CN109834722A - The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror - Google Patents
The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror Download PDFInfo
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- CN109834722A CN109834722A CN201910263171.6A CN201910263171A CN109834722A CN 109834722 A CN109834722 A CN 109834722A CN 201910263171 A CN201910263171 A CN 201910263171A CN 109834722 A CN109834722 A CN 109834722A
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Abstract
The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror, belong to robot technical field, including pedestal, three segments, three joint shafts, motor, multiplexed gear transmission mechanism, multichannel belt wheel transmission mechanism, jointed gear unit, four spring parts, tendon rope, reel etc..The arrangement achieves the flat folder of doublejointed robot finger, coupling, adaptive compound crawl functions.There is the device segment flat gripper in end to take, the crawl of middle part articular couple, middle part segment self-adapting grasping, end segment self-adapting grasping, end segment are flat presss from both sides 5 kinds of grasp modes of self-adapting grasping, only with a motor driven, it is quick to grab object, it is big to grab range, can adapt to the crawl of different shape, size objects；The device volume is small, compact-sized, low in cost without complicated sensing and control system, can be applied to a variety of crawl robots.
Description
Technical field
The invention belongs to robot technical fields, in particular to a kind of tooth band compound crawl robot of connecting rod serial-parallel mirror
The structure of finger apparatus designs.
Background technique
With the innovation of technology, Robot industry has welcome the gold period of development, and wherein robot is as robot
The key component for realizing various functions has become the hot spot of the current area research.The superiority and inferiority of robot will be determined directly
The practical performance of robot, as application scenarios become increasingly complex, the requirement to the reliability and adaptability of robot is also got over
Come higher, to pursue the diversity of robot function and the flexibility that uses, robot finger should have as much as possible
Grasp mode.Thus the under-driven adaptive hand with a variety of grasp modes is one of the project of robot field forefront.
The grasp mode of multifingered robot hands generally has parallel clamping crawl, coupling multi-joint linkage crawl, self-adapting grasping etc..Have
The robot of multiple grasp modes has become the hot spot of current research.
The robot with two or more grasp modes has been developed that typical multifingered robot hands have at present
Three kinds of big classifications:
1) industrial clamper.Industrial clamper is commonly used when industrial flow-line grabs object, and finger has parallel folder
The function of holding, parallel clamping (referred to as flat folder) are and to grab object on the table in the very effective grasp mode of many occasions
The even unique grasp mode of body, centering crawl, crawl position is accurate, is industrially widely applied.Industrial clamper
Structure is simply, manufacture is easy, reliable operation does not still have cradle head in the middle part of industrial clamper finger, it is difficult to grab not similar shape
The object of shape, size, therefore narrow application range are unfavorable for being applied on service robot.
2) Dextrous Hand.Dextrous Hand usually has more freedom degree and preferable dexterity, and anthropomorphic degree highest can be most
Limits simulate manpower and complete complicated work, have high flexibility ratio, reliability.Although Dextrous Hand have the advantages that it is flexible,
Its control system and sensor-based system are extremely complex, expensive, and grasp force is small.
3) drive lacking hand.Drive lacking hand has the advantages that above two robot, and joint freedom degrees are less than motor
Quantity, therefore the requirement to control system is reduced, there is very high adaptability and grasp force, crawl control is fairly simple, system
Make at low cost and power output greatly, application range is wider, has obtained the hot research in nearly more than ten year, has developed rapidly.
Robot with flat folder self-adapting grasping and the drive lacking hand with coupling adaptive crawl are developed:
1) coupling adaptive crawl robot can merge coupling with self-adapting grasping, first using coupling crawl
Mode uses self-adapting grasping mode after nearly segment contacts object again, realizes another preferable compound crawl；
A kind of existing coupling underactuated integral finger device of double-joint robot (Chinese patent CN101664930B),
Including pedestal, motor, two segments, two joint shafts, motor, four connecting rods and two spring parts etc..The arrangement achieves two passes
Finger coupling crawl process and under-driven adaptive crawl Process fusion are saved in the effect of one, which adopts before touching object
It is rotated with coupled modes, and can realize that grip mode grabs object, after touching object, and under-driven adaptive side can be used
Formula rotation crawl object, the automatic size and shape for adapting to grabbed object realize holding mode crawl.The shortcoming of the device
Be: the device only has coupling adaptive grasp mode, cannot achieve flat folder self-adapting grasping.
2) putting down folder self-adapting grasping robot can merge parallel clamping with self-adapting grasping, first using parallel
Grasp mode is clamped, uses self-adapting grasping mode again after nearly segment contacts object, realizes preferable compound crawl；
A kind of existing five connecting rod clamping device (United States Patent (USP)s with double freedom under-actuated finger
), including five connecting rods, spring, mechanical constraints US8973958B2.At work, the incipient stage keeps end segment to the device
Posture carries out nearly arthrogryposis movement, and the function of parallel grip or the gripping of adaptive envelope may be implemented according to the position of object later
Energy.Disadvantage is that: the device only has flat folder self-adapting grasping mode, cannot achieve coupling adaptive crawl.
In addition, being devised with the coupling adaptive more grasp modes switching finger adaptive with flat folder:
One discharge plate tooth shifting multi-mode formula merges adaptive robot finger apparatus (Chinese patent CN108481354A), including
Two segments, two joints, multichannel transmission mechanism, two motors, two spring parts and switching mechanism etc., realize the flat folder of doublejointed with
Couple the self-adapting grasping of switching.The device is disadvantageous in that:
1) device is merely able to take flat folder self-adapting grasping mode or coupling adaptive grasp mode in crawl；
2) device do not have flat folder with couple simultaneous grasp mode, need operator artificially to determine or outside biography
Sensor takes the circumstances into consideration to select according to field condition；
3) device needs in the handoff procedure for realizing flat folder self-adapting grasping mode or coupling adaptive grasp mode
Power source is provided using an individual motor.
Summary of the invention
To overcome deficiency existing for existing robot finger apparatus, the purpose of the present invention is to provide a kind of tooth band connecting rod strings
And flat folder, coupling are got up with adaptive triplicity, are referred to end by the compound crawl robot finger apparatus of mixed connection, the device
The flat gripper of section takes, the crawl of middle part articular couple, middle part segment self-adapting grasping, end segment self-adapting grasping, end segment are put down
5 kinds of grasp modes of self-adapting grasping are pressed from both sides, grasp mode is more, and only with three joints of a motor driven, drive lacking effect is good, grabs
Take object quick, crawl range is big, can adapt to the crawl of different size objects.
The purpose of the present invention is what is realized using following technical scheme.
A kind of present invention tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror, including pedestal, the first segment, the
Two segments, nearly joint shaft, middle joint shaft, motor, Worm and worm-wheel gearing, first gear transmission mechanism, second gear transmission
Mechanism, the first transmission gear, the second transmission gear, third transmission gear, the first spring part, the second spring part, the first limited block, second
Limited block, the first convex block and the second convex block；The motor and pedestal are affixed；The Worm and worm-wheel gearing is arranged in pedestal
In；The output shaft of the motor is connected with the input terminal of Worm and worm-wheel gearing；The nearly joint shaft is movably set in pedestal
In；First segment is actively socketed on nearly joint shaft；The middle joint shaft is movably set in the first segment；Described second
Segment is actively socketed on middle joint shaft；The center line of the center line and middle joint shaft of the nearly joint shaft is parallel to each other；It is described
First gear transmission mechanism, second gear transmission mechanism are separately positioned in the first segment；The Worm and worm-wheel gearing
Output end be connected with the first transmission gear；First transmission gear is actively socketed on nearly joint shaft, first transmission
Gear is connected with the input terminal of first gear transmission mechanism, the output end and the second transmission gear of the first gear transmission mechanism
It is connected, second transmission gear is fixed on middle joint shaft；By the transmission of first gear transmission mechanism, from the first driving cog
The transmission for taking turns to the second transmission gear is in the same direction and speedup transmission；The third transmission gear is actively socketed on nearly joint shaft
On, the third transmission gear is connected with the input terminal of second gear transmission mechanism；First convex block and third transmission gear
It is affixed；First limited block, the second limited block are affixed with pedestal respectively；One end of the first spring part is by coiling through
First tendon rope of one reel connect with the first convex block, the connection of the other end and pedestal, in the initial state, first convex block with
The contact of first limited block；It is characterized by: the tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror further includes second
Segment jackshaft, third segment, remote joint shaft, first pulley transmission mechanism, the second belt wheel transmission mechanism, third belt wheel transmission machine
Structure, the first drive pulley, the second drive pulley, third drive pulley, the 4th drive pulley, the 5th drive pulley, the 6th transmission
Belt wheel, jointed gear unit, first connecting rod, second connecting rod, third connecting rod, fourth link, third spring part, the 4th spring part, third
Limited block, third convex block；The remote joint shaft is movably set in the second segment；The second segment jackshaft is movably set in
In second segment；The third segment is fixed on remote joint shaft；The center line of the remote joint shaft and the center of middle joint shaft
Line is parallel to each other；The first pulley transmission mechanism, the second belt wheel transmission mechanism, jointed gear unit are separately positioned on first
In segment；The third belt wheel transmission mechanism is arranged in the second segment；The center line of the second segment jackshaft and middle pass
The center line of nodal axisn is parallel to each other；The output end of the second gear transmission mechanism is fixedly connected with the first drive pulley；Pass through
The transmission of two gear drives is reversed and constant speed transmission from third transmission gear to the transmission of the first drive pulley；Institute
The input terminal that the first drive pulley is first pulley transmission mechanism is stated, second drive pulley is first pulley transmission mechanism
Output end, second drive pulley are actively socketed on middle joint shaft, and second drive pulley and the second segment are affixed；It is logical
The transmission for crossing first pulley transmission mechanism is in the same direction and constant speed biography from the first drive pulley to the transmission of the second drive pulley
It is dynamic；Described first connecting rod one end is actively socketed on nearly joint shaft, between the first connecting rod and nearly joint shaft and middle joint shaft
Distance it is isometric, the first connecting rod be the jointed gear unit input terminal, the first connecting rod other end with second company
One end pivot bush unit of one end pivot bush unit of bar, the other end of the second connecting rod and third connecting rod, fourth link, described the
The other end of three-link is actively socketed on middle joint shaft, the third connecting rod and the second transmission gear is affixed and and first connecting rod
Isometric, the other end of the fourth link is actively socketed on the second segment jackshaft；The third drive pulley pivot bush unit
On nearly joint shaft, the third drive pulley is the input terminal of the second belt wheel transmission mechanism, and the 4th drive pulley is the
The output end of two belt wheel transmission mechanisms, the 4th drive pulley are fixed on middle joint shaft；Pass through the second belt wheel transmission mechanism
Transmission, from third drive pulley to the transmission of the 4th drive pulley be in the same direction and constant speed transmission；5th drive pulley
It is connected with the 4th drive pulley, the 5th drive pulley is the input terminal of third belt wheel transmission mechanism, the 6th transmission belt
Wheel is the output end of third belt wheel transmission mechanism, and the 6th drive pulley is fixed on remote joint shaft and consolidates with third segment
It connects；It is in the same direction and constant speed from the transmission of the 5th drive pulley to the 6th drive pulley by the transmission of third belt wheel transmission mechanism
Transmission；Second convex block and third drive pulley are affixed；One end of the second spring part is by coiling through the second coiling
Second tendon rope of cylinder is connect with the second convex block, the other end and pedestal connect；The third convex block and first connecting rod are affixed；Described
Three limited blocks and pedestal are affixed；One end of the third spring part is convex by the second tendon rope and second for coiling through the second reel
Block connection, the other end and pedestal connect；In the initial state, second convex block is contacted with the second limited block, and the third is convex
Block is contacted with third limited block；One end of the 4th spring part is referred to by the 4th tendon rope and first for coiling through the 4th reel
Section connection, the other end and pedestal connect, and the 4th reel is actively socketed on nearly joint shaft.
Compared with existing robot finger apparatus, the present invention is had the following advantages that and high-lighting effect:
The present apparatus utilizes motor, multiplexed gear transmission mechanism, multichannel belt wheel transmission mechanism, jointed gear unit, four springs
Part, tendon rope, reel etc. are comprehensive to realize the flat folder of doublejointed robot finger, coupling, adaptive compound crawl function.The device
It by flat folder, couples and gets up with adaptive triplicity, there is segment flat gripper in end to take, middle part articular couple grabs, middle part refers to
5 kinds of grasp modes of the flat folder self-adapting grasping of section self-adapting grasping, end segment self-adapting grasping, end segment, grasp mode
More, only with three joints of a motor driven, drive lacking effect is good, and crawl object is quick, and crawl range is big, can adapt to difference
The crawl of shape, size objects.The device volume is small simultaneously, compact-sized, at low cost without complicated sensing and control system
It is honest and clean, it can be applied to a variety of crawl robots.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is a kind of embodiment of the tooth with the compound crawl robot finger apparatus of connecting rod serial-parallel mirror that the present invention designs
Stereo appearance figure.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the three-dimensional view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure (being not drawn into part) of another angle of embodiment illustrated in fig. 1.
Fig. 5 is the side external view (right view of Fig. 2) of Fig. 1.
Fig. 6 is the side external view (left view of Fig. 2) of Fig. 1.
Fig. 7 is Fig. 5 view, but is not drawn into part.
Fig. 8 is Fig. 6 view, but is not drawn into part.
Fig. 9 is the back appearance figure of embodiment illustrated in fig. 1, but is not drawn into part.
Figure 10 is the cross-sectional view of embodiment illustrated in fig. 1.
Figure 11 is action process of the embodiment illustrated in fig. 1 in coupling flat folder grasp mode stage third segment contact object
(wherein double dot dash line is original state, and dotted line is intermediate state).
Figure 12 is that embodiment illustrated in fig. 1 is successively contacted in flat folder the first segment of grasp mode stage of coupling, the second segment
The action process of object (wherein double dot dash line is original state, and dotted line is intermediate state).
Figure 13 is that embodiment illustrated in fig. 1 is first in the first segment of the second segment self-adapting grasping mode phases, the second segment
Contact the action process of object afterwards (wherein double dot dash line is self-adaptive initial state, and dotted line is intermediate state).
Figure 14 is embodiment illustrated in fig. 1 in the first segment of third segment self-adapting grasping mode phases, the second segment,
Three segments successively contact the action process of object (wherein double dot dash line is self-adaptive initial state, and dotted line is intermediate state).
Marked in the figure: 1- pedestal, the first limited block of 101-, the second limited block of 102-, 103- third limited block, 11-
Motor, the first segment of 21-, the second segment of 22-, 23- third segment, the nearly joint shaft of 31-, joint shaft, 33- are remote in 32-
Joint shaft, the second segment of 34- jackshaft, 411- worm screw, 412- worm gear, the first transmission gear of 421-, 422- second pass
Moving gear, the first intermediate gear of 423-, the second intermediate gear of 424-, 425- third intermediate gear, the 4th center tooth of 426-
Wheel, 431- third transmission gear, the 5th intermediate gear of 432-, the first drive pulley of 441-, the second drive pulley of 442-,
451- third drive pulley, the 4th drive pulley of 452-, the 5th drive pulley of 461-, the 6th drive pulley of 462-,
471- first connecting rod, 472- second connecting rod, 473- third connecting rod, 474- fourth link, the first synchronous belt of 51-, 52-
Two synchronous belts, 53- third synchronous belt, the first spring of 61- part, the second spring of 62- part, 63- third spring part, the 4th spring part of 64-,
The first convex block of 71-, the second convex block of 72-, 73- third convex block, the 4th tendon rope of 81-, the 4th reel of 82-, 9- object.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings and the specific embodiments.
Fig. 1 to Figure 10 is please referred to, the tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror designed for the present invention
A kind of embodiment, including pedestal 1, the first segment 21, the second segment 22, nearly joint shaft 31, middle joint shaft 32, motor 11, snail
Worm and gear transmission mechanism, first gear transmission mechanism, second gear transmission mechanism, the first transmission gear 421, the second transmission gear
422, third transmission gear 431, the first spring part 61, the second spring part 62, the first limited block 101, the second limited block 102, first are convex
Block 71 and the second convex block 72；The motor 11 and pedestal 1 are affixed；The Worm and worm-wheel gearing is arranged in pedestal 1, including
Worm screw 411 as transmission mechanism input terminal, the worm gear 412 as transmission mechanism output end；The output shaft of the motor 11 with
I.e. worm screw 411 is connected；The nearly joint shaft 31 is movably set in pedestal 1；First segment 21 is actively socketed on nearly joint
On axis 31；The middle joint shaft 32 is movably set in the first segment 21；Second segment 22 is actively socketed on middle joint shaft
On 32；The center line of the nearly joint shaft 31 and the center line of middle joint shaft 32 are parallel to each other；The first gear transmission mechanism,
Second gear transmission mechanism is separately positioned in the first segment 21, and first gear transmission mechanism includes respectively by being pivotally supported on
The first intermediate gear 423, the second intermediate gear 424, third intermediate gear 425, the 4th intermediate gear 426 in first segment,
The first intermediate gear 423 as transmission mechanism input terminal is fixedly connected with the second intermediate gear 424, the second intermediate gear 424 and
Third intermediate gear 425 and the 4th intermediate gear 426 as transmission mechanism output end, which successively engage, to be driven, second gear
Transmission mechanism includes intermeshing third transmission gear 431 and the 5th intermediate gear 432, and the third transmission gear 431 is
The input terminal of transmission mechanism, the output end that the 5th intermediate gear 432 is transmission mechanism；The worm gear 412 and the first transmission gear
421 engaged transmissions, first transmission gear 421 is actively socketed on nearly joint shaft 31, first transmission gear 421 and the
One intermediate gear, 423 engaged transmission, 422 engaged transmission of the 4th intermediate gear 426 and the second transmission gear, described second passes
Moving gear 422 is fixed on middle joint shaft 32；By the transmission of first gear transmission mechanism, from the first transmission gear 421 to
The transmission of two transmission gears 422 is in the same direction and speedup transmission；The third transmission gear 431 is actively socketed on nearly joint shaft 31
On, first convex block 71 and third transmission gear 431 are affixed, and first limited block 101 and pedestal 1 are affixed, and described first
One end of spring part 61 is connect by coiling through the first tendon rope of the first reel with the first convex block 71, the other end and pedestal 1 connect
It connects, first convex block 71 is contacted with the first limited block 101 in the initial state.
The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror further includes that the second segment jackshaft 34, third refer to
Section 23, remote joint shaft 33, the first band being made of the first drive pulley 441 and the second drive pulley 442 and the first synchronous belt 51
Wheel drive mechanism, the second belt wheel transmission being made of third drive pulley 451 and the 4th drive pulley 452 and the second synchronous belt 52
Mechanism, the third belt wheel transmission mechanism being made of the 5th drive pulley 461 and the 6th drive pulley 462 and third synchronous belt 53,
Jointed gear unit, the second spring being made of first connecting rod 471 and second connecting rod 472 and third connecting rod 473 and fourth link 474
Part 62, third spring part 63, the 4th spring part 64, third limited block 103, third convex block 73；The remote joint shaft 33 is movably set in
In second segment 22；The second segment jackshaft 34 is movably set in the second segment 22 and is located under remote joint shaft 33
Side；The third segment 23 is fixed on remote joint shaft 33；The center of the center line of the remote joint shaft 33 and middle joint shaft 32
Line is parallel to each other；The first pulley transmission mechanism, the second belt wheel transmission mechanism, jointed gear unit are separately positioned on first
In segment 21；The third belt wheel transmission mechanism is arranged in the second segment 22；The center line of the second segment jackshaft 34
It is parallel to each other with the center line of middle joint shaft 32；As the 5th intermediate gear 432 of second gear transmission mechanism output end and
One drive pulley 441 is fixedly connected with, by the transmission of second gear transmission mechanism, from the 431 to the first transmission belt of third transmission gear
The transmission of wheel 441 is reversed and constant speed transmission；First drive pulley 441 is the input terminal of first pulley transmission mechanism,
Second drive pulley 442 is the output end of first pulley transmission mechanism, during second drive pulley 442 is actively socketed on
On joint shaft 32, second drive pulley 442 and the second segment 22 are affixed, by the transmission of first pulley transmission mechanism, from
The transmission of first the 441 to the second drive pulley of drive pulley 442 is in the same direction and constant speed transmission；Described 471 one end of first connecting rod
It is actively socketed on nearly joint shaft 31, the distance between the first connecting rod 471 and nearly joint shaft 31, first connecting rod 471 are in
The distance between joint shaft 32 is equal, and the first connecting rod 471 is the input terminal of the jointed gear unit, the first connecting rod
One end pivot bush unit of 471 other ends and second connecting rod 472, the other end of the second connecting rod 472 and third connecting rod 473, the
One end pivot bush unit of double leval jib 474, the other end of the third connecting rod 473 are actively socketed on middle joint shaft 32, and described
Three-link 473 and first connecting rod 471 are isometric, and the other end of the fourth link 474 is actively socketed on the second segment jackshaft 34
On；The third drive pulley 451 is actively socketed on nearly joint shaft 31, and the third drive pulley 451 is the second belt wheel biography
The input terminal of motivation structure, the 4th drive pulley 452 are the output end of the second belt wheel transmission mechanism, the 4th drive pulley
452 are fixed on middle joint shaft 32, by the transmission of the second belt wheel transmission mechanism, from third drive pulley 451 to the 4th transmission
The transmission of belt wheel 452 is in the same direction and constant speed transmission；5th drive pulley 461 and the 4th drive pulley 452 are connected, described
5th drive pulley 461 is the input terminal of third belt wheel transmission mechanism, and the 6th drive pulley 462 is third belt wheel transmission machine
The output end of structure, the 6th drive pulley 462 are fixed on remote joint shaft 33, and the 6th drive pulley 462 refers to third
Section 23 is affixed, by the transmission of third belt wheel transmission mechanism, from the transmission of the 5th drive pulley 461 to the 6th drive pulley 462
For in the same direction and constant speed transmission；Second convex block 72 and third drive pulley 451 are affixed, second limited block 102 and base
Seat is 1 affixed, one end of the second spring part 62 connect by coiling through the second tendon rope of the second reel with the second convex block 72,
The other end is connect with pedestal 1；The third convex block 73 and first connecting rod 471 are affixed, and the third limited block 103 and pedestal 1 are solid
It connects, one end of the third spring part 63 is connect with third convex block 73 by coiling through the third tendon rope of third reel, is another
End is connect with pedestal 1；In the initial state, second convex block 72 is contacted with the second limited block 102, the third convex block 73 with
Third limited block 103 contacts；The lower end of the 4th spring part 64 is connect with pedestal 1, and the upper end is connect with the 4th tendon rope 81, and the 4th
Tendon rope 81 coils through the 4th reel 82 being actively socketed on nearly joint shaft 31, and end is connect with the first segment 21.
The working principle of the present embodiment is described below in conjunction with attached drawing.
1) when with flat folder coupled mode crawl object, the working principle of the device is as follows:
First motor 11 rotates, and drives the first transmission gear 421 (to be close to crawl object forward by Worm and worm-wheel gearing
9 side of body) it is greater than zero angle [alpha] around the rotation of nearly joint shaft 31 one, pass through the transmission of first gear transmission mechanism, drives first
Segment 21 and the second transmission gear 422 rotate respectively and synthesis reaches a kind of state, and pass from the first transmission gear 421 to the second
The transmission of moving gear 422 is in the same direction and speedup transmission；Furthermore second gear transmission mechanism will be moved from third transmission gear 431
It is transmitted to the 5th intermediate gear 432, constitutes the drive connection of a reversed constant speed；5th intermediate gear 432 and the first transmission
Belt wheel 441 is connected, and first pulley transmission mechanism will move from the first drive pulley 441 and be transmitted to the second drive pulley 442, constitutes
The drive connection of one constant speed in the same direction, and third transmission gear 431 keeps fixed not with pedestal 1 under the effect of the first spring part 61
The posture of change, therefore when the first segment 21 rotates an angle δ greater than zero (due to being driven from first around nearly joint shaft 31 forward
The transmission of the 421 to the second transmission gear of gear 422 is in the same direction and speedup transmission, so the angle δ is less than the first transmission gear
421 corner α) when, the second drive pulley 442 will be forward around one identical angle δ of middle 32 center rotating of joint shaft, due to
Two segments 22 and the second drive pulley 442 are affixed, so the second segment 22 is forward around one angle of middle 32 center rotating of joint shaft
δ is spent, therefore the second segment 22 forms the coupled motions with the first segment 21；In addition, the second belt wheel transmission mechanism will be moved from the
Three drive pulleys 451 are transmitted to the 4th drive pulley 452, constitute the drive connection of a constant speed in the same direction, third belt wheel transmission
Mechanism will move from the 5th drive pulley 461 and be transmitted to the 6th drive pulley 462, and the transmission for constituting a constant speed in the same direction is closed
System, and third drive pulley 451 is kept under the effect of the second spring part 62 and the changeless posture of pedestal 1, therefore works as first and refer to
When section 21 rotates an angle δ greater than zero around nearly joint shaft 31 forward, the 5th drive pulley 461 will be backward around middle joint shaft 32
One identical angle δ of center rotating, then by third belt wheel transmission mechanism, the 6th drive pulley 462 will equally go the long way round backward
Joint shaft 33 center rotating, one identical angle δ, since third segment 23 and the 6th drive pulley 462 are affixed, so third
Segment 23 is gone the long way round 33 center rotating of joint shaft, one angle δ backward, so turn between third segment 23 and pedestal 1 without opposite
It is dynamic, therefore third segment 23 forms flat clip mode；
At this point, crawl terminates if third segment 23 contacts object 9, the flat folder grasp mode of coupling is completed, as shown in figure 11；
At this point, if the first segment 21 first contacts object 9 as shown in figure 12, then the second segment and third next will be executed
Segment combines self-adapting grasping mode；
2) when combining adaptive model crawl object with third segment with the second segment, the working principle of the device is as follows:
After the first segment 21 first contacts object 9, first motor 11 is continued to rotate, and drives the by worm gear mechanism
One transmission gear 421 continues to rotate an angle [alpha] greater than zero, passes through first gear transmission mechanism, drives the second transmission gear
422 continue to rotate；Continue to move since the first segment 21 is constrained against by object 9 at this time, the second transmission gear 422 will be
Rotation is generated in second segment 22；Jointed gear unit, which will be moved, is transmitted to third connecting rod 473 and the 4th company by first connecting rod 471
Bar 474, since distance between axles, second connecting rod 472 and the third between first connecting rod 471, nearly joint shaft 31 and middle joint shaft 32 connect
Bar 473 constitutes a parallelogram, distance between axles, third connecting rod 473 between middle joint shaft 32 and the second segment jackshaft 34
A triangle is constituted with fourth link 474, fourth link 474 pushes the movement of the second segment, therefore in jointed gear unit
It is the movement of constant speed in the same direction by the movement of first connecting rod 471 to third connecting rod 472 and fourth link 474 under drive；Due to third
Connecting rod 473 and the second transmission gear 422 are affixed, and under the drive of the second transmission gear 422, third connecting rod 473 will will drive
Double leval jib 474 and the second segment 22 rotate an angle beta, while the first spring part 61 and third spring part 63 will be elongated, and third passes
Moving gear 431, first connecting rod 471 are disengaged with pedestal 1.At the same time, the 4th drive pulley 452 passes through middle joint shaft 32 and the
Two transmission gears 422, the 5th drive pulley 461 are affixed, therefore under the drive of the second transmission gear 422, the 4th drive pulley
452 will can rotate an identical angle beta, and the second spring part 62 will be elongated, and third drive pulley 451 and pedestal 1 disengage；Due to
Third belt wheel transmission mechanism will move and from the 5th drive pulley 461 be transmitted to the 6th drive pulley 462, constitute one in the same direction etc.
The drive connection of speed, therefore the 6th drive pulley 462 will equally go the long way round forward joint shaft 33 center rotating, one identical angle
β, since third segment 23 and the 6th drive pulley 462 are affixed, 33 center rotating of joint shaft so third segment 23 is gone the long way round forward
One angle beta, until this movement will be continued until that second segment 22 or third segment 23 contact object 9；
At this point, if the second segment 22 contacts object 9, as shown in figure 13；Or third segment 23 contacts object 9, such as Figure 14
It is shown, then it completes the second segment and combines self-adapting grasping mode with third segment, crawl process terminates；
Discharge the process of object 9: first motor 11 inverts, the process of subsequent process and above-mentioned crawl object 9 just on the contrary,
It does not repeat.
Apparatus of the present invention utilize motor, multiplexed gear transmission mechanism, multichannel belt wheel transmission mechanism, jointed gear unit, four
A spring part, tendon rope, reel etc. are comprehensive to realize the flat folder of doublejointed robot finger, coupling, adaptive compound crawl function.It should
Device by flat folder, couple to get up with adaptive triplicity, there is segment flat gripper in end to take, middle part articular couple grabs, in
The flat folder 5 kinds of grasp modes of self-adapting grasping of portion's segment self-adapting grasping, end segment self-adapting grasping, end segment, grab mould
Formula is more, and only with three joints of a motor driven, drive lacking effect is good, and crawl object is quick, and crawl range is big, can adapt to not
The crawl of similar shape, size objects；The device volume is small, compact-sized, at low cost without complicated sensing and control system
It is honest and clean, it can be applied to a variety of crawl robots.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, this field is common
Other modifications or equivalent replacement that technical staff makes technical solution of the present invention, without departing from technical solution of the present invention
Design and range, be intended to be within the scope of the claims of the invention.
Claims (1)
1. a kind of tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror, including pedestal, the first segment, the second segment,
Nearly joint shaft, middle joint shaft, motor, Worm and worm-wheel gearing, first gear transmission mechanism, second gear transmission mechanism, the
One transmission gear, the second transmission gear, third transmission gear, the first spring part, the second spring part, the first limited block, the second limited block,
First convex block and the second convex block；The motor and pedestal are affixed；The Worm and worm-wheel gearing is arranged in pedestal；The electricity
The output shaft of machine is connected with the input terminal of Worm and worm-wheel gearing；The nearly joint shaft is movably set in pedestal；Described
One segment is actively socketed on nearly joint shaft；The middle joint shaft is movably set in the first segment；The second segment activity
It is socketed on joint shaft；The center line of the center line and middle joint shaft of the nearly joint shaft is parallel to each other；The first gear
Transmission mechanism, second gear transmission mechanism are separately positioned in the first segment；The output end of the Worm and worm-wheel gearing
It is connected with the first transmission gear；First transmission gear is actively socketed on nearly joint shaft, first transmission gear and
The input terminal of one gear drive is connected, and the output end of the first gear transmission mechanism is connected with the second transmission gear, institute
It states the second transmission gear to be fixed on middle joint shaft, by the transmission of first gear transmission mechanism, from the first transmission gear to
The transmission of two transmission gears is in the same direction and speedup transmission；The third transmission gear is actively socketed on nearly joint shaft, described
Third transmission gear is connected with the input terminal of second gear transmission mechanism；First convex block and third transmission gear are affixed；Institute
It is affixed with pedestal respectively to state the first limited block, the second limited block；One end of the first spring part is by coiling through the first coiling
First tendon rope of cylinder is connect with the first convex block, the other end and pedestal connect, in the initial state, first convex block and the first limit
Position block contact；It is characterized by: the tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror further includes in the second segment
Between axis, third segment, remote joint shaft, first pulley transmission mechanism, the second belt wheel transmission mechanism, third belt wheel transmission mechanism,
One drive pulley, the second drive pulley, third drive pulley, the 4th drive pulley, the 5th drive pulley, the 6th drive pulley,
Jointed gear unit, first connecting rod, second connecting rod, third connecting rod, fourth link, third spring part, the 4th spring part, third limit
Block, third convex block；The remote joint shaft is movably set in the second segment；The second segment jackshaft is movably set in second
In segment；The third segment is fixed on remote joint shaft；The center line phase of the center line of the remote joint shaft and middle joint shaft
It is mutually parallel；The first pulley transmission mechanism, the second belt wheel transmission mechanism, jointed gear unit are separately positioned on the first segment
In；The third belt wheel transmission mechanism is arranged in the second segment；The center line and middle joint shaft of the second segment jackshaft
Center line be parallel to each other；The output end of the second gear transmission mechanism is fixedly connected with the first drive pulley, passes through the second tooth
The transmission of wheel drive mechanism is reversed and constant speed transmission from third transmission gear to the transmission of the first drive pulley；Described
One drive pulley is the input terminal of first pulley transmission mechanism, and second drive pulley is the output of first pulley transmission mechanism
End, second drive pulley is actively socketed on middle joint shaft, and second drive pulley and the second segment are affixed, by the
The transmission of one belt wheel transmission mechanism is in the same direction and constant speed transmission from the first drive pulley to the transmission of the second drive pulley；Institute
It states first connecting rod one end to be actively socketed on nearly joint shaft, the first connecting rod and the distance between nearly joint shaft and middle joint shaft
It is isometric, the first connecting rod be the jointed gear unit input terminal, the one of the first connecting rod other end and second connecting rod
Hold pivot bush unit, one end pivot bush unit of the other end and third connecting rod, fourth link of the second connecting rod, the third connecting rod
The other end be actively socketed on middle joint shaft, the third connecting rod is affixed with the second transmission gear and isometric with first connecting rod,
The other end of the fourth link is actively socketed on the second segment jackshaft；The third drive pulley is actively socketed on nearly pass
On nodal axisn, the third drive pulley is the input terminal of the second belt wheel transmission mechanism, and the 4th drive pulley is the second belt wheel
The output end of transmission mechanism, the 4th drive pulley are fixed on middle joint shaft, by the transmission of the second belt wheel transmission mechanism,
It is in the same direction and constant speed transmission from third drive pulley to the transmission of the 4th drive pulley；5th drive pulley and the 4th passes
Movable belt pulley is connected, and the 5th drive pulley is the input terminal of third belt wheel transmission mechanism, and the 6th drive pulley is third
The output end of belt wheel transmission mechanism, the 6th drive pulley are fixed on remote joint shaft and affixed with third segment, pass through
The transmission of three belt wheel transmission mechanisms is in the same direction and constant speed transmission from the transmission of the 5th drive pulley to the 6th drive pulley；Institute
It states the second convex block and third drive pulley is affixed, one end of the second spring part is by coiling through the second tendon of the second reel
Rope is connect with the second convex block, the other end and pedestal connect；The third convex block and first connecting rod are affixed, the third limited block with
Pedestal is affixed, and one end of the third spring part is connect with third convex block by coiling through the third tendon rope of third reel, is another
One end is connect with pedestal；In the initial state, second convex block is contacted with the second limited block, and the third convex block and third limit
Position block contact；One end of the 4th spring part is connect with the first segment by coiling through the 4th tendon rope of the 4th reel, is another
One end is connect with pedestal, and the 4th reel is actively socketed on nearly joint shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910263171.6A CN109834722A (en) | 2019-04-02 | 2019-04-02 | The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910263171.6A CN109834722A (en) | 2019-04-02 | 2019-04-02 | The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror |
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| CN109834722A true CN109834722A (en) | 2019-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910263171.6A Pending CN109834722A (en) | 2019-04-02 | 2019-04-02 | The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077877A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Bionic finger and mechanical hand |
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| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN108247658A (en) * | 2018-03-23 | 2018-07-06 | 宋为 | Flat folder coupling adaptive multi-mode crawl robot finger apparatus |
| CN108481354A (en) * | 2018-05-29 | 2018-09-04 | 宋为 | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus |
| CN210161180U (en) * | 2019-04-02 | 2020-03-20 | 清研先进制造产业研究院(洛阳)有限公司 | Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device |
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| US20090025502A1 (en) * | 2007-07-27 | 2009-01-29 | Kabushiki Kaisha Toshiba | Manipulator and robot |
| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN108247658A (en) * | 2018-03-23 | 2018-07-06 | 宋为 | Flat folder coupling adaptive multi-mode crawl robot finger apparatus |
| CN108481354A (en) * | 2018-05-29 | 2018-09-04 | 宋为 | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus |
| CN210161180U (en) * | 2019-04-02 | 2020-03-20 | 清研先进制造产业研究院(洛阳)有限公司 | Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device |
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| WO2021077877A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Bionic finger and mechanical hand |
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