CN113386115A

CN113386115A - Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device

Info

Publication number: CN113386115A
Application number: CN202110796884.6A
Authority: CN
Inventors: 董尹凯
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-09-14
Anticipated expiration: 2041-07-14
Also published as: CN113386115B

Abstract

Connecting rod formula three routes parallel connection straight line parallel clamp self-adaptation robot finger device belongs to robot hand technical field, including base, motor, drive mechanism, three finger section, three articulated shaft, eleven connecting rod, three spring spare and stopper etc.. The device can realize three-joint linear parallel clamping and double-finger-section self-adaptive grabbing modes. In the initial stage, the device is in a straight-line parallel clamping mode: the far finger section translates and the track is a straight line, so that the far finger section is suitable for clamping an object on a plane; when the near finger section is blocked from contacting the object, the device enters an adaptive grabbing mode: the middle finger section and the far finger section respectively rotate around a middle joint shaft and a far joint shaft; when the middle finger section contacts the object, the far finger section can continue to rotate until the near finger section, the middle finger section and the far finger section all contact the object. The device has the self-adaptability to different shapes and sizes of objects, adopts a motor to drive three joints, and has the advantages of stable grabbing, simple control and low manufacturing and maintenance cost.

Description

Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device

Technical Field

The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device.

Background

The development and application of robotics are the current research focus. Researchers play a huge role in industrial production for research results of industrial robots, and the robots are controlled to execute repeated and dangerous operations, so that the intelligent factory and the unmanned factory are formed, and the production efficiency is greatly improved. Similar to industrial robots, service robots that walk into thousands of households and various occasions will become the next standardized product category, requiring the robot hand to assist in performing the gripping operation. Therefore, research on the robot hand becomes a hot point of research.

Since the human hand is a smart end fitting produced by man in the course of natural evolution. The motion of human hand has multiple modes of grabbing, including accurate end clamping (pinching) and multi-finger strength type holding, and the grabbing force is large. Multi-fingered robotic hands that mimic human hands are difficult to design.

The existing research field of multi-finger robot hands mainly comprises two robot hands based on different concepts. The first is a dexterous hand with a plurality of degrees of freedom controlled by a plurality of motors, and the other is an underactuated hand with a plurality of degrees of freedom driven by a small number of motors.

A dexterous hand generally has 3-5 fingers, each finger has 2-4 joint degrees of freedom, and most joints of the dexterous hand are active joints driven by motors, air cylinders or hydraulic cylinders and the like. The dexterous hand has higher grabbing precision. For example, the Robonaut hand developed by the united states space and navigation agency has 5 fingers and 14 joint degrees of freedom, realizes the driving control function through 14 motors and 12 independent control circuit boards, and has been applied to the dangerous environment of the space and ground track and the planet exploration task. The position of a grabbed object needs to be judged in advance in the grabbing process by a dexterous hand, path planning is carried out, a real-time control system formed by a plurality of motors is used for controlling, the control difficulty is high, and the cost is high.

The under-actuated hand reduces the use number of motors, so that the requirements on a real-time hand control and sensing system are greatly reduced while the anthropomorphic action of the robot hand is ensured. Existing under-actuated fingers include flat-grip fingers, coupled fingers, and adaptive fingers. The tail ends of the parallel clamping fingers keep a constant posture relative to the base in the grabbing process and are suitable for grabbing objects on the table top; when the near finger section of the coupling finger rotates, the far finger section can rotate relative to the near finger section simultaneously, so that the grabbing action is more anthropomorphic, and the grabbing is quicker; the self-adaptive finger proximal joint rotates firstly, the proximal finger section contacts the object and then triggers the next joint to rotate, and the rest is done by analogy until the tail end finger section contacts the object, so that the enveloping grabbing effect that a plurality of finger sections all contact the object is realized, and the self-adaptive finger proximal joint adapts to objects with different shapes and sizes. This adaptive gripping feature is not possible with conventional parallel grip fingers or coupled fingers.

The parallel clamping self-adaptive finger is a composite grabbing type finger which is generated by combining parallel clamping and self-adaptive grabbing functions in two time stages in tandem. The coupled adaptive finger is another composite grabbing finger combining coupled grabbing and adaptive grabbing.

Traditional parallel clamp self-adaptation finger is that the end is the parallel clamp self-adaptation finger of circular arc orbit, can't realize that the end is the parallel clamp self-adaptation complex of straight line orbit and snatchs the mode, when snatching desktop object, need arm cooperation control collaborative work just can realize that more accurate object snatchs, it is troublesome to bring for mechanical arm control, when snatching not equidimension object simultaneously, the device need highly carry out the operation at the difference, otherwise take place the device's end finger and desktop danger of colliding mutually easily.

The multi-connecting-rod parallel type under-actuated robot finger (patent US5762390A) is designed, a motor and a transmission mechanism are adopted to drive a double-trapezoid four-connecting-rod mechanism, and a double-parallelogram connecting-rod mechanism and a spring piece are used as constraints, so that the parallel clamping and self-adaptive composite grabbing functions are realized. The first stage of the finger when grabbing the object is parallel centre gripping mode, rotates first finger section, second finger section and third finger section successively, and terminal third finger section remains the gesture invariable for the base is fixed throughout, just can the crooked terminal joint of self-adaptation after instructing first, two finger sections contact the object, reaches the self-adaptation and includes the purpose of grabbing. The disadvantages are that: the device does not have a linear horizontal clamping function, namely the tail end finger section of the device moves in a circular arc in the translation process, so that when objects with different sizes on a workbench are grabbed, the grabbing can be realized only by matching and controlling the mechanical arm, and the control difficulty is increased.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a connecting rod type three-way parallel linear parallel clamp self-adaptive robot finger device. The device has three joints, has the function of parallel clamping of the straight track of the tail end finger segment, can realize the self-adaptive grabbing mode of the double finger segments of the middle finger segment and the far finger segment, and has self-adaptability to objects with different shapes and sizes.

The technical scheme of the invention is as follows:

the invention relates to a connecting rod type three-way parallel linear parallel clamp self-adaptive robot finger device, which comprises a base, a motor, a transmission mechanism, a near finger section, a middle finger section, a far finger section, a near joint shaft, a middle joint shaft and a far joint shaft, wherein the base is provided with a plurality of connecting rods; the motor is fixedly connected with the base and is connected with the input end of the transmission mechanism; the near joint shaft is sleeved in the base, the near finger section is sleeved on the near joint shaft, the middle joint shaft is sleeved in the near finger section, the middle finger section is sleeved on the middle joint shaft, the far joint shaft is sleeved in the middle finger section, and the far finger section is sleeved on the far joint shaft; the central lines of the proximal joint shaft, the middle joint shaft and the distal joint shaft are parallel to each other; the method is characterized in that: the connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device further comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft, a seventh shaft, an eighth shaft, a ninth shaft, a tenth shaft, a first spring piece, a second spring piece, a third spring piece and a limiting block; the central lines of the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft, the sixth shaft, the seventh shaft, the eighth shaft, the ninth shaft, the tenth shaft and the proximal joint shaft are parallel to each other; the first shaft is sleeved in the base, the first connecting rod is sleeved on the first shaft, and the second shaft is sleeved in the first connecting rod; one end of the second connecting rod is sleeved on the middle joint shaft, and the other end of the second connecting rod is sleeved on the second shaft; the third connecting rod is sleeved on the proximal joint shaft, and the third shaft is sleeved in the third connecting rod; the fourth connecting rod is sleeved on the third shaft, and the fourth shaft is sleeved in the fourth connecting rod; one end of the fifth connecting rod is sleeved on the middle joint shaft, and the other end of the fifth connecting rod is sleeved on the fourth shaft; the fifth shaft is sleeved in the fifth connecting rod, the sixth connecting rod is sleeved on the fifth shaft, and the sixth shaft is sleeved in the sixth connecting rod; one end of the seventh connecting rod is connected to the sixth shaft, and the other end of the seventh connecting rod is sleeved on the far joint shaft; the eighth connecting rod is sleeved on the near-joint shaft, and the output end of the transmission mechanism is connected with the eighth connecting rod; the seventh shaft is sleeved in the eighth connecting rod, the ninth connecting rod is sleeved on the seventh shaft, and the eighth shaft is sleeved in the ninth connecting rod; one end of the tenth connecting rod is sleeved on the eighth shaft, the other end of the tenth connecting rod is sleeved on the middle joint shaft, and the ninth shaft is sleeved in the tenth connecting rod; the eleventh connecting rod is sleeved on the ninth shaft, the tenth shaft is sleeved in the eleventh connecting rod, and the far finger section is sleeved on the tenth shaft; two ends of the first spring are respectively connected with the third connecting rod and the base; two ends of the second spring are respectively connected with the middle finger section and the second connecting rod; two ends of the third spring are respectively connected with the far finger section and the seventh connecting rod; the limiting block is fixedly connected with the base; in an initial state, the third connecting rod is contacted with the limiting block, and the middle finger section is contacted with the second connecting rod; the distal finger section is in contact with a seventh connecting rod; the central points of the near joint shaft, the middle joint shaft, the far joint shaft, the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft and the sixth shaft are A, B, C, D, E, F, G, H, I; the length of the line segment AF is equal to the length of the line segment BG; the length of segment BH is equal to the length of segment CI; the length of the line segment AB is equal to the length of the line segment FG; the length of the line segment BC is equal to the length of the line segment HI; the length relation of the line segment AD, the line segment DE, the line segment BE, the line segment BC, the line segment EC and the line segment AB meets the following requirements: AD: BE: BC: CE: AB: 68:51:49:68:110: 100.

The invention relates to a connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device, which is characterized in that: the transmission mechanism comprises a speed reducer, a worm wheel, a transition shaft, a first gear and a second gear; the output shaft of the motor is connected with the input shaft of the speed reducer; the worm is fixedly sleeved on an output shaft of the speed reducer; the worm wheel is fixedly sleeved on the transition shaft, and the worm is meshed with the worm wheel; the first gear is fixedly sleeved on the transition shaft, the second gear is sleeved on the proximal joint shaft, the first gear is meshed with the second gear, and the second gear is fixedly connected with the eighth connecting rod.

The invention relates to a connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring, a pressure spring or a torsion spring; the second spring piece adopts a tension spring, a pressure spring or a torsion spring; the third spring piece adopts a tension spring, a pressure spring or a torsion spring.

Compared with the prior art, the invention has the following advantages and prominent effects:

the device adopts base, motor, drive mechanism, three finger sections, three joint shafts, eleven connecting rods, three spring parts, limiting blocks and the like to comprehensively realize the three-joint linear parallel clamping and the double-finger section self-adaptive grabbing mode. In the initial stage, the device is in a straight-line parallel clamping mode: the far finger section translates and the track is a straight line, so that the far finger section is suitable for clamping an object on a plane; when the near finger section is blocked from contacting the object, the device enters an adaptive grabbing mode: the middle finger section and the far finger section respectively rotate around a middle joint shaft and a far joint shaft; when the middle finger section contacts the object, the far finger section can continue to rotate until the near finger section, the middle finger section and the far finger section all contact the object. The device has the self-adaptability to different shapes and sizes of objects, adopts a motor to drive three joints, and has the advantages of stable grabbing, simple control and low manufacturing and maintenance cost.

Drawings

Fig. 1 is a perspective external view of an embodiment of a connecting rod type three-way parallel linear parallel-clamping adaptive robot finger device designed by the invention.

Fig. 2-3 are perspective views of the embodiment of fig. 1 (not shown with some parts).

Fig. 4 is a front view of the embodiment shown in fig. 1.

Fig. 5 is a front view of the embodiment of fig. 1 (not shown with parts).

Fig. 6 is a rear view of the embodiment shown in fig. 1.

Fig. 7 is a left side view of the embodiment shown in fig. 1.

Fig. 8-10 are left side views (not showing parts) of the embodiment of fig. 1.

Fig. 11 is a schematic diagram of a portion of the mechanism in the embodiment of fig. 1.

Fig. 12 is a schematic mechanical diagram of the embodiment shown in fig. 1.

FIG. 13 is a process of linear parallel clamping operation of the embodiment of FIG. 1.

Fig. 14-15 are diagrams of the embodiment of the dual finger segment adaptive action process shown in fig. 1.

In fig. 1 to 15:

10-base, 11-motor, 12-reducer, 13-worm,

14-worm wheel, 15-transition shaft, 16-first gear, 17-second gear,

21-proximal finger section, 22-middle finger section, 23-distal finger section, 301-proximal joint axis,

302-middle joint axis, 303-distal joint axis, 304-first axis, 305-second axis,

306-third axis, 307-fourth axis, 308-fifth axis, 309-sixth axis,

310-seventh axis, 311-eighth axis, 312-ninth axis, 313-tenth axis,

401-a first link, 402-a second link, 403-a third link, 404-a fourth link,

405-a fifth link, 406-a sixth link, 407-a seventh link, 408-an eighth link,

409-a ninth connecting rod, 410-a tenth connecting rod, 411-an eleventh connecting rod, 51-a first spring element,

52-a second spring part, 53-a third spring part, 54-a fourth spring part, 6-a limiting block,

7-the 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.

One embodiment of the link type three-way parallel linear parallel-clamping adaptive robot finger device designed by the invention, as shown in fig. 1 to 10, comprises a base 10, a motor 11, a transmission mechanism, a proximal finger section 21, a middle finger section 22, a distal finger section 23, a proximal joint shaft 301, a middle joint shaft 302 and a distal joint shaft 303; the motor 11 is fixedly connected with the base 10, and the motor 11 is connected with the input end of the transmission mechanism; the proximal joint shaft 301 is sleeved in the base 10, the proximal finger section 21 is sleeved on the proximal joint shaft 301, the middle joint shaft 302 is sleeved in the proximal finger section 21, the middle finger section 22 is sleeved on the middle joint shaft 302, the distal joint shaft 303 is sleeved in the middle finger section 22, and the distal finger section 23 is sleeved on the distal joint shaft 303; the central lines of the proximal joint shaft 301, the middle joint shaft 302 and the distal joint shaft 303 are parallel to each other; the method is characterized in that: the connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device further comprises a first connecting rod 401, a second connecting rod 402, a third connecting rod 403, a fourth connecting rod 404, a fifth connecting rod 405, a sixth connecting rod 406, a seventh connecting rod 407, an eighth connecting rod 408, a ninth connecting rod 409, a tenth connecting rod 410, an eleventh connecting rod 411, a first shaft 304, a second shaft 305, a third shaft 306, a fourth shaft 307, a fifth shaft 308, a sixth shaft 309, a seventh shaft 310, an eighth shaft 311, a ninth shaft 312, a tenth shaft 313, a first spring element 51, a second spring element 52, a third spring element 53 and a limiting block 6; the central lines of the first shaft 304, the second shaft 305, the third shaft 306, the fourth shaft 307, the fifth shaft 308, the sixth shaft 309, the seventh shaft 310, the eighth shaft 311, the ninth shaft 312, the tenth shaft 313 and the proximal joint shaft 301 are parallel to each other; the first shaft 304 is sleeved in the base 10, the first connecting rod 401 is sleeved on the first shaft 304, and the second shaft 305 is sleeved in the first connecting rod 401; one end of the second connecting rod 402 is sleeved on the middle joint shaft 302, and the other end of the second connecting rod 402 is sleeved on the second shaft 305; the third connecting rod 403 is sleeved on the proximal joint shaft 301, and the third shaft 306 is sleeved in the third connecting rod 403; the fourth connecting rod 404 is sleeved on the third shaft 306, and the fourth shaft 307 is sleeved in the fourth connecting rod 404; one end of the fifth connecting rod 405 is sleeved on the middle joint shaft 302, and the other end of the fifth connecting rod 405 is sleeved on the fourth shaft 307; the fifth shaft 308 is sleeved in the fifth connecting rod 405, the sixth connecting rod 406 is sleeved on the fifth shaft 308, and the sixth shaft 309 is sleeved in the sixth connecting rod 406; one end of the seventh connecting rod 407 is connected to the sixth shaft 309, and the other end of the seventh connecting rod 407 is sleeved on the distal joint shaft 303; the eighth connecting rod 408 is sleeved on the proximal joint shaft 301, the output end of the transmission mechanism is connected with the eighth connecting rod, and the seventh shaft 310 is sleeved in the eighth connecting rod 408; the ninth connecting rod 409 is sleeved on the seventh shaft 310, and the eighth shaft 311 is sleeved in the ninth connecting rod 409; one end of the tenth connecting rod 410 is sleeved on the eighth shaft 311, the other end of the tenth connecting rod 410 is sleeved on the middle joint shaft 302, and the ninth shaft 312 is sleeved in the tenth connecting rod 410; the eleventh connecting rod 411 is sleeved on the ninth shaft 312, the tenth shaft 313 is sleeved in the eleventh connecting rod 411, and the distal finger section 23 is sleeved on the tenth shaft 313; two ends of the first spring 51 are respectively connected with the third connecting rod 403 and the base 10; the two ends of the second spring element 52 are respectively connected with the middle finger section 22 and the second connecting rod 402; two ends of the third spring 53 are respectively connected with the far finger section 23 and the seventh connecting rod 407; the limiting block 6 is fixedly connected with the base 10; in an initial state, the third connecting rod 403 is in contact with the limiting block 6, and the distal finger section 23 is in contact with the seventh connecting rod 407; let A, B, C, D, E, F, G, H, I be the central point of the proximal joint axis 301, the middle joint axis 302, the distal joint axis 303, the first axis 304, the second axis 305, the third axis 306, the fourth axis 307, the fifth axis 308, and the sixth axis 309; the length of the line segment AF is equal to the length of the line segment BG; the length of segment BH is equal to the length of segment CI; the length of the line segment AB is equal to the length of the line segment FG; the length of the line segment BC is equal to the length of the line segment HI; the length relation of the line segment AD, the line segment DE, the line segment BE, the line segment BC, the line segment EC and the line segment AB meets the following requirements: AD: BE: BC: CE: AB: 68:51:49:68:110: 100.

In the present embodiment, the transmission mechanism includes a speed reducer 12, a worm 13, a worm wheel 14, a transition shaft 15, a first gear 16, and a second gear 17; the output shaft of the motor 11 is connected with the input shaft of the speed reducer 12; the worm 13 is fixedly sleeved on an output shaft of the speed reducer 12; the worm wheel 14 is fixedly sleeved on the transition shaft 15, and the worm 13 is meshed with the worm wheel 14; the first gear 16 is fixedly sleeved on the transition shaft 15, the second gear 17 is fixedly sleeved on the proximal joint shaft 301, the first gear 16 is meshed with the second gear 17, and the second gear 17 is fixedly connected with the eighth connecting rod 408.

The invention relates to a connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first spring piece 51 adopts a tension spring, a compression spring or a torsion spring; the second spring piece 52 adopts a tension spring, a pressure spring or a torsion spring; the third spring piece 53 is a tension spring, a compression spring or a torsion spring. In the present embodiment, the first spring member 51 is a tension spring, the second spring member 52 is a tension spring, and the third spring member 53 is a tension spring.

In this embodiment, the transmission mechanism further includes a fourth spring member 54, and two ends of the fourth spring member 54 are respectively connected to the second gear 17 and the eighth link 408; the fourth spring member 54 is a torsion spring.

The working principle of the embodiment is described as follows with reference to the attached drawings:

the initial state of this embodiment is shown in fig. 1.

The base 10, the proximal finger section 21, the middle finger section 22, the first link 401, the second link 402, the proximal joint shaft 301, the middle joint shaft 302, the distal joint shaft 303, the first shaft 304, the second shaft 305, and the like in this embodiment enable the point E to move along a linear trajectory on the principle shown in fig. 11. When the line segment AB rotates around the line segment A, the line segment DE can be driven to rotate around the point D, and the point C moves along the track of the straight line S. The center point C of the distal joint axis is at C₁And C₂The motion between the two tracks is approximately a straight line.

In the initial state of the present embodiment, under the action of the first spring 51, the second spring 52 and the third spring 53, the third link 403 contacts with the stop block 6, the middle finger section 22 contacts with the second link 402, and the far finger section 23 contacts with the seventh link 407.

When the present embodiment performs the grasping operation, there are two grasping modes: a straight line parallel clamping mode and an adaptive envelope grabbing mode. The working principle is described as follows.

(1) Linear parallel clamping grabbing mode

The motor 11 rotates, the second gear 17 is driven to rotate through the speed reducer 12 and the first gear 16, the eighth connecting rod 408 is driven to rotate through the fourth spring element 54, and the tenth connecting rod 410 pushes the middle finger section 22 to rotate through the ninth connecting rod 409; the ninth link 409, the tenth link 410 and the eleventh link 411 push the distal finger section 23 to rotate. Since the end of the mechanism composed of the base 10, the proximal finger section 21, the middle finger section 22, the first link 401 and the second link 402 moves along an approximately straight line, the distal joint shaft 303 moves along a straight line relative to the base 10; since the proximal finger section 21, the third link 403, the fourth link 404, and the fifth link 405 constitute a parallel four-bar linkage, the line segment AF in fig. 12 is parallel to the line segment BG; the middle finger section 22, the fifth link 405, the sixth link 406, and the seventh link 407 also constitute a parallel four-bar linkage, and therefore the line segment BH is parallel to the line segment CI and the line segment BC is parallel to the line segment HI in fig. 12. In the process of starting movement from the initial state, the third link 403 keeps in contact with the stopper 6 under the action of the first spring element 51, the middle finger section 22 keeps in contact with the third link 403 under the action of the second spring element 52, and the distal finger section 23 keeps in contact with the seventh link 407 under the action of the third spring element 53, so that the third link 403 keeps fixed relative to the base 10, the middle finger section 22 keeps fixed relative to the second link 402, and the distal finger section 23 keeps fixed relative to the seventh link 407, so that the distal finger section 23 keeps a constant posture relative to the base 10 in the process, and therefore the distal finger section 23 translates along an approximately linear track in the process of movement.

The process is called a linear parallel clamping motion process. In the process, when the distal finger section 23 contacts the object 7, the grasping is finished, and the function of straight-line flat clamping of the object is realized, as shown in fig. 13.

(2) Adaptive grab mode

According to different grabbing situations, there are two adaptive grabbing modes: the adaptive grabbing mode of the middle finger segment and the adaptive grabbing mode of the far finger segment.

In the process of the linear parallel clamping movement, when the near finger section 21 firstly contacts the object 7, the near finger section 21 is blocked and cannot rotate any further, and at the moment, a middle and far double-finger section self-adaptive grabbing mode is executed. The motor 11 continues to rotate, which drives the eighth link 408 to rotate, and the ninth link 409, the tenth link 410 and the eleventh link 411 push the distal finger section 23 to rotate around the distal joint shaft 303, so that the distal finger section 23 leaves the seventh link 407, the third spring 53 is stretched, and the seventh link 407 rotates around the distal joint shaft 303. The middle finger section 22, the fifth connecting rod 405, the sixth connecting rod 406 and the seventh connecting rod 407 form a parallel four-bar linkage, and the fifth connecting rod 405 rotates by a corresponding angle around the middle joint shaft 302; the proximal segment 21, the third link 403, the fourth link 404 and the fifth link 405 form a parallel four-bar linkage, the third link 403 leaves the second stopper 62 and rotates around the proximal joint shaft 301 by a corresponding angle, and the first spring 51 is stretched. Under the action of the third spring element 53, the rotation of the far finger section 23 around the far joint shaft 303 is inhibited, so that the thrust of the eleventh connecting rod 411 mainly acts on the middle finger section 22, the middle finger section 22 rotates around the middle joint shaft 302, the middle finger section 22 leaves the second connecting rod 402, the second spring element 52 is stretched, and the far finger section 23 rotates along with the middle finger section 22 until the middle finger section 22 contacts the object 7, and the middle finger section self-adaptive grabbing mode is realized.

After the middle finger section 22 contacts the object 7, the middle finger section is fixed, the motor 11 rotates, the fourth spring element 54 is stretched to drive the eighth connecting rod 408 to rotate continuously, the far finger section 23 is pushed to rotate around the far joint shaft 303 through the ninth connecting rod 409, the tenth connecting rod 410 and the eleventh connecting rod 411, the third spring element 53 is stretched, the seventh connecting rod 407 rotates around the far joint shaft 303, the fifth connecting rod 405 rotates around the middle joint shaft 302, the third connecting rod 403 rotates around the near joint shaft 301, and the first spring element 51 is stretched until the far finger section 23 contacts the object 7, so that the self-adaptive far finger section grabbing mode is realized.

The process comprehensively realizes the near-finger and middle-finger self-adaptive grabbing mode, and the process has self-adaptability to objects with different shapes and sizes, as shown in fig. 14 and 15.

In the process of the linear parallel clamping movement, when the middle finger section 22 contacts the object 7 first, the near finger section 21 and the middle finger section 22 are both fixed, and at this time, only the far finger section adaptive grabbing mode is executed, and the grabbing principle is consistent with the far finger section adaptive grabbing mode in the near and middle finger section adaptive grabbing mode, and is not repeated.

The process of releasing the object 7 is the reverse of the above process and will not be described in detail.

Claims

1. A connecting rod type three-way parallel linear parallel clamp self-adaptive robot finger device comprises a base, a motor, a transmission mechanism, a near finger section, a middle finger section, a far finger section, a near joint shaft, a middle joint shaft and a far joint shaft; the motor is fixedly connected with the base and is connected with the input end of the transmission mechanism; the near joint shaft is sleeved in the base, the near finger section is sleeved on the near joint shaft, the middle joint shaft is sleeved in the near finger section, the middle finger section is sleeved on the middle joint shaft, the far joint shaft is sleeved in the middle finger section, and the far finger section is sleeved on the far joint shaft; the central lines of the proximal joint shaft, the middle joint shaft and the distal joint shaft are parallel to each other; the method is characterized in that: the connecting rod type three-way parallel linear parallel clamping self-adaptive robot finger device further comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft, a seventh shaft, an eighth shaft, a ninth shaft, a tenth shaft, a first spring piece, a second spring piece, a third spring piece and a limiting block; the central lines of the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft, the sixth shaft, the seventh shaft, the eighth shaft, the ninth shaft, the tenth shaft and the proximal joint shaft are parallel to each other; the first shaft is sleeved in the base, the first connecting rod is sleeved on the first shaft, and the second shaft is sleeved in the first connecting rod; one end of the second connecting rod is sleeved on the middle joint shaft, and the other end of the second connecting rod is sleeved on the second shaft; the third connecting rod is sleeved on the proximal joint shaft, and the third shaft is sleeved in the third connecting rod; the fourth connecting rod is sleeved on the third shaft, and the fourth shaft is sleeved in the fourth connecting rod; one end of the fifth connecting rod is sleeved on the middle joint shaft, and the other end of the fifth connecting rod is sleeved on the fourth shaft; the fifth shaft is sleeved in the fifth connecting rod, the sixth connecting rod is sleeved on the fifth shaft, and the sixth shaft is sleeved in the sixth connecting rod; one end of the seventh connecting rod is connected to the sixth shaft, and the other end of the seventh connecting rod is sleeved on the far joint shaft; the eighth connecting rod is sleeved on the near-joint shaft, and the output end of the transmission mechanism is connected with the eighth connecting rod; the seventh shaft is sleeved in the eighth connecting rod, the ninth connecting rod is sleeved on the seventh shaft, and the eighth shaft is sleeved in the ninth connecting rod; one end of the tenth connecting rod is sleeved on the eighth shaft, the other end of the tenth connecting rod is sleeved on the middle joint shaft, and the ninth shaft is sleeved in the tenth connecting rod; the eleventh connecting rod is sleeved on the ninth shaft, the tenth shaft is sleeved in the eleventh connecting rod, and the far finger section is sleeved on the tenth shaft; two ends of the first spring are respectively connected with the third connecting rod and the base; two ends of the second spring are respectively connected with the middle finger section and the second connecting rod; two ends of the third spring are respectively connected with the far finger section and the seventh connecting rod; the limiting block is fixedly connected with the base; in an initial state, the third connecting rod is contacted with the limiting block, and the middle finger section is contacted with the second connecting rod; the distal finger section is in contact with a seventh connecting rod; the central points of the near joint shaft, the middle joint shaft, the far joint shaft, the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft and the sixth shaft are A, B, C, D, E, F, G, H, I; the length of the line segment AF is equal to the length of the line segment BG; the length of segment BH is equal to the length of segment CI; the length of the line segment AB is equal to the length of the line segment FG; the length of the line segment BC is equal to the length of the line segment HI; the length relation of the line segment AD, the line segment DE, the line segment BE, the line segment BC, the line segment EC and the line segment AB meets the following requirements: AD: BE: BC: CE: AB: 68:51:49:68:110: 100.

2. The link-type three-way parallel linear parallel-clamping adaptive robot finger device according to claim 1, wherein: the transmission mechanism comprises a speed reducer, a worm wheel, a transition shaft, a first gear and a second gear; the output shaft of the motor is connected with the input shaft of the speed reducer; the worm is fixedly sleeved on an output shaft of the speed reducer; the worm wheel is fixedly sleeved on the transition shaft, and the worm is meshed with the worm wheel; the first gear is fixedly sleeved on the transition shaft, the second gear is sleeved on the proximal joint shaft, the first gear is meshed with the second gear, and the second gear is fixedly connected with the eighth connecting rod.

3. The link-type three-way parallel linear parallel-clamping adaptive robot finger device according to claim 1, wherein: the first spring piece adopts a tension spring, a pressure spring or a torsion spring; the second spring piece adopts a tension spring, a pressure spring or a torsion spring; the third spring piece adopts a tension spring, a pressure spring or a torsion spring.