CN109605414B - Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device - Google Patents

Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device Download PDF

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Publication number
CN109605414B
CN109605414B CN201811428209.2A CN201811428209A CN109605414B CN 109605414 B CN109605414 B CN 109605414B CN 201811428209 A CN201811428209 A CN 201811428209A CN 109605414 B CN109605414 B CN 109605414B
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China
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shaft
sleeved
belt wheel
spring
transmission mechanism
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CN109605414A (en
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潘勇
徐向荣
张文增
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Anhui University of Technology AHUT
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Anhui University of Technology AHUT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0028Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/083Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position

Abstract

A belt wheel rotation idle stroke parallel type linear parallel clamping self-adaptive robot finger device belongs to the technical field of robot hands and comprises a base, a motor, two sets of transmission mechanisms, two finger sections, a plurality of shafts, two transmission wheels, two connecting rods, three spring pieces, three convex blocks, six belt wheels and the like. The device realizes the functions of linear parallel clamping and self-adaptive composite grabbing of the fingers of the robot; when the device clamps an object in a straight-line parallel manner, the second finger section always keeps a straight-line motion track, can linearly translate the second finger section to clamp the object, and is suitable for being used on a workbench to clamp a sheet-shaped object; the device adopts a parallel mechanism, and realizes self-adaptive grabbing by a rotating idle stroke mode; the device has a large grabbing range, one driver is used for driving two finger sections, the driving mode is simple, and a complex sensing and control system is not needed; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for the universal grabbing robot hand.

Description

Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device.
Background
The robot hand is an important end piece for gripping and manipulating objects. At present, the research results of robot hands mainly focus on smart manipulators and under-actuated manipulators, and meanwhile, the robot hands also comprise industrial clamps, special hands and the like. The objects in the space are various and different in size, and comprise thin paper, stones with irregular shapes, mobile phones, apples and the like. In the dexterous hand, most finger joints are provided with drivers, but the dexterous hand is controlled in a complex way and has small holding force, so that the application of the dexterous hand is limited. In the under-actuated hand, each finger has 2 or more degrees of freedom, and is driven by a small number of drivers, so that the object can be grabbed, the structure is simple, and the control is easy.
Another important feature of the human hand is the implementation of a hybrid grasping mode, which can be both gripping and end gripping. Most of the under-actuated hands adopt a mode of self-adapting enveloping objects, and can realize enveloping type grabbing on one object. However, such hands cannot be held.
An under-actuated hand (chinese patent CN107139195A) with two gripping modes has been developed. The device realizes two grabbing modes, can realize self-adaptive envelope grabbing and can also realize the function of parallel clamping (flat clamping for short). The defects are as follows: the device can not realize the linear parallel clamping function of the tail end finger section in the parallel clamping stage along the translational motion of a linear track.
The linear parallel clamping is an important function for grabbing objects on the table top, if the parallel clamping robot hand without linear track motion has to correspondingly adjust the height of the robot hand from the table top by combining the size and thickness of the objects when grabbing the objects on the table top, the control difficulty and the use cost of the mechanical arm or the wrist are greatly increased, and the working efficiency when grabbing a large number of objects with different sizes is also reduced. Therefore, it has become a research focus if a straight-line parallel-clamping robot hand which does not depend on the height motion adjustment of the mechanical arm or the wrist can be developed to effectively solve the problem.
A robot hand (International patent publication WO2016063314A1) having a straight-line parallel clamping function is designed. The device can realize the linear track translation of the terminal finger section of the clamping stage, thereby only utilizing the terminal finger section parallel movement of clamping, realizing the fast parallel clamping of objects with different sizes, improving the working efficiency, reducing the control difficulty, avoiding the potential safety hazard of collision between the finger terminal and the desktop, also being capable of fast grabbing the desktop thin plate and stacking the objects, and being suitable for being applied to a plurality of application environments such as logistics, storage and industrial automation assembly lines. The disadvantages are that: the device can not realize the function of self-adaptive enveloping and grabbing objects, and has the disadvantages of complex mechanism and high manufacturing cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device. The device can realize holding between the fingers and holding two kinds of modes of grabbing: the device can realize the effect of linearly and parallelly clamping the tail end finger section when the object is pinched, is suitable for grabbing objects on the table top, avoids interference and collision between the tail ends of the fingers and the table top, and reduces the control difficulty when different objects are grabbed; the self-adaptive envelope grabbing device can realize self-adaptive envelope grabbing of objects with different shapes and sizes, and is large in grabbing force and stable in grabbing.
The technical scheme of the invention is as follows:
the invention relates to a belt wheel rotation lost motion linear parallel clamping self-adaptive robot finger device which comprises a base, a motor, a first transmission mechanism, a second transmission mechanism, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first transmission gear, a second transmission gear, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft, a first connecting rod and a second connecting rod, wherein the base is provided with a base; the motor is fixedly connected to the base; the input end of the first transmission mechanism is connected with the motor; the input end of the second transmission mechanism is connected with the output end of the first transmission mechanism; the first finger section is sleeved on the proximal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is sleeved on the far joint shaft; the central line of the proximal joint shaft is parallel to the central line of the distal joint shaft; the first shaft sleeve is arranged in the base; the first transmission gear is sleeved on the first shaft; the second shaft is sleeved in the base; the second transmission gear is sleeved on the second shaft; the first transmission gear is connected with the output end of the second transmission mechanism; the second transmission gear is connected with the output end of the second transmission mechanism; the second transmission gear and the first transmission gear have the same rotation direction and the same rotation speed; the near joint shaft is sleeved in the first transmission gear; the third shaft is sleeved in the second transmission gear; one end of the first connecting rod is sleeved on the third shaft, and the other end of the connecting rod is sleeved on the fourth shaft; the first connecting rod is provided with a sliding chute which is a linear sliding chute; the fifth shaft is sleeved in the base; the fifth shaft is embedded in the sliding groove in a sliding manner; the sixth shaft is sleeved in the base; the central lines of the first shaft and the sixth shaft are coincident; one end of the second connecting rod is sleeved on the far joint shaft, and the other end of the second connecting rod is sleeved on the fourth shaft; setting central points of a near joint shaft, a far joint shaft, a first shaft, a second shaft, a third shaft, a fourth shaft and a fifth shaft to be A, B, C, D, E, F, G respectively, setting a point E, G, F to be collinear, setting lengths of a line segment AB and a line segment EF to be equal, lengths of a line segment AE and a line segment BF to be equal, lengths of a line segment CD and a line segment AE to be equal, lengths of a line segment AC and a line segment DE to be equal, a length of a line segment DG to be 1.5 times of the length of the line segment DE, and a length of the line segment AB to be; point A, B, F, E constitutes a parallelogram; the sliding direction of the fifth shaft in the sliding groove is superposed with the line segment EF; the central lines of the near joint shaft, the far joint shaft, the first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft are mutually parallel; it is characterized in that: the belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device further comprises a first lug, a second lug, a third lug, a first spring part, a second spring part, a third spring part, a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a fifth belt wheel and a sixth belt wheel; the first lug is fixedly connected to the output end of the first transmission mechanism; the second lug is fixedly connected to the first belt wheel; the first pulley is sleeved on an output shaft of the first transmission mechanism; the second belt wheel is sleeved on the sixth shaft; the first belt wheel is connected with the second belt wheel through a flexible belt; the third belt wheel is sleeved on the sixth shaft; the second belt wheel is fixedly connected with the third belt wheel; the fourth belt pulley is sleeved on the near joint shaft; the third belt wheel is connected with the fourth belt wheel through a flexible belt; the fifth belt pulley is sleeved on the near joint shaft; the fourth belt wheel is fixedly connected with the fifth belt wheel; the sixth belt wheel is sleeved on the far joint shaft; the fifth belt pulley is connected with the sixth belt pulley through a flexible belt; one end of the first spring is fixedly connected with the output end of the first transmission mechanism, and the other end of the first spring is fixedly connected with the input end of the second transmission mechanism; one end of the second spring is fixedly connected to the sixth belt wheel, and the other end of the second spring is fixedly connected to the second finger section; one end of the third spring piece is fixedly connected to the second connecting rod, and the other end of the third spring piece is fixedly connected to the second finger section; the third bump is fixedly connected to the second connecting rod.
The invention relates to a belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first transmission mechanism comprises a speed reducer, a worm wheel, a worm and a first transition shaft; the input shaft of the speed reducer is connected with the output shaft of the motor; the worm is fixedly sleeved on an output shaft of the speed reducer, the worm is meshed with a worm wheel, the worm wheel is sleeved on a first transition shaft, and the first transition shaft is sleeved in the base.
The invention relates to a belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device, which is characterized in that: the second transmission mechanism comprises a first transition gear, a second transition gear, a third transition gear and a second transition shaft; the first transition gear is sleeved on the output shaft of the first transmission mechanism; the second transition shaft is sleeved in the base; the second transition gear is sleeved on the second transition shaft, the third transition gear is sleeved on the second transition shaft, and the second transition gear is fixedly connected with the third transition gear.
The invention relates to a belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring, a pressure spring or a torsion spring; the second spring piece adopts a tension spring, a pressure spring or a torsion spring; the third spring piece adopts a pressure spring or a tension spring.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the functions of linear parallel clamping and self-adaptive composite grabbing of the fingers of the double-joint robot by using three spring pieces, three convex blocks, six belt wheels and the like. When the device is used for clamping an object by translating the second finger section, the tail end of the second finger section always keeps linear track motion, so that the effect that the second finger section always translates along a straight line is achieved, and the device is suitable for grabbing a thin plate object on a workbench; the device adopts and rotates idle stroke mechanism and can drive the second finger section through the belt drive and rotate after first finger section touching object and realize that the self-adaptation envelope snatchs the object. The device can realize two composite grabbing modes of straight-line parallel clamping and self-adaptive envelope holding. The device has the advantages of 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 suitability for universal grabbing robots.
Drawings
Fig. 1 is a perspective external view of an embodiment of a wheeled rotation idle stroke linear parallel clamping adaptive robot finger device designed by the invention.
Fig. 2 is a perspective view (not shown in part) of the embodiment shown in fig. 1.
Fig. 3 is a perspective view (not shown in part) of the embodiment of fig. 1.
Fig. 4 is a perspective view (not shown in part) of the embodiment of fig. 1.
Fig. 5 to 7 are schematic views illustrating the operation process of the embodiment of fig. 1 for clamping objects in parallel in a straight line.
FIG. 8 is a comparison of the front and rear postures of the embodiment shown in FIG. 1 with the object clamped in parallel straight lines.
Fig. 9 to 12 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 in holding an object in an adaptive envelope grabbing manner.
Fig. 13 is a schematic diagram of the linear mechanism of the embodiment shown in fig. 1.
In fig. 1 to 13:
1-base, 21-motor, 22-reducer, 31-worm wheel,
32-worm, 41-first transition shaft, 42-second transition shaft, 51-first transition gear,
52-second transition gear, 53-third transition gear, 61-first transmission gear, 62-second transmission gear,
71-first finger segment, 72-second finger segment, 81-proximal joint axis, 82-distal joint axis,
91-first axis, 92-second axis, 93-third axis, 94-fourth axis,
95-fifth axis, 96-sixth axis, 101-first link, 102-second link,
111-first bump, 112-second bump, 113-third bump, 121-first spring,
122-second spring element, 123-third spring element, 131-first pulley, 132-second pulley,
133-third pulley, 134-fourth pulley, 135-fifth pulley, 136-sixth pulley,
140-thin plate object, 150-spherical object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
An embodiment of a belt wheel rotation lost motion linear parallel clamping adaptive robot finger device designed by the invention, as shown in fig. 1 to 4, comprises a base 1, a motor 21, a first transmission mechanism, a second transmission mechanism, a first finger section 71, a second finger section 72, a proximal joint shaft 81, a distal joint shaft 82, a first transmission gear 61, a second transmission gear 62, a first shaft 91, a second shaft 92, a third shaft 93, a fourth shaft 94, a fifth shaft 95, a sixth shaft 96, a first connecting rod 101 and a second connecting rod 102; the motor 21 is fixedly connected to the base 1; the input end of the first transmission mechanism is connected with a motor 21; the input end of the second transmission mechanism is connected with the output end of the first transmission mechanism; the first finger section 71 is sleeved on a proximal joint shaft 81; the distal joint shaft 82 is sleeved in the first finger section 71; the second finger section 72 is sleeved on the distal joint shaft 82; the center line of the proximal joint shaft 81 and the center line of the distal joint shaft 82 are parallel to each other; the first shaft 91 is sleeved in the base 1; the first transmission gear 61 is sleeved on the first shaft 91; the second shaft 92 is sleeved in the base 1; the second transmission gear 62 is sleeved on the second shaft 92; the first transmission gear 61 is connected with the output end of the second transmission mechanism; the second transmission gear 62 is connected with the output end of the second transmission mechanism; the rotation direction of the second transmission gear 62 is the same as that of the first transmission gear 61, and the rotation speed of the second transmission gear 62 is the same as that of the first transmission gear 61; the near joint shaft 81 is sleeved in the first transmission gear 61; the third shaft 93 is sleeved in the second transmission gear 62; one end of the first connecting rod 101 is sleeved on the third shaft 93, and the other end of the first connecting rod 101 is sleeved on the fourth shaft 94; a sliding groove is formed in the first connecting rod 101 and is a linear sliding groove; the fifth shaft 95 is sleeved in the base 1; the fifth shaft 95 is embedded in the sliding groove in a sliding manner; the sixth shaft 96 is sleeved in the base 1; the first shaft 91 is coincident with the sixth shaft 96; one end of the second connecting rod 102 is sleeved on the far joint shaft 82, and the other end of the second connecting rod 102 is sleeved on the fourth shaft 94; the central points of the near joint shaft 81, the far joint shaft 82, the first shaft 91, the second shaft 92, the third shaft 93, the fourth shaft 94 and the fifth shaft 95 are respectively A, B, C, D, E, F, G, the point E, G, F is collinear, the lengths of a line segment AB and a line segment EF are equal, the lengths of a line segment AE and a line segment BF are equal, the lengths of a line segment CD and a line segment AE are equal, the lengths of a line segment AC and a line segment DE are equal, the length of a line segment DG is 1.5 times of the length of the line segment DE, and the length of the line segment AB is 6 times of the length of; point A, B, F, E constitutes a parallelogram; the sliding direction of the fifth shaft 95 in the sliding groove is superposed with the line segment EF; the central lines of the proximal joint shaft 81, the distal joint shaft 82, the first shaft 91, the second shaft 92, the third shaft 93, the fourth shaft 94 and the fifth shaft 95 are parallel to each other; the present embodiment further includes a first projection 111, a second projection 112, a third projection 113, a first spring 121, a second spring 122, a third spring 123, a first pulley 131, a second pulley 132, a third pulley 133, a fourth pulley 134, a fifth pulley 135, and a sixth pulley 136; the first bump 111 is fixedly connected to the output end of the first transmission mechanism; the second lug 112 is fixedly connected to the first pulley 131; the first belt wheel 131 is sleeved on an output shaft of the first transmission mechanism; the second pulley 132 is sleeved on the sixth shaft 96; the first belt pulley 131 is connected with the second belt pulley 132 through a flexible belt; the third pulley 133 is sleeved on the sixth shaft 96; the second belt wheel 132 is fixedly connected with the third belt wheel 133; the fourth pulley 134 is sleeved on the proximal joint shaft 81; the third pulley 133 and the fourth pulley 134 are connected by a flexible belt; the fifth belt pulley 135 is sleeved on the proximal joint shaft 81; the fourth pulley 134 is fixedly connected with the fifth pulley 135; the sixth belt wheel 136 is sleeved on the far joint shaft 82; the fifth pulley 135 and the sixth pulley 136 are connected by a flexible belt; one end of the first spring element 121 is fixedly connected to the output end of the first transmission mechanism, and the other end is fixedly connected to the input end of the second transmission mechanism; one end of the second spring 122 is fixedly connected to the sixth belt wheel 136, and the other end is fixedly connected to the second finger section 72; one end of the third spring 123 is fixedly connected to the second connecting rod 102, and the other end is fixedly connected to the second finger section 72; the third protrusion 113 is fixed to the second link 102.
In the present embodiment, the first transmission mechanism includes a speed reducer 22, a worm wheel 32, a worm 31, and a first transition shaft 41; the input shaft of the speed reducer 22 is connected with the output shaft of the motor 21; the worm 31 is fixedly sleeved on an output shaft of the speed reducer 22, the worm 31 is meshed with the worm wheel 32, the worm wheel 32 is sleeved on the first transition shaft 41, and the first transition shaft 41 is sleeved in the base 1.
In the present embodiment, the second transmission mechanism includes a first transition gear 51, a second transition gear 52, a third transition gear 53, and a second transition shaft 42; the first transition gear 51 is sleeved on the output shaft of the first transmission mechanism; the second transition shaft 42 is sleeved in the base; the second transition gear 52 is sleeved on the second transition shaft 42, the third transition gear 53 is sleeved on the second transition shaft 42, and the second transition gear 52 is fixedly connected with the third transition gear 53.
In this embodiment, the first spring member 121 is a tension spring, a compression spring or a torsion spring; the second spring part 122 adopts a tension spring, a pressure spring or a torsion spring; the third spring element 123 is a compression spring or a tension spring.
The working principle of the embodiment is described as follows in combination with the attached drawings:
the motor 21 rotates forward to drive the first transmission mechanism to rotate, the first spring element 121 drives the second transmission mechanism to rotate, so that the first transmission gear 61 and the second transmission gear 62 rotate, and the movement locus of the fourth shaft 94 is a straight line because a mechanism formed by the second shaft 92, the third shaft 93, the fourth shaft 94, the fifth shaft 95 and the first connecting rod 101 meets the principle of a straight line mechanism shown in fig. 13. The rotating directions of the second transmission gear 62 and the first transmission gear 61 are the same, the rotating speeds of the second transmission gear 62 and the first transmission gear 61 are the same, the length of the line segment AC is equal to that of the line segment DE, meanwhile, the point A, B, F, E forms a parallelogram, so that the motion track of the far joint shaft 82 is also a straight line, the second finger section 72 is sleeved on the far joint shaft 82, the second finger section 72 always keeps a vertical upward posture under the action of the third spring 123 and the third bump 113, and meanwhile, the motion track of the tail end of the second finger section 72 translates along the straight line, so that the linear parallel clamping function of the device is realized. As shown in fig. 5, 6 and 7.
If the first finger section 71 touches the object 150 first, the second transmission mechanism can not transmit power, the first finger section 71 does not rotate any more, but the worm wheel 32 continues to rotate, when the first bump 111 touches the second bump 112, the first pulley 131 rotates, the second pulley 132 is driven to rotate through belt transmission, because the second pulley 132 is fixedly connected with the third pulley 133, the third pulley 133 rotates, the fourth pulley 134 rotates through belt transmission, because the fourth pulley 134 is fixedly connected with the fifth pulley 135, the fifth pulley 135 rotates, and the sixth pulley 136 rotates through belt transmission. Due to the action of the second spring element 122, the third spring element 123 is deformed against the pulling force of the third spring element 123, so that the second finger section 72 rotates, and the function of self-adapting to the enveloped object is realized. As shown in fig. 9, 10, 11 and 12.
When releasing the object, the motor 21 is reversed, contrary to the above-described procedure, and will not be described in detail.
The robot finger gripping and holding device comprehensively realizes two functions of gripping and holding by using the robot fingers, namely, the motor, two sets of transmission mechanisms, a plurality of shafts, two connecting rods, three spring pieces, three bumps, six belt wheels and the like, can keep the straight-line parallel movement of the tail end finger section when gripping an object, and is also suitable for gripping objects with different shapes and sizes in a self-adaptive envelope manner by using the two finger sections under the condition without a sensor; 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, light weight and low cost, and is suitable for a universal grabbing robot.

Claims (4)

1. A belt wheel rotation lost motion linear parallel clamping self-adaptive robot finger device comprises a base, a motor, a first transmission mechanism, a second transmission mechanism, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first transmission gear, a second transmission gear, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft, a first connecting rod and a second connecting rod; the motor is fixedly connected to the base; the input end of the first transmission mechanism is connected with the motor; the input end of the second transmission mechanism is connected with the output end of the first transmission mechanism; the first finger section is sleeved on the proximal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is sleeved on the far joint shaft; the central line of the proximal joint shaft is parallel to the central line of the distal joint shaft; the first shaft sleeve is arranged in the base; the first transmission gear is sleeved on the first shaft; the second shaft is sleeved in the base; the second transmission gear is sleeved on the second shaft; the first transmission gear is connected with the output end of the second transmission mechanism; the second transmission gear is connected with the output end of the second transmission mechanism; the second transmission gear and the first transmission gear have the same rotation direction and the same rotation speed; the near joint shaft is sleeved in the first transmission gear; the third shaft is sleeved in the second transmission gear; one end of the first connecting rod is sleeved on the third shaft, and the other end of the connecting rod is sleeved on the fourth shaft; the first connecting rod is provided with a sliding chute which is a linear sliding chute; the fifth shaft is sleeved in the base; the fifth shaft is embedded in the sliding groove in a sliding manner; the sixth shaft is sleeved in the base; the central lines of the first shaft and the sixth shaft are coincident; one end of the second connecting rod is sleeved on the far joint shaft, and the other end of the second connecting rod is sleeved on the fourth shaft; setting central points of a near joint shaft, a far joint shaft, a first shaft, a second shaft, a third shaft, a fourth shaft and a fifth shaft to be A, B, C, D, E, F, G respectively, setting a point E, G, F to be collinear, setting lengths of a line segment AB and a line segment EF to be equal, lengths of a line segment AE and a line segment BF to be equal, lengths of a line segment CD and a line segment AE to be equal, lengths of a line segment AC and a line segment DE to be equal, a length of a line segment DG to be 1.5 times of the length of the line segment DE, and a length of the line segment AB to be; point A, B, F, E constitutes a parallelogram; the sliding direction of the fifth shaft in the sliding groove is superposed with the line segment EF; the central lines of the near joint shaft, the far joint shaft, the first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft are mutually parallel; it is characterized in that: the belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device further comprises a first lug, a second lug, a third lug, a first spring part, a second spring part, a third spring part, a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a fifth belt wheel and a sixth belt wheel; the first lug is fixedly connected to the output end of the first transmission mechanism; the second lug is fixedly connected to the first belt wheel; the first pulley is sleeved on an output shaft of the first transmission mechanism; the second belt wheel is sleeved on the sixth shaft; the first belt wheel is connected with the second belt wheel through a flexible belt; the third belt wheel is sleeved on the sixth shaft; the second belt wheel is fixedly connected with the third belt wheel; the fourth belt pulley is sleeved on the near joint shaft; the third belt wheel is connected with the fourth belt wheel through a flexible belt; the fifth belt pulley is sleeved on the near joint shaft; the fourth belt wheel is fixedly connected with the fifth belt wheel; the sixth belt wheel is sleeved on the far joint shaft; the fifth belt pulley is connected with the sixth belt pulley through a flexible belt; one end of the first spring is fixedly connected with the output end of the first transmission mechanism, and the other end of the first spring is fixedly connected with the input end of the second transmission mechanism; one end of the second spring is fixedly connected to the sixth belt wheel, and the other end of the second spring is fixedly connected to the second finger section; one end of the third spring piece is fixedly connected to the second connecting rod, and the other end of the third spring piece is fixedly connected to the second finger section; the third bump is fixedly connected to the second connecting rod.
2. The wheeled rotational lost motion linear clamp adaptive robot finger device of claim 1, wherein: the first transmission mechanism comprises a speed reducer, a worm wheel, a worm and a first transition shaft; the input shaft of the speed reducer is connected with the output shaft of the motor; the worm is fixedly sleeved on an output shaft of the speed reducer, the worm is meshed with a worm wheel, the worm wheel is sleeved on a first transition shaft, and the first transition shaft is sleeved in the base.
3. The wheeled rotational lost motion linear clamp adaptive robot finger device of claim 1, wherein: the second transmission mechanism comprises a first transition gear, a second transition gear, a third transition gear and a second transition shaft; the first transition gear is sleeved on the output shaft of the first transmission mechanism; the second transition shaft is sleeved in the base; the second transition gear is sleeved on the second transition shaft, the third transition gear is sleeved on the second transition shaft, and the second transition gear is fixedly connected with the third transition gear.
4. The wheeled rotational lost motion linear clamp adaptive robot finger device of claim 1, wherein: the first spring piece adopts a tension spring, a pressure spring or a torsion spring; the second spring piece adopts a tension spring, a pressure spring or a torsion spring; the third spring piece adopts a pressure spring or a tension spring.
CN201811428209.2A 2018-11-27 2018-11-27 Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device Active CN109605414B (en)

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CN109605414B true CN109605414B (en) 2021-07-06

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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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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

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CN107984484A (en) * 2017-11-22 2018-05-04 清华大学 The accurate compensating line in end puts down folder adaptive robot finger apparatus
CN108189055A (en) * 2017-11-22 2018-06-22 清华大学 The rack cosine straight line that stretches puts down the adaptive finger apparatus of folder

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US4626014A (en) * 1985-05-29 1986-12-02 U.S. Philips Corporation Gripper having gripper arms supported in a rotatable sliding guide
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
CN106346499A (en) * 2016-08-31 2017-01-25 清华大学 Crank rocker dynamic-gear-train straight-line parallel-clamping self-adaptive finger device
CN107984484A (en) * 2017-11-22 2018-05-04 清华大学 The accurate compensating line in end puts down folder adaptive robot finger apparatus
CN108189055A (en) * 2017-11-22 2018-06-22 清华大学 The rack cosine straight line that stretches puts down the adaptive finger apparatus of folder

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