CN111469155A - Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device - Google Patents
Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device Download PDFInfo
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- 230000008878 coupling Effects 0.000 title claims abstract description 51
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- 210000003811 finger Anatomy 0.000 claims abstract description 155
- 238000000034 method Methods 0.000 claims abstract description 26
- 210000003813 thumb Anatomy 0.000 claims abstract description 23
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- 210000004247 hand Anatomy 0.000 description 2
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
Idle stroke dual drive parallel clamp coupling self-adaptation robot finger device belongs to robot hand technical field, including two finger sections, two joint shafts, two motors, a plurality of gears, two thumb wheels, two driver plates, three spring spare etc.. The device has four grabbing modes of horizontal clamping, coupling, self-adaption and hooking: 1) horizontally clamping and grabbing: in the grabbing process, the device always keeps the posture of the second finger section at the tail end relative to the base unchanged, and the effect of flatly clamping and grabbing the second finger section is achieved; 2) coupling and grabbing: the two joints can move forwards at the same time, the grabbing process is anthropomorphic, and the grabbing is quick; 3) self-adaptive grabbing: if the object contacts the first finger section first, the device can automatically switch into a self-adaptive grabbing mode to achieve the function of adapting to objects with different shapes and sizes; 4) hooking: the second finger section can be independently rotated to realize hooking. The device has a large grabbing range, does not need a complex sensing and control system, and has low manufacturing and maintenance cost.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a free-stroke dual-drive parallel clamp coupling self-adaptive robot finger device.
Background
Robotic hand technology is an important branch of robotics. A robotic hand is a device that contacts and confines an object in a spatial location. Similar to the action of a human hand, the robot can grab an object and then release the object, the aim of moving the object in a certain range is fulfilled by means of the motion of the mechanical arm or the chassis of the mobile trolley, and some robots can move in a small range. One of the main functions of the robot hand is to grab objects, and the key is to stably grab objects of various shapes and sizes. Due to the different sizes of the objects, different gripping modes (ways) are required: some smaller objects may adopt a pinch mode (parallel pinch mode) in which the finger tip is in contact with the object; some larger objects may be held (e.g., cylindrical or spherical grasping), also referred to as envelope grasping (or envelope grasping); the other objects are placed in the cavity with limited space, and can extend into fingers to be hooked, and a hooking mode is also often adopted when a briefcase or a luggage case is lifted; in addition, in order to adapt to objects with different shapes and sizes, the capability of automatically adapting to the objects, namely an adaptive grabbing mode, is needed in envelope grabbing.
The existing robot hand is divided into an anthropomorphic multi-finger hand and a special hand according to whether fingers exist, wherein the anthropomorphic multi-finger hand is further divided into a fully active finger and an under-actuated hand (partial active fingers) according to the design of the fingers. The underactuated finger obtains a great deal of attention and research, uses a small number of drivers to realize joints with more degrees of freedom (including passive degrees of freedom), has low manufacturing and maintenance cost, reduces the control difficulty, has good practicability and is popularized more at present.
An existing under-actuated finger-idle stroke transmission gear coupling self-adaptive robot finger device (patent CN106426239B) is designed. The device utilizes driver, gear drive mechanism, middle drive mechanism, two thumb wheels, lug driver plate, two spring spares and spacing lug etc. to realize the coupling and compound mode of snatching of self-adaptation comprehensively. The device can link two joints to pinch and hold objects by the tail ends, the action anthropomorphic degree is high, and the device can rotate the first finger section to touch the objects and then rotate the second finger section to envelop and hold the objects, so that the self-adaptive grabbing effect on the objects with different shapes and sizes is achieved; the grabbing is fast. The disadvantages are that: the robot finger device can only realize two grabbing modes of coupling and self-adaption, but cannot realize two modes of parallel clamping and hooking, cannot adapt to pinching and holding a thin plate object on a desktop, and cannot achieve the hooking mode only by independently moving a second joint.
Another under-actuated finger, a free-wheeling contact type gear parallel clamping self-adaptive robot finger device (patent CNCN105798936B), is designed. The device utilizes driver, gear drive mechanism, two spring spares, lug driver plate, spacing lug and thumb wheel etc. to realize the parallel centre gripping of double-joint robot finger and the function of self-adaptation snatching comprehensively. Because a section of idle stroke is arranged between the transmission convex block on the shifting wheel and the second convex block on the convex block driving plate, the second finger section keeps translational motion and does not rotate relative to the base when the first finger section rotates, and the parallel clamping and grabbing functions are achieved; after the first finger section is blocked from contacting the object, the transmission lug on the shifting wheel can contact and shift the second lug on the lug driving plate after a period of very small time, so that the first gear is driven to rotate, and the second finger section is driven to rotate through gear transmission, thereby achieving the self-adaptive grabbing function. The disadvantages are that: the robot finger device can only realize two grabbing modes of parallel clamping and self-adaption, but cannot realize two modes of coupling grabbing and hooking, and the grabbing range is greatly limited.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a free-stroke double-drive parallel clamp coupling self-adaptive robot finger device. The device has two joints, is suitable for grabbing objects, has four grabbing modes of parallel clamping, coupling grabbing, self-adaptive grabbing and hooking, is flexible in grabbing mode, wide in application range, easy in grabbing process control, free of complex sensing and control systems, low in manufacturing and maintenance cost and suitable for robot hands.
The technical scheme of the invention is as follows:
the invention discloses a lost motion dual-drive parallel clamp coupling self-adaptive robot finger device which comprises a base, a first finger section, a second finger section, a proximal joint shaft, a distal joint shaft, a first motor, a first transmission mechanism, a first shifting wheel, a first driving plate, a first gear, a second gear, a transmission gear set, a first spring piece, a limit spring piece and a base limit block, wherein the first finger section is arranged on the base; the proximal joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the far joint shaft is movably sleeved in the first finger section; the central lines of the proximal joint shaft and the distal joint shaft are parallel to each other; the first motor is fixedly connected with the base; the first transmission mechanism is arranged in the base; an output shaft of the first motor is connected with an input end of a first transmission mechanism, and an output end of the first transmission mechanism is connected with a first thumb wheel; the first shifting wheel is movably sleeved on the near joint shaft; two ends of the first spring piece are respectively connected with the first thumb wheel and the first finger section; the first gear is sleeved on the proximal joint shaft; the second gear is movably sleeved on the far joint shaft; the transmission gear set is arranged in the first finger section, the input end of the transmission gear set is meshed with the first gear, and the output end of the transmission gear set is meshed with the second gear; through the transmission of the transmission gear set, the transmission from the first gear to the second gear is in the same direction and the transmission ratio is equal to 1; the first drive plate is sleeved on the proximal joint shaft; the first drive plate is fixedly connected with the first gear; the first drive plate comprises a limit lug fixedly connected and a first lug fixedly connected; the base limiting block is fixedly connected with the base; the limiting lug is contacted with or separated from the limiting block of the base by a certain distance; setting the rotating direction of the first finger section close to the grabbed object as the positive direction of the near joint, and setting the rotating direction of the first finger section far away from the grabbed object as the negative direction of the near joint; when the idle stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the limiting convex block is contacted with the limiting block of the base; assuming that the rotation angle of the first driving plate relative to the base is 0 degree, the rotation angle of the first driving plate in the positive direction of the proximal joint is positive and the rotation angle of the first driving plate in the negative direction of the proximal joint is negative from the initial state; the base limiting block limits the rotation angle of the limiting lug to be positive; the first shifting wheel comprises a first transmission shifting block fixedly connected; the first transmission shifting block is in contact with or separated from the first bump by a certain distance; when the idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the first transmission shifting block and the first bump are separated by a certain distance; two ends of the limiting spring part are respectively connected with the first drive plate and the base; the method is characterized in that: the idle-stroke dual-drive parallel-clamping coupling self-adaptive robot finger device further comprises a second motor, a second transmission mechanism, a second dial wheel and a second dial plate; the second finger section is movably sleeved on the far joint shaft; the second gear is connected with the second finger section; the second motor is fixedly connected with the base; the second transmission mechanism is arranged in the base; the output shaft of the second motor is connected with the input end of the second transmission mechanism; the output end of the second transmission mechanism is connected with a second thumb wheel; the second thumb wheel is movably sleeved on the proximal joint shaft; the second shifting wheel comprises a second transmission shifting block which is fixedly connected; the second drive plate is sleeved on the proximal joint shaft; the second drive plate is fixedly connected with the first gear; the second drive plate comprises a second bump fixedly connected; the second transmission shifting block is in contact with or separated from the second bump by a certain distance.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: when the idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the second transmission shifting block is in contact with the second bump.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the first spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the limiting spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the transmission gear set comprises a first intermediate gear, a second intermediate gear, a third intermediate gear, a first intermediate shaft, a second intermediate shaft and a third intermediate shaft; the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved in the first finger section, the first intermediate gear is meshed with the first gear, the first intermediate gear is meshed with the second intermediate gear, the second intermediate gear is meshed with the third intermediate gear, the third intermediate gear is meshed with the second gear, the first intermediate gear is sleeved on the first intermediate shaft, the second intermediate gear is sleeved on the second intermediate shaft, and the third intermediate gear is sleeved on the third intermediate shaft; the central lines of the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are parallel to each other; the center lines of the first intermediate shaft and the proximal joint shaft are parallel to each other.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the first transmission mechanism comprises a first speed reducer, a first bevel gear, a second bevel gear, a first transition shaft, a first transmission wheel and a first transmission piece; the output shaft of the first motor is connected with the input shaft of the first speed reducer, the first bevel gear is fixedly sleeved on the output shaft of the first speed reducer, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly sleeved on the first transition shaft, the first transition shaft is movably sleeved in the base, the first transmission wheel is fixedly sleeved on the first transition shaft, and the first transmission piece is respectively connected with the first transmission wheel and the first shifting wheel.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the second transmission mechanism comprises a second speed reducer, a third bevel gear, a fourth bevel gear, a second transition shaft, a second transmission wheel and a second transmission piece; an output shaft of the second motor is connected with an input shaft of the second speed reducer, the third bevel gear is fixedly sleeved on the output shaft of the second speed reducer, the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is fixedly sleeved on the second transition shaft, the second transition shaft is movably sleeved in the base, the second driving wheel is fixedly sleeved on the second transition shaft, and the second driving part is respectively connected with the second driving wheel and the second shifting wheel.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the spring further comprises a second spring piece, and two ends of the second spring piece are respectively connected with the second gear and the second finger section.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: setting the rotating speed of the first motor as m, the rotating speed of the second motor as n, the transmission ratio of the first transmission mechanism as k, and the transmission ratio of the second transmission mechanism as q; n/q > m/k.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a tension spring, a pressure spring, a leaf spring or a torsion spring.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: setting the rotating speed of the first motor as m, the rotating speed of the second motor as n, the transmission ratio of the first transmission mechanism as k, and the transmission ratio of the second transmission mechanism as q; n/q is 2 m/k.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the double-joint finger with four grabbing modes of horizontal clamping, self-adaption, coupling and hooking by utilizing two motors, two transmission mechanisms, a plurality of gears, a plurality of spring pieces, two shifting wheels, two driving plates and the like. The device is provided with two joints and is used in a robot hand, the device is matched with a palm, or more than two devices are connected to the palm to complete the function of grabbing an object; the device has the following four main grasping modes:
1) parallel clamping: the device can realize a parallel clamping and grabbing mode, namely in the grabbing process, the two joints are linked, the near joint rotates forwards, the far joint rotates reversely by the same angle, the fixed posture of the second finger section at the tail end relative to the base is always kept, and the function of clamping an object by the second finger section in parallel can be realized;
2) coupling and grabbing: the device can realize the simultaneous forward motion of the two joints, so that the action process of grabbing an object has high anthropomorphic degree, quick grabbing and high grabbing efficiency;
3) self-adaptive grabbing: when in parallel clamping or coupling grabbing, if the object contacts the first finger section before contacting the second finger section, the device can automatically enter a self-adaptive grabbing stage, and after the first finger section is blocked, the second finger section still continues to rotate until the second finger section also contacts the object, so that the self-adaptive grabbing is realized for the objects with different shapes and sizes;
4) hooking: the device can rotate the second finger section forwards independently at any action position, so that a hooking mode is realized.
The device has a large grabbing range; complex sensing and control systems are not needed, the structure is simple, and the manufacturing and maintenance cost is low.
Drawings
Fig. 1 is a perspective view of an embodiment of an adaptive robot finger device with idle stroke dual driving clamps according to the present invention.
Fig. 2 is a front external view of the embodiment shown in fig. 1.
Fig. 3 is a side external view (left side view of fig. 2) of the embodiment shown in fig. 1.
Fig. 4 is a perspective view from one perspective of the embodiment of fig. 1 (not shown with some parts).
Fig. 5 is a perspective view from another perspective of the embodiment of fig. 1 (not shown with some parts).
Fig. 6 is a front view of the embodiment of fig. 1 (not shown with some parts).
Fig. 7 is a sectional view a-a of fig. 6.
Fig. 8 is a sectional view B-B of fig. 6.
Fig. 9 to 13 illustrate the operation of the embodiment shown in fig. 1 in parallel gripping and adaptive gripping mode to grip an object. Where from fig. 9 to fig. 11 is the first stage: grabbing the object in a parallel clamping stage, wherein the first finger section is in contact with the object before the second finger section; fig. 12-13 are second stages of adaptive gripping of an object.
Fig. 14 to 16 are operation processes of the embodiment shown in fig. 1 for grabbing an object by using the coupled and adaptive grabbing mode. Where fig. 14-15 are first stages: coupled to grasp the object, fig. 16 is a second stage, adaptive grasping the object.
Fig. 17 to 19 show the operation of the embodiment of fig. 1 in parallel gripping mode for gripping an object.
In fig. 1 to 19:
1-base, 11-base limiting block, 21-first finger section, 22-second finger section,
31-a proximal joint shaft, 32-a distal joint shaft, 4-a first motor, 41-a first reducer,
42-a first bevel gear, 43-a second bevel gear, 44-a first transition shaft, 45-a first drive wheel,
46-a first transmission piece, 5-a second motor, 51-a second reducer, 52-a third bevel gear,
53-fourth bevel gear, 54-second transition shaft, 55-second transmission wheel, 56-second transmission piece,
61-first gear, 62-second gear, 631-first intermediate gear, 632-second intermediate gear,
633-third intermediate gear, 641-first intermediate shaft, 642-second intermediate shaft, 643-third intermediate shaft,
71-a first thumb wheel, 711-a first transmission thumb block, 72-a second thumb wheel, 721-a second transmission thumb block,
81-first dial, 811-first bump, 812-limit bump, 82-second dial,
821-second bump, 91-first spring element, 92-second spring element, 93-limit spring element,
100-object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
An embodiment of a lost motion dual-drive parallel clamp coupling adaptive robot finger device designed by the invention is shown in fig. 1 to 8, and comprises a base 1, a first finger section 21, a second finger section 22, a proximal joint shaft 31, a distal joint shaft 32, a first motor 4, a first transmission mechanism, a first dial wheel 71, a first dial plate 81, a first gear 61, a second gear 62, a transmission gear set, a first spring 91, a limit spring 93 and a base limit block 11; the proximal joint shaft 31 is movably sleeved in the base 1; the first finger section 21 is movably sleeved on the proximal joint shaft 31; the far joint shaft 32 is movably sleeved in the first finger section 21; the center lines of the proximal joint shaft 31 and the distal joint shaft 32 are parallel to each other; the first motor 4 is fixedly connected with the base 1; the first transmission mechanism is arranged in the base 1; the output shaft of the first motor 4 is connected with the input end of a first transmission mechanism, and the output end of the first transmission mechanism is connected with a first dial wheel 71; the first thumb wheel 71 is movably sleeved on the proximal joint shaft 31; two ends of the first spring piece 91 are respectively connected with the first thumb wheel 71 and the first finger section 21; the first gear 61 is sleeved on the proximal joint shaft 31; the second gear 62 is movably sleeved on the distal joint shaft 32; the transmission gear set is arranged in the first finger section 21, the input end of the transmission gear set is meshed with the first gear 61, and the output end of the transmission gear set is meshed with the second gear 62; by the transmission of the transmission gear set, the transmission from the first gear 61 to the second gear 62 is a codirectional transmission and the transmission ratio is equal to 1; the first dial 81 is sleeved on the proximal joint shaft 31; the first dial 81 is fixedly connected with the first gear 61; the first dial 81 comprises a limit lug 812 fixedly connected and a first lug 811 fixedly connected; the base limiting block 11 is fixedly connected with the base 1; the limit lug 812 is contacted with or separated from the base limit block 11 by a certain distance; setting the rotation direction of the first finger section 21 close to the grabbed object 100 as a joint-proximal positive direction, and setting the rotation direction of the first finger section 21 far away from the grabbed object 100 as a joint-proximal negative direction; when the idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the limiting convex block 812 is in contact with the base limiting block 11; assuming that the rotation angle of the first dial 81 with respect to the base 1 is 0 degrees, from the initial position, the rotation angle of the first dial 81 in the forward direction of the proximal joint is positive, and the rotation angle of the first dial 81 in the reverse direction of the proximal joint is negative; the base limiting block 11 limits the rotation angle of the limiting lug 812 to be positive; the first shifting wheel 71 comprises a first transmission shifting block 711 which is fixedly connected; the first driving block 711 contacts with or is separated from the first protrusion 811 by a distance; when the idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the first transmission shifting block 711 and the first bump 811 are separated by a certain distance; two ends of the limiting spring member 93 are respectively connected with the first dial 81 and the base 1.
The idle-stroke dual-drive parallel-clamping coupling self-adaptive robot finger device further comprises a second motor 5, a second transmission mechanism, a second dial wheel 72 and a second dial plate 82; the second finger section 22 is movably sleeved on the distal joint shaft 32; the second gear 62 is connected with the second finger section 22; the second motor 5 is fixedly connected with the base 1; the second transmission mechanism is arranged in the base 1; the output shaft of the second motor 5 is connected with the input end of the second transmission mechanism; the output end of the second transmission mechanism is connected with a second thumb wheel 72; the second thumb wheel 72 is movably sleeved on the proximal joint shaft 31; the second shifting wheel 72 comprises a second transmission shifting block 721 fixedly connected; the second dial 82 is sleeved on the proximal joint shaft 31; the second dial 82 is fixedly connected with the first gear 61; the second dial 82 comprises a fixed second bump 821; the second driving block 721 contacts or is spaced apart from the second protrusion 821.
In this embodiment, when the idle-stroke dual-drive parallel clamp coupling adaptive robot finger device is in the initial state, the second transmission shifting block 721 contacts with the second protrusion 821.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the first spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring. In this embodiment, the first spring 91 is a torsion spring.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the limiting spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring. In this embodiment, the limiting spring 93 is a tension spring.
In the present embodiment, the transmission gear set includes a first intermediate gear 631, a second intermediate gear 632, a third intermediate gear 633, a first intermediate shaft 641, a second intermediate shaft 642, and a third intermediate shaft 643; the first intermediate shaft 641, the second intermediate shaft 642 and the third intermediate shaft 643 are respectively sleeved in the first finger section 21, the first intermediate gear 631 is meshed with the first gear 61, the first intermediate gear 631 is meshed with the second intermediate gear 632, the second intermediate gear 632 is meshed with the third intermediate gear 633, the third intermediate gear 633 is meshed with the second gear 62, the first intermediate gear 631 is sleeved on the first intermediate shaft 641, the second intermediate gear 632 is sleeved on the second intermediate shaft 642, and the third intermediate gear 633 is sleeved on the third intermediate shaft 643; the center lines of the first intermediate shaft 641, the second intermediate shaft 642, and the third intermediate shaft 643 are parallel to each other; the first intermediate shaft 641 and the proximal joint shaft 31 have center lines parallel to each other.
In the present embodiment, the first transmission mechanism includes a first speed reducer 41, a first bevel gear 42, a second bevel gear 43, a first transition shaft 44, a first transmission wheel 45, and a first transmission piece 46; the output shaft of the first motor 4 is connected with the input shaft of the first speed reducer 41, the first bevel gear 42 is fixedly sleeved on the output shaft of the first speed reducer 41, the first bevel gear 42 is meshed with the second bevel gear 43, the second bevel gear 43 is fixedly sleeved on the first transition shaft 44, the first transition shaft 44 is movably sleeved in the base 1, the first transmission wheel 45 is fixedly sleeved on the first transition shaft 44, and the first transmission piece 46 is respectively connected with the first transmission wheel 45 and the first poking wheel 71.
In this embodiment, the second transmission mechanism includes a second speed reducer 51, a third bevel gear 52, a fourth bevel gear 53, a second transition shaft 54, a second transmission wheel 55, and a second transmission piece 56; an output shaft of the second motor 5 is connected with an input shaft of a second speed reducer 51, the third bevel gear 52 is fixedly sleeved on the output shaft of the second speed reducer 51, the third bevel gear 52 is meshed with a fourth bevel gear 53, the fourth bevel gear 53 is fixedly sleeved on a second transition shaft 54, the second transition shaft 54 is movably sleeved in the base 1, the second transmission wheel 55 is fixedly sleeved on the second transition shaft 54, and the second transmission piece 56 is respectively connected with a second transmission wheel 55 and a second thumb wheel 72.
Setting the rotating speed of the first motor 4 as m, the rotating speed of the second motor 5 as n, the transmission ratio of the first transmission mechanism as k, and the transmission ratio of the second transmission mechanism as q; in one embodiment: n/q > m/k. In this example, n/q is 2 m/k.
The present embodiment further includes a second spring member, and both ends of the second spring member 92 are respectively connected to the second gear 62 and the second finger section 22.
The invention relates to a free-stroke dual-drive horizontal clamp coupling self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a tension spring, a pressure spring, a leaf spring or a torsion spring. In this embodiment, the second spring member 92 is a torsion spring.
The working principle of the embodiment is described as follows with reference to the attached drawings:
(a) parallel clamping and adaptive grabbing
When the parallel clamping mode is required, as shown in fig. 9 and 17, in an initial state, the first motor 4 is started, the first bevel gear 42 is driven to rotate by the first speed reducer 41, the second bevel gear 43 rotates, the first transmission wheel 45 is driven to rotate by the first transition shaft 44, the first thumb wheel 71 is driven to rotate by the first transmission piece 46, and the first thumb wheel 71 drives the first finger section 21 to rotate by the first spring piece 91. At this time, the first dial block 711 of the first dial 71 is not yet in contact with the first protrusion 811 on the first dial 81, the limit protrusion 812 on the first dial 81 is in contact with the base limit block 11 on the base 1 due to the constraint of the limit spring 93, the first dial 81 is not moved relative to the base 1, the first gear 61 is kept fixed relative to the base 1, the second gear 62 is rotated in reverse by the same angle (because the first gear 631 and the second gear 632 are in the same direction and are in the same speed transmission) when the first finger section 21 rotates by an angle through the transmission gear set (the first intermediate gear 631, the second intermediate gear 632 and the third intermediate gear 633), the second gear 62 pulls the second finger section 22 through the second spring 92, the second finger section 22 is rotated in reverse by the same angle relative to the first finger section 21, so that the posture of the second finger section 22 relative to the base 1 is not changed, parallel clamping action is achieved. When the second finger section 22 contacts the end object 100, the grasping is finished, and the parallel grip grasping mode is realized.
The action process of the device for gripping objects in parallel is shown in fig. 17, 18 and 19.
When the object 100 contacts the first finger section 21 and the second finger section 22 does not contact the object 100, the first motor 4 continues to rotate, the first finger section 21 is blocked by the object 100 and cannot rotate, the first spring 91 deforms, the first dial wheel 71 continues to rotate at an angle under the action of the first motor 4, the first dial block 711 of the first dial wheel 71 rotates at an angle and contacts the first bump 811 on the first dial plate 81, then the first dial block 711 dials the first bump 811, so that the first dial plate 81 rotates forwards, the first dial plate 81 rotates relative to the base 1, the deformation of the limit spring 93 increases, the limit bump 811 leaves the base limit block 11, at this time, the first gear 61 fixedly connected with the first dial plate 81 rotates forwards, the second gear 62 is driven to rotate forwards through the transmission gear set, and the second spring 92 drives the second finger section 22 to rotate forwards, and when the grabbing is finished until the second finger segment 22 also contacts the object 100, the first finger segment 21 and the second finger segment 22 both contact the object 100, and an adaptive grabbing mode is achieved, and the process is adaptive to objects with different shapes and sizes.
The process of parallel gripping and adaptive gripping of objects is illustrated in fig. 9-13. Fig. 9 to 11 show the parallel clamping process, and fig. 12 to 13 show the adaptive gripping process after the parallel clamping. In the process, the second motor 5 is not started, the second dial 72 is not rotated, and the second dial 721 does not affect the rotation of the second cam 821 and the second dial 82.
What the above two processes accomplish is the parallel clamping and adaptive composite grabbing action process, and when it releases the object 100, the second motor 5 is reversed, which is exactly opposite to the above process and is not described again.
(b) Coupling and adaptive grabbing
When it is desired to grasp an object in a coupled manner, the initial state is as shown in fig. 14, and the first motor 4 and the second motor 5 are simultaneously operated.
The first motor 4 is started, the first dial wheel 71 is driven to rotate through the first transmission mechanism, and the first finger section 21 is driven to rotate forwardly through the first spring piece 91.
At this time, the second motor 5 is also in operation, the second speed reducer 51 drives the third bevel gear 52 to rotate, the fourth bevel gear 53 rotates, the second transition shaft 54 drives the second transmission wheel 55 to rotate, the second transmission wheel 55 rotates, the second transmission piece 56 drives the second dial wheel 72 to rotate, the second dial block 721 dials the second bump 821 and the second dial 82 to rotate, the first gear rotates, the limit spring 93 deforms and increases, the limit bump 812 leaves the base limit block 11, the first gear 61 rotates to drive the second gear 62 to rotate through the transmission gear set, and the second spring 92 drives the second finger section 22 to rotate forward, so that the first finger section 21 and the second finger section 22 rotate forward around the centers of the proximal joint shaft 31 and the distal joint shaft 32, respectively, and the coupled grabbing action is realized.
Then, if the object contacts the second finger section 22, the grabbing is finished, and the coupling grabbing is realized; if the object 100 contacts the first finger section 21 first and the second finger section 22 does not contact the object 100, the first finger section 21 is blocked from rotating, the first spring 91 is deformed, the second motor 5 continues to drive the second dial wheel 72 to rotate, the second dial plate 82 and the first gear 61 continue to rotate, and then the second gear 62 and the second finger section 22 continue to rotate forwardly until the second finger section 22 also contacts the object 100, so that the self-adaptive grabbing effect is achieved.
The process of coupling and adaptively gripping an object is illustrated in fig. 14-16. Fig. 14 to 15 show the coupling grabbing process, and fig. 16 shows the adaptive grabbing result after coupling.
When the release process after the object 100 is coupled and adaptively grabbed, the first motor 4 and the second motor 5 are simultaneously reversed, and the subsequent process is opposite to the above process and is not described in detail.
(c) Hook-taking device
The first motor 4 is stopped, the second motor 5 is started, the third bevel gear 53 is driven by the second speed reducer 52, the second transmission wheel 55 is driven to rotate by the second transition shaft 54, the second dial wheel 72 is driven to rotate by the second transmission piece 56, the second lug 821 is driven by the second dial block 721 to rotate, the first gear 61 is driven to rotate, the deformation of the limiting spring 93 is increased, the limiting lug 812 leaves the base limiting block 11, the first gear 61 rotates to drive the second gear 62 to rotate by the transmission gear set, the second finger section 22 is driven to rotate forwardly by the second spring piece 92, only the second finger section 22 rotates, the first finger section 21 keeps in an immovable state, the angle of the second finger section 22 relative to the first finger section 21 can be flexibly adjusted, and the hooking grabbing mode is achieved. The space is limited, the object can be hooked by adopting a hooking mode, and the luggage case can be lifted by adopting a hooking mode.
The second motor 5 is rotated reversely in the releasing process after the object 100 is hooked, and the subsequent process is opposite to the above process and is not described again.
The device comprehensively realizes the double-joint finger with four grabbing modes of horizontal clamping, self-adaption, coupling and hooking by utilizing two motors, two transmission mechanisms, a plurality of gears, a plurality of spring pieces, two shifting wheels, two driving plates and the like. The device is provided with two joints and is used in a robot hand, the device is matched with a palm, or more than two devices are connected to the palm to complete the function of grabbing an object; the device has the following four main grasping modes:
1) parallel clamping: the device can realize a parallel clamping and grabbing mode, namely in the grabbing process, the two joints are linked, the near joint rotates forwards, the far joint rotates reversely by the same angle, the fixed posture of the second finger section at the tail end relative to the base is always kept, and the function of clamping an object by the second finger section in parallel can be realized;
2) coupling and grabbing: the device can realize the simultaneous forward motion of the two joints, so that the action process of grabbing an object has high anthropomorphic degree, quick grabbing and high grabbing efficiency;
3) self-adaptive grabbing: when in parallel clamping or coupling grabbing, if the object contacts the first finger section before contacting the second finger section, the device can automatically enter a self-adaptive grabbing stage, and after the first finger section is blocked, the second finger section still continues to rotate until the second finger section also contacts the object, so that the self-adaptive grabbing is realized for the objects with different shapes and sizes;
4) hooking: the device can rotate the second finger section forwards independently at any action position, so that a hooking mode is realized.
The device has a large grabbing range; complex sensing and control systems are not needed, the structure is simple, and the manufacturing and maintenance cost is low.
Claims (11)
1. A lost motion dual-drive parallel clamp coupling self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first motor, a first transmission mechanism, a first thumb wheel, a first drive plate, a first gear, a second gear, a transmission gear set, a first spring piece, a limit spring piece and a base limit block; the proximal joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the far joint shaft is movably sleeved in the first finger section; the central lines of the proximal joint shaft and the distal joint shaft are parallel to each other; the first motor is fixedly connected with the base; the first transmission mechanism is arranged in the base; an output shaft of the first motor is connected with an input end of a first transmission mechanism, and an output end of the first transmission mechanism is connected with a first thumb wheel; the first shifting wheel is movably sleeved on the near joint shaft; two ends of the first spring piece are respectively connected with the first thumb wheel and the first finger section; the first gear is sleeved on the proximal joint shaft; the second gear is movably sleeved on the far joint shaft; the transmission gear set is arranged in the first finger section, the input end of the transmission gear set is meshed with the first gear, and the output end of the transmission gear set is meshed with the second gear; through the transmission of the transmission gear set, the transmission from the first gear to the second gear is in the same direction and the transmission ratio is equal to 1; the first drive plate is sleeved on the proximal joint shaft; the first drive plate is fixedly connected with the first gear; the first drive plate comprises a limit lug fixedly connected and a first lug fixedly connected; the base limiting block is fixedly connected with the base; the limiting lug is contacted with or separated from the limiting block of the base by a certain distance; setting the rotating direction of the first finger section close to the grabbed object as the positive direction of the near joint, and setting the rotating direction of the first finger section far away from the grabbed object as the negative direction of the near joint; when the idle stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the limiting convex block is contacted with the limiting block of the base; assuming that the rotation angle of the first driving plate relative to the base is 0 degree, the rotation angle of the first driving plate in the positive direction of the proximal joint is positive and the rotation angle of the first driving plate in the negative direction of the proximal joint is negative from the initial state; the base limiting block limits the rotation angle of the limiting lug to be positive; the first shifting wheel comprises a first transmission shifting block fixedly connected; the first transmission shifting block is in contact with or separated from the first bump by a certain distance; when the idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the first transmission shifting block and the first bump are separated by a certain distance; two ends of the limiting spring part are respectively connected with the first drive plate and the base; the method is characterized in that: the idle-stroke dual-drive parallel-clamping coupling self-adaptive robot finger device further comprises a second motor, a second transmission mechanism, a second dial wheel and a second dial plate; the second finger section is movably sleeved on the far joint shaft; the second gear is connected with the second finger section; the second motor is fixedly connected with the base; the second transmission mechanism is arranged in the base; the output shaft of the second motor is connected with the input end of the second transmission mechanism; the output end of the second transmission mechanism is connected with a second thumb wheel; the second thumb wheel is movably sleeved on the proximal joint shaft; the second shifting wheel comprises a second transmission shifting block which is fixedly connected; the second drive plate is sleeved on the proximal joint shaft; the second drive plate is fixedly connected with the first gear; the second drive plate comprises a second bump fixedly connected; the second transmission shifting block is in contact with or separated from the second bump by a certain distance.
2. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: when the idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device is in an initial state, the second transmission shifting block is in contact with the second bump.
3. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: the first spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring.
4. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: the limiting spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring.
5. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: the transmission gear set comprises a first intermediate gear, a second intermediate gear, a third intermediate gear, a first intermediate shaft, a second intermediate shaft and a third intermediate shaft; the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved in the first finger section, the first intermediate gear is meshed with the first gear, the first intermediate gear is meshed with the second intermediate gear, the second intermediate gear is meshed with the third intermediate gear, the third intermediate gear is meshed with the second gear, the first intermediate gear is sleeved on the first intermediate shaft, the second intermediate gear is sleeved on the second intermediate shaft, and the third intermediate gear is sleeved on the third intermediate shaft; the central lines of the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are parallel to each other; the center lines of the first intermediate shaft and the proximal joint shaft are parallel to each other.
6. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: the first transmission mechanism comprises a first speed reducer, a first bevel gear, a second bevel gear, a first transition shaft, a first transmission wheel and a first transmission piece; the output shaft of the first motor is connected with the input shaft of the first speed reducer, the first bevel gear is fixedly sleeved on the output shaft of the first speed reducer, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly sleeved on the first transition shaft, the first transition shaft is movably sleeved in the base, the first transmission wheel is fixedly sleeved on the first transition shaft, and the first transmission piece is respectively connected with the first transmission wheel and the first shifting wheel.
7. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: the second transmission mechanism comprises a second speed reducer, a third bevel gear, a fourth bevel gear, a second transition shaft, a second transmission wheel and a second transmission piece; an output shaft of the second motor is connected with an input shaft of the second speed reducer, the third bevel gear is fixedly sleeved on the output shaft of the second speed reducer, the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is fixedly sleeved on the second transition shaft, the second transition shaft is movably sleeved in the base, the second driving wheel is fixedly sleeved on the second transition shaft, and the second driving part is respectively connected with the second driving wheel and the second shifting wheel.
8. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: the spring further comprises a second spring piece, and two ends of the second spring piece are respectively connected with the second gear and the second finger section.
9. The lost motion dual drive collet coupled adaptive robot finger device of claim 1, wherein: setting the rotating speed of the first motor as m, the rotating speed of the second motor as n, the transmission ratio of the first transmission mechanism as k, and the transmission ratio of the second transmission mechanism as q; n/q > m/k.
10. The lost motion dual drive collet coupled adaptive robot finger device of claim 8, wherein: the second spring piece adopts a tension spring, a pressure spring, a leaf spring or a torsion spring.
11. The lost motion dual drive collet coupled adaptive robot finger device of claim 9, wherein: setting the rotating speed of the first motor as m, the rotating speed of the second motor as n, the transmission ratio of the first transmission mechanism as k, and the transmission ratio of the second transmission mechanism as q; n/q is 2 m/k.
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| CN202010489845.7A CN111469155A (en) | 2020-06-02 | 2020-06-02 | Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device |
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| CN202010489845.7A CN111469155A (en) | 2020-06-02 | 2020-06-02 | Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device |
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| CN105798936A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Idle-stroke contact gear parallel clamping self-adaption robot finger device |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN106426239A (en) * | 2016-07-08 | 2017-02-22 | 清华大学 | Idle stroke transmission gear coupling self-adaption robot finger device |
| CN107243915A (en) * | 2017-06-08 | 2017-10-13 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack |
| CN212601877U (en) * | 2020-06-02 | 2021-02-26 | 朱睿勋 | Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device |
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| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN105798936A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Idle-stroke contact gear parallel clamping self-adaption robot finger device |
| CN106426239A (en) * | 2016-07-08 | 2017-02-22 | 清华大学 | Idle stroke transmission gear coupling self-adaption robot finger device |
| CN107243915A (en) * | 2017-06-08 | 2017-10-13 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack |
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