CN110788875A

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

Info

Publication number: CN110788875A
Application number: CN201910974980.8A
Authority: CN
Inventors: 陈文杰; 孙先涛; 陈伟海; 胡存刚; 陶骏
Original assignee: Anhui University
Current assignee: Anhui University
Priority date: 2019-10-14
Filing date: 2019-10-14
Publication date: 2020-02-14
Anticipated expiration: 2039-10-14
Also published as: CN110788875B

Abstract

The invention discloses a single-motor-driven self-adaptive paw with an RCC (remote control) function, which consists of an A finger mechanism (1), a B finger mechanism (2), a C finger mechanism (3), a driving mechanism (4), a differential mechanism (5) and a finger support (6); the driving mechanism (4) is used for providing power for the whole paw, and the differential mechanism (5) is used for connecting the driving mechanism (4) and the three finger mechanisms; the single movement of the driving mechanism (4) is converted into the differential or independent movement of three finger mechanisms, and the finger mechanisms transmit the output movement of the differential mechanism (5) to the end parts of the fingers. The gripper realizes the clamping of irregular objects by utilizing the active drive of multiple joints, not only solves the position error of the objects in the object grabbing stage, but also eliminates the position error existing in the assembling stage after the objects are grabbed.

Description

Single-motor-driven self-adaptive paw with RCC function

Technical Field

The invention relates to a mechanical finger mechanism, in particular to a single-motor-driven self-adaptive paw with an RCC function.

Background

Currently, robotic grippers used in industrial applications are primarily two-finger and three-finger configurations. The common two-finger paw usually adopts three ways of electric, pneumatic or hydraulic to drive the two clamping jaws at the tail end to close or open, however, the two-finger paw can only be used for realizing pure clamping and gripping of an object. Furthermore, these robotic claws are very rigid and have certain limitations. In practice, it is difficult to manipulate them to conform to the shape of the object. Therefore, when the robot gripper is used for grabbing a new object or a different object, the clamping jaw at the tail end of the robot gripper needs to be redesigned and replaced, and the robot gripper is not universal. On the other hand, three-finger paws provide a more secure grip than two-finger paws. For irregularly shaped objects, some three-finger paws can form a closed grip with three points of contact with the object. These are more like lathe chucks mounted on robots and are therefore also referred to as self-centering tools. Due to the structure of the gripper, the fingers of the gripper move towards the central axis of the gripper simultaneously during the clamping process. Typically, these grippers are pneumatically or hydraulically actuated and can withstand very large loads, but are very inflexible. In the use process, in order to adapt to different application occasions, the structure form of the clamping jaw needs to be changed.

To increase the flexibility of the paw, Robotiq, canada, developed a three-finger adaptive paw that uses four motor drives with four different grasping modes, with the fingers under-actuated. During use, the gripper can change its configuration to adapt to 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 has no automatic centering function, i.e. it can not automatically eliminate the position error of the object. In addition, the paw is provided with four high-precision motors, so that the price is very high, and the large-scale purchase of small and medium enterprises is not facilitated.

Disclosure of Invention

The invention aims to design a single-motor-driven self-adaptive paw with an RCC function, which is used for solving the problems that the existing self-adaptive paw can adapt to the position error of an object in a grabbing stage, but can not eliminate the position error existing in the continuous assembly after the object is grabbed; on the other hand, the problems that the existing full-drive self-adaptive paw realizes the clamping of irregular objects by utilizing multi-joint active drive, so that the control is complex, the price is high, and the full-drive self-adaptive paw is difficult to widely apply to production are solved. The self-adaptive paw comprises three finger mechanisms, a driving mechanism, a differential mechanism and a finger support, wherein the driving mechanism is used for providing power for the whole paw, the differential mechanism is used for connecting the driving mechanism and the three finger mechanisms, the single motion of the driving mechanism can be converted into the difference or independent motion of the three finger mechanisms, the finger mechanisms transmit the output motion of the differential mechanism to the end parts of fingers, and the finger support is used for fixing the three finger mechanisms and the driving mechanism.

The invention designs a finger mechanism in a single motor driven self-adaptive paw with RCC function; the device comprises a finger base A (1A), an AA semicircular pulley (1B), an AB semicircular pulley (1C), an A parallel link mechanism (1D), an A finger end connecting piece (1E), an A finger end adapter piece (1F), an A fingertip (1G), an AA reed (1H1) and an AB reed (1H 2); wherein the AA semicircular pulley (1B) and the AB semicircular pulley (1C) have the same structure; the AA reed (1H1) and the AB reed (1H2) have the same structure; a, a finger base (1A) is a U-shaped structure; an AA cavity (1A3) is arranged between the AA support arm (1A1) and the AB support arm (1A2) of the finger base (1A); the AA cavity (1A3) is used for placing an AA semicircular pulley (1B) and an AB semicircular pulley (1C); the AA support arm (1A1) is provided with an AA through hole (1A11) and an AB through hole (1A 12); the AB support arm (1A2) is provided with an AC through hole (1A21) and an AD through hole (1A 22); the AA through hole (1A11) and the AC through hole (1A21) are used for placing the AC rotating shaft (13); the AB through hole (1A12) and the AD through hole (1A22) are used for placing the AD rotating shaft (14); an AA wire casing (1B1) is arranged on an AA excircle machine (1B2) of the AA semicircular pulley (1B), an AA limiting plate (1B5) is arranged above the AA semicircular pulley (1B), and an AE through hole (1B3) and an AF through hole (1B4) are arranged on a panel of the AA semicircular pulley (1B); an AB line groove (1C1) is formed in an AB outer circle machine (1C2) of the AB semicircular pulley (1C), and an AA limiting column (1C5), an AG through hole (1C3) and an AH through hole (1C4) are formed in a panel of the AB semicircular pulley (1C); the A parallel link mechanism (1D) consists of an AA connecting rod (1D1) and an AB connecting rod (1D 2); an AI through hole (1D11) is formed in the upper end of the AA connecting rod (1D1), and the 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 for placing 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 for placing the AB rotating 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 for placing an AE rotating shaft (15); the AM through hole (1D23) is used for placing the AF rotating shaft (16); the A finger end connecting piece (1E) is a U-shaped structure body; an AB cavity (1E3) is arranged between an AC support arm (1E1) and an AD support arm (1E2) of the A-finger end connecting piece (1E); the AB cavity (1E3) is used for placing the upper end of the A parallel link mechanism (1D); the AC support arm (1E1) is provided with AN AN through hole (1E11) and AN AO through hole (1E 12); the AD support arm (1E2) is provided with an AP through hole (1E21) and an AQ through hole (1E 22); the AN through hole (1E11) and the AP through hole (1E21) are used for placing the AC rotating shaft (11); the AO through hole (1E12) and the AQ through hole (1E22) are used for placing the AD rotating shaft (12); an AA positioning hole (1E4) and an AB positioning hole (1E5) are formed in the upper panel of the A finger end connecting piece (1E); an AA positioning pin (1F3) and an AB positioning pin (1F4) are arranged on the bottom panel of the A finger end adapter (1F), the AA positioning pin (1F3) is arranged in an AA positioning hole (1E4) of the upper panel of the A finger end connector (1E), and the AB positioning pin (1F4) is arranged in an AB positioning hole (1E5) of the upper panel of the A finger end connector (1E); an AA thread blind hole (1F1) and an AB thread blind hole (1F2) are arranged on the side panel of the A-finger-end adapter piece (1F); the A finger end adapter (1F) and the A finger end connecting piece (1E) are fixed by a screw penetrating through the AT through hole (1F 5); one end of the A fingertip (1G) is an A finger pad (1G3), and the A finger pad (1G3) is used for contacting with an object; the other end of the A fingertip (1G) is provided with an AC threaded blind hole (1G1) and an AD threaded blind hole (1G 2); the upper end of the AA reed (1H1) is fixed in an AD threaded blind hole (1G2) of the A fingertip (1G) through a screw, and the lower end of the AA reed (1H1) is fixed in an AA threaded blind hole (1F1) of the A fingertip adaptor (1F) through a screw; the upper end of the AB reed (1H2) is fixed in an AB thread blind hole (1F2) of the A fingertip adaptor (1F) through a screw, and the lower end of the AB reed (1H2) is fixed in an AC thread blind hole (1G1) of the A fingertip (1G) through a screw; one end of the AA rotating shaft (11) sequentially penetrates through AN AP through hole (1E21) of AN AD support arm (1E2) of the A finger end connecting piece (1E), AN AI through hole (1D11) of the AA connecting rod (1D1) and AN AN through hole (1E11) of AN AC support arm (1E1) of the A finger end connecting piece (1E) and then is clamped by a retainer ring; one end of the AB rotating shaft (12) sequentially penetrates through an AQ through hole (1E22) of an AD support arm (1E2) of the A finger end connecting piece (1E), an AK through hole (1D21) of an AB connecting rod (1D2) and an AO through hole (1E12) of an AC support arm (1E1) of the A finger end connecting piece (1E) and then is clamped by a retaining ring; one end of the AC rotating shaft (13) sequentially penetrates through an AC through hole (1A21) of an AB support arm (1A2) of the A finger base (1A), an AJ through hole (1D12) of an AA connecting rod (1D1) and an AA through hole (1A11) of an AA support arm (1A1) of the A finger base (1A) and then is clamped by a retaining ring; one end of the AD rotating shaft (14) sequentially penetrates through an AD through hole (1A22) of an AB support arm (1A2) of the A finger base (1A), an AG through hole (1C3) of an AB semicircular pulley (1C), an AE through hole (1B3) of an AA semicircular pulley (1B) and an AB through hole (1A12) of an AA support arm (1A1) of the A finger base (1A) and then is clamped by a retaining ring; one end of the AE rotating shaft (15) sequentially penetrates through AL through holes (1D22) of the AB connecting rods (1D2) and then is fixed on an AA limiting plate (1B5) of the AA semicircular pulley (1B); one end of the AF rotating shaft (16) sequentially penetrates through an AM through hole (1D23) of the AB connecting rod (1D2) and then is fixed on an AA limiting plate (1B5) of the AA semicircular pulley (1B); an AA stay cord column (17) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C), an AX through hole (17A) is formed in the AA stay cord column (17), the AX through hole (17A) is used for binding the other end of the A stay cord, and an EA rope binding lug (5A3) with a hole is used for binding one end of the A stay cord; the A pull rope is limited in an AB wire groove (1C1) on the AB semicircular pulley (1C); the AB stay cord column (18) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C), an AY through hole (18A) is formed in the AB stay cord column (18), the AY through hole (18A) is used for binding the other end of the B stay cord, and an EB (EB) hole binding cord lug (5A4) is used for binding one end of the B stay cord; the B pull rope is limited in an AA wire groove (1B1) on the AA semicircular pulley (1A).

The single-motor-driven self-adaptive paw with the RCC function has the advantages that:

① when the center of the object to be grabbed is shifted from the center of the paw or the object has an irregular shape, the differential mechanism of the paw is inclined to ensure the tips of the three fingers contact the surface of the object.

② the paw of the invention adopts a motor to drive the flexible universal joint and matches with the rope to realize single motion input and three motion outputs.

③ the finger tip of the gripper is flexible and has RCC (remote compliance center) characteristics.

④ the paw of the invention, because of its design to have self-adjustment of the direction of movement and rotation, can accomplish a compliant fitting task when an object is held by the paw for insertion into a hole (see fig. 10) by a judicious design of the fingertip flexible units and differential mechanism.

⑤ the present invention differs from conventional three finger grippers in that the gripper is designed to accommodate a range of positioning and orientation tolerances of the object, thereby avoiding excessive gripping force.

⑥ the present invention discloses a compact, high distortion flexible gimbal mechanism that provides differential motion to the finger tips of a gripper, and the gripper based on this mechanism can accommodate a range of workpieces with large variations in shape.

⑦ the structure of the invention can be changed into two-finger structure and four-finger structure according to the application requirement, the invention paw is used as the robot end effector, and can be applied to the clamping operation of plastic materials and complex shape materials in the electronic industry (PCB (printed Circuit Board) assembly, SMT (Surface Mounted Technology), manufacturing industry, etc.).

Drawings

Fig. 1 is a front view of a single motor driven adaptive gripper with RCC functionality according to the present invention.

Fig. 1A is a first perspective structural view of fig. 1. Fig. 1B is a second perspective structural view of fig. 1.

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

Fig. 3 is a structural view of a drive mechanism and a differential mechanism in the present invention.

Fig. 3A is an exploded view of the drive mechanism of the present invention. Fig. 3B is another view of fig. 3.

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

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

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

FIG. 5G is a view showing the structure of the parallel link mechanism and the rotating shaft in the finger according to the present invention A.

FIG. 5H is a schematic diagram of the tip and leaf of the finger according to the present invention A.

Fig. 5I is another view structural diagram of fig. 5H.

FIG. 5J is a view of the configuration of two semicircular pulleys in the finger of the present invention A.

Fig. 5K is another perspective structural view of fig. 5J.

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

Figure 8 is a block diagram of a single motor driven adaptive gripper with a two finger mechanism according to the present invention.

FIG. 9 is a motion coordinate system diagram of a virtual pivot point of the flexible gimbal according to the present invention.

Fig. 9A is a schematic diagram of the movement of the single motor driven adaptive gripper with RCC functionality of the present invention.

Fig. 9B is a schematic view of the grabbing motion of the present invention for grabbing a regular shaped object.

Fig. 9C is a schematic view of a grabbing motion for grabbing an irregularly shaped object according to the present invention.

Figure 10 is a motion diagram of a single motor driven adaptive-gripper compliant pick-up object with RCC functionality according to the present invention.

Detailed Description

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

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

A finger mechanism 1

Referring to fig. 1, fig. 1A, fig. 1B, fig. 5A to fig. 5K, the a finger mechanism 1 is composed of a finger base 1A, AA, a semicircular pulley 1B, AB, a semicircular pulley 1C, A, a parallel linkage mechanism 1D, A, a finger end connector 1E, A, a finger end adaptor 1F, A, a fingertip 1H 1G, AA reed 1H1 and an AB reed 1H 2. In the 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 constitute an a pulley block 19 (shown in fig. 9) of the a finger mechanism 1. Wherein, the AA reed 1H1 has the same structure as the AB reed 1H2, and the two reeds form a fingertip flexible unit of the A finger mechanism 1.

Referring to fig. 1, 1A, 1B, 5A, 5B, 5C, 5D, 5E, 5F, and 5G, the finger base 1A is a U-shaped structure. Between AA arm 1A1 and AB arm 1A2 of a finger base 1A is AA cavity 1A 3. The AA cavity 1A3 is used for placing the pulley 1B and the pulley 1C. The AA support arm 1A1 is provided with an AA through hole 1A11 and an AB through hole 1A 12; the AB support arm 1A2 is provided with an AC through hole 1A21 and an AD through hole 1A 22; the AA through hole 1A11 and the AC through hole 1A21 are used for placing the AC rotating 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. 5A, fig. 5B, fig. 5C, fig. 5D, fig. 5E, fig. 5F, fig. 5J, and fig. 5K, an AA wire casing 1B1 is provided on the AA rounding machine 1B2 of the AA semicircular pulley 1B, an AA position limiting 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. 5A, fig. 5B, fig. 5C, fig. 5D, fig. 5E, fig. 5F, fig. 5J, and fig. 5K, an AB wire groove 1C1 is provided on the AB outer circle machine 1C2 of the AB semicircular pulley 1C, and an AA stopper post 1C5, an AG through hole 1C3, and an AH through hole 1C4 are provided on the panel of the AB semicircular pulley 1C.

Referring to fig. 1, 1A, 1B, 5A to 5K, the a parallel link mechanism 1D is composed of an AA link 1D1 and an AB link 1D 2; an AI through hole 1D11 is formed in the upper end of the AA connecting rod 1D1, and the 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 for placing 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 for placing the AB rotating 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 for placing the AE rotating shaft 15; the AM through hole 1D23 is used for placing the AF spindle 16.

Referring to fig. 1, 1A, 1B, 5A, 5B, 5C, 5D, 5E, 5F, 5H, and 5I, the a-finger end connector 1E is a U-shaped structure. Between AC arm 1E1 and AD arm 1E2 of finger end connector 1E is AB cavity 1E 3. The AB cavity 1E3 is used to place the upper end of the a parallel linkage 1D (i.e., the upper end of AA link 1D1 and the upper end of AB link 1D 2). AN AN through hole 1E11 and AN AO through hole 1E12 are arranged on the AC support arm 1E 1; the AD support arm 1E2 is provided with an AP through hole 1E21 and an AQ through hole 1E 22; the AN through hole 1E11 and the AP through hole 1E21 are used for placing the AC rotating shaft 11; the AO through hole 1E12 and the AQ through hole 1E22 are used for placing the AD spindle 12. An AA positioning hole 1E4 and an AB positioning hole 1E5 are arranged on the upper panel of the A finger end connecting piece 1E.

Referring to fig. 1, fig. 1A, fig. 1B, fig. 5A, fig. 5B, fig. 5C, fig. 5D, fig. 5E, fig. 5F, fig. 5H, and fig. 5I, AA positioning pin 1F3 and AB positioning pin 1F4 are provided on the bottom panel of a-finger end adaptor 1F, AA positioning pin 1F3 is placed in AA positioning hole 1E4 of the upper panel of a-finger end connector 1E, and AB positioning pin 1F4 is placed in AB positioning hole 1E5 of the upper panel of a-finger end connector 1E. The side panel of the A-finger-end adapter 1F is provided with an AA threaded blind hole 1F1 and an AB threaded blind hole 1F 2. The A-finger end adapter 1F and the A-finger end connecting piece 1E are fixed by a screw passing through the AT through hole 1F 5.

Referring to fig. 1, fig. 1A, fig. 1B, fig. 5A, fig. 5B, fig. 5C, fig. 5D, fig. 5E, fig. 5F, fig. 5H, fig. 5I, one end of a fingertip 1G is an a finger pad 1G3, and the a finger pad 1G3 is used for contact with an object; and the other end of the A fingertip 1G is provided with an AC threaded blind hole 1G1 and an AD threaded blind hole 1G 2.

The upper end of the AA reed 1H1 is fixed in the AD threaded blind hole 1G2 of the A fingertip 1G through a screw, and the lower end of the AA reed 1H1 is fixed in the AA threaded blind hole 1F1 of the A fingertip adaptor 1F through a screw. The upper end of the AB reed 1H2 is fixed in the AB thread blind hole 1F2 of the A fingertip adaptor 1F through a screw, and the lower end of the AB reed 1H2 is fixed in the AC thread blind hole 1G1 of the A fingertip 1G through a screw.

As shown in fig. 5F, 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, and the AN through hole 1E11 of the AC arm 1E1 of the a finger end connector 1E in sequence and then is fastened by a retainer ring. As shown in fig. 5F, one end of the AB rotating shaft 12 passes through the AQ through hole 1E22 of the AD arm 1E2 of the a finger end connector 1E, 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 in sequence and then is clamped by a retaining ring. As shown in fig. 5F and 5G, one end of the AC rotation 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 AA through hole 1A11 of the AA arm 1A1 of the a finger base 1A in sequence and then is fastened by a retaining ring. As shown in fig. 5F, 5G, and 5J, one end of the AD rotary 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 of the AB semicircular pulley 1C, the AE through hole 1B3 of the AA semicircular pulley 1B, and the AB through hole 1A12 of the AA arm 1A1 of the a finger base 1A in order and is then fastened by a retaining ring. As shown in fig. 5F, 5G and 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 limit plate 1B5 of the AA semicircular pulley 1B. As shown in fig. 5F, 5G and 5J, one end of the AF rotating shaft 16 passes through the AM through hole 1D23 of the AB link 1D2 in sequence and is fixed on the AA limit plate 1B5 of the AA semicircular pulley 1B.

As shown in fig. 4, 5F, 5J, and 5K, the AA rope pulling column 17 is fixed between the AA semicircular pulley 1B and the AB semicircular pulley 1C, the AA rope pulling column 17 is provided with an AX through hole 17A, the AX through hole 17A is used for binding the other end of the a rope pulling, and the EA rope tying lug 5a3 with a hole is used for binding one end of the a rope pulling. The A pull rope is limited in an AB wire groove 1C1 on the AB semicircular pulley 1C. As shown in fig. 4, 5F, 5J and 5K, the AB draw string post 18 is fixed between the AA semicircular pulley 1B and the AB semicircular pulley 1C, the AB draw string post 18 is provided with an AY through hole 18A, the AY through hole 18A is used for binding the other end of the B draw string, and the EB tie string lug with a hole 5a4 is used for binding one end of the B draw string. The B pull rope is limited in an AA wire groove 1B1 on the AA semicircular pulley 1A.

B finger mechanism 2

Referring to fig. 1, 1A, 1B, and 6, the B finger mechanism 2 has the same structure as the a finger mechanism 1, and therefore, reference may be made to fig. 5, and 5A to 5K for the component structure of the B finger mechanism 2. The B finger mechanism 2 is composed of a B finger base 2A, BA semicircular pulley 2B, BB semicircular pulley 2C, B parallel link mechanism 2D, B finger end connecting piece 2E, B finger end adapter 2F, B fingertip 2G, BA reed 2H1 and BB reed 2H 2. In the invention, the BA semicircular pulley 2B and the BB semicircular pulley 2C form a B pulley block of the B finger mechanism 2.

B the finger base 2A is a U-shaped structure. Between BA arm 2A1 and BB arm 2A2 of B finger base 2A is BA cavity 2A 3. The BA cavity 2A3 is used to place a pulley consisting of a BA semicircular pulley 2B and a BB semicircular pulley 2C. A BA through hole 2A11 and a BB through hole 2A12 are arranged on the BA support arm 2A 1; the BB support arm 2A2 is provided with a BC through hole 2A21 and a BD through hole 2A 22; the BA through hole 2A11 and the BC through hole 2A21 are used for placing the BC rotating shaft 23; the BB through hole 2a12 and BD through hole 2a22 are used for placing the BD spindle 24.

A BA wire casing 2B1 is arranged on a BA excircle machine 2B2 of the BA semicircular pulley 2B, a BA limit plate 2B5 is arranged above the BA semicircular pulley 2B, and a BE through hole 2B3 and a BF through hole 2B4 are arranged on a panel of the BA semicircular pulley 2B.

A BB excircle machine 2C2 of the BB semicircular pulley 2C is provided with a BB line groove 2C1, and a panel of the BB semicircular pulley 2C is provided with a BA limiting column 2C5, a BG through hole 2C3 and a BH through hole 2C 4.

The B parallel link mechanism 2D consists of a BA link 2D1 and a BB link 2D 2; the upper end of the BA connecting rod 2D1 is provided with a BI through hole 2D11, and the BI through hole 2D11 is used for placing the BA spindle 21; the lower extreme of BA connecting rod 2D1 is equipped with BJ through-hole 2D12, and BJ through-hole 2D12 is used for placing BC pivot 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 for placing the BB rotating 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 for placing the BE rotating shaft 25; the BM through hole 2D23 is used for placing the BF spindle 26.

The B-finger end connector 2E is a U-shaped structure. Between BC arm 2E1 and BD arm 2E2 of B-finger end connector 2E is BB cavity 2E 3. The BB cavity 2E3 is used to place the upper end of the B parallel linkage 2D (i.e., the upper end of the BA link 2D1 and the upper end of the BB link 2D 2). A BN through hole 2E11 and a BO through hole 2E12 are arranged on the BC support arm 2E 1; a BP through hole and a BQ through hole 2E22 are arranged on the BD supporting arm 2E 2; the BN through hole 2E11 and the BP through hole are used for placing the BC rotating shaft 21; the BO through hole 2E12 and the BQ through hole 2E22 are used for placing the BD spindle 22. A BA positioning hole 2E4 and a BB positioning hole 2E5 are formed in the upper panel of the B-finger end connector 2E.

A BA positioning pin and a BB positioning pin are arranged on the bottom panel of the B-finger end adapter 2F, the BA positioning pin is arranged in a BA positioning hole 2E4 of the upper panel of the B-finger end connector 2E, and the BB positioning pin is arranged in a BB 2E5 of the upper panel of the B-finger end connector 2E. The side panel of the B-finger end adapter piece 2F is provided with a BA thread blind hole 2F1 and a BB thread blind hole 2F 2. The B-finger end adapter piece 2F and the B-finger end connecting piece 2E are fixed by passing a screw through the BT through hole.

One end of the B fingertip 2G is a B finger pad 2G3, and the B finger pad 2G3 is used for contacting with an object; the other end of the B fingertip 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 thread blind hole 2G2 of the B fingertip 2G through a screw, and the lower end of the BA reed 2H1 is fixed in the BA thread blind hole 2F1 of the B fingertip adaptor 2F through a screw. The upper end of the BB reeds 2H2 is fixed in the BB thread blind hole 2F2 of the B-finger end adaptor 2F through a screw, and the lower end of the BB reeds 2H2 is fixed in the BC thread blind hole 2G1 of the B-finger tip 2G through a screw.

One end of the BA spindle 21 is fastened by a retainer ring after passing 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 connecting rod 2D1 and the BN through hole 2E11 of the BC support arm 2E1 of the B-finger end connector 2E in sequence. One end of the BB rotating shaft 22 is sequentially passed through the BQ through hole 2E22 of the BD arm 2E2 of the B finger end connector 2E, the BK through hole 2D21 of the BB link 2D2, and the BO through hole 2E12 of the BC arm 2E1 of the B finger end connector 2E, and then is clamped by a retainer ring. One end of the BC rotating shaft 23 is sequentially passed through the BC through hole 2A21 of the BB 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 arm 2A1 of the B finger base 2A, and then is fastened by a retainer ring. One end of the BD rotating shaft 24 is sequentially passed 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, the BE through hole 2B3 of the BA semicircular pulley 2B, and the BB through hole 2A12 of the BA support arm 2A1 of the B finger base 2A and then clamped by a retainer ring. One end of the BE rotating shaft 25 is fixed on a BA limit plate 2B5 of the BA semicircular pulley 2B after sequentially passing through the BL through hole 2D22 of the BB connecting rod 2D 2. One end of the BF spindle 26 is fixed on the BA limit plate 2B5 of the BA semicircular pulley 2B after sequentially passing through the BM through hole 2D23 of the BB link 2D 2.

BA stay cord post 27 is fixed between BA semicircular pulley 2B and BB semicircular pulley 2C, is equipped with BX through-hole 27A on the BA stay cord post 27, and BX through-hole 27A is used for binding the other end of C stay cord, and EA foraminiferous stay cord lug 5A3 is used for binding the one end of C stay cord. The C pulling rope is limited in a BB line groove 2C1 on the BB semicircular pulley 2C. BB guy rope column 28 is fixed between BA semicircular pulley 2B and BB semicircular pulley 2C, a BY through hole is formed in BB guy rope column 28 and used for binding the other end of the D guy rope, and EB hole guy rope lug 5A4 is used for binding one end of the F guy rope. And the D pull rope is limited in a BA wire groove 2B1 on the BA semicircular pulley 2A.

C finger mechanism 3

Referring to fig. 1, 1A, 1B, and 7, the C finger mechanism 3 has the same structure as the a finger mechanism 1, and therefore, reference may be made to fig. 5, 5A to 5K for the component structure of the C finger mechanism 3. The C finger mechanism 3 is composed of a C finger base 3A, CA semicircular pulley 3B, CB semicircular pulley 3C, C parallel link mechanism 3D, C finger end connecting piece 3E, C finger end adapter 3F, C fingertip 3G, CA reed 3H1 and CB reed 3H 2. In the present invention, the CA semicircular pulley 3B and the CB semicircular pulley 3C constitute a C pulley block 39 (shown in fig. 9) of the C finger mechanism 3.

The C finger base 3A is a U-shaped structure. Between CA arm 3A1 and CB arm 3A2 of C finger base 3A is CA cavity 3A 3. The CA cavity 3A3 is used to place the

semi-circular pulleys

3B and 3C. The CA support arm 3A1 is provided with a CA through hole 3A11 and a CB through hole 3A 12; the CB support arm 3A2 is provided with a CC through hole 3A21 and a CD through hole 3A 22; the CA through hole 3A11 and the CC through hole 3A21 are used for placing the CC rotating shaft 33; the CB through hole 3A12 and the CD through hole 3A22 are used for placing the CD rotating shaft 34.

A CA wire casing 3B1 is arranged on a CA excircle machine 3B2 of the CA semicircular pulley 3B, a CA limit plate 3B5 is arranged above the CA semicircular pulley 3B, and a CE through hole 3B3 and a CF through hole 3B4 are arranged on a panel of the CA semicircular pulley 3B. The CB outer circle 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 limiting column 3C5, a CG through hole 3C3 and a CH through hole 3C 4.

The C parallel link mechanism 3D consists of a CA link 3D1 and a CB link 3D 2; the upper end of the CA connecting rod 3D1 is provided with a CI through hole 3D11, and the CI through hole 3D11 is used for placing the CA rotating shaft 31; the lower end of the CA connecting rod 3D1 is provided with a CJ through hole 3D12, and the CJ through hole 3D12 is used for placing 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 for placing the CB rotating 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 for placing the CE rotating shaft 35; the CM through hole 3D23 is used for placing the CF spindle 36.

The C-finger end connector 3E is a U-shaped structure. Between CC arm 3E1 and CD arm 3E2 of C-finger end connector 3E is CB cavity 3E 3. The CB cavity 3E3 is used to place the upper end of the C parallel linkage 3D (i.e., the upper end of the CA link 3D1 and the upper end of the CB link 3D 2). A CN through hole 3E11 and a CO through hole 3E12 are arranged on the CC support arm 3E 1; the CD support arm 3E2 is provided with a CP through hole and a CQ through hole 3E 22; the CN through hole 3E11 and the CP through hole are used for placing the CC rotating shaft 31; the CO through hole 3E12 and the CQ through hole 3E22 are used for placing the CD rotating shaft 32. The upper panel of the C-finger end connector 3E is provided with a CA positioning hole 3E4 and a CB positioning hole 3E 5.

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 arranged in CA positioning holes 3E4 of the upper panel of the C-finger end connector 3E, and the CB positioning pins are arranged in CB positioning holes 3E5 of the upper panel of the C-finger end connector 3E. The side panel of the C-finger end adapter 3F is provided with a CA threaded blind hole 3F1 and a CB threaded blind hole 3F 2. The C finger end adapter 3F and the C finger end connecting piece 3E are fixed by passing a screw through the CT through hole.

One end of the C fingertip 3G is a C finger pad 3G3, and the C finger pad 3G3 is used for contacting with an object; and a CC thread blind hole and a CD thread blind hole are formed in the other end of the C fingertip 3G.

The upper end of the CA reed 3H1 is fixed in the CD threaded blind hole 3G2 of the C fingertip 3G through a screw, and the lower end of the CA reed 3H1 is fixed in the CA threaded blind hole 3F1 of the C fingertip adaptor 3F through a screw. The upper end of the CB reed 3H2 is fixed in the CB threaded blind hole 3F2 of the C-finger end adapter 3F through a screw, and the lower end of the CB reed 3H2 is fixed in the CC threaded blind hole 3G1 of the C fingertip 3G through a screw. One end of the CA rotating shaft 31 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 connecting rod 3D1 and the CN through hole 3E11 of the CC support arm 3E1 of the C finger end connector 3E in sequence and then is clamped by a retaining ring. One end of the CB rotating shaft 32 passes through a CQ through hole 3E22 of a CD support arm 3E2 of the C finger end connecting piece 3E, a CK through hole 3D21 of a CB connecting rod 3D2 and a CO through hole 3E12 of a CC support arm 3E1 of the C finger end connecting piece 3E in sequence and then is clamped by a retaining ring. One end of the CC rotary shaft 33 is fastened by a retainer ring after sequentially passing 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 connecting rod 3D1 and the CA through hole 3A11 of the CA arm 3A1 of the C finger base 3A. One end of the CD rotating shaft 34 passes through a CD through hole 3A22 of a CB support arm 3A2 of the C finger base 3A, a CG through hole 3C3 of a CB semicircular pulley 3C, a CE through hole 3B3 of a CA semicircular pulley 3B and a CB through hole 3A12 of a CA support arm 3A1 of the C finger base 3A in sequence and then is clamped by a retainer ring. One end of the CE rotating shaft 35 is fixed on the CA limit plate 3B5 of the CA semicircular pulley 3B after sequentially passing through the CL through hole 3D22 of the CB link 3D 2. One end of the CF rotating shaft 36 is fixed on the CA limit plate 3B5 of the CA semicircular pulley 3B after sequentially passing through the CM through hole 3D23 of the CB link 3D 2. CA stay cord post 37 is fixed between CA semicircular pulley 3B and CB semicircular pulley 3C, is equipped with CX through-hole 37A on CA stay cord post 37, and CX through-hole 37A is used for binding the other end of E stay cord, and EA foraminiferous tying rope lug 5A3 is used for binding the one end of E stay cord. The E pull rope is limited in a CB wire groove 3C1 on the CB semicircular pulley 3C. The CB stay cord post 38 is fixed between the CA semicircular pulley 3B and the CB semicircular pulley 3C, a CY through hole is formed in the CB stay cord post 38 and used for binding the other end of the F stay cord, and a rope binding lug 5A4 with a hole EB is used for binding one end of the F stay cord. The F pull rope is limited in a CA wire groove 3B1 on the CA semicircular pulley 3A.

Drive mechanism 4

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

As shown in fig. 3A and 3B, the DA panel 4B1 of the DA motor base 4B has a DA through hole 4B2 at the center thereof, and the DA through hole 4B2 is used for the motor output shaft 4D of the motor 4A to pass through. DA support arms 4B3 and DB support arms 4B4 are arranged on two sides of a DA panel 4B1 of the DA motor base 4B, DB through holes 4B5 (used for DA tightening top nails 4A1 to penetrate) and DA grooves 4B7 are arranged on the DA support arms 4B3, and DC through holes 4B6 (used for DB tightening top nails 4A2 to penetrate) and DB grooves 4B8 are arranged on the DB support arms 4B 4. DA groove 4B7 is used to place DA lug 4C 3. DB groove 4B8 is used to place DB lug 4C 4.

As shown in fig. 3A, 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 for the motor output shaft 4D of the motor 4A to pass through. Two sides of a DB panel 4C1 of the DB motor base 4C are provided with DA lugs 4C3 and DB lugs 4C4, DE through holes 4C5 (used for DA tightly-pushing nails 4A1 to pass through) are arranged on the DA lugs 4C3, and DD through holes 4C6 (used for DB tightly-pushing nails 4A2 to pass through) are arranged on the DB lugs 4C 4.

In the invention, a DA panel 4B1 of a DA motor seat 4B is fixed with a shell of a motor 4A; the DA lug 4C3 on the DB motor seat 4C is inserted into the DA groove 4B7 of the DA motor seat 4B; DB lugs 4C4 on DB motor mount 4C are inserted into DB grooves 4B8 of DA motor mount 4B; a motor output shaft 4D of the motor 4A sequentially passes through a DA through hole 4B2 of the DA motor base 4B and a DD through hole 4C2 of the DB motor base 4C; the DB panel 4C1 of DB motor mount 4C is fixed to finger attachment 6C of finger rest 6. One end of the DA tightly-pushing nail 4A1 is tightly pushed on one end of the shell of the motor 4A after sequentially passing through DB through hole 4B5 of DA support arm 4B3 of DA motor seat 4B and DE through hole 4C5 of DA lug 4C3 of DB motor seat 4C; one end of the DB top nail 4A2 is sequentially penetrated through the DC through hole 4B6 of the DB support arm 4B4 of the DA motor seat 4B and the DF through hole 4C6 of the DB lug 4C4 of the DB motor seat 4C and then is tightly pressed on the other end of the shell of the motor 4A.

Differential mechanism 5

Referring to fig. 1, 1A, 1B, 3, 4A, 4B, 4C, 4D, and 4E, the differential mechanism 5 includes an EA cord connection plate 5A, EB, a cord connection plate 5B, EC, a cord connection plate 5C, a cord cover plate 5D, a flexible universal joint 5E, a lock head 5F, and six cords (not shown). The EA cord connection plate 5A, EB and the EC cord connection plate 5C have the same structure. The six pull ropes are respectively numbered as a pull rope A, a pull rope B, a pull rope C, a pull rope D, a pull rope E and a pull rope F. The universal joint 5E is surrounded by an EA pull rope connecting plate 5A, EB pull rope connecting plate 5B and an EC pull rope connecting plate 5C which are arranged in a circle. In the present invention, the differential mechanism 5 is used to balance the grasping force of the three finger mechanisms (1, 2 and 3), and on one hand, the output shaft of the motor 4A is connected through the flexible universal joint 5E, and on the other hand, the single motion input (from the motor motion) and the three motion output (three finger mechanism motion) are realized through the connection of the two ropes (i.e. the pull ropes) bound on the pull rope connecting plate and the two semicircular pulleys on the finger mechanisms, as shown in fig. 9 and 9A.

As shown in fig. 4 and 5J, an EA fixing plate 5A1 is disposed at one end of the EA pull rope connecting plate 5A, and the EA fixing plate 5A1 is fixed at the EA groove 5D1 of the pull rope cover plate 5D by screws; EA vertical plate 5A2 of EA pull rope connecting plate 5A is diagonally provided with EA hole tying rope lug 5A3 and EB hole tying rope lug 5A 4. The EA rope binding lug 5A3 with the hole is used for binding one end of the A rope, the other end of the A rope is bound on an AX through hole 17A of the AA rope pulling column 17, and the A rope is limited in an AB wire slot 1C1 on the AB semicircular pulley 1C. The EB is provided with a binding rope lug 5A4 for binding one end of the B pulling rope, the other end of the B pulling rope is limited in an AA wire groove 1B1 on the AA semicircular pulley 1B, the other end of the B pulling rope is bound on an AY through hole 18A of the AB pulling rope column 18, and the B pulling rope is limited in an AA wire groove 1B1 on the AA semicircular pulley 1A.

As shown in fig. 4, an EB fixing plate 5B1 is disposed at one end of the EB pull rope connecting plate 5B, and the EB fixing plate 5B1 is fixed at the EB groove 5D2 of the pull rope cover plate 5D by screws; EB vertical plate 5B2 of EB pull rope connecting plate 5B is provided with an EC rope-tying lug with holes 5B3 and an ED rope-tying lug with holes 5B4 at opposite angles. The EC rope binding lug with the hole 5B3 is used for binding one end of the C rope, the other end of the C rope is bound on the BX through hole 27A of the BA rope column 27, and the C rope is limited in the BB line groove 2C1 on the BB semicircular pulley 2C. The ED rope binding lug with the hole 5B4 is used for binding one end of the D pulling rope, the other end of the D pulling rope is bound on the AY through hole of the BB pulling rope column 28, and the D pulling rope is limited in the BA wire groove 2B1 on the BA semicircular pulley 2A.

As shown in fig. 4, an EC fixing plate 5C1 is disposed at one end of the EC pull rope connecting plate 5C, and the EC fixing plate 5C1 is fixed at the EC groove 5D3 of the pull rope cover plate 5D by screws; EE lacing wire lugs 5C3 and EF lacing wire lugs (not shown in the figure) are arranged on the opposite angles of an EC vertical plate 5C2 of the EC pulling rope connecting plate 5C. The EE binding rope lug with a hole 5C3 is used for binding one end of the E pulling rope, the other end of the E pulling rope is bound on the CX through hole 37A of the CA pulling rope column 37, and the E pulling rope is limited in the CB wire groove 3C1 on the CB semicircular pulley 3C. The EF rope binding lug with the hole is used for binding one end of the F rope, the other end of the F rope is bound on the CY through hole of the CB rope pulling column 38, and the F rope is limited in the CA wire slot 3B1 on the CA semicircular pulley 3A.

An EA groove 5D1, an EB groove 5D2, an EC groove 5D3 and an EA boss body 5D4 are arranged on the pull rope cover plate 5D, an EA counter bore 5D5 is arranged at the center of the EA boss body 5D4, and a screw penetrates through the EA counter bore 5D5 and then is fixed in an EA threaded hole 5E2 of an EA upper panel 5E1 of the universal joint 5E, namely, the lower bottom panel of the pull rope cover plate 5D is fixed with the EA upper panel 5E1 of the universal joint 5E.

As shown in fig. 3, 4B, 4C, 4D, and 4E, the upper portion of the gimbal 5E is an EA upper plate 5E1, and the lower portion of the gimbal 5E is an EA lower fixing plate 5E 3. The cylindrical body of the gimbal 5E is provided with an EA intermediate beam 56, an EB intermediate beam 57, an EA cutout 51, an EB cutout 52, an EC cutout 53, and an ED cutout 54. The EA intermediate beam 56 is formed by a combination of the EC cut 53 and the ED cut 54 being removed. The EB intermediate beam 57 is formed by the joined body after the EA incision 51 and the EB incision 52 are removed. The intersection of the EA intermediate beam 56 and the EB intermediate beam 57 is the pivot point of the universal joint 5E (i.e., the hinge pivot point O in fig. 9). Wherein, the EA cut 51 and the EB cut 52 are provided above the cylinder of the gimbal 5E, and the EC cut 53 and the ED cut 54 are provided below the cylinder of the gimbal 5E; the upper flexible body is located above the EA notch 51 and the EB notch 52 and the lower flexible body is located below the EC notch 53 and the ED notch 54, which are divided by the rotation center point of the gimbal 5E.

As shown in fig. 3B and 4, the locking head 5F is of a fan-shaped structure, and the locking head 5F is provided with an EA through hole 5F1, an EB through hole 5F2, and an EA opening round hole 5F 3; the EA locking nail 5G penetrates through the EA through hole 5F1 and then is in threaded connection with an EB threaded hole 5E4 of an EA lower fixing plate 5E3 of the universal joint 5E; the EB locking nail 5H penetrates through the EB through hole 5F2 and then is in threaded connection with an EC threaded hole 5E5 of an EA lower fixing plate 5E3 of the universal joint 5E; the EA opening round hole 5F3 cooperates with the EB opening round hole 5E6 of the EA lower fixing plate 5E3 of the universal joint 5E to clasp the motor output shaft 4D of the driving mechanism 4, and is locked by an EA locking nail 5G and an EB locking nail 5H.

Finger rest 6

As shown in fig. 1, 1A, 1B, and 2, the finger rest 6 serves as a layout for mounting a two-finger or three-finger, and serves as a fixed connection to an external actuator. When the finger mechanism is fixedly connected with the executing mechanism, the finger mechanism designed by the invention is used as the executing tail end and is used for realizing the grabbing of the object.

The finger support 6 comprises a support upper cover 6A, a support supporting plate 6B, a finger connecting piece 6C, an electric fixing frame 6D and a socket panel 6E.

The center of the bracket upper cover 6A is provided with an FA through hole 6A1, and the FA through hole 6A1 is used for the motor output shaft 4D of the driving mechanism 4 to pass through. An FA lug panel 6A2 for fixing to one end of the rack support plate 6B is provided on the outer edge of the rack upper cover 6A. At the center of the holder support plate 6B is an FA cavity 6B2, and the FA cavity 6B2 is used for holding an electrical fixture 6D. The holder support plate 6B is provided with an FA opening 6B1 at which an end of the receptacle panel 6E is placed 6B 1. One end of the bracket support plate 6B is fixed on the outer edge of the bracket upper cover 6A, and the other end of the bracket support plate 6B is fixed at one end of the finger connecting piece 6C. The finger link 6C is provided with an FB opening 6C1, and the FB opening 6C1 is provided at the other end for placing the socket panel 6E. The center of the finger connecting piece 6C is provided with an FB through hole 6C2, 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 an FA tab 6C4 for fixedly mounting the a finger base 1A of the a finger mechanism 1, an FB tab 6C5 of the B finger base 2A of the B finger mechanism 2, and an FC tab 6C6 of the C finger base 3A of the C finger mechanism 3. The electrical fixture 6D is placed in the FA cavity 6B2 of the cradle support plate 6B. The socket panel 6E is fixed to the holder support plate 6B and the finger connecting piece 6C.

Differential motion analysis

The differential mechanism 5 is in fact a kinematic mechanism with a single kinematic input (from the motor motion) and three kinematic outputs (three finger mechanism motion). Referring to fig. 1B, 9A, 9B, and 9C, for convenience of description, the finger mechanism a1 and the finger mechanism C3 and the flexible gimbal 5E constitute a schematic diagram of a grasping requirement. The flexible universal joint 5E serves as a hinge pivot point O (shown in fig. 9) to allow the three pull-cord connecting plates (5A, 5B, 5C) of the differential mechanism 5 to rotate along the X-axis and the Y-axis to meet the adaptive gripping requirement (shown in fig. 9A), and the rigidity of the flexible universal joint 5E along the X-axis is denoted by k_xThe stiffness of the flexible gimbal 5E along the Y-axis is denoted as k_y。θ₁And theta₂The inclination angles of the flexible gimbal 5E in the X-axis and Y-axis directions, respectively. In the invention, the flexible universal joint 5E is formed by connecting two notch-type flexible hinges in series, and the structure avoids the complexity of a motion transmission mechanism and ensures the compactness of the clamping jaw.

In the present invention, each finger mechanism is connected to the differential mechanism 5 by two cables. The ropes (a rope, C rope, and E rope) draw the fingers closed when the differential mechanism 5 moves upward, and the ropes (B rope, D rope, and F rope) draw the fingers open when the differential mechanism 5 moves downward. Since the cord has a very large stiffness in the axial direction and a very small stiffness in the bending direction, it has a sufficiently strong pulling finger mechanism. In addition, the cable is wound around the surface of the semi-circular pulley, and the cable is maintained in tension throughout the entire range of rotation of the pulley.

Grabbing objects of different shapes

The motion displacement y of the fingertip can be obtained according to a kinematic equation₀-y_i(as shown in fig. 9B), the lower corner mark i is the identification number of the finger, which can be the a finger mechanism 1, the B finger mechanism 2 or the C finger mechanism 3, as follows:

where x is the distance of movement of the rope end, y₀Position of the grasping point at the initial position, y_iDistance of the grasping point after movement, L is length of finger, r₀The radius of the semicircular pulley. The x value of each finger is different due to the oblique deformation of the differential mechanism.

As shown in fig. 9B, for a regular shaped object grasp (there are three grasp points with the same distance to a point in the object), three fingers of the paw can contact the surface of the object at the same time. In other words, when the object is grasped, the displacement of each finger is the same (i.e., y)₁＝y₂＝y₃，y₁Is the distance of the grasping point after the movement of the A finger mechanism, y₂Is the B fingerDistance of the gripping point after movement of the mechanism, y₃Distance of the grasping point after the movement of the C finger mechanism), and the grasping force is the same (F)₁＝F₂＝F₃). At this time, the differential mechanism moves up or down in parallel without any tilt angle. F₁Is the grasping force of A finger mechanism, F₂As grasping power of B finger mechanism, F₃The grasping force of the C finger mechanism.

As shown in fig. 9C, when the three-finger adaptive gripper designed by the present invention is used to grip an irregular object, the moving distance of each finger is different for the gripping of the irregular object (there is no three gripping points with the same distance from a certain point in the object). Assume that the a finger mechanism first touches the object, then the B finger mechanism touches the object, and finally the C finger mechanism touches the object. The grasping configuration of the paw may be denoted as (y)₁,y₂,y₃). To achieve object capture, the differential must be tilted at an angle along the X and Y axes (i.e., θ)₁And theta₂) The motion state can be expressed as (x, theta)₁,θ₂) Where x represents the distance of movement of the rope end, theta₁And theta₂The inclination angles of the differential mechanism along the X-axis and the Y-axis directions are respectively. Thus, there is a mapping relationship that will output motion (y)₁,y₂,y₃) Mapping to input motion (x, theta)₁,θ₂)。

A regular shape for the object to be grasped but with a displacement offset of one point from the center of the gripper, or similarly an irregular shape for the object to be grasped and also with a displacement offset of one point from the center of the gripper. By utilizing the flexible universal joint structure designed by the invention, the paw designed by the invention can adaptively grab objects in any situation.

Compliant manipulation of inserted objects

Figure 10 gives a schematic representation of the compliance of the finger mechanism picking up the object in contact with the object. Two pairs of cross plate reeds (1H1 and 1H2, 3H1 and 3H2) form a cross reed mechanism. The A fingertip 1G is fixedly connected with the A fingertip adaptor 1E through an AA reed 1H1 and an AB reed 1H 2. (intermediate)And a piece 1F) C fingertip 3G is fixedly connected with the C fingertip adaptor 3E through a CA reed 3H1 and a CB reed 3H 2. (and one member 3F in the middle) this design of the paw of the invention provides a greater rotational compliance but maintains a large linear stiffness in the horizontal and vertical directions. In a spindle mount application, mounting one such cross leaf spring on a fingertip provides the necessary compliance. When the object is inserted, the virtual point D (i.e. RCC point, RCC (remote compliance center)) of the object is subjected to a leftward resistance F_LOr a right resistance F_RIn this case, the object can be flexibly inserted into the hole by adjusting a displacement Δ X in a horizontal direction and an angle Δ θ of rotation about the Z-axis by the cross-reed mechanism.

Single-motor-driven self-adaptive paw with two-finger mechanism

As shown in fig. 8, the two finger mechanisms are symmetrically distributed on the finger connecting piece to form the single-motor-driven adaptive paw with the two finger mechanisms. In a similar way, the single-motor-driven self-adaptive paw with the four finger mechanisms is formed by fixing the two finger mechanisms on the finger connecting piece in a pairwise symmetrical manner.

The invention relates to a single-motor-driven self-adaptive paw with RCC function, which solves the problems that the existing self-adaptive paw can adapt to the position error of an object in a grabbing stage, but can not eliminate the position error in the following assembly stage; on the other hand, the problems that the existing full-drive self-adaptive paw realizes the clamping of irregular objects by utilizing multi-joint active drive, so that the control is complex, the price is high, and the full-drive self-adaptive paw is difficult to widely apply to production are solved. The paw of the invention utilizes a motor to drive the flexible universal joint and simultaneously drive the rope to pull, and can convert the single motion of the driving mechanism into the differential motion or the independent motion of three finger mechanisms, and the finger mechanisms transmit the output motion of the differential mechanism to the finger ends to realize the picking or inserting operation of objects.

Claims

1. A single motor driven self-adaptive paw with RCC function comprises a finger mechanism; the method is characterized in that: the A finger mechanism (1) is composed of an A finger base (1A), an AA semicircular pulley (1B), an AB semicircular pulley (1C), an A parallel link mechanism (1D), an A finger end connecting piece (1E), an A finger end adapter piece (1F), an A fingertip (1G), an AA reed (1H1) and an AB reed (1H 2); wherein the AA semicircular pulley (1B) and the AB semicircular pulley (1C) have the same structure; the AA reed (1H1) and the AB reed (1H2) have the same structure;

a, a finger base (1A) is a U-shaped structure; an AA cavity (1A3) is arranged between the AA support arm (1A1) and the AB support arm (1A2) of the finger base (1A); the AA cavity (1A3) is used for placing an AA semicircular pulley (1B) and an AB semicircular pulley (1C); the AA support arm (1A1) is provided with an AA through hole (1A11) and an AB through hole (1A 12); the AB support arm (1A2) is provided with an AC through hole (1A21) and an AD through hole (1A 22); the AA through hole (1A11) and the AC through hole (1A21) are used for placing the AC rotating shaft (13); the AB through hole (1A12) and the AD through hole (1A22) are used for placing the AD rotating shaft (14);

an AA wire casing (1B1) is arranged on an AA excircle machine (1B2) of the AA semicircular pulley (1B), an AA limiting plate (1B5) is arranged above the AA semicircular pulley (1B), and an AE through hole (1B3) and an AF through hole (1B4) are arranged on a panel of the AA semicircular pulley (1B);

an AB line groove (1C1) is formed in an AB outer circle machine (1C2) of the AB semicircular pulley (1C), and an AA limiting column (1C5), an AG through hole (1C3) and an AH through hole (1C4) are formed in a panel of the AB semicircular pulley (1C);

the A parallel link mechanism (1D) consists of an AA connecting rod (1D1) and an AB connecting rod (1D 2); an AI through hole (1D11) is formed in the upper end of the AA connecting rod (1D1), and the 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 for placing 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 for placing the AB rotating 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 for placing an AE rotating shaft (15); the AM through hole (1D23) is used for placing the AF rotating shaft (16);

the A finger end connecting piece (1E) is a U-shaped structure body; an AB cavity (1E3) is arranged between an AC support arm (1E1) and an AD support arm (1E2) of the A-finger end connecting piece (1E); the AB cavity (1E3) is used for placing the upper end of the A parallel link mechanism (1D); the AC support arm (1E1) is provided with AN AN through hole (1E11) and AN AO through hole (1E 12); the AD support arm (1E2) is provided with an AP through hole (1E21) and an AQ through hole (1E 22); the AN through hole (1E11) and the AP through hole (1E21) are used for placing the AC rotating shaft (11); the AO through hole (1E12) and the AQ through hole (1E22) are used for placing the AD rotating shaft (12); an AA positioning hole (1E4) and an AB positioning hole (1E5) are formed in the upper panel of the A finger end connecting piece (1E);

an AA positioning pin (1F3) and an AB positioning pin (1F4) are arranged on the bottom panel of the A finger end adapter (1F), the AA positioning pin (1F3) is arranged in an AA positioning hole (1E4) of the upper panel of the A finger end connector (1E), and the AB positioning pin (1F4) is arranged in an AB positioning hole (1E5) of the upper panel of the A finger end connector (1E); an AA thread blind hole (1F1) and an AB thread blind hole (1F2) are arranged on the side panel of the A-finger-end adapter piece (1F); the A finger end adapter (1F) and the A finger end connecting piece (1E) are fixed by a screw penetrating through the AT through hole (1F 5);

one end of the A fingertip (1G) is an A finger pad (1G3), and the A finger pad (1G3) is used for contacting with an object; the other end of the A fingertip (1G) is provided with an AC threaded blind hole (1G1) and an AD threaded blind hole (1G 2);

the upper end of the AA reed (1H1) is fixed in an AD threaded blind hole (1G2) of the A fingertip (1G) through a screw, and the lower end of the AA reed (1H1) is fixed in an AA threaded blind hole (1F1) of the A fingertip adaptor (1F) through a screw;

the upper end of the AB reed (1H2) is fixed in an AB thread blind hole (1F2) of the A fingertip adaptor (1F) through a screw, and the lower end of the AB reed (1H2) is fixed in an AC thread blind hole (1G1) of the A fingertip (1G) through a screw;

one end of the AA rotating shaft (11) sequentially penetrates through AN AP through hole (1E21) of AN AD support arm (1E2) of the A finger end connecting piece (1E), AN AI through hole (1D11) of the AA connecting rod (1D1) and AN AN through hole (1E11) of AN AC support arm (1E1) of the A finger end connecting piece (1E) and then is clamped by a retainer ring;

one end of the AB rotating shaft (12) sequentially penetrates through an AQ through hole (1E22) of an AD support arm (1E2) of the A finger end connecting piece (1E), an AK through hole (1D21) of an AB connecting rod (1D2) and an AO through hole (1E12) of an AC support arm (1E1) of the A finger end connecting piece (1E) and then is clamped by a retaining ring;

one end of the AC rotating shaft (13) sequentially penetrates through an AC through hole (1A21) of an AB support arm (1A2) of the A finger base (1A), an AJ through hole (1D12) of an AA connecting rod (1D1) and an AA through hole (1A11) of an AA support arm (1A1) of the A finger base (1A) and then is clamped by a retaining ring;

one end of the AD rotating shaft (14) sequentially penetrates through an AD through hole (1A22) of an AB support arm (1A2) of the A finger base (1A), an AG through hole (1C3) of an AB semicircular pulley (1C), an AE through hole (1B3) of an AA semicircular pulley (1B) and an AB through hole (1A12) of an AA support arm (1A1) of the A finger base (1A) and then is clamped by a retaining ring;

one end of the AE rotating shaft (15) sequentially penetrates through AL through holes (1D22) of the AB connecting rods (1D2) and then is fixed on an AA limiting plate (1B5) of the AA semicircular pulley (1B);

one end of the AF rotating shaft (16) sequentially penetrates through an AM through hole (1D23) of the AB connecting rod (1D2) and then is fixed on an AA limiting plate (1B5) of the AA semicircular pulley (1B);

an AA stay cord column (17) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C), an AX through hole (17A) is formed in the AA stay cord column (17), the AX through hole (17A) is used for binding the other end of the A stay cord, and an EA rope binding lug (5A3) with a hole is used for binding one end of the A stay cord; the A pull rope is limited in an AB wire groove (1C1) on the AB semicircular pulley (1C);

the AB stay cord column (18) is fixed between the AA semicircular pulley (1B) and the AB semicircular pulley (1C), an AY through hole (18A) is formed in the AB stay cord column (18), the AY through hole (18A) is used for binding the other end of the B stay cord, and an EB (EB) hole binding cord lug (5A4) is used for binding one end of the B stay cord; the B pull rope is limited in an AA wire groove (1B1) on the AA semicircular pulley (1A).

2. The single motor driven adaptive gripper with RCC functionality of claim 1, wherein: the device also comprises a driving mechanism 4;

the driving mechanism 4 is composed of a motor 4A, DA motor base 4B and a DB motor base 4C;

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; two sides of a DA panel 4B1 of the DA motor base 4B are provided with a DA support arm 4B3 and a DB support arm 4B4, a DB through hole 4B5 and a DA groove 4B7 which are used for the DA top tightening nail 4A1 to pass through are arranged on the DA support arm 4B3, and a DC through hole 4B6 and a DB groove 4B8 which are used for the DB top tightening nail 4A2 to pass through are arranged on the DB support arm 4B 4; DA grooves 4B7 are used for placing DA lugs 4C 3; DB groove 4B8 is used to place DB lug 4C 4;

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; two sides of a 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 used for DA top tightening nails 4A1 to penetrate, and the DB lugs 4C4 are provided with DD through holes 4C6 used for DB top tightening nails 4A2 to penetrate;

a DA panel 4B1 of the DA motor seat 4B is fixed with the shell of the motor 4A; the DA lug 4C3 on the DB motor seat 4C is inserted into the DA groove 4B7 of the DA motor seat 4B; DB lugs 4C4 on DB motor mount 4C are inserted into DB grooves 4B8 of DA motor mount 4B; a motor output shaft 4D of the motor 4A sequentially passes through a DA through hole 4B2 of the DA motor base 4B and a DD through hole 4C2 of the DB motor base 4C; the DB panel 4C1 of the DB motor base 4C is fixed on the finger connecting piece 6C of the finger support 6; one end of the DA tightly-pushing nail 4A1 is tightly pushed on one end of the shell of the motor 4A after sequentially passing through DB through hole 4B5 of DA support arm 4B3 of DA motor seat 4B and DE through hole 4C5 of DA lug 4C3 of DB motor seat 4C; one end of the DB top nail 4A2 is sequentially penetrated through the DC through hole 4B6 of the DB support arm 4B4 of the DA motor seat 4B and the DF through hole 4C6 of the DB lug 4C4 of the DB motor seat 4C and then is tightly pressed on the other end of the shell of the motor 4A.

3. The single motor driven adaptive gripper with RCC functionality of claim 1, wherein: also comprises a differential mechanism 5;

the differential mechanism 5 consists of an EA pull rope connecting plate 5A, EB, a pull rope connecting plate 5B, EC, a pull rope connecting plate 5C, a pull rope cover plate 5D, a flexible universal joint 5E, a lock head 5F and six pull ropes; the EA pull rope connecting plate 5A, EB pull rope connecting plate 5B and the EC pull rope connecting plate 5C are identical in structure; the six pull ropes are respectively numbered as a pull rope A, a pull rope B, a pull rope C, a pull rope D, a pull rope E and a pull rope F; the universal joint 5E is annularly wrapped in the middle by an EA pull rope connecting plate 5A, EB pull rope connecting plate 5B and an EC pull rope connecting plate 5C which are arranged according to the circumference;

an EA fixing plate 5A1 is arranged at one end of the EA pull rope connecting plate 5A, and the EA fixing plate 5A1 is fixed at an EA groove 5D1 of the pull rope cover plate 5D through screws; EA vertical plates 5A2 of the EA pull rope connecting plate 5A are diagonally provided with EA hole binding rope lugs 5A3 and EB hole binding rope lugs 5A 4;

the EA rope binding lug 5A3 with a hole is used for binding one end of the A rope, the other end of the A rope is bound on an AX through hole 17A of the AA rope pulling column 17, and the A rope is limited in an AB wire slot 1C1 on the AB semicircular pulley 1C;

the EB is provided with a binding rope lug 5A4 for binding one end of the B pulling rope, the other end of the B pulling rope is limited in an AA wire groove 1B1 on the AA semicircular pulley 1B, the other end of the B pulling rope is bound on an AY through hole 18A of the AB pulling rope column 18, and the B pulling rope is limited in an AA wire groove 1B1 on the AA semicircular pulley 1A;

one end of the EB pull rope connecting plate 5B is provided with an EB fixing plate 5B1, and the EB fixing plate 5B1 is fixed at an EB groove 5D2 of the pull rope cover plate 5D through screws; an EB vertical plate 5B2 of the EB pull rope connecting plate 5B is diagonally provided with an EC rope binding lug with holes 5B3 and an ED rope binding lug with holes 5B 4; the EC rope binding lug with a hole 5B3 is used for binding one end of the C rope, the other end of the C rope is bound on the BX through hole 27A of the BA rope column 27, and the C rope is limited in the BB wire groove 2C1 on the BB semicircular pulley 2C; the ED rope binding lug with the hole 5B4 is used for binding one end of the D pulling rope, the other end of the D pulling rope is bound on an AY through hole of the BB pulling rope column 28, and the D pulling rope is limited in a BA wire groove 2B1 on the BA semicircular pulley 2A;

one end of the EC pull rope connecting plate 5C is provided with an EC fixing plate 5C1, and the EC fixing plate 5C1 is fixed at an EC groove 5D3 of the pull rope cover plate 5D through screws; an EE lacing wire lug 5C3 and an EF lacing wire lug are arranged on the opposite angle of an EC vertical plate 5C2 of the EC pulling rope connecting plate 5C; the EE binding rope lug 5C3 with a hole is used for binding one end of an E pulling rope, the other end of the E pulling rope is bound on a CX through hole 37A of a CA pulling rope column 37, and the E pulling rope is limited in a CB wire groove 3C1 on a CB semicircular pulley 3C; the F pull rope with the hole is used for binding one end of the F pull rope, the other end of the F pull rope is bound on the CY through hole of the CB pull rope column 38, and the F pull rope is limited in the CA wire slot 3B1 on the CA semicircular pulley 3A;

an EA groove 5D1, an EB groove 5D2, an EC groove 5D3 and an EA boss body 5D4 are arranged on the pull rope cover plate 5D, an EA counter bore 5D5 is arranged at the center of the EA boss body 5D4, and a screw passes through the EA counter bore 5D5 and is fixed in an EA threaded hole 5E2 of an EA upper panel 5E1 of the universal joint 5E, namely, a lower bottom panel of the pull rope cover plate 5D is fixed with the EA upper panel 5E1 of the universal joint 5E;

the upper part of the universal joint 5E is an EA upper panel 5E1, and the lower part of the universal joint 5E is an EA lower fixing plate 5E 3; an EA middle beam 56, an EB middle beam 57, an EA notch 51, an EB notch 52, an EC notch 53 and an ED notch 54 are arranged on the cylinder of the universal joint 5E; the EA intermediate beam 56 is formed by a combination of the EC cut 53 and the ED cut 54 being removed. The EB intermediate beam 57 is formed by the joined body after the EA incision 51 and the EB incision 52 are removed; wherein, the EA cut 51 and the EB cut 52 are provided above the cylinder of the gimbal 5E, and the EC cut 53 and the ED cut 54 are provided below the cylinder of the gimbal 5E; the universal joint is divided by a rotation center point of the universal joint 5E, an upper flexible body is positioned above the EA notch 51 and the EB notch 52, and a lower flexible body is positioned below the EC notch 53 and the ED notch 54;

the lock head 5F is of a fan-shaped structure, and an EA through hole 5F1, an EB through hole 5F2 and an EA opening round hole 5F3 are arranged on the lock head 5F; the EA locking nail 5G penetrates through the EA through hole 5F1 and then is in threaded connection with an EB threaded hole 5E4 of an EA lower fixing plate 5E3 of the universal joint 5E; the EB locking nail 5H penetrates through the EB through hole 5F2 and then is in threaded connection with an EC threaded hole 5E5 of an EA lower fixing plate 5E3 of the universal joint 5E; the EA opening round hole 5F3 cooperates with the EB opening round hole 5E6 of the EA lower fixing plate 5E3 of the universal joint 5E to clasp the motor output shaft 4D of the driving mechanism 4, and is locked by an EA locking nail 5G and an EB locking nail 5H.

4. The single motor driven adaptive paw with RCC function as claimed in claims 1, 2 or 3, characterized in that: there are three finger mechanisms.

5. The single motor driven adaptive gripper with RCC functionality of claim 5, wherein: the single motor drives the self-adaptive paw to have single motion input and three motion outputs.

6. The single motor driven adaptive paw with RCC function as claimed in claims 1, 2 or 3, characterized in that: there is a two finger mechanism.

7. The single motor driven adaptive gripper with RCC functionality of claim 6, wherein: the single motor drives the self-adaptive paw to have single motion input and two motion outputs.

8. The single motor driven adaptive paw with RCC function as claimed in claims 1, 2 or 3, characterized in that: with a four finger mechanism.

9. The single motor driven adaptive gripper with RCC functionality of claim 8, wherein: the single motor drives the self-adaptive paw to have single motion input and four motion outputs.