CN111993450B - Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device - Google Patents
Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device Download PDFInfo
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- CN111993450B CN111993450B CN202010823128.3A CN202010823128A CN111993450B CN 111993450 B CN111993450 B CN 111993450B CN 202010823128 A CN202010823128 A CN 202010823128A CN 111993450 B CN111993450 B CN 111993450B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention discloses an elastic pressure rod and a three-finger-section parallel clamping self-adaptive robot hand device, and belongs to the technical field of robots. The elastic compression bar comprises a piston cylinder, a piston arranged in the piston cylinder and a matched piston rod, wherein a compression spring is arranged in the piston cylinder, one end of the compression spring is abutted against the end face of the piston, and the other end of the compression spring is abutted against the inner bottom surface of the piston cylinder. The first finger section, the second finger section, the elastic compression bar and the second connecting rod of the robot hand device form a parallelogram mechanism, so that parallel clamping of the third finger section can be realized; due to the existence of the elastic compression rod and the torsion spring, the first finger section, the second finger section and the third finger section can be adaptive to objects. The device is used for a robot to grab objects, parallel clamping, semi-surrounding grabbing and full-surrounding grabbing are realized, and the grabbing reliability and flexibility are improved; the device can grab irregular objects, utilizes three finger sections to self-adapt to the objects, and surrounds the objects better.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to an elastic pressure lever and a three-finger-section parallel clamping self-adaptive robot hand device.
Background
Robot hands have a wide range of uses in the field of robotics for establishing temporary connections and fixed relationships between robots and objects, and for enabling release at the appropriate time, the former enabling gripping of objects and the latter enabling releasing of objects. A general robot hand is manufactured to have two relatively moving parts in order to reduce costs, so as to easily perform grasping and releasing functions. There are also many structures that mimic the human hand, designing more fingers and several joints on the fingers, but that brings with it the complexity and high cost of the mechanical systems, sensing systems, control systems and control algorithms. Some robot hands have the adaptability, do not know the shape and the size of the object of will grasping before grasping yet, do not carry out sensing detection to the object of grasping yet in grasping yet, but can grasp adaptively, this kind to the automatic adaptability of object shape, size make robot hand realize not increasing sensing and control demand when realizing that more extensively grasps different objects.
In order to solve the above problems and accomplish the grabbing of an unknown-shaped object, the idea of flat clamp adaptation is proposed. The current manipulator with the flat clamping self-adaptive function takes a manipulator claw (such as patent publication number: CN 108714909A) with self-adaptive grabbing capability as an example, which can realize the flat clamping of the end clamping link and the self-adaptive envelope of the supporting link and the end clamping link to the object, but cannot outwardly expand the object.
International robots currently equipped with clamp down adaptation are represented by the two finger gripper product of ROBOTIQ (patent publication No. US2014265401A 1). The product can realize parallel grabbing and surrounding grabbing of fingers and provide the requirement of meeting large clamping force, but only two finger sections are used for adapting to the shape of an object, so that the object can not be more fitted to be enveloped.
Disclosure of Invention
1. Problems to be solved
The invention provides an elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device, which is used for grabbing objects and has self-adaptability to the shapes of the objects.
2. Technical scheme
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the elastic compression bar comprises a piston cylinder, a piston and a matched piston rod, wherein the piston is arranged in the piston cylinder, a compression spring is arranged in the piston cylinder, one end of the compression spring is abutted against the end face of the piston, and the other end of the compression spring is abutted against the inner bottom face of the piston cylinder.
In a possible embodiment of the invention, the tail of the piston cylinder is formed with a first sleeve; the head of the piston rod is provided with a second sleeve, and the diameters of inner holes of the first sleeve and the second sleeve are the same.
In one possible embodiment of the present invention, the length of the first sleeve is smaller than the length of the second sleeve.
In one possible embodiment of the invention, the compression spring is clearance-fitted to the piston cylinder.
The invention also provides a three-finger-section parallel clamping self-adaptive robot hand device, which comprises:
the shell comprises a base and a supporting plate fixed on the base, and a palm surface is formed at the upper end of the supporting plate;
the driving mechanism is arranged in the shell and comprises a motor, a lead screw and a coupling for connecting an output shaft of the motor and the lead screw, and the motor is fixed on the base;
the finger assembly is hinged with the shell and comprises a first connecting rod, a second connecting rod, a third connecting rod, a first finger section, a second finger section, a third finger section, a torsion spring, the elastic pressure rod and a lead screw nut matched with the lead screw; the first finger section is provided with a first limiting block, the second finger section is provided with a second limiting block, the first finger section and the second finger section are hinged through a fourth connecting pin, a torsion spring is arranged on the fourth connecting pin, and the first finger section and the second finger section are positioned on the same straight line under the combined action of the torsion spring, the first limiting block and the second limiting block when not touching an object;
the lead screw nut both ends are articulated through eighth connecting pin with first connecting rod near-end, first connecting rod distal end is articulated through seventh connecting pin with the second connecting rod near-end, the second connecting rod distal end is articulated through the second connecting pin with elastic pressure pole and third connecting rod near-end, third connecting rod distal end indicates the section middle part with the third and passes through first connecting pin articulated, the third indicates the section near-end and indicates section distal end and elastic pressure pole to pass through the third connecting pin articulated, the second indicates the section near-end and indicates the section far-end with first and pass through the fourth connecting pin articulated, first indicates the section near-end and passes through the sixth connecting pin articulated with the casing, first connecting rod lower part is articulated through the fifth connecting pin with the casing.
The second connecting rod can compress the elastic pressure rod after the second finger section touches an object, and simultaneously pushes the third connecting rod; the third finger section can be pushed by the third connecting rod to rotate around the third connecting pin after the second finger section touches the object so as to adapt to the shape clamping of the object.
In a possible embodiment of the present invention, the third finger section is provided with a clamping surface.
In a possible embodiment of the present invention, the torsion spring is sleeved on the fourth connecting pin, and two ends of the torsion spring are respectively lapped on the first finger section and the second finger section.
In one possible embodiment of the present invention, a socket is disposed on the housing.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
the robot hand device disclosed by the invention is self-adaptive to an object by using three finger sections, and at most three contact surfaces can better surround the object when each finger grabs the object, so that the grabbing force is more uniform, and the grabbing effect is good; the screw rod nut is adopted for transmission, so that a larger holding force can be obtained, and the holding force cannot disappear immediately when power is cut off accidentally; the device is suitable for being used in a severe working environment, and has good reliability for long-term use, long service life and high grasping stability; in addition, the device can be used for stretching and taking the object, so that the grabbing range of the object is expanded.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a three-finger-section parallel clamping self-adaptive robot hand device of the invention;
FIG. 2 is a schematic view of a removed portion of a housing of the three-fingered-section parallel clamping adaptive robot hand device of the present invention;
FIG. 3 is another schematic view of the three-finger-section parallel clamping adaptive robot hand device of the present invention from another angle of the housing removed;
FIG. 4 is a front view of a housing with portions removed of a three finger section clamp adaptive robotic hand device of the present invention;
FIG. 5 is a schematic diagram of a closed structure of the three-finger-section parallel clamping self-adaptive robot hand device of the present invention;
FIG. 6 is a schematic diagram of a parallel clamping object of the three-finger-section parallel clamping adaptive robot hand device of the present invention;
FIG. 7 is a schematic diagram of an adaptive object of the three-finger-section parallel clamping adaptive robot hand device of the present invention;
FIG. 8 is a side view of FIG. 7;
FIG. 9 is a schematic structural view of an elastic compression bar of the three-finger-section parallel clamping self-adaptive robot hand device of the present invention;
FIG. 10 is a cross-sectional view of the three finger flat clamping adaptive robot hand device elastic strut of the present invention;
labeled as:
100. a housing; 110. a base; 120. a support plate; 121. a palm surface; 130. a socket;
200. a drive mechanism; 210. an electric motor; 220. a lead screw; 230. a coupling;
300. a finger assembly; 310. a first link; 320. a second link; 330. a third link; 340. a first finger section; 341. a first stopper; 350. a second finger section; 351. a second limiting block; 360. a third finger section; 370. a torsion spring; 380. an elastic pressure lever; 381. a piston cylinder; 3811. a first sleeve; 382. a piston; 383. a piston rod; 3831. a second sleeve; 384. a compression spring; 390. a lead screw nut; 301. a first connecting pin; 302. a second connecting pin; 303. a third connecting pin; 304. a fourth connecting pin; 305. a fifth connecting pin; 306. a sixth connecting pin; 307. a seventh connecting pin; 308. and an eighth connecting pin.
Detailed Description
Exemplary embodiments of the present invention are described in detail below. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to describe the features and characteristics of the invention, to set forth the best mode of carrying out the invention, and to sufficiently enable one skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.
As shown in fig. 1 to 10, the three-finger-section parallel-clamping adaptive robot hand device of the present embodiment includes: a housing 100 including a base 110 and a support plate 120 fixed to the base 110, the support plate 120 having a palm surface 121 formed at an upper end thereof; a driving mechanism 200 installed inside the housing 100, the driving mechanism 200 including a motor 210, a lead screw 220, and a coupling 230 connecting an output shaft of the motor 210 and the lead screw 220, the motor being fixed to the base 110; a finger assembly 300 hinged to the housing 100, the finger assembly 300 including a first link 310, a second link 320, a third link 330, a first finger section 340, a second finger section 350, a third finger section 360, a torsion spring 370, an elastic press rod 380, and a lead screw nut 390 engaged with the lead screw 220; the first finger section 340 is provided with a first limiting block 341, the second finger section 350 is provided with a second limiting block 351, the first finger section 340 and the second finger section 350 are hinged through a fourth connecting pin 304, a torsion spring 370 is arranged on the fourth connecting pin 304, and the first finger section 340 and the second finger section 350 are in the same straight line when not touching an object under the combined action of the torsion spring 370, the first limiting block 341 and the second limiting block 351;
two ends of the lead screw nut 390 are hinged to the proximal end of the first link 310 through an eighth connecting pin 308, the distal end of the first link 310 is hinged to the proximal end of the second link 320 through a seventh connecting pin 307, the distal end of the second link 320 is hinged to the elastic press rod 380 and the proximal end of the third link 330 through a second connecting pin 302, the distal end of the third link 330 is hinged to the middle of the third finger section 360 through a first connecting pin 301, the proximal end of the third finger section 360 is hinged to the distal end of the second finger section 350 and the elastic press rod 380 through a third connecting pin 303, the proximal end of the second finger section 350 is hinged to the distal end of the first finger section 340 through a fourth connecting pin 304, the proximal end of the first finger section 340 is hinged to the housing 100 through a sixth connecting pin 306, and the lower portion of the first link 310 is hinged to the housing 100 through a fifth connecting pin 305. The second connecting rod 320 can compress the elastic pressure rod 380 after the second finger section 350 touches an object, and simultaneously pushes the third connecting rod 330; the third finger section 360 can be pushed by the third link 330 to rotate around the third connecting pin 303 after the second finger section 350 touches the object so as to adapt to the shape clamping of the object.
In the embodiment of the three-finger-section parallel clamping self-adaptive robot hand device designed by the invention, the shell 100, the first finger section 340, the second finger section 350, the elastic pressure lever 380 and the second connecting rod 320 form a parallelogram mechanism, the first finger section 340 and the second finger section 350 are positioned on the same straight line under the action of the torsion spring 370, the first limiting block 341 and the second limiting block 351 in the initial state of the parallelogram mechanism, the straight line and the straight line on which the second connecting rod 320 are positioned are opposite, and the straight line on which the elastic pressure lever 380 is positioned and the straight line on which the shell 100 is positioned are opposite; the elastic pressure lever 380 is not compressed in the initial state, the triangle in which the elastic pressure lever 380, the third finger section 360 and the third connecting rod 330 are located can be regarded as a whole, and when the second connecting rod 320 drives the fingers to swing inwards, the triangle translates relative to the shell 100, so that the flat clamping function of the object is realized; when an irregular object is grabbed, if the first finger segment 340 or the second finger segment 350 touches the object, the first finger segment 340 and the second finger segment 350 can rotate around the fourth connecting pin 304 to adapt to the shape of the object, then the second connecting rod 320 further swings to compress the elastic pressure rod 380, at the moment, the bottom edge of the triangle is shortened, the third connecting rod 330 is forced to push the third finger segment 360 to rotate around the third connecting pin 303 until the third finger segment 360 touches the object, and therefore the self-adapting function of the finger to the object is completed. When the external extension object is taken, the elastic pressure rod 380 can not be stretched, the triangle where the elastic pressure rod 380, the third finger section 360 and the third connecting rod 330 are located can be regarded as a whole, when the second connecting rod 320 drives the fingers to swing outwards, the triangle translates relative to the shell 100, and at the moment, the object can be taken up from the inner ring of the annular object in a mode of outward translation of the third finger section 360.
As shown in fig. 3, the housing on one side is removed to see the internal structure, the motor 210 is arranged in the vertical direction, the output shaft is connected with the lead screw through the coupling, the lower side of the palm surface 121 is provided with a guide sleeve, and the lead screw can be inserted into the guide sleeve. As shown in fig. 4 and 5, there are the opened and contracted states of the robot hand of the present embodiment, respectively.
With reference to fig. 6 to 8, the robot hand of the present embodiment respectively holds a square object and a cylindrical object, and has good adaptability.
As can be seen from fig. 1 and 2, the third finger section 360 of the robot hand is provided with a clamping surface 361, and the clamping surface 361 may be provided with a rubber anti-slip pad to improve friction force, which is beneficial for clamping the robot hand, especially for objects on a cylindrical surface.
In fig. 2, the torsion spring 370 is sleeved on the fourth connecting pin 304, and two ends of the torsion spring 370 are respectively lapped on the first finger section 340 and the second finger section 350. The torsion spring 370 is sleeved on the fourth connecting pin 304 from one end, can rotate around the fourth connecting pin 304, and can apply torsion to the first finger section 340 and the second finger section 350 when the first finger section 340 and the second finger section 350 rotate.
In this embodiment, the robot hand is an integral structure, wherein the motor 210 needs an external power source, and therefore the socket 130 is disposed on the housing 100, and the socket 130 may be a plug-in type, so as to be conveniently connected to the commercial power and provide power supply for the robot hand.
Compared with the prior art that a large number of two-finger-section robot hands appear in the market, in order to realize the self-adaptive function of the three-finger-section robot hand, an elastic pressure rod 380 needs to be arranged between a finger section and a connecting rod, as shown in fig. 9 and 10, the elastic pressure rod 380 comprises a piston cylinder 381, a piston 382 arranged in the piston cylinder 381 and a matched piston rod 383, a compression spring 384 is arranged in the piston cylinder 381, and one end of the compression spring 384 abuts against the end face of the piston 382.
In addition, the rear portion of the piston cylinder 381 is formed with a first sleeve 3811; the head of the piston rod 383 is formed with a second sleeve 3831, the inner bore diameter of the first sleeve 3811 being the same as the second sleeve 3831. The first sleeve 3811 has a length that is less than a length of the second sleeve 3831. The compression spring 384 is clearance fit with the piston cylinder 381.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and it should be noted that, for those skilled in the art, several modifications or equivalent substitutions can be made without departing from the principle of the present invention, and the spirit and scope of the technical solutions should be covered by the claims of the present invention.
Claims (8)
1. A three-finger-section parallel-clamping self-adaptive robot hand device is characterized by comprising:
the mobile phone comprises a shell (100) and a base, wherein the shell comprises a base (110) and a supporting plate (120) fixed on the base (110), and a palm surface (121) is formed at the upper end of the supporting plate (120);
a driving mechanism (200) installed inside the housing (100), wherein the driving mechanism (200) comprises a motor (210), a lead screw (220) and a coupling (230) for connecting an output shaft of the motor (210) and the lead screw (220), and the motor (210) is fixed on the base (110);
the finger assembly (300) is hinged to the shell (100), and the finger assembly (300) comprises a first connecting rod (310), a second connecting rod (320), a third connecting rod (330), a first finger section (340), a second finger section (350), a third finger section (360), a torsion spring (370), an elastic pressure lever (380) and a lead screw nut (390) matched with the lead screw (220); the first finger section (340) is provided with a first limiting block (341), the second finger section (350) is provided with a second limiting block (351), the first finger section (340) and the second finger section (350) are hinged through a fourth connecting pin (304), a torsion spring (370) is arranged on the fourth connecting pin (304), and the first finger section (340) and the second finger section (350) are positioned in the same straight line under the combined action of the torsion spring (370), the first limiting block (341) and the second limiting block (351);
two ends of the lead screw nut (390) are hinged with the near end of the first connecting rod (310) through an eighth connecting pin (308), the far end of the first connecting rod (310) is hinged with the near end of the second connecting rod (320) through a seventh connecting pin (307), the far end of the second connecting rod (320) is hinged with the elastic pressure rod (380) and the near end of the third connecting rod (330) through a second connecting pin (302), the far end of the third connecting rod (330) is hinged with the middle part of the third finger section (360) through a first connecting pin (301), the near end of the third finger section (360) is hinged with the far end of the second finger section (350) and the elastic pressure lever (380) through a third connecting pin (303), the proximal end of the second finger segment (350) is hinged with the distal end of the first finger segment (340) through a fourth connecting pin (304), the proximal end of the first finger section (340) is hinged with the shell (100) through a sixth connecting pin (306), the lower part of the first connecting rod (310) is hinged with the shell (100) through a fifth connecting pin (305).
2. The three-fingered-section parallel-clamping adaptive robot hand device according to claim 1, wherein a clamping surface (361) is arranged on the third fingered section (360).
3. The three-finger-section parallel-clamping self-adaptive robot hand device according to claim 1, wherein the torsion spring (370) is sleeved on the fourth connecting pin (304), and two ends of the torsion spring (370) are respectively lapped on the first finger section (340) and the second finger section (350).
4. The three-fingered-section parallel-clamping adaptive robot hand device according to claim 1, wherein a socket (130) is provided on the housing (100).
5. The three-finger-section parallel-clamping adaptive robot hand device according to claim 1, wherein the elastic pressure rod (380) comprises a piston cylinder (381), a piston (382) arranged in the piston cylinder (381), and a matched piston rod (383), a compression spring (384) is arranged in the piston cylinder (381), one end of the compression spring (384) abuts against the end face of the piston (382), and the other end of the compression spring abuts against the inner bottom face of the piston cylinder.
6. The three-finger segment clamp flat self-adaptive robot hand device according to claim 5, wherein a first sleeve is formed at the tail of the piston cylinder (381); the head of the piston rod (383) is formed with a second sleeve, and the inner bore diameters of the first sleeve and the second sleeve are the same.
7. The three-fingered-section clamp-down adaptive robotic hand device of claim 6, wherein the length of the first sleeve is less than the length of the second sleeve.
8. The three-fingered flat clamp adaptive robotic hand device according to claim 5, wherein the compression spring (384) is clearance fit with a piston cylinder (381).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010823128.3A CN111993450B (en) | 2020-08-17 | 2020-08-17 | Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010823128.3A CN111993450B (en) | 2020-08-17 | 2020-08-17 | Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device |
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| CN111993450A CN111993450A (en) | 2020-11-27 |
| CN111993450B true CN111993450B (en) | 2021-12-21 |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8973958B2 (en) * | 2011-11-25 | 2015-03-10 | Robotic Inc. | Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN104972477B (en) * | 2015-07-21 | 2017-02-01 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| US9782902B1 (en) * | 2016-06-29 | 2017-10-10 | Robotis Co., Ltd. | Gripper for robot hand capabel of adaptive grasp |
| CN107932549B (en) * | 2018-01-16 | 2020-01-14 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
| CN108214534B (en) * | 2018-01-16 | 2020-03-31 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated robot clamping jaw |
| CN108214478A (en) * | 2018-01-24 | 2018-06-29 | 掣京机器人科技（上海）有限公司 | Robot and its force aid system with the variable spring boost system of multistation |
| CN108818577B (en) * | 2018-06-11 | 2020-11-27 | 清华大学 | Self-adaptive robot finger device for linearly and parallelly clamping oscillating bar and sliding groove |
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| CN110809506A (en) * | 2018-08-29 | 2020-02-18 | 深圳市大疆创新科技有限公司 | Clamping device and movable machine |
| CN109877861B (en) * | 2019-03-20 | 2021-05-18 | 燕山大学 | Finger mechanism of robot |
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