CN109129530A - Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel - Google Patents
Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel Download PDFInfo
- Publication number
- CN109129530A CN109129530A CN201811077019.0A CN201811077019A CN109129530A CN 109129530 A CN109129530 A CN 109129530A CN 201811077019 A CN201811077019 A CN 201811077019A CN 109129530 A CN109129530 A CN 109129530A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- axis
- segment
- joint shaft
- spring part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 64
- 150000001875 compounds Chemical class 0.000 title claims abstract description 34
- 210000003811 finger Anatomy 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 210000003813 thumb Anatomy 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000007704 transition Effects 0.000 claims description 20
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 34
- 238000010168 coupling process Methods 0.000 abstract description 34
- 238000005859 coupling reaction Methods 0.000 abstract description 34
- 210000001503 joint Anatomy 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 26
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel, belongs to robot technical field, including pedestal, two segments, two joint shafts, two motors, multiple connecting rods, multiple axis, thumb wheel, shifting block and three spring parts etc..The device passes through the second motor driven third connecting rod, on the one hand four-bar mechanism cross singular point to switch between the figure of eight and parallelogram, switch to reach coupling with flat clip-like state, on the other hand the active control to the second segment may be implemented using the second motor active drive third connecting rod, pattern switching and middle joint, which are adjusted, to be easy.The device is not only able to achieve flat folder self-adapting grasping, but also is able to achieve coupling adaptive crawl, can also actively adjust turned position of second segment relative to the first segment at any time.It can control and be easy with self-adapting grasping different shape size objects when grabbing object, manufacture is low with maintenance cost, is applicable in the robot of crawl function.
Description
Technical field
The invention belongs to robot technical field, in particular to a kind of multi-mode grabs the compound adaptive machine of connecting rod in parallel
The structure of device finger device designs.
Background technique
Robot research field at present, multifingered robot hands are one of research hotspots.How to make robot finger more preferable
Ground, which adapts to object different shape size, becomes an important research direction.Under-driving robot finger is with a small amount of motor driven
One of the finger in multiple joints reduces the demand to sensing and control system, have become a hot topic of research.Under-actuated finger is divided into
Couple finger, three basic class of flat clip finger and adaptive finger and coupling adaptive finger, adaptive two, finger of flat folder
Compound crawl classification.There are many prominent advantages for each.
Coupling each joint of finger is bent simultaneously, and the degree that personalizes during exercise is high, while it is rapider to grab object, is easy reality
The function of the end grip object of existing finger tip.Flat clip finger remains that end segment keeps the appearance fixed with pedestal during exercise
State --- end segment keeps translation in movement, is suitable for parallel clamping (referred to as flat folder) object.But coupling finger or flat clamp hand
Finger can not be adjusted according to actual conditions such as body form sizes, can not reach the envelope that multiple segments all contact and hold
Object function.
Adaptive finger can change each joint angles of finger according to object shape when grabbing object automatically, and first root is closed
Bent-segment, then middle part arthrogryposis in prior unknown object geomery and does not have to adapt to be grabbed object outer dimension again
Reach self-adapting grasping effect in the case where having electronic sensor detection.But adaptive finger is in root joint curved
Joint is not bent always in the middle part of one stage, and rigid finger movement had both affected the personification of finger, but also the finger is uncomfortable
Close the end grip function of completing finger tip or parallel clamping object function.
The finger of manpower can be realized crawl and the big function of gesture motion two, wherein crawl again have accurate end grip and
The more segments of strength type hold two major classes.It is adaptive that coupling function or flat folder function are introduced into the coupling realized in adaptive finger
Finger or the flat adaptive finger of folder are answered, this is the important improvement to adaptive finger.They contact the first segment before object
Bending process and the bending in middle joint be coupled together, reach prebuckling effect.In addition, gesture include the nearly joint of flexible motion and
Middle joint realizes the crawl of object and the functions such as operation in the hand near palm.Traditional coupling adaptive finger or
The flat adaptive finger of folder can not achieve joint position in dexterous adjust, thus using being extremely limited in robot.
The flexible motion in each joint is extremely important in gesture interaction.
It is existing it is a kind of with coupling with the compound crawl robot finger apparatus (Chinese invention patent adaptively combined
CN101664929B), including pedestal, motor, transmission mechanism, nearly joint shaft, remote joint shaft, middle part segment, end segment, coupling
Link mechanism, adaptive link mechanism, two spring parts and limited block.Coupling and adaptive compound crawl may be implemented in the device.
Disadvantage is that: the device does not have parallel clamping function；The device also can not the second segment of flexible modulation, cannot complete
The flexible gesture of finger.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, it is multiple to provide a kind of multi-mode crawl connecting rod in parallel
Close adaptive robot finger apparatus.There are two joints for device tool, for grabbing the robot of object.The device can
It realizes flat folder and adaptive compound crawl function, and is able to achieve coupling and adaptive compound crawl function, additionally it is possible to freely adjust
Middle part joint position of i.e. the second segment relative to the first segment switches between multiple modes and is easy.
Technical scheme is as follows:
The multi-mode that the present invention designs grabs the compound adaptive robot finger apparatus of connecting rod in parallel, including pedestal, first
Segment, the second segment, nearly joint shaft, remote joint shaft, first motor, the first transmission mechanism, first connecting rod, second connecting rod, first
Axis and the second axis；The first motor and pedestal are affixed, the input terminal of the output shaft of the first motor and the first transmission mechanism
It is connected；The nearly joint shaft is set in pedestal, and first segment is actively socketed on nearly joint shaft, the remote joint axle sleeve
It is located in the second segment, second segment is actively socketed on remote joint shaft；Distinguish movable sleeve in the both ends of the first connecting rod
It connects in nearly joint shaft, first axle；The both ends of the second connecting rod are actively socketed on first axle, on the second axis respectively；Described
Two segments are actively socketed on nearly joint shaft, on the second axis respectively；The nearly joint shaft, remote joint shaft, first axle, in the second axis
Heart line is parallel to each other；It is characterized by: it further includes that the multi-mode, which grabs the compound adaptive robot finger apparatus of connecting rod in parallel,
Three-link, fourth link, third axis, the second motor, the second transmission mechanism, thumb wheel, shifting block, the first spring part, the second spring part and
Three spring parts；The both ends of the third connecting rod are actively socketed on nearly joint shaft, on third axis respectively；The both ends of the fourth link point
It is not actively socketed on third axis, on the second axis；If the central point of nearly joint shaft, remote joint shaft, first axle, the second axis, third axis
For A, B, C, D, E；In the initial state, line segment AB, BD, DE, EA constitutes the figure of eight；The length and line segment BD of line segment AE
Equal length；The length of line segment AB and the equal length of line segment ED；The length of line segment AC is greater than the length of line segment BD；Described
The both ends of one spring part are separately connected the output end and first connecting rod of the first transmission mechanism；The second spring part both ends are separately connected
The output end and thumb wheel of two transmission mechanisms；The thumb wheel is actively socketed on nearly joint shaft；The shifting block is fixed on thumb wheel；?
When original state, the shifting block is contacted with third connecting rod；The both ends of the third spring part are separately connected third connecting rod and pedestal；If
The tie point of third spring part and third connecting rod is Q, and the length of line segment AQ is not zero；If the tie point of third spring part and pedestal is W,
The length of line segment AW is not zero；Point W is on the extended line that the subpoint on straight line BA is located at line segment BA；The third axis and first
The center line of axis is parallel to each other.
Multi-mode of the present invention grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that: institute
Stating the first transmission mechanism includes the first retarder, worm screw, worm gear, First Transition axis, first gear and second gear；Described first
The output shaft of motor is connected with the input shaft of the first retarder, and the worm screw is fixed on the output shaft of the first retarder, described
Worm and wheel engagement, the worm gear are fixed on First Transition axis, and the first gear is fixed on First Transition axis, described
First gear is engaged with second gear, and the second gear is actively socketed on nearly joint shaft, the second spring part both ends difference
Connect second gear and first connecting rod.
Multi-mode of the present invention grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that: institute
Stating the second transmission mechanism includes the second retarder, first bevel gear, second bevel gear, the second transition axis, first pulley, the second band
Wheel and transmission belt；The output shaft of second motor is connected with the input shaft of the second retarder, and the first bevel gear is fixed in
On the output shaft of second retarder, the second bevel gear and first bevel gear engagement, the second bevel gear are fixed in second
On transition axis, the first pulley is fixed on the second transition axis, the transmission band connection first pulley, the second belt wheel；It is described
First pulley, driving member, the second belt wheel three form drive connection；Second belt wheel is actively socketed on nearly joint shaft, institute
It states third spring part both ends and is separately connected the second belt wheel and thumb wheel.
Multi-mode of the present invention grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that: institute
The first spring part is stated using torsional spring, tension spring or pressure spring；The second spring part uses torsional spring, tension spring or pressure spring；The third spring part is adopted
With torsional spring, tension spring or pressure spring.
Multi-mode of the present invention grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that: point W
On the extended line of line segment BA.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention are realized using two motors, multiple connecting rods, multiple axis, thumb wheel, shifting block and three spring parts etc. are comprehensive
Flat folder, coupling, adaptively adjust with active in the function that blends of the various modes such as joint.The device has there are two joint,
For grabbing the robot of object, be not only able to achieve flat folder and adaptive compound crawl function, but be able to achieve coupling with it is adaptive
Answer compound crawl function, additionally it is possible to freely adjust middle part joint position of i.e. the second segment relative to the first segment.Device tool
There are three types of states: coupling adaptive state, the adaptive state of flat folder and the adaptive state of active.The device is driven by the second motor
Dynamic third connecting rod, on the one hand makes four-bar mechanism cross singular point and switches between the figure of eight and parallelogram, to reach
Coupling switches with flat clip-like state, and the master to the second segment on the other hand may be implemented using the second motor active drive third connecting rod
Dynamic control, pattern switching and middle joint, which are adjusted, to be easy.In coupling adaptive state, the device can using coupling with it is adaptive
The mode of compound crawl works, and crawl object can be removed with multi-joint while coupling rotational；In the adaptive state of flat folder, the device
It can be worked using the mode of parallel clamping and adaptive compound crawl, the appearance that the second segment is fixed relative to pedestal can be kept
State goes to clamp object in parallel；In actively adaptive state, it can be reached simultaneously using first motor, the second motor and actively be adjusted
The function of each joint angles realizes dexterous gesture.In coupling adaptive, flat folder adaptively or under the adaptive three kinds of states of active,
The device all has the function of self-adapting grasping object, it can the object of self-adapting grasping different shape, size.The device is grabbed
Take function more, compact-sized, stable transmission is reliable, can in the process of grasping any time carry out free switching, handoff procedure
It is at low cost without stopping grasping movement, without complicated sensing and control system, the flexible crawl to various objects may be implemented
With various gesture motions, suitable for have general crawl in the various types robot of gesture motion demand.
Detailed description of the invention
Fig. 1 is a kind of implementation that the multi-mode that the present invention designs grabs the compound adaptive robot finger apparatus of connecting rod in parallel
The stereo appearance figure of example.
Fig. 2 is the stereo appearance figure in another direction of embodiment illustrated in fig. 1.
Fig. 3 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 4 is the side external view (right side view of Fig. 3) of embodiment illustrated in fig. 1.
Fig. 5 is the inside three-dimensional view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 is that embodiment illustrated in fig. 1 (is not drawn into part) in couple state.
Fig. 8 is that embodiment illustrated in fig. 1 carries out (being not drawn into part from couple state to the pilot process figure that flat clip-like state switches
Part).
Fig. 9 is that embodiment illustrated in fig. 1 (is not drawn into part) in flat clip-like state.
Figure 10 is that the pilot process figure that embodiment illustrated in fig. 1 switch from flat clip-like state to couple state (is not drawn into portion
Divide part).
Figure 11 is mechanism principle schematic diagram of the embodiment illustrated in fig. 1 in flat clip-like state.
Figure 12 is that action process mechanism of the embodiment illustrated in fig. 1 in couple state using adaptive envelope crawl object is simple
Figure.
Figure 13 is that action process mechanism of the embodiment illustrated in fig. 1 in flat clip-like state using adaptive envelope crawl object is simple
Figure.
In Fig. 1 into Figure 13:
1- pedestal, the first segment of 21-, the second segment of 22-, the nearly joint shaft of 31-,
The remote joint shaft of 32-, 41- first connecting rod, 42- second connecting rod, 43- third connecting rod,
44- fourth link, 51- first axle, the second axis of 52-, 53- third axis,
6- first motor, the first retarder of 61-, 62- worm screw, 63- worm gear,
64- transition axis, 65- first gear, 66- second gear, the second motor of 7-,
The second retarder of 71-, 72- first bevel gear, 73- second bevel gear, the second transition axis of 74-,
75- first pulley, the second belt wheel of 76-, 77- transmission belt, 8- thumb wheel,
81- shifting block, 91- the first spring part, 92- the second spring part, 93- third spring part,
100- object.
Specific embodiment
The content of specific structure of the invention, working principle is described in further detail with reference to the accompanying drawings and embodiments.
The multi-mode that the present invention designs grabs a kind of embodiment of the compound adaptive robot finger apparatus of connecting rod in parallel, such as
Shown in Fig. 1 to Fig. 7, including pedestal 1, the first segment 21, the second segment 22, nearly joint shaft 31, remote joint shaft 32, first motor 6
With the first transmission mechanism, first connecting rod 41, second connecting rod 42, first axle 51 and the second axis 52；The first motor 6 and pedestal 1
Affixed, the output shaft of the first motor 6 is connected with the input terminal of the first transmission mechanism；The nearly joint shaft 31 is set in pedestal
In 1, first segment 21 is actively socketed on nearly joint shaft 31, and the remote joint shaft 32 is set in the second segment 22, institute
The second segment 22 is stated to be actively socketed on remote joint shaft 32；The both ends of the first connecting rod 41 are actively socketed on nearly joint shaft respectively
31, in first axle 51；The both ends of the second connecting rod 42 are actively socketed on first axle 51, on the second axis 52 respectively；Described second
Segment 22 is actively socketed on nearly joint shaft 31, on the second axis 52 respectively；The nearly joint shaft 31, remote joint shaft 32, first axle 51,
The center line of second axis 52 is parallel to each other；The present embodiment further includes third connecting rod 43, fourth link 44, the 53, second electricity of third axis
Machine 7, the second transmission mechanism, thumb wheel 8, shifting block 81, the first spring part 91, the second spring part 92 and third spring part 93；The first connecting rod
41 are actively socketed on nearly joint shaft 31, and the both ends of the third connecting rod 43 are actively socketed on nearly joint shaft 31, third axis respectively
On 53；The both ends of the fourth link 44 are actively socketed on third axis 53, on the second axis 52 respectively；If nearly joint shaft 31, remote pass
Nodal axisn 32, first axle 51, the second axis 52, third axis 53 central point be A, B, C, D, E；In the initial state, line segment AB, BD,
DE, EA constitute the figure of eight (as shown in Figure 7)；The length of line segment AE and the equal length of line segment BD；The length of line segment AB with
The equal length of line segment ED；The length of line segment AC is greater than the length of line segment BD；The both ends of the first spring part 91 are separately connected
The output end and first connecting rod 41 of one transmission mechanism；The both ends of the second spring part 92 are separately connected the output of the second transmission mechanism
End and thumb wheel 8；The thumb wheel 8 is actively socketed on nearly joint shaft 31；The shifting block 81 is fixed on thumb wheel 8；In original state
When, the shifting block 81 is contacted with third connecting rod 43；The both ends of the third spring part 93 are separately connected third connecting rod 43 and pedestal 1；
If the tie point of third spring part 93 and third connecting rod 43 is Q, the length of line segment AQ is not zero；If third spring part 93 and pedestal 1
Tie point is W, and the length of line segment AW is not zero；Point W is on the extended line that the subpoint on straight line BA is located at line segment BA；Described
Three axis and the center line of first axle are parallel to each other.
In the present embodiment, first transmission mechanism includes the first retarder 61, worm screw 62, worm gear 63, First Transition axis
64, first gear 65 and second gear 66；The output shaft of the first motor 6 is connected with the input shaft of the first retarder 61, institute
It states worm screw 62 to be fixed on the output shaft of the first retarder 61, the worm screw 62 engages with worm gear 63, and the worm gear 63 is fixed in
On First Transition axis 64, the first gear 65 is fixed on First Transition axis 64, the first gear 65 and second gear 66
Engagement, the second gear 66 are actively socketed on nearly joint shaft 31, and 92 both ends of the second spring part are separately connected second gear
66 and first connecting rod 41.
In the present embodiment, second transmission mechanism includes the second retarder 71, first bevel gear 72, second bevel gear
73, the second transition axis 74, first pulley 75, the second belt wheel 76 and transmission belt 77；The output shaft of second motor 7 subtracts with second
The input shaft of fast device 71 is connected, and the first bevel gear 72 is fixed on the output shaft of the second retarder 71, the second cone tooth
Wheel 73 and first bevel gear 72 engage, and the second bevel gear 73 is fixed on the second transition axis 74,75 sets of the first pulley
Gu second belt wheel 76 is actively socketed on nearly joint shaft 31 on the second transition axis 74, the connection of transmission belt 77 first
Belt wheel 75, the second belt wheel 76；The first pulley 75, transmission belt 77 and 76 three of the second belt wheel form drive connection；Described
Three spring parts, 93 both ends are separately connected the second belt wheel 76 and thumb wheel 8.
Multi-mode of the present invention grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that: institute
The first spring part is stated using torsional spring, tension spring or pressure spring；The second spring part uses torsional spring, tension spring or pressure spring；The third spring part is adopted
With torsional spring, tension spring or pressure spring.In the present embodiment, the first spring part 91 uses torsional spring；The second spring part 92 uses torsional spring；Institute
Third spring part 93 is stated using tension spring.
In the present embodiment, point W is located on the extended line of line segment BA.
The working principle of the present embodiment is described below in conjunction with attached drawing:
(1) state switches
In couple state, first motor 6 is to realize coupling and adaptive compound crawl, in flat clip-like state, the first electricity
Machine 6 is to realize flat folder self-adapting grasping；Second motor 7 is the switching for realizing couple state and flat clip-like state, can also be led
It is dynamic to adjust the rotation of the second segment 22.
When the second motor 7 driving shifting block 81 makes third connecting rod 43 be in the left side side line segment AB shown in Fig. 7, this reality
It applies example and is in couple state.In couple state, line segment AB, BD, DE, EA constitute the figure of eight (as shown in Figure 7), third
The contact point and C point of connecting rod 43 and shifting block 81 are in the two sides of line segment AB.
When the second motor 7 driving shifting block makes third connecting rod 43 be in side on the right of line segment AB shown in Fig. 9, this implementation
Example is in flat clip-like state.
The mechanism principle schematic diagram of flat clip-like state is as shown in figure 11.Line segment AB, BD, DE, EA form parallelogram, and third connects
The contact point and C point of bar 43 and shifting block 81 are in the same side of line segment AB.
The pilot process of the flat clip-like state of Fig. 9 is switched to from the couple state of Fig. 7 as shown in figure 8, the driving of the second motor 7 is dialled
Block 81, shifting block 81 stir third connecting rod 43 and are rotated clockwise to extreme higher position, and line segment AE turns to conllinear with line segment ED, reach company
The deformation singular point of linkage, as shown in figure 8, later third spring part 93 can from right side hold third connecting rod 43 rotate clockwise from
Open shifting block 81, the shifting block 81 of the second motor 7 driving at this time returns to the position such as Fig. 9 after rotating counterclockwise again, third connecting rod 43 with dial
For block 81 again from another side contacts, embodiment becomes flat clip-like state.
As shown in Figure 10 from the pilot process of the couple state for being switched to Fig. 7 of the flat clip-like state of Fig. 9, the second motor 7 drives
Dynamic shifting block 81, shifting block 81 stir third connecting rod 43 and rotate counterclockwise to extreme higher position, and line segment AE turns to conllinear with line segment ED, reach
To the deformation singular point of link mechanism, as shown in Figure 10, it is counterclockwise to hold third connecting rod 43 from left side for third spring part 93 later
It is rotated away from shifting block 81, the shifting block 81 of the second motor 7 driving at this time rotates clockwise again returns to position as shown in Figure 7, and third connects
Again from a side contacts, embodiment becomes couple state for bar 43 and shifting block 81.
(2) couple state
The original state of the present embodiment is in couple state, as shown in Figures 1 to 5.In the initial state, line segment AB, BD,
DE, EA constitute the figure of eight (as shown in Figure 7), and third spring part 93 hauls third connecting rod 43, so that third connecting rod 43 has the inverse time
Needle rotates trend, and 43 counter clockwise direction of third connecting rod abuts against on the shifting block 81 of thumb wheel 8, and shifting block 81 is located at the left side of point A, shifting block
81 position limitation third connecting rod 43 cannot be rotated counterclockwise further.
Under couple state, the second motor 7 does not turn, and first motor 6 starts turning, and passes through the first transmission mechanism, the first spring
Part 91 drives first connecting rod to rotate counterclockwise (Fig. 7), can be realized coupling and adaptive compound grasp mode.
Under couple state, the process of 22 coupling rotational of the first segment 21 and the second segment are as follows: the first segment 21 is closed around close
Nodal axisn 31 is rotated relative to pedestal 1, and the second segment 22 joint shaft 32 of going the long way round also rotates in same direction relative to the first segment 21, is reached
Two segments of coupling rotational, during this, first connecting rod 41 is rotated, and is passed through second connecting rod 42 and is pushed the second axis 52, third connecting rod
43 is motionless, and fourth link 44 is rotated around third axis 53, and the first segment 21 rotate around nearly joint shaft 31, then the second segment 22 understand around
32 coupling rotational of remote joint shaft.
Under couple state, terminates when the second segment 22 contact object 100 then grabs, reached the function of end grip object
Can, i.e. coupling crawl.
Under couple state, it is blocked motionless when the first segment 21 first contacts object 100, first motor 6 continues to rotate
So that the second segment 22 is further gone the long way round, joint shaft 32 is rotated for meeting, and third spring part 93 deforms, and third connecting rod 43 leaves shifting block, until
Until second segment 22 also contacts object 100, envelope crawl, i.e. self-adapting grasping are realized.The crawl can adapt to not similar shape
The crawl of shape, size objects.Crawl process is as shown in figure 12.
(3) flat clip-like state
Under flat clip-like state (as shown in Fig. 9, Figure 11), line segment AB, BD, DE, EA are parallelogram, the first segment
21 rotate around nearly joint shaft 31 relative to pedestal 1, and the second segment 22 goes the long way round joint shaft 32 relative to also reversed turn of the first segment 21
Identical angle is moved, the second segment remains the posture constant relative to pedestal, achieved the purpose that parallel clamping.
First motor 6 rotates forward, and drives the first spring part 91 by the first transmission mechanism, drives first connecting rod 41, first connecting rod
41 rotation can by second connecting rod 42 push the second segment 22, due to A, B, D, E constitute parallelogram constraint, first
Segment 21 is rotated relative to pedestal 1 around nearly joint shaft 31, and the second segment 22 remains parallel with position when original state.
Under flat clip-like state, terminates when the second segment contact object then grabs, reached the function that end clamps object in parallel
Can, i.e., flat gripper takes.
Under flat clip-like state, when the first segment first contact object be blocked it is motionless, first motor continue to rotate meeting so that
Second segment further go the long way round joint shaft rotation, third spring part deformation, third connecting rod leaves shifting block, until the second segment also contacts
Until object, envelope crawl, i.e. self-adapting grasping are realized.The crawl can adapt to the crawl of different shape, size objects.It grabs
Take process as shown in figure 13.
When the first segment 21 is no longer rotated by the blocking of object 100, first motor 6 continues to rotate forward, and passes through the first driver
Structure drives the first spring part 91, drives first connecting rod 41 to continue to rotate, by the promotion of second connecting rod 42, the second segment 22 can go the long way round
Joint shaft 32 continues to rotate, until the second segment and the contact of object 100.Due to the effect of parallelogram, third connecting rod
43 can be around the rotation of nearly joint shaft 31 (rotating counterclockwise in rotating clockwise in Fig. 9 or Figure 11), and third spring part 93 extends, real
Flat folder self-adapting grasping is showed.
(4) the second segment of active drive
When needing flexibly to change the second 22 position of segment, the rotation of the second motor 7 passes through the second transmission mechanism, the second spring part
92 drive thumb wheels 8, and shifting block 81 pushes third connecting rod 43 to rotate, and the deformation of third spring part 93 increases, and push the by fourth link 43
Two segments 22 are rotated relative to the first segment 21 joint shaft 32 of going the long way round, and the second segment 22 is close to object.
In addition, in couple state or flat clip-like state, when grabbing object, if after the second segment contact object, the
One motor continues to rotate a low-angle, and more large deformation occurs for the first spring part, after first motor stalling, the deformation bullet of the first spring part
Power continues on object, realizes the holding of grasp force.Second spring part also functions to the second segment similar with the first spring part
The effect that grasping force is kept.
The process of release object is with crawl process on the contrary, repeating no more.
Apparatus of the present invention are realized using two motors, multiple connecting rods, multiple axis, thumb wheel, shifting block and three spring parts etc. are comprehensive
Flat folder, coupling, adaptively adjust with active in the function that blends of the various modes such as joint.The device has there are two joint,
For grabbing the robot of object, be not only able to achieve flat folder and adaptive compound crawl function, but be able to achieve coupling with it is adaptive
Answer compound crawl function, additionally it is possible to freely adjust middle part joint position of i.e. the second segment relative to the first segment.Device tool
There are three types of states: coupling adaptive state, the adaptive state of flat folder and the adaptive state of active.The device is driven by the second motor
Dynamic third connecting rod, on the one hand makes four-bar mechanism cross singular point and switches between the figure of eight and parallelogram, to reach
Coupling switches with flat clip-like state, and the master to the second segment on the other hand may be implemented using the second motor active drive third connecting rod
Dynamic control, pattern switching and middle joint, which are adjusted, to be easy.In coupling adaptive state, the device can using coupling with it is adaptive
The mode of compound crawl works, and crawl object can be removed with multi-joint while coupling rotational；In the adaptive state of flat folder, the device
It can be worked using the mode of parallel clamping and adaptive compound crawl, the appearance that the second segment is fixed relative to pedestal can be kept
State goes to clamp object in parallel；In actively adaptive state, it can be reached simultaneously using first motor, the second motor and actively be adjusted
The function of each joint angles realizes dexterous gesture.In coupling adaptive, flat folder adaptively or under the adaptive three kinds of states of active,
The device all has the function of self-adapting grasping object, it can the object of self-adapting grasping different shape, size.The device is grabbed
Take function more, compact-sized, stable transmission is reliable, can in the process of grasping any time carry out free switching, handoff procedure
It is at low cost without stopping grasping movement, without complicated sensing and control system, the flexible crawl to various objects may be implemented
With various gesture motions, suitable for have general crawl in the various types robot of gesture motion demand.
Claims (5)
1. a kind of multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel, including pedestal, the first segment, the second finger
Section, nearly joint shaft, remote joint shaft, first motor, the first transmission mechanism, first connecting rod, second connecting rod, first axle and the second axis；
The first motor and pedestal are affixed, and the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；It is described close
Joint shaft is set in pedestal, and first segment is actively socketed on nearly joint shaft, and the remote joint shaft is set in the second finger
Duan Zhong, second segment are actively socketed on remote joint shaft；The both ends of the first connecting rod are actively socketed on nearly joint respectively
On axis, first axle；The both ends of the second connecting rod are actively socketed on first axle, on the second axis respectively；The second segment difference
It is actively socketed on nearly joint shaft, on the second axis；The nearly joint shaft, remote joint shaft, first axle, the center line of the second axis are mutually flat
Row；It is characterized by: it further includes third connecting rod, the 4th that the multi-mode, which grabs the compound adaptive robot finger apparatus of connecting rod in parallel,
Connecting rod, third axis, the second motor, the second transmission mechanism, thumb wheel, shifting block, the first spring part, the second spring part and third spring part；It is described
The both ends of third connecting rod are actively socketed on nearly joint shaft, on third axis respectively；Distinguish pivot bush unit in the both ends of the fourth link
On third axis, the second axis；If the central point of nearly joint shaft, remote joint shaft, first axle, the second axis, third axis is A, B, C, D,
E；In the initial state, line segment AB, BD, DE, EA constitutes the figure of eight；The length of line segment AE and the equal length of line segment BD；
The length of line segment AB and the equal length of line segment ED；The length of line segment AC is greater than the length of line segment BD；The two of the first spring part
End is separately connected the output end and first connecting rod of the first transmission mechanism；The second spring part both ends are separately connected the second transmission mechanism
Output end and thumb wheel；The thumb wheel is actively socketed on nearly joint shaft；The shifting block is fixed on thumb wheel；In original state
When, the shifting block is contacted with third connecting rod；The both ends of the third spring part are separately connected third connecting rod and pedestal；If third spring part
Tie point with third connecting rod is Q, and the length of line segment AQ is not zero；If the tie point of third spring part and pedestal is W, line segment AW's
Length is not zero；Point W is on the extended line that the subpoint on straight line BA is located at line segment BA；The center of the third axis and first axle
Line is parallel to each other.
2. multi-mode as described in claim 1 grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that:
First transmission mechanism includes the first retarder, worm screw, worm gear, First Transition axis, first gear and second gear；Described
The output shaft of one motor is connected with the input shaft of the first retarder, and the worm screw is fixed on the output shaft of the first retarder, institute
Worm and wheel engagement is stated, the worm gear is fixed on First Transition axis, and the first gear is fixed on First Transition axis, institute
It states first gear to engage with second gear, the second gear is actively socketed on nearly joint shaft, the second spring part both ends point
It Lian Jie not second gear and first connecting rod.
3. multi-mode as described in claim 1 grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that:
Second transmission mechanism includes the second retarder, first bevel gear, second bevel gear, the second transition axis, first pulley, second
Belt wheel and transmission belt；The output shaft of second motor is connected with the input shaft of the second retarder, and the first bevel gear set is solid
On the output shaft of the second retarder, the second bevel gear and first bevel gear engagement, the second bevel gear are fixed in the
On two transition axises, the first pulley is fixed on the second transition axis, the transmission band connection first pulley, the second belt wheel；Institute
State first pulley, driving member, the second belt wheel three formation drive connection；Second belt wheel is actively socketed on nearly joint shaft,
The third spring part both ends are separately connected the second belt wheel and thumb wheel.
4. multi-mode as described in claim 1 grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that:
The first spring part uses torsional spring, tension spring or pressure spring；The second spring part uses torsional spring, tension spring or pressure spring；The third spring part
Using torsional spring, tension spring or pressure spring.
5. multi-mode as described in claim 1 grabs the compound adaptive robot finger apparatus of connecting rod in parallel, it is characterised in that:
Point W is located on the extended line of line segment BA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077019.0A CN109129530B (en) | 2018-09-14 | 2018-09-14 | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077019.0A CN109129530B (en) | 2018-09-14 | 2018-09-14 | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109129530A true CN109129530A (en) | 2019-01-04 |
| CN109129530B CN109129530B (en) | 2023-12-15 |
Family
ID=64825566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811077019.0A Active CN109129530B (en) | 2018-09-14 | 2018-09-14 | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129530B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648591A (en) * | 2019-02-11 | 2019-04-19 | 宋易飞 | Robot finger apparatus |
| 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 |
| CN109986592A (en) * | 2019-05-15 | 2019-07-09 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The stepless change coupling adaptive robot finger apparatus of connecting rod belt wheel |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090041474A (en) * | 2007-10-24 | 2009-04-29 | 호서대학교 산학협력단 | Robot finger and robot hand having the same |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| KR20130106521A (en) * | 2012-03-20 | 2013-09-30 | 전자부품연구원 | Finger of robot driving system and method thereof |
| CN106142117A (en) * | 2016-08-16 | 2016-11-23 | 清华大学 | Parallel-ordinal shift many belt wheels coupling adaptive robot finger apparatus |
| CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN107498572A (en) * | 2017-08-11 | 2017-12-22 | 清华大学 | Rack idle running is driven flat coupling switching adaptive robot finger apparatus |
| CN108247658A (en) * | 2018-03-23 | 2018-07-06 | 宋为 | Flat folder coupling adaptive multi-mode crawl robot finger apparatus |
| CN209007570U (en) * | 2018-09-14 | 2019-06-21 | 清华大学 | Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel |
-
2018
- 2018-09-14 CN CN201811077019.0A patent/CN109129530B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090041474A (en) * | 2007-10-24 | 2009-04-29 | 호서대학교 산학협력단 | Robot finger and robot hand having the same |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| KR20130106521A (en) * | 2012-03-20 | 2013-09-30 | 전자부품연구원 | Finger of robot driving system and method thereof |
| CN106142117A (en) * | 2016-08-16 | 2016-11-23 | 清华大学 | Parallel-ordinal shift many belt wheels coupling adaptive robot finger apparatus |
| CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN107498572A (en) * | 2017-08-11 | 2017-12-22 | 清华大学 | Rack idle running is driven flat coupling switching adaptive robot finger apparatus |
| CN108247658A (en) * | 2018-03-23 | 2018-07-06 | 宋为 | Flat folder coupling adaptive multi-mode crawl robot finger apparatus |
| CN209007570U (en) * | 2018-09-14 | 2019-06-21 | 清华大学 | Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109648591A (en) * | 2019-02-11 | 2019-04-19 | 宋易飞 | Robot finger apparatus |
| CN109648591B (en) * | 2019-02-11 | 2024-03-26 | 宋易飞 | Robot finger device |
| CN109986592A (en) * | 2019-05-15 | 2019-07-09 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The stepless change coupling adaptive robot finger apparatus of connecting rod belt wheel |
| CN109986592B (en) * | 2019-05-15 | 2024-02-06 | 清研(洛阳)先进制造产业研究院 | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109129530B (en) | 2023-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105835083A (en) | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device | |
| CN106564065B (en) | The flat adaptive finger apparatus of folder of herringbone connecting rod rack sliding block straight line | |
| CN108481354B (en) | Disk-tooth switching multi-mode fusion self-adaptive robot finger device | |
| CN109129530A (en) | Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN104889998A (en) | Under-actuated robot finger device with covering and clamping functions | |
| CN108818577B (en) | Self-adaptive robot finger device for linearly and parallelly clamping oscillating bar and sliding groove | |
| CN108515528A (en) | The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line | |
| CN107984484A (en) | The accurate compensating line in end puts down folder adaptive robot finger apparatus | |
| CN108247658B (en) | Flat folder coupling adaptive multi-mode grabs robot finger apparatus | |
| CN106182051B (en) | The flat folder adaptive robot finger apparatus of idle running kinematic link straight line | |
| CN107139195B (en) | Robot finger device suitable for pinching and holding | |
| CN109129548B (en) | Variable-geometry linear parallel clamping self-adaptive robot finger device | |
| CN106346499B (en) | The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line | |
| CN209007570U (en) | Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel | |
| CN109176566A (en) | The flat folder adaptive robot finger apparatus of gear sliding slot link linear | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN206393654U (en) | The flat folder indirect self-adaptive robot finger apparatus of rack parallel connection is put in motor | |
| CN111761599B (en) | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device | |
| CN106142118A (en) | Idle running transmission flat folder adaptive robot finger apparatus taken turns by four bars six | |
| CN106564063B (en) | The flat folder indirect self-adaptive robot finger apparatus of rack gear parallel connection is set in motor | |
| CN207522618U (en) | The accurate compensating line in end puts down folder adaptive robot finger apparatus | |
| CN106426240A (en) | Idle stroke transmission connecting rod coupling self-adaption robot finger device | |
| CN109605418A (en) | Gather formula and quickly grabs slide bar adaptive robot arm device | |
| CN214724284U (en) | Double-finger linkage displacement parallel clamping self-adaptive robot finger device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |