CN108312163B - Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device - Google Patents
Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device Download PDFInfo
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- CN108312163B CN108312163B CN201810195820.9A CN201810195820A CN108312163B CN 108312163 B CN108312163 B CN 108312163B CN 201810195820 A CN201810195820 A CN 201810195820A CN 108312163 B CN108312163 B CN 108312163B
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000008447 perception Effects 0.000 claims abstract description 6
- 230000007704 transition Effects 0.000 claims description 39
- 230000005540 biological transmission Effects 0.000 claims description 34
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 230000006870 function Effects 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
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- 230000008878 coupling Effects 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 3
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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Abstract
The utility model provides a straight line parallel clamp perception self-adaptation robot finger device of semicircle slide bar, belongs to robot hand technical field, including base, first finger section, second finger section, near joint axle, far joint axle, three axles, connecting piece, three connecting rod, slider, slide bar, two motors and two drive mechanism, trigger sensor, stop and grab sensor, two parking sensors, control module and two motor drive modules. The device realizes straight line flat clamp and self-adaptation function of snatching: according to the different shapes and positions of the target objects, the two finger sections can be sequentially rotated to envelope and grasp objects with different shapes and sizes, and the object can be clamped along the outer part of the second finger section in a linear translation manner, and can be stretched outwards from the inside to prop and take the hollow object; the requirements on a control system are reduced when the thin plate objects with different sizes are placed on the workbench, the grabbing range is large, and grabbing is stable; the manufacturing and maintenance cost is low, and the robot 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 co-circular sliding rod linear parallel clamping sensing self-adaptive robot finger device.
Background
The robot hand is mainly provided with two grabbing modes, namely pinching and enveloping grabbing. The former aims at objects on the tabletop and grabs light and small objects; the latter is for the grabbing of larger and heavier objects.
The existing composite grabbing robot hand has two functions of pinching and holding.
One existing underactuated robotic finger device (patent US5762390 a) includes a base, a driver, a second transmission mechanism, six links, three finger segments, a limiting mechanism, a plurality of springs, and the like. The device realizes the effects of flat clamp and self-adaptive enveloping object: the device has the following defects: in the initial stage of flat clamp grabbing, the tail end of a finger moves in an arc manner, namely the tail end moves in an arc manner, the effect of linear translation of the tail end finger segment cannot be achieved, and when a tabletop object is grabbed, good matching of the mechanical arm is needed, so that dependence on cooperative control programming of the mechanical arm is increased.
Another multi-link flat clamp self-adaptive robot hand (patent US8973958B 2) comprises five links, springs, motors and the like, and the device realizes an arc flat clamp and self-adaptive grabbing mode. The device not only can realize pinching and holding, but also in the pinching process, the second finger section of the device always keeps a constant gesture relative to the base, and a good parallel clamping and grabbing mode (flat clamping and grabbing for short) is achieved, and the grabbing mode is particularly suitable for grabbing a thin plate object on a workbench surface (tabletop), and even the only grabbing mode (except for sucking by a sucker) in the case. In addition, the robot hand can also adopt two finger sections to contact the stable envelope grabbing of the object when the object is large, and the grabbing achieves a more stable shape closed grabbing effect than parallel clamping, which is more contact point grabbing which is needed when grabbing a heavy object. When the device works, the gesture of the tail end finger section relative to the base is kept unchanged, the translation of the circular arc track is carried out, the effect of flat clamping is achieved, or the self-adaptive enveloping grabbing is realized. The defects are that: the device is a circular arc translation tail end finger section in a parallel clamping stage, cannot realize the linear translation tail end finger section, and needs the cooperation of a mechanical arm when clamping thin plate objects with different sizes on a workbench so as to adjust the position of a robot hand, thereby increasing the control difficulty and being unfavorable for high-speed flexible grabbing.
A robot hand (patent WO2016063314 A1) with linear translation clamping exists, which comprises a base, a motor, a transition second transmission mechanism, a first finger section, a second finger section, eight connecting rods, a plurality of rotating shafts and the like. The device can realize the linear translation of the second finger section, and the function of linearly and parallelly clamping the object is realized by utilizing the linear parallel movement of the second finger section. The defects are that: the device can only realize the function of linear parallel clamping, but cannot realize the function of self-adaptive envelope grabbing.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a co-circular sliding rod linear parallel clamping sensing self-adaptive robot finger device. The device realizes the linear flat clamp and self-adaptive composite grabbing function: the two finger sections can be sequentially rotated to envelop and grasp the object, so that the object gripping device is adaptive to objects with different shapes and sizes and is suitable for gripping the object placed on the workbench.
The technical scheme of the invention is as follows:
the invention relates to a co-circular sliding rod linear parallel clamping sensing self-adaptive robot finger device, which comprises a base, a first finger section, a second finger section and a near joint shaft), and a far joint shaft; one end of the first finger section is sleeved on the near joint shaft, and the other end of the first finger section is sleeved on the far joint shaft; the second finger section is sleeved on the far joint shaft; the central lines of the near joint shaft and the far joint shaft are parallel to each other; the method is characterized in that: the co-circular sliding rod linear parallel clamping sensing self-adaptive robot finger device further comprises a first motor, a first transmission mechanism, a sliding rod, a first shaft, a second shaft, a third shaft, a connecting piece, a middle connecting rod, a lower connecting rod, a rear connecting rod, a sliding block, a second motor, a second transmission mechanism, a trigger sensor, a grabbing sensor, a first parking sensor, a second parking sensor, a control module, a first motor driving module and a second motor driving module; the first motor is fixedly connected with the base; the output shaft of the first motor is connected with the input end of the first transmission mechanism, the output end of the first transmission mechanism is connected with the connecting piece, and the connecting piece is embedded in the base in a sliding manner; the first shaft sleeve is arranged in the connecting piece; the sliding rod is fixedly connected with the base, and the sliding block is slidably embedded on the sliding rod; the near joint sleeve is sleeved in the sliding block; one end of the middle connecting rod is sleeved on the first shaft, and the other end of the middle connecting rod is sleeved on the near joint shaft; the middle connecting rod is fixedly connected with the first finger section; one end of the lower connecting rod is sleeved on the joint shaft, and the other end of the lower connecting rod is sleeved on the second shaft; one end of the rear connecting rod is sleeved on the second shaft, and the other end of the rear connecting rod is sleeved on the third shaft; the second finger section is sleeved on a third shaft; the central lines of the first shaft, the second shaft, the third shaft and the near joint shaft are parallel to each other; setting the center points of a near joint shaft, a far joint shaft, a first shaft, a second shaft and a third shaft as A, B, E, D, C respectively, and forming a parallelogram by a line segment AB, a line segment BC, a line segment CD and a line segment DA; the line segment AB is perpendicular to the line segment AE, an included angle between the sliding direction of the sliding rod and the sliding direction of the connecting piece on the base is alpha, and the ratio of the line segment AB to the line segment AE is tan (pi/2-alpha); the central line of the first shaft is perpendicular to the sliding direction of the connecting piece in the base; the second motor is fixedly connected with the sliding block, an output shaft of the second motor is connected with an input end of the second transmission mechanism, and an output end of the second transmission mechanism is connected with the lower connecting rod; the control module comprises a first motor driving output end, a second motor driving output end, a trigger input end, a stop-grasp input end, a first parking input end, a second parking input end and a reset end; the reset end of the control module is connected with a reset signal; the first motor driving output end and the second motor driving output end of the control module are respectively connected with the input end of the first motor driving module and the input end of the second motor driving module; the output end of the first motor driving module and the output end of the second motor driving module are respectively connected with leads of the first motor and the second motor; the trigger sensor is fixedly arranged on the grabbing surface of the first finger section and used for collecting information of the grabbed object touching the first finger section; the signal leading-out end of the trigger sensor is connected with the trigger input end of the control module; the grabbing stopping sensor is fixedly arranged on the grabbing surface of the second finger section and used for collecting information of the grabbed object touching the second finger section; the signal leading-out end of the stopping and grabbing sensor is connected with the stopping and grabbing input end of the control module; the first parking sensor is fixedly arranged on the base and used for collecting information of the connecting piece sliding to an initial position in the base; the signal leading-out end of the first parking sensor is connected with the first parking input end of the control module; the second parking sensor is fixedly arranged on the sliding block and used for collecting information that the lower connecting rod rotates to a certain set angle around the joint axis relative to the sliding block; the signal leading-out end of the second parking sensor is connected with the second parking input end of the control module; the control module runs a control program, after an external object grabbing instruction is obtained, the control module sends an instruction to drive the first motor to rotate through the first motor driving module, after a trigger signal fed back by the trigger sensor is obtained, the control module sends an instruction to stop the rotation of the first motor through the first motor driving module, and sends an instruction to drive the second motor to rotate through the second motor driving module, and after a grabbing stopping signal fed back by the grabbing stopping sensor is obtained, the control module sends an instruction to stop the rotation of the second motor through the second motor driving module; after the reset signal is obtained, an instruction is sent to drive the second motor to rotate reversely through the second motor driving module, after the parking signal fed back by the second parking sensor is obtained, the instruction is sent to stop the second motor through the second motor driving module, the instruction is sent to drive the first motor to rotate reversely through the first motor driving module, and after the parking signal fed back by the first parking sensor is obtained, the instruction is sent to stop the first motor through the first motor driving module.
The invention relates to a co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device, which is characterized in that: the first transmission mechanism comprises a screw rod and a nut; the output shaft of the first motor is fixedly connected with one end of a screw rod, the screw rod is sleeved in the base, the nut and the screw rod are matched to form a threaded transmission relationship, and the nut is fixedly connected with the connecting piece; the center line of the screw rod is consistent with the sliding direction of the connecting piece in the base.
The invention relates to a co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device, which is characterized in that: the second transmission mechanism comprises a speed reducer, a worm wheel, a transition shaft, a first transition gear and a second transition gear; an output shaft of the second motor is connected with an input end of the speed reducer, and the worm is sleeved and fixed on the output shaft of the speed reducer; the worm is meshed with the worm wheel, the worm wheel is sleeved and fixed on the transition shaft, the transition shaft is sleeved and arranged in the sliding block, the first transition gear is sleeved and fixed on the transition shaft, the first transition gear is meshed with the second transition gear, the second transition gear is sleeved and connected on the near joint shaft, and the second transition gear is fixedly connected with the lower connecting rod.
Compared with the prior art, the invention has the following advantages and outstanding effects:
the device disclosed by the invention comprehensively realizes a composite grabbing mode of linear parallel clamping and self-adaptive enveloping grabbing by utilizing a four-point co-circular connecting rod sliding block mechanism, a plurality of sensors, a control module, two motors and the like. According to the different shapes and positions of the target objects, the object can be clamped along the outer part of the second finger section in a linear translation manner, the hollow object can be stretched outwards from the inside, and the first finger section and the second finger section can be rotated in sequence to contact with each other to envelope and grasp the objects with different shapes and sizes; the requirements on a control system are reduced when the thin plate objects with different sizes are placed on the workbench, complex programming is not required for different objects, the grabbing range is large, and grabbing is stable; the manufacturing and maintenance cost is low, and the robot is suitable for robot hands.
Drawings
FIG. 1 is a perspective view of one embodiment of a co-circular slide bar linear flat clamp perception adaptive robot finger device designed in accordance with the present invention.
Fig. 2 is a front view of the embodiment of fig. 1.
Fig. 3 is a side view of the embodiment of fig. 1 (left view of fig. 2).
Fig. 4 is a K-K cross-sectional view of fig. 3.
Fig. 5 is an internal perspective view (parts not shown) of the embodiment shown in fig. 1.
Fig. 6 is an exploded view of the embodiment shown in fig. 1.
Fig. 7 is an electrical schematic of the embodiment of fig. 1.
Fig. 8 is a schematic diagram of the linear mechanism of the embodiment of fig. 1.
Fig. 9 is a diagram showing the operation of the embodiment of fig. 1 in which the second finger is translated linearly.
FIG. 10 is a schematic diagram of the process of gripping an object on a table in a straight line parallel manner according to the embodiment of FIG. 1.
Fig. 11 is a schematic diagram of the motion process of the embodiment of fig. 1 for gripping an object in an adaptive envelope gripping manner.
In fig. 1 to 11:
1-a base, 101-a base bottom plate, 102-a base left side plate, 103-a base right side plate,
104-a base front plate, 105-a base rear plate, 11-a first motor,
111-a lead screw, 112-a nut, 113-a coupling, 12-a slide bar,
21-first finger section, 210-first finger section cover, 22-second finger section, 220-second finger section cover,
31-proximal joint axis, 32-distal joint axis, 331-first axis, 332-second axis,
333-third shaft, 41-connecting piece, 42-intermediate link, 43-lower link,
44-rear connecting rod, 5-slide block, 51-slide block body, 52-slide block cover plate,
61-a second motor, 62-a second transmission mechanism, 620-a speed reducer, 621-a worm,
622-worm gear, 623-transition shaft, 624-first transition gear, 625-second transition gear,
71-trigger sensor, 72-park-grip sensor, 731-first park sensor, 732-second park sensor,
8-a control module, 91-a first motor drive module, 92-a second motor drive module, 93-a bearing,
94-screw, 95-spacer, 10-object.
Detailed Description
The details of the specific construction and operation of the present invention will be further described with reference to the accompanying drawings and examples.
An embodiment of the co-circular sliding rod linear flat clamp perception self-adaptive robot finger device designed by the invention is shown in fig. 1 to 7, and comprises a base 1, a first finger section 21, a second finger section 22, a near joint shaft 31 and a far joint shaft 32; one end of the first finger section 21 is sleeved on the near joint shaft 31, and the other end of the first finger section 21 is sleeved on the far joint shaft; the second finger section 22 is sleeved on the far joint shaft 32; the center lines of the proximal joint shaft 31 and the distal joint shaft 32 are parallel to each other; the co-circular slide bar linear parallel clamp perception adaptive robot finger device further comprises a first motor 11, a first transmission mechanism 110, a slide bar 12, a first shaft 331, a second shaft 332, a third shaft 333, a connecting piece 41, a middle connecting rod 42, a lower connecting rod 43, a rear connecting rod 44, a slide block 5, a second motor 61, a second transmission mechanism 62, a trigger sensor 71, a grip stop sensor 72, a first parking sensor 731, a second parking sensor 732, a control module 8, a first motor driving module 91 and a second motor driving module 92; the first motor is fixedly connected with the base; an output shaft of the first motor 11 is connected with an input end of the first transmission mechanism 110, an output end of the first transmission mechanism 110 is connected with a connecting piece 41, and the connecting piece 41 is slidably embedded in the base; the first shaft 331 is sleeved in the connecting piece 41; the sliding rod 12 is fixedly connected with the base 1, and the sliding block 5 is embedded on the sliding rod 12 in a sliding manner; the near joint shaft 31 is sleeved in the sliding block 5; one end of the middle connecting rod 42 is sleeved on the first shaft 331, and the other end of the middle connecting rod is sleeved on the near joint shaft 31; the middle connecting rod 42 is fixedly connected with the first finger section 21; one end of the lower connecting rod 43 is sleeved on the near joint shaft 31, and the other end of the lower connecting rod 43 is sleeved on the second shaft 332; one end of the rear connecting rod 44 is sleeved on the second shaft 332, and the other end of the rear connecting rod 44 is sleeved on the third shaft 333; the second finger section 22 is sleeved on a third shaft 333; the central lines of the first shaft 331, the second shaft 332, the third shaft 333 and the proximal joint shaft 31 are parallel to each other; the center points of the proximal joint shaft 31, the distal joint shaft 32, the first shaft 331, the second shaft 332 and the third shaft 333 are A, B, E, D, C, and as shown in fig. 8, a line segment AB, a line segment BC, a line segment CD and a line segment DA form a parallelogram; the line segment AB is perpendicular to the line segment AE, an included angle between the sliding direction of the sliding rod 12 and the sliding direction of the connecting piece 41 on the base 1 is alpha, and the ratio of the line segment AB to the line segment AE is tan (pi/2-alpha); the center line of the first shaft 331 is perpendicular to the sliding direction of the connecting member 41 in the base 1; the second motor 61 is fixedly connected with the sliding block 5, an output shaft of the second motor 61 is connected with an input end of the second transmission mechanism 62, and an output end of the second transmission mechanism 62 is connected with the lower connecting rod 43; the control module 8 comprises a first motor drive output end, a second motor drive output end, a trigger input end, a stop-grip input end, a first parking input end, a second parking input end and a reset end; the reset end of the control module 8 is connected with a reset signal; the first motor driving output end and the second motor driving output end of the control module 8 are respectively connected with the input end of the first motor driving module 91 and the input end of the second motor driving module 92; the output end of the first motor driving module 91 and the output end of the second motor driving module 92 are respectively connected with the leads of the first motor 11 and the second motor 61; the trigger sensor 71 is fixedly arranged on the grabbing surface of the first finger section 21 and used for collecting information of the grabbed object 10 touching the first finger section 21; the signal leading-out end of the trigger sensor 71 is connected with the trigger input end of the control module 8; the stopping and grabbing sensor 72 is fixedly arranged on the grabbing surface of the second finger section 22 and used for collecting information that the grabbed object 10 touches the second finger section 22; the signal leading-out end of the grip stopping sensor 72 is connected with the grip stopping input end of the control module 8; the first parking sensor 731 is fixedly installed on the base 1, and collects information that the connecting piece 41 slides to an initial position relative to the base 1; the signal leading-out end of the first parking sensor 731 is connected with the first parking input end of the control module 8; the second parking sensor 732 is fixedly installed on the slider 5, and collects information that the lower link 43 rotates to a certain set angle around the proximal joint axis 31 relative to the slider 5; the signal leading-out end of the second parking sensor 732 is connected with the second parking input end of the control module 8; the control module 8 runs a control program, after obtaining an external command for grabbing an object, sends out a command to drive the first motor 11 to rotate through the first motor driving module 91, after obtaining a trigger signal fed back by the trigger sensor 71, sends out a command to stop the rotation of the first motor 11 through the first motor driving module 91, and sends out a command to drive the second motor 61 to rotate through the second motor driving module 92, and after obtaining a grabbing stopping signal fed back by the grabbing stopping sensor 72, sends out a command to stop the rotation of the second motor 61 through the second motor driving module 92; after the reset signal is obtained, the second motor 61 is driven to rotate reversely by the second motor driving module 92, after the parking signal fed back by the second parking sensor 732 is obtained, the second motor 61 is stopped by the second motor driving module 92, the first motor 11 is driven to rotate reversely by the first motor driving module 91, and after the parking signal fed back by the first parking sensor 731 is obtained, the first motor 11 is stopped by the first motor driving module 91.
In this embodiment, the first transmission mechanism 110 includes a screw 111, a nut 112, and a coupling 113; an output shaft of the first motor 11 is fixedly connected with one end of a screw rod 111 through a coupling 113, the screw rod 111 is sleeved in the base 1, the nut 112 is matched with the screw rod 111 to form a threaded transmission relationship, and the nut 112 is fixedly connected with the connecting piece 41; the center line of the screw 111 coincides with the sliding direction of the connector 41 in the base 1.
In this embodiment, the second transmission mechanism 62 includes a speed reducer 620, a worm 621, a worm wheel 622, a transition shaft 623, a first transition gear 624, and a second transition gear 625; an output shaft of the second motor 61 is connected with an input end of the speed reducer 620, and the worm 621 is sleeved and fixed on the output shaft of the speed reducer 620; the worm 621 is meshed with the worm wheel 622, the worm wheel 622 is sleeved and fixed on the transition shaft 623, the transition shaft 623 is sleeved and fixed in the sliding block 5, the first transition gear 624 is sleeved and fixed on the transition shaft 623, the first transition gear 624 is meshed with the second transition gear 625, the second transition gear 625 is sleeved and connected on the near joint shaft 31, and the second transition gear 625 is fixedly connected with the lower connecting rod 43.
In this embodiment, the base 1 includes a base bottom plate 101, a base left side plate 102, a base right side plate 103, a base front plate 104, and a base rear plate 105, and the base bottom plate 101, the base left side plate 102, the base right side plate 103, the base front plate 104, and the base rear plate 105 are fixedly connected.
In this embodiment, the first finger section 21 includes a first finger section housing 210 fixedly connected thereto; the second finger section 22 includes a second finger section housing 220 fixedly secured thereto; the sliding block 5 comprises a sliding block body 51 and a sliding block cover plate 52 which are fixedly connected.
The present embodiment further includes a bearing 93, a screw 94, a spacer 95, and the like.
The working principle of the invention is described below with reference to the accompanying drawings:
note that the center point E of the first axis slides up and down in the base to form a straight line EO, where the point O is the intersection of the straight line of sliding of the point E and the straight line of sliding of the point a on the slide bar, as shown in fig. 8.
The device comprises a four-point co-circle mechanism, namely a four-point co-circle connecting rod sliding block mechanism for short. A proof of four-point co-circles in the mechanism is given below.
It is known that: angle eoa=α, AB/ae=tan (pi/2- α), ea≡ab, at a certain pointTime, point E 1 、A 1 、B 1 The current point after the movement of point E, A, B, point E 1 Translational movement on straight line EO, corresponding to A 1 The corresponding translation on line OA, point B is demonstrated below 1 And translates on a straight line BO, and the straight line BO is perpendicular to the straight line EO.
∵EA⊥AB.
Line EB is the diameter of a circle passing through three points E, A, B.
∵AB/AE＝tan(π/2-α).
∴∠EBA＝α. (1)
Again +.eoa=α. (2)
Is obtained from (1) and (2): angle eoa= angle EBA = α.
According to the condition that the two circumferential angles corresponding to the same chord are equal, four points are in common circle,
four points O, E, A, B are co-rounded.
Note +.aeb=β, there is: beta = pi/2-alpha.
According to the equal circumferential angles of the same chord length,
then in the co-circle of four points O, E, A, B the corresponding chord length AB +.aob = AEB = beta,
while one side of beta is a fixed straight line AO,
the other side of beta is a straight line BO, BO is fixed,
namely B 1 The point is always on the straight line BO.
∵α+β＝π/2,
∴BO⊥EO.
When the object 10 is grabbed, the first motor 11 rotates, the screw rod 111 is rotated through the coupler 113, the nut 112 and the fixedly connected connecting piece 41 translate downwards on the base 1, the middle connecting rod 42 and the fixedly connected first finger section 21 correspondingly move through the first shaft 331, and according to the principle of the four-point co-circular connecting rod sliding block mechanism, the center point B of the far joint shaft 32 translates leftwards and linearly along the straight line BO as shown in fig. 9; the slide 5 slides correspondingly on the slide bar 12, and at this time, the second motor 61 does not rotate, so that the lower connecting rod 43 does not rotate relative to the slide 5 through the second transmission mechanism 62, the posture of the lower connecting rod 43 relative to the base 1 is unchanged, because of the parallelogram ABCD relationship, the second finger section 22 (i.e., the line segment BC) remains parallel to the lower connecting rod 43 in the process, so that the posture of the second finger section 22 relative to the base 1 is unchanged, the function of straight line parallel clamping is achieved, and the device is suitable for grabbing the object 10 placed on the table top (the sole grabbing mode in this case).
In the above process, if the second finger section 22 contacts the object 10 first, the grip stop sensor 72 obtains a signal, the control module 8 issues an instruction to stop the first motor 11 through the first motor driving module 91, and the gripping ends. A gripping mode is achieved in which the second finger 22 contacts the object 10 in a straight parallel gripping of the object. The course of action is shown in fig. 10.
In the above process, if the first finger section 21 contacts the object 10 first, the sensor 71 is triggered to obtain a signal, the control module 8 gives an instruction to stop the first motor 11 through the first motor driving module 91, rotate the second motor 61 through the second motor driving module 92, rotate the lower link 43 around the proximal joint shaft 31 through the second transmission mechanism 62 (the speed reducer 620, the worm 621, the worm wheel 622, the transition shaft 623, the first transition gear 624, the second transition gear 625), drive the second finger section 22 around the distal joint shaft 32 through the rear link 44 until the second finger section 22 also contacts the object 10, stop the gripping sensor 72 gives a signal, and the control module 8 gives an instruction to stop the first motor 11 through the first motor driving module 91, and end gripping. The self-adaptive object grabbing mode of simultaneously contacting the object 10 by the first finger segment 21 and the second finger segment 22 is achieved, the object grabbing mode can automatically adapt to objects with different shapes and sizes, two contact points are provided, grabbing force is large, grabbing is stable, and the self-adaptive object grabbing mechanism is suitable for grabbing different heavy objects. The course of action is shown in fig. 11.
When the object 10 is released, the control module 8 sends out an instruction to enable the second motor 61 to rotate reversely, the lower connecting rod 43 is rotated reversely through the second transmission mechanism 62, the second finger section 21 rotates reversely to leave the surface of the object 10, meanwhile, the first motor 11 rotates reversely, the middle connecting rod 42 and the first finger section 21 move correspondingly through the first transmission mechanism 61, the first finger section 21 leaves the surface of the object 10, and when the first parking sensor 731 obtains a signal, the first motor 11 is stopped; when the second park sensor 732 receives a signal, stops the second motor 61 and the release ends, the device returns to the original position.
Upon receiving the reset signal, the control module 8 executes the action mode of releasing the object, which will not be described again.
The device disclosed by the invention comprehensively realizes a composite grabbing mode of linear parallel clamping and self-adaptive enveloping grabbing by utilizing a four-point co-circular connecting rod sliding block mechanism, a plurality of sensors, a control module, two motors and the like. According to the different shapes and positions of the target objects, the object can be clamped along the outer part of the second finger section in a linear translation manner, the hollow object can be stretched outwards from the inside, and the first finger section and the second finger section can be rotated in sequence to contact with each other to envelope and grasp the objects with different shapes and sizes; the requirements on a control system are reduced when the thin plate objects with different sizes are placed on the workbench, complex programming is not required for different objects, the grabbing range is large, and grabbing is stable; the manufacturing and maintenance cost is low, and the robot is suitable for robot hands.
Claims (3)
1. A co-circular slide bar linear parallel clamping sensing self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft and a far joint shaft; one end of the first finger section is sleeved on the near joint shaft, and the other end of the first finger section is sleeved on the far joint shaft; the second finger section is sleeved on the far joint shaft; the central lines of the near joint shaft and the far joint shaft are parallel to each other; the method is characterized in that: the co-circular sliding rod linear parallel clamping sensing self-adaptive robot finger device further comprises a first motor, a first transmission mechanism, a sliding rod, a first shaft, a second shaft, a third shaft, a connecting piece, a middle connecting rod, a lower connecting rod, a rear connecting rod, a sliding block, a second motor, a second transmission mechanism, a trigger sensor, a grabbing sensor, a first parking sensor, a second parking sensor, a control module, a first motor driving module and a second motor driving module; the first motor is fixedly connected with the base; the output shaft of the first motor is connected with the input end of the first transmission mechanism, the output end of the first transmission mechanism is connected with the connecting piece, and the connecting piece is embedded in the base in a sliding manner; the first shaft sleeve is arranged in the connecting piece; the sliding rod is fixedly connected with the base, and the sliding block is slidably embedded on the sliding rod; the near joint sleeve is sleeved in the sliding block; one end of the middle connecting rod is sleeved on the first shaft, and the other end of the middle connecting rod is sleeved on the near joint shaft; the middle connecting rod is fixedly connected with the first finger section; one end of the lower connecting rod is sleeved on the joint shaft, and the other end of the lower connecting rod is sleeved on the second shaft; one end of the rear connecting rod is sleeved on the second shaft, and the other end of the rear connecting rod is sleeved on the third shaft; the second finger section is sleeved on a third shaft; the central lines of the first shaft, the second shaft, the third shaft and the near joint shaft are parallel to each other; setting the center points of a near joint shaft, a far joint shaft, a first shaft, a second shaft and a third shaft as A, B, E, D, C respectively, and forming a parallelogram by a line segment AB, a line segment BC, a line segment CD and a line segment DA; the line segment AB is perpendicular to the line segment AE, an included angle between the sliding direction of the sliding rod and the sliding direction of the connecting piece on the base is alpha, and the ratio of the line segment AB to the line segment AE is tan (pi/2-alpha); the central line of the first shaft is perpendicular to the sliding direction of the connecting piece in the base; the second motor is fixedly connected with the sliding block, an output shaft of the second motor is connected with an input end of the second transmission mechanism, and an output end of the second transmission mechanism is connected with the lower connecting rod; the control module comprises a first motor driving output end, a second motor driving output end, a trigger input end, a stop-grasp input end, a first parking input end, a second parking input end and a reset end; the reset end of the control module is connected with a reset signal; the first motor driving output end and the second motor driving output end of the control module are respectively connected with the input end of the first motor driving module and the input end of the second motor driving module; the output end of the first motor driving module and the output end of the second motor driving module are respectively connected with leads of the first motor and the second motor; the trigger sensor is fixedly arranged on the grabbing surface of the first finger section and used for collecting information of the grabbed object touching the first finger section; the signal leading-out end of the trigger sensor is connected with the trigger input end of the control module; the grabbing stopping sensor is fixedly arranged on the grabbing surface of the second finger section and used for collecting information of the grabbed object touching the second finger section; the signal leading-out end of the stopping and grabbing sensor is connected with the stopping and grabbing input end of the control module; the first parking sensor is fixedly arranged on the base and used for collecting information of the connecting piece sliding to an initial position in the base; the signal leading-out end of the first parking sensor is connected with the first parking input end of the control module; the second parking sensor is fixedly arranged on the sliding block and used for collecting information that the lower connecting rod rotates to a certain set angle around the joint axis relative to the sliding block; the signal leading-out end of the second parking sensor is connected with the second parking input end of the control module; the control module runs a control program, after an external object grabbing instruction is obtained, the control module sends an instruction to drive the first motor to rotate through the first motor driving module, after a trigger signal fed back by the trigger sensor is obtained, the control module sends an instruction to stop the rotation of the first motor through the first motor driving module, and sends an instruction to drive the second motor to rotate through the second motor driving module, and after a grabbing stopping signal fed back by the grabbing stopping sensor is obtained, the control module sends an instruction to stop the rotation of the second motor through the second motor driving module; after the reset signal is obtained, an instruction is sent to drive the second motor to rotate reversely through the second motor driving module, after the parking signal fed back by the second parking sensor is obtained, the instruction is sent to stop the second motor through the second motor driving module, the instruction is sent to drive the first motor to rotate reversely through the first motor driving module, and after the parking signal fed back by the first parking sensor is obtained, the instruction is sent to stop the first motor through the first motor driving module.
2. The co-round slide bar straight line parallel clamp perception adaptive robot finger device as claimed in claim 1, wherein: the first transmission mechanism comprises a screw rod and a nut; the output shaft of the first motor is fixedly connected with one end of a screw rod, the screw rod is sleeved in the base, the nut and the screw rod are matched to form a threaded transmission relationship, and the nut is fixedly connected with the connecting piece; the center line of the screw rod is consistent with the sliding direction of the connecting piece in the base.
3. The co-round slide bar straight line parallel clamp perception adaptive robot finger device as claimed in claim 1, wherein: the second transmission mechanism comprises a speed reducer, a worm wheel, a transition shaft, a first transition gear and a second transition gear; an output shaft of the second motor is connected with an input end of the speed reducer, and the worm is sleeved and fixed on the output shaft of the speed reducer; the worm is meshed with the worm wheel, the worm wheel is sleeved and fixed on the transition shaft, the transition shaft is sleeved and arranged in the sliding block, the first transition gear is sleeved and fixed on the transition shaft, the first transition gear is meshed with the second transition gear, the second transition gear is sleeved and connected on the near joint shaft, and the second transition gear is fixedly connected with the lower connecting rod.
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| CN201810195820.9A CN108312163B (en) | 2018-03-09 | 2018-03-09 | Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device |
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| CN201810195820.9A CN108312163B (en) | 2018-03-09 | 2018-03-09 | Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device |
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