CN109648591B - Robot finger device - Google Patents
Robot finger device Download PDFInfo
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- CN109648591B CN109648591B CN201910110070.5A CN201910110070A CN109648591B CN 109648591 B CN109648591 B CN 109648591B CN 201910110070 A CN201910110070 A CN 201910110070A CN 109648591 B CN109648591 B CN 109648591B
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- 238000010168 coupling process Methods 0.000 claims abstract description 51
- 230000008878 coupling Effects 0.000 claims abstract description 50
- 238000005859 coupling reaction Methods 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 27
- 230000000670 limiting effect Effects 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001154 acute effect 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)
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Abstract
The invention relates to the technical field of bionic robots, in particular to a robot finger device which can solve the problems of small grabbing range and poor applicability of the robot finger device in the prior art. The robot finger device comprises a base, a first finger section hinged on the base around a near joint shaft and a second finger section hinged on the first finger section around a far joint shaft, wherein the second finger section is fixed on a second finger section connecting rod hinged with the far joint shaft, the arrangement direction of the base, the first finger section and the second finger section is vertical in an initial state, a guide sliding seat arranged along the direction of guiding movement of the first finger section and vertically crossing is arranged on the first finger section, the guide sliding seat is hinged with a first connecting rod and a variable coupling connecting rod, the first finger section is hinged with a grabbing connecting rod, the grabbing connecting rod is provided with a grabbing end for grabbing objects and a variable coupling end hinged with the variable coupling connecting rod, the variable coupling connecting rod is positioned on one side of the grabbing connecting rod back to the grabbing direction of the robot finger device, and the hinge point of the grabbing connecting rod and the first finger section is positioned between two ends of the grabbing connecting rod.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a robot finger device.
Background
In the robot development process, technicians use anthropomorphic robots as the highest boundary for robotic research. Like humans, most of the functions of anthropomorphic robots are realized by hand operations, and the design basis of hand mechanisms is finger devices, the design of which is one of the key technologies of anthropomorphic robots.
The advanced dexterous hand has the main advantages of being capable of flexibly and actively grabbing objects and good in grabbing stability, and has the defects that the dexterous hand cannot automatically adapt to the shape and the size of the objects when grabbing the objects, the requirements on a sensing and control system are high, the system is complex, the cost is high, the reliability is low, people with higher technical level are required to operate, and the operation threshold is high. The underactuated technology is an important technical means for solving the problem of complex control system of the finger device, and more joints can be driven by fewer motors by utilizing the underactuated mechanism in the finger device, so that the requirement of the finger device on the control system is reduced, and the finger of the double-joint robot is taken as an example: the motor drives the whole finger (comprising the first finger section and the second finger section) to rotate around the near joint shaft in a state similar to a rigid body in a straightening state, when the first finger section touches an object, the first finger section is limited and cannot move, and at the moment, the second finger section rotates around the far joint shaft under the action of the motor, so that sequential rotation of the two finger sections is realized, the finger device has a special effect of automatically adapting to the size of the object, the range of adapting to grabbing objects is wide, and the grabbing stability is high. However, such underactuated finger devices also suffer from disadvantages: the finger always rotates in a straightened state before touching the object, so that the finger has larger difference with the finger action of a person, is lack of humanization, and after the first finger section touches the object, the object is possibly pushed away under the action of the first finger section before the second finger section rotates to contact the object, and leaves the grabbing range of the finger; the finger can only grasp the object in a holding manner, but cannot realize better terminal pinching; when the tail end of the finger touches an object, the natural bending of each joint cannot be realized, so that the object is difficult to dial into the hand to be firmly gripped, and the action similar to the action of making a fist by the empty hand of a human hand cannot be realized.
Another technique widely used in the field of robot fingers is a coupling technique, and by adopting a coupling mechanism, when the robot finger device rotates, the simultaneous rotation of multiple finger segments and multiple joints can be realized, the action process is similar to the natural bending of the fingers when the robot finger device is held by a hand, and the working mode of the coupling finger device is still illustrated by taking a double-joint robot finger as an example: when the motor drives the finger to rotate, the first finger section of the finger rotates around the near joint shaft, the second finger section rotates around the far joint shaft relative to the first finger section while moving along with the first finger section, and the rotating angle of the first finger section and the second finger section has a fixed proportional relation, wherein the proportional relation is determined by the design of a specific coupling mechanism and is always unchanged, so that the coupling grabbing mode is realized. The multi-joint finger can still be driven by fewer driving sources, so the coupling type robot finger inherits the characteristics that the under-actuated finger has fewer driving sources and is simple to control, the defects of the under-actuated finger device are overcome, the grabbing action of the coupling type robot finger has good humanization, grabbing in a pinching mode can be realized, the robot hand adopting the coupling type finger device can make a fist-making action, and meanwhile, the characteristic that the under-actuated finger device possibly pushes an object aside when grabbing the object can be avoided. However, the coupling type finger device has no self-adaptive grabbing function of the under-actuated self-adaptive finger because the rotation angle ratio of each joint is kept unchanged, and each joint cannot grab in a holding mode which is just suitable for the size of the surface of an object when rotating at a fixed angle ratio, so that the coupling type finger device has no automatic adaptability to the object, has poor grabbing effect and is unstable to grab.
In the prior art, there are some robot finger devices that combine under-actuated and coupling transmission together, for example, the patent document with the grant bulletin number of CN101664930B and the grant bulletin date of 2011.01.12 discloses a coupling under-actuated double-joint robot finger device, which comprises a base, a motor, two finger segments, two joint shafts, a motor, four connecting rods, two spring pieces and the like, and the finger device utilizes the coupling transmission mechanism and the under-actuated transmission mechanism which are integrated by the connecting rods and the spring pieces, so that the effect that the coupling grabbing process of the two-joint fingers and the under-actuated self-use grabbing process are integrated can be comprehensively realized.
Specifically, the motor drives the near joint shaft and the first connecting rod fixedly connected with the near joint shaft to rotate, the first connecting rod drives the first finger section to rotate around the near joint shaft through the first spring piece, the far joint shaft is sleeved in the first finger section, and the second finger section can be driven to rotate while the first finger section rotates, but because the elastic limiting effect of the second spring piece is stronger than that of the first spring piece, when the first finger section rotates, the third connecting rod does not act under the limiting effect of the second spring piece, the position of the third connecting rod is fixed relative to the base, but the position of the fourth connecting rod is changed relative to the far joint shaft, so that the second finger section is pushed to rotate around the far joint shaft relative to the first finger section when the first finger section rotates around the near joint shaft, and the robot finger device is in the coupling rotation process.
When the first finger section touches an object, the first finger section is limited and cannot act, at the moment, the first connecting rod is driven by the near joint shaft to overcome the limitation of the first spring piece to continue rotating, the second finger section is pushed to rotate around the far joint shaft through the first shaft, the second connecting rod and the second shaft, and meanwhile, the second shaft pulls the third connecting rod to overcome the deformation elasticity of the second spring piece through the fourth connecting rod and the third shaft to rotate around the near joint shaft, so that the underactuated action process of the robot finger device is realized.
The robot finger device adopts a coupling mode for transmission before touching an object, has highly anthropomorphic action, is beneficial to enveloping the object, prevents the object from leaving the finger grabbing range, can realize grabbing the object in a pinching mode, can adopt an underactuated self-adaptive mode to rotate to grab the object after touching the object, and is automatically adapted to the size and shape of the grabbed object. However, this robot finger device also has some drawbacks: in the coupling rotation process, the ratio of the rotating angle of the first finger section to the rotating angle of the second finger section is fixed, when the first finger section touches an object to be grabbed, the first finger section and the second finger section are required to carry out underactuated transmission, the second finger section is rotated by a certain angle in the coupling rotation process before carrying out underactuated transmission, the enveloping space formed by the first finger section and the second finger section is smaller, if the size of the object to be grabbed is slightly larger, the first finger section and the second finger section can be matched to not grab the object, so that the coupling ratio of the robot finger device can not be changed, the influence of the object size on the robot finger is larger, the grabbing range is small, and the applicability is poor.
Disclosure of Invention
The invention aims to provide a robot finger device which can solve the problems of small grabbing range and poor applicability of the robot finger device in the prior art.
In order to achieve the above object, the robot finger device of the present invention adopts the following technical scheme:
the robot finger device comprises a base, a first finger section hinged on the base around a near joint shaft and a second finger section hinged on the first finger section around a far joint shaft, wherein the second finger section is fixed on a second finger section connecting rod hinged with the far joint shaft, the arrangement direction of the base, the first finger section and the second finger section is vertical in an initial state, a guide sliding seat which is arranged in a direction guiding and moving manner along the vertical crossing direction is arranged on the first finger section, a first connecting rod is hinged on the guide sliding seat through a first shaft, the first connecting rod is hinged with a second finger section connecting rod through a second connecting rod, the first connecting rod, the second connecting rod and the second finger section connecting rod are all positioned on one side of a connecting line of the first shaft and the far joint shaft, which is opposite to the grabbing direction of the robot finger device, and a tension spring is arranged between the first connecting rod and the second connecting rod; the guide sliding seat is hinged with a decoupling connecting rod, the first finger section is hinged with a grabbing connecting rod, the grabbing connecting rod is provided with a grabbing end for grabbing objects and a decoupling end hinged with the decoupling connecting rod, the decoupling connecting rod is positioned at one side of the grabbing connecting rod, which is opposite to the grabbing direction of the robot finger device, so that the guide sliding seat is driven to move towards the grabbing direction of the robot finger device when the grabbing end is subjected to the reaction force of the objects, the hinge point of the grabbing connecting rod and the first finger section is positioned between two end parts of the grabbing connecting rod, and a pressure spring for applying acting force to the grabbing connecting rod towards the guiding sliding seat is arranged between the grabbing connecting rod and the first finger section; the base is provided with a driving device for pushing the first connecting rod to move to one side far away from the base.
The beneficial effects are that: the first finger section is provided with a guide sliding seat, the guide sliding seat is hinged with a first connecting rod and is also hinged with a decoupling connecting rod, when the grabbing connecting rod is contacted with an article to be grabbed, the grabbing end and the decoupling end of the grabbing connecting rod can rotate around the hinging point of the grabbing connecting rod and the first finger section, so that the decoupling connecting rod acts, the guide sliding seat correspondingly moves in the direction crossing the vertical direction after the decoupling connecting rod acts, the hinging point of the first connecting rod can be changed by the guide sliding seat, the ratio of the sizes of the corners of the first finger section and the second finger section is changed, the function of decoupling is realized, and after the decoupling, the first connecting rod can enable the second connecting rod and the second finger section connecting rod to correspondingly rotate, the second finger section connecting rod is enabled to reversely rotate by a certain angle, an envelope surface formed by combining the first finger section and the second finger section in the coupling rotation process is changed, the second finger section is reversely rotated, the envelope surface is increased, the first finger section and the second finger section are matched to increase and fully and stably grasp a large-size object, and for a small-size object, the robot finger device can grasp or pinch the tail end of the small-size object by means of the coupling rotation and/or underactuated rotation movement mode. According to the invention, the coupling proportion is correspondingly adjusted by the grabbing connecting rod in the coupling rotation process, so that the variable coupling grabbing in the grabbing process is realized, the finger sections can form envelope surfaces with correspondingly changed contact areas according to objects with different sizes, the applicability of the robot finger device is improved, and the grabbing range of the robot finger device is increased.
Further, the first connecting rod is arranged on one side, far away from the base, of the guide sliding seat, and the decoupling connecting rod is arranged on one side, close to the base, of the guide sliding seat.
The beneficial effects are that: the first connecting rod and the variable coupling connecting rod are respectively arranged on two sides, so that space in the finger section can be fully utilized, interference between structures is avoided, on the other hand, the first connecting rod and the variable coupling connecting rod are hinged to the guide sliding seat, the connecting rod action can affect the position of the guide sliding seat, therefore, the two connecting rods are respectively arranged on two sides to be beneficial to keeping the stability of the guide sliding seat, the grabbing connecting rod is correspondingly arranged on one side, far away from the base, of the guide sliding seat, the idle stroke of the grabbing connecting rod can be reduced, the variable coupling connecting rod is arranged on one side, close to the base, of the guide sliding seat, the variable coupling connecting rod action is smoother, interference with other structures is avoided, the grabbing connecting rod connected with the variable coupling connecting rod is provided with more arrangement spaces, and the occupation space of the variable coupling connecting rod and the grabbing connecting rod in the transverse direction of the robot finger device is reduced.
Further, a connecting rod limiting structure for limiting the relative positions of the first connecting rod and the second connecting rod in an initial state is arranged between the first connecting rod and the second connecting rod, or a finger section limiting structure matched with the second finger section to limit the initial position of the first finger section is arranged on the first finger section.
The beneficial effects are that: the first finger section is provided with a connecting rod limiting structure for limiting the initial positions of the first connecting rod and the second connecting rod or a finger section limiting structure matched with the second finger section for limiting the initial positions of the first finger section, so that the first connecting rod and the second connecting rod can keep stable movement tracks, and the base, the first finger section and the second finger section can keep at initial positions on a straight line.
Further, a gear member for limiting the position of the grabbing connecting rod so that the compression spring has precompression amount is arranged on the grabbing connecting rod.
The beneficial effects are that: the gear piece is arranged, so that the pressure spring has precompression, the grabbing connecting rod can have a stable state in an initial state, and the variable coupling connecting rod connected with the grabbing connecting rod and the guiding sliding seat are ensured to be in a stable initial state.
Further, the driving device comprises a motor and a push rod connected with the motor, the push rod is provided with a pushing part for pushing the first connecting rod to rotate, a pushing groove or a pushing hole matched with the pushing part is formed in the first connecting rod, and the pushing part is guided to move in the pushing groove or the pushing hole in the rotation process of the first connecting rod so that the pushing part is always in pushing fit with the first connecting rod.
The beneficial effects are that: the pushing part of the push rod is stably matched with the first connecting rod by virtue of the pushing groove and the pushing Kong Baochi, so that the first connecting rod can be smoother in action, and the occurrence of the motion clamping stagnation condition of the first connecting rod is avoided.
Drawings
FIG. 1 is a schematic view of a robot finger device according to the present invention;
FIG. 2 is a schematic view of a robotic finger device of the present invention gripping an object in a first motion;
FIG. 3 is a simplified schematic diagram of a first motion process of the robotic finger device of the present invention;
FIG. 4 is a simplified schematic diagram of a first motion result of a robotic finger device according to the present invention;
FIG. 5 is a schematic view of a robotic finger device of the present invention gripping an object in a second motion;
FIG. 6 is a simplified schematic diagram of a second motion profile of a robotic finger device according to the present invention;
fig. 7 is a simplified schematic diagram of a second motion result of the robotic finger device according to the present invention.
In the figure: 10-a base; 11-push rod; 12-an electric motor; 20-a first finger section; 21-a guide slide; 30-a second finger section; 40-proximal joint axis; 50-distal joint axis; 61-a first link; 62-a second link; 63-a second finger link; 64-grasping a connecting rod; 65-varia-tion links; 66-a third link; 71-a first axis; 72-second axis; 73-a third axis; 74-fourth axis; 75-a fifth axis; 76-sixth axis; 81-a compression spring; 82-a tension spring; 83-a first limiting block; 84-a second limiting block; a-small objects; b-large object.
Detailed Description
Specific embodiments of the robotic finger device of the invention will now be described with reference to the drawings.
As shown in fig. 1, the robot finger device of the present invention mainly comprises three parts, namely a base 10, a first finger section 20 and a second finger section 30, which are sequentially arranged in order, wherein the base 10 is kept stationary while the first finger section 20 and the second finger section 30 are operated in the robot finger device. Wherein the first finger segment 20 is hinged to the base 10 via a proximal joint axis 40 and the second finger segment 30 is hinged to the first finger segment 20 via a distal joint axis 50. According to the positional relationship expressed in fig. 1, the arrangement direction of the base 10, the first finger section 20 and the second finger section 30 is defined as vertical, and then the guide sliding seat 21 which is arranged in a guiding and moving manner along the direction intersecting with the vertical direction is arranged in the first finger section 20, and the guide sliding seat 21 can be vertically arranged with the vertical direction or can be arranged in an intersecting manner with an included angle as an acute angle. The guide sliding seat 21 is hinged with a first connecting rod 61 through a first shaft 71, the other end of the first connecting rod 61 is connected with a second connecting rod 62 through a second shaft 72, the other end of the second connecting rod 62 is hinged with a second finger section connecting rod 63 through a third shaft 73, the second finger section connecting rod 63 is fixed with the second finger section 30, and when the second finger section connecting rod 63 rotates, the second finger section 30 can be driven to rotate around the far joint shaft 50, so that the relative rotation of the first finger section 20 and the second finger section 30 is realized. The first link 61, the second link 62, and the second finger link 63 are all located on a side of the line connecting the first shaft 71 and the distal joint shaft 50 facing away from the gripping direction of the robot finger device, and the first shaft 71 is located on a side of the guide slider 21 facing away from the base 10.
On the side of the connection line of the first shaft 71 with the distal joint shaft 50 facing the grasping direction of the robot finger device, a decoupling link 65 is provided which is in hinged engagement with the guide carriage 21, the decoupling link 65 being hinged with the guide carriage 21 by means of a fifth shaft 75 provided on the side of the guide carriage 21 close to the base 10. The other end of the variable coupling link 65 is hinged with a grabbing link 64 through a fourth shaft 74, the corresponding end of the grabbing link 64 hinged with the variable coupling link 65 is a variable coupling end, and the end opposite to the variable coupling end is a grabbing end for contacting with an object to drive the variable coupling link 65 to act when the robot finger device performs grabbing action. A hinge point for hinging the grasping link 64 to the first finger segment 20 is provided at an intermediate position between the decoupling end and the grasping end of the grasping link 64. A compression spring 81 is arranged between the gripping link 64 and the first finger section 20, which exerts a force on the gripping link 64 towards the guiding slide 21, while the decoupling link 65 is located on the side of the gripping link 64 facing away from the gripping direction of the robot finger device, so that the gripping end can drive the guiding slide 21 to move in the gripping direction of the robot finger device when receiving the reaction force of the object.
In addition, a third link 66 is disposed in the first finger segment 20, one end of the third link 66 being hinged to the distal joint shaft 50, and the other end being hinged to a sixth shaft 76 fixedly disposed in the first finger segment 20; a first stopper 83 that restricts the relative positional relationship between the first link 61 and the second link 62 in the initial state, and a tension spring 82 that is provided between the first link 61 and the second link 62 are provided between the first link 61 and the second link 62; a second limiting block 84 is arranged on one side of the grabbing connecting rod 64 facing the grabbing direction of the robot finger; in the embodiment, the driving device comprises a motor 12 and a push rod 11, the push rod 11 is provided with a pushing part for pushing the first link 61 under the drive of the motor 12, and the push rod 11 can only realize direct motion, and the first link 61 needs to be pushed by the push rod 11 to rotate, so a hinged support hinged with the first finger section 20 is arranged at the tail of the motor 12, so that the motor 12 can rotate when outputting power, the pushing part is always in contact with the first link 61, the first link 61 always receives the pushing action of the push rod 11 when rotating towards the side far from the base 10, and the push rod 11 can swing along with the motor 12 and the first link 61 without interference when in direct motion.
Since the robot finger device has two finger sections, and feedback of the robot finger device is different after each finger section touches an object to be grasped, a process of grasping the object by the finger device will now be described according to the structure of the robot finger device.
The first movement result of the robot finger device is shown in fig. 2, at this time, the second finger section 30 of the robot finger device has already contacted the small object a with a smaller size to be grasped, but the grasping end of the grasping link 64 corresponding to the first finger section 20 has not contacted the small object a, the robot device can grasp the small object a by pinching the end, and the grasping movement of the robot finger device is ended.
The motion process of the robotic finger device is analyzed in conjunction with the simplified structure shown in fig. 3 and 4: the motor 12 drives the push rod 11 to directly move, the push rod 11 drives the first connecting rod 61 to swing, the first finger section 20 rotates around the near joint shaft 40, the second connecting rod 62 and the second finger section connecting rod 63 move under the action of the first connecting rod 61, the second connecting rod 62 rotates towards one side of the grabbing direction of the finger of the robot, the second finger section connecting rod 63 is pushed by the second connecting rod 62 to drive the second finger section 30 to rotate around the far joint shaft 50, the second finger section 30 rotates relative to the first finger section 20, the second finger section 30 rotates towards the small object A, at the moment, the small object A is smaller in size, the grabbing connecting rod 64 does not contact with the small object A in the rotating process of the finger device of the robot, the relative positions of the variable coupling connecting rod 65 and the guiding sliding seat 21 in the first finger section 20 are not changed, and the coupling ratio of the first finger section 20 and the second finger section 30 is unchanged in the rotating process.
When the size of the object to be grabbed is large, the robot finger device can grab the object in a coupling transmission and underactuated transmission manner, as shown in fig. 5, which is a second movement result of the robot finger device, at this time, the grabbing connecting rod 64 on the first finger section 20 of the robot finger device contacts the large object B with large size, the second finger section 30 also contacts the large object B, and the first finger section 20 and the second finger section 30 cooperate to form an enveloping surface for grabbing the object, so that the object can be grabbed stably.
The course of motion of the robotic finger device is now analyzed in connection with the simplified structure shown in fig. 6 and 7: when a large object B with a large size needs to be grabbed, the motor 12 drives the push rod 11 to directly move, and the push rod 11 drives the first connecting rod61 oscillate, the first finger section 20 then rotating about the proximal joint axis 40, and the second finger section 30 also rotates with the first finger section 20 as the first finger section 20 rotates. The action direction of each connecting rod is expressed in the illustrated position direction, the first connecting rod 61 rotates upwards and pushes the second connecting rod 62 to act upwards, the second finger section connecting rod 63 rotates towards one side of the grabbing direction of the robot finger device under the drive of the second connecting rod 62 and drives the second finger section 30 to rotate towards the large object B, the second finger section 30 rotates relative to the first finger section 20 in the process of rotating along with the first finger section 20, and at the moment, the two finger sections are in the coupling rotation process. When the line of the first finger segment 20 approaches the large object B, the grabbing end of the grabbing connecting rod 64 on the first finger segment 20 touches the large object B, the grabbing connecting rod 64 is hinged on the first finger segment 20, and the large object B will apply an acting force to the grabbing connecting rod 64 after contacting the grabbing end, namely F in the figure Outer part The force is opposite to the force applied to the gripper link 64 by the compression spring 81 to force the gripper link 64 toward the guide carriage 21, i.e., as shown in the figure, one side of the gripper link 64 is subjected to F Outer part On the other side receive F Bullet . When F Outer part Is greater than F Bullet When the grabbing connecting rod 64 rotates around the hinge point towards one side deviating from the grabbing direction, the variable coupling end at the other end of the hinge point drives the variable coupling connecting rod 65 to move towards one side close to the large object B, the variable coupling connecting rod 65 pulls the guide sliding seat 21 to move in the first finger section 20, the position of the guide sliding seat 21 changes, the change of the hinge point of the first connecting rod 61 can be caused, the guide sliding seat 21 drives the first connecting rod 61 to move towards one side close to the large object B, the first connecting rod 61 swings downwards for a certain angle, meanwhile drives the second connecting rod 62 and the second finger section connecting rod 63 to act, the second finger section connecting rod 63 rotates towards one side opposite to the original rotating direction for a certain angle, at the moment, the second finger section 30 is turned over for a certain angle under the driving of the second finger section connecting rod 63, so that the included angle between the first finger section 20 and the second finger section 30 is increased, at the moment, the variable coupling is realized in the coupling rotation process, the size ratio of the rotating angles of the first finger section 20 and the second finger section 30 is changed, and the enveloping surface formed by the first finger section 20 and the second finger section 30 is intuitively viewed to be increased, and the large object B can be grabbed more stably and fully.
After the first finger section 20 abuts against the surface of the large object B, the first finger section 20 cannot rotate even under the driving of the motor 12, at this time, the coupling rotation process is completed, the motor 12 can continue to push the first link 61 to continue the grabbing motion, at this time, only the second finger section 30 rotates around the first finger section 20 to enable the second finger section 30 to contact with the large object B, and in this process, the first finger section 20 and the link in the second finger section 30 are driven by one motor 12 to act, so that the underdrive process is completed. When the second finger section 30 is completely abutted against the large object B, the first finger section 20 and the second finger section 30 cannot rotate, and the grabbing of the large object B is completed.
In the two moving processes, the first limiting block 83 as a link limiting structure is fixedly arranged with the first link 61, and can rotate along with the first link 61 when the first link 61 rotates, so that interference cannot be generated on the first link 61, the first limiting block 83 contacts with the second link 62 in an initial state, the relative position relationship of the first link 61 and the second link 62 in the initial state is restrained, the tension spring 82 connected between the first link 61 and the first link 61 can push the second link 62 and simultaneously pull the second link 62 to the first link 61, at the moment, the tension spring 82 forms a force transmission member, and the second link 62 and the second finger section link 63 can drive the first finger section 20 to move.
The second limiting block 84 serving as a gear member is fixedly connected with the grabbing connecting rod 64, when the grabbing connecting rod 64 is in an initial state, one side of the grabbing connecting rod is acted by the acting force of the pressure spring 81, so that the grabbing connecting rod 64 has a trend of moving towards one side of the guiding sliding seat 21, and the second limiting block 84 is matched with the first finger section 20, so that the initial position of the grabbing connecting rod 64 can be limited, the pressure spring has a certain precompression amount, the grabbing connecting rod 64 rotates around a hinge point of the grabbing connecting rod 64 and the first finger section 20 when the grabbing end of the grabbing connecting rod 64 is stressed, and the guiding sliding seat 21 is driven to move.
In other embodiments, a blocking platform may be disposed at a position of the first finger section near the second finger section, so as to cooperate with the first finger section when the second finger section is reversed, so that the first finger section, the second finger section and the base are in a stable initial state, and the blocking platform forms a finger section limiting structure.
In other embodiments, a limiting structure is not arranged between the first connecting rod and the second connecting rod, and the first connecting rod and the second connecting rod are in proper initial positions by the rod length of the connecting rod structure and the extension length of the push rod in an initial state.
In other embodiments, the driving device comprises a motor and a push rod, the push rod is provided with a pushing part for pushing the first connecting rod under the drive of the motor, and because the push rod can only realize direct motion and the first connecting rod needs to be pushed by the push rod to rotate, a pushing groove matched with the pushing part is formed in the first connecting rod, the shape of the pushing groove is designed according to the change condition of the contact position of the pushing part and the first connecting rod in the rotation stroke of the first connecting rod, the pushing part moves in the pushing groove in a guiding way in the rotation process of the first connecting rod, and the pushing part is always in contact fit with the first connecting rod, so that the first connecting rod is always subjected to the pushing action of the push rod when rotating towards one side far away from the base, and the direct motion of the push rod and the rotation of the first connecting rod are not interfered.
In other embodiments, a long hole forming a pushing hole may be formed on the first link, and the pushing portion of the push rod is hinged in the long hole, when the push rod pushes the first link to rotate, the hinge point of the push rod and the first link can slide in the long hole, so that the contact position between the first link and the push rod changes along with the rotation of the first link, and the condition that the push rod interferes with the rotation of the first link is avoided.
In other embodiments, a sliding groove can be hinged at the end part of the push rod, the sliding groove is matched with the first connecting rod, when the push rod pushes the first connecting rod, the first connecting rod can swing and slide in the sliding groove, the sliding groove rotates relative to the push rod, and therefore thrust of the push rod is transmitted to the first connecting rod, and interference between the first connecting rod and the push rod in the rotating process is avoided.
The foregoing description of the embodiments provides further details of the present invention with regard to its objects, advantages and benefits, it should be understood that the above description is only illustrative of the invention and is not intended to limit the scope of the invention, but any modifications, equivalents, improvements, etc. within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The robot finger device comprises a base, a first finger section hinged on the base around a near joint shaft and a second finger section hinged on the first finger section around a far joint shaft, wherein the second finger section is fixed on a second finger section connecting rod hinged with the far joint shaft, and the robot finger device is characterized in that: the arrangement direction of the base, the first finger section and the second finger section is vertical in an initial state, a guide sliding seat which is arranged along the direction of guiding movement which is intersected with the vertical direction is arranged on the first finger section, a first connecting rod is hinged on the guide sliding seat through a first shaft, the first connecting rod is hinged with a second finger section connecting rod through a second connecting rod, the first connecting rod, the second connecting rod and the second finger section connecting rod are all positioned at one side of a connecting line of the first shaft and a far joint shaft, which is away from the grabbing direction of the robot finger device, and a tension spring is arranged between the first connecting rod and the second connecting rod; the guide sliding seat is hinged with a decoupling connecting rod, the first finger section is hinged with a grabbing connecting rod, the grabbing connecting rod is provided with a grabbing end for grabbing objects and a decoupling end hinged with the decoupling connecting rod, the decoupling connecting rod is positioned at one side of the grabbing connecting rod, which is opposite to the grabbing direction of the robot finger device, so that the guide sliding seat is driven to move towards the grabbing direction of the robot finger device when the grabbing end is subjected to the reaction force of the objects, the hinge point of the grabbing connecting rod and the first finger section is positioned between two end parts of the grabbing connecting rod, and a pressure spring for applying acting force to the grabbing connecting rod towards the guiding sliding seat is arranged between the grabbing connecting rod and the first finger section; the base is provided with a driving device for pushing the first connecting rod to move to one side far away from the base.
2. The robotic finger device according to claim 1, wherein: the first connecting rod is arranged on one side, far away from the base, of the guide sliding seat, and the variable coupling connecting rod is arranged on one side, close to the base, of the guide sliding seat.
3. The robotic finger device according to claim 1 or 2, wherein: a connecting rod limiting structure for limiting the relative positions of the first connecting rod and the second connecting rod in an initial state is arranged between the first connecting rod and the second connecting rod, or a finger section limiting structure matched with the second finger section to limit the initial position of the first finger section is arranged on the first finger section.
4. The robotic finger device according to claim 1 or 2, wherein: the gripping connecting rod is provided with a gear member which limits the position of the gripping connecting rod so that the pressure spring has precompressed amount.
5. The robotic finger device according to claim 1 or 2, wherein: the driving device comprises a motor and a push rod connected with the motor, the push rod is provided with a pushing part for pushing the first connecting rod to rotate, a pushing groove or a pushing hole matched with the pushing part is formed in the first connecting rod, and the pushing part is guided to move in the pushing groove or the pushing hole in the rotation process of the first connecting rod so that the pushing part is always in pushing fit with the first connecting rod.
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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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