CN110788875A - Single-motor-driven self-adaptive paw with RCC function - Google Patents

Abstract

The invention discloses a single-motor-driven adaptive gripper with RCC function, which comprises an A-finger mechanism (1), a B-finger mechanism (2), a C-finger mechanism (3), a driving mechanism (4) and a differential mechanism (5) is composed of a finger bracket (6); the driving mechanism (4) is used to provide power for the entire gripper, and the differential mechanism (5) is used to connect the driving mechanism (4) and the three finger mechanisms; the driving mechanism (4) The single movement of the three fingers is converted into the differential or independent movement of the three finger mechanisms, and the finger mechanism is to transmit the output motion of the differential mechanism (5) to the end of the finger. The gripper of the invention realizes the clamping of irregular objects by active driving of multiple joints, which not only solves the object position error in the object grasping stage, but also eliminates the position error existing in the assembly stage after the object is grasped.

Description

A Single Motor Driven Adaptive Gripper with RCC Function

technical field

The present invention relates to a mechanical finger mechanism, more particularly, to a single-motor-driven self-adaptive gripper with RCC function.

Background technique

At present, there are mainly two-finger and three-finger structures for robotic grippers used in industrial applications. Common two-finger grippers usually use electric, pneumatic or hydraulic methods to drive the two jaws at the end to close or open, but they can only be used to achieve simple gripping of objects. Furthermore, these robotic grippers are very rigid and have certain limitations. In fact, it is difficult to manipulate them to fit the shape of the object. Therefore, when this kind of robot gripper is used to grasp a new object or a different object, the gripper at the end needs to be redesigned and replaced, which is not universal. On the other hand, a three-fingered gripper provides a more reliable grip than a two-fingered gripper. For irregularly shaped objects, some three-fingered claws can form a closed grasp with three points of contact with the object. These grippers are more like lathe grippers mounted on a robot, so they are also called self-centering tools. Due to its own structure, the fingers of this kind of gripper will simultaneously move in the direction of its own central axis during the gripping process. Typically, these grippers are pneumatically or hydraulically actuated and can withstand very large loads, but have very poor flexibility. During use, in order to adapt to different applications, it is necessary to replace the structure of the jaws.

In order to increase the flexibility of the gripper, Robotiq of Canada has developed a three-finger adaptive gripper, which is driven by four motors and has four different gripping methods, and the fingers are underactuated. During use, the gripper can change its own configuration to suit the geometry of the object according to the current constraints, thus providing a more flexible and reliable grip. Although it can adapt to different object shapes, it does not have the automatic centering function, that is, it cannot automatically eliminate the position error of the object. In addition, since the gripper is equipped with four high-precision motors, the price is very expensive, which is not conducive to large-scale purchases by small and medium-sized enterprises.

SUMMARY OF THE INVENTION

The purpose of the present invention is to design a single-motor-driven adaptive gripper with RCC function. On the one hand, it is used to solve the problem that although the existing adaptive gripper can adapt to the position error of the object grasping stage, it cannot eliminate the problem after the object is grasped. On the other hand, the existing full-drive adaptive gripper uses the active drive of multiple joints to realize the clamping of irregular objects, resulting in complicated control and high price, which is difficult to be widely used in production. The problem. The adaptive gripper of the present invention comprises three finger mechanisms, a driving mechanism, a differential mechanism and a finger support. The driving mechanism is used to provide power for the entire gripper, and the differential mechanism is used to connect the driving mechanism and the three finger mechanisms. The single motion of the driving mechanism is converted into the differential or independent motion of the three finger mechanisms. The finger mechanism transmits the output motion of the differential mechanism to the end of the finger. The finger bracket is used to fix the three finger mechanisms and the driving mechanism.

The present invention designs a finger mechanism in a single-motor-driven adaptive gripper with RCC function; it consists of an A finger base (1A), an AA semicircular pulley (1B), an AB semicircular pulley (1C), A parallel link mechanism (1D), A finger end connector (1E), A finger end adapter (1F), A fingertip (1G), AA reed (1H1) and AB reed (1H2); Among them, the AA semicircular pulley (1B) has the same structure as the AB semicircular pulley (1C); the AA reed (1H1) has the same structure as the AB reed (1H2); the A finger base (1A) is a U-shaped structure ; Between the AA arm (1A1) and the AB arm (1A2) of the A finger base (1A) is the AA cavity (1A3); the AA cavity (1A3) is used to place the AA semicircular pulley (1B) and AB semi-circular pulley (1C); the AA support arm (1A1) is provided with AA through holes (1A11) and AB through holes (1A12); the AB support arm (1A2) is provided with AC through holes (1A21), AD Through hole (1A22); AA through hole (1A11) and AC through hole (1A21) for placing AC shaft (13); AB through hole (1A12) and AD through hole (1A22) for placing AD shaft (14); The AA line groove (1B1) is provided on the AA outer machine (1B2) of the AA semicircular pulley (1B), and the AA limit plate (1B5) is provided above the AA semicircular pulley (1B). The panel of the pulley (1B) is provided with AE through holes (1B3) and AF through holes (1B4); the AB semicircular pulley (1C) is provided with AB wire grooves (1C1) on the AB outer circular machine (1C2), AB The panel of the semi-circular pulley (1C) is provided with AA limit post (1C5), AG through hole (1C3) and AH through hole (1C4); A parallel link mechanism (1D) consists of AA link (1D1) and The AB connecting rod (1D2) is composed; the upper end of the AA connecting rod (1D1) is provided with an AI through hole (1D11), and the AI through hole (1D11) is used to place the AA rotating shaft (11); the lower end of the AA connecting rod (1D1) is provided with AJ through hole (1D12), AJ through hole (1D12) is used to place the AC shaft 13; the upper end of the AB connecting rod (1D2) is provided with an AK through hole (1D21), and the AK through hole (1D21) is used to place the AB shaft 12; The lower end of the AB connecting rod (1D2) is provided with an AL through hole (1D22) and an AM through hole (1D23). The AL through hole 1D22 is used to place the AE shaft (15); the AM through hole (1D23) is used to place the AF shaft (16). ); A finger end connector (1E) is a U-shaped structure; between the AC arm (1E1) and AD arm (1E2) of the A finger end connector (1E) is an AB cavity (1E3); AB empty The cavity (1E3) is used to place the upper end of the A parallel link mechanism (1D); the AC support arm (1E1) is provided with AN through holes (1E11) and AO through holes (1E12); the AD support arm (1E2) is provided with AP Through Hole (1E21) , AQ through hole (1E22); AN through hole (1E11) and AP through hole (1E21) for placing the AC shaft (11); AO through hole (1E12) and AQ through hole (1E22) for placing the AD shaft (12) ); A finger end connector (1E) is provided with AA positioning holes (1E4) and AB positioning holes (1E5) on the upper panel; A finger end adapter (1F) is provided with AA positioning pins (1F3) on the bottom panel ) and AB locating pin (1F4), AA locating pin (1F3) is placed in the AA locating hole (1E4) on the upper panel of the A finger end connector (1E), AB locating pin (1F4) is placed in the A finger end connector In the AB positioning hole (1E5) of the upper panel of (1E); the side panel of the A finger end adapter (1F) is provided with AA threaded blind holes (1F1) and AB threaded blind holes (1F2); AT through hole (1F5) realizes the fixation of A finger end adapter (1F) and A finger end connector (1E); one end of A fingertip (1G) is A finger belly (1G3), A finger belly (1G3) For contact with objects; the other end of the A fingertip (1G) is provided with an AC threaded blind hole (1G1) and an AD threaded blind hole (1G2); the upper end of the AA reed (1H1) is fixed on the A fingertip ( In the AD threaded blind hole (1G2) of 1G), the lower end of the AA reed (1H1) is fixed in the AA threaded blind hole (1F1) of the A finger end adapter (1F) by screws; the AB reed (1H2) The upper end is fixed to the AB threaded blind hole (1F2) of the A finger end adapter (1F) by screws, and the lower end of the AB spring (1H2) is fixed to the AC threaded blind hole (1G1) of the A fingertip (1G) by screws. one end of the AA rotating shaft (11) passes through the AP through hole (1E21) of the AD arm (1E2) of the A finger end connector (1E), the AI through hole (1D11) of the AA connecting rod (1D1), The AN through hole (1E11) of the AC arm (1E1) of the A finger end connector (1E) is clamped with a retaining ring; one end of the AB shaft (12) passes through the AD of the A finger end connector (1E) in sequence After the AQ through hole (1E22) of the arm (1E2), the AK through hole (1D21) of the AB link (1D2), and the AO through hole (1E12) of the AC arm (1E1) of the A finger end connector (1E) Secure it with a retaining ring; one end of the AC shaft (13) passes through the AC through hole (1A21) of the AB arm (1A2) of the A finger base (1A) and the AJ through hole ( 1D12), the AA through hole (1A11) of the AA support arm (1A1) of the A finger base (1A), and then clamp it with a retaining ring; one end of the AD shaft (14) passes through the A finger base (1A) in turn. AD through hole (1A22) of AB arm (1A2), AG through hole (1C3) of AB semicircular pulley (1C), AE through hole (1B3) of AA semicircular pulley (1B), A finger base After the AB through hole (1A12) of the AA arm (1A1) of (1A) Secure it with a retaining ring; one end of the AE shaft (15) passes through the AL through hole (1D22) of the AB connecting rod (1D2) in sequence and then is fixed on the AA limit plate (1B5) of the AA semicircular pulley (1B). ;One end of the AF rotating shaft (16) passes through the AM through hole (1D23) of the AB connecting rod (1D2) in sequence and then is fixed on the AA limit plate (1B5) of the AA semicircular pulley (1B); AA pull rope column (17) It is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C). The AA pulley post 17 is provided with an AX through hole (17A), which is used to bind A The other end of the pull rope, the EA hole-tying lug (5A3) is used to bind one end of the A pull rope; the A pull rope is limited to the AB wire groove (1C1) on the AB semi-circular pulley (1C); AB The pulling rope column (18) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C). ) is used to bind the other end of the B rope, the EB rope lug with holes (5A4) is used to bind one end of the B rope; the B rope is limited to the AA groove on the AA semi-circular pulley (1A). 1B1).

The advantages of the single-motor-driven adaptive gripper with RCC function designed by the present invention are:

①When the gripper of the present invention is in use, if the center of the grasped object is offset from the center of the gripper or the object has an irregular shape, the differential mechanism will be inclined and deformed to ensure that the fingertips of the three fingers contact the surface of the object.

②The gripper of the present invention adopts a motor to drive a flexible universal joint and cooperates with a rope to realize a single motion input and three motion outputs.

③ The gripper of the present invention can adapt to the shape change and position error of the object when grasping the object. The fingertips of the gripper of the present invention are flexible and have the characteristics of RCC (remote compliance center, remote compliance center). Point D is the center of rotation of the RCC mechanism.

④ Since the designed gripper of the present invention has self-adjustment in the direction of movement and rotation, when an object is clamped by the gripper for insertion into the hole (as shown in Fig. 10 ), through the reasonably designed fingertip flexibility Unit and differential mechanism, this gripper can complete the task of compliant assembly.

⑤ The gripper of the present invention is different from the traditional three-finger gripper, and the gripper designed by the present invention can adapt to the positioning and orientation tolerance of the object within a certain range, so it can avoid excessive gripping force.

⑥ The present invention discloses a compact large deformation flexible universal joint mechanism that can provide differential motion for the fingertips of the claw. The claw based on this mechanism can adapt to a series of workpieces with large changes in shape.

⑦ The structure of the present invention can be very simply changed into a two-finger structure or a four-finger structure according to application requirements. Using the gripper of the present invention as a robot end effector can be applied to the electronic industry (PCB (Printed Circuit Board) assembly, SMT (Surface Mounted Technology, surface mount technology) surface mount, etc.), plastic materials in manufacturing and complex Clamping operations for shaped materials. A gripper with RCC function is provided for high-precision PnP (pick and place) assembly applications.

Description of drawings

FIG. 1 is a front view of the single-motor-driven adaptive gripper with RCC function of the present invention.

FIG. 1A is a first-view structural diagram of FIG. 1 . FIG. 1B is a structural diagram of FIG. 1 from a second viewing angle.

Figure 2 is an exploded view of the finger support of the present invention.

FIG. 3 is a structural diagram of the drive mechanism and the differential mechanism in the present invention.

Figure 3A is an exploded view of the drive mechanism of the present invention. FIG. 3B is another perspective view of FIG. 3 .

FIG. 4 is an exploded view of the differential mechanism of the present invention. 4A is a structural diagram of a differential mechanism in the present invention. Figure 4B is a front view of the differential mechanism of the present invention. Figure 4C is a right side view of the differential mechanism in the present invention.

Figure 4D is a rear view of the differential mechanism of the present invention. Figure 4E is a left side view of the differential mechanism in the present invention.

Fig. 5 is a front view of the A-finger of the present invention. FIG. 5A is a right side view of FIG. 5 .

FIG. 5B is a rear view of FIG. 5 . FIG. 5C is a left side view of FIG. 5 .

FIG. 5D is a structural diagram of the finger A of the present invention. FIG. 5E is another view of the structure diagram of FIG. 5D . Figure 5F is an exploded view of the A-finger of the present invention.

FIG. 5G is a structural diagram of the parallel link mechanism and the rotating shaft in the finger A of the present invention.

Fig. 5H is a structural diagram of the fingertip and the reed of the middle finger of the present invention.

FIG. 5I is another view of the structure diagram of FIG. 5H .

FIG. 5J is a structural diagram of two semicircular pulleys in the A-finger of the present invention.

FIG. 5K is another view of the structure diagram of FIG. 5J .

Figure 6 is an exploded view of the B finger of the present invention. Figure 7 is an exploded view of the C-finger of the present invention.

FIG. 8 is a structural diagram of a single-motor-driven adaptive gripper with a two-finger mechanism in the present invention.

FIG. 9 is a motion coordinate system diagram of the virtual rotation point of the flexible universal joint of the present invention.

FIG. 9A is a schematic diagram of the motion of the single-motor-driven adaptive gripper with RCC function of the present invention.

FIG. 9B is a schematic diagram of the grabbing motion of grabbing a regular-shaped object according to the present invention.

FIG. 9C is a schematic diagram of the grabbing motion of grabbing an irregular-shaped object according to the present invention.

FIG. 10 is a motion diagram of the single-motor-driven adaptive gripper with RCC function of the present invention picking up objects with flexibility.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

Referring to Fig. 1, Fig. 1A, Fig. 1B, a single-motor-driven adaptive gripper with RCC function designed by the present invention is composed of A finger mechanism 1, B finger mechanism 2, C finger mechanism 3, and driving mechanism 4 , the differential mechanism 5 and the finger support 6 are composed.

A finger mechanism 1

Referring to Figure 1, Figure 1A, Figure 1B, Figure 5, Figure 5A to Figure 5K, A finger mechanism 1 consists of A finger base 1A, AA semicircular pulley 1B, AB semicircular pulley 1C, A parallel link The mechanism 1D, the A finger end connecting piece 1E, the A finger end adapter 1F, the A finger tip 1G, the AA reed 1H1 and the AB reed 1H2 are constituted. In the present invention, the AA semicircular pulley 1B and the AB semicircular pulley 1C have the same structure; the AA semicircular pulley 1B and the AB semicircular pulley 1C form the A pulley group 19 of the A finger mechanism 1 (as shown in FIG. 9 ) ). Among them, the AA reed 1H1 and the AB reed 1H2 have the same structure, and the two reeds form the fingertip flexible unit of the A finger mechanism 1 .

1, 1A, 1B, 5, 5A, 5B, 5C, 5D, 5E, 5F, and 5G, the A finger base 1A is a U-shaped structure. Between the AA support arm 1A1 and the AB support arm 1A2 of the A finger base 1A is an AA cavity 1A3. The AA cavity 1A3 is used to place the semicircular pulley 1B by AA and the semicircular pulley 1C by AB. The AA support arm 1A1 is provided with an AA through hole 1A11 and an AB through hole 1A12; the AB support arm 1A2 is provided with an AC through hole 1A21 and an AD through hole 1A22; the AA through hole 1A11 and the AC through hole 1A21 are used to place the AC shaft 13; The AB through hole 1A12 and the AD through hole 1A22 are used for placing the AD rotating shaft 14 .

Referring to Fig. 1, Fig. 1A, Fig. 1B, Fig. 5, Fig. 5A, Fig. 5B, Fig. 5C, Fig. 5D, Fig. 5E, Fig. 5F, Fig. 5J, Fig. 5K, the AA external circular machine of AA semi-circular pulley 1B 1B2 is provided with an AA wire slot 1B1, an AA limit plate 1B5 is provided above the AA semicircular pulley 1B, and an AE through hole 1B3 and an AF through hole 1B4 are provided on the panel of the AA semicircular pulley 1B.

Referring to Fig. 1, Fig. 1A, Fig. 1B, Fig. 5, Fig. 5A, Fig. 5B, Fig. 5C, Fig. 5D, Fig. 5E, Fig. 5F, Fig. 5J, Fig. 5K, the AB external circular machine of AB semi-circular pulley 1C 1C2 is provided with AB wire slot 1C1, and the panel of AB semi-circular pulley 1C is provided with AA limit post 1C5, AG through hole 1C3 and AH through hole 1C4.

Referring to Figure 1, Figure 1A, Figure 1B, Figure 5, Figure 5A to Figure 5K, the A parallel link mechanism 1D consists of an AA link 1D1 and an AB link 1D2; the upper end of the AA link 1D1 is provided with an AI through hole 1D11, the AI through hole 1D11 is used to place the AA rotating shaft 11; the lower end of the AA connecting rod 1D1 is provided with an AJ through hole 1D12, and the AJ through hole 1D12 is used to place the AC rotating shaft 13. The upper end of the AB connecting rod 1D2 is provided with an AK through hole 1D21, and the AK through hole 1D21 is used to place the AB shaft 12; the lower end of the AB connecting rod 1D2 is provided with an AL through hole 1D22 and an AM through hole 1D23, and the AL through hole 1D22 is used to place the AE Shaft 15; AM through hole 1D23 is used to place the AF shaft 16.

Referring to Figure 1, Figure 1A, Figure 1B, Figure 5, Figure 5A, Figure 5B, Figure 5C, Figure 5D, Figure 5E, Figure 5F, Figure 5H, Figure 5I, the A finger end connector 1E is a U-shaped structure . Between the AC arm 1E1 and the AD arm 1E2 of the A-finger connector 1E is an AB cavity 1E3. The AB cavity 1E3 is used to place the upper end of the A parallel link mechanism 1D (ie, the upper end of the AA link 1D1 and the upper end of the AB link 1D2). AC support arm 1E1 is provided with AN through hole 1E11 and AO through hole 1E12; AD support arm 1E2 is provided with AP through hole 1E21 and AQ through hole 1E22; AN through hole 1E11 and AP through hole 1E21 are used to place AC shaft 11; The AO through hole 1E12 and the AQ through hole 1E22 are used to place the AD rotating shaft 12 . An AA positioning hole 1E4 and an AB positioning hole 1E5 are provided on the upper panel of the A finger end connector 1E.

Referring to Figure 1, Figure 1A, Figure 1B, Figure 5, Figure 5A, Figure 5B, Figure 5C, Figure 5D, Figure 5E, Figure 5F, Figure 5H, Figure 5I, A refers to the bottom panel of the end adapter 1F There are AA positioning pins 1F3 and AB positioning pins 1F4, the AA positioning pins 1F3 are placed in the AA positioning holes 1E4 of the upper panel of the A finger end connector 1E, and the AB positioning pins 1F4 are placed in the upper panel of the A finger end connector 1E. AB positioning hole 1E5. The side panel of the A finger end adapter 1F is provided with AA threaded blind holes 1F1 and AB threaded blind holes 1F2. The fixing of the A-finger end adapter 1F and the A-finger end connector 1E is realized by passing the screw through the AT through hole 1F5.

Referring to Figure 1, Figure 1A, Figure 1B, Figure 5, Figure 5A, Figure 5B, Figure 5C, Figure 5D, Figure 5E, Figure 5F, Figure 5H, Figure 5I, one end of A fingertip 1G is A finger pad 1G3 , A finger pad 1G3 is used to contact objects; the other end of A fingertip 1G is provided with AC threaded blind hole 1G1 and AD threaded blind hole 1G2.

The upper end of the AA reed 1H1 is screwed into the AD threaded blind hole 1G2 of the A fingertip 1G, and the lower end of the AA reed 1H1 is screwed into the AA threaded blind hole 1F1 of the A finger end adapter 1F. The upper end of the AB reed 1H2 is screwed into the AB threaded blind hole 1F2 of the A finger end adapter 1F, and the lower end of the AB reed 1H2 is screwed into the AC threaded blind hole 1G1 of the A fingertip 1G.

As shown in FIG. 5F, one end of the AA rotating shaft 11 passes through the AP through hole 1E21 of the AD support arm 1E2 of the A finger end connector 1E, the AI through hole 1D11 of the AA link 1D1, and the AC of the A finger end connector 1E in sequence. The AN through hole 1E11 of the support arm 1E1 is clamped with a retaining ring. As shown in FIG. 5F , one end of the AB rotating shaft 12 passes through the AQ through hole 1E22 of the AD support arm 1E2 of the A finger end connector 1E, the AK through hole 1D21 of the AB link 1D2, and the AC through hole 1D21 of the A finger end connector 1E. The AO through hole 1E12 of the support arm 1E1 is clamped with a retaining ring. As shown in FIGS. 5F and 5G , one end of the AC shaft 13 passes through the AC through hole 1A21 of the AB support arm 1A2 of the A finger base 1A, the AJ through hole 1D12 of the AA link 1D1, and the AJ through hole 1D12 of the A finger base 1A. The AA through hole 1A11 of the AA support arm 1A1 is clamped with a retaining ring. As shown in FIG. 5F , FIG. 5G and FIG. 5J , one end of the AD rotating shaft 14 sequentially passes through the AD through holes 1A22 of the AB support arm 1A2 of the A finger base 1A, and the AG through holes 1C3 and AA of the AB semicircular pulley 1C. The AE through hole 1B3 of the semi-circular pulley 1B and the AB through hole 1A12 of the AA support arm 1A1 of the A finger base 1A are clamped with a retaining ring. As shown in FIG. 5F , FIG. 5G and FIG. 5J , one end of the AE rotating shaft 15 passes through the AL through hole 1D22 of the AB link 1D2 in sequence and is fixed on the AA limiting plate 1B5 of the AA semicircular pulley 1B. As shown in FIG. 5F , FIG. 5G and FIG. 5J , one end of the AF rotating shaft 16 sequentially passes through the AM through hole 1D23 of the AB link 1D2 and is then fixed on the AA limiting plate 1B5 of the AA semicircular pulley 1B.

As shown in Figure 4, Figure 5F, Figure 5J, Figure 5K, the AA pulley column 17 is fixed between the AA semicircular pulley 1B and the AB semicircular pulley 1C, and the AA pulley column 17 is provided with an AX through hole 17A , the AX through hole 17A is used to bind the other end of the A drawstring, and the EA hole tying rope lug 5A3 is used to bind one end of the A drawstring. The A pull rope is limited in the AB wire groove 1C1 on the AB semi-circular pulley 1C. As shown in Figure 4, Figure 5F, Figure 5J, Figure 5K, the AB pulling rope column 18 is fixed between the AA semicircular pulley 1B and the AB semicircular pulley 1C, and the AB pulling rope column 18 is provided with AY through holes 18A , the AY through hole 18A is used to bind the other end of the B pull rope, and the EB hole tie rope lug 5A4 is used to bind one end of the B pull rope. The B pull rope is limited in the AA wire groove 1B1 on the AA semi-circular pulley 1A.

B finger mechanism 2

1, 1A, 1B, and 6, the structure of the B finger mechanism 2 is the same as that of the A finger mechanism 1. Therefore, for the structure of the parts of the B finger mechanism 2, refer to FIGS. 5, 5A to 5K. B finger mechanism 2 consists of B finger base 2A, BA semicircular pulley 2B, BB semicircular pulley 2C, B parallel link mechanism 2D, B finger end connector 2E, B finger end adapter 2F, B finger tip 2G, BA reed 2H1 and BB reed 2H2 are formed. In the present invention, the BA semicircular pulley 2B and the BB semicircular pulley 2C constitute the B pulley group of the B finger mechanism 2 .

The B finger base 2A is a U-shaped structure. Between the BA support arm 2A1 and the BB support arm 2A2 of the B finger base 2A is a BA cavity 2A3. The BA cavity 2A3 is used to place the semicircular pulley 2B by BA and the semicircular pulley 2C by BB. The BA support arm 2A1 is provided with a BA through hole 2A11 and a BB through hole 2A12; the BB support arm 2A2 is provided with a BC through hole 2A21 and a BD through hole 2A22; the BA through hole 2A11 and the BC through hole 2A21 are used to place the BC shaft 23; The BB through hole 2A12 and the BD through hole 2A22 are used to place the BD rotating shaft 24 .

A BA wire groove 2B1 is provided on the BA outer circular machine 2B2 of the BA semi-circular pulley 2B, a BA limit plate 2B5 is provided above the BA semi-circular pulley 2B, and a BE through hole is provided on the panel of the BA semi-circular pulley 2B. 2B3 and BF via 2B4.

The BB outer circular machine 2C2 of the BB semi-circular pulley 2C is provided with a BB wire groove 2C1, and the panel of the BB semi-circular pulley 2C is provided with a BA limit post 2C5, a BG through hole 2C3 and a BH through hole 2C4.

B parallel link mechanism 2D consists of BA link 2D1 and BB link 2D2; the upper end of BA link 2D1 is provided with a BI through hole 2D11, and the BI through hole 2D11 is used to place the BA shaft 21; the lower end of the BA link 2D1 is provided with BJ through hole 2D12, BJ through hole 2D12 is used to place the BC rotating shaft 23. The upper end of the BB connecting rod 2D2 is provided with a BK through hole 2D21, and the BK through hole 2D21 is used to place the BB shaft 22; the lower end of the BB connecting rod 2D2 is provided with a BL through hole 2D22 and a BM through hole 2D23, and the BL through hole 2D22 is used to place the BE Rotating shaft 25; BM through hole 2D23 is used to place the BF rotating shaft 26.

The B-finger connector 2E is a U-shaped structure. Between the BC support arm 2E1 and the BD support arm 2E2 of the B finger end connector 2E is a BB cavity 2E3. The BB cavity 2E3 is used to place the upper end of the B parallel link mechanism 2D (ie, the upper end of the BA link 2D1 and the upper end of the BB link 2D2). BC support arm 2E1 is provided with BN through hole 2E11 and BO through hole 2E12; BD support arm 2E2 is provided with BP through hole and BQ through hole 2E22; BN through hole 2E11 and BP through hole are used to place BC shaft 21; BO through hole The hole 2E12 and the BQ through hole 2E22 are used to place the BD rotating shaft 22 . A BA positioning hole 2E4 and a BB positioning hole 2E5 are provided on the upper panel of the B finger end connector 2E.

The bottom panel of the B finger end adapter 2F is provided with a BA positioning pin and a BB positioning pin. The BA positioning pin is placed in the BA positioning hole 2E4 on the upper panel of the B finger end connector 2E, and the BB positioning pin is placed at the B finger end. In the BB positioning hole 2E5 of the upper panel of the connector 2E. The side panel of the B finger end adapter 2F is provided with a BA threaded blind hole 2F1 and a BB threaded blind hole 2F2. The B-finger adapter 2F and the B-finger connector 2E are fixed by screws passing through the BT through holes.

One end of the B fingertip 2G is the B finger pad 2G3, and the B finger pad 2G3 is used to contact the object; the other end of the B finger tip 2G is provided with a BC thread blind hole and a BD thread blind hole.

The upper end of the BA reed 2H1 is fixed in the BD threaded blind hole 2G2 of the B fingertip 2G by screws, and the lower end of the BA reed 2H1 is fixed in the BA threaded blind hole 2F1 of the B finger end adapter 2F by screws. The upper end of the BB reed 2H2 is screwed into the BB threaded blind hole 2F2 of the B finger end adapter 2F, and the lower end of the BB reed 2H2 is screwed into the BC threaded blind hole 2G1 of the B finger tip 2G.

One end of the BA rotating shaft 21 passes through the BP through hole of the BD support arm 2E2 of the B finger end connector 2E, the BI through hole 2D11 of the BA link 2D1, and the BN through hole of the BC support arm 2E1 of the B finger end connector 2E. After 2E11, clamp it with a retaining ring. One end of the BB shaft 22 passes through the BQ through hole 2E22 of the BD support arm 2E2 of the B finger end connector 2E, the BK through hole 2D21 of the BB link 2D2, and the BO through hole of the BC support arm 2E1 of the B finger end connector 2E. After hole 2E12, clamp it with a retaining ring. One end of the BC rotating shaft 23 passes through the BC through hole 2A21 of the BB support arm 2A2 of the B finger base 2A, the BJ through hole 2D12 of the BA link 2D1, and the BA through hole 2A11 of the BA support arm 2A1 of the B finger base 2A. Fasten with a retaining ring. One end of the BD shaft 24 passes through the BD through hole 2A22 of the BB support arm 2A2 of the B finger base 2A, the BG through hole 2C3 of the BB semicircular pulley 2C, and the BE through holes 2B3 and B of the BA semicircular pulley 2B. The BB through hole 2A12 of the BA arm 2A1 of the finger base 2A is clamped with a retaining ring. One end of the BE rotating shaft 25 passes through the BL through hole 2D22 of the BB connecting rod 2D2 in sequence and is then fixed on the BA limiting plate 2B5 of the BA semi-circular pulley 2B. One end of the BF rotating shaft 26 passes through the BM through hole 2D23 of the BB connecting rod 2D2 in sequence and is then fixed on the BA limiting plate 2B5 of the BA semi-circular pulley 2B.

The BA rope pulley 27 is fixed between the BA semicircular pulley 2B and the BB semicircular pulley 2C. The BA rope pulley 27 is provided with a BX through hole 27A, and the BX through hole 27A is used to bind the other end of the C pull rope. EA Eyelet Tie Lug 5A3 is used to tie one end of the C pull cord. The C rope is limited in the BB wire groove 2C1 on the BB semi-circular pulley 2C. The BB rope pulley 28 is fixed between the BA semicircular pulley 2B and the BB semicircular pulley 2C. The BB rope pulley 28 is provided with a BY through hole, and the BY through hole is used to bind the other end of the D pull rope, and the EB belt Hole tie-rope lug 5A4 is used to tie one end of the F drawstring. The D rope is limited in the BA wire groove 2B1 on the BA semi-circular pulley 2A.

C Finger Mechanism 3

1 , 1A , 1B and 7 , the C-finger mechanism 3 has the same structure as the A-finger mechanism 1 . Therefore, the components of the C-finger mechanism 3 can be referred to as shown in FIGS. 5 and 5A to 5K . C finger mechanism 3 consists of C finger base 3A, CA semicircular pulley 3B, CB semicircular pulley 3C, C parallel link mechanism 3D, C finger end connector 3E, C finger end adapter 3F, C finger tip 3G, CA reed 3H1 and CB reed 3H2 constitute. In the present invention, the CA semicircular pulley 3B and the CB semicircular pulley 3C constitute the C pulley group 39 of the C finger mechanism 3 (as shown in FIG. 9 ).

The C-finger base 3A is a U-shaped structure. Between the CA support arm 3A1 and the CB support arm 3A2 of the C finger base 3A is a CA cavity 3A3. CA cavity 3A3 is used to place semicircular pulleys 3B and CB semicircular pulleys 3C. CA through-hole 3A11 and CB through-hole 3A12 are arranged on CA support arm 3A1; CC through-hole 3A21 and CD through-hole 3A22 are arranged on CB support arm 3A2; CA through-hole 3A11 and CC through-hole 3A21 are used to place CC shaft 33; The CB through hole 3A12 and the CD through hole 3A22 are used for placing the CD rotating shaft 34 .

CA semicircular pulley 3B is provided with CA wire groove 3B1 on CA external machine 3B2, CA limit plate 3B5 is provided above CA semicircular pulley 3B, and CE through holes are provided on the panel of CA semicircular pulley 3B 3B3 and CF via 3B4. The CB outer circular machine 3C2 of the CB semicircular pulley 3C is provided with a CB wire groove 3C1, and the panel of the CB semicircular pulley 3C is provided with a CA limit post 3C5, a CG through hole 3C3 and a CH through hole 3C4.

The C parallel link mechanism 3D is composed of a CA link 3D1 and a CB link 3D2; the upper end of the CA link 3D1 is provided with a CI through hole 3D11, and the CI through hole 3D11 is used to place the CA shaft 31; the lower end of the CA link 3D1 is provided with CJ through hole 3D12, CJ through hole 3D12 is used to place the CC rotating shaft 33. The upper end of the CB connecting rod 3D2 is provided with a CK through hole 3D21, and the CK through hole 3D21 is used to place the CB shaft 32; the lower end of the CB connecting rod 3D2 is provided with a CL through hole 3D22 and a CM through hole 3D23, and the CL through hole 3D22 is used to place the CE. Shaft 35; CM through hole 3D23 is used to place CF shaft 36.

The C-finger connector 3E is a U-shaped structure. Between the CC support arm 3E1 and the CD support arm 3E2 of the C finger connector 3E is a CB cavity 3E3. The CB cavity 3E3 is used to place the upper end of the C parallel link mechanism 3D (ie, the upper end of the CA link 3D1 and the upper end of the CB link 3D2). The CC support arm 3E1 is provided with CN through holes 3E11 and CO through holes 3E12; the CD support arm 3E2 is provided with CP through holes and CQ through holes 3E22; CN through holes 3E11 and CP through holes are used to place the CC shaft 31; The hole 3E12 and the CQ through hole 3E22 are used to place the CD rotating shaft 32 . CA positioning holes 3E4 and CB positioning holes 3E5 are provided on the upper panel of the C-finger connector 3E.

The bottom panel of the C-finger end adapter 3F is provided with CA positioning pins and CB positioning pins. The CA positioning pins are placed in the CA positioning holes 3E4 on the upper panel of the C-finger connector 3E, and the CB positioning pins are placed at the C-finger end. In the CB positioning hole 3E5 of the upper panel of the connector 3E. The side panel of the C-finger adapter 3F is provided with CA threaded blind holes 3F1 and CB threaded blind holes 3F2. The C-finger adapter 3F and the C-finger connector 3E are fixed by screws passing through the CT through holes.

One end of the C fingertip 3G is the C finger pad 3G3, and the C finger pad 3G3 is used for contacting with objects; the other end of the C finger tip 3G is provided with a CC thread blind hole and a CD thread blind hole.

The upper end of the CA reed 3H1 is screwed into the CD threaded blind hole 3G2 of the C fingertip 3G, and the lower end of the CA reed 3H1 is screwed into the CA threaded blind hole 3F1 of the C finger end adapter 3F. The upper end of the CB reed 3H2 is screwed into the CB threaded blind hole 3F2 of the C finger end adapter 3F, and the lower end of the CB reed 3H2 is screwed into the CC threaded blind hole 3G1 of the C fingertip 3G. One end of the CA rotating shaft 31 sequentially passes through the CP through hole of the CD support arm 3E2 of the C finger end connector 3E, the CI through hole 3D11 of the CA link 3D1, and the CN through hole of the CC support arm 3E1 of the C finger end connector 3E After 3E11, clamp it with a retaining ring. One end of the CB shaft 32 passes through the CQ through hole 3E22 of the CD arm 3E2 of the C finger end connector 3E, the CK through hole 3D21 of the CB link 3D2, and the CO through hole of the CC arm 3E1 of the C finger end connector 3E. After hole 3E12, clamp it with a retaining ring. One end of the CC rotating shaft 33 passes through the CC through hole 3A21 of the CB arm 3A2 of the C finger base 3A, the CJ through hole 3D12 of the CA link 3D1, and the CA through hole 3A11 of the CA arm 3A1 of the C finger base 3A. Fasten with a retaining ring. One end of the CD rotating shaft 34 passes through the CD through hole 3A22 of the CB arm 3A2 of the C finger base 3A, the CG through hole 3C3 of the CB semicircular pulley 3C, and the CE through holes 3B3 and C of the CA semicircular pulley 3B. The CB through hole 3A12 of the CA support arm 3A1 of the finger base 3A is clamped with a retaining ring. One end of the CE rotating shaft 35 sequentially passes through the CL through hole 3D22 of the CB link 3D2 and is then fixed on the CA limit plate 3B5 of the CA semicircular pulley 3B. One end of the CF rotating shaft 36 passes through the CM through hole 3D23 of the CB connecting rod 3D2 in sequence and is then fixed on the CA limit plate 3B5 of the CA semi-circular pulley 3B. The CA pulling rope column 37 is fixed between the CA semicircular pulley 3B and the CB semicircular pulley 3C. The CA pulling rope column 37 is provided with a CX through hole 37A, and the CX through hole 37A is used to bind the other end of the E pulling rope. EA Eyelet Tie Lug 5A3 is used to tie one end of the E drawstring. The E pull rope is limited in the CB wire groove 3C1 on the CB semi-circular pulley 3C. The CB rope pulley 38 is fixed between the CA semicircular pulley 3B and the CB semicircular pulley 3C. The CB rope pulley 38 is provided with a CY through hole, and the CY through hole is used to bind the other end of the F rope, and the EB belt Hole tie-rope lug 5A4 is used to tie one end of the F drawstring. The F rope is limited in the CA wire groove 3B1 on the CA semicircular pulley 3A.

drive mechanism 4

1, 1A, 1B, 3, 3A, and 3B, the drive mechanism 4 is composed of a motor 4A, a DA motor base 4B, and a DB motor base 4C.

As shown in FIGS. 3A and 3B , the center of the DA panel 4B1 of the DA motor base 4B is a DA through hole 4B2 , and the DA through hole 4B2 is used for the motor output shaft 4D of the motor 4A to pass through. The two sides of the DA panel 4B1 of the DA motor base 4B are provided with DA support arms 4B3 and DB support arms 4B4, and the DA support arms 4B3 are provided with DB through holes 4B5 (for DA tightening top nails 4A1 to pass through) and DA grooves 4B7 , The DB support arm 4B4 is provided with a DC through hole 4B6 (for the DB tight top nail 4A2 to pass through) and a DB groove 4B8. DA groove 4B7 is used to place DA lug 4C3. DB groove 4B8 is used to place DB lug 4C4.

As shown in FIGS. 3A and 3B , the center of the DB panel 4C1 of the DB motor base 4C is a DD through hole 4C2 , and the DD through hole 4C2 is used for the motor output shaft 4D of the motor 4A to pass through. Both sides of the DB panel 4C1 of the DB motor base 4C are provided with DA lugs 4C3 and DB lugs 4C4, the DA lugs 4C3 are provided with DE through holes 4C5 (for DA tightening top nails 4A1 to pass through), and the DB lugs 4C4 There is a DD through hole 4C6 (for the DB screw 4A2 to pass through).

In the present invention, the DA panel 4B1 of the DA motor base 4B is fixed to the casing of the motor 4A; the DA lugs 4C3 on the DB motor base 4C are inserted into the DA grooves 4B7 of the DA motor base 4B; the DB on the DB motor base 4C The lug 4C4 is inserted into the DB groove 4B8 of the DA motor base 4B; the motor output shaft 4D of the motor 4A passes through the DA through hole 4B2 of the DA motor base 4B and the DD through hole 4C2 of the DB motor base 4C in sequence; the DB motor base 4C The DB panel 4C1 is fixed on the finger connector 6C of the finger bracket 6 . After one end of the DA tightening pin 4A1 passes through the DB through hole 4B5 of the DA support arm 4B3 of the DA motor base 4B and the DE through hole 4C5 of the DA lug 4C3 of the DB motor base 4C, it is pressed against the casing of the motor 4A. On one end; after one end of the DB tightening top nail 4A2 passes through the DC through hole 4B6 of the DB support arm 4B4 of the DA motor base 4B and the DF through hole 4C6 of the DB lug 4C4 of the DB motor base 4C, it is pressed against the motor 4A. on the other end of the case.

Differential mechanism 5

Referring to Figure 1, Figure 1A, Figure 1B, Figure 3, Figure 4, Figure 4A, Figure 4B, Figure 4C, Figure 4D, Figure 4E, the differential mechanism 5 is connected by the EA cable connection plate 5A, the EB cable connection plate 5B, the EC cable connecting plate 5C, the cable cover 5D, the flexible universal joint 5E, the locking head 5F and six cables (not shown in the figure) are constituted. Among them, the structure of the EA cable connection plate 5A, the EB cable connection plate 5B and the EC cable connection plate 5C is the same. The six ropes are numbered A rope, B rope, C rope, D rope, E rope and F rope. The universal joint 5E is surrounded by a circular arrangement of the EA cable connection plate 5A, the EB cable connection plate 5B and the EC cable connection plate 5C. In the present invention, the differential mechanism 5 is used to balance the grasping force of the three finger mechanisms (1, 2 and 3), on the one hand, the output shaft of the motor 4A is connected by the flexible universal joint 5E, and on the other hand, it is connected by the pull rope The connection between the two ropes bundled on the board (that is, the pull rope) and the two semi-circular pulleys on the finger mechanism realizes a single motion input (from motor motion) and three motion outputs (three finger mechanism motion), as shown in the figure 9. As shown in Figure 9A.

As shown in Fig. 4 and Fig. 5J, one end of the EA cable connecting plate 5A is provided with an EA fixing plate 5A1, and the EA fixing plate 5A1 is fixed at the EA groove 5D1 of the cable cover 5D by screws; the EA cable connecting plate 5A The EA upright plate 5A2 is provided with EA hole tying rope lugs 5A3 and EB hole tie rope lugs 5A4 on the opposite corners. The EA hole tying rope lug 5A3 is used to bind one end of the A rope, the other end of the A rope is tied to the AX through hole 17A of the AA rope post 17, and the A rope is limited to the AB semi-circular pulley 1C on the AB wire slot 1C1. EB with hole tie-rope lug 5A4 is used to bind one end of the B-rope, the other end of the B-rope is limited to the AA wire slot 1B1 on the AA semi-circular pulley 1B, and the other end of the B-rope is tied to the AB-rope. On the AY through hole 18A of the rope post 18, and the B pull rope is limited in the AA wire groove 1B1 on the AA semicircular pulley 1A.

As shown in FIG. 4 , one end of the EB cable connecting plate 5B is provided with an EB fixing plate 5B1, and the EB fixing plate 5B1 is fixed at the EB groove 5D2 of the cable cover 5D by screws; The board 5B2 is provided with an EC holed rope tying lug 5B3 and an ED holed rope tie lug 5B4. The EC strapping lug 5B3 is used to bind one end of the C rope, the other end of the C rope is tied to the BX through hole 27A of the BA rope column 27, and the C rope is limited to the BB semi-circular pulley 2C on the BB wire slot 2C1. The ED rope tying lug 5B4 is used to bind one end of the D rope, the other end of the D rope is tied to the AY through hole of the BB rope column 28, and the D rope is limited to the BA semicircular pulley 2A BA trunking 2B1.

As shown in FIG. 4 , one end of the EC cable connecting plate 5C is provided with an EC fixing plate 5C1, and the EC fixing plate 5C1 is fixed at the EC groove 5D3 of the cable cover 5D by screws; The plate 5C2 is provided with the EE holed rope tying lugs 5C3 and the EF holed rope tie lugs (not shown in the figure) on the opposite corners. The EE strapping lug 5C3 is used to bind one end of the E strap, the other end of the E strap is tied to the CX through hole 37A of the CA strap post 37, and the E strap is limited to the CB semi-circular pulley 3C on the CB wire slot 3C1. The EF rope lug with hole is used to bind one end of the F rope, the other end of the F rope is tied to the CY through hole of the CB rope column 38, and the F rope is limited to the CA semicircular pulley 3A. CA wire slot 3B1.

The cable cover 5D is provided with an EA groove 5D1, an EB groove 5D2, an EC groove 5D3 and an EA boss body 5D4. The center of the EA boss body 5D4 is provided with an EA countersunk hole 5D5, and a screw passes through the EA counterbore. The head hole 5D5 is then fixed in the EA threaded hole 5E2 of the EA upper panel 5E1 of the universal joint 5E, that is, the lower bottom panel of the cable cover 5D is fixed to the EA upper panel 5E1 of the universal joint 5E.

As shown in FIGS. 3, 4, 4B, 4C, 4D, and 4E, the upper part of the universal joint 5E is the EA upper panel 5E1, and the lower part of the universal joint 5E is the EA lower fixing plate 5E3. The cylindrical body of the universal joint 5E is provided with an EA intermediate beam 56 , an EB intermediate beam 57 , an EA slit 51 , an EB slit 52 , an EC slit 53 and an ED slit 54 . The EA intermediate beam 56 is formed by a combination of the EC cut 53 and the ED cut 54 removed. The EB intermediate beam 57 is formed by a combination after removing the EA slit 51 and the EB slit 52 . The intersection of the EA intermediate beam 56 and the EB intermediate beam 57 is the rotational center point of the universal joint 5E (ie, the hinge fulcrum O in FIG. 9 ). Wherein, the EA incision 51 and the EB incision 52 are provided above the cylinder of the universal joint 5E, and the EC incision 53 and the ED incision 54 are provided below the cylinder of the universal joint 5E; , the upper flexible body is located above the EA incision 51 and the EB incision 52 , and the lower flexible body is located below the EC incision 53 and the ED incision 54 .

As shown in Figures 3B and 4, the lock head 5F is a fan-shaped structure, and the lock head 5F is provided with an EA through hole 5F1, an EB through hole 5F2, and an EA opening round hole 5F3; after the EA locking pin 5G passes through the EA through hole 5F1 It is screwed into the EB threaded hole 5E4 of the EA lower fixing plate 5E3 of the universal joint 5E; the EB locking screw 5H passes through the EB through hole 5F2 and is threadedly connected to the EC threaded hole 5E5 of the EA lower fixing plate 5E3 of the universal joint 5E. Middle; the EA opening round hole 5F3 and the EB opening round hole 5E6 of the EA lower fixing plate 5E3 of the universal joint 5E cooperate with the motor output shaft 4D of the drive mechanism 4, and are locked with the EA locking nail 5G and the EB locking nail 5H. tight.

finger holder 6

1 , 1A , 1B and 2 , the finger support 6 serves as a two-finger or three-finger installation layout on the one hand, and serves as a fixed connection with an external actuator on the other hand. When it is fixedly connected to the actuator, the finger mechanism designed by the present invention acts as the actuator end to realize the grasping of the object.

The finger bracket 6 includes a bracket upper cover 6A, a bracket support plate 6B, a finger connector 6C, an electrical fixing frame 6D and a socket panel 6E.

An FA through hole 6A1 is provided in the center of the bracket upper cover 6A, and the FA through hole 6A1 is used for the motor output shaft 4D of the driving mechanism 4 to pass through. The outer edge of the bracket upper cover 6A is provided with an FA lug panel 6A2 for fixing one end of the bracket support plate 6B. The center of the bracket support plate 6B is the FA cavity 6B2, and the FA cavity 6B2 is used to place the electrical fixture 6D. The bracket support plate 6B is provided with an FA opening 6B1, and the FA opening 6B1 is used for placing one end of the socket panel 6E. One end of the bracket support plate 6B is fixed to the outer edge of the bracket upper cover 6A, and the other end of the bracket support plate 6B is fixed to one end of the finger connector 6C. A FB opening 6C1 is provided on the finger connector 6C, and the FB opening 6C1 is used to place the other end of the socket panel 6E. A FB through hole 6C2 is provided in the center of the finger connector 6C, and the FB through hole 6C2 is used for the motor output shaft 4D of the driving mechanism 4 to pass through. The FA panel 6C3 of the finger connector 6C is provided with the FA protrusions 6C4 of the A-finger base 1A of the A-finger mechanism 1 and the FB protrusions 6C5 and C fingers of the B-finger base 2A of the B-finger mechanism 2. The C finger base 3A of the mechanism 3 has the FC protrusion 6C6. The electrical fixture 6D is placed in the FA cavity 6B2 of the bracket support plate 6B. The socket panel 6E is fixed to the bracket support plate 6B and the finger connector 6C.

Differential Motion Analysis

The differential mechanism 5 is actually a motion mechanism with a single motion input (motion from the motor) and three motion outputs (the motion of the three-finger mechanism). 1B , 9 , 9A, 9B and 9C, for the convenience of description, A finger mechanism 1 and C finger mechanism 3 and flexible universal joint 5E constitute a schematic diagram of grasping requirements. The flexible universal joint 5E acts as a hinge fulcrum O (as shown in Fig. 9), allowing the three pull rope connecting plates (5A, 5B, 5C) of the differential mechanism 5 to rotate along the X and Y axes to satisfy the adaptive grip According to the requirements (as shown in FIG. 9A ), the stiffness of the flexible universal joint 5E along the X axis is denoted as k _x , and the stiffness of the flexible universal joint 5E along the Y axis is denoted as _ky . θ ₁ and θ ₂ are the inclination angles of the flexible universal joint 5E along the X-axis and Y-axis directions, respectively. In the present invention, the flexible universal joint 5E is formed by connecting two notched flexible hinges in series. This structure avoids the complexity of the motion transmission mechanism and ensures the compactness of the clamping jaws.

In the present invention, each finger mechanism is connected to the differential mechanism 5 by two ropes. The cords (A cord, C cord and E cord) pull the fingers closed when the differential mechanism 5 moves up, and the cords (B cord, D cord and F cord) when the differential mechanism 5 moves down Pull fingers open. Since the rope has a very large stiffness in the axial direction and very little stiffness in the bending direction, it has a strong enough pulling finger mechanism. In addition, the ropes are wrapped around the surface of the semi-circular pulleys, and the ropes are always kept under tension as the pulleys turn over the entire range of rotation.

Grab objects of different shapes

According to the kinematic equation, the motion displacement y ₀ -y _i of the fingertip can be obtained (as shown in Figure 9B ), and the lower index i is the identification number of the finger, which can be A finger mechanism 1, B finger mechanism 2 or C finger mechanism 3, as follows:

Where x is the movement distance of the end of the rope, y ₀ is the position of the grasping point at the initial position, y _i is the distance of the grasping point after the movement, L is the length of the finger, and r ₀ is the radius of the semicircular pulley. Due to the tilt deformation of the differential mechanism, the x value of each finger is different.

As shown in FIG. 9B , for a regular-shaped object grasping (there are three grasping points with the same distance from a certain point in the object), the three fingers of the gripper can simultaneously touch the object surface. In other words, when the object is grasped, the movement displacement of each finger is the same (i.e. y ₁ =y ₂ =y ₃ , y ₁ is the distance of the grasping point after the movement of the A finger mechanism, y ₂ is the movement of the B finger mechanism The distance of the rear grasping point, y ₃ is the distance of the grasping point after the movement of the C-finger mechanism), and the grasping force is also the same at this time (F ₁ =F ₂ =F ₃ ). At this time, the differential mechanism moves up or down in parallel without any inclination angle. F1 is the grasping force _of the A-finger mechanism, F2 is the grasping force of the B _- finger mechanism, and F3 is the grasping force _of the C-finger mechanism.

As shown in FIG. 9C, the three-finger adaptive gripper designed by the present invention is used to grasp irregular objects. For the grasping of irregular objects (there are no three grasping points with the same relative to a certain point in the object) distance), each finger moves a different distance. Suppose the A finger mechanism first touches the object, then the B finger mechanism contacts the object, and finally the C finger mechanism contacts the object. The grasping configuration of the gripper can be expressed as (y ₁ , y ₂ , y ₃ ). In order to realize the grasping of the object, the differential mechanism must be inclined along the X and Y axes by a certain angle (ie θ ₁ and θ ₂ ), and its motion state can be expressed as (x, θ ₁ , θ ₂ ), where x represents the rope The movement distance of the end, θ ₁ and θ ₂ are the inclination angles of the differential mechanism along the X-axis and Y-axis directions, respectively. Therefore, there is a mapping relationship that maps the output motion (y ₁ , y ₂ , y ₃ ) to the input motion (x, θ ₁ , θ ₂ ).

Regular shape for the object to be grasped, but with a displacement offset of one point relative to the center of the gripper, or similarly, irregular shape for the object to be grasped, with a displacement offset of one point relative to the center of the gripper. With the flexible universal joint structure designed by the present invention, no matter what the situation is, the gripper designed by the present invention can grasp the object adaptively.

Flexibility operation for inserted objects

Figure 10 shows a schematic diagram of the compliance of the finger mechanism picking up the object and the contact with the object. A crossed reed mechanism formed by two pairs of crossed leaf reeds (1H1 and 1H2, 3H1 and 3H2). The A fingertip 1G and the A finger end adapter 1E are fixedly connected through the AA reed 1H1 and the AB reed 1H2. (There is also a piece 1F in the middle) The C fingertip 3G and the C finger end adapter 3E are fixedly connected through the CA reed 3H1 and the CB reed 3H2. (There is also a piece 3F in the middle) This structural design of the gripper of the present invention can provide a large rotational flexibility, but maintain a large linear stiffness in the horizontal and vertical directions. Mounting one of these cross leaf springs on the fingertip provides the necessary compliance in shaft hole assembly applications. When the object is inserted, the virtual point D (that is, the RCC point, RCC (remote compliance center, remote compliance center)) of the object is adjusted by a cross reed mechanism when it is subjected to a leftward resistance _FL or a rightward resistance FR _. After the displacement ΔX in the horizontal direction and the angle Δθ rotated around the Z axis, the object can be flexibly inserted into the hole.

Single Motor Driven Adaptive Gripper with Two Finger Mechanism

As shown in FIG. 8 , two finger mechanisms are symmetrically distributed on the finger connector to form a single-motor-driven adaptive gripper with two finger mechanisms. Similarly, the single-motor-driven adaptive gripper with four-finger mechanism is composed of two finger mechanisms that are symmetrically distributed in pairs and fixed on the finger connectors.

The invention is a single-motor-driven adaptive gripper with RCC function. On the one hand, the existing adaptive gripper can adapt to the position error of the object in the grasping stage, but cannot eliminate the position error existing in the subsequent assembly stage of grasping On the other hand, it solves the problem that the existing full-drive adaptive gripper uses the active drive of multiple joints to realize the clamping of irregular objects, which leads to complex control and high price, and is difficult to be widely used in production. The gripper of the present invention uses a motor to drive the flexible universal joint, drives the rope to pull at the same time, and can convert the single motion of the driving mechanism into the differential or independent motion of the three finger mechanisms. The finger mechanism transmits the output motion of the differential mechanism to the fingers. The terminal implements picking or inserting objects.

Claims (9)

1. A single-motor-driven adaptive gripper with RCC function, comprising a finger mechanism; it is characterized in that: A finger mechanism (1) consists of A finger base (1A), AA semicircular pulley (1B), AB Semicircular pulley (1C), A parallel linkage (1D), A finger end connector (1E), A finger end adapter (1F), A finger tip (1G), AA reed (1H1) and AB reed (1H2) is formed; wherein, the AA semicircular pulley (1B) has the same structure as the AB semicircular pulley (1C); the AA reed (1H1) has the same structure as the AB reed (1H2); A finger base (1A) is a U-shaped structure; between the AA support arm (1A1) and the AB support arm (1A2) of the A finger base (1A) is an AA cavity (1A3); the AA cavity (1A3) It is used to place the AA semicircular pulley (1B) and the AB semicircular pulley (1C); the AA support arm (1A1) is provided with AA through holes (1A11) and AB through holes (1A12); AB support arm (1A2) ) are provided with AC through holes (1A21) and AD through holes (1A22); AA through holes (1A11) and AC through holes (1A21) are used to place the AC shaft (13); AB through holes (1A12) and AD through holes (1A22) for placing the AD reel (14); The AA line groove (1B1) is provided on the AA outer machine (1B2) of the AA semicircular pulley (1B), and the AA limit plate (1B5) is provided above the AA semicircular pulley (1B). The panel of the pulley (1B) is provided with an AE through hole (1B3) and an AF through hole (1B4); The AB outer cylinder (1C2) of the AB semicircular pulley (1C) is provided with an AB wire groove (1C1), and the panel of the AB semicircular pulley (1C) is provided with an AA limit post (1C5) and an AG through hole (1C3) and AH through hole (1C4); A parallel link mechanism (1D) consists of AA link (1D1) and AB link (1D2); the upper end of AA link (1D1) is provided with AI through hole (1D11), AI through hole (1D11) is used for placing The AA rotating shaft (11); the lower end of the AA connecting rod (1D1) is provided with an AJ through hole (1D12), and the AJ through hole (1D12) is used to place the AC rotating shaft 13; the upper end of the AB connecting rod (1D2) is provided with an AK through hole ( 1D21), the AK through hole (1D21) is used to place the AB shaft 12; the lower end of the AB connecting rod (1D2) is provided with an AL through hole (1D22) and an AM through hole (1D23), and the AL through hole 1D22 is used to place the AE shaft ( 15); AM through hole (1D23) is used to place the AF shaft (16); The A-finger connector (1E) is a U-shaped structure; between the AC arm (1E1) and the AD arm (1E2) of the A-finger connector (1E) is an AB cavity (1E3); the AB cavity ( 1E3) is used to place the upper end of the A parallel link mechanism (1D); the AC support arm (1E1) is provided with AN through holes (1E11) and AO through holes (1E12); the AD support arm (1E2) is provided with AP through holes Hole (1E21), AQ through hole (1E22); AN through hole (1E11) and AP through hole (1E21) for placing AC shaft (11); AO through hole (1E12) and AQ through hole (1E22) for placing AD rotating shaft (12); AA positioning holes (1E4) and AB positioning holes (1E5) are provided on the upper panel of the A finger end connector (1E); AA positioning pins (1F3) and AB positioning pins (1F4) are arranged on the bottom panel of the A-finger adapter (1F), and the AA positioning pins (1F3) are placed on the AA of the upper panel of the A-finger connector (1E). In the positioning hole (1E4), the AB positioning pin (1F4) is placed in the AB positioning hole (1E5) on the upper panel of the A-finger connector (1E); the side panel of the A-finger adapter (1F) is provided with AA threaded blind hole (1F1) and AB threaded blind hole (1F2); the A finger end adapter (1F) and the A finger end connector (1E) are fixed by screws passing through the AT through hole (1F5); One end of the A fingertip (1G) is the A finger pad (1G3), and the A finger pad (1G3) is used to contact the object; the other end of the A fingertip (1G) is provided with an AC thread blind hole (1G1) and an AD thread Blind hole (1G2); The upper end of the AA reed (1H1) is fixed in the AD threaded blind hole (1G2) of the A fingertip (1G) by screws, and the lower end of the AA reed (1H1) is fixed on the A finger end adapter (1F) by screws. AA threaded blind hole (1F1); The upper end of the AB reed (1H2) is fixed to the AB threaded blind hole (1F2) of the A finger end adapter (1F) by screws, and the lower end of the AB reed (1H2) is fixed to the A fingertip (1G) by screws. AC threaded blind hole (1G1); One end of the AA rotating shaft (11) passes through the AP through hole (1E21) of the AD support arm (1E2) of the A finger end connector (1E), the AI through hole (1D11) of the AA connecting rod (1D1), and the A finger Secure the AN through hole (1E11) of the AC arm (1E1) of the end connector (1E) with a retaining ring; One end of the AB shaft (12) passes through the AQ through hole (1E22) of the AD support arm (1E2) of the A finger end connector (1E), the AK through hole (1D21) of the AB connecting rod (1D2), and the A finger Secure the AO through hole (1E12) of the AC arm (1E1) of the end connector (1E) with a retaining ring; One end of the AC shaft (13) passes through the AC through hole (1A21) of the AB arm (1A2) of the A finger base (1A), the AJ through hole (1D12) of the AA link (1D1), and the A finger base Secure the AA through hole (1A11) of the AA support arm (1A1) of the seat (1A) with a retaining ring; One end of the AD rotating shaft (14) passes through the AD through hole (1A22) of the AB arm (1A2) of the A finger base (1A), the AG through hole (1C3), AA of the AB semicircular pulley (1C) The AE through hole (1B3) of the semi-circular pulley (1B) and the AB through hole (1A12) of the AA support arm (1A1) of the A finger base (1A) are clamped with a retaining ring; One end of the AE rotating shaft (15) passes through the AL through hole (1D22) of the AB connecting rod (1D2) in sequence and then is fixed on the AA limiting plate (1B5) of the AA semicircular pulley (1B); One end of the AF rotating shaft (16) passes through the AM through hole (1D23) of the AB connecting rod (1D2) in sequence and then is fixed on the AA limit plate (1B5) of the AA semicircular pulley (1B); The AA pulley column (17) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C). The AA pulley column 17 is provided with an AX through hole (17A) and an AX through hole (17A). It is used to bind the other end of the A drawstring, and the EA with holes is used to bind one end of the A drawstring. )middle; The AB rope pulley (18) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C). 18A) Used to tie the other end of the B rope, the EB rope lug with holes (5A4) is used to tie one end of the B rope; the B rope is limited to the AA groove on the AA semi-circular pulley (1A). (1B1). 2. The single-motor-driven adaptive gripper with RCC function according to claim 1, characterized in that: further comprising a drive mechanism 4; The drive mechanism 4 is composed of a motor 4A, a DA motor base 4B and a DB motor base 4C; The center of the DA panel 4B1 of the DA motor base 4B is the DA through hole 4B2, and the DA through hole 4B2 is used for the motor output shaft 4D of the motor 4A to pass through; the two sides of the DA panel 4B1 of the DA motor base 4B are provided with DA support arms 4B3 and The DB support arm 4B4 and the DA support arm 4B3 are provided with DB through holes 4B5 and DA grooves 4B7 for the DA top nails 4A1 to pass through, and the DB support arms 4B4 are provided with DC through holes for the DB top nails 4A2 to pass through. 4B6 and DB groove 4B8; DA groove 4B7 for DA lug 4C3; DB groove 4B8 for DB lug 4C4; The center of the DB panel 4C1 of the DB motor base 4C is a DD through hole 4C2, and the DD through hole 4C2 is used for the motor output shaft 4D of the motor 4A to pass through; the two sides of the DB panel 4C1 of the DB motor base 4C are provided with DA lugs 4C3 and DB lugs 4C4, DA lugs 4C3 are provided with DE through holes 4C5 for the DA tightening top nails 4A1 to pass through, and DB lugs 4C4 are provided with DD through holes 4C6 for the DB tightening top nails 4A2 to pass through; The DA panel 4B1 of the DA motor base 4B is fixed to the casing of the motor 4A; the DA lugs 4C3 on the DB motor base 4C are inserted into the DA grooves 4B7 of the DA motor base 4B; the DB lugs 4C4 on the DB motor base 4C are inserted into the DA In the DB groove 4B8 of the motor base 4B; the motor output shaft 4D of the motor 4A passes through the DA through hole 4B2 of the DA motor base 4B and the DD through hole 4C2 of the DB motor base 4C in sequence; the DB panel 4C1 of the DB motor base 4C is fixed On the finger connector 6C of the finger bracket 6; one end of the DA tightening pin 4A1 passes through the DB through hole 4B5 of the DA support arm 4B3 of the DA motor base 4B and the DE through hole of the DA lug 4C3 of the DB motor base 4C in sequence After 4C5, push it on one end of the casing of the motor 4A; one end of the DB screw 4A2 passes through the DC through hole 4B6 of the DB support arm 4B4 of the DA motor base 4B and the DB lug 4C4 of the DB motor base 4C in turn. After the DF through hole 4C6 is made, it is pressed against the other end of the casing of the motor 4A. 3. The single-motor-driven adaptive gripper with RCC function according to claim 1, characterized in that: it also includes a differential mechanism 5; The differential mechanism 5 is composed of an EA cable connection plate 5A, an EB cable connection plate 5B, an EC cable connection plate 5C, a cable cover plate 5D, a flexible universal joint 5E, a lock head 5F and six cables; The structure of the pull rope connecting plate 5A, EB pull rope connecting plate 5B and EC pull rope connecting plate 5C is the same; for the six pull ropes, they are numbered A pull rope, B pull rope, C pull rope, D pull rope, E pull rope and F rope; universal joint 5E is surrounded by circularly arranged EA rope connection plate 5A, EB rope connection plate 5B and EC rope connection plate 5C; One end of the EA cable connecting plate 5A is provided with an EA fixing plate 5A1, and the EA fixing plate 5A1 is fixed at the EA groove 5D1 of the cable cover 5D by screws; There are EA strap lugs with holes 5A3 and EB strap lugs with holes 5A4; The EA hole tying rope lug 5A3 is used to bind one end of the A rope, the other end of the A rope is tied to the AX through hole 17A of the AA rope post 17, and the A rope is limited to the AB semi-circular pulley 1C In the AB wire slot 1C1 on the upper; EB with hole tie-rope lug 5A4 is used to bind one end of the B-rope, the other end of the B-rope is limited to the AA wire slot 1B1 on the AA semi-circular pulley 1B, and the other end of the B-rope is tied to the AB-rope. On the AY through hole 18A of the rope post 18, and the B pull rope is limited in the AA wire groove 1B1 on the AA semicircular pulley 1A; One end of the EB cable connecting plate 5B is provided with an EB fixing plate 5B1, and the EB fixing plate 5B1 is fixed at the EB groove 5D2 of the cable cover plate 5D by screws; There are EC strapping lugs 5B3 with holes and ED strapping lugs 5B4; EC strapping lugs 5B3 with holes are used to bind one end of the C pull rope, and the other end of the C pull rope is tied to the BA pull rope column 27 On the BX through hole 27A, and the C rope is limited to the BB wire groove 2C1 on the BB semi-circular pulley 2C; It is bound on the AY through hole of the BB pull rope column 28, and the D pull rope is limited in the BA wire groove 2B1 on the BA semicircular pulley 2A; One end of the EC cable connecting plate 5C is provided with an EC fixing plate 5C1, and the EC fixing plate 5C1 is fixed at the EC groove 5D3 of the cable cover 5D by screws; There are EE strapping lugs with holes 5C3 and EF strapping lugs with holes; EE strapping lugs with holes 5C3 are used to bind one end of the E rope, and the other end of the E rope is tied to the CX of the CA rope column 37 On the through hole 37A, and the E rope is limited in the CB slot 3C1 on the CB semi-circular pulley 3C; On the CY through hole of the CB pull rope column 38, and the F pull rope is limited in the CA wire groove 3B1 on the CA semicircular pulley 3A; The cable cover 5D is provided with an EA groove 5D1, an EB groove 5D2, an EC groove 5D3 and an EA boss body 5D4. The center of the EA boss body 5D4 is provided with an EA countersunk hole 5D5, and a screw passes through the EA counterbore. The head hole 5D5 is then fixed in the EA threaded hole 5E2 of the EA upper panel 5E1 of the universal joint 5E, that is, the lower bottom panel of the cable cover 5D is fixed to the EA upper panel 5E1 of the universal joint 5E; The upper part of the universal joint 5E is the EA upper panel 5E1, and the lower part of the universal joint 5E is the EA lower fixing plate 5E3; the cylinder of the universal joint 5E is provided with EA intermediate beams 56, EB intermediate beams 57, EA cutouts 51, EB Cutout 52, EC cutout 53 and ED cutout 54; the EA intermediate beam 56 is formed by the combination of EC cutout 53 and ED cutout 54 removed. The EB intermediate beam 57 is formed by removing the combination of the EA slit 51 and the EB slit 52; wherein the EA slit 51 and the EB slit 52 are provided above the cylinder of the universal joint 5E, and the EC slit 53 and the ED slit 54 It is located below the cylinder of the universal joint 5E; divided by the rotation center point of the universal joint 5E, the upper flexible body is located above the EA incision 51 and the EB incision 52, and the lower part is located below the EC incision 53 and the ED incision 54. flexible body; The lock head 5F is a fan-shaped structure, and the lock head 5F is provided with an EA through hole 5F1, an EB through hole 5F2, and an EA opening round hole 5F3; the EA locking pin 5G passes through the EA through hole 5F1 and is threadedly connected to the EA of the universal joint 5E. In the EB threaded hole 5E4 of the lower fixing plate 5E3; the EB locking screw 5H passes through the EB through hole 5F2 and is threaded into the EC threaded hole 5E5 of the EA lower fixing plate 5E3 of the universal joint 5E; EA opening round hole 5F3 and the universal joint 5E The EB opening circular hole 5E6 of the EA lower fixing plate 5E3 of the joint 5E is matched with the motor output shaft 4D of the driving mechanism 4, and is locked with the EA locking screw 5G and the EB locking screw 5H. 4. The single-motor-driven adaptive gripper with RCC function according to claim 1, 2 or 3, characterized in that it has a three-finger mechanism. 5 . The single-motor-driven adaptive gripper with RCC function according to claim 5 , wherein the single-motor-driven adaptive gripper has a single motion input and three motion outputs. 6 . 6. The single-motor-driven adaptive gripper with RCC function according to claim 1, 2 or 3, characterized in that it has a two-finger mechanism. 7 . The single-motor-driven adaptive gripper with RCC function according to claim 6 , wherein the single-motor-driven adaptive gripper has a single motion input and two motion outputs. 8 . 8. The single-motor-driven adaptive gripper with RCC function according to claim 1, 2 or 3, characterized in that it has a four-finger mechanism. 9 . The single-motor-driven adaptive gripper with RCC function according to claim 8 , wherein the single-motor-driven adaptive gripper has a single motion input and four motion outputs. 10 .

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