CN108247658B - Flat folder coupling adaptive multi-mode grabs robot finger apparatus - Google Patents
Flat folder coupling adaptive multi-mode grabs robot finger apparatus Download PDFInfo
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- CN108247658B CN108247658B CN201810247667.XA CN201810247667A CN108247658B CN 108247658 B CN108247658 B CN 108247658B CN 201810247667 A CN201810247667 A CN 201810247667A CN 108247658 B CN108247658 B CN 108247658B
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- 230000008878 coupling Effects 0.000 title claims abstract description 51
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 50
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 40
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- 230000007704 transition Effects 0.000 description 15
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- 230000015572 biosynthetic process Effects 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
Flat folder coupling adaptive multi-mode grabs robot finger apparatus, belongs to robot technical field, including pedestal, two segments, two joint shafts, motor, two electromagnetic brakes, driving member, two driving wheels, multiple gears and spring part etc..The arrangement achieves the crawl functions that the flat folder of doublejointed robot finger adaptively can be switched with coupling adaptive.5 kinds of grasp modes such as there is flat gripper to take, couple crawl for the device, self-adapting grasping, flat folder self-adapting grasping, coupling adaptive grab.The flat folder self-adapting grasping mode and coupling adaptive grasp mode of the device can switch in any angular position, and handoff procedure is rotated without idle running, the posture of finger when ensure that switching；The device volume is small, compact-sized, and motor control is easy, and the adjust automatically in two joints of crawl process is realized using less motor, to the adaptable of different shape size objects, is suitably applied in the various robots for needing to grab object.
Description
Technical field
The invention belongs to robot technical field, in particular to a kind of flat folder coupling adaptive multi-mode grabs robot
The structure of finger apparatus designs.
Background technique
Robot is that robot and the external world contact terminal.Robot is responsible for completing crawl and operation object.
The mode for grabbing object is varied, and different grasp modes is needed according to different objects.The crawl mould of multifingered robot hands
Formula generally has parallel clamping crawl, coupling multi-joint linkage crawl, self-adapting grasping etc..When grabbing different objects, often need
The terminal for switching crawl brings inconvenience to robot.If a robot has a variety of grasp modes and can be free
Switching, will obtain biggish crawl adaptability, and difficulty not only be reduced in terms of control, but also in manufacturing cost and use cost side
There is very big advantage in face.
The robot with two or more grasp modes has been developed that typical multifingered robot hands have at present
Three kinds of big classifications:
1) Dextrous Hand.Dextrous Hand has more joint, and each joint is generally equipped with a motor active drive, a small number of
Joint is linked using coupled modes, and this Dextrous Hand brings convenience to the realization of gesture, but at high cost and control difficulty is big
Affect application；
2) industrial clamper.Industrial clamper generally has the ability of preferable crawl workpiece, using parallel clamping
Grasp mode is realized the relatively parallel movement of multiple fingers merely with a driver, is reached to each of parallel gripping surface
Effective crawl of kind size objects, has obtained wide popularization and application, but its adaptability is weak, in the crawl of different shape object
It is upper to there is very big defect, therefore narrow application range, it is unfavorable for being applied on service robot；
3) drive lacking hand.Drive lacking hand has the advantages that above two robot, existing multiple fingers with multi-joint,
Grasp mode is extended, and gesture is more, while having used the drivers such as less motor or cylinder, and crawl control is simpler
Single, manufacturing cost is low and power output is big, and application range is wider, has obtained the hot research in nearly more than ten year, has developed rapidly.
Robot with flat folder self-adapting grasping and the drive lacking hand with coupling adaptive crawl are developed:
1) coupling adaptive crawl robot can merge coupling with self-adapting grasping, first using coupling crawl
Mode uses self-adapting grasping mode after nearly segment contacts object again, realizes another preferable compound crawl.
A kind of existing coupling underactuated integral finger device of double-joint robot (Chinese patent CN101664930B),
Including pedestal, motor, two segments, two joint shafts, motor, four connecting rods and two spring parts etc..The arrangement achieves two passes
Finger coupling crawl process and under-driven adaptive crawl Process fusion are saved in the effect of one, which adopts before touching object
It is rotated with coupled modes, and can realize that grip mode grabs object, after touching object, and under-driven adaptive side can be used
Formula rotation crawl object, the automatic size and shape for adapting to grabbed object realize holding mode crawl.The shortcoming of the device
Be: the device only has coupling adaptive grasp mode, cannot achieve flat folder self-adapting grasping.
2) putting down folder self-adapting grasping robot can merge parallel clamping with self-adapting grasping, first using parallel
Grasp mode is clamped, uses self-adapting grasping mode again after nearly segment contacts object, realizes preferable compound crawl；
A kind of existing five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP)
US8973958B2, including five connecting rods, spring, mechanical constraints.At work, the incipient stage keeps end segment to the device
Posture carries out nearly arthrogryposis movement, and the function of parallel grip or the gripping of adaptive envelope may be implemented according to the position of object later
Energy.Disadvantage is that the device only has flat folder self-adapting grasping mode, coupling adaptive crawl cannot achieve.
When grabbing different objects in many occasions, the flat folder self-adapting grasping of some need, some then needs to couple adaptive
It should grab, and existing under-actuated robot hand cannot have both, and affect it and grab range and crawl success rate.
A kind of flat folder coupling switching adaptive robot finger apparatus (Chinese patent CN105835083A) of flexible piece, the dress
It sets and connects including pedestal, two segments, two joint shafts, driver, flexible drive parts, tendon rope, multiple driving wheels, half wheel, half wheel
Fitting, shaft, half wheel convex block, two spring parts and spacing block set etc. realize adaptive in coupling adaptive grasp mode and flat folder
The function of mutually being switched between grasp mode is answered, in flat folder self-adapting grasping mode, which can be translatable the second finger
Section grip object, also can successively rotate the object of the first segment and the second segment envelope different shapes and sizes；In coupling adaptive
In grasp mode, which can link two articulations simultaneously, and turn naturally after the first segment contact object is blocked
Enter the self-adapting grasping stage of the second segment of bending；Crawl object range is expanded, more grasp modes are realized.The device
It has the following disadvantages:
1) device can only be switched at initial attitude (position), cannot be cut after nearly articulation
It changes, is unable to reach the switching in any angular position；
2) for the device in switching, end segment will be in a kind of free idle running state, not can guarantee its end segment
Stability, it is difficult in robot generally in keeping stable in different positions relative to gravity direction；
3) the switching shaft progress manual switching that the device is taken turns using half, rotated vertically, cannot achieve the electricity under process control
Dynamic switching.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of flat folder coupling adaptive multi-mode is provided
Grab robot finger apparatus.There is flat gripper to take, couple crawl, self-adapting grasping, flat folder self-adapting grasping, couple for the device
5 kinds of grasp modes such as self-adapting grasping；The device can be realized from flat folder in different nearly joint angles positions and adaptively be grabbed
Switching of the modulus formula to coupling adaptive grasp mode；Automatically switch, handoff procedure is stablized.
Technical scheme is as follows:
Flat folder coupling adaptive multi-mode that the present invention designs grabs robot finger apparatus, including pedestal, the first segment,
Second segment, nearly joint shaft, remote joint shaft, motor and transmission mechanism；The motor and pedestal are affixed；The transmission mechanism setting
In pedestal；The output shaft of the motor is connected with the input terminal of transmission mechanism；The nearly joint shaft is movably set in pedestal；
The remote joint shaft is movably set in the first segment；First segment is socketed on nearly joint shaft；The nearly joint shaft
The centerline parallel of center line and remote joint shaft；It is characterized by: the flat folder coupling adaptive multi-mode grabs robot finger
Device further include the first driving wheel, the second driving wheel, driving member, first gear, second gear, third gear, first gear group,
Second gear group, the first electromagnetic brake, the second electromagnetic brake and spring part；Second segment is fixed on remote joint shaft；
The output end of the transmission mechanism is connected with the first driving wheel；First driving wheel is socketed on nearly joint shaft, and described second
Driving wheel is socketed on remote joint shaft, and the second driving wheel and the second segment are affixed；The driving member be separately connected the first driving wheel,
Second driving wheel, the driving member, the first driving wheel and the second driving wheel three constitute drive connection；Pass through the biography of driving member
Dynamic, the transmission for taking turns to the second driving wheel from first transmission is step-up drive in the same direction；The first gear is actively socketed on closely
On joint shaft, the second gear, third gear are actively socketed on respectively on remote joint shaft；The two of first electromagnetic brake
Hold it is affixed with second gear, remote joint shaft respectively, the both ends of second electromagnetic brake respectively with third gear, remote joint shaft
It is affixed；The first gear group is mounted in the first segment；The first gear group includes at least two gears being meshed, institute
The input gear for stating first gear group is engaged with first gear, and the output gear of the first gear group is mutually nibbled with second gear
It closes；The second gear group is mounted in the first segment, and the second gear group includes at least three gears being meshed, described
The input gear of second gear group is engaged with first gear, and the output gear of the second gear group is meshed with third gear；
The both ends of the spring part are separately connected first gear and pedestal；By the transmission of first gear group, from first gear to the second tooth
The transmission of wheel is reversed constant speed drive；By the transmission of second gear group, the transmission from first gear to third gear is in the same direction
Constant speed drive.
Flat folder coupling adaptive multi-mode of the present invention grabs robot finger apparatus, it is characterised in that: the spring
Part uses tension spring.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention utilize motor, electromagnetic brake, two-way gear drive, speedup flexible piece transmission mechanism and spring
Part etc. is comprehensive realize the flat folder of doublejointed robot finger adaptively with coupling adaptive can free switching novel crawl function.
5 kinds of crawls such as there is flat gripper to take, couple crawl for the device, self-adapting grasping, flat folder self-adapting grasping, coupling adaptive grab
Mode.According to the shape of object to be grabbed, size and the difference of position, which can be using the crawl mould of one of the following two kinds
Formula: flat folder self-adapting grasping mode or coupling adaptive grasp mode；It can adaptively be grabbed in any angular position from flat folder
Modulus formula is switched to coupling adaptive grasp mode；It, both can be parallel with end segment when grabbing small-size object using grip
Clamping, can also use the tip grip of end segment；It, can either be after flat gripper takes when grabbing large sized object using holding
It realizes, can also be realized after coupling crawl, the former can satisfy bigger crawl opening degree, and the latter can achieve faster
Grab efficiency；Compared to traditional adaptive finger of flat folder or coupling adaptive finger, which has new different crawl moulds
Flat folder is adaptively fused in the same finger by formula with coupling adaptive, and in different nearly joint angles positions
To realize switching, and handoff procedure is rotated without idle running, and the posture of finger when ensure that switching obtains and stablizes transition effect；The dress
Set small in size, compact-sized, motor control is convenient to be easy, realized using less motor two joints of crawl process from
Dynamic adjustment, to the adaptable of different shape size objects, is suitably applied in the various robots for needing to grab object.
Detailed description of the invention
Fig. 1 is a kind of embodiment for the flat folder coupling adaptive multi-mode crawl robot finger apparatus that the present invention designs
Stereo appearance figure.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the three-dimensional view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure (being not drawn into part) of another angle of embodiment illustrated in fig. 1.
Fig. 5 is the side external view (right view of Fig. 2) of Fig. 1.
Fig. 6 is the side external view (left view of Fig. 2) of Fig. 1.
Fig. 7 is the A-A cross-sectional view of Fig. 2.
Fig. 8 is the B-B cross-sectional view of Fig. 2.
Fig. 9 is process schematic of the embodiment illustrated in fig. 1 using coupling grip mode crawl object.
Figure 10 is process schematic of the embodiment illustrated in fig. 1 using parallel clamping mode crawl object.
Figure 11 is process schematic of the embodiment illustrated in fig. 1 using coupling adaptive mode crawl object.
Figure 12 is process schematic of the embodiment illustrated in fig. 1 using flat folder adaptive model crawl object.
In Fig. 1 into Figure 12:
1- pedestal, 101- pedestal bottom plate, 102- pedestal left plate, 103- pedestal right panel,
104- pedestal foreboard, 105- pedestal back plate, 11- motor, 120- retarder,
121- worm screw, 122- worm gear, 123- transition axis, 124- First Transition gear,
The second transition gear of 125-, the first segment of 21-, 210- the first segment intermediate plate, 211- the first segment left plate,
212- the first segment right panel, 213- the first segment foreboard, 214- the first segment back plate, the first segment of 215- face
Plate,
The second segment of 22-, the left connector of the second segment of 221-, the right connector of the second segment of 222-, 223- second refer to
Section bottom plate,
224- the second segment shell, 225- the second segment panel, the nearly joint shaft of 31-, the remote joint shaft of 32-,
The first jackshaft of 33-, the second jackshaft of 34-, 35- third jackshaft, the 4th jackshaft of 36-,
41- first gear, 42- second gear, 43- third gear, the 4th gear of 44-,
The 5th gear of 45-, the 6th gear of 46-, the 7th gear of 47-, the first driving wheel of 51-,
The second driving wheel of 52-, 53- driving member, the first electromagnetic brake of 61-, the second electromagnetic brake of 62-,
7- spring part, 8- object.
Specific embodiment
The content of specific structure of the invention, working principle is described in further detail with reference to the accompanying drawings and embodiments.
A kind of embodiment for the flat folder coupling adaptive multi-mode crawl robot finger apparatus that the present invention designs, such as Fig. 1
To shown in Fig. 8, including pedestal 1, the first segment 21, the second segment 22, nearly joint shaft 31, remote joint shaft 32, motor 11 and transmission
Mechanism；The motor 11 and pedestal 1 are affixed；The transmission mechanism is arranged in pedestal 1；The output shaft of the motor 11 and transmission
The input terminal of mechanism is connected；The nearly joint shaft 31 is movably set in pedestal 1；The remote joint shaft 32 is movably set in first
In segment 21；First segment 21 is socketed on nearly joint shaft 31；The center line of the nearly joint shaft 31 and remote joint shaft 32
Centerline parallel；The flat folder coupling adaptive multi-mode crawl robot finger apparatus further includes the first driving wheel 51, second
Driving wheel 52, driving member 53, first gear 41, second gear 42, third gear 43, first gear group, second gear group, first
Electromagnetic brake 61, the second electromagnetic brake 62 and spring part 7；Second segment 22 is fixed on remote joint shaft 32；The biography
The output end of motivation structure is connected with the first driving wheel 51；First driving wheel 51 is socketed on nearly joint shaft 31, and described second
Driving wheel 52 is socketed on remote joint shaft 32, and the second driving wheel 52 and the second segment 22 are affixed；The driving member 53 is separately connected
First driving wheel 51, the second driving wheel 52, the driving member 53, the first driving wheel 51 and 52 three of the second driving wheel constitute transmission
Relationship；It is step-up drive in the same direction from the transmission of 51 to the second driving wheel of the first driving wheel 52 by the transmission of driving member 53；
The first gear 41 is actively socketed on nearly joint shaft 31, and the second gear 42, third gear 43 are actively socketed on respectively
On remote joint shaft 32；The both ends of first electromagnetic brake 61 are affixed with second gear 42, remote joint shaft 32 respectively, and described
The both ends of two electromagnetic brakes 62 are affixed with third gear 43, remote joint shaft 32 respectively；The first gear group is mounted on first
In segment 21；The first gear group includes at least two gears being meshed, the input gear of the first gear group and
The engagement of one gear 41, the output gear of the first gear group are meshed with second gear 42；The second gear group is mounted on
In first segment 21, the second gear group includes at least three gears being meshed, the input gear of the second gear group
It is engaged with first gear 41, the output gear of the second gear group is meshed with third gear 43；The both ends of the spring part 7 point
It Lian Jie not first gear 41 and pedestal 1；By the transmission of first gear group, the transmission from first gear 41 to second gear 42 is
Reversed constant speed drive；By the transmission of second gear group, the transmission from first gear 41 to third gear 43 is that constant speed in the same direction passes
It is dynamic.
In the present embodiment, the first gear group includes the 4th gear and the 5th gear；4th gear and the first tooth
Wheel engagement, five gear are engaged with the 4th gear, and the 5th gear is engaged with second gear, and the 4th gear is socketed in
On first jackshaft, first jackshaft is set in the first segment, and the 5th gear is socketed on the second jackshaft, institute
The second jackshaft is stated to be set in the first segment.
In the present embodiment, the first gear group and public 4th gear of second gear group.
In the present embodiment, the second gear group includes the 4th gear, the 6th gear and the 7th gear；Six gear with
The engagement of 4th gear, the 6th gear are engaged with the 7th gear, and the 7th gear is engaged with third gear, the 6th tooth
Wheel is socketed on third jackshaft, and the third jackshaft is set in the first segment, and the 7th gear is socketed in the 4th
Between on axis, the 4th jackshaft is set in the first segment.
In the present embodiment, the spring part 7 uses 2 tension springs.
In the present embodiment, the transmission mechanism includes retarder 120, worm screw 121, worm gear 122, transition axis 123, the first mistake
Cross gear 124 and the second transition gear 125；The output shaft of the motor 11 is connected with the input shaft of retarder 120, the worm screw
121 are fixed on the output shaft of retarder 120, and the worm screw 121 engages with worm gear 122, and the worm gear 122 is fixed in transition axis
On 123, the transition axis 123 is set in pedestal 1, and the First Transition gear 124 is fixed on transition axis 123, and described
One transition gear 124 is engaged with the second transition gear 125, and second transition gear 125 is socketed on nearly joint shaft 31, described
Second transition gear 125 and the first driving wheel 51 are affixed.
In the present embodiment, first electromagnetic brake, the second electromagnetic brake are all made of power loss braking type electromagnetic braking
Device.
In the present embodiment, the pedestal includes pedestal bottom plate 101, pedestal left plate 102, pedestal right panel 103, pedestal foreboard
104 and pedestal back plate 105；After the pedestal bottom plate 101, pedestal left plate 102, pedestal right panel 103, pedestal foreboard 104 and pedestal
Plate 105 is fixed together.
In the present embodiment, first segment includes the first segment intermediate plate 210, the first segment left plate 211, the first segment
Right panel 212, the first segment foreboard 213, the first segment back plate 214 and the first segment panel 215；The first segment intermediate plate
210, the first segment left plate 211, the first segment right panel 212, the first segment foreboard 213 and the first segment back plate 214 are fixed in one
It rises, the first segment panel 215 is fixed on the first segment foreboard 213.
In the present embodiment, second segment includes the left connector 221 of the second segment, the right connector 222 of the second segment, the
Two segment bottom plates 223, the second segment shell 224 and the second segment panel 225；The left connector 221, second of second segment refers to
The right connector 222 of section, the second segment bottom plate 223 and the second segment shell 224 are fixed together；The second segment panel 225
It is fixed on the second segment shell 224.
If the present embodiment additionally uses the parts such as dry bearing, several screws, several sleeves, several gaskets, belong to known normal
With technology, do not repeat.
The working principle of the present embodiment is described below in conjunction with attached drawing 9 to Figure 12.
1) as follows from the working principle that flat folder self-adapting grasping pattern switching is coupling adaptive grasp mode:
First electromagnetic brake, 61 power loss, second gear and remote joint shaft are affixed；The power-up of second electromagnetic brake 62, third
Gear 43 and remote joint shaft are no longer affixed.
2) when grabbing object with coupling adaptive, the working principle of the device is as follows:
Motor 11 rotates, and drives the first driving wheel 51 (to be close to crawl object side) around nearly joint forward by transmission mechanism
Axis 31 rotates an angle [alpha] greater than zero, by driving member 53, the first segment 21 and the second driving wheel 52 is driven to rotate respectively simultaneously
Synthesis reaches a kind of state, at this point, since the first electromagnetic brake 61 is in power failure state, second gear 42 and remote joint shaft 32
It is affixed, then between first gear 41 and second gear 42 by the 4th gear 44, the 5th gear 45 constitute one it is reversed etc.
The drive connection of speed, and first gear 41 is kept under the effect of spring part 7 and the changeless posture of pedestal 1, therefore works as first and refer to
Section 21 rotates an angle δ greater than zero (due to being from first the 51 to the second driving wheel of driving wheel 52 around nearly joint shaft 31 forward
Step-up drive, so the angle δ is less than the corner α of the first driving wheel 51) when, second gear 42 will go the long way round forward in joint shaft 32
The heart rotates an identical angle δ, since the second segment 22 and remote joint shaft 32 are affixed, the pass so the second segment 22 is gone the long way round forward
32 center rotating of nodal axisn, one angle δ；
At this point, the second segment 22 contacts object 8, crawl terminates, and reaches coupling grasp mode, as shown in Figure 9；
At this point, the first segment 21 first contacts object 8, motor 11 is continued to rotate, and drives the first driving wheel by transmission mechanism
51 continue to rotate, and by driving member 53, the second driving wheel 52 and the second segment 22 are driven to continue to rotate an angle beta, Zhi Dao
Until two segments 22 also contact object 8, crawl terminates, and reaches coupling adaptive grasp mode, and crawl process is as shown in figure 11；
At this moment, remote joint shaft has rotated identical angle beta with the second driving wheel 52, at the first electromagnetic brake 61
In power failure state, second gear 42 has rotated identical angle beta with remote joint shaft, passes through the 4th gear 44, the 5th gear 45
Transmission so that first gear 41 has rotated backward an angle beta, spring part 7 is pulled out of shape.
3) working principle for being switched to flat folder self-adapting grasping mode from coupling adaptive grasp mode is as follows:
The power-up of first electromagnetic brake 61, second gear 42 and remote joint shaft 32 are no longer affixed；Second electromagnetic brake 62
Power loss, third gear 43 and remote joint shaft 32 are affixed.
4) when with flat folder self-adapting grasping object, the working principle of the device is as follows:
Motor 11 rotates, and drives the first driving wheel 51 (to be close to crawl object side) around nearly joint forward by transmission mechanism
Axis 31 rotates an angle [alpha] greater than zero, by driving member 53, the first segment 21 and the second driving wheel 52 is driven to rotate respectively simultaneously
Synthesis reaches a kind of state, at this point, since the second electromagnetic brake 62 is in power failure state, third gear 43 and remote joint shaft 32
It is affixed, then being constituted between first gear 41 and third gear 43 by the 4th gear 44, the 6th gear 46, the 7th gear 47
The drive connection of one constant speed in the same direction, and first gear 41 is kept under the effect of spring part 7 and the changeless posture of pedestal 1, because
This rotates an angle δ greater than zero (due to from the first driving wheel 51 to the second around nearly joint shaft 31 forward when the first segment 21
Driving wheel 52 is step-up drive, so the angle δ is greater than the corner α of the first driving wheel 51) when, third gear 43 will go the long way round backward
Joint shaft 32 center rotating, one identical angle δ, since the second segment 22 and remote joint shaft 32 are affixed, so the second segment 22
It goes the long way round backward 32 center rotating of joint shaft, one angle δ, the second segment 22 remains relative to the thick-and-thin appearance of pedestal 1
State；
At this point, the second segment 22 contacts object 8, crawl terminates, and reaches parallel clamping grasp mode (referred to as flat gripper takes),
As shown in Figure 10；
At this point, the first segment 21 first contacts object 8, motor 11 is continued to rotate, and drives the first driving wheel by transmission mechanism
51 continue to rotate, and by driving member 53, the second driving wheel 52 and the second segment 22 are driven to continue to rotate an angle beta, Zhi Dao
Until two segments 22 also contact object 8, crawl terminates, and reaches flat folder self-adapting grasping mode, crawl process is as shown in figure 12.
At this moment, remote joint shaft 32 has rotated identical angle beta with the second driving wheel 52, due to the second electromagnetic brake 62
In power failure state, third gear 43 has rotated identical angle beta with remote joint shaft 32, passes through the 4th gear 44, the 6th tooth
The transmission of the 46, the 7th gear 47 is taken turns, so that first gear 41 has rotate in same direction an angle beta, spring part 7 is pulled out of shape.
Discharge the process of object 8: motor 11 inverts, and the process of subsequent process and above-mentioned crawl object 8 is not just on the contrary, go to live in the household of one's in-laws on getting married
It states.
Apparatus of the present invention utilize motor, electromagnetic brake, two-way gear drive, speedup flexible piece transmission mechanism and spring
Part etc. is comprehensive realize the flat folder of doublejointed robot finger adaptively with coupling adaptive can free switching novel crawl function.
5 kinds of crawls such as there is flat gripper to take, couple crawl for the device, self-adapting grasping, flat folder self-adapting grasping, coupling adaptive grab
Mode.According to the shape of object to be grabbed, size and the difference of position, which can be using the crawl mould of one of the following two kinds
Formula: flat folder self-adapting grasping mode or coupling adaptive grasp mode；It can adaptively be grabbed in any angular position from flat folder
Modulus formula is switched to coupling adaptive grasp mode；It, both can be parallel with end segment when grabbing small-size object using grip
Clamping, can also use the tip grip of end segment；It, can either be after flat gripper takes when grabbing large sized object using holding
It realizes, can also be realized after coupling crawl, the former can satisfy bigger crawl opening degree, and the latter can achieve faster
Grab efficiency；Compared to traditional adaptive finger of flat folder or coupling adaptive finger, which has new different crawl moulds
Flat folder is adaptively fused in the same finger by formula with coupling adaptive, and in different nearly joint angles positions
To realize switching, and handoff procedure is rotated without idle running, and the posture of finger when ensure that switching obtains and stablizes transition effect；The dress
Set small in size, compact-sized, motor control is convenient to be easy, realized using less motor two joints of crawl process from
Dynamic adjustment, to the adaptable of different shape size objects, is suitably applied in the various robots for needing to grab object.
Claims (2)
1. the flat folder coupling adaptive multi-mode of one kind grabs robot finger apparatus, including pedestal, the first segment, the second segment,
Nearly joint shaft, remote joint shaft, motor and transmission mechanism；The motor and pedestal are affixed；The transmission mechanism is arranged in pedestal；
The output shaft of the motor is connected with the input terminal of transmission mechanism；The nearly joint shaft is movably set in pedestal；The remote pass
Nodal axisn is movably set in the first segment；First segment is socketed on nearly joint shaft；The center line of the nearly joint shaft with
The centerline parallel of remote joint shaft；It is characterized by: the flat folder coupling adaptive multi-mode crawl robot finger apparatus also wraps
Include the first driving wheel, the second driving wheel, driving member, first gear, second gear, third gear, first gear group, second gear
Group, the first electromagnetic brake, the second electromagnetic brake and spring part；Second segment is fixed on remote joint shaft；The transmission
The output end of mechanism is connected with the first driving wheel；First driving wheel is socketed on nearly joint shaft, second driving wheel tube
It connects on remote joint shaft, the second driving wheel and the second segment are affixed；The driving member is separately connected the first driving wheel, the second transmission
Wheel, the driving member, the first driving wheel and the second driving wheel three constitute drive connection；By the transmission of driving member, from described
The transmission that first transmission takes turns to the second driving wheel is step-up drive in the same direction；The first gear is actively socketed on nearly joint shaft,
The second gear, third gear are actively socketed on respectively on remote joint shaft；The both ends of first electromagnetic brake respectively with
Second gear, remote joint shaft are affixed, and the both ends of second electromagnetic brake are affixed with third gear, remote joint shaft respectively；Institute
First gear group is stated to be mounted in the first segment；The first gear group includes at least two gears being meshed, and described first
The input gear of gear set is engaged with first gear, and the output gear of the first gear group is meshed with the second gear；It is described
Second gear group is mounted in the first segment, and the second gear group includes at least three gears being meshed, second tooth
The input gear of wheel group is engaged with first gear, and the output gear of the second gear group is meshed with third gear；The spring
The both ends of part are separately connected first gear and pedestal；Biography by the transmission of first gear group, from first gear to second gear
Dynamic is reversed constant speed drive；By the transmission of second gear group, the transmission from first gear to third gear is that constant speed in the same direction passes
It is dynamic.
2. flat folder coupling adaptive multi-mode as described in claim 1 grabs robot finger apparatus, it is characterised in that: described
Spring part uses tension spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247667.XA CN108247658B (en) | 2018-03-23 | 2018-03-23 | Flat folder coupling adaptive multi-mode grabs robot finger apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247667.XA CN108247658B (en) | 2018-03-23 | 2018-03-23 | Flat folder coupling adaptive multi-mode grabs robot finger apparatus |
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| CN108247658A CN108247658A (en) | 2018-07-06 |
| CN108247658B true CN108247658B (en) | 2019-03-15 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129548B (en) * | 2018-09-14 | 2021-09-14 | 清华大学 | Variable-geometry linear parallel clamping self-adaptive robot finger device |
| CN109129530B (en) * | 2018-09-14 | 2023-12-15 | 清华大学 | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device |
| CN109794953A (en) * | 2018-12-06 | 2019-05-24 | 清华大学 | The flat folder compound crawl robot finger apparatus of coupling adaptive of gear drive |
| CN109834722A (en) * | 2019-04-02 | 2019-06-04 | 清研先进制造产业研究院(洛阳)有限公司 | The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3245095B2 (en) * | 1997-08-07 | 2002-01-07 | 川▲崎▼ 晴久 | Robot hand |
| KR20090041474A (en) * | 2007-10-24 | 2009-04-29 | 호서대학교 산학협력단 | Robot finger and robot hand having the same |
| CN105583832B (en) * | 2016-03-17 | 2017-11-28 | 清华大学 | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive |
| CN106393161A (en) * | 2016-10-12 | 2017-02-15 | 清华大学 | Double-rack parallel-clamping indirect adaptive robot finger device |
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2018
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| CN108247658A (en) | 2018-07-06 |
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