizes motor, connecting rod drive mechanism, lever, rack and pinion drive mechanism, spring and spacing lug etc. to synthesize and has realized the straight line parallel clamp and the compound mode of snatching of self-adaptation: the second finger section can be translated to clamp an object, and the first finger section can be rotated to touch the object and then the second finger section is rotated to envelope the objects with different shapes and sizes; in the stage of clamping an object by the second translation finger section, the tail end of the second finger section always keeps linear track motion, so that the thin plate object can be grabbed on the workbench, and the programming requirement of the mechanical arm is reduced; only one motor is used for driving two joints, the structure is simple and compact, the cost is low, a complex sensing and control system is not needed, the robot is suitable for occasions where the robot needs to grab and operate objects with different sizes, the working requirements of manual programming, debugging, maintenance and the like are reduced, the production efficiency is improved, and the intelligent level in the processing and manufacturing fields is improved.

Claims (1)

1. A lever-type tail end accurate linear composite grabbing robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, a transmission mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a second finger section connecting rod, a first rotating shaft, a second rotating shaft, a third rotating shaft, a spring, a first limiting lug and a second limiting lug; the near joint shaft is sleeved in the base, the first finger section is sleeved on the near joint shaft, the far joint shaft is sleeved in the first finger section, the second finger section is sleeved on the far joint shaft, and the near joint shaft is parallel to the central line of the far joint shaft; the motor is fixedly connected in the base, an output shaft of the motor is connected with an input end of the transmission mechanism, and an output end of the transmission mechanism is connected with the third connecting rod; one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is sleeved on the first rotating shaft; one end of the second connecting rod is sleeved on the first rotating shaft, and the other end of the second connecting rod is sleeved on the third rotating shaft; one end of the second finger section connecting rod is sleeved on the third rotating shaft, the other end of the second finger section connecting rod is sleeved on the far joint shaft, and the second finger section connecting rod is fixedly connected with the second finger section; one end of the third connecting rod is sleeved on the proximal joint shaft, and the other end of the third connecting rod is sleeved on the second rotating shaft; one end of the fourth connecting rod is sleeved on the second rotating shaft, and the other end of the fourth connecting rod is sleeved on the third rotating shaft; the first limiting lug is fixedly connected to the first connecting rod, the second limiting lug is fixedly connected to the base, and the second limiting lug is in contact with the first limiting lug at an initial position; two ends of the spring are respectively connected with the base and the first connecting rod; setting the central point of a near joint shaft as A, the central point of a first rotating shaft as B, the central point of a third rotating shaft as C, the central point of a far joint shaft as D, the central point of a second rotating shaft as E, a line segment AB, a line segment BC, a line segment CD and a line segment DA form a parallelogram, a line segment AE, a line segment EC, a line segment CD and a line segment DA form a quadrangle, and the length of the line segment AE is greater than that of the line segment AB; the method is characterized in that: the finger device of the lever type end precise linear composite grabbing robot further comprises a fifth connecting rod, an L-shaped connecting rod, a lever, a fourth rotating shaft, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft, an eighth rotating shaft, a gear, a first rack, a second rack and a second finger section surface cover; the fourth rotating shaft is sleeved in the second connecting rod, the fifth rotating shaft is sleeved in the first finger section, one end of the fifth connecting rod is sleeved on the fourth rotating shaft, the other end of the fifth connecting rod is sleeved on the fifth rotating shaft, a first chute fixedly connected is arranged on the fifth connecting rod, the L-shaped connecting rod is slidably embedded in the first chute, the sliding direction of the L-shaped connecting rod is parallel to the CD, the sixth rotating shaft is sleeved in the L-shaped connecting rod, the seventh rotating shaft is sleeved in the second finger section connecting rod, the lever is sleeved on the seventh rotating shaft, one end of the lever is sleeved on the sixth rotating shaft, the other end of the lever is sleeved on the eighth rotating shaft, a second chute fixedly connected is arranged on the first rack, the eighth rotating shaft is slidably embedded in the second chute, the sliding direction of the eighth rotating shaft is parallel to the CD, and the first rack is meshed with the gear, the first rack is embedded in the second finger section in a sliding manner, the second rack is meshed with the gear, the second rack is embedded in the second finger section in a sliding manner, the second rack is fixedly connected with a second finger section surface cover, the sliding directions of the first rack and the second rack are parallel, the meshing point of the first rack and the gear is M, the meshing point of the second rack and the gear is N, the points M and N are respectively positioned on two sides of the gear, the gear is movably sleeved on a far joint shaft, the second finger section surface cover is embedded on the second finger section in a sliding manner, the sliding direction of the second finger section surface cover is perpendicular to the line segment CD, the central point of the fourth rotating shaft is F, the central point of the fifth rotating shaft is G, the central point of the sixth rotating shaft is H, the central point of the seventh rotating shaft is I, the central point of the eighth rotating shaft is J, the ratio of the line segment CF to the line segment BC is I, and the ratio of the line segment DG to the, the line segment AB, the line segment BF, the line segment FG and the line segment GA form a parallelogram ABFG, and the ratio of the line segment HI to the line segment IJ is i.
CN201711173398.9A 2017-11-22 2017-11-22 Finger device of lever type tail end accurate linear composite grabbing robot Expired - Fee Related CN108189053B (en)

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