CN108515528A - The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line - Google Patents
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line Download PDFInfo
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- CN108515528A CN108515528A CN201810213609.5A CN201810213609A CN108515528A CN 108515528 A CN108515528 A CN 108515528A CN 201810213609 A CN201810213609 A CN 201810213609A CN 108515528 A CN108515528 A CN 108515528A
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- 230000001154 acute effect Effects 0.000 claims description 3
- 238000013519 translation Methods 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 14
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- 238000003786 synthesis reaction Methods 0.000 description 2
- 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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line, belong to robot technical field, including pedestal, motor, transmission mechanism, spout, sliding block, slide bar, the first segment, the second segment, nearly joint shaft, remote joint shaft, first axle, the second axis, third axis, first connecting rod, second connecting rod, third connecting rod, the first spring part, the second spring part, convex block, driven convex block, the first limited block, the second limited block and active shifting block.The arrangement achieves the functions of robot finger's straight line parallel clamping and self-adapting grasping；The device can linear translation the second segment grip object, suitable for thin plate-like object is captured on workbench, also can first rotate the first segment through delay conjugate rotation the second segment envelope different shapes and sizes object；It is big that the device captures range；Two segments are driven using a motor, without complicated sensing and control system；The apparatus structure is compact, small, and manufacture is low with maintenance cost, is suitable for robot.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of flat adaptive machine of folder of slide bar delay displacement straight line
The structure design of finger device.
Background technology
Robot is the important device that robot system realizes crawl function.The method for capturing object is from opposite two
Limit the movement possibility of object in this direction in a direction.There are multiple directions for the movement of object in space, in order to limit
The various movement possibilities of the grabbed object of system, need robot to show different grasp modes for different crawl objects,
To the movement of limited object all directions.Parallel clamping crawl (referred to as flat gripper takes) is a kind of common grasp mode, end
End segment remains the relatively-stationary posture of palm opposite pedestal during the motion, in the process of grasping, opposite two
Finger or multiple fingers contact object in two or more sides of object and apply grasping force, and pass through finger surface
Elastic deformation material always improves the stability of crawl to obtain soft finger face, the robot hand device of this parallel clamping by
Extensive use, referred to as industrial clamper.Industrial clamper refers to having two or more fingers, does not have joint or more on finger
The device in the joint of a coupled motions carries out grip using the mode of parallel clamping or end when capturing object to object, this
Kind grasp mode is effective for every-day object, can reach the grasping body of most types.
Robot with linear translation clamping function has been developed, such as patent WO2016063314A1, packet
Include pedestal, motor, transition transmission mechanism, the first segment, the second segment, eight connecting rods, multiple shafts etc..The device can be realized
The linear translation of second segment realizes object using the straight line parallel movement of the second segment the function of straight line parallel clamping.Its
It is disadvantageous in that：The device is only capable of realizing straight line parallel clamping function, cannot achieve the function of adaptive envelope crawl.
Under-actuated robot hand is that one kind drives more joint freedom degrees to reach preferably crawl object using less motor
The multifingered robot hands of purpose.Drive lacking hand has been developed at present to be taken and compound grasp mode with coupling crawl, flat gripper
A few class robots, wherein flat folder with adaptive compound crawl under-actuated robot hand with widely applied foreground, obtain
More research.In order to keep common flat gripper to take, while increasing and effect is captured to improve crawl range to object envelope
And grasp stability, there is the adaptive under-actuated robot hand of flat folder of parallel clamping and two kinds of grasp modes of adaptive envelope
It is developed.
A kind of existing under-actuated robot finger device, such as the patent US5762390A of Laval University, Canada, including
Pedestal, driver, transmission mechanism, six connecting rods, three segments, position-limit mechanism and multiple springs etc..The arrangement achieves flat folders
And the effect of adaptive envelope object：Initial period device rotation is whole around the nearly articulation in root, while end segment phase
Keep vertical initial attitude constant pedestal, until nearly segment contacts object, middle part articulation, middle part segment contactant
Body, end articulation, just final rotary buckle finally reaches the spy of the equal envelope crawl object of multiple segments to end segment to object
Effect.The device is disadvantageous in that：For the device in the stage that flat gripper takes, finger tips are in circular motion --- justify end
Arc is translatable, and cannot achieve the effect of end segment linear translation, when capturing object on table top, needs the accurate straight line of mechanical arm flat
Dynamic control cooperation, thus increase the dependence programmed to mechanical arm Collaborative Control.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, provide a kind of slide bar delay displacement straight line flat folder
Adaptive robot finger apparatus.The device has straight line parallel clamping and two kinds of grasp modes of self-adapting grasping：It can straight line
Object is clamped in second segment that is translatable, and also can first rotate the first segment and touches after object and is rotated further by the second segment packet by delay displacement
The object of network different shapes and sizes；Being translatable, the object stage is clamped in the second segment, and the second segment end remains the rail of straight line
Mark moves, and is suitble to capture sheet goods on the table, reduces mechanical arm requirement of programming；Only two passes are driven with a motor
Section, without complicated sensing and control system.
Technical scheme is as follows：
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs, including pedestal, the first finger
Section, the second segment, nearly joint shaft, remote joint shaft and motor；The motor and pedestal are affixed；First segment is socketed in nearly pass
On nodal axisn；The remote joint shaft is set in the first segment；Second segment is socketed on remote joint shaft；The nearly joint shaft
The center line of center line and remote joint shaft be mutually parallel；It is characterized in that：The flat adaptive machine of folder of slide bar delay displacement straight line
Device finger device further include spout, sliding block, slide bar, first connecting rod, second connecting rod, third connecting rod, first axle, the second axis,
Third axis, the first spring part, the second spring part, the first limited block, the second limited block, active shifting block, convex block, driven convex block and driver
Structure；The spout and pedestal are affixed；The sliding block sliding is embedded on spout；The nearly joint shaft is set in sliding block；
The output shaft of the motor is connected with one end of slide bar, and the other end of slide bar is socketed in first axle；The one of the first connecting rod
End cap is connected on nearly joint shaft, the other end grooved hole of the first connecting rod, and the slot is straight line slot, and the first axle is slided
It is dynamic to be embedded in slot；One end of the second connecting rod is socketed on nearly joint shaft, and the other end of second connecting rod is socketed in second
On axis；One end of the third connecting rod is socketed on the second axis, and the other end of third connecting rod is socketed on third axis；Described second
Segment is socketed on third axis；The both ends of the first spring part are separately connected the first segment and first connecting rod；The second spring part
Both ends be separately connected second connecting rod and sliding block；First limited block is fixed on first connecting rod, in initial position described in
First limited block is in contact with convex block；The convex block is fixed in the first segment；Second limited block is fixed on sliding block,
The second connecting rod is in contact with the second limited block when initial position；The active shifting block is fixed on first connecting rod, initial
There are one section of angular distance β between the active shifting block and driven convex block when position；The driven convex block and transmission mechanism it is defeated
Enter to hold affixed；The transmission mechanism is arranged on sliding block；The output end of the transmission mechanism is connected with second connecting rod；The transmission
Mechanism is speed booster driving mechanism, and speed increasing ratio is set as i, i>1；If nearly joint shaft, remote joint shaft, first axle, the second axis, third axis
Central point is respectively A, B, E, D, C, and line segment AB, line segment BC, line segment CD and line segment DA constitute parallelogram；In initial position
Line segment AE is mutually perpendicular to line segment AB；Glide direction of the sliding block in spout and glide direction of the slide bar in pedestal it
Between angle be α, α is acute angle；The ratio between the line segment AB and line segment AE are tan (pi/2-α)；Slot on the first connecting rod
Center line is conllinear with line segment AE；The nearly joint shaft, first axle, the second axis, third axis are mutually parallel；The center of the first axle
Line is mutually perpendicular to glide direction of the slide bar in pedestal.
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs, it is characterised in that：It is described
Transmission mechanism uses gear drive, belt wheel transmission mechanism, chain wheel driving mechanism or one kind or several in rope sheave transmission mechanism
The combination of kind.
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs, it is characterised in that：It is described
Transmission mechanism uses gear drive, and the transmission mechanism includes first gear, second gear, third gear, the 4th gear
And transmission shaft；The driven convex block and first gear are affixed, and the first gear is actively socketed on nearly joint shaft, and described first
Gear is engaged with second gear, and the second gear, third gear are fixed on transmission shaft respectively, and the driving sleeve is located at cunning
In block, the third gear is engaged with the 4th gear, and the 4th gear is actively socketed on nearly joint shaft, the 4th gear
It is affixed with second connecting rod.
Compared with prior art, the present invention haing the following advantages and high-lighting effect：
Apparatus of the present invention are realized using the synthesis such as motor, spout, sliding block, connecting rod, limited block, active shifting block and spring part
The function with self-adapting grasping is clamped in robot finger's straight line parallel；The device can the second segment of linear translation be clamped object,
Also the first segment can first be rotated, the first segment touches after object and conjugates the second segment envelope different shape of rotation, big by delay
Small object, if the first segment touches object, the angle of active shifting block and driven convex block is γ, 0 ＜ γ ＜ β, is actively dialled
The mean angular velocity that block is rotated around nearly joint shaft is ω, then after the first segment encounters object, the second segment is needed by delay
Start to realize the crawl of adaptive envelope close to object after time t=γ/ω, the object stage is clamped in second segment that is translatable, second
Segment end remains the track movement of straight line, is suitble to capture sheet goods on the table, reduces mechanical arm requirement of programming；
Two joints only are driven with a motor, it is simple and compact for structure, it is at low cost, without complicated sensing and control system, it is useful in
Robot needs to capture and operate the occasion of different size objects, reduces the work requirements such as artificial programming, debugging and repair, improves
Production efficiency, improve processing, manufacturing field level of intelligence.
Description of the drawings
Fig. 1 is a kind of embodiment for the flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs
Stereo appearance figure.
Fig. 2 is a front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (right view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 4 is the sectional view of the vertical view of embodiment illustrated in fig. 1, it is shown that convex block, driven convex block, active shifting block, transmission
Initial positional relationship between mechanism, the first spring part, second limited block etc..
Fig. 5 is the three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 to Fig. 9 is embodiment illustrated in fig. 1 moving to contract crawl object (inside grabbing) in such a way that straight line parallel is clamped
Make process schematic.
Figure 10 to Figure 11, which is embodiment illustrated in fig. 1, to be flared out support in such a way that straight line parallel is clamped and takes object (grabbing outside)
Action process schematic diagram.
Figure 12 to Figure 14 is that embodiment illustrated in fig. 1 captures to the right workbench body surface in such a way that straight line parallel is clamped
Action process schematic diagram.
Figure 15 to Figure 16 is that the robot that embodiment illustrated in fig. 1 is constituted is grabbed in such a way that straight line parallel is clamped to contract
Take and (inside grab) the action process schematic diagram of table surface object.
Figure 17 to Figure 18 is that embodiment illustrated in fig. 1 captures table surface object to the left in such a way that straight line parallel is clamped
Action process schematic diagram.
Figure 19 to Figure 20 is that the robot that embodiment illustrated in fig. 1 is constituted is flared out support in such a way that straight line parallel is clamped
Take and (grab outside) the action process schematic diagram of table surface object.
Figure 21 to Figure 23 is the action process signal that embodiment illustrated in fig. 1 captures object in such a way that adaptive envelope is held
Figure.
Figure 24 to Figure 26 is that the robot that embodiment illustrated in fig. 1 is constituted captures object with adaptive envelope holding mode
Action process schematic diagram.
Figure 27 to Figure 29 is the partial sectional view of embodiment illustrated in fig. 1, show sliding block, second connecting rod, the first limited block,
The position relationship of active shifting block, the second limited block, convex block, the first spring part and the second spring part at the different motion moment (is not drawn into portion
Divide part).
Figure 30 is the partial view (being not drawn into part) of embodiment illustrated in fig. 1, shows the position of A, B, C, D, E point
It sets and when initial position, the position relationship of each connecting rod.
Figure 31 is slide bar, first connecting rod, sliding block, spout shown in Figure 30 and the multi-connecting-rod mechanism letter that the first segment is constituted
Figure, shows that the motion track of the first segment end when the first segment is not in contact with object, the straight path are exactly the present embodiment
The second segment straight line parallel clamping motion track, i.e., embodiment end straight line parallel movement schematic diagram.
In Fig. 1 to Figure 31：
1- pedestals, the first segments of 21-, the second segments of 22-, the nearly joint shafts of 31-,
The remote joint shafts of 32-, 11- motors, 12- transmission mechanisms, 41- spouts,
42- sliding blocks, 5- slide bars, 51- first connecting rods, 52- second connecting rods,
53- third connecting rods, 61- first axles, the second axis of 62-, 63- third axis,
71- the first spring parts, 72- the second spring parts, the first limited blocks of 81-, the second limited blocks of 82-,
91- convex blocks, the driven convex blocks of 92-, 93- active shifting blocks, 100- objects.
Specific implementation mode
The concrete structure of the present invention, the content of operation principle are described in further detail with reference to the accompanying drawings and embodiments.
A kind of embodiment for the flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs, such as schemes
1 to shown in Fig. 6, including pedestal 1, the first segment 21, the second segment 22, nearly joint shaft 31, remote joint shaft 32 and motor 11；It is described
Motor 11 and pedestal 1 are affixed；First segment 21 is socketed on nearly joint shaft 31；The remote joint shaft 32 is set in the first finger
In section 21；Second segment 22 is socketed on remote joint shaft 32；The center line of the nearly joint shaft 31 and remote joint shaft 32
Center line is mutually parallel；It is characterized in that：The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line further includes sliding
Slotware 41, sliding block 42, slide bar 5, first connecting rod 51, second connecting rod 52, third connecting rod 53, first axle 61, the second axis 62, third axis
63, the first spring part 71, the second spring part 72, the first limited block 81, the second limited block 82, convex block 91, driven convex block 92, active shifting block
93 and transmission mechanism 12；The spout 41 and pedestal 1 are affixed；The sliding of the sliding block 42 is embedded on spout 41；It is described close
Joint shaft 31 is set in sliding block 42；The output shaft of the motor 11 is connected with one end of slide bar 5, the other end socket of slide bar 5
In first axle 61；One end of the first connecting rod 51 is socketed on nearly joint shaft 31, and the other end of the first connecting rod 51 has
Slot, the slot are straight line slot；The sliding of the first axle 61 is embedded in slot；One end of the second connecting rod 52 is socketed
On nearly joint shaft 31, the other end of second connecting rod 52 is socketed on the second axis 62；One end of the third connecting rod 53 is socketed in
On second axis 62, the other end of third connecting rod 53 is socketed on third axis 63；Second segment 22 is socketed on third axis 63；
The both ends of the first spring part 71 are separately connected the first segment 21 and first connecting rod 51；The both ends of the second spring part 72 connect respectively
Connect second connecting rod 52 and sliding block 42；First limited block 81 is fixed on first connecting rod 51, in initial position described in first
Limited block 81 is in contact with convex block 91；The convex block 91 is fixed in the first segment 21；Second limited block 82 is fixed in cunning
On block 42, in initial position, the second connecting rod 52 is in contact with the second limited block 82；The active shifting block 93 is fixed in
On one connecting rod 51, in initial position, there are one section of angular distance β between the active shifting block 93 and driven convex block 92；It is described from
Dynamic convex block 92 and the input terminal of transmission mechanism 12 are affixed；The transmission mechanism 12 is arranged on sliding block 42；The transmission mechanism 12
Output end be connected with second connecting rod 52；The transmission mechanism 12 is speed booster driving mechanism, and speed increasing ratio is set as i, i>1；If close close
Nodal axisn 31, remote joint shaft 32, first axle 61, the second axis 62, third axis 63 central point be respectively A, B, E, D, C, line segment AB, line
Section BC, line segment CD and line segment DA constitute parallelogram；In initial position, line segment AE and line segment AB is mutually perpendicular to；The sliding block
Angle between 42 glide direction of the glide direction and slide bar 5 in pedestal 1 in spout 41 is α, and α is acute angle；It is described
The ratio between line segment AB and line segment AE are tan (pi/2-α)；The center line of slot on the first connecting rod 51 is conllinear with line segment AE；Institute
Nearly joint shaft 31, first axle 61, the second axis 62, third axis 63 is stated to be mutually parallel；The center line of the first axle 61 exists with slide bar 5
Glide direction in pedestal 1 is mutually perpendicular to.
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs, it is characterised in that：It is described
Transmission mechanism 12 using gear drive, belt wheel transmission mechanism, chain wheel driving mechanism or one kind in rope sheave transmission mechanism or
Several combinations.
The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line that the present invention designs, it is characterised in that：It is described
It includes first gear, second gear, third gear, the 4th that transmission mechanism 12, which uses gear drive, the transmission mechanism 12,
Gear and transmission shaft；The driven convex block 92 and first gear are affixed, and the first gear is actively socketed on nearly joint shaft 31,
The first gear is engaged with second gear, and the second gear, third gear are fixed on transmission shaft respectively, the transmission shaft
It being set in sliding block 42, the third gear is engaged with the 4th gear, and the 4th gear is actively socketed on nearly joint shaft 31,
4th gear and second connecting rod 52 are affixed.
The operation principle of the present embodiment, is described below in conjunction with attached drawing：
When the present embodiment is in original state, as shown in figure 27.First spring part 71 is twisted when being in original state, and first
Limited block 81 is contacted with convex block 91, ensures 21 central axis of center line and the first segment of first connecting rod 51.Motor 11 rotates,
Band moving slide-bar 5 is translatable, and first connecting rod 51 is rotated around nearly joint shaft 31, when first connecting rod 51 is around 31 rotation angle of nearly joint shaft
When less than the initial angle β of active shifting block 93 and driven convex block 92, because active shifting block 93 is fixed on first connecting rod 51,
The rotation angle of active shifting block 93 is contactless between active shifting block 93 and driven convex block 92 at this time again smaller than β, at this point, because the
Tension when two spring 72 original states of part, second connecting rod 52 is close to the second limited block 82 under elastic force effect, and second connecting rod 52 will not
It relatively rotates；Second connecting rod 52 only translates, and the line segment AD in parallelogram ABCD is driven to be moved along spout；This
When triangle EAB be right angled triangle, the angle of line segment AB and BE are α, meet linear translation principle shown in Figure 31 so that the
Two segments, 22 linear translation.The proof of mechanism principle shown in Figure 31 is given below.
It is known：∠ EOA=α, AB/AE=tan (pi/2-α), EA ⊥ AB, at a time, point E1、A1、B1Respectively point E,
A, B post exercises current point, point E1It is translatable on straight line EO, corresponding, A1It is accordingly translatable on straight line OA, will be proven below point B1
Be translatable on straight line BO, and straight line BO vertically with straight line EO.
Q EA⊥AB.
∴ line segments EB is the diameter of a circle of 3 points of passing point E, A, B
QAB/AE=tan (pi/2-α)
∴ ∠ EBA=α (1)
Q ∠ EOA=α (2) again
It is obtained by (1), (2)：∠ EOA=∠ EBA=α
According to " corresponding two angles of circumference of same string are equal, then four points are concyclic ",
4 points of concyclic of ∴ points O, E, A, B
Remember ∠ AEB=β, has：β=pi/2-α
According to " angle of circumference of identical chord length is equal ",
Then 4 points of point O, E, A, B concyclic middle corresponding chord length AB ∠ AOB=∠ AEB=β,
And a line of β is fixed straight line AO,
Therefore the another a line of β be straight line BO, BO be it is fixed,
That is B1Put the on straight line BO always
Q alpha+betas=pi/2,
∴BO⊥EO.
Proof terminates.
When the present embodiment captures object, will present two kinds of grasp modes, i.e., the flat clip mode of straight line (first stage) and from
Envelope grasp mode (second stage) is adapted to, is described below:
(1) the flat clip mode of straight line
When the first segment 21 and the second segment 22 do not encounter object 100 or the second segment 22 connects prior to the first segment 21
When touching object 100, which will be using the grasp mode of the flat folder of straight line；Motor 11 is rotated further, when first connecting rod 51 is around close
When 31 rotation angle of joint shaft is less than the initial angle β of active shifting block 93 and driven convex block 92, because active shifting block 93 is fixed on
On first connecting rod 51, so the rotation angle of active shifting block 93 is again smaller than β, nothing between active shifting block 93 and driven convex block 92 at this time
Contact, because of 72 tension of the second spring part, second connecting rod 52 is close to the second limited block 82 under elastic force effect, and second connecting rod 52 will not
It relatively rotates；Because prestressing force effect is twisted, the first limited block 81 contacts the first spring part 71 with convex block 91 simultaneously, ensures
The center line of first connecting rod 51 is vertical with the 21 center line holding of the first segment；Meet linear translation principle shown in Figure 31 so that
Second segment, 22 linear translation is until touching object 100, and motor 11 is stopped at this time, and the straight line to realize the device is flat
Press from both sides function.As shown in Fig. 7 to Figure 18.
(2) adaptive envelope grasp mode
When the first segment 21 touches object 100 prior to the second segment 22, which will use adaptive envelope to capture
Pattern；Motor 11 is rotated further, and after the first segment 21 touches object 100, the first segment 21 will be unable to rotate again,
Motor 11 is rotated further, and 5 one side of slide bar is translatable under the drive of motor 11, is slided on one side along the slot of 51 one end of first connecting rod
It is dynamic, drive first connecting rod 51 to be rotated further so that and the first spring part 71 continues to deform, convex block 91 and the separation of the first limited block 81, the
The vertical relation of the center line of one connecting rod 51 and the center line of the first segment 21 is destroyed；If the first segment 21 touches object
When 100, the angle of active shifting block 93 and driven convex block 92 is γ, and 0 ＜ γ ＜ β, active shifting block 93 is around the rotation of nearly joint shaft 31
Mean angular velocity be ω, then after the first segment 21 encounters object, after delay time t=γ/ω, active shifting block 93 contact
To driven convex block 92, as shown in figure 28, motor 11 is rotated further, and the first segment 21 still can not rotate so that the second spring part 72
Continue the deformation that is stretched, active shifting block 93 pushes driven convex block 92 to rotate, and transmission mechanism 12 is driven to rotate, because second connecting rod 52 with
The output end of transmission mechanism 12 is affixed, and second connecting rod 52 is rotated around nearly joint shaft 31, drives third connecting rod 53 around the second axis
62 rotation so that the second segment 22 around remote joint shaft 32 rotate, the second segment start it is close to object 100, until second refer to
Section 22 is contacted with object 100, and motor 11 is stopped, and crawl terminates.As shown in Figure 21 to Figure 23.For different shapes and sizes
Object, the present embodiment have adaptivity, the object of different shape and size can be captured.
When discharging object, motor reversal, with the above process just on the contrary, repeating no more.
Apparatus of the present invention realize robot finger using motor, transmission mechanism, limited block, active shifting block and spring part synthesis
The function with self-adapting grasping is clamped in straight line parallel；Can the second segment of linear translation be clamped object, also can first rotate the first finger
Section conjugates the object for being rotated further by the second segment envelope different shapes and sizes by delay after touching object；In linear translation second
The object stage is clamped in segment, and the second segment end remains the track movement of straight line, is suitble to capture thin plate object on the table
Body reduces mechanical arm requirement of programming；Two joints only are driven with a motor, it is simple and compact for structure, it is at low cost, without complexity
Sensing and control system are useful in robot and need to capture and operate the occasion of different size objects, reduce artificial programming, debugging
With repair etc. work requirements, improve production efficiency, improve processing, manufacturing field level of intelligence.
Claims (3)
1. a kind of flat folder adaptive robot finger apparatus of slide bar delay displacement straight line, including pedestal, the first segment, the second finger
Section, nearly joint shaft, remote joint shaft and motor；The motor and pedestal are affixed；First segment is socketed on nearly joint shaft；Institute
Remote joint shaft is stated to be set in the first segment；Second segment is socketed on remote joint shaft；The center line of the nearly joint shaft
It is mutually parallel with the center line of remote joint shaft；It is characterized in that：The flat folder adaptive robot finger of slide bar delay displacement straight line
Device further includes spout, sliding block, slide bar, first connecting rod, second connecting rod, third connecting rod, first axle, the second axis, third axis,
One spring part, the second spring part, the first limited block, the second limited block, active shifting block, convex block, driven convex block and transmission mechanism；The cunning
Slotware is affixed with pedestal；The sliding block sliding is embedded on spout；The nearly joint shaft is set in sliding block；The motor
Output shaft is connected with one end of slide bar, and the other end of slide bar is socketed in first axle；One end of the first connecting rod is socketed in closely
On joint shaft, the other end grooved hole of the first connecting rod, the slot is straight line slot, and the first axle sliding is embedded in slot
Kong Zhong；One end of the second connecting rod is socketed on nearly joint shaft, and the other end of second connecting rod is socketed on the second axis；Described
One end of three-link is socketed on the second axis, and the other end of third connecting rod is socketed on third axis；Second segment is socketed in
On third axis；The both ends of the first spring part are separately connected the first segment and first connecting rod；Distinguish at the both ends of the second spring part
Connect second connecting rod and sliding block；First limited block is fixed on first connecting rod, in initial position described in the first limited block
It is in contact with convex block；The convex block is fixed in the first segment；Second limited block is fixed on sliding block, in initial position
The second connecting rod is in contact with the second limited block；The active shifting block is fixed on first connecting rod, in initial position described in
There are one section of angular distance β between active shifting block and driven convex block；The input terminal of the driven convex block and transmission mechanism is affixed；Institute
Transmission mechanism is stated to be arranged on sliding block；The output end of the transmission mechanism is connected with second connecting rod；The transmission mechanism is speedup
Transmission mechanism, speed increasing ratio are set as i, i>1；If the central point difference of nearly joint shaft, remote joint shaft, first axle, the second axis, third axis
For A, B, E, D, C, line segment AB, line segment BC, line segment CD and line segment DA constitute parallelogram；Line segment AE and line in initial position
Section AB is mutually perpendicular to；Angle between the glide direction of glide direction and slide bar in pedestal of the sliding block in spout is
α, α are acute angle；The ratio between the line segment AB and line segment AE are tan (pi/2-α)；The center line and line of slot on the first connecting rod
Section AE is conllinear；The nearly joint shaft, first axle, the second axis, third axis are mutually parallel；The center line of the first axle exists with slide bar
Glide direction in pedestal is mutually perpendicular to.
2. the flat folder adaptive robot finger apparatus of slide bar delay displacement straight line as described in claim 1, it is characterised in that：Institute
State transmission mechanism using gear drive, belt wheel transmission mechanism, chain wheel driving mechanism or one kind in rope sheave transmission mechanism or
Several combinations.
3. the flat folder adaptive robot finger apparatus of slide bar delay displacement straight line as claimed in claim 2, it is characterised in that：Institute
It states transmission mechanism and uses gear drive, the transmission mechanism includes first gear, second gear, third gear, the 4th tooth
Wheel and transmission shaft；The driven convex block and first gear are affixed, and the first gear is actively socketed on nearly joint shaft, and described
One gear is engaged with second gear, and the second gear, third gear are fixed on transmission shaft respectively, and the driving sleeve is located at
In sliding block, the third gear is engaged with the 4th gear, and the 4th gear is actively socketed on nearly joint shaft, the 4th tooth
Wheel is affixed with second connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810213609.5A CN108515528B (en) | 2018-03-15 | 2018-03-15 | Sliding rod time-delay deflection linear parallel clamping self-adaptive robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810213609.5A CN108515528B (en) | 2018-03-15 | 2018-03-15 | Sliding rod time-delay deflection linear parallel clamping self-adaptive robot finger device |
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| Publication Number | Publication Date |
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| CN108515528A true CN108515528A (en) | 2018-09-11 |
| CN108515528B CN108515528B (en) | 2020-09-25 |
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| CN201810213609.5A Expired - Fee Related CN108515528B (en) | 2018-03-15 | 2018-03-15 | Sliding rod time-delay deflection linear parallel clamping self-adaptive robot finger device |
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| CN109571519A (en) * | 2018-12-06 | 2019-04-05 | 清华大学 | The flat folder adaptive robot finger apparatus of the double transmission belt straight lines of sliding slot |
| CN109605404A (en) * | 2018-11-27 | 2019-04-12 | 安徽工业大学 | The flat folder adaptive robot finger apparatus of sliding slot parallel connection link linear |
| CN109648589A (en) * | 2019-01-22 | 2019-04-19 | 北京邮电大学 | A kind of dexterous robot mechanical finger device with functions based on cylinder driving |
| CN110053036A (en) * | 2019-05-24 | 2019-07-26 | 清研先进制造产业研究院(洛阳)有限公司 | The flat folder indirect self-adaptive robot finger apparatus of concyclic slide bar straight line |
| CN110788875A (en) * | 2019-10-14 | 2020-02-14 | 安徽大学 | Single-motor-driven self-adaptive paw with RCC function |
| CN113319837A (en) * | 2021-06-29 | 2021-08-31 | 北京因时机器人科技有限公司 | Metamorphic mechanism, mechanical finger and mechanical dexterous hand |
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| CN113319837A (en) * | 2021-06-29 | 2021-08-31 | 北京因时机器人科技有限公司 | Metamorphic mechanism, mechanical finger and mechanical dexterous hand |
| CN113319837B (en) * | 2021-06-29 | 2022-08-16 | 北京因时机器人科技有限公司 | Metamorphic mechanism, mechanical finger and mechanical dexterous hand |
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