CN109531607B - Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute - Google Patents
Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute Download PDFInfo
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- CN109531607B CN109531607B CN201811436426.6A CN201811436426A CN109531607B CN 109531607 B CN109531607 B CN 109531607B CN 201811436426 A CN201811436426 A CN 201811436426A CN 109531607 B CN109531607 B CN 109531607B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000005096 rolling process Methods 0.000 claims abstract description 13
- 210000003811 finger Anatomy 0.000 claims description 90
- 230000007704 transition Effects 0.000 claims description 26
- 210000003813 thumb Anatomy 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
A linear parallel clamping self-adaptive robot finger device with a connecting rod idle stroke transmission swing rod sliding chute belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, a motor, a plurality of connecting rods, two rod shafts, a lug driving plate, a driving wheel, a transmission mechanism, two spring pieces, a limiting lug, a gear rack mechanism, a swing rod, a rolling shaft, a sliding chute piece and a sliding rod. The device realizes the functions of straight line parallel clamping and self-adaptive finger grabbing; the movable base is used for cooperatively lifting on the base to eliminate the influence of the height difference of the arc rotation of the first finger section, so that the second finger section always translates along an accurate linear track; only one driver is used for driving two joints, and a complex sensing and control system is not needed; simple structure, small volume, light weight, low processing, assembling and maintaining cost, and is suitable for robot hands.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a connecting rod idle stroke transmission swing rod chute linear parallel clamping self-adaptive robot finger device.
Background
A robot hand is an important terminal part for gripping and manipulating objects. At present, research results of robot hands mainly focus on smart manipulators and underactuated manipulators, and also comprise industrial grippers, special manipulators and the like. The objects in the space are various and different in size, and the space is provided with thin paper, irregularly-shaped stones, mobile phones, apples and the like. In the dexterous hand, most of finger joints are provided with drivers, but the control is complex, and the gripping force is small, so that the application of the dexterous hand is limited. In the underactuated hand, each finger has 2 or more degrees of freedom, and the underactuated hand is actuated by a small number of actuators, so that the object can be grasped, and the underactuated hand has a simple structure and is easy to control.
Another important feature of the human hand is the realization of a hybrid gripping mode, both gripping and end gripping. Most underactuated hands adopt a self-adaptive object enveloping mode, so that enveloping grabbing of one object can be realized. However, such hands cannot be held.
Under-actuated hands with two gripping modes (chinese patent No. CN 105881565B) have been developed. The device realizes two grabbing modes, namely self-adaptive enveloping grabbing and parallel clamping functions. The defects are that: the device cannot realize the linear parallel clamping function of translating the tail end finger section along the linear track in the parallel clamping stage.
A robot hand having a straight line parallel pinching function (international patent application WO2016063314 A1) was designed. The device can realize the linear track translation of the tail end finger section in the clamping stage, so that the rapid parallel clamping of objects with different sizes can be realized only by utilizing the parallel movement of the tail end finger section in the clamping stage, the working efficiency is improved, the control difficulty is reduced, the potential safety hazard of collision between the tail end of the finger and the tabletop is avoided, the tabletop sheet stacking object can be more rapidly grasped, and the device is suitable for being applied to a plurality of application environments such as logistics, storage, industrial automation production lines and the like. The defects are that: the device can not realize the function of self-adaptive enveloping grabbing objects, has complex mechanism and high manufacturing cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a linear parallel clamping self-adaptive robot finger device with a connecting rod idle stroke transmission swing rod chute. The device can realize two kinds of modes of snatching of straight line parallel clamping and self-adaptation: when the device is in a linear parallel grabbing mode, a linear parallel clamping effect that the tail end finger section moves along an accurate linear track is realized, the device is suitable for grabbing a tabletop object, interference collision between the tail end of a finger and the tabletop is avoided, and control difficulty in grabbing different objects is reduced; the self-adaptive enveloping grabbing of objects with different shapes and sizes can be realized.
The technical scheme of the invention is as follows:
the invention relates to a linear parallel clamping self-adaptive robot finger device with a connecting rod idle stroke transmission swing rod chute, which comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, a transmission mechanism, a thumb wheel, a first connecting rod, a second connecting rod, a third connecting rod, a first rod shaft, a second rod shaft, a lug driving plate, a first spring piece, a second spring piece and a limit lug, wherein the base is provided with a first spring piece and a second spring piece; the driver is fixedly connected with the base; the center line of the near joint shaft is parallel to the center line of the far joint shaft; the near joint shaft is movably sleeved in the base; the far joint shaft is movably sleeved in the first finger section; the first finger section is movably sleeved on the near joint shaft; the second finger section is sleeved on the far joint shaft; the transmission mechanism is arranged in the base; an output shaft of the motor is connected with an input end of the transmission mechanism, and an output end of the transmission mechanism is connected with the thumb wheel; the dial wheel is movably sleeved on the near joint shaft; one end of the first connecting rod is movably sleeved on the near joint shaft, and the other end of the first connecting rod is movably sleeved on the first rod shaft; one end of the second connecting rod is sleeved on the far joint shaft, the other end of the second connecting rod is movably sleeved on the second rod shaft, and the second connecting rod is fixedly connected with the second finger section; two ends of the third connecting rod are respectively sleeved on the first rod shaft and the second rod shaft; the length of the first connecting rod is equal to that of the second connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod and the first finger section form a parallel four-connecting rod mechanism; the bump driving plate is movably sleeved on the near joint shaft and fixedly connected with the first connecting rod; the bump dial comprises a dial, a first bump and a second bump; the first lug and the second lug are respectively fixedly connected with the driving plate; the limit lug is fixedly connected with the base; the first lug is contacted with the limit lug or separated from the limit lug by a distance; the shifting wheel comprises a transmission lug which is fixedly connected with the shifting wheel; the second lug is contacted with the transmission lug or separated from the transmission lug by a distance; setting the rotating direction of the first finger section close to the object as a joint approaching direction, and setting the rotating direction of the first finger section far away from the object as a joint approaching direction; when the connecting rod idle stroke transmission swing rod sliding groove linear parallel clamping self-adaptive robot finger device is in an initial state, the first lug is in contact with the limiting lug, the rotation angle of the lug driving plate relative to the base is 0 degree, from the position, the rotation angle of the lug driving plate when the lug driving plate rotates towards the positive direction of the near joint is positive, and the rotation angle of the lug driving plate when the lug driving plate rotates towards the negative direction of the near joint is negative; the limiting lug limits the rotation angle of the lug driving plate to be positive only; two ends of the first spring piece are respectively connected with the lug driving plate and the base; when the connecting rod idle stroke transmission swing rod sliding groove linear parallel clamping self-adaptive robot finger device is in an initial state, the second lug and the transmission lug are separated by a distance; in the rotation range of the thumb wheel, the transmission lug can contact the second lug; two ends of the second spring piece are respectively connected with the thumb wheel and the first finger section. The method is characterized in that: the connecting rod idle stroke transmission swing rod sliding chute linear parallel clamping self-adaptive robot finger device further comprises a base, a swing rod, a rolling shaft, a sliding rod, a sliding chute piece, a first rack, a second rack, a first gear, a second gear and a gear shaft; the base is embedded on the base in a sliding manner; the sliding rod is fixedly connected to the base; the sliding groove piece is sleeved on the sliding rod in a sliding manner, and the central line of the sliding rod is perpendicular to the central line of the joint shaft; the chute piece is provided with a fixed chute; the swing rod is movably sleeved on the joint shaft, and is fixedly connected with the first finger section through a screw; the rolling shaft is sleeved at the lower end of the swing rod, the rolling shaft is slidably embedded in the chute piece, and the sliding direction of the rolling shaft in the chute is perpendicular to the central line of the sliding rod; the sliding chute piece is fixedly connected with a first rack, and the first rack is meshed with a first gear; the first gear and the second gear are sleeved on the gear shaft; the gear shaft is sleeved in the base; the gear shaft is parallel to the central line of the near joint shaft; the first gear is fixedly connected with the second gear; the dividing line of the first rack and the dividing line of the second rack are parallel to the central line of the slide bar; the second gear is meshed with the second rack; the second rack is fixedly connected to the base; setting the center points of the near joint shaft, the far joint shaft and the rolling shaft as Q, K, S respectively, wherein a line segment QK is collinear with a line segment QS, the length of the line segment QK is m, the length of the line segment QS is n, and the ratio of n to m is k; the ratio of the number of teeth of the first gear to the number of teeth of the second gear is k; the plane formed by the center line of the near joint shaft and the center line of the gear shaft is set as H, and the first rack and the second rack are respectively positioned at two sides of the plane H.
The invention relates to a connecting rod idle stroke transmission swing rod chute linear parallel clamping self-adaptive robot finger device, which is characterized in that: the transmission mechanism comprises a speed reducer, a first bevel gear, a second bevel gear, a transition gear shaft, a transition belt wheel and a transmission belt; an output shaft of the motor is connected with an input shaft of the speed reducer; the first bevel gear is fixedly sleeved on an output shaft of the speed reducer, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly sleeved on a transition gear shaft, the transition gear shaft is sleeved in the base, the transition belt wheel is fixedly sleeved on the transition gear shaft, the transmission belt is connected with the transition belt wheel and the shifting wheel, and the transition belt wheel, the transmission belt and the shifting wheel form a transmission relation.
Compared with the prior art, the invention has the following advantages and outstanding effects:
the device comprehensively realizes the functions of straight line parallel clamping and self-adaptive composite grabbing of the double-joint robot finger by utilizing the swing rod, the idler wheels, the sliding grooves, the two gears, the two racks, the sliding rods and the like. The device utilizes when first finger section rotates, and movable base is gone up and down in coordination on fixed base to eliminate first finger section circular arc rotation influence to reach the effect of second finger section along sharp translation all the time. The device can realize two composite grabbing modes of linear parallel clamping and self-adaptive enveloping and holding. The device has accurate and stable transmission, and stable and reliable grabbing; only one motor is used for driving two joints, and a complex sensing and real-time control system is not needed; simple structure, small volume, low cost, and is suitable for the general robot that snatchs.
Drawings
Fig. 1 is a perspective view of an embodiment of a linear parallel-clamping adaptive robot finger device with a connecting rod lost motion transmission swing link chute designed according to the invention.
Fig. 2 is a perspective view of the embodiment of fig. 1 (parts not shown).
Fig. 3 is a front view of the embodiment of fig. 1 (parts not shown).
Fig. 4 is a side view of the embodiment of fig. 1 (parts not shown).
Fig. 5 is a cross-sectional view A-A of fig. 4.
Fig. 6 is a B-B cross-sectional view of fig. 4.
Fig. 7 is a C-C cross-sectional view of fig. 4.
Fig. 8-12 are schematic illustrations of the motion of the embodiment of fig. 1 in gripping an object in an adaptive envelope gripping manner.
Fig. 13 to 15 are schematic views showing the operation of the embodiment of fig. 1 in gripping an object in a straight line parallel gripping manner.
Figure 16 is a schematic diagram of the difference in height compensation for the rotation of the first finger segment by sliding the base over the base.
In fig. 1 to 16:
1-a base, 2-a first finger section, 3-a second finger section, 4-a proximal joint shaft,
5-far joint shaft, 6-screw, 7-base 8-first connecting rod,
91-first lever shaft, 92-second lever shaft, 10-second link, 11-third link,
12-bump dials, 121-first bumps, 122-second bumps, 13-first spring elements,
14-motor, 141-reducer, 142-first bevel gear, 143-second bevel gear,
144-transition gear shaft, 145-transition belt wheel, 146-driving belt, 15-shifting wheel,
151-transmission convex blocks, 16-second spring parts, 17-limit convex blocks, 191-swing rods,
192-slide slot 193-roller, 194-slide bar, 200-gear shaft,
201-first rack, 202-first gear, 203-second gear, 204-second rack,
21-object.
Detailed Description
The details of the specific construction and operation of the present invention will be further described with reference to the accompanying drawings and examples.
An embodiment of a connecting rod idle stroke transmission swing rod sliding chute linear parallel clamping self-adaptive robot finger device is shown in fig. 1 to 7, and comprises a base 1, a first finger section 2, a second finger section 3, a near joint shaft 4, a far joint shaft 5, a motor 14, a transmission mechanism, a thumb wheel 15, a first connecting rod 8, a second connecting rod 10, a third connecting rod 11, a first rod shaft 91, a second rod shaft 92, a lug driving plate 12, a first spring piece 13, a second spring piece 16 and a limit lug 17; the motor 14 is fixedly connected with the base 1; the center line of the near joint shaft 4 is parallel to the center line of the far joint shaft 5; the near joint shaft 4 is movably sleeved in the base 1; the far joint shaft 5 is movably sleeved in the first finger section 2; the first finger section 2 is movably sleeved on the near joint shaft 4; the second finger section 3 is sleeved on the far joint shaft 5; the transmission mechanism is arranged in the base 1; an output shaft of the motor 14 is connected with an input end of a transmission mechanism, and an output end of the transmission mechanism is connected with a thumb wheel 15; the dial wheel 15 is movably sleeved on the near joint shaft 4; one end of the first connecting rod 8 is movably sleeved on the near joint shaft 4, and the other end of the first connecting rod 8 is movably sleeved on the first rod shaft 91; one end of the second connecting rod 10 is sleeved on the far joint shaft 5, the other end of the second connecting rod 10 is movably sleeved on the second rod shaft 92, and the second connecting rod 10 is fixedly connected with the second finger section 3; two ends of the third connecting rod 11 are respectively sleeved on the first rod shaft 91 and the second rod shaft 92; the length of the first connecting rod 8 is equal to that of the second connecting rod 10, and the first connecting rod 8, the second connecting rod 10, the third connecting rod 11 and the first finger section 2 form a parallel four-bar mechanism; the lug driving plate 12 is movably sleeved on the near joint shaft 4, and the lug driving plate 12 is fixedly connected with the first connecting rod 8; the bump dial 12 includes a dial, a first bump 121, and a second bump 122; the first bump 121 and the second bump 122 are respectively and fixedly connected with the driving plate; the limit lug 17 is fixedly connected with the base 1; the first bump 121 contacts with the limit bump 17 or is separated from the limit bump by a distance; the poking wheel 15 comprises a transmission convex block 151 fixedly connected with the poking wheel; the second bump 122 is in contact with or spaced apart from the driving bump 151; setting the rotation direction of the first finger section 2 close to the object as the joint approaching direction, and setting the rotation direction of the first finger section 2 far away from the object as the joint approaching opposite direction; when the connecting rod idle stroke transmission swing rod sliding groove linear parallel clamping self-adaptive robot finger device is in an initial state, the first lug 121 is in contact with the limiting lug 17, the rotation angle of the lug driving plate 12 relative to the base 1 is 0 degrees, from the position, the rotation angle of the lug driving plate 12 when rotating towards the positive direction of the near joint is positive, and the rotation angle of the lug driving plate 12 when rotating towards the reverse direction of the near joint is negative; the limiting lug 17 limits the rotation angle of the lug driving plate 12 to be positive only; two ends of the first spring piece 13 are respectively connected with the lug driving plate 12 and the base 1; when the connecting rod idle stroke transmission swing rod chute straight line parallel clamping self-adaptive robot finger device is in an initial state, the second lug 122 and the transmission lug 151 are separated by a distance; in the rotation range of the thumb wheel 15, the transmission lug 151 contacts the second lug 122; two ends of the second spring piece 16 are respectively connected with the thumb wheel 15 and the first finger section 2.
The embodiment also comprises a base 7, a swing rod 191, a roller 193, a slide bar 194, a slide groove piece 192, a first rack 201, a second rack 204, a first gear 202, a second gear 203 and a gear shaft 200; the base 1 is slidably inlaid on the base 7; the sliding rod 194 is fixedly connected to the base 7; the sliding groove piece 192 is sleeved on the sliding rod 194 in a sliding way, and the central line of the sliding rod 194 is perpendicular to the central line of the near joint shaft 4; the chute member 192 has a fixed chute thereon; the swing rod 191 is movably sleeved on the near joint shaft 4, and the swing rod 191 is fixedly connected with the first finger section 2 through a screw 6; the roller 193 is sleeved at the lower end of the swing rod 191, the roller 193 is slidably embedded in the chute piece 192, and the sliding direction of the roller 193 in the chute is vertical to the central line of the slide rod 194; the sliding groove piece 192 is fixedly connected with a first rack 201, and the first rack 201 is meshed with a first gear 202; the first gear 202 and the second gear 203 are sleeved on the gear shaft 200; the gear shaft 200 is sleeved in the base 1; the gear shaft 200 is parallel to the central line of the near joint shaft 4; the first gear 202 and the second gear 203 are fixedly connected; the graduation line of the first rack 201 and the graduation line of the second rack 204 are parallel to the central line of the slide bar 194; the second gear 203 is meshed with a second rack 204; the second rack 204 is fixedly connected to the base 7; setting the center points of the near joint shaft 4, the far joint shaft 5 and the rolling shaft 193 as Q, K, S respectively, wherein a line segment QK is collinear with a line segment QS, the length of the line segment QK is m, the length of the line segment QS is n, and the ratio of n to m is k; the ratio of the number of teeth of the first gear 202 to the second gear 203 is k; the plane formed by the center line of the proximal joint shaft 4 and the center line of the gear shaft 200 is H, and the first rack 201 and the second rack 204 are located on both sides of the plane H, respectively.
In this embodiment, the transmission mechanism includes a reducer 141, a first bevel gear 142, a second bevel gear 143, a transition gear shaft 144, a transition pulley 145, and a transmission belt 146; an output shaft of the motor 14 is connected with an input shaft of the speed reducer 141; the first bevel gear 142 is sleeved and fixed on an output shaft of the speed reducer 141, the first bevel gear 142 is meshed with the second bevel gear 143, the second bevel gear 143 is sleeved and fixed on the transition gear shaft 144, the transition gear shaft 144 is sleeved and arranged in the base 1, the transition belt wheel 145 is sleeved and fixed on the transition gear shaft 144, the transmission belt 146 is connected with the transition belt wheel 145 and the shifting wheel 15, and the transition belt wheel 146, the transmission belt 146 and the shifting wheel 15 form a transmission relation.
In this embodiment, the first spring member 13 adopts a tension spring; the second spring member 16 is a torsion spring.
The working principle of the present embodiment is described below with reference to the accompanying drawings:
a) Straight line parallel clamping and grabbing mode
This embodiment is in an initial state as shown in fig. 1, 5, 6 and 7.
The motor 14 rotates, the first bevel gear 142 is driven by the speed reducer 141, the second bevel gear 143 is driven, the transition gear shaft 144 is driven, the transition belt pulley 145 is driven, the driving wheel 15 is driven to rotate by the transmission belt 147, and the first finger section 2 is pulled to rotate around the near joint shaft 4 by the second spring piece 16, so that the first finger section rotates; at this time, the transmission bump 151 does not contact the second bump 122 yet, the first spring member 13 pulls the bump dial 12 to abut against the limit bump 17, and since the bump dial 12 is fixedly connected with the first link 9, the first link 9 maintains the initial posture unchanged; at this time, the second link 10 and the second finger section 3 still maintain the initial posture under the action of the parallel four-bar mechanism (the first link 9, the second link 10, the third link 11, and the first finger section 2), because: the transmission from the first connecting rod 9 to the second connecting rod 10 is in the same direction transmission through the transmission of the third connecting rod 11, and the transmission ratio is equal to 1, so when the first finger section 2 rotates around the near joint shaft 4 and the first connecting rod 9 does not move, the second connecting rod 10 only carries out translational motion relative to the base 1 and does not rotate, and because the second connecting rod 10 is fixedly connected with the second finger section 3, the second finger section 3 only carries out translational motion relative to the base 1 and does not rotate, and the original posture is always kept.
Meanwhile, the forward rotation of the first finger section 2 drives the swing rod 191 to rotate, the roller 193 slides on the chute member 192, the slide bar 194 is fixedly connected on the base 7, so that the roller 193 drives the chute member 192 to slide upwards on the slide bar 194, the first rack 201 moves upwards, the first gear 202 rotates reversely clockwise, the second gear 203 rotates reversely clockwise, and the second rack 204 is fixedly connected on the base 7, so that the second gear 204 moves upwards, the gear shaft 200 is driven to move upwards, and the whole base 1 is driven to move upwards relative to the base.
Let the length of the line segment QK be m and the length of the line segment QS be n, then:
m=n/k (formula 1)
The moving height of the base in the base can just compensate the height change of the far joint shaft caused by the rotation of the first finger section around the near joint shaft, so that the translation of the tail end of the second finger section along the linear track all the time in the parallel clamping process is achieved, as shown in fig. 13 to 15.
The principle is explained as follows:
in fig. 16, at a certain time point, the end point of the second finger section is W, and at this time, the angle between the line segment QK and the vertical line is β. After the segment QK rotates counterclockwise by an angle α, the base of the present embodiment slides downward by a distance Δh 1 Thereby realizing the following steps: point Q moves to Q ', point K moves to K', point S moves to S ', and point W moves to W'.
To illustrate the principle of the movement of the distal point W along a straight line, the base movement is not considered, and there is: the point Q is motionless, the point K moves to K ", the point S moves to S", the point W moves to W ", Δh 1 Is the height difference of the second finger end point W (also the height difference of the center point K of the far joint axis) in the movement process, delta h 2 Is the difference in height of the center point S of the roller during this movement. Is obtainable according to the geometric principle:
Δh 1 =mcos (β - α) -mcos β (formula 2)
Δh 2 =ncos (β - α) -ncos β (formula 3)
Substituting (formula 1) into (formula 3) to obtain:
Δh 2 =kmcos (β - α) -kmcos β (equation 4)
Namely:
Δh 2 ＝k[mcos(β-α)-mcosβ](equation 5)
Substituting (formula 2) into (formula 5) to obtain:
Δh 2 ＝kΔh 1 (equation 6)
Therefore, the transmission from the first rack to the second rack through the third gear and the fourth gear amplifies the height displacement of the first rack and the sliding groove piece by k times, and then the large-stroke displacement of the base on the base is realized, and the displacement is just equal to the displacement compensation amount of the end point.
b) Adaptive grabbing mode
The straight line flat clamp grabbing of the first stage and the self-adaptive grabbing of the second stage are collectively called a straight line flat clamp self-adaptive grabbing mode.
When the first finger segment 2 contacts the object 21 and is blocked from further rotation by the object 21, an adaptive gripping phase will automatically be entered. The motor 14 continues to rotate, the thumb wheel 15 continues to rotate, but when the transmission bump 151 does not contact the second bump 122, the second spring member 16 is deformed greatly, and the deformation elasticity of the second spring member 16 (the force is called F 1 ) Applied to the gripping force of the first finger segment 2 against the object 21.
The motor 14 continues to rotate, the thumb wheel 15 continues to rotate an angle, and the second spring 16 is deformed more, F 1 Larger; meanwhile, the transmission lug 151 contacts the second lug 122 and pushes the second lug 122, the lug driving plate 12 and the first connecting rod 9 rotate against the deformation elasticity of the first spring piece 13, and the third connecting rod 11 drives the second connecting rod 10 and the second finger section 3 to rotate around the far joint shaft 5 until the second finger section 3 contacts the object 21 and applies the gripping force, the motor 14 stops rotating, the gripping is finished, and the effect of self-adaptive enveloping gripping of the object is completed. The course of action is shown in figures 8 to 12.
The process of releasing the object: the motor 14 is reversed, and the subsequent process is just opposite to the process of grabbing the object, and will not be described again.
The device comprehensively realizes the functions of straight line parallel clamping and self-adaptive composite grabbing of the double-joint robot finger by utilizing the swing rod, the rolling shaft, the sliding groove, the two gears, the two racks, the sliding rod and the like. The device utilizes when first finger section rotates, and movable base is gone up and down in coordination on fixed base to eliminate the terminal high influence that first finger section circular arc rotated and bring to reach the effect of second finger section translation along accurate straight line orbit all the time. In order to compensate the height difference of the second finger section in the rotation of the first finger section, the device utilizes a swinging rod chute and a gear rack mechanism to realize the integral lifting or descending of the sliding base on the base; when the object is grabbed, the first finger section and the second finger section can normally contact the object, and the contact area is not reduced; the mechanism for realizing the linear track of the tail end finger section is positioned in the sliding base, so that the middle space of the first finger section and the second finger section is not occupied; the device has accurate and stable transmission, and stable and reliable grabbing; only one motor is used for driving two joints, and a complex sensing and real-time control system is not needed; simple structure, small volume, low cost, and is suitable for the general robot that snatchs.
Claims (1)
1. A linear parallel clamping self-adaptive robot finger device with a connecting rod idle stroke transmission swing rod chute comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, a transmission mechanism, a thumb wheel, a first connecting rod, a second connecting rod, a third connecting rod, a first rod shaft, a second rod shaft, a lug driving plate, a first spring piece, a second spring piece and a limit lug; the motor is fixedly connected with the base; the center line of the near joint shaft is parallel to the center line of the far joint shaft; the near joint shaft is movably sleeved in the base; the far joint shaft is movably sleeved in the first finger section; the first finger section is movably sleeved on the near joint shaft; the second finger section is sleeved on the far joint shaft; the transmission mechanism is arranged in the base; an output shaft of the motor is connected with an input end of the transmission mechanism, and an output end of the transmission mechanism is connected with the thumb wheel; the dial wheel is movably sleeved on the near joint shaft; one end of the first connecting rod is movably sleeved on the near joint shaft, and the other end of the first connecting rod is movably sleeved on the first rod shaft; one end of the second connecting rod is sleeved on the far joint shaft, the other end of the second connecting rod is movably sleeved on the second rod shaft, and the second connecting rod is fixedly connected with the second finger section; two ends of the third connecting rod are respectively sleeved on the first rod shaft and the second rod shaft; the length of the first connecting rod is equal to that of the second connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod and the first finger section form a parallel four-connecting rod mechanism; the bump driving plate is movably sleeved on the near joint shaft and fixedly connected with the first connecting rod; the bump dial comprises a dial, a first bump and a second bump; the first lug and the second lug are respectively fixedly connected with the driving plate; the limit lug is fixedly connected with the base; the first lug is contacted with the limit lug or separated from the limit lug by a distance; the shifting wheel comprises a transmission lug which is fixedly connected with the shifting wheel; the second lug is contacted with the transmission lug or separated from the transmission lug by a distance; setting the rotating direction of the first finger section close to the object as a joint approaching direction, and setting the rotating direction of the first finger section far away from the object as a joint approaching direction; when the connecting rod idle stroke transmission swing rod sliding groove linear parallel clamping self-adaptive robot finger device is in an initial state, the first lug is in contact with the limiting lug, the rotation angle of the lug driving plate relative to the base is 0 degree, from the position, the rotation angle of the lug driving plate when the lug driving plate rotates towards the positive direction of the near joint is positive, and the rotation angle of the lug driving plate when the lug driving plate rotates towards the negative direction of the near joint is negative; the limiting lug limits the rotation angle of the lug driving plate to be positive only; two ends of the first spring piece are respectively connected with the lug driving plate and the base; when the connecting rod idle stroke transmission swing rod sliding groove linear parallel clamping self-adaptive robot finger device is in an initial state, the second lug and the transmission lug are separated by a distance; in the rotation range of the thumb wheel, the transmission lug can contact the second lug; two ends of the second spring piece are respectively connected with the thumb wheel and the first finger section; the method is characterized in that: the connecting rod idle stroke transmission swing rod sliding chute linear parallel clamping self-adaptive robot finger device further comprises a base, a swing rod, a rolling shaft, a sliding rod, a sliding chute piece, a first rack, a second rack, a first gear, a second gear and a gear shaft; the base is embedded on the base in a sliding manner; the sliding rod is fixedly connected to the base; the sliding groove piece is sleeved on the sliding rod in a sliding manner, and the central line of the sliding rod is perpendicular to the central line of the joint shaft; the chute piece is provided with a fixed chute; the swing rod is movably sleeved on the joint shaft, and is fixedly connected with the first finger section through a screw; the rolling shaft is sleeved at the lower end of the swing rod, the rolling shaft is slidably embedded in the chute piece, and the sliding direction of the rolling shaft in the chute is perpendicular to the central line of the sliding rod; the sliding chute piece is fixedly connected with a first rack, and the first rack is meshed with a first gear; the first gear and the second gear are sleeved on the gear shaft; the gear shaft is sleeved in the base; the gear shaft is parallel to the central line of the near joint shaft; the first gear is fixedly connected with the second gear; the dividing line of the first rack and the dividing line of the second rack are parallel to the central line of the slide bar; the second gear is meshed with the second rack; the second rack is fixedly connected to the base; setting the center points of the near joint shaft, the far joint shaft and the rolling shaft as Q, K, S respectively, wherein a line segment QK is collinear with a line segment QS, the length of the line segment QK is m, the length of the line segment QS is n, and the ratio of n to m is k; the ratio of the number of teeth of the first gear to the number of teeth of the second gear is k; setting a plane formed by the center line of the near joint shaft and the center line of the gear shaft as H, wherein the first rack and the second rack are respectively positioned at two sides of the plane H; the transmission mechanism comprises a speed reducer, a first bevel gear, a second bevel gear, a transition gear shaft, a transition belt wheel and a transmission belt; an output shaft of the motor is connected with an input shaft of the speed reducer; the first bevel gear is fixedly sleeved on an output shaft of the speed reducer, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly sleeved on a transition gear shaft, the transition gear shaft is sleeved in the base, the transition belt wheel is fixedly sleeved on the transition gear shaft, the transmission belt is connected with the transition belt wheel and the shifting wheel, and the transition belt wheel, the transmission belt and the shifting wheel form a transmission relation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811436426.6A CN109531607B (en) | 2018-11-28 | 2018-11-28 | Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute |
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| CN201811436426.6A CN109531607B (en) | 2018-11-28 | 2018-11-28 | Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute |
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| CN109531607B true CN109531607B (en) | 2023-12-26 |
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| CN210436151U (en) * | 2019-06-28 | 2020-05-01 | 北京海益同展信息科技有限公司 | Bionic thumb |
| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| CN111098324A (en) * | 2019-12-27 | 2020-05-05 | 东莞市蓝企信息科技有限公司 | Vertical lifting mechanism of transfer robot |
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