CN109605414A - Belt wheel rotates the flat folder adaptive robot finger apparatus of idle running straight line - Google Patents
Belt wheel rotates the flat folder adaptive robot finger apparatus of idle running straight line Download PDFInfo
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- CN109605414A CN109605414A CN201811428209.2A CN201811428209A CN109605414A CN 109605414 A CN109605414 A CN 109605414A CN 201811428209 A CN201811428209 A CN 201811428209A CN 109605414 A CN109605414 A CN 109605414A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Belt wheel rotates the flat folder adaptive robot finger apparatus of the parallel straight line of idle running, belong to robot technical field, including pedestal, motor, two sets of transmission mechanism, two segments, multiple axis, two driving wheels, two connecting rods, three spring parts, three convex blocks and six belt wheels etc..The arrangement achieves the functions of the clamping of robot finger's straight line parallel and adaptive compound crawl；When the device straight line parallel clamps object, the second segment remains the motion profile of straight line, can linear translation the second segment grip object, suitable for grabbing thin plate-like object on workbench；The device uses parallel institution, realizes self-adapting grasping by way of rotating idle running；Device crawl range is big, drives two segments using a driver, and driving method is simple, without complicated sensing and control system；The apparatus structure is compact, small in size, manufactures, robot suitable for general crawl low with maintenance cost.
Description
Technical field
The invention belongs to robot technical field, in particular to a kind of flat adaptive machine of folder of belt wheel rotation idle running straight line
The structure of finger device designs.
Background technique
Robot is an important end fitting, for grabbing object and operation object.Robot is ground at present
Study carefully achievement and be concentrated mainly on flexible manipulator and underactuated manipulator, while further including industrial clamper and extraordinary hand etc..Space
Object it is varied, not of uniform size, have thin paper, random-shaped stones, mobile phone, apple etc..It is most in Dextrous Hand
Driver is arranged in finger-joint, but controls complexity, and grasping force is smaller, so the application of Dextrous Hand is restricted.It owes to drive
In starting, each finger has 2 or more freedom degrees, is driven by a small amount of driver, the crawl to object may be implemented, and ties
Structure is simple, and control is easy.
Another important feature of manpower is to realize mixing grasp mode, both may be implemented to hold or may be implemented end folder
It holds.The mode of the adaptive envelope object of most of drive lacking hand getting can be realized the envelop-type crawl to an object.So
And such hand is unable to grip.
There are two types of the drive lacking hands (Chinese invention patent CN107139195A) of grasp mode to have been developed that for tool.It should
Device realizes two kinds of grasp modes, and adaptive envelope crawl both may be implemented, and also may be implemented to clamp (referred to as flat folder) in parallel
Function.Its deficiency is: the device cannot achieve the straight line parallel folder that parallel reception step end segment is translatable along straight path
Hold function.
Straight line parallel clamping is very important function for crawl object on table top, if without the flat of straight path movement
Row clamping robot when grabbing object on table top must binding object size and thickness accordingly adjust robot apart from table
The height in face considerably increases the control difficulty and use cost of mechanical arm or wrist, also reduces in a large amount of different rulers of crawl
Working efficiency when very little object.So if the flat folder class of straight line for not depending on mechanical arm or the adjustment of wrist height and movement can be developed
Robot will effectively solve this problem, have become a research hotspot.
It is a kind of to be devised with the flat robot (international patent of invention WO2016063314A1) for pressing from both sides function of straight line.
The device can be realized the straight path translation of reception step end segment, so that the end segment just with clamping is moved in parallel
It is dynamic, so that it may fast and parallel clamping be realized to different size of object, improved work efficiency, reduced control difficulty, avoid
The security risk of finger tips and desktop collision, also can faster grab desktop thin plate stacked objects, be suitably applied in
In many application environments such as logistics, storage and industrial automation assembly line.Disadvantage is that: the device cannot achieve adaptive
The function of envelope crawl object is answered, mechanism is more complicated, and manufacturing cost is high.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of flat folder of belt wheel rotation idle running straight line is provided
Adaptive robot finger apparatus.The device can be realized grip and hold two kinds of grasp modes: the device can be in grip object
When, it realizes end segment straight line parallel clamping effect, is suitble to crawl object on table top, the interference of finger tips and desktop is avoided to touch
It hits, reduces control difficulty when crawl different objects；Adaptive envelope crawl different shape size objects, grasp force may be implemented
Amount is big, grasping stability.
Technical scheme is as follows:
The flat folder adaptive robot finger apparatus of belt wheel that the present invention designs rotation idle running straight line, including pedestal, motor, the
One transmission mechanism, the second transmission mechanism, the first segment, the second segment, nearly joint shaft, remote joint shaft, the first transmission gear, second
Transmission gear, first axle, the second axis, third axis, the 4th axis, the 5th axis, the 6th axis, first connecting rod and second connecting rod；The electricity
Machine is affixed on the base；The first transmission mechanism input terminal is connected to the motor；The input terminal of second transmission mechanism and
The output end of one transmission mechanism is connected；First segment is socketed on nearly joint shaft；The remote joint shaft is set in the first finger
Duan Zhong；Second segment is socketed on remote joint shaft；The center line of the center line and remote joint shaft of the nearly joint shaft is mutual
In parallel；The first axle is set in pedestal；First transmission gear is socketed in first axle；Second axle sleeve is located at base
In seat；Second transmission gear is socketed on the second axis；First transmission gear is connected with the output end of transmission mechanism；Institute
The second transmission gear is stated to be connected with the output end of transmission mechanism；The rotation direction of second transmission gear and the first transmission gear
Identical, second transmission gear is identical as the velocity of rotation of the first transmission gear；The nearly joint shaft is set in the first transmission
In gear；The third axle sleeve is located in the second transmission gear；One end of the first connecting rod is socketed on third axis, connecting rod
The other end is socketed on the 4th axis；Sliding slot is provided on the first connecting rod, the sliding slot is straight；5th axle sleeve
It connects in pedestal；The 5th axis sliding is embedded in sliding slot；6th axis is socketed in pedestal；The first axle and the 6th
Shaft centre line is overlapped；Described second connecting rod one end is socketed on remote joint shaft, and the second connecting rod other end is socketed on the 4th axis；If
Nearly joint shaft, remote joint shaft, first axle, the second axis, third axis, the 4th axis and the 5th axis central point be respectively A, B, C, D, E,
F, G, point E, G, F is conllinear, line segment AB and line segment EF equal length, line segment AE and line segment BF equal length, line segment CD and line segment AE
Equal length, line segment AC and line segment DE equal length, the length of line segment DG are 1.5 times of line segment DE length, the length of line segment AB
It is 6 times of line segment AC；Point A, B, F, E constitute parallelogram；Glide direction of 5th axis in sliding slot and line segment EF weight
It closes；The nearly joint shaft, remote joint shaft, first axle, the second axis, third axis, the 4th axis and the 5th axis center line be parallel to each other；
It is characterized in that: the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line further includes the first convex block, the second convex block,
Third convex block, the first spring part, the second spring part, third spring part, first pulley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th
Belt wheel and the 6th belt wheel；First convex block is fixed on the output end of the first transmission mechanism；Second convex block is fixed in
On one belt wheel；The first pulley is socketed on the output shaft of the first transmission mechanism；Second belt wheel is socketed on the 6th axis；
Pass through flexible band connection between first pulley and the second belt wheel；Third belt wheel is socketed on the 6th axis；Second belt wheel and third band
It takes turns affixed；4th belt wheel is socketed on nearly joint shaft；Third belt wheel and the 4th belt wheel pass through flexible band connection；The socket of 5th belt wheel
On nearly joint shaft；4th belt wheel and the 5th belt wheel are affixed；6th belt wheel is socketed on remote joint shaft；5th belt wheel and the 6th band
Wheel passes through flexible band connection；First spring part one end is fixed in the output end of the first transmission mechanism, and the other end is fixed in the second transmission
The input terminal of mechanism；Second spring part one end is fixed on the 6th belt wheel, and the other end is fixed in the second segment；Third spring part one end
It is fixed on second connecting rod, the other end is fixed in the second segment；Third convex block is fixed in second connecting rod.
The flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line of the present invention, it is characterised in that: described
First transmission mechanism includes retarder, worm gear, worm screw and First Transition axis.The input shaft of the retarder and the output shaft of motor
It is connected；The worm screw is fixed on the output shaft of retarder, and the worm and wheel engagement, the worm gear is socketed in First Transition
On axis, the First Transition axis is socketed in pedestal.
The flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line of the present invention, it is characterised in that: described
Second transmission mechanism includes First Transition gear, the second transition gear, third transition gear and the second transition axis.First mistake
Gear is crossed to be socketed on the first transmission mechanism output shaft；Second transition axis is socketed in pedestal；Second transition gear
It is socketed on the second transition axis, the third transition gear is socketed on the second transition axis, second transition gear and third
Transition gear is affixed.
The flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line of the present invention, it is characterised in that: described
First spring part uses tension spring, pressure spring or torsional spring；The second spring part uses tension spring, pressure spring or torsional spring；The third spring part uses
Pressure spring or tension spring.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention realize doublejointed robot finger using the synthesis such as three spring parts, three convex blocks, six belt wheels
The function of straight line parallel clamping and adaptive compound crawl.The device is when being translatable the second segment clamping object, the second segment end
End remains the track movement of straight line, to achieve the effect that the second segment along linear translation, is suitble on the table always
Grab sheet goods；The device can drive the by V belt translation after the first segment touches object using rotation lost motion mechanism
The rotation of two segments realizes that adaptive envelope grabs object.The device can be realized straight line parallel clamping and adaptive envelope holds two
The compound grasp mode of kind.Device transmission is accurate, steady, grasping stability, reliable；Merely with two joints of a motor driven,
Without complicated sensing and real-time control system；Structure is simple, small in size, at low cost, the robot suitable for general crawl.
Detailed description of the invention
Fig. 1 is a kind of embodiment for the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line that the present invention designs
Stereo appearance figure.
Fig. 2 is the stereo appearance figure (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 3 is the stereo appearance figure (being not drawn into part) in embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure (being not drawn into part) in embodiment illustrated in fig. 1.
Fig. 5 to Fig. 7 is action process schematic diagram of the embodiment illustrated in fig. 1 in straight line parallel clamping object.
Fig. 8 is embodiment illustrated in fig. 1 posture comparison diagram before and after straight line parallel clamps object.
Fig. 9 to Figure 12 is embodiment illustrated in fig. 1 in the action process signal for holding object with adaptive envelope grasp mode
Figure.
Figure 13 is the schematic diagram of the straight-line mechanism of embodiment illustrated in fig. 1.
In Fig. 1 into Figure 13:
1- pedestal, 21- motor, 22- retarder, 31- worm gear,
32- worm screw, 41- First Transition axis, the second transition axis of 42-, 51- First Transition gear
The second transition gear of 52-, 53- third transition gear, the first transmission gear of 61-, the second transmission gear of 62-,
The first segment of 71-, the second segment of 72-, the nearly joint shaft of 81-, the remote joint shaft of 82-,
91- first axle, the second axis of 92-, 93- third axis, the 4th axis of 94-,
The 5th axis of 95-, the 6th axis of 96-, 101- first connecting rod, 102- second connecting rod,
The first convex block of 111-, the second convex block of 112-, 113- third convex block, 121- the first spring part,
122- the second spring part, 123- third spring part, 131- first pulley, the second belt wheel of 132-,
133- third belt wheel, the 4th belt wheel of 134-, the 5th belt wheel of 135-, the 6th belt wheel of 136-,
140- sheet goods, 150- spherical 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.
A kind of a kind of embodiment for the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line that the present invention designs,
As shown in Figures 1 to 4, including pedestal 1, motor 21, the first transmission mechanism, the second transmission mechanism, the first segment 71, the second segment
72, nearly joint shaft 81, remote joint shaft 82, the first transmission gear 61, the second transmission gear 62, first axle 91, the second axis 92, third
Axis 93, the 4th axis 94, the 5th axis 95, the 6th axis 96, first connecting rod 101 and second connecting rod 102；The motor 21 is fixed in pedestal
On 1；The first transmission mechanism input terminal is connected with motor 21；The input terminal and the first transmission mechanism of second transmission mechanism
Output end be connected；First segment 71 is socketed on nearly joint shaft 81；The remote joint shaft 82 is set in the first segment 71
In；Second segment 72 is socketed on remote joint shaft 82；The center of the center line of the nearly joint shaft 81 and remote joint shaft 82
Line is parallel to each other；The first axle 91 is set in pedestal 1；First transmission gear 61 is socketed in first axle 91；It is described
Second axis 92 is set in pedestal 1；Second transmission gear 62 is socketed on the second axis 92；First transmission gear 61 with
The output end of transmission mechanism is connected；Second transmission gear 62 is connected with the output end of transmission mechanism；Second driving cog
Wheel 62 is identical as the rotation direction of the first transmission gear 61, the rotation speed of second transmission gear 62 and the first transmission gear 61
It spends identical；The nearly joint shaft 81 is set in the first transmission gear 61；The third axis 93 is set in the second transmission gear 62
In；One end of the first connecting rod 101 is socketed on third axis 93, and the other end of first connecting rod 101 is socketed on the 4th axis 94；
Sliding slot is provided on the first connecting rod 101, the sliding slot is straight；5th axis 95 is socketed in pedestal 1；It is described
The sliding of 5th axis 95 is embedded in sliding slot；6th axis 96 is socketed in pedestal 1；The first axle 91 and 96 center of the 6th axis
Line is overlapped；Described 102 one end of second connecting rod is socketed on remote joint shaft 82, and 102 other end of second connecting rod is socketed in the 4th axis 94
On；If in nearly joint shaft 81, remote joint shaft 82, first axle 91, the second axis 92, third axis 93, the 4th axis 94 and the 5th axis 95
Heart point is respectively A, B, C, D, E, F, G, and point E, G, F is conllinear, line segment AB and line segment EF equal length, line segment AE and line segment BF length
Equal, line segment CD and line segment AE equal length, line segment AC and line segment DE equal length, the length of line segment DG are line segment DE length
1.5 times, the length of line segment AB is 6 times of line segment AC；Point A, B, F, E constitute parallelogram；5th axis 95 is in sliding slot
Glide direction be overlapped with line segment EF；The nearly joint shaft 81, remote joint shaft 82, first axle 91, the second axis 92, third axis 93,
The center line of 4th axis 94 and the 5th axis 95 is parallel to each other；The present embodiment further includes the first convex block 111, the second convex block 112, third
Convex block 113, the first spring part 121, the second spring part 122, third spring part 123, first pulley 131, the second belt wheel 132, third belt wheel
133, the 4th belt wheel 134, the 5th belt wheel 134 and the 6th belt wheel 136；First convex block 111 is fixed in the first transmission mechanism
On output end；Second convex block 112 is fixed in first pulley 131；The first pulley 131 is socketed in the first transmission mechanism
Output shaft on；Second belt wheel 132 is socketed on the 6th axis 96；By soft between first pulley 131 and the second belt wheel 132
Property band connection；Third belt wheel 133 is socketed on the 6th axis 96；Second belt wheel 132 and third belt wheel 133 are affixed；4th belt wheel 134
It is socketed on nearly joint shaft 81；Third belt wheel 133 and the 4th belt wheel 134 pass through flexible band connection；5th belt wheel 135 is socketed in closely
On joint shaft 81；4th belt wheel 134 and the 5th belt wheel 135 are affixed；6th belt wheel 136 is socketed on remote joint shaft 82；5th band
Wheel 135 and the 6th belt wheel 136 pass through flexible band connection；First spring part, 121 one end is fixed in the output end of the first transmission mechanism, separately
One end is fixed in the input terminal of the second transmission mechanism；Second spring part, 122 one end is fixed on the 6th belt wheel 136, and the other end is affixed
In the second segment 72；123 one end of third spring part is fixed on second connecting rod 102, and the other end is fixed in the second segment 72；The
Three convex blocks 113 are fixed in second connecting rod 102.
In the present embodiment, first transmission mechanism includes retarder 22, worm gear 32, worm screw 31 and First Transition axis 41.
The input shaft of the retarder 22 is connected with the output shaft of motor 21；The worm screw 31 is fixed on the output shaft of retarder 22,
The worm screw 31 engages with worm gear 32, and the worm gear 32 is socketed on First Transition axis 41, and the First Transition axis 41 is socketed in
In pedestal 1.
In the present embodiment, second transmission mechanism includes First Transition gear 51, the second transition gear 52, third transition
Gear 53 and the second transition axis 42.The First Transition gear 51 is socketed on the first transmission mechanism output shaft；Second mistake
Axis 42 is crossed to be socketed in pedestal；Second transition gear 52 is socketed on the second transition axis 42, the third transition gear 53
It is socketed on the second transition axis 42, second transition gear 52 and third transition gear 53 are affixed.
In the present embodiment, the first spring part 121 is using tension spring, pressure spring or torsional spring；The second spring part 122 is using drawing
Spring, pressure spring or torsional spring；The third spring part 123 uses pressure spring or tension spring.
The working principle of the present embodiment, is described below in conjunction with attached drawing:
Motor 21 rotates forward, and drives the rotation of the first transmission mechanism, by 121 transfer motion power of the first spring part, drives the second transmission
Mechanism rotation, so that the first transmission gear 61 and the rotation of the second transmission gear 62, because having the second axis 92, third axis the 93, the 4th
The mechanism that axis 94, the 5th axis 95 and first connecting rod 101 form meets straight-line mechanism principle shown in Figure 13, so the 4th axis 94
Motion profile is straight line.Second transmission gear 62 is identical with the rotation direction of the first transmission gear 61, the second transmission gear
62 is identical with the velocity of rotation of the first transmission gear 61, and line segment AC and line segment DE equal length, simultaneously because point A, B, F, E structure
At parallelogram, so the motion profile of remote joint shaft 82 is also straight line, the second segment 72 is socketed in remote joint shaft 82
On, due to the effect of third spring part 123 and third convex block 113, the second segment 72 remains posture straight up, while
For two segments 72 along linear translation, end movement track is straight line, to realize that the straight line of the device equals folder function.As Fig. 5,
Shown in Fig. 6, Fig. 7.
If the first segment 71 first touches object 150, the second transmission mechanism cannot transmit power, and the first segment 71 is no longer
Rotation, but worm gear 32 continues to rotate, when the first convex block 111 touches the second convex block 112, first pulley 131 is rotated, and is passed through
V belt translation drives the rotation of the second belt wheel 132, and since the second belt wheel 132 and third belt wheel 133 are affixed, third belt wheel 133 is rotated, and leads to
It crosses V belt translation and drives the rotation of the 4th belt wheel 134, since the 4th belt wheel 134 and the 5th belt wheel 135 are affixed, the rotation of the 5th belt wheel 135,
The rotation of the 6th belt wheel 136 is driven by V belt translation.Due to the effect of the second spring part 122, the pulling force of third spring part 123 is overcome, the
Three spring parts 123 deform, so that the second segment 72 rotates, realize the function of adaptive envelope object.
As shown in Fig. 9, Figure 10, Figure 11, Figure 12.
When discharging object, motor 21 is inverted, with the above process on the contrary, repeating no more.
The present invention utilizes motor, two sets of transmission mechanism, multiple axis, two connecting rods, three spring parts, three convex blocks and six bands
Wheel etc. is comprehensive to be realized robot finger's grip and holds two kinds of functions, and the straight of end segment can be both kept in grip object
Line moves in parallel, and is also suitble to down adaptive envelope crawl different shape, size with two segments in the case where no sensor
Object；Device transmission is accurate steady, and grasping stability is reliable；Merely with two joints of a motor driven, without complexity
Sensing and real-time control system；Structure is simple, small in size, light-weight, at low cost, the robot suitable for general crawl.
Claims (4)
1. a kind of flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line, including pedestal, motor, the first driver
Structure, the second transmission mechanism, the first segment, the second segment, nearly joint shaft, remote joint shaft, the first transmission gear, the second driving cog
Wheel, first axle, the second axis, third axis, the 4th axis, the 5th axis, the 6th axis, first connecting rod and second connecting rod；The motor is affixed
On the base；The first transmission mechanism input terminal is connected to the motor；The input terminal of second transmission mechanism and the first transmission
The output end of mechanism is connected；First segment is socketed on nearly joint shaft；The remote joint shaft is set in the first segment；Institute
The second segment is stated to be socketed on remote joint shaft；The center line of the center line and remote joint shaft of the nearly joint shaft is parallel to each other；Institute
First axle is stated to be set in pedestal；First transmission gear is socketed in first axle；Second axle sleeve is located in pedestal；Institute
The second transmission gear is stated to be socketed on the second axis；First transmission gear is connected with the output end of transmission mechanism；Described second
Transmission gear is connected with the output end of transmission mechanism；Second transmission gear is identical as the rotation direction of the first transmission gear,
Second transmission gear is identical as the velocity of rotation of the first transmission gear；The nearly joint shaft is set in the first transmission gear
In；The third axle sleeve is located in the second transmission gear；One end of the first connecting rod is socketed on third axis, connecting rod it is another
End is socketed on the 4th axis；Sliding slot is provided on the first connecting rod, the sliding slot is straight；5th axis is socketed in
In pedestal；The 5th axis sliding is embedded in sliding slot；6th axis is socketed in pedestal；In the first axle and the 6th axis
Heart line is overlapped；Described second connecting rod one end is socketed on remote joint shaft, and the second connecting rod other end is socketed on the 4th axis；If close close
Nodal axisn, remote joint shaft, first axle, the second axis, third axis, the 4th axis and the 5th axis central point be respectively A, B, C, D, E, F, G,
Point E, G, F is conllinear, line segment AB and line segment EF equal length, line segment AE and line segment BF equal length, line segment CD and line segment AE length
Equal, line segment AC and line segment DE equal length, the length of line segment DG are 1.5 times of line segment DE length, and the length of line segment AB is line
6 times of section AC；Point A, B, F, E constitute parallelogram；Glide direction of 5th axis in sliding slot is overlapped with line segment EF；Institute
The center line for stating nearly joint shaft, remote joint shaft, first axle, the second axis, third axis, the 4th axis and the 5th axis is parallel to each other；It is special
Sign are as follows: the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line further includes the first convex block, the second convex block, third
Convex block, the first spring part, the second spring part, third spring part, first pulley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th belt wheel
With the 6th belt wheel；First convex block is fixed on the output end of the first transmission mechanism；Second convex block is fixed in first band
On wheel；The first pulley is socketed on the output shaft of the first transmission mechanism；Second belt wheel is socketed on the 6th axis；First
Pass through flexible band connection between belt wheel and the second belt wheel；Third belt wheel is socketed on the 6th axis；Second belt wheel and third belt wheel are solid
It connects；4th belt wheel is socketed on nearly joint shaft；Third belt wheel and the 4th belt wheel pass through flexible band connection；5th belt wheel is socketed in closely
On joint shaft；4th belt wheel and the 5th belt wheel are affixed；6th belt wheel is socketed on remote joint shaft；5th belt wheel and the 6th belt wheel are logical
Cross flexible band connection；First spring part one end is fixed in the output end of the first transmission mechanism, and the other end is fixed in the second transmission mechanism
Input terminal；Second spring part one end is fixed on the 6th belt wheel, and the other end is fixed in the second segment；Third spring part one end is affixed
On second connecting rod, the other end is fixed in the second segment；Third convex block is fixed in second connecting rod.
2. the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line as described in claim 1, it is characterised in that: institute
Stating the first transmission mechanism includes retarder, worm gear, worm screw and First Transition axis.The output of the input shaft and motor of the retarder
Axis is connected；The worm screw is fixed on the output shaft of retarder, and the worm and wheel engagement, the worm gear is socketed in the first mistake
It crosses on axis, the First Transition axis is socketed in pedestal.
3. the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line as described in claim 1, it is characterised in that: institute
Stating the second transmission mechanism includes First Transition gear, the second transition gear, third transition gear and the second transition axis.Described first
Transition gear is socketed on the first transmission mechanism output shaft；Second transition axis is socketed in pedestal；The second transition tooth
Wheel is socketed on the second transition axis, and the third transition gear is socketed on the second transition axis, second transition gear and the
Three transition gears are affixed.
4. the flat folder adaptive robot finger apparatus of belt wheel rotation idle running straight line as described in claim 1, it is characterised in that: institute
The first spring part is stated using tension spring, pressure spring or torsional spring；The second spring part uses tension spring, pressure spring or torsional spring；The third spring part is adopted
With pressure spring or tension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811428209.2A CN109605414B (en) | 2018-11-27 | 2018-11-27 | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811428209.2A CN109605414B (en) | 2018-11-27 | 2018-11-27 | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605414A true CN109605414A (en) | 2019-04-12 |
| CN109605414B CN109605414B (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811428209.2A Active CN109605414B (en) | 2018-11-27 | 2018-11-27 | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910038A (en) * | 2019-04-18 | 2019-06-21 | 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 flat folder adaptive robot finger apparatus of trigger-type double leval jib |
| CN111360860A (en) * | 2020-03-27 | 2020-07-03 | 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 | Five-rod sliding groove linear parallel clamping self-adaptive robot finger device |
| CN113319878A (en) * | 2021-07-13 | 2021-08-31 | 董尹凯 | Parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device |
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| CN201357413Y (en) * | 2009-03-02 | 2009-12-09 | 杭州电子科技大学 | Clamping manipulator |
| CN106426240A (en) * | 2016-07-08 | 2017-02-22 | 清华大学 | Idle stroke transmission connecting rod coupling self-adaption robot finger device |
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| CN109910038A (en) * | 2019-04-18 | 2019-06-21 | 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 flat folder adaptive robot finger apparatus of trigger-type double leval jib |
| CN111360860A (en) * | 2020-03-27 | 2020-07-03 | 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 | Five-rod sliding groove linear parallel clamping self-adaptive robot finger device |
| CN113319878A (en) * | 2021-07-13 | 2021-08-31 | 董尹凯 | Parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device |
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