CN109571539B - Controllable-force self-adaptive robot hand device for quick grabbing rod cluster - Google Patents
Controllable-force self-adaptive robot hand device for quick grabbing rod cluster Download PDFInfo
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- CN109571539B CN109571539B CN201811526879.8A CN201811526879A CN109571539B CN 109571539 B CN109571539 B CN 109571539B CN 201811526879 A CN201811526879 A CN 201811526879A CN 109571539 B CN109571539 B CN 109571539B
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- 239000003638 chemical reducing agent Substances 0.000 claims description 12
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The utility model provides a controllable quick snatch pole cluster self-adaptation robot hand device, belongs to robot hand technical field, including base, first motor, second motor, cam, tendon rope, second spring spare and a plurality of push rod subassembly etc.. The device is used for grabbing objects, achieves a space discrete self-adaptive grabbing function, achieves the self-adaptive function on the size and shape of the objects by utilizing a plurality of push rod assemblies, and achieves rapid grabbing and grabbing force control by utilizing the combination of the cam and the second spring piece; the device achieves the multidirectional gripping effect on the object, can provide gripping force for the object in multiple directions, and can effectively grip various shapes (including long strips) of objects placed in different directions; the device is not limited by the power of a driving source, and can simultaneously have extremely high grabbing speed and extremely high grabbing force; the device has simple structure and low energy consumption, is suitable for various robots needing general grabbing, and is particularly suitable for being used in occasions needing controllable force to grab rapidly.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a controllable-force rapid grabbing rod cluster self-adaptive robot hand device.
Background
Robot hands have a wide range of uses in the robot field for temporarily connecting and fixing robots to objects and for releasing them when appropriate, the former enabling gripping of objects and the latter enabling releasing of objects. A general robot hand is manufactured to have two parts which move relative to each other in order to achieve the grasping and releasing functions most simply for the sake of cost reduction. There are also many structures that mimic the human hand, designed with more fingers and several joints on the fingers, but that incur the complexity and high cost of mechanical systems, sensing systems, control systems and control algorithms. Part of robot hands have adaptability, namely the shape and the size of the object to be grabbed are not known before grabbing, sensing detection is not carried out on the grabbed object in grabbing, but the robot hands can adaptively grab, and the automatic adaptability to the shape and the size of the object enables the robot hands to grab different objects more widely without increasing sensing and control requirements.
Peter b. Scott describes in The literature (Peter b. Scott, "The 'omnigripe': a form of robot universal gripper", robotica, vol.3: pp 153-158, 1985) a general gripper omnigripe that mechanically passively adapts to The shape of an object. The gripper is provided with two groups of rod cluster sets, each group of rod cluster set is provided with a plurality of long rods which are parallel to each other, the long rods which are pushed by an object to be gripped and slide up and down freely achieve the purpose of adapting to the shape of the object, and the two groups of rod clusters are driven to be close or separate by combining a driver, so that the object is gripped. For example, when the end of the robot is leaning against an object placed on a certain supporting surface (such as a table top), the object presses the long rods to slide into the base, and as the number of the long rods is large and the long rods are thin (the diameter is small), different long rods contact different surface points of the object, and the sliding distance of each long rod into the palm is different, and the distance is related to the local shape of the object; then, the left and right groups of rods are clustered and then folded to clamp the object, and the long rods are used for clamping the object from the side face, so that the grabbing purpose is achieved.
The device has the following defects:
(1) Multidirectional gripping cannot be achieved. When the device applies grabbing force to a target object, the grabbing force can only be along the direction of gathering and closing the two groups of rod clusters, which is equivalent to a two-finger clamp, and only a one-dimensional clamping mode is generated, so that the clamping effect is poor.
(2) The grip of the elongated object placed in a specific direction fails. When the target object is parallel to the direction and the target object is longer than the device in the direction, the target object is not subjected to a gripping force due to the folding of the two groups of telescopic rods, such as a long object is gripped.
(3) The structure is complex and the energy consumption is high. The device has 2 groups of rod cluster sets, 2 movable supporting pieces (or moving bases) which need to move mutually, a set of linear guide rails, 2 sliding blocks, a driver, a transmission mechanism and the like, the structure is complex, and the cluster motion of a heavy rod cluster with a plurality of long rods is relatively energy-consuming.
(4) The grip stability is to be improved. The device has the advantages that the gripping force of the device on the target object is generated by the clustered and folded of the two groups of rods, the object can be gripped only by adopting the force closure of the gripping force, and a better enveloping type closed gripping effect is lacked, because the force closure gripping object does not necessarily generate a shape closure gripping, but the shape closure gripping necessarily comprises the force closure gripping, so the gripping stability is the best.
A stick cluster adaptive robot hand is described in the literature by Parsley et al (Fu H, yang H, song W, et al A.novel cluster-tube self-adaptive robot hand: [ J ]. Robotics & biochemitics, 2017,4 (1): 25.). The rod cluster self-adaptive robot hand is provided with a plurality of push rod assemblies, each push rod assembly comprises a rotating shaft, a guide rod, a spring piece and a slide tube, and each push rod assembly has the freedom degree of sliding in the vertical direction and swinging in the transverse direction. When grabbing objects, all push rod assemblies longitudinally adapt to the shapes of the objects, and then all push rod assemblies gather towards the center to achieve grabbing. The transmission device for driving the gear trains of all push rod assemblies and the elastic ropes consists of the gear trains and the flexible ropes, the flexible ropes are wound on the peripheries of all push rod assemblies, and when the object is grabbed, the gear trains rotate to drive the flexible ropes to be tightened. However, the device has some disadvantages, such as not rapid gripping, because the flexible rope is tightened by the rotation of the wheel system during gripping, the tightening process takes a long time, and the tightening process is limited by the power of the driving source, and the tightening force is reduced if the tightening process is accelerated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a controllable-force self-adaptive robot hand device for quickly grabbing rod clusters. The device is used for grabbing objects and has self-adaptability to the size and shape of the objects; the multidirectional gripping effect on the object is achieved: the gripping force can be provided for the object in a plurality of directions, and the gripping force can be effectively used for gripping objects in various shapes (including long strips) placed in different directions; the device has simple structure and low energy consumption; is not limited by the power limit of the driving source, and has extremely high grabbing speed.
The technical scheme of the invention is as follows:
the invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which comprises a base, K push rod assemblies, a first motor and a first transmission mechanism, wherein the K push rod assemblies are arranged on the base; each push rod assembly comprises a slide tube, a guide rod, a rotating shaft and a first spring piece; k slide pipes are uniformly distributed in circumference, and each slide pipe is slidably inlaid in the base; in the push rod assembly, the slide tube is sleeved on a corresponding guide rod in a sliding manner, two ends of the first spring piece are respectively connected with the corresponding guide rod and the corresponding slide tube, and the guide rod is sleeved on a corresponding rotating shaft; k rotating shafts are respectively sleeved in the base, and the K rotating shafts are uniformly distributed in circumference; the sliding direction of the sliding tube is parallel to the central line of the guide rod; the central line of the slide tube is perpendicular to the central line of the rotating shaft; the first motor is fixedly connected in the base, and an output shaft of the first motor is connected with an input end of the first transmission mechanism; the method is characterized in that: the self-adaptive robot hand device of the controllable quick grabbing rod cluster further comprises a cam, a second motor, a second transmission mechanism, a winding reel, an intermediate shaft, tendon ropes and K second spring pieces; the outer edge surface of the cam is provided with K protruding parts and K recessed parts, the protruding parts are uniformly distributed in the circumference, the recessed parts are uniformly distributed in the circumference, and the protruding parts and the recessed parts are distributed on the outer edge surface of the cam at intervals; the cam is sleeved in the base, the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam is contacted with each guide rod; the base comprises a binding cavity, the second motor is fixedly connected to the base, an output shaft of the second motor is connected with an input end of the second transmission mechanism, and an output end of the second transmission mechanism is connected with the winding reel; the middle shaft is sleeved in the base; the winding reel is sleeved on the intermediate shaft; the starting end of the tendon rope is fixedly connected with the winding reel, and the tendon rope is wound through the winding reel; the second spring piece is a tension spring; the two ends of the ith second spring piece are respectively connected with the tail end of the tendon rope and the ith push rod assembly, and the connection points of all the second spring pieces and the corresponding push rod assemblies are all positioned in the bundling cavity; where K is a natural number greater than 3, i=1, 2,3 … K, i is a natural number.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: the protruding portion is provided with a first slope and a second slope, the gradient of the first slope is larger than that of the second slope, all the first slopes are uniformly distributed along the outer edge surface of the cam in a circumferential manner, and all the second slopes are uniformly distributed along the outer edge surface of the cam in a circumferential manner.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: two ends of the ith second spring part are respectively connected with the tail end of the tendon rope and the ith guide rod, i=1, 2,3 … K, i is a natural number, and K is the number of push rod components.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: and two ends of the ith second spring piece are respectively connected with the tail end of the tendon rope and the ith slide tube, i=1, 2,3 … K, i is a natural number, and K is the number of push rod components.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: each push rod assembly further comprises a flexible film and flexible contacts, the flexible film is made of any one or more of rubber, silica gel or latex, the flexible contacts are made of any one or more of rubber, silica gel or latex, the ith flexible film is wrapped on the outer side of the ith slide tube, the ith flexible contacts are fixedly connected to the tail end of the ith slide tube, i=1, 2,3 … K, i is a natural number, and K is the number of the push rod assemblies.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: the protruding part comprises a permanent magnet or an electromagnet, the guide rod is provided with a magnetic conduction material, and the magnetic conduction material is arranged at the height of the guide rod corresponding to the protruding part.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: the concave part comprises a permanent magnet or an electromagnet, the guide rod is provided with a magnetic conduction material, and the magnetic conduction material is arranged at the height of the guide rod corresponding to the concave part.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: the first transmission mechanism comprises a speed reducer, a worm and a worm wheel, an output shaft of the motor is connected with an input shaft of the speed reducer, the worm is sleeved and fixed at the output end of the speed reducer, the worm wheel is meshed with the worm, and the worm wheel is connected with the cam; the middle part of the cam is provided with a through hole, and the tendon rope passes through the through hole of the cam.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: the second transmission mechanism is a speed reducer.
Compared with the prior art, the invention has the following advantages and outstanding effects:
the device comprehensively realizes a space discrete self-adaptive grabbing function by utilizing a plurality of push rod assemblies, a first motor, a cam, a second motor, a tendon rope, a second spring piece and the like, realizes the self-adaptive function on the size and the shape of an object by utilizing the plurality of push rod assemblies, and realizes quick grabbing and grabbing force control by utilizing the combination of the cam and the second spring piece; the device achieves the multidirectional gripping effect on the object, can provide gripping force for the object in multiple directions, and can effectively grip various shapes (including long strips) of objects placed in different directions; the device is not limited by the power of a driving source, and can simultaneously have extremely high grabbing speed and extremely high grabbing force; simple structure and low energy consumption. The device is suitable for various robots needing general grabbing, and is particularly suitable for being used in occasions needing controllable force to grab rapidly.
Drawings
Figure 1 is a perspective view of one embodiment of a force controllable fast gripper bar cluster adaptive robotic hand device of the present invention.
Fig. 2 is an isometric cross-sectional view of the embodiment shown in fig. 1.
Fig. 3 is a top view of the embodiment of fig. 1 (parts not shown).
Fig. 4 is a perspective view of the embodiment of fig. 1 in a tightened state (parts not shown).
Fig. 5 is a perspective view of the cam of the embodiment of fig. 1.
Fig. 6 is a top view of the cam of the embodiment shown in fig. 1.
Fig. 7 is a schematic view of the internal structure (parts not shown) of the embodiment of fig. 1 in its open state.
Fig. 8 is a schematic view of the internal structure (parts not shown) of the embodiment of fig. 1 in a tightened state.
Fig. 9 is a schematic diagram of the process of gripping an object in the embodiment of fig. 1.
Fig. 10 is an isometric cross-sectional view of the embodiment of fig. 1 capturing an object.
In fig. 1 to 10:
11-upper base cover plate, 12-upper base 13-middle base 14-lower base cover plate 15-lower base
21-spindle 22-hinge 23-first spring 24-guide rod 25-rod tube connector
26-slide 27-flexible film 28-flexible contact 3-first motor 41-worm
42-worm wheel 51-cam 51A-boss 51B-recess 52-bearing
6-second motor 7-bobbin 8-tendon rope 9-second spring element 10-object
Detailed Description
The details of the specific construction and operation of the present invention will be further described with reference to the accompanying drawings and examples.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which comprises a base, K push rod assemblies, a first motor and a first transmission mechanism, wherein the K push rod assemblies are arranged on the base; each push rod assembly comprises a slide tube, a guide rod, a rotating shaft and a first spring piece; k slide pipes are uniformly distributed in circumference, and each slide pipe is slidably inlaid in the base; in the push rod assembly, the slide tube is sleeved on a corresponding guide rod in a sliding manner, two ends of the first spring piece are respectively connected with the corresponding guide rod and the corresponding slide tube, and the guide rod is sleeved on a corresponding rotating shaft; k rotating shafts are respectively sleeved in the base, and the K rotating shafts are uniformly distributed in circumference; the sliding direction of the sliding tube is parallel to the central line of the guide rod; the central line of the slide tube is perpendicular to the central line of the rotating shaft; the first motor is fixedly connected in the base, and an output shaft of the first motor is connected with an input end of the first transmission mechanism; the method is characterized in that: the self-adaptive robot hand device of the controllable quick grabbing rod cluster further comprises a cam, a second motor, a second transmission mechanism, a winding reel, an intermediate shaft, tendon ropes and K second spring pieces; the outer edge surface of the cam is provided with K protruding parts and K recessed parts, the protruding parts are uniformly distributed in the circumference, the recessed parts are uniformly distributed in the circumference, and the protruding parts and the recessed parts are distributed on the outer edge surface of the cam at intervals; the cam is sleeved in the base, the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam is contacted with each guide rod; the base comprises a binding cavity, the second motor is fixedly connected to the base, an output shaft of the second motor is connected with an input end of the second transmission mechanism, and an output end of the second transmission mechanism is connected with the winding reel; the middle shaft is sleeved in the base; the winding reel is sleeved on the intermediate shaft; the starting end of the tendon rope is fixedly connected with the winding reel, and the tendon rope is wound through the winding reel; the second spring piece is a tension spring; the two ends of the ith second spring piece are respectively connected with the tail end of the tendon rope and the ith push rod assembly, and the connection points of all the second spring pieces and the corresponding push rod assemblies are all positioned in the bundling cavity; where K is a natural number greater than 3, i=1, 2,3 … K, i is a natural number.
Taking k=8, one embodiment of the force controllable fast gripper bar cluster adaptive robot hand apparatus of the present invention is shown in fig. 1 to 10. This embodiment comprises a base, 8 push rod assemblies, a first motor 3 and a first transmission mechanism; each push rod assembly comprises a slide tube 26, a guide rod 24, a rotating shaft 21 and a first spring piece 23; the 8 slide pipes 26 are uniformly distributed in circumference, and each slide pipe 26 is slidably inlaid in the base; in the push rod assembly, the sliding tube 26 is in sliding sleeve connection with the corresponding guide rod 24, two ends of the first spring piece 23 are respectively connected with the corresponding guide rod 24 and the corresponding sliding tube 26, and the guide rod 24 is in sleeve connection with the corresponding rotating shaft 21; the 8 rotating shafts 21 are respectively sleeved in the base, and the 8 rotating shafts 21 are uniformly distributed in circumference; the sliding direction of the slide tube 26 is parallel to the center line of the guide rod 24; the central line of the slide tube 26 is perpendicular to the central line of the rotating shaft 21; the first motor 3 is fixedly connected in the base, and an output shaft of the first motor 3 is connected with an input end of the first transmission mechanism; this embodiment also comprises a cam 51, a second motor 6, a second transmission mechanism, a bobbin 7, an intermediate shaft, a tendon rope 8 and 8 second spring elements 9; the outer edge surface of the cam 51 is provided with 8 protruding parts 51A and 8 recessed parts 51B, the protruding parts 51A are uniformly distributed in the circumference, the recessed parts 51B are uniformly distributed in the circumference, and the protruding parts 51A and the recessed parts 51B are arranged at intervals on the outer edge surface of the cam 51; the cam 51 is sleeved in the base, the cam 51 is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam 51 is contacted with each guide rod 24; the base comprises a binding cavity, the second motor 6 is fixedly connected to the base, an output shaft of the second motor 6 is connected with an input end of a second transmission mechanism, and an output end of the second transmission mechanism is connected with the winding reel 7; the middle shaft is sleeved in the base; the winding reel 7 is sleeved on the intermediate shaft; the initial end of the tendon rope 8 is fixedly connected with the winding drum 7, and the tendon rope 8 is wound through the winding drum 7; the two ends of the ith second spring piece 9 are respectively connected with the tail end of the tendon rope 8 and the ith push rod assembly, and the connection points of all the second spring pieces 9 and the corresponding guide rods 24 are all positioned in the bundling cavity; wherein 8 is a natural number greater than 3, i=1, 2,3 … 8,i is a natural number.
In this embodiment, the base includes an upper base cover 11, an upper base 12, a middle base 13, a lower base cover 14, and a lower base 15; the first motor 3 and the second motor 6 are fixedly connected to the upper base 12, and 8 rotating shafts 21 are sleeved on the upper base 12; the middle base 13 is connected with the upper base 12 and the lower base 15; the lower base cover 15 has 8 slide through holes and 1 tendon rope through hole, and the lower base 15 has 8 slide through holes.
In this embodiment, the push rod assembly further includes a hinge 22, and the guide rod 24 is sleeved on the corresponding rotating shaft 21 through the hinge 22.
In this embodiment, the boss 51A has a first slope and a second slope, the slope of the first slope is greater than that of the second slope, all the first slopes are uniformly distributed along the circumference of the outer edge of the cam 51, and all the second slopes are uniformly distributed along the circumference of the outer edge of the cam 51.
In this embodiment, two ends of the ith second spring element are respectively connected to the end of the tendon rope and the ith guide rod, and i=1, 2,3 and … 8,i are natural numbers.
In another embodiment of the present invention, two ends of the ith second spring element are respectively connected to the end of the tendon rope and the ith slide tube i=1, 2,3 and … 8,i are natural numbers.
The invention relates to a controllable force self-adaptive robot hand device for a quick grabbing rod cluster, which is characterized in that: each push rod assembly further comprises a flexible film and flexible contacts, the flexible film is made of any one or more of latex, silica gel or rubber, the flexible contacts are made of any one or more of latex, silica gel or rubber, the ith flexible film is wrapped on the outer side of the ith slide tube, the ith flexible contacts are fixedly connected to the tail end of the ith slide tube, i=1, 2,3 … K, i is a natural number, and K is the number of the push rod assemblies.
In this embodiment, each push rod assembly further includes a flexible film 27 and a flexible contact 28, where the flexible film 27 is made of rubber, the flexible contact 28 is made of rubber, the ith flexible film 27 wraps the outside of the ith slide tube 26, the ith flexible contact 28 is fixedly connected to the end of the ith slide tube 26, and i=1, 2,3 … 8,i is a natural number.
In this embodiment, the protruding portion includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetically conductive material, and the magnetically conductive material is installed at a height corresponding to the protruding portion on the guide rod.
In this embodiment, the recess portion includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetically conductive material, and the magnetically conductive material is mounted on the guide rod at a height corresponding to the recess portion.
In this embodiment, the first transmission mechanism includes a speed reducer, a worm 41 and a worm gear 42, an output shaft of the first motor 3 is connected with an input shaft of the speed reducer, the worm 41 is fixedly sleeved at an output end of the speed reducer, the worm gear 42 is meshed with the worm 41, and the worm gear 42 is connected with a cam 51; the middle part of the cam 51 is provided with a through hole, and the tendon rope 8 passes through the through hole of the cam 51.
In this embodiment, the second transmission mechanism is a speed reducer.
The working principle of the embodiment shown in fig. 1 is described below with reference to the accompanying drawings.
The device has two states, a first state in which it is open and a second state in which it is closed.
The gathering state of the device is shown in fig. 4 and 8, at this time, the 8 concave portions 51B of the cam 51 are opposite to the 8 push rod assemblies respectively, and in this state, due to the pretightening force of the second spring 9, the hinge frames of the 8 push rod assemblies are contacted with the 8 concave portions 51B of the cam 51 respectively, so that all the push rod assemblies gather, and the ends of the slide tubes 26 of all the push rod assemblies are gathered together.
The open state of the device is shown in fig. 1,2 and 7, at this time, the 8 protrusions 51A of the cam 51 are respectively opposite to the 8 push rod assemblies, and the hinge frames of the 8 push rod assemblies are respectively contacted with the 8 protrusions 51A of the cam 51, so that all push rod assemblies are in a vertical state, and the slide pipes 26 of all push rod assemblies are vertical. This state has a greater tension than the gathered state of the second spring member 9.
The switching of the device between the open state and the closed state is realized by the rotation of the cam 51 driven by the first motor 3 through the first transmission mechanism. The slopes on both sides of the boss 51A of the cam 51 are different, as shown in fig. 5 and 6, and the rotation direction of the cam 51 is selected so that the device is rapid from the open state to the gathered state and slow from the gathered state to the open state, i.e., the sequence of the portions of the hinge 22 contacting the cam 51 is: the convex portion 51A, the side with a large slope, the concave portion 51B, the side with a small slope, and the convex portion 51A ….
The second spring element 9 is deformed by a small amount in the gathered state, so that the device is in the gathered state when not in operation.
The device is divided into the following three steps when gripping an object 10:
step one: in preparation, the cam 51 is rotated by a certain angle under the drive of the first motor 3, so that the device is changed from the gathered state to the open state.
Step two: the device is driven by the mechanical arm to approach the object 10 placed on the supporting surface and squeeze the object 10, if the sliding tube 26 touches the object 10, the sliding tube 26 slides along the corresponding guide rod 24 under the reaction force of the object 10; if the slide tube 26 does not touch the object 10, the slide tube 26 does not move relative to the gripping device; the device adapts to the shape of the object 10 due to the different sliding distances created by the different squeezing reaction forces of the object 10 of the slide tube 26.
Step three: the cam 51 is rotated by a small angle under the drive of the first motor 3, so that the device is quickly restored to the gathered state from the open state, and all the slide pipes 26 are gathered towards the center until the slide pipes touch the object 10 or the corresponding hinge members 22 touch the concave parts 51B of the cam 51, thereby completing the grabbing.
The device, when releasing the object 10, is divided into two steps:
step one: the cam 51 is rotated by the first motor 3, the device is gradually changed from the gathered state to the opened state, the slide tube around the object gradually gets away from the object during the change, the gripping force gradually disappears, the object is released, and in addition, the slide tube is restored to the original position by the first spring member.
Step two: the cam 51 is rotated by a corresponding angle by the first motor 3, and the device is changed from the open state to the gathered state, and then the device is closed.
The device adjusts the grabbing speed through the profile design of the cam 51 and the speed control of the first motor 3, and has quick grabbing performance. Since the device is composed of two driving sources, the acceleration of the gripping speed does not impair the gripping force. By controlling the angle of the reel driven by the second motor 6, the amount of expansion and contraction of the second spring 9 can be precisely controlled, thereby controlling the grasping force.
The device comprehensively realizes a space discrete self-adaptive grabbing function by utilizing a plurality of push rod assemblies, a first motor, a cam, a second motor, a tendon rope, a second spring piece and the like, realizes the self-adaptive function on the size and the shape of an object by utilizing the plurality of push rod assemblies, and realizes quick grabbing and grabbing force control by utilizing the combination of the cam and the second spring piece; the device achieves the multidirectional gripping effect on the object, can provide gripping force for the object in multiple directions, and can effectively grip various shapes (including long strips) of objects placed in different directions; the device is not limited by the power of a driving source, and can simultaneously have extremely high grabbing speed and extremely high grabbing force; simple structure and low energy consumption. The device is suitable for various robots needing general grabbing, and is particularly suitable for being used in occasions needing controllable force to grab rapidly.
Claims (5)
1. A controllable force self-adaptive robot hand device for a quick grabbing rod cluster comprises a base,KThe device comprises a push rod assembly, a first motor and a first transmission mechanism; each push rod assembly comprises a slide tube, a guide rod, a rotating shaft and a first spring piece;Kthe sliding pipes are uniformly distributed circumferentially, and each sliding pipe is embedded in the base in a sliding manner; in the push rod assembly, the slide tube is sleeved on a corresponding guide rod in a sliding manner, two ends of the first spring piece are respectively connected with the corresponding guide rod and the corresponding slide tube, and the guide rod is sleeved on a corresponding rotating shaft;Kthe rotating shafts are respectively sleeved in the base,Kthe rotating shafts are uniformly distributed circumferentially; the sliding direction of the sliding tube is parallel to the central line of the guide rod; the central line of the slide tube is perpendicular to the central line of the rotating shaft; the first motor is fixedly connected in the base, and an output shaft of the first motor is connected with an input end of the first transmission mechanism; the method is characterized in that: the self-adaptive robot hand device for the controllable quick grabbing rod cluster also comprises a cam, a second motor, a second transmission mechanism, a winding reel, an intermediate shaft, a tendon rope and a beltKA second spring member; the outer edge surface of the cam is provided withKEach boss is provided withKThe concave parts are uniformly distributed on the circumference, and the convex parts and the concave parts are distributed at intervals on the outer edge surface of the cam; the cam is sleeved in the base and is connected with the output end of the first transmission mechanism; the push rod assembly further comprises a hinge piece, the guide rod is sleeved on the corresponding rotating shaft through the hinge piece, and the outer edge surface of the cam is contacted with the hinge piece; the base comprises a binding cavity, the second motor is fixedly connected to the base, an output shaft of the second motor is connected with an input end of the second transmission mechanism, and an output end of the second transmission mechanism is connected with the winding reel; the middle shaft is sleeved in the base; the winding reel is sleeved on the intermediate shaft; the starting end of the tendon rope is fixedly connected with the winding reel, and the tendon rope is wound through the winding reel; the second spring piece is a tension spring; first, theiTwo ends of the second spring parts are respectively connected with the tail ends of the tendon ropesiThe connecting points of all the second spring pieces and the corresponding push rod assemblies are positioned in the bundling cavity; the convex part is provided with a first slope and a second slope, the gradient of the first slope is larger than that of the second slope, and all the first slopes form a circle along the outer edge of the camAll the second slopes are uniformly distributed along the circumference of the outer edge surface of the cam; first, theiTwo ends of the second spring piece are respectively connected with the tail end and the second end of the tendon ropeiGuide rods or the firstiA plurality of slide pipes; the first transmission mechanism comprises a speed reducer, a worm and a worm wheel, an output shaft of the motor is connected with an input shaft of the speed reducer, the worm is sleeved and fixed at the output end of the speed reducer, the worm wheel is meshed with the worm, and the worm wheel is connected with the cam; the middle part of the cam is provided with a through hole, and the tendon rope passes through the through hole of the cam; wherein,Kis a natural number greater than 3,i=1, 2,3…K，iis a natural number.
2. The force controllable, fast gripper bar cluster adaptive robot hand apparatus of claim 1, wherein: each push rod assembly further comprises a flexible film and a flexible contact, wherein the flexible film is made of any one or more of rubber, silica gel or latex, and the flexible contact is made of any one or more of rubber, silica gel or latex, and the first is thatiThe flexible film is wrapped around the firstiThe outside of the slide tube, the firstiThe flexible contact is fixedly connected with the firstiThe end of each slide tube is provided with a plurality of slide grooves,i=1, 2,3…K，iis a natural number of the Chinese characters,Kthe number of the push rod assemblies.
3. The force controllable, fast gripper bar cluster adaptive robot hand apparatus of claim 1, wherein: the protruding part comprises a permanent magnet or an electromagnet, the guide rod is provided with a magnetic conduction material, and the magnetic conduction material is arranged at the height of the guide rod corresponding to the protruding part.
4. The force controllable, fast gripper bar cluster adaptive robot hand apparatus of claim 1, wherein: the concave part comprises a permanent magnet or an electromagnet, the guide rod is provided with a magnetic conduction material, and the magnetic conduction material is arranged at the height of the guide rod corresponding to the concave part.
5. The force controllable, fast gripper bar cluster adaptive robot hand apparatus of claim 1, wherein: the second transmission mechanism is a speed reducer.
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| CN110524568B (en) * | 2019-08-06 | 2024-04-16 | 李泽铭 | Self-adaptive robot hand device with laminated telescopic parallel clamping grabbing slide tube |
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN110497431B (en) * | 2019-09-17 | 2024-01-30 | 清研(洛阳)先进制造产业研究院 | Pawl locking force grouping rotation parallel grabbing multi-rod self-adaptive robot hand device |
| CN111331587B (en) * | 2020-03-20 | 2024-08-27 | 清研(洛阳)先进制造产业研究院 | Tendon rope driving expansion grabbing sliding rod self-adaptive robot hand device |
| CN113291790B (en) * | 2021-05-25 | 2022-08-30 | 武汉理工大学 | Self-adaptive grabbing mechanism |
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