CN109648591A - Robot finger apparatus - Google Patents
Robot finger apparatus Download PDFInfo
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- CN109648591A CN109648591A CN201910110070.5A CN201910110070A CN109648591A CN 109648591 A CN109648591 A CN 109648591A CN 201910110070 A CN201910110070 A CN 201910110070A CN 109648591 A CN109648591 A CN 109648591A
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- connecting rod
- segment
- crawl
- robot finger
- finger apparatus
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- 238000010168 coupling process Methods 0.000 claims abstract description 60
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- 230000008859 change Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims description 23
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- 238000006243 chemical reaction Methods 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 6
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- 230000005540 biological transmission Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
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- 230000003044 adaptive effect Effects 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to bio-robot technical fields, and in particular to a kind of robot finger apparatus is able to solve the problem that robot finger apparatus crawl range is small, poor for applicability in the prior art.Robot finger apparatus includes pedestal, the second segment being hinged in the first segment around the first segment of nearly joint shaft hingedly on the base and joint shaft of going the long way round, second segment is fixed on the second segment connecting rod hinged with remote joint shaft, with original state bottom base, the orientation of first segment and the second segment is vertical, first segment is equipped with along the guiding slide with the direction guiding movement setting vertically intersected, guiding slide is hinged with first connecting rod and becomes coupling bar, crawl connecting rod is hinged in first segment, crawl connecting rod has grasping end and the change coupling end hinged with coupling bar is become for grabbing article, become coupling bar and is located at crawl connecting rod backwards to the side in robot finger apparatus crawl direction, the hinge joint for grabbing connecting rod and the first segment is located between two ends of crawl connecting rod.
Description
Technical field
The present invention relates to bio-robot technical fields, and in particular to a kind of robot finger apparatus.
Background technique
In robot development process, technical staff is using anthropomorphic robot as the tidemark of robot research.With people
Similar, most functions of anthropomorphic robot will be realized by operation by human hand, and the design basis of hand organization is finger apparatus,
Its design is one of key technology of anthropomorphic robot.
The major advantage of advanced Dextrous Hand is flexibly can initiatively to grab object, and have good grasp stability,
Its shortcoming is that Dextrous Hand adapts to the shape and size of object when can not achieve crawl object automatically, is to sensing and control
System requires height, and system complex is at high cost, and reliability is low, and needs the people compared with high-tech level to operate, and operation threshold is high.It owes
Actuation techniques are to solve the important technical of finger apparatus control system complexity, by utilizing lack of driven in finger apparatus
Structure can be more by less motor driven joint, so that requirement of the finger apparatus to control system is reduced, with doublejointed
For robot finger: it is in stretch shape that the entire finger of motor driven (including the first segment and second segment), which is similar to a rigid body,
State is rotated around nearly joint shaft, and being restricted after the first segment touches object can not move, at this time the second finger under the action of motor
Section is gone the long way round joint shaft rotation, realizes the rotation of two segment sequencings, such finger apparatus, which has, automatic adapts to article size
Special-effect, the range for adapting to crawl object is wide, and the stability of crawl is high.But there is also not for such under-actuated finger device
Foot place: finger is rotated in straight configuration always before not touching object, is not only had in this way with the finger movement of people biggish
Difference lacks personification, and after the first segment touches object, before the second segment is turned to and is contacted with object, object
Body is possible to be open under the action of the first segment, leaves the crawl range of finger；Finger can only be grabbed in a manner of gripping
Object is taken, and can not achieve preferable end grip；It can not achieve the naturally curved of each joint when finger tips touch object
Song cannot accomplish the movement of similar manpower empty-handedly clenched fist so that more difficult object is allocated in hand is held.
Another kind technology of extensive utilization in robot finger field is coupling technique, by using coupling mechanism, when
When robot finger apparatus rotates, rotation while more segment multi-joints, hand when action process is held similar to manpower may be implemented
The natural torsion of finger still illustrates the working method of manifold type finger apparatus by taking doublejointed robot finger as an example: working as motor driven
Finger rotate when, not only the first segment of finger rotate around nearly joint shaft, the second segment with the first segment movement while around
Remote joint shaft is rotated relative to the first segment, and the angle of the two rotation has a fixed proportionate relationship, and the proportionate relationship is by having
The design of the coupling mechanism of body determines, and remains constant, this is to couple grasp mode.The finger of multi-joint still may be used
To be driven by less driving source, therefore manifold type robot finger inherits drive lacking formula finger with less driving source, control
Simple feature, and overcome some disadvantages of under-actuated finger device, grasping movement have good personification, can be with
It realizes that grip mode grabs, uses the robot of manifold type finger apparatus to make movement of clenching fist, while can also avoid owing
Driving finger apparatus is possible to the characteristics of pushing object open when grabbing object.But manifold type finger apparatus is due to each joint
The ratio of rotational angle remains unchanged, and the self-adapting grasping function without under-driven adaptive finger, each joint is with fixed angles
When degree ratio rotates, it can not be grabbed, not had to the automatic of object with the holding mode for adapting to body surface size dimension just
Adaptability, crawl effect is bad, grabs unstable.
In the prior art, there is also some by drive lacking and the combined robot finger apparatus of coupled drive, example
If Authorization Notice No. is CN101664930B, authorized announcement date is that the patent document of 2011.01.12 discloses a kind of deficient drive of coupling
Dynamic doublejointed robot finger apparatus, which includes pedestal, motor, two segments, two joint shafts, electricity
Machine, four connecting rods and two spring parts etc., the coupled transmission mechanism and owe to drive which is integrally formed using connecting rod and spring part
Dynamic transmission mechanism can integrate and realize two joint finger coupling crawl process and drive lacking certainly using crawl Process fusion in one
Effect.
Specifically, the nearly joint shaft of motor driven and first connecting rod connected therewith rotation, first connecting rod pass through the first spring
Part drives the first segment to rotate around nearly joint shaft, and remote joint shaft is socketed in the first segment, can rotate in the first segment same
When drive the second segment to rotate, but since the elastic force restriction effect of the second spring part is better than the elastic force restriction effect of the first spring part,
Therefore in the rotation of the first segment, third connecting rod will not act under the limitation of the second spring part, and position is fixed relative to pedestal
It is constant, but position change of the fourth link relative to remote joint shaft, to push the second segment being fixedly connected with the second segment
Connecting rod rotates the second segment joint shaft of going the long way round when the first segment is rotated around nearly joint shaft relative to the first segment, this i.e. should
The process of robot finger apparatus coupling rotational.
When the first segment encounters object, it will receive limitation and can not act, at this time band of the first connecting rod in nearly joint shaft
Overcome the limitation of the first spring part under dynamic and continue to rotate, and the second segment is pushed by first axle, second connecting rod and the second axis
Joint shaft of going the long way round rotation, while the second axis overcomes the deformation bullet of the second spring part by fourth link and third axis pulling third connecting rod
Power and rotated around nearly joint shaft, the drive lacking action process of this i.e. robot finger apparatus.
The robot finger apparatus is driven before touching object using coupled modes, and altitude measurement personalizes, while advantageous
It in the envelope to object, prevents object from leaving finger grip range, and can realize that grip mode grabs object, touching object
Afterwards, and crawl object can be rotated using under-driven adaptive mode, the automatic size and shape for adapting to grabbed object.But it should
There is also some disadvantages for robot finger apparatus: during coupling rotational, the first segment and the second segment turn over angle
Ratio immobilizes, and when the first segment touches object to be captured, the first segment and the second segment will carry out drive lacking biography
It is dynamic, the second segment before carrying out drive lacking transmission in coupling rotational during turned over certain angle, by first
Segment and the enveloping space that the second segment is formed are smaller, if dimension of object to be captured is slightly larger, will lead to the first segment with
The cooperation of second segment can not grab object, it can thus be seen that the coupling ratio of the robot finger apparatus cannot change, carry out
When grabbing work, dimension of object is affected to robot finger, and crawl range is small, poor for applicability.
Summary of the invention
The purpose of the present invention is to provide a kind of robot finger apparatus, it is able to solve robot finger's dress in the prior art
Set small, the poor for applicability problem of crawl range.
To achieve the above object, robot finger apparatus adopts the following technical scheme that in the present invention
Robot finger apparatus, including pedestal, hinged around hinged on the base the first segment of nearly joint shaft and joint shaft of going the long way round
The second segment in the first segment, second segment is fixed on the second segment connecting rod hinged with remote joint shaft, with first
The orientation of the pedestal, the first segment and the second segment is vertical under beginning state, and first segment is equipped with edge and erects
To the guiding slide of the direction guiding movement of intersection setting, first connecting rod is hinged with by first axle on the guiding slide, institute
It is hinged by second connecting rod and the second segment connecting rod to state first connecting rod, the first connecting rod, second connecting rod and the second segment connecting rod
The line of first axle and remote joint shaft is respectively positioned on backwards to the side in robot finger apparatus crawl direction, the first connecting rod and the
Tension spring is equipped between two connecting rods；It is hinged with change coupling bar on the guiding slide, is hinged with crawl connecting rod in the first segment, it is described
Crawl connecting rod has grasping end and the change coupling end hinged with coupling bar is become for grabbing article, and the change coupling bar is located at crawl
Connecting rod backwards to robot finger apparatus crawl direction side in reaction force of the grasping end by article band action-oriented it is sliding
Seat is mobile to the crawl direction of robot finger apparatus, and the hinge joint of crawl connecting rod and the first segment is located at two of crawl connecting rod
Between end, it is equipped between the crawl connecting rod and the first segment for applying the active force towards guiding slide to crawl connecting rod
Pressure spring；The pedestal is equipped with the driving device for pushing first connecting rod to move to the side far from pedestal.
The beneficial effect is that: guiding slide is provided in the first segment, guiding slide is not only hinged with first connecting rod, but also
It is hinged with change coupling bar, when grabbing connecting rod and the article with crawl and contacting, grabbing the grasping end of connecting rod and become coupling end can be around grabbing
It takes connecting rod and the hinge joint of the first segment to rotate, to make to become coupling bar movement, can accordingly make to lead after becoming coupling bar movement
It is moved to slide with the direction that vertical direction is intersected, guiding slide can make the hinge joint of first connecting rod change, to make
The ratio of the corner size of first segment and the second segment changes, and realizes the function of becoming coupling, after becoming coupling, first connecting rod
Second connecting rod and the second segment connecting rod can be made correspondingly to rotate, the second segment connecting rod is made to invert certain angle, change is coupling
The first segment combines the enveloping surface for being used to grab object to be formed with the second segment in rotation process, and the reversion of the second segment makes this
Enveloping surface increases, and the first segment can carry out large-sized object to increase and sufficiently, steadily grab with the cooperation of the second segment, right
In the object of small size, by the motion mode that coupling rotational and/or drive lacking rotate, which also can be right
Small-size object carries out crawl or end grip.Robot finger apparatus in the present invention relies on during coupling rotational
Crawl connecting rod corresponds to adjustment coupled ratio, to realize change coupling crawl in the process of grasping, can make each segment according to
Various sizes of object forms the enveloping surface of the corresponding variation of contact area, improves the applicability of robot finger apparatus, improves
The crawl range of robot finger apparatus.
Further, the side far from pedestal on guiding slide, the change coupling bar setting is arranged in the first connecting rod
Close to the side of pedestal on guiding slide.
The beneficial effect is that: first connecting rod and change coupling bar are respectively provided at both sides, on the one hand can make full use of
Space in segment avoids the interference between structure, and on the other hand, first connecting rod and change coupling bar are all hinged with guiding slide
, connecting rod movement can influence the position for being oriented to slide, therefore two connecting rods are located at two sides and are conducive to keep guiding slide
Stablize, crawl connecting rod be accordingly arranged in the side of the separate pedestal of guiding slide, the idle stroke of crawl connecting rod can be reduced,
Change coupling bar is arranged in the side for being oriented to the close pedestal of slide, acts change coupling bar more smooth, avoids and other are tied
Structure interference, and the crawl connecting rod that can make and become coupling bar connection has more arrangement spaces, reduces and becomes coupling bar and grab
Take occupied space of the connecting rod in robot finger apparatus transverse direction.
Further, restricted first and second connecting rod is set between the first connecting rod and second connecting rod in the initial state
It is provided on the connecting rod position limiting structure of relative position or first segment at the beginning of cooperating with the second segment to limit the first segment
The segment position limiting structure of beginning position.
The beneficial effect is that: be arranged restricted first connecting rod and second connecting rod initial position connecting rod position limiting structure or
It is provided with and cooperates with the second segment to limit the segment position limiting structure of the first segment initial position in the first segment, the can be made
One connecting rod and second connecting rod keep stable motion profile, pedestal and the first segment, the holding of the second segment to be in a straight line
Initial position.
Further, restricted crawl connecting rod position is set so that pressure spring has the gear of pre compressed magnitude on the crawl connecting rod
Position part.
The beneficial effect is that: being provided with position stop piece can make pressure spring have pre compressed magnitude, can make to grab connecting rod first
With stable state when beginning state, it ensure that the change coupling bar being connected with crawl connecting rod and be oriented to slide in stable initial
State.
Further, the driving device includes motor and the push rod being connected to the motor, and the push rod has pushing tow first
The urging portion of link rotatable is provided with the pushing tow slot being adapted to urging portion or pushing tow hole, the top on the first connecting rod
Pushed section point in first connecting rod rotation process in pushing tow slot or pushing tow hole guiding movement so that urging portion connects with first always
The cooperation of bar pushing tow.
The beneficial effect is that: the urging portion of push rod keeps matching with the stabilization of first connecting rod by pushing tow slot and pushing tow hole
It closes, first connecting rod can be made more smooth in movement, avoid the occurrence of that first connecting rod moves clamping stagnation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot finger apparatus in the present invention；
Fig. 2 is the schematic diagram that robot finger apparatus moves crawl object with the first in the present invention；
Fig. 3 is the first motion process simplified structure diagram of robot finger apparatus in the present invention；
Fig. 4 is the first motion result simplified structure diagram of robot finger apparatus in the present invention；
Fig. 5 is the schematic diagram that robot finger apparatus grabs object with second of movement in the present invention；
Fig. 6 is second of motion process simplified structure diagram of robot finger apparatus in the present invention；
Fig. 7 is second of motion result simplified structure diagram of robot finger apparatus in the present invention.
In figure: 10- pedestal；11- push rod；12- motor；The first segment of 20-；21- is oriented to slide；The second segment of 30-；40-
Nearly joint shaft；The remote joint shaft of 50-；61- first connecting rod；62- second connecting rod；63- the second segment connecting rod；64- grabs connecting rod；65-
Become coupling bar；66- third connecting rod；71- first axle；The second axis of 72-；73- third axis；The 4th axis of 74-；The 5th axis of 75-；76-
Six axis；81- pressure spring；82- tension spring；The first limited block of 83-；The second limited block of 84-；A- wisp；The big object of B-.
Specific embodiment
The specific embodiment of the robot finger apparatus in the present invention is illustrated now in conjunction with attached drawing.
As shown in Figure 1, the robot finger apparatus in the present invention mainly consists of three parts, respectively successively cloth in order
Pedestal 10, the first segment 20 and the second segment 30 set, the first segment 20 and the second segment 30 are dynamic in robot finger apparatus
When making, pedestal 10 is remained stationary.Wherein, the first segment 20 is hinged on pedestal 10 by nearly joint shaft 40, and second refers to
Section 30 is hinged in the first segment 20 by remote joint shaft 50.By the positional relationship expressed in Fig. 1, defines pedestal 10, first and refer to
Section 20 and second segment 30 orientation be it is vertical, then be provided in the first segment 20 edge with vertically intersect direction guiding
The guiding slide 21 of mobile setting, guiding slide 21 can with vertically be arranged vertically, or the intersection in the form of angle is acute angle
Arrangement.First connecting rod 61 is hinged with by first axle 71 on guiding slide 21, the other end of first connecting rod 61 passes through the second axis 72
It is connected with second connecting rod 62, the other end of second connecting rod 62 is hinged with the second segment connecting rod 63, the second segment by third axis 73
Connecting rod 63 and the second segment 30 are fixed, are able to drive the second segment 30 when the rotation of the second segment connecting rod 63 and go the long way round 50 turns of joint shaft
It is dynamic, realize the relative rotation of the first segment 20 and the second segment 30.First connecting rod 61, second connecting rod 62 and the second segment connecting rod
63 are respectively positioned on the line of first axle 71 and remote joint shaft 50 backwards to the side in robot finger apparatus crawl direction, and first axle 71
In on the side of the separate pedestal 10 of guiding slide 21.
First axle 71 and remote joint shaft 50 line towards robot finger apparatus crawl direction side, be provided with
The change coupling bar 65 that guiding slide 21 hingedly cooperates, becomes coupling bar 65 and passes through 10 side of close pedestal that guiding slide 21 is arranged in
On the 5th axis 75 and guiding slide 21 it is hinged.The other end for becoming coupling bar 65 is hinged with crawl connecting rod 64 by the 4th axis 74,
It grabs connecting rod 64 and becomes the hinged corresponding end of coupling bar 65 to become coupling end, the end opposite with coupling end is become is in robot finger
When device carries out grasping movement, for being contacted with object to drive the grasping end for becoming coupling bar 65 and acting.Grab the change of connecting rod 64
It is provided on coupling end and the middle position of grasping end and realizes crawl connecting rod 64 and the hinged hinge joint of the first segment 20.Connect in crawl
It is provided with the pressure spring 81 for applying direction guiding 21 active force of slide to crawl connecting rod 64 between bar 64 and the first segment 20, and becomes coupling
Connecting rod 65 is located at crawl connecting rod 64 backwards to the side in robot finger apparatus crawl direction, so that grasping end is by the anti-of object
It is mobile to the crawl direction of robot finger apparatus that guiding slide 21 is able to drive when active force.
In addition to this, third connecting rod 66,66 one end of third connecting rod and remote joint shaft 50 are additionally provided in the first segment 20
Hingedly, the other end and the 6th axis 76 being installed in the first segment 20 are hinged；It is set between first connecting rod 61 and second connecting rod 62
It is equipped with the first limited block 83 of limitation first connecting rod 61 and the relative positional relationship in the initial state of second connecting rod 62, and setting
Tension spring 82 between first connecting rod 61 and second connecting rod 62；Grab the side that direction is grabbed towards robot finger of connecting rod 64
It is provided with the second limited block 84；It is provided with driving device in pedestal 10, first connecting rod 61 can be pushed to separate pedestal 10
Side movement, in the present embodiment, driving device include motor 12 and push rod 11, and push rod 11 has to be used under the drive of motor 12
In the urging portion of pushing tow first connecting rod 61, because push rod 11 is merely able to realize direct acting, and first connecting rod 61 needs push rod 11 again
Promotion under rotate, so being provided with the free bearing hinged with the first segment 20 in 12 tail portion of motor, make motor 12 in output power
When can rotate, so that urging portion be made to be engaged always with first connecting rod 61, first connecting rod 61 is made to be directed away from pedestal
The thrusting action by push rod 11, push rod 11, also can be with motor 12 and first while direct acting always when 10 sides rotate
Connecting rod 61 is swung, and will not be interfered.
Since there are two segments for robot finger apparatus tool, after each segment touches object to be captured, robot
Refer to that the feedback of device is different, therefore the existing mistake for grabbing object to the finger apparatus according to the structure of robot finger apparatus
Journey is illustrated.
The first motion result of robot finger apparatus as shown in Fig. 2, at this time robot finger apparatus second
Segment 30 has touched the lesser wisp A of size to be captured, but crawl connecting rod 64 corresponding with the first segment 20
Grasping end can grab wisp A by way of the grip of end not in contact with wisp A, robot device is arrived, machine
The crawl campaign of device finger device terminates.
Simplify structure in conjunction with shown in Fig. 3 and Fig. 4 to analyze the motion process of robot finger apparatus: motor
12 driving push rod, 11 direct acting, push rod 11 drive first connecting rod 61 to swing, and the first segment 20 is rotated around nearly joint shaft 40, and second connects
Bar 62 and the second segment connecting rod 63 equal corresponding actions under the movement of first connecting rod 61, second connecting rod 62 are grabbed towards robot finger
Direction side is taken to rotate, promotion of the second segment connecting rod 63 by second connecting rod 62 drives the second segment 30 to go the long way round joint shaft 50
Rotation, the second segment 30 are rotated relative to the first segment 20, and the second segment 30 is rotated towards wisp A, at this time the ruler of wisp A
Very little smaller, crawl connecting rod 64 is not contacted with wisp A during robot finger apparatus rotation, is become coupling bar 65 and is led
It will not change to relative position of the slide 21 in the first segment 20, the process of 30 coupling rotational of the first segment 20 and the second segment
In, the two coupled ratio, that is, rotational angle scale is constant.
When dimension of object to be captured is larger, what robot finger apparatus can be driven by coupled drive and drive lacking
Mode grabs object, be illustrated in figure 5 second of motion result of robot finger apparatus, at this time robot finger apparatus
Connecting rod 64 is grabbed in first segment 20 has touched large-sized big object B, the second segment 30 also touches big object B, the
One segment 20 and the second segment 30 have cooperatively formed the enveloping surface of a crawl object, can carry out stablizing crawl to object.
The motion process of robot finger apparatus is analyzed now in conjunction with Fig. 6 and simplified structure shown in Fig. 7: when need
When grabbing large-sized big object B, 12 driving push rod of motor, 11 direct acting, push rod 11 drives first connecting rod 61 to swing, and at this time the
One segment 20 is rotated around nearly joint shaft 40, and the second segment 30 is also rotated with the first segment 20 when the first segment 20 rotates.Temporarily with
The direction of action of each connecting rod is expressed in shown position direction, and first connecting rod 61 is rotated up, and push second connecting rod 62 dynamic upwards
To make, the second segment connecting rod 63 rotates under the drive of second connecting rod 62 towards the crawl direction side of robot finger apparatus, and
The second segment 30 is driven to rotate towards big object B, the second segment 30 with the first segment 20 during rotating, and relative to the
The rotation of one segment 20, two segments are in the process of coupling rotational at this time.When 20 line of the first segment is close to big object B, first refers to
The grasping end of crawl connecting rod 64 in section 20 is touched with big object B, and crawl connecting rod 64 is hinged in the first segment 20, big object
Body B with crawl end in contact after can to crawl 64 1 active force, that is, figures of connecting rod in FOutside, the active force and pressure spring 81 are to crawl
Connecting rod 64 make to grab connecting rod 64 towards guiding slide 21 force direction on the contrary, i.e. shown in figure, crawl connecting rod 64
Side is by FOutside, the other side is by FBullet.Work as FOutsidePower be greater than FBulletWhen, crawl connecting rod 64 can face away from crawl direction around hinge
Side rotation, and be located at the change coupling end of the hinge other end and will drive change coupling bar 65 to moving close to the side big object B, become coupling
Bar 65 pulls guiding slide 21 to move in the first segment 20 again, is oriented to the change of 21 position of slide, will lead to first connecting rod 61
The variation of hinge joint, guiding slide 21 will drive first connecting rod 61 and move to close to the side big object B, and first connecting rod 61 can be downward
Swing certain angle, while second connecting rod 62 and the second segment connecting rod 63 being driven to act, the second segment connecting rod 63 can towards with
Originally the opposite side of rotation direction turns an angle, and the second segment 30 can be turned under the drive of the second segment connecting rod 63 at this time
Turn certain angle, increases the angle of the first segment 20 and the second segment 30, the first segment 20 and the second segment 30 are in coupling at this time
Realized during closing rotation and become coupling coupling, the size of the two rotational angle changes, intuitively from the point of view of, the first segment
20 and second the enveloping surface that is formed of segment 30 increase, big object B can be carried out more sufficiently, steadily grab.
After on the surface that the first segment 20 is resisted against big object B, the first segment 20 is even if under the drive in motor 12
It can not rotate, coupling rotational process is completed at this time, and motor 12 will continue to that first connecting rod 61 is pushed to continue crawl movement, this
When only the second segment 30 rotated around the first segment 20, contact the second segment 30 with big object B, in this process, pass through one
A motor 12 drives the connecting rod movement in the first segment 20 and the second segment 30, completes drive lacking process.When the second segment 30 is complete
When be resisted against on big object B entirely, the first segment 20 and the second segment 30 can not be rotated, and complete the crawl to big object B.
In both motion processes, the first limited block 83 as connecting rod position limiting structure is set with the fixation of first connecting rod 61
It sets, can be rotated with first connecting rod 61 when first connecting rod 61 rotates, interference, and first will not be generated to first connecting rod 61
Limited block 83 is contacted with second connecting rod 62 in the initial state, to the phase of first connecting rod 61 and second connecting rod 62 in the initial state
Positional relationship is constrained, the tension spring 82 being connected between first connecting rod 61 and first connecting rod 61 can be in first connecting rod 61
While pushing second connecting rod 62, second connecting rod 62 is pulled into first connecting rod 61, tension spring 82 forms Force transmission parts at this time, and second
Connecting rod 62 and the second segment connecting rod 63 are able to drive the movement of the first segment 20.
The second limited block 84 as position stop piece is fixedly connected with crawl connecting rod 64, is in original state in crawl connecting rod 64
When, active force of the one side by pressure spring 81 has crawl connecting rod 64 towards the trend for being oriented to the movement of 21 side of slide, and the
Two limited blocks 84 and the first segment 20 cooperate, and can carry out limitation to the initial position of crawl connecting rod 64 has pressure spring centainly
Pre compressed magnitude makes the grasping end for grabbing connecting rod 64 grab connecting rod 64 in stress Shi Caihui hinged with the first segment 20 around itself
Point rotation, to realize that band action-oriented slide 21 is mobile.
In other embodiments, it can be provided with block machine on the position of the second segment in the first segment, second
Cooperate when segment inverts with the first segment, so that the first segment, the second segment and pedestal is in stable original state, at this time the gear
Platform is formed segment position limiting structure.
In other embodiments, between the first and second connecting rod can there are no more position limiting structures, but by link mechanism from
The bar of body is long and push rod extension elongation in the initial state makes the first and second connecting rod be in suitable initial bit.
In other embodiments, driving device includes motor and push rod, and push rod has is used for pushing tow driven by the motor
The urging portion of first connecting rod, because push rod is merely able to realize direct acting, and first connecting rod needs to rotate under the promotion of push rod again, institute
To be provided with the pushing tow slot with urging portion cooperation on first connecting rod, the shape of pushing tow slot is according in first connecting rod rotational travel
Urging portion and the situation of change of first connecting rod contact position design, and during first connecting rod rotation, urging portion is being pushed up
Guiding movement in slot is pushed away, urging portion is engaged with first connecting rod always, and first connecting rod is made to be directed away from pedestal side turn
It will not be interfered by the thrusting action of push rod, the direct acting of push rod and the rotation of first connecting rod always when dynamic.
In other embodiments, the long hole to form pushing tow hole, the urging portion of push rod can be provided on first connecting rod
Be hinged in long hole, when push rod pushes first connecting rod rotation, the hinge joint of push rod and first connecting rod can slide in slot hole,
Change the contact position of first connecting rod and push rod with the rotation of first connecting rod, so that push rod interference first connecting rod be avoided to turn
The generation of dynamic situation.
In other embodiments, it can be hinged with sliding slot in the end of push rod, sliding slot and first connecting rod is cooperated, in mandril
When pushing tow first connecting rod, first connecting rod can either be swung, and can be slided in sliding slot, and sliding slot is rotated relative to push rod, thus
It realizes and the thrust of push rod is passed into first connecting rod, and first connecting rod is avoided to interfere in the course of rotation with push rod.
Above-described specific embodiment, to goal of the invention of the invention, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit this foregoing is merely a specific embodiment of the invention
The protection scope of invention, all any modification, equivalent substitution, improvement and etc. within the spirit and principles in the present invention, done,
It should be included within protection scope of the present invention.
Claims (5)
1. robot finger apparatus, including pedestal, the first segment and joint shaft of going the long way round hinge around nearly joint shaft hingedly on the base
The second segment in the first segment is connect, second segment is fixed on the second segment connecting rod hinged with remote joint shaft,
Be characterized in that: the orientation with pedestal described under original state, the first segment and the second segment is vertical, first segment
It is equipped with and is hinged with along the guiding slide with the direction guiding movement setting vertically intersected, the guiding slide by first axle
First connecting rod, the first connecting rod is hinged by second connecting rod and the second segment connecting rod, the first connecting rod, second connecting rod and the
Two segment connecting rods are respectively positioned on the line of first axle and remote joint shaft backwards to the side in robot finger apparatus crawl direction, and described the
Tension spring is equipped between one connecting rod and second connecting rod；It is hinged with change coupling bar on the guiding slide, is hinged with and grabs in the first segment
Connecting rod is taken, the crawl connecting rod has grasping end and the change coupling end hinged with coupling bar is become for grabbing article, the change coupling
Connecting rod is located at crawl connecting rod and grabs the side in direction backwards to robot finger apparatus with the reaction force in grasping end by article
When it is mobile to the crawl direction of robot finger apparatus with action-oriented slide, the hinge joint of crawl connecting rod and the first segment is positioned at grabbing
It takes between two ends of connecting rod, is equipped between the crawl connecting rod and the first segment for applying crawl connecting rod towards guiding
The pressure spring of the active force of slide；The pedestal is equipped with the driving dress for pushing first connecting rod to move to the side far from pedestal
It sets.
2. robot finger apparatus according to claim 1, it is characterised in that: the first connecting rod setting is in guiding slide
The upper side far from pedestal, the coupling bar that becomes are arranged on guiding slide close to the side of pedestal.
3. robot finger apparatus according to claim 1 or 2, it is characterised in that: the first connecting rod and second connecting rod
Between restricted first and second connecting rod the connecting rod position limiting structure of relative position or first segment in the initial state are set
On be provided with and cooperate with the second segment to limit the segment position limiting structure of the first segment initial position.
4. robot finger apparatus according to claim 1 or 2, it is characterised in that: be arranged on the crawl connecting rod limited
System crawl connecting rod position is so that pressure spring has the position stop piece of pre compressed magnitude.
5. robot finger apparatus according to claim 1 or 2, it is characterised in that: the driving device include motor and
The push rod being connected to the motor, the push rod have the urging portion of pushing tow first connecting rod rotation, are provided on the first connecting rod
The pushing tow slot being adapted to urging portion or pushing tow hole, the urging portion is in first connecting rod rotation process in pushing tow slot or pushing tow
Guiding movement in hole is so that urging portion cooperates with first connecting rod pushing tow always.
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| CN201910110070.5A CN109648591B (en) | 2019-02-11 | 2019-02-11 | Robot finger device |
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| CN201910110070.5A CN109648591B (en) | 2019-02-11 | 2019-02-11 | Robot finger device |
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| CN109648591B CN109648591B (en) | 2024-03-26 |
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| CN109648591B (en) | 2024-03-26 |
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