CN108481311B - Variable-rigidity compliant grabbing device - Google Patents
Variable-rigidity compliant grabbing device Download PDFInfo
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- CN108481311B CN108481311B CN201810616196.5A CN201810616196A CN108481311B CN 108481311 B CN108481311 B CN 108481311B CN 201810616196 A CN201810616196 A CN 201810616196A CN 108481311 B CN108481311 B CN 108481311B
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- rigidity
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- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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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
Abstract
The application discloses a variable-rigidity flexible grabbing device which comprises two sliding blocks arranged on a linear guide rail in a sliding manner, wherein the sliding blocks are driven by an opening and closing motor and can move relatively close to and away from each other. Each sliding block is connected with a clamping jaw for grabbing operation through a variable-rigidity flexible parallel mechanism, and the variable-rigidity flexible parallel mechanism is driven by a rigidity adjusting motor to adjust the rigidity of the variable-rigidity flexible parallel mechanism. In the working state, the parallel clamping displacement of the clamping jaw in the opening and closing movement direction is controlled by driving the opening and closing movement motor; the clamping rigidity of the clamping jaw in the opening and closing movement is controlled by driving the rigidity adjusting motor. The application can continuously change the clamping rigidity in the opening and closing movement direction, is suitable for clamping objects with different shapes and different qualities, can be used as an end effector of a robot, and is particularly suitable for the fields of operation in unstructured environments, precise assembly and the like.
Description
Technical Field
The application relates to an end execution device used in the field of robots, in particular to a rigidity-variable flexible grabbing device.
Background
In recent years, more and more robots work in workshops of factories together with people, which is a so-called "man-machine cooperation" scenario; however, in this process, unavoidable collisions must occur between the person, the robot and the external unstructured environment, so that safety will become an important performance index for the next generation of robots. Since the robot end effector is the only interface for the robot to directly contact the person and external objects, it is important to consider the safety of the critical component of the robot end effector.
From the perspective of performing grasping and assembly tasks, robotic end effectors are largely divided into four categories, rigid grippers, flexible grippers, soft grippers, and multi-fingered dexterous hands.
The conventional rigid gripper mainly aims at being capable of gripping objects, so that the properties of the gripped objects are limited to hard objects. While the well-known clamp company schuk andrak has commercially produced a series of rigid grippers that can also perform complex gripping work and for human-machine collaboration, its delicate driving techniques and sensing elements such as expensive sensors have resulted in a significant degree of inefficiency.
The flexible clamp is a clamp based on a flexible mechanism, and in the early scientific research process, the flexible mechanism is often designed into a miniature clamp for the fields of operations and semiconductor industry requiring precise operation and precise assembly due to the advantages of small deformation, high precision, no friction and no assembly problem of integrated design and the like. Although the variable stiffness function can be realized through ingenious structural design, the clamp holder based on the branched chain configuration of the single flexible mechanism has the defects of low fatigue life, small clamping force and incapability of completing parallel clamping operation in the clamping operation process, and is easy to be interfered by the outside when the clamp holder is used for clamping operation in an unstructured environment, and the stability of the clamping jaw in the clamping operation process can not be ensured, so that the problem of poor system stability and smoothness is caused.
Soft holders can be said to be hot spots in the current academic field, such as: a series of soft grippers based on the Jamming principle and the SMA and SMP driving principle are paid attention to by more students, and not only is the gripper in the field of leading soft robots, but also has the advantages of low manufacturing cost, no noise, variable rigidity, programmable control and the like due to the breakthrough of new generation scientific technologies such as 3D printing, intelligent material driving and the like, but also has certain influence on the stability and the gripping precision in the gripping process due to the limitation of flexible freedom degree and material rigidity, and meanwhile, the response speed of the variable rigidity is very slow and the variable rigidity range is smaller, so that the self-adaptive capacity of the gripper to the gripped object is limited.
According to the driving mode, the smart hands are mainly divided into full-driving smart hands and under-driving smart hands, and the most successful commercial products of the full-driving smart hands are Shadow robot smart hands of British robot companies, but the system is complex and the volume is often huge due to the complex structure, so that the manufacturing cost is expensive; the most successful commercial product of underactuated dexterous hands is the robotic gripper of Robotiq corporation, canada, which, although its smart driving structure, greatly improves its self-adapting capability, the problems of statics and dynamics of such an underactuated system are currently in need of solution, while its manufacturing cost is still somewhat expensive compared to holders.
In view of the above, in view of the grasping operation in unstructured environments and the operation in the field of precision assembly, a gripper with a force control function is urgently needed, which can ensure the safety during the gripping operation and the success rate of the gripping operation through the characteristics of flexibility and flexibility. However, rigid holders with complex and high precision sensing elements tend to be expensive to manufacture, low cost performance and low operating efficiency; although the flexible clamp holder type end effector has the advantages of a flexible mechanism, the stiffness-changing function of the flexible clamp holder type end effector can be realized through ingenious design, the problem of lateral buckling instability caused by parasitic movement in the process of clamping objects based on the configuration of a single flexible mechanism branch chain still exists, meanwhile, the flexible clamp holder type end effector cannot ensure that the objects are always clamped in parallel in the process of clamping operation, the phenomenon often reduces the success rate of certain high-precision operation tasks, and in addition, the flexible clamp holder type end effector also has the problems of system stability and smoothness; although the soft gripper end effector is simple to manufacture and low in cost, the dynamic stability, the gripping precision and the maximum gripping force in the gripping process of the soft gripper end effector cannot meet the requirements of high-precision tasks in the fields of precision assembly, large gripping force and the like; while multi-fingered dexterous hand-type end effectors tend to be very costly due to the complexity of their systems, their rich degrees of freedom and flexibility are not actually needed for many clamping tasks.
Disclosure of Invention
The application aims to provide a variable-rigidity flexible grabbing device, which not only can ensure bidirectional parallel clamping operation in the opening and closing movement direction of the flexible parallel mechanism by a method for designing the flexible parallel mechanism in a three-dimensional symmetrical way about an X axis, a Y axis and a Z axis, but also is suitable for clamping operations on objects with different sizes; and the clamping rigidity in the opening and closing movement direction can be continuously changed, and meanwhile, parasitic movement in the unexpected direction in the rigidity adjustment process is eliminated through the symmetrical design constraint of the structure of the self-body so as to adapt to the clamping operation of objects with different shapes and different qualities.
The technical scheme adopted for solving the technical problems is as follows: a flexible gripping device with variable rigidity comprises two sliding blocks which are arranged on a linear guide rail in a sliding way, wherein the sliding blocks are driven by an opening and closing motor and can move relatively close to and away from each other. Each sliding block is connected with a clamping jaw for grabbing operation through a variable-rigidity flexible parallel mechanism, and the variable-rigidity flexible parallel mechanism is driven by a rigidity adjusting motor to adjust the rigidity of the variable-rigidity flexible parallel mechanism. When the clamping jaw is in a working state, the parallel clamping displacement of the clamping jaw in the opening and closing movement direction is controlled by driving the opening and closing movement motor; the clamping rigidity of the clamping jaw in the opening and closing movement is controlled by driving the rigidity adjusting motor.
The rigidity-variable flexible parallel mechanism comprises four identical and parallel flexible mechanism branched chains arranged between each sliding block and each clamping jaw, wherein each flexible mechanism branched chain is arranged in a square configuration, and the arrangement angles of every two adjacent flexible mechanism branched chains are distributed in a mirror symmetry manner about the plane perpendicular to the sliding blocks in the middle of each flexible mechanism branched chain. The lateral buckling problem based on the branched chain configuration of the single flexible mechanism under different rigidity states is solved, the stability of the variable rigidity flexible parallel mechanism under any rigidity state is ensured, and the working state of parallel clamping operation in the clamping process is ensured.
The rigidity adjusting motor adjusts the distribution angle of the branched chains of each flexible mechanism through the gear transmission mechanism so as to adjust the rigidity state of the variable rigidity flexible parallel mechanism.
Each flexible mechanism branched chain is composed of a flexible universal joint, a leaf spring flexible joint, a middle rigid connecting rod, a leaf spring flexible joint and a flexible universal joint which are connected in series, and the gear transmission mechanism adjusts the distribution angle of the leaf spring flexible joint.
The gear transmission mechanism comprises pinions coaxially rotated with the branched chains of each flexible mechanism, and the rotation directions of every two adjacent pinions are opposite.
One pinion gear on the sliding block is a duplex gear formed by two coaxial gears, the duplex gear is coaxially and fixedly connected with a worm gear driven by a rigidity adjusting motor, and the duplex gears are respectively meshed with adjacent pinion gears. The duplex gears are respectively and simultaneously driven with adjacent pinions, so that the pinions on the four transmission shafts are staggered up and down when being arranged at the arrangement positions, an open-loop transmission is formed, and the problem of mutual interference among gears in the rigidity adjustment operation transmission link is avoided.
The rigidity adjusting motor drives a spline shaft to rotate through the rigidity adjusting transmission synchronous pulley and the rigidity adjusting transmission synchronous belt, and a left-handed worm and a right-handed worm which can axially and freely slide are arranged on the spline shaft and synchronously rotate with the spline shaft through splines. The left-handed worm is matched with a left-handed worm wheel on the left slide block. The right-hand worm is matched with a right-hand worm wheel on the right-hand slide block.
And one side of the linear guide rail is provided with a right-handed screw and a left-handed screw which are driven to rotate by an opening and closing motor, and the right-handed screw and the left-handed screw are respectively in spiral fit with nuts on the sliding blocks.
The right-handed screw and the left-handed screw are coaxially connected. The opening and closing motion motor drives the right-handed screw and the left-handed screw to synchronously rotate through the opening and closing motion transmission synchronous pulley and the opening and closing motion transmission synchronous belt.
When each flexible mechanism branched chain rotates 0 degrees, the left clamping jaw and the right clamping jaw are in the lowest rigidity state, and when each flexible mechanism branched chain rotates 90 degrees, the left clamping jaw and the right clamping jaw are in the highest rigidity state. When fragile and light objects are to be clamped, the clamping is preferably performed in a low-rigidity state, and when hard and large objects are to be clamped, the clamping is preferably performed in a high-rigidity state.
Compared with the existing same rigidity-changing principle technology, the application ensures that the clamping jaw can perform parallel clamping operation in the clamping movement process by the three-dimensional symmetrical configuration design of the double-parallelogram flexible parallel mechanism; the four identical parallel flexible mechanism branched chains are balanced and restrained, so that parasitic movement of the four parallel flexible mechanism branched chains in an unexpected direction in the rigidity adjustment process is eliminated, and the problem of lateral buckling instability of the clamp holder based on the single flexible mechanism branched chain is solved; by designing the two ends of the branched chain of the single flexible mechanism into symmetrical flexible universal joints, the problem that the transmission of two transmission shafts is not smooth when the two transmission shafts are not coaxial in the rigidity adjusting process is solved, and the system performance of the whole grabbing device is improved.
Compared with other existing variable stiffness principle technologies, the application has a large enough variable stiffness range, so that the application can adapt to the requirements of a larger range of grabbing tasks; the rigidity-changing principle of the application belongs to the mechanical ground structure control principle, so that the rigidity can be continuously and rapidly changed; the application adapts to the sizes of different grabbed objects through macroscopic opening and closing motions, adapts to the shapes and the qualities of different grabbed objects through microscopic rigidity adjustment operations, and further adapts to different grabbing tasks; the opening and closing movement and the rigidity adjustment operation are respectively and independently controlled, so that the complexity of a control system is reduced; the clamping jaw is directly embedded at the tail end of the variable-rigidity flexible parallel mechanism, so that the grabbing device has high energy efficiency and can store and release energy rapidly.
Compared with the traditional rigid grabbing technology, the application realizes the precise force control function by introducing the rigidity adjustment operation, so that objects with different properties can be grabbed by only one clamp holder, and the process of time-consuming and heavy replacement of the tail end grabbing device of the traditional rigid clamp holder is avoided; for the precise assembly process in the factory, the rigidity adjustment operation increases the flexibility and the flexibility in the assembly process, thereby greatly improving the success rate of the assembly link.
Drawings
Fig. 1 is a left and right isometric view of a gripping device according to an embodiment of the present application.
Fig. 2 is an isometric view of a gripping device according to an embodiment of the present application.
Fig. 3 is a schematic perspective view of a gripping device according to an embodiment of the present application in a state of minimal rigidity.
Fig. 4 is a schematic perspective view of the gripping device of the embodiment of the present application in an intermediate rigidity state.
Fig. 5 is a schematic perspective view of the gripping device in a state of maximum rigidity according to an embodiment of the present application.
Detailed Description
The preferred embodiments of the present application will be described in further detail below with reference to fig. 1 to 5 in order to more clearly understand the objects, features and advantages of the present application. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the application, but rather are merely illustrative of the true spirit of the application.
Fig. 1 to 5 are schematic perspective views of a rigidity-variable compliant gripping apparatus according to the present embodiment, in which reference numerals are as follows: the device comprises a flange connection disc 1, a shell 2, a right-handed worm wheel 3, a pinion 4, a sliding block 5, a linear guide rail 6, leaf spring flexible joints 7, 8, 9 and 10, flexible universal joints 11, 12, 13 and 14, clamping jaws 15, a right-handed screw 16, a left-handed screw 17, a left-handed worm wheel 18, a rigidity adjustment transmission synchronous belt 19, an opening and closing motion transmission synchronous belt 20, a rigidity adjustment motor 21, an opening and closing motion motor 22, a spline 23, a left-handed worm 24, a right-handed worm 25, a rigidity adjustment transmission synchronous belt pulley 26 and an opening and closing motion transmission synchronous belt pulley 27.
The rigidity-variable flexible grabbing device in the embodiment of the application is fixedly connected with the tail end of the robot through the flange connection disc 1, the inside of the shell 2 is fixedly connected through screws, wherein the opening and closing movement motor 22 and the rigidity adjusting motor 21 are respectively fixed on the shell 2 through two supporting plates, that is to say, the motor is static relative to the shell 2 in the movement process, and the dangerous condition that wires are wound into a movement mechanism in the movement process is avoided.
The opening and closing movement direction in this embodiment refers to the direction in which the gripping jaw 15 moves during gripping of an object, and this direction is bidirectional, and can be gripped both inward and outward.
An opening and closing motion transmission synchronous pulley 27 is fixed on a main shaft of the opening and closing motion motor 22, torque is transmitted to the right-handed screw 16 and the left-handed screw 17 through the transmission of the opening and closing motion transmission synchronous belt 20, and the right-handed screw 16 and the left-handed screw 17 are integrally connected and fixed in a butt joint mode. The right-handed screw 16 is in spiral fit with the nut of the right-handed slide block 5, the left-handed screw 17 is in spiral fit with the nut of the left-handed slide block 5, the two slide blocks 5 are enabled to open and close along the linear guide rail 6 through spiral transmission, and then the clamping jaw 15 is driven to open and close through the variable-rigidity flexible parallel mechanism. The variable-stiffness flexible parallel mechanism is driven by a stiffness adjustment motor 21 to adjust the stiffness thereof.
The rigidity-variable flexible parallel mechanism consists of four identical parallel flexible mechanism branched chains, is arranged in a square configuration on the plane of the sliding block 5, and the upper end and the lower end of the rigidity-variable flexible parallel mechanism are respectively connected with the sliding block 5 and the clamping jaw 15 through bearings. The flexible mechanism branches are respectively flexible universal joints 11, 12, 13 and 14, leaf spring flexible joints 7, 8, 9 and 10, middle rigid connecting rods and leaf spring flexible joints 7, 8, 9 and 10 from top to bottom, and the flexible universal joints 11, 12, 13 and 14 are distributed in mirror symmetry about the middle plane of the middle rigid connecting rods. The action of the leaf spring flexible joints 7, 8, 9, 10 is equivalent to that of a revolute pair in a rigid joint, and the four flexible mechanism branched chains form a parallel configuration with a double parallelogram configuration, so that the parallelism of the two clamping jaws 15 in the mutually opening and closing movement direction and the off-axis movement direction is ensured.
The rigidity adjusting motor 21 adjusts the distribution angle of each flexible mechanism branched chain through the gear transmission mechanism to adjust the rigidity state of the variable rigidity flexible parallel mechanism. The gear transmission mechanism comprises pinions 4 which coaxially rotate with the branched chains of each flexible mechanism, and the rotation directions of every two adjacent pinions 4 are opposite. The gear transmission mechanism adjusts the distribution angle of the leaf spring flexible joints 7, 8, 9 and 10. One of the pinion gears 4 on the slider 5 is a double gear composed of two coaxial gears, the double gear is fixedly connected coaxially with a worm wheel driven by the rigidity adjusting motor 21, and the double gears are respectively meshed with the adjacent pinion gears 4.
In the embodiment, the left-handed worm wheel 18 and the right-handed worm wheel 3 are circumferentially fixed on the branched chain of the driving flexible mechanism through flat keys, and further fixed on the sliding block 5 through bearings. When the slide block 5 performs opening and closing movement along the linear guide rail 6 and the rigidity adjusting motor 21 is not started, the left-handed worm wheel 18 and the right-handed worm wheel 3 are respectively and self-locked with the left-handed worm 24 and the right-handed worm 25 due to the characteristic of reverse self-locking transmission of the worm wheel and the worm, so that the left-handed worm 24 and the right-handed worm 25 slide along a spline shaft through the spline 23, and the linkage transmission movement ensures that the opening and closing movement is decoupled from the rigidity adjusting operation, thereby reducing the control complexity of the whole rigidity-variable flexible grabbing device system.
The rigidity adjusting motor 21 in this embodiment drives torque to the left-handed worm 24 and the right-handed worm 25 through the rigidity adjusting driving synchronous belt 19, and drives the active flexible mechanism branched chain to rotate through the worm gear and worm driving, and drives the pinion 4 circumferentially fixed on the adjacent flexible mechanism branched chain sequentially through the duplex gear on the active flexible mechanism branched chain, so that the purpose of arranging the position configuration of the pinion 4 is to ensure that the driving motion between the pinion 4 is open-loop, thereby skillfully avoiding the problem of mutual interference between closed-loop gear driving, and the closed-loop gear driving may have the locking condition due to the gear clearance.
The pinion gear 4 in this embodiment belongs to external gear transmission, so that the transmission directions of every two adjacent gears in the four pinion gears 4 are opposite, thereby ensuring that the parallel branched chains of four flexible mechanisms are axisymmetric about the opening and closing movement direction and the off-axis rigidity direction in the rotation process, and the symmetrical distribution configuration in any rigidity state eliminates the problem of lateral buckling instability of the clamp holder based on the branched chain configuration of the single flexible mechanism, namely eliminates parasitic movement of the clamp holder in the off-axis rigidity direction based on the configuration of the single flexible mechanism. And because the rigidity-changing principle is that the rigidity of the flexible mechanism in the opening and closing movement direction is changed by controlling the structural form of the flexible mechanism, the mechanical rigidity-changing principle is easier to realize, and the rigidity-changing response speed is very high.
In this embodiment, two ends of a single flexible mechanism branched chain are respectively provided with a flexible universal joint 11, 12, 13 and 14, the flexible universal joints 11, 12, 13 and 14 are respectively connected with the sliding block 5 and the clamping jaw 15 through bearings, when the clamping jaw 15 just contacts an object, the axes of the two flexible universal joints 11, 12, 13 and 14 of each flexible mechanism branched chain are parallel, however, when the sliding block 5 continues to move, the axes of the two flexible universal joints 11, 12, 13 and 14 deviate, and when the rigidity of the clamping jaw 15 in the opening and closing movement direction is changed by rotating the flexible mechanism branched chain, the configuration arrangement of the double-universal-joint transmission skillfully solves the problem of unsmooth transmission of two transmission shafts in different axes, thereby ensuring the stable configuration of the flexible parallel mechanism with variable rigidity, and further improving the stability and smoothness of the whole flexible rigidity grabbing device system.
When each flexible mechanism branched chain rotates 0 degrees, the left and right clamping jaws 15 are in the lowest rigidity state, and when each flexible mechanism branched chain rotates 90 degrees, the left and right clamping jaws 15 are in the highest rigidity state. The "rigidity state" of the minimum rigidity state, the intermediate rigidity state, and the maximum rigidity state refers to the rigidity of the jaw 15 in the opening and closing movement direction in the compliant gripping apparatus.
In the variable stiffness compliant gripping apparatus of this embodiment, when gripping fragile, light-weight objects, the stiffness state between the lowest stiffness state in fig. 3 and the intermediate stiffness state in fig. 4 is preferably selected for gripping. When gripping a hard, heavy object, it is preferable to use the stiffness state between the intermediate stiffness state in fig. 4 and the highest stiffness state in fig. 5 for gripping.
For the gripping strategy, the gripping jaw 15 may be translated for a certain distance by controlling the opening and closing movement motor 22, and then the stiffness state of the gripping jaw 15 in the opening and closing movement direction may be changed by controlling the stiffness adjustment motor 21, which is effectively equivalent to applying a relatively small force on the gripped object, and then slowly applying a force on the gripped object until the gripped object is sufficiently gripped by the gripping jaw 15. It is also possible to first select a suitable stiffness state for the gripping jaw 15 in the opening and closing movement direction by controlling the stiffness adjustment motor 21, and then translate the gripping jaw 15 by a sufficient distance by controlling the opening and closing movement motor 22 until the gripped object is sufficiently gripped by the gripping jaw 15, which operation is effectively equivalent to uniformly applying force to the gripped object at a relatively high speed, according to the requirements of the gripping task. For practical operation, when precise force control assembly is required, a first clamping strategy should be selected to perform assembly operation so as to improve the flexibility and the flexibility of an assembly link. When we need to pick the objects to be grabbed with different attributes, the second clamping strategy should be selected to perform the grabbing operation, so as to select a proper stiffness state according to the attributes of the objects to be grabbed, so as to improve the adaptability of the clamping jaw 15, thereby improving the success rate of grabbing, saving a certain operation time, and further improving the efficiency of the operation.
While the foregoing embodiments have been described in some detail to illustrate the present application, it should be understood that this application is not limited to the particular embodiments disclosed, but is capable of modification, replenishment or substitution in a similar manner to those described herein without departing from the spirit and scope of the present application as defined in the appended claims.
Claims (4)
1. A become gentle and agreeable grabbing device of rigidity which characterized in that: the device comprises two sliding blocks (5) which are arranged on a linear guide rail (6) in a sliding way, wherein the sliding blocks (5) are driven by an opening and closing motor (22) and can move relatively close to and away from each other; each sliding block (5) is connected with a clamping jaw (15) for grabbing operation through a variable-rigidity flexible parallel mechanism, and the variable-rigidity flexible parallel mechanism is driven by a rigidity adjusting motor (21) to adjust the rigidity of the variable-rigidity flexible parallel mechanism;
the variable-rigidity flexible parallel mechanism comprises four identical and parallel flexible mechanism branched chains arranged between each sliding block (5) and each clamping jaw (15), wherein the flexible mechanism branched chains are arranged in a square configuration, the upper end and the lower end of each flexible mechanism branched chain are respectively connected with the sliding blocks (5) and the clamping jaws (15) through bearings, and the arrangement angles of every two adjacent flexible mechanism branched chains are distributed in a mirror symmetry manner about the plane perpendicular to the sliding blocks (5) in the middle of each flexible mechanism branched chain;
the rigidity adjusting motor (21) adjusts the distribution angle of each flexible mechanism branched chain through the gear transmission mechanism so as to adjust the rigidity state of the variable rigidity flexible parallel mechanism;
each flexible mechanism branched chain is composed of flexible universal joints (11, 12, 13 and 14), leaf spring flexible joints (7, 8, 9 and 10), middle rigid connecting rods, leaf spring flexible joints (7, 8, 9 and 10) and flexible universal joints (11, 12, 13 and 14) which are connected in series, and the gear transmission mechanism adjusts the distribution angle of the leaf spring flexible joints (7, 8, 9 and 10);
the gear transmission mechanism comprises pinions (4) coaxially rotating with the branched chains of each flexible mechanism, and the rotation directions of every two adjacent pinions (4) are opposite;
one pinion (4) on the sliding block (5) is a duplex gear formed by two coaxial gears, the duplex gear is coaxially and fixedly connected with a worm gear driven by a rigidity adjusting motor (21), and the duplex gears are respectively meshed with adjacent pinions (4);
the rigidity adjusting motor (21) drives a spline shaft to rotate through a rigidity adjusting transmission synchronous pulley (26) and a rigidity adjusting transmission synchronous belt (19), a left-handed worm (24) and a right-handed worm (25) which can axially and freely slide are arranged on the spline shaft, and the left-handed worm (24) and the right-handed worm (25) synchronously rotate with the spline shaft through a spline (23); the left-hand worm (24) is matched with a left-hand worm wheel (18) on the left sliding block (5); the right-hand worm (25) is matched with the right-hand worm wheel (3) on the right sliding block (5).
2. The compliant gripping apparatus of claim 1 wherein: the linear guide rail (6) one side be equipped with right-hand screw (16) and left-hand screw (17) that open and shut motion motor (22) drive rotatory, right-hand screw (16) and left-hand screw (17) carry out screw fit with the nut on slider (5) respectively.
3. The compliant gripping apparatus of claim 2 wherein: the right-handed screw (16) and the left-handed screw (17) are coaxially connected; the right-handed screw (16) and the left-handed screw (17) are driven to synchronously rotate by the opening and closing motion motor (22) through the opening and closing motion transmission synchronous pulley (27) and the opening and closing motion transmission synchronous belt (20).
4. The compliant gripping apparatus of claim 1 wherein: when each flexible mechanism branched chain rotates by 0 degree, the left clamping jaw (15) and the right clamping jaw (15) are in the lowest rigidity state, and when each flexible mechanism branched chain rotates by 90 degrees, the left clamping jaw and the right clamping jaw (15) are in the maximum rigidity state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810616196.5A CN108481311B (en) | 2018-06-14 | 2018-06-14 | Variable-rigidity compliant grabbing device |
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| CN201810616196.5A CN108481311B (en) | 2018-06-14 | 2018-06-14 | Variable-rigidity compliant grabbing device |
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| CN108481311A CN108481311A (en) | 2018-09-04 |
| CN108481311B true CN108481311B (en) | 2023-09-12 |
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