CN112388664B

CN112388664B - Four-finger agile end effector of electric-gas composite driving series mechanism palm

Info

Publication number: CN112388664B
Application number: CN202011202462.3A
Authority: CN
Inventors: 章军; 刘禹; 陈彦秋; 陆新龙; 周浪; 吕兵
Original assignee: Jiangnan University
Current assignee: Jiangnan University
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2022-01-07
Anticipated expiration: 2040-11-02
Also published as: CN112388664A

Abstract

The invention relates to the technical field of robots and automation application, in particular to a four-finger agile end effector of an electricity-gas composite driving series mechanism palm, which comprises a motor worm gear reducer, two thread head driving shafts, two thread head driven shafts and a blade type rotating cylinder, wherein the motor worm gear reducer enables four first rods to rotate at the same speed through four shifting gear trains arranged on the same plane, and the steering directions of two adjacent first rods are opposite; the blade type rotating cylinder enables the four second rods to rotate at the same speed through four shifting gear trains installed on the same plane and by means of transmission of four toothed belts, the directions of two adjacent second rods are opposite, right-angle plate fingers are fixed on each second rod or each first rod, the contact positions of the four fingers and a grabbed object can be accurately positioned, and the grabbed object can be rapidly clamped.

Description

Four-finger agile end effector of electric-gas composite driving series mechanism palm

Technical Field

The invention relates to the technical field of robots and automation application, in particular to a four-finger agile end effector of an electric-gas composite driving series mechanism palm.

Background

The grabbing manipulator is also called an end effector and an end gripper, and is an operation tool for grabbing objects by a robot. Due to the complexity of grasping objects, the remaining end effectors are unable to universally and reliably grasp different classes of objects, except for some humanoid dexterous manipulators that are expensive to manufacture and complex to install. In terms of the contact state, in order to adapt to different shapes of the grasped objects such as a cuboid, a cylinder, a sphere and the like, the finger root parts of the fingers need to be indexed, so that the finger contact surfaces can better adapt to the grasped objects with different shapes, and the indexing action is the basic function of the palm.

For grasping objects such as agricultural products and food, due to the reasons of size change, non-uniform shape (physical shape), soft, hard, tough and brittle (physical property), dense and sparse distance and mutual stacking (physical state), the end effector with certain universality is more difficult to realize.

Therefore, the granted patent of 'dual-drive crank rocker slider parallel mechanism palm type manipulator with finger displacement and transposition' (patent number: 201710220457.7) provides a proposal of 'parallel mechanism palm type manipulator'. The manipulator is provided with four fingers, wherein one finger is fixed, the other two movable fingers are displaced and indexed (the displacement and the indexing relation is unique, namely the indexing angle of the movable finger is determined by the coordinate position of the movable finger) by adopting two parallel crank rocker slider parallel mechanisms, the palms of the parallel mechanisms are cooperatively driven by two motors to select the final pose of the finger so as to clamp an object, and the motion track of the movable finger is selected so as to avoid an obstacle.

The defects of the mechanical arm are as follows: firstly, positioning and grabbing objects by a single finger, enabling the reference to be misaligned, enabling the offset between the original point of coordinates of the manipulator and the mass center of the large object and the mass center of the small object to be large, and enabling the eccentric moment of the manipulator to be large; secondly, positioning and grabbing the object by a single finger, wherein the grabbed object moves a little in the grabbing process due to the positioning precision of the mechanical arm; two moving fingers, but not three fingers, move towards the object to be grabbed simultaneously, so that the clamping process is low in efficiency; the double-drive five-rod sliding block parallel mechanism drives the second finger to displace, the displacement angle at the position determined by the x and y coordinates is determined, the finger with the plane cross section is adopted when the curved surface of the grasped object is contacted, or the finger with the plane cross section is adopted when the flat surface of the grasped object is contacted, and meanwhile, the universality of the vertical grasping cylinder and the cuboid is not good enough; the parallel mechanism of the crank, the rocker and the sliding block can form a positive crank and rocker mechanism (the angular displacement direction of the crank is the same as that of the rocker) and a negative crank and rocker mechanism (the angular displacement direction of the crank is opposite to that of the rocker), the positive crank and rocker mechanism can experience a dead point state (a connecting rod is in a straight line with the rocker in the state) during transition, a rocker hinge seat (namely the sliding block) is driven by a lead screw motor, and the difficulty of avoiding the dead point by the cooperative control of the lead screw motor and a crank rotating motor is higher.

Disclosure of Invention

The applicant aims at the defects in the prior art and provides a four-finger agile end effector of an electric-pneumatic compound drive series mechanism palm, which can accurately position the contact position of four fingers and a grasped object and quickly clamp the grasped object.

The technical scheme adopted by the invention is as follows: a palm four-finger agile end effector of an electric-pneumatic compound drive series mechanism comprises a motor worm gear reducer, two thread head driving shafts, two thread head driven shafts and a blade type rotating air cylinder, wherein the motor worm gear reducer drives one of the thread head driving shafts to rotate, a first rod is vertically fixed at the end part of each thread head driving shaft, a duplicate gear and a driving gear are respectively installed on each thread head driving shaft, a taper hole gear is respectively installed on each thread head driven shaft, a triple gear is installed on one of the thread head driven shafts, a duplicate gear is installed on the other thread head driven shaft, a first rod is vertically fixed at the end part of each thread head driven shaft, the driving gears on the two thread head driving shafts are mutually meshed, the driving gears and the taper hole gears are meshed in one-to-one correspondence, any two adjacent first rods are equal in rotating speed, a first rod is meshed with a second rod, and a third rod is meshed with a third rod, The direction of rotation is opposite; four pinions are respectively arranged at one end of four pin shafts, four second rods are respectively and vertically fixed at the other ends of the four pin shafts, each pin shaft is supported by two small belt seat bearings, the two small belt seat bearings are fixed at two sides of the end part of the first rod, a middle gear of a triple gear and upper gears of three double gears form a same-plane four-gear train I, and the modulus and the tooth number of each gear in the same-plane four-gear train I are equal; two same plane gears on the two thread head driving shafts are positive modified gears and are meshed with each other; two homoplanar gears on the driven shafts of the two thread heads are negative modified gears; two same-plane gears on the two driving shafts with the thread heads are meshed with two same-plane gears on the two driven shafts with the thread heads respectively; any two adjacent three of the three duplicate gears have the same rotating speed and opposite rotating directions; a circular truncated cone gear is arranged on an output shaft of the blade type rotating cylinder, and the circular truncated cone gear is meshed with an upper gear of the triple gear to enable the triple gear to rotate; the middle gear of one triple gear and the lower gears of three duplicate gears respectively drive four pinions through four toothed belts, any two adjacent second rods have equal rotating speed and opposite rotating directions, and in four rod systems formed by connecting the second rods and the first rods, right-angle plate fingers are fixed on each second rod or each first rod.

As a further improvement of the above technical solution:

the electric-gas compound driving series mechanism palm four-finger agile end effector comprises a lower cover plate, an upper base plate, a U-shaped mounting plate and guide studs, wherein two ends of each guide stud are in clearance fit with holes in the lower cover plate and the upper base plate respectively; the vane type rotating cylinder is installed on the lower cover plate, and the motor worm gear reducer is fixed on the upper bottom plate.

The assembly relation from top to bottom is the same and all is in proper order the upper plate, fix the big belt seat bearing on the upper plate, the spacer bush, drive gear, apron down, fix the big belt seat bearing on apron down, wear-resisting axle sleeve, the duplicate gear that wear-resisting axle sleeve outer empty cover, first pole and nut down on the axle of two screw thread head drive shafts, two first poles advance two screw thread head drive shafts respectively and use nut axial fixity, transmit the moment of torsion through the radial screw who fixes at first pole tip between first pole and the screw thread head drive shaft, two drive gear all lean on the parallel key to transmit the moment of torsion.

The assembly relationship from top to bottom on the shaft of one of the threaded-head driven shafts is sequentially an upper bottom plate, a large-belt-seat bearing, a flat-round nut, a taper sleeve, a taper-hole gear, a lower cover plate, a large-belt-seat bearing, a wear-resistant shaft sleeve, a duplicate gear, a first rod and a nut, wherein the large-belt-seat bearing, the flat-round nut, the taper sleeve, the taper-hole gear, the lower cover plate, the large-belt-seat bearing, the wear-resistant shaft sleeve, the duplicate gear, the first rod and the nut are sleeved outside the wear-resistant shaft sleeve in an empty mode; the assembly relation from top to bottom on the shaft of another screw thread head driven shaft is sequentially an upper base plate, a large-belt-seat bearing fixed on the upper base plate, an oblate nut, a taper sleeve, a taper hole gear, a lower cover plate, a large-belt-seat bearing fixed on the lower cover plate, a wear-resistant shaft sleeve, a triple gear sleeved outside the wear-resistant shaft sleeve, a first rod and a nut, one ends of the two first rods are sleeved into the two screw thread head driven shafts respectively and are axially fixed by the nuts, and torque is transmitted between the first rod and the screw thread head driven shafts through radial screws fixed at the end parts of the first rods.

The two driving gears and the two bevel hole gears form a same-plane four-gear train II, and the modulus and the tooth number of each gear in the same-plane four-gear train II are equal; the two driving gears are positive modified gears, and the two taper hole gears are negative modified gears.

The right-angle plate fingers are fixed on the second rod or the first rod through the finger seats, flat elliptical cross section rubber strips are adhered to the two sides of the right-angle plate fingers, and the flat elliptical cross section rubber strips are made of hard rubber or soft rubber.

The invention has the following beneficial effects: the electric-gas composite driving is quick: the motor worm reducer has a positioning function, the motor accurately controls angular displacement, the contact position between the fingers of the right-angle plate and a grabbed object is determined, the worm reducer has a self-locking function, and the power can be cut off and energy can be saved in the clamping process; the blade type rotating cylinder plays a role in clamping, the blade type rotating cylinder 1 can rapidly rotate forwards and backwards, so that right-angle plate fingers clamp a grabbed object from inside and outside, the efficiency is high, and the contact force is accurately controlled by accurately controlling the driving air pressure through the high-speed air valve;

range of manual adjustment: firstly, adjusting a phase angle between a taper hole gear and a taper sleeve by loosening an oblate nut, adjusting symmetry, respectively arranging four fingers on four second rods on the front, back, left and right, respectively, arranging angles of the four fingers on the four second rods on the front, back, left and right, respectively, arranging the four fingers on four first rods on the front, back, left and right, respectively, and arranging angles of the four fingers on the four first rods on the front, back, left and right, respectively;

operational flexibility of the mechanical arm: after manual adjustment, the blade type rotating cylinder and the motor worm reducer can rotate forward and backward, automatic grabbing is performed by four moving fingers, and the original point of a positioning coordinate of a manipulator is unchanged in the grabbing process;

reliability of finger grip: the force sealing performance of the four-finger grabbing is better than that of the three-finger grabbing, meanwhile, the contact force is small, and the grabbing of soft objects is more reliable;

the adaptability of the shape of the automatic control grasp: the palm structure of the serial mechanism provided with the four fingers has good adaptability to the shapes of a cuboid, a cylinder, a sphere, an ellipsoid and the like when the four moving fingers automatically grab;

the four moving fingers shift (change x and y coordinate positions) and rotate (change angles around a z axis), the curved surface of the grabbed object is contacted and the fingers with the plane cross sections are adopted, or the flat surface of the grabbed object is contacted and the fingers with the curved surface cross sections are adopted.

Drawings

Fig. 1 is a top view of a serial-mechanism palm four-finger agile end effector of the present invention.

Fig. 2 is a cross-sectional deployment a-a view of the tandem mechanism palm four finger agile end effector of the present invention.

Fig. 3 is an enlarged view of a portion B-B of the tandem palm end effector of the present invention.

Fig. 4 is a C-C cross-sectional view of a four finger agile end effector of a series mechanism palm of the present invention.

Fig. 5 is a D-D cross-sectional view of a four finger agile end effector of a series mechanism palm of the present invention.

Fig. 6 is a bottom view of the series mechanism palm four finger agile end effector of the present invention.

Fig. 7 is a drawing of a part of a lower cover plate of a four-finger agile end effector of a palm of a tandem mechanism of the present invention.

Fig. 8 is a diagram of the components of the upper plate of the series-connected palm four-finger agile end effector of the present invention.

Fig. 9 is a front view of a second rod component of the series-connected palm-enabled four finger agile end effector of the present invention.

Fig. 10 is a left cross-sectional view of a second rod feature of a four finger agile end effector of a palm of a tandem mechanism of the present invention.

Fig. 11 is a right side view of a four finger agile end effector finger seat component of a palm of a tandem mechanism of the present invention.

Fig. 12 is a front view of the components of the finger seat of the four-finger agile end effector of the palm of the tandem mechanism of the present invention.

Fig. 13 is a left side view of a four finger agile end effector finger seat component of a palm of a tandem mechanism of the present invention.

Fig. 14 is a drawing of a series-connected mechanism palm four finger agile end effector screw head driven shaft component of the present invention.

Fig. 15 is a drawing of a series mechanism palm four finger agile end effector screw head drive shaft detail of the present invention.

Fig. 16 is a drawing of a part of a wear-resistant shaft sleeve of a four-finger agile end effector of a series mechanism palm of the invention.

Fig. 17 is a diagram of a triple gear arrangement of a series-connected mechanism palm four finger agile end effector of the present invention.

Fig. 18 is a drawing of a tandem mechanism palm four finger agile end effector duplicate gear of the present invention.

Fig. 19 is a schematic diagram of the serial-mechanism palm four-finger agile end effector gripping a wide cuboid or horizontally placed thick cylinder inward.

Fig. 20 is a schematic diagram of the series-connected palm four finger agile end effector grasping a narrow cuboid or horizontally disposed thin cylinder inward.

Fig. 21 is a schematic diagram of the palm-sided four-finger agile end effector of the tandem mechanism of the present invention gripping a vertically disposed cylinder inward.

Fig. 22 is a schematic diagram of the serial-mechanism palm four-finger agile end effector gripping a wide cuboid or horizontally placed thick cylinder outward.

Fig. 23 is a schematic diagram of a series-connected mechanism palm four-finger agile end effector gripping a narrow cuboid or horizontally disposed thin cylinder outward.

Wherein: 1. a vane-type rotary cylinder; 2. a lower cover plate; 3. an upper base plate; 4. a U-shaped mounting plate; 5. a guide stud; 6. a worm reducer of the motor; 7. a first lever; 8. a toothed belt; 9. a pinion gear; 10. a second lever; 11. a finger seat; 12. a square plate finger; 13. a small belt seat bearing; 14. a pin shaft; 15. a duplicate gear; 16. a thread start driven shaft; 17. a wear-resistant shaft sleeve; 18. a triple gear; 19. a large belt seat bearing; 20. a bevel gear; 21. a taper sleeve; 22. an oblate nut; 23. a circular truncated cone gear; 24. a threaded-head drive shaft; 25. a drive gear; 26. a spacer sleeve; 27. rubber strip with flat elliptic cross section.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

As shown in fig. 1 to 23, the palm-sized four-finger agile end effector of the electro-pneumatic compound drive serial mechanism of the present embodiment includes a motor worm gear reducer 6, two thread head driving shafts 24, two thread head driven shafts 16, and a blade-type rotating cylinder 1, where the motor worm gear reducer 6 drives one of the thread head driving shafts 24 to rotate, a first rod 7 is vertically fixed to an end of each thread head driving shaft 24, a duplicate gear 15 and a driving gear 25 are installed on each thread head driving shaft 24, a taper hole gear 20 is installed on each thread head driven shaft 16, a triple gear 18 is installed on one thread head driven shaft 16, a duplicate gear 15 is installed on the other thread head driven shaft 16, the first rod 7 is vertically fixed to an end of each thread head driven shaft 16, the driving gears 25 on the two thread head driving shafts 24 are engaged with each other, the driving gears 25 are correspondingly meshed with the taper hole gears 20 one by one, and any two adjacent first rods 7 have the same rotating speed and opposite rotating directions; four pinions 9 are respectively installed at one end of four pin shafts 14, four second rods 10 are respectively vertically fixed at the other ends of the four pin shafts 14, each pin shaft 14 is supported by two small belt seat bearings 13, the two small belt seat bearings 13 are fixed at two sides of the end part of the first rod 7, a middle gear of a triple gear 18 and upper gears of three double gears 15 form a same-plane four-gear train I, and the modulus and the tooth number of each gear in the same-plane four-gear train I are equal; two same plane gears on the two thread head driving shafts 24 are positive modified gears and are meshed with each other; two homoplanar gears on the two thread head driven shafts 16 are negative modified gears; two same plane gears on the two screw head driving shafts 24 are respectively meshed with two same plane gears on the two screw head driven shafts 16; any two adjacent three of the triple gear 18 and the three double gears 15 have the same rotating speed and opposite rotating directions; a circular table gear 23 is arranged on an output shaft of the blade type rotating cylinder 1, and the circular table gear 23 is meshed with a gear on the triple gear 18 to enable the triple gear 18 to rotate; the middle gear of a triple gear 18 and the lower gears of three duplicate gears 15 respectively drive four pinions 9 through four toothed belts 8, any two adjacent second rods 10 have equal rotating speed and opposite rotating directions, and in four rod systems formed by connecting the second rods 10 and the first rods 7, a right-angle plate finger 12 is fixed on each second rod 10 or each first rod 7.

The electric-gas compound drive serial mechanism palm four-finger agile end effector comprises a lower cover plate 2, an upper base plate 3, a U-shaped mounting plate 4 and guide studs 5, wherein two ends of each guide stud 5 are in clearance fit with holes in the lower cover plate 2 and the upper base plate 3 respectively, the lower cover plate 2 and the upper base plate 3 are connected into a whole by three guide studs 5 and nuts, the U-shaped mounting plate 4 and the upper base plate 3 are fixed together by four screws, the lower cover plate 2, the upper base plate 3 and the U-shaped mounting plate 4 form a three-layer integral structure, and holes connected with mechanical arms are arranged on the U-shaped mounting plate 4; the vane type rotating cylinder 1 is arranged on the lower cover plate 2, and the motor worm reducer 6 is fixed on the upper bottom plate 3.

The two threaded head driving shafts 24 are the same in assembly relation from top to bottom and sequentially comprise an upper base plate 3, a large-base bearing 19 fixed on the upper base plate 3, a spacer bush 26, a driving gear 25, a lower cover plate 2, the large-base bearing 19 fixed on the lower cover plate 2, a wear-resistant shaft sleeve 17, a duplicate gear 15 sleeved outside the wear-resistant shaft sleeve 17 in an empty mode, a first rod 7 and a nut, the two first rods 7 are sleeved in the two threaded head driving shafts 24 respectively and are axially fixed through the nut, torque is transmitted between the first rod 7 and the threaded head driving shafts 24 through radial screws fixed at the end portions of the first rods 7, and the two driving gears 25 are all close to flat keys to transmit the torque.

The assembly relationship from top to bottom on the shaft of one of the threaded-head driven shafts 16 is that an upper bottom plate 3, a large-base bearing 19 fixed on the upper bottom plate 3, an oblate nut 22, a taper sleeve 21, a taper-hole gear 20, a lower cover plate 2, a large-base bearing 19 fixed on the lower cover plate 2, a wear-resistant shaft sleeve 17, a duplicate gear 15 sleeved outside the wear-resistant shaft sleeve 17 in an empty way, a first rod 7 and a nut, one end of each of two first rods 7 is sleeved in each of the two threaded-head driven shafts 16 and axially fixed by the nut, torque is transmitted between the first rod 7 and the threaded-head driven shafts 16 through radial screws fixed at the end parts of the first rods 7, and the phase angle of the taper-hole gear 20 is adjustable by loosening the oblate nut 22 and the taper sleeve 21; the other screw thread head driven shaft 16 is assembled from top to bottom on the shaft sequentially from top to bottom through an upper bottom plate 3, a large base bearing 19 fixed on the upper bottom plate 3, an oblate nut 22, a taper sleeve 21, a taper hole gear 20, a lower cover plate 2, a large base bearing 19 fixed on the lower cover plate 2, a wear-resistant shaft sleeve 17, a triple gear 18 sleeved outside the wear-resistant shaft sleeve 17, a first rod 7 and a nut, one end of each of the two first rods 7 is sleeved into the two screw thread head driven shafts 16 respectively and is axially fixed through the nut, and torque is transmitted between the first rod 7 and the screw thread head driven shafts 16 through radial screws fixed at the end parts of the first rods 7.

The two driving gears 25 and the two bevel hole gears 20 form a same-plane four-gear train II, and the modulus and the tooth number of each gear in the same-plane four-gear train II are equal; the two driving gears 25 are positive modified gears, the two bevel hole gears 20 are negative modified gears, and the two bevel hole gears 20 cannot interfere with each other.

As shown in fig. 2 and 3, the fingers 12 of the right-angle plate are fixed on the second rod 10 or the first rod 7 through the finger seats 11, rubber strips 27 with flat elliptical cross sections are adhered on the two sides of the fingers 12 of the right-angle plate, and the rubber strips 27 with the flat elliptical cross sections are made of hard rubber or soft rubber. The four finger seats 11 are respectively fixed on the second rod 10 or the first rod 7, and only one finger seat 11 can be arranged on the second rod 10 and the first rod 7 which are connected with each other in four rod systems formed by connecting the second rod 10 and the first rod 7; namely, four finger seats 11 are installed: a. normally four on the second bar 10 at the same time, b, rarely four on the first bar 7 at the same time, c, rarely two symmetrical of the four finger rests 11 on the second bar 10, two on the first bar 7, d, in the special case of grabbing a profiled object, the four finger rests 11 are mounted on the second bar 10 or on the first bar 7, respectively.

As shown in fig. 5, in the same-plane four-gear train, two driving gears 25 and two bevel hole gears 20 have the same module and number of teeth; the two driving gears 25 are positive modified gears, the tooth crest coefficient is large, the two gears are meshed with each other, and the center distance is large; the two bevel hole gears 20 are negative modified gears, the tooth crest coefficient is small, the two gears cannot interfere (the modified coefficients of the two bevel hole gears 20 are small, the diameter of the tooth crest circle of the driving gear 25 is larger than the center distance, the tooth crests of the two bevel hole gears 20 move relatively in the gear tooth gap without interference; no processing match exists, the modified coefficients of the two bevel hole gears 20 are large, the diameter of the tooth crest circle of the driving gear 25 is smaller than the center distance, and a gap is reserved between the tooth crest circles of the two bevel hole gears 20 without interference); the two driving gears 25 are meshed with the two bevel hole gears 20 respectively, and the center distance is small; the four first rods 7 are equal in angular displacement in the gear train on the same plane, and the lightweight effect of simple structure is achieved. Therefore, the two screw head drive shafts 24 and any adjacent two of the two screw head driven shafts 16 rotate at the same speed and in opposite directions, and any adjacent two of the four first levers 7 rotate at the same speed and in opposite directions.

The transmission principle of another same plane four gear train is the same, the middle gear of a triple gear 18 and the upper gears of three double gears 15 are the same, and the modules and the tooth numbers of the four same plane gears are all equal; two same plane gears on the two screw head driving shafts 24 are positive modified gears, the tooth crest height coefficient is large, and the two gears are meshed with each other; two same plane gears on the two screw thread head driven shafts 16 are negative modified gears, the tooth crest height coefficient is small, and the two gears cannot interfere; two same plane gears on the two screw head driving shafts 24 are meshed with two same plane gears on the two screw head driven shafts 16 respectively; any two adjacent three of the triple gear 18 and the three double gears 15 have the same rotating speed and opposite rotating directions; a circular table gear 23 is arranged on an output shaft of the blade type rotating cylinder 1, torque is transmitted by a flat key and is axially fixed by a screw and a gasket, and the circular table gear 23 is meshed with a gear on the triple gear 18 to enable the triple gear 18 to rotate on the wear-resistant shaft sleeve 17; the middle gear of a triple gear 18 and the lower gears of three duplicate gears 15 drive four identical pinions 9 through four toothed belts 8, so that any two adjacent second rods 10 have the same rotating speed and opposite rotating directions;

as shown in fig. 5, in the gear train of the same plane, the positioning coordinate origin O of the manipulator is the midpoint of the connecting line of the nodes of the two pairs of meshing gears, i.e., the drive gear 25 and the bevel gear 20.

In the implementation process of the electric-pneumatic compound driving series mechanism palm four-finger agile end effector, the blade type rotating cylinder 1 and the motor worm gear reducer 6 are cooperatively controlled to achieve the final grabbing pose and object grabbing, and the blade type rotating cylinder 1 and the motor worm gear reducer 6 can cooperatively control the movement track of fingers together with a mechanical arm, so that the fingers are prevented from interfering with other objects, such as grabbing of a plurality of grabbed objects which are closely close to each other.

By manual adjustment, it is possible to vary: firstly, loosening an oblate nut 22, adjusting a phase angle between a taper hole gear 20 and a taper sleeve 21, adjusting symmetry, respectively adjusting positions of four fingers on four second rods 10 on the front, back, left and right, respectively, adjusting angles of the four fingers on the four second rods 10 on the front, back, left and right, respectively, arranging the four fingers on four first rods 7 on the front, back, left and right, respectively, and adjusting angles of the four fingers on the four first rods 7 on the front, back, left and right, respectively, wherein five manual adjustment ways are provided; these five approaches can be varied individually or in any combination to form specific embodiments.

Under the condition that the finger installation position and the finger installation angle are not changed, by controlling the blade type rotating cylinder 1 and the motor worm reducer 6, fig. 19-20 are schematic diagrams of the serial mechanism palm four-finger quick end effector of the invention gripping a wide rectangular body inwards or horizontally placing a thick cylinder and schematic diagrams of gripping a narrow rectangular body inwards or horizontally placing a thin cylinder, fig. 21 is a schematic diagram of the serial mechanism palm four-finger quick end effector of the invention gripping a vertically placing cylinder inwards, and since two sides of the right-angle plate finger 12 are both adhered with rubber strips 27 with flat elliptical cross sections, fig. 22 and 23 are schematic diagrams of the serial mechanism palm four-finger quick end effector of the invention gripping a wide rectangular body outwards or horizontally placing a thick cylinder and gripping a narrow rectangular body outwards or horizontally placing a thin cylinder.

The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.

Claims

1. A four-finger agile end effector of an electric-gas composite driving series mechanism palm is characterized in that: the worm gear type motor comprises a motor worm reducer (6), two thread head driving shafts (24), two thread head driven shafts (16) and a blade type rotating cylinder (1), wherein the motor worm reducer (6) drives one of the thread head driving shafts (24) to rotate, a first rod (7) is vertically fixed at the end part of each thread head driving shaft (24), a duplicate gear (15) and a driving gear (25) are respectively installed on each thread head driving shaft (24), a taper hole gear (20) is respectively installed on each thread head driven shaft (16), a triple gear (18) is installed on one thread head driven shaft (16), a duplicate gear (15) is installed on the other thread head driven shaft (16), the first rod (7) is vertically fixed at the end part of each thread head driven shaft (16), the driving gears (25) on the two thread head driving shafts (24) are mutually meshed, the driving gears (25) are meshed with the taper hole gears (20) in a one-to-one corresponding mode, and any two adjacent first rods (7) are equal in rotating speed and opposite in rotating direction; four pinions (9) are respectively arranged at one end of four pin shafts (14), four second rods (10) are respectively and vertically fixed at the other end of the four pin shafts (14), each pin shaft (14) is supported by two small belt seat bearings (13), the two small belt seat bearings (13) are fixed at two sides of the end part of the first rod (7), a middle gear of one triple gear (18) and upper gears of three duplicate gears (15) form a same-plane four-gear train I, and the modules and the tooth numbers of all gears in the same-plane four-gear train I are equal; two same plane gears on the two thread head driving shafts (24) are positive modified gears and are meshed with each other; two homoplanar gears on the two thread head driven shafts (16) are negative modified gears; two same-plane gears on the two screw head driving shafts (24) are respectively meshed with two same-plane gears on the two screw head driven shafts (16); any two adjacent three of the triple gear (18) and the three duplicate gears (15) have equal rotating speed and opposite rotating directions; a circular truncated cone gear (23) is arranged on an output shaft of the blade type rotating cylinder (1), and the circular truncated cone gear (23) is meshed with an upper gear of the triple gear (18) to enable the triple gear (18) to rotate; the middle gear of one triple gear (18) and the lower gears of three double gears (15) respectively drive four pinions (9) through four toothed belts (8), and any two adjacent gears of four second rods (10) have the same rotating speed and opposite rotating directions; in four rod systems in which the second rods (10) and the first rods (7) are connected with each other, a right-angle plate finger (12) is fixed on each second rod (10) or each first rod (7).

2. The electro-pneumatic compound drive series mechanism palm four finger agile end effector of claim 1 wherein: the electric-gas compound drive series mechanism palm four-finger agile end effector comprises a lower cover plate (2), an upper base plate (3), a U-shaped mounting plate (4) and guide studs (5), wherein two ends of each guide stud (5) are in clearance fit with holes in the lower cover plate (2) and the upper base plate (3) respectively, the lower cover plate (2) and the upper base plate (3) are connected into a whole by three guide studs (5) and nuts, the U-shaped mounting plate (4) and the upper base plate (3) are fixed together by four screws, the lower cover plate (2), the upper base plate (3) and the U-shaped mounting plate (4) form a three-layer integral structure, and a mechanical arm connecting hole system is arranged on the U-shaped mounting plate (4); the vane type rotating cylinder (1) is arranged on the lower cover plate (2), and the motor worm gear reducer (6) is fixed on the upper bottom plate (3).

3. The electro-pneumatic compound drive series mechanism palm four finger agile end effector of claim 2 wherein: the assembly relation from top to bottom is the same and all is upper plate (3), big belt seat bearing (19) fixed on upper plate (3), spacer bush (26), drive gear (25), lower apron (2), big belt seat bearing (19) fixed on lower apron (2), wear-resisting axle sleeve (17), duplicate gear (15) of wear-resisting axle sleeve (17) outer empty cover, first pole (7) and nut on the axle of two screw thread head drive shafts (24) the same and all be in proper order, two first poles (7) are respectively invaginated two screw thread head drive shafts (24) and are used nut axial fixity, transmit moment of torsion through the radial screw of fixing at first pole (7) tip between first pole (7) and the screw thread head drive shaft (24), two drive gear (25) all lean on the parallel key and transmit moment of torsion.

4. The electro-pneumatic compound drive series mechanism palm four finger agile end effector of claim 3 wherein: the assembly relation of one of the threaded-head driven shafts (16) from top to bottom is that an upper base plate (3), a large-belt-seat bearing (19) fixed on the upper base plate (3), an oblate nut (22), a taper sleeve (21), a taper-hole gear (20), a lower cover plate (2), a large-belt-seat bearing (19) fixed on the lower cover plate (2), a wear-resistant shaft sleeve (17), a duplicate gear (15) sleeved outside the wear-resistant shaft sleeve (17) in an empty mode, a first rod (7) and a nut, one end of each of the two first rods (7) is sleeved into the two threaded-head driven shafts (16) respectively and is axially fixed by the nut, torque is transmitted between the first rod (7) and the threaded-head driven shafts (16) through radial screws fixed at the end parts of the first rods (7), and the phase angle of the taper-hole gear (20) is adjustable by loosening the oblate nut (22) and the taper sleeve (21); the assembly relation from top to bottom on the shaft of another screw thread head driven shaft (16) is upper plate (3), big belt seat bearing (19) fixed on upper plate (3), oblate nut (22), taper sleeve (21), taper hole gear (20), lower cover plate (2), big belt seat bearing (19) fixed on lower cover plate (2), wear-resisting axle sleeve (17), triple gear (18) of wear-resisting axle sleeve (17) outer empty cover, first pole (7) and nut in proper order, the one end of two first poles (7) is respectively invaginated into two screw thread head driven shafts (16) and is used nut axial fixity, transmit the moment of torsion between first pole (7) and screw thread head driven shaft (16) through the radial screw of fixing at first pole (7) tip.

5. The electro-pneumatic compound drive series mechanism palm four finger agile end effector of claim 4 wherein: the two driving gears (25) and the two bevel hole gears (20) form a same-plane four-gear train II, and the modulus and the tooth number of each gear in the same-plane four-gear train II are equal; the two driving gears (25) are positive modified gears, and the two taper hole gears (20) are negative modified gears.

6. The electro-pneumatic compound drive series mechanism palm four finger agile end effector of claim 5 wherein: the right-angle plate fingers (12) are fixed on the second rod (10) or the first rod (7) through finger seats (11), flat elliptic cross section rubber strips (27) are adhered to the two sides of the right-angle plate fingers (12), and the flat elliptic cross section rubber strips (27) are made of hard rubber or soft rubber.