CN113618761A - Flexible part transmission displacement self-adaptive robot finger device - Google Patents

Flexible part transmission displacement self-adaptive robot finger device Download PDF

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Publication number
CN113618761A
CN113618761A CN202110913536.2A CN202110913536A CN113618761A CN 113618761 A CN113618761 A CN 113618761A CN 202110913536 A CN202110913536 A CN 202110913536A CN 113618761 A CN113618761 A CN 113618761A
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spring
shaft
driving wheel
transmission
flexible
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程少如
张文增
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Individual
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

A flexible part transmission displacement self-adaptive robot finger device belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, two motors, two sets of transmission mechanisms, two flexible parts, three spring parts and the like. The device realizes the self-adaptive grabbing function of the variable initial configuration of the double-joint finger. The device can automatically adapt to grabbing for objects with different shapes and sizes; the device has the advantages that the angle of the far joint can be flexibly adjusted, and the pre-bending grabbing effect is achieved; the self-adaptive grabbing has the characteristic of quick response, the grabbing time is short, the rotation of the tail end finger section is accelerated through the sliding block, meanwhile, the object grabbing force of the double motors is larger, and the overlapping grabbing effect is good; because two flexible pieces are used as main transmission pieces, the device has an anti-collision function towards the grabbing direction; the finger configuration of the device is changeable and more flexible. The device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.

Description

Flexible part transmission displacement 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 flexible piece transmission position-changing self-adaptive robot finger device.
Background
With the development of science and technology, the application range of the robot is continuously expanded, and the operation level is continuously improved. A robotic hand is an end effector of a robot that can operate in an unknown or hazardous environment in place of a human. The robot hand is divided into a non-humanoid special robot hand and a humanoid multi-finger robot hand.
The special robot hand refers to a robot hand without obvious fingers, and for example, the grabbing function is realized by various modes such as a negative pressure sucker, a Bernoulli principle, a magnet, magnetorheological fluid, a soft material, fluid transmission, electrostatic adsorption, an array slide bar and the like. A large number of suction cup grippers used in industry belong to this category of robot hands. A flexible-shaped gripper developed by German Fisher (FESTO) company utilizes a balloon filled with water to adapt to an object, and utilizes a piston connected below the balloon to pull the balloon to roll or swallow the object into the middle of the gripper, so that the object is gripped.
Multi-fingered robotic hands generally consist of a palm and a plurality of fingers. According to different numbers of the freedom degrees of the drivers and the joints, the robot fingers can be divided into a full-driving type and an under-driving type. Several major multi-fingered robotic hands are introduced as follows:
(1) industrial gripper
The industrial gripper is typically a single drive robotic hand. The end effector of the traditional robot is an industrial gripper, the gripper adopts a driving source to control more than two fingers to open and close so as to achieve the purpose of grabbing objects, and movable joints are not arranged in the middle of the fingers. Industrial grippers are relatively mature and have been used in large numbers in industrial production lines. The gripper is designed according to specific work tasks, has less freedom, can only grip certain specific objects, has poor universality and greatly limits the application range of the gripper.
(2) Dexterous robot hand
The smart robot hand is called a smart hand for short, and is generally a fully-driven robot hand with multiple joint degrees of freedom.
The robot hand is designed to be a configuration of a human hand including a plurality of fingers each having a plurality of joints, and each joint is set to be motor-driven actively, and thus the robot hand may have a dozen joints, and thus a corresponding number of motors (or driving sources such as air cylinders, hydraulic cylinders, etc.) are required for driving.
If one motor drive is configured for each joint of the finger and the finger is controlled independently, the complexity of a control system is increased; the weight and volume of the manipulator are increased due to a large number of control devices, and the manufacturing cost is greatly increased. Under the current technical level, the robot hand is very complex and expensive, the requirements of real-time sensing and control are too great, and real-time control brings about a plurality of academic and application problems, so that the robot hand becomes an important robot hand research field, namely a smart robot hand.
Smart robot hands have been continuously designed including the united states UTAH/MIT smart hand, the Salisbury smart hand, the Robonaut-2 robot hand, the england Shadow smart hand, the japan Gifu-III robot hand, the tokyo university high-speed three-finger smart hand, the HIT/DRL-II hand developed by the association of the chinese harbin industry university and the german space center, the beijing aerospace university BH series smart hand, and the like.
The dexterous hands bring a great variety of possibilities for future robot research, and by combining the perception technology, the transmission technology, the control technology, the intelligent decision and the like of the robot, a lot of problems need to be deeply researched, the complexity of the problems is high, and the robot is suitable for deep research and application diving. At present, however, the dexterous hand is difficult to commercialize and is not suitable for being directly adopted in industrial production or various service robots.
(3) Self-adaptive robot hand
More and more application scenes require that the robot hand has a simple structure and a simple mechanism, has a good application function, has a certain cost, has an anthropomorphic multi-finger multi-joint characteristic in appearance, can realize more complex and intelligent grabbing and operation compared with an industrial gripper in the aspect of grabbing objects, and has high requirements on the design of the robot hand and the flexibility under limited conditions.
If each finger is improved in an underactuated mode, a small number of motors (or other types of drivers) are used for driving the plurality of joints to rotate, the contradiction between the grabbing performance and the real-time sensing control can be effectively improved, and the grabbing application range of the robot hand is expanded (the universality of the robot hand is improved to a higher degree). In order to achieve the purpose, a self-adaptive robot hand which automatically adapts to the shape and the size of an object when the object is grabbed is designed.
The self-adaptive robot hand is also called an under-actuated robot hand and is a robot hand with few drivers and multiple joint degrees of freedom. The self-adaptive robot hand has the similar part with the hand in the aspects of appearance and grabbing function, is suitable for grabbing different objects in an unstructured complex environment, and becomes a popular direction in the robot research field. Because the number of the motors is small, the motor hidden in the palm can select larger power and volume, the output is large, meanwhile, the pure mechanical feedback system can stably grab objects without being sensitive to the environment, the robot automatically adapts to objects with different shapes and sizes, the requirements of real-time electronic sensing and closed-loop feedback control are not needed, the control is simple and convenient, and the manufacturing cost is reduced. For example, the SJT-III robot hand developed by shanghai university of transportation, a series of under-actuated robot hands designed by qinghua university.
Under-actuated fingers are classified into direct under-actuated fingers and indirect under-actuated fingers. The object is extruded by adopting a direct underactuated mode to achieve the effect that the finger envelopes the object, larger extrusion force is needed, and the object is easy to be damaged. An indirect underactuated mode is adopted, the follow-up finger section is driven to rotate by means of extrusion of an object on the sliding block, the grabbing force of the follow-up finger section is small, and grabbing stability is not high.
Several disadvantages of conventional robotic hands are illustrated separately below.
Examples of industrial grippers are as follows:
a conventional gripper for a planar operation robot, such as chinese patent CN111015705A, includes a base, a clamping mechanism and a gripping slider. The device can grab objects at different positions in a plane by utilizing clamping and cooperative motion of 2 clamping mechanisms, and simultaneously complete horizontal displacement of the objects in the plane. The disadvantages are that: the clamping slide block is directly driven by the motor to clamp an object, so that the adaptability is not high; the power of the clamping mechanism directly comes from the motor, the extrusion force is large, and objects are easy to be grabbed.
Examples of dexterous fingers are as follows:
an existing modularized multifunctional flexible dexterous hand, as shown in chinese patent CN112060114A, includes a large palm, a small palm, adjustable connections of silica gel, and five finger actuators mounted on the palm and capable of bending in two directions. The palm of the device is formed by connecting two hard materials and soft silica gel in the middle, each pneumatic finger adopts a modular design and consists of three soft joints, two soft reinforced knuckles and a bending sensor, and the bending sensor is bonded on the lower layer of the finger actuator. The disadvantages are that: the device adopts a software structure, is inaccurate in movement, difficult to control, high in real-time sensing and control requirements and slow in response.
Examples of directly adaptive fingers are as follows:
an existing belt wheel under-actuated robot finger device, such as chinese patent CN101234489B, includes a base, a motor, a speed reducer, two gears, two joint shafts, two finger sections, a spring, and the like. The device can realize the function of self-adaptive object grabbing, and adopts an underactuated mode, namely one motor is used for driving two joints. The disadvantages are that: the extrusion force is large, and objects are easy to be damaged; joints in the middle of the fingers cannot be flexibly adjusted, and the action gestures are limited.
An example of an indirectly adaptive finger is as follows:
an existing tendon-channel under-actuated mechanical finger device, such as chinese patent CN101024287B, includes two finger segments and an under-actuated joint. The under-actuated joint comprises a joint shaft, a driving sliding block, a tendon rope and a spring piece. The device has the self-adaptability of grabbing objects with different shapes and sizes. The disadvantages are that: snatch through the extrusion realization of object to the slider, the power of grabbing that triggers that needs is great, exists the contradiction between snatching strength and the under-actuated effect, and better under-actuated effect can lead to less terminal finger section to grab the power of grabbing, snatchs unstablely, and in addition, the passive mode of grabbing is difficult to crooked middle part joint, and the action gesture is not enough.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a flexible piece transmission position-changing self-adaptive robot finger device. The device is used for grabbing, has two joints, and can realize the self-adaptive grabbing function of variable initial configuration. The device can automatically adapt to grabbing of objects with different shapes and sizes; the pre-bending grabbing effect of flexibly adjusting the angle of the far joint is achieved, and the configuration is variable; the grabbing is fast and stable; the end finger section has an anti-collision function towards the grabbing direction.
The technical scheme of the invention is as follows:
the invention relates to a flexible part transmission displacement self-adaptive robot finger device which comprises a base, a middle finger section, a tail end finger section, a near joint shaft, a far joint shaft, a first motor, a first transmission mechanism, a second motor, a second transmission mechanism, a first transmission wheel, a second transmission wheel, a first flexible part, a second flexible part and a first spring part, wherein the middle finger section is arranged on the base; the near joint shaft is sleeved in the base, the middle finger section is movably sleeved on the near joint shaft, the far joint shaft is sleeved in the middle finger section, and the tail end finger section is movably sleeved on the far joint shaft; the central line of the proximal joint shaft is parallel to the central line of the distal joint shaft; the first motor is fixedly connected with the base, and an output shaft of the first motor is connected with an input end of the first transmission mechanism; the second motor is fixedly connected with the middle finger section, and an output shaft of the second motor is connected with an input end of the second transmission mechanism; the first driving wheel is sleeved on the near joint shaft, and the second driving wheel is sleeved on the far joint shaft; two ends of the first spring are respectively connected with the middle finger section and the tail end finger section; the method is characterized in that: the flexible piece transmission displacement self-adaptive robot finger device also comprises a first driving wheel, a second driving wheel, an intermediate shaft, an intermediate transmission wheel, a sliding block, a second spring piece and a third spring piece; two ends of the second spring are respectively connected with the base and the middle finger section; the output end of the first transmission mechanism is connected with the first driving wheel; one end of the first flexible part is fixedly connected with the first driving wheel, and the other end of the first flexible part is fixedly connected with the second driving wheel; the first flexible piece is sequentially wound and passes through the first driving wheel, the middle driving wheel and the second driving wheel; the output end of the second transmission mechanism is connected with a second driving wheel; one end of the second flexible part is fixedly connected with the second driving wheel, and the other end of the second flexible part is fixedly connected with the sliding block; the middle driving wheel is sleeved on a middle shaft, and the middle shaft is sleeved in the sliding block; the sliding block is embedded in the middle finger section in a sliding manner; two ends of the third spring are respectively connected with the sliding block and the middle finger section; the central line of the proximal joint shaft and the central line of the distal joint shaft form a plane Q, and the sliding direction of the sliding block in the middle finger section is perpendicular to the plane Q.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the second transmission mechanism comprises a second speed reducer; and an output shaft of the second motor is connected with an input shaft of a second speed reducer, and the second driving wheel is fixedly sleeved on the output shaft of the second speed reducer.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the first spring piece is a torsion spring, a tension spring, a pressure spring or a leaf spring.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a torsion spring, a tension spring, a pressure spring or a leaf spring.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the third spring part adopts a torsion spring, a tension spring, a pressure spring or a leaf spring.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the first flexible member adopts a tendon rope, a transmission belt and a chain.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the second flexible part adopts a tendon rope, a transmission belt and a chain.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the self-adaptive grabbing function of the variable initial configuration of the double-joint finger by utilizing two motors, two sets of transmission mechanisms, two flexible parts, three spring parts and the like. The device can automatically adapt to grabbing for objects with different shapes and sizes; the device has the advantages that the angle of the far joint can be flexibly adjusted, and the pre-bending grabbing effect is achieved; the self-adaptive grabbing has the characteristic of quick response, the grabbing time is short, the rotation of the tail end finger section is accelerated through the sliding block, meanwhile, the object grabbing force of the double motors is larger, and the overlapping grabbing effect is good; because two flexible pieces are used as main transmission pieces, the device has an anti-collision function towards the grabbing direction; the finger configuration of the device is changeable and more flexible. The device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Drawings
FIG. 1 is a front cross-sectional view of a first embodiment of a flexure drive indexing adaptive robotic finger device provided by the present invention.
Fig. 2 is a left side cross-sectional view of the embodiment shown in fig. 1.
Fig. 3 is an external view of the embodiment shown in fig. 1.
Fig. 4 is an external view of fig. 2.
Fig. 5, 6, 7 and 8 are schematic diagrams of a process of grabbing a large object in the embodiment shown in fig. 1 with the end finger section and the middle finger section in the straight posture as the initial posture, and the whole process is the operation of the first motor.
Fig. 9, 10, 11 and 12 are schematic diagrams of a process of grabbing a small object in a posture that the end finger section and the middle finger section are bent at a certain angle according to the embodiment shown in fig. 1, at this time, the small object touches the middle finger section and the end finger section, and in the whole process, the second motor works first and then the first motor works.
Fig. 13, 14 and 15 are schematic diagrams of the indirect adaptive object-grabbing slider movement and the end finger segment rotation in the embodiment shown in fig. 1, and the motor does not work in the process.
FIG. 16 is a left side view in cross section of a second embodiment of the flexure drive indexing adaptive robotic finger device provided in accordance with the present invention.
In fig. 1 to 16:
1-base, 21-middle finger section, 22-end finger section, 31-proximal joint axis,
32-distal joint shaft, 41-first motor, 411-first reducer, 412-first gear,
413-second gear, 414-transition shaft, 42-second motor, 421-second reducer,
51-a first transmission wheel, 52-a second transmission wheel, 53-an intermediate transmission wheel, 531-an intermediate shaft,
61-first flexible member, 62-second flexible member, 71-first spring member, 72-second spring member,
73-a third spring element, 81-a first drive wheel, 82-a second drive wheel, 91-a slide,
911-slide surface plate, 99-object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
An embodiment of the flexible member transmission displacement adaptive robot finger device designed by the present invention, as shown in fig. 1 to 4, includes a base 1, a middle finger section 21, a terminal finger section 22, a proximal joint shaft 31, a distal joint shaft 32, a first motor 41, a first transmission mechanism, a second motor 42, a second transmission mechanism, a first transmission wheel 51, a second transmission wheel 52, a first flexible member 61, a second flexible member 62, and a first spring member 71; the proximal joint shaft 31 is sleeved in the base 1, the middle finger section 21 is movably sleeved on the proximal joint shaft 31, the distal joint shaft 32 is sleeved in the middle finger section 21, and the tail end finger section 22 is movably sleeved on the distal joint shaft 32; the central line of the proximal joint shaft 31 and the central line of the distal joint shaft 32 are parallel to each other; the first motor 41 is fixedly connected with the base 1, and an output shaft of the first motor 41 is connected with an input end of the first transmission mechanism; the second motor 42 is fixedly connected with the middle finger section 21, and an output shaft of the second motor 42 is connected with an input end of the second transmission mechanism; the first driving wheel 51 is sleeved on the near joint shaft 31, and the second driving wheel 52 is sleeved on the far joint shaft 32; two ends of the first spring piece 71 are respectively connected with the middle finger section 21 and the tail end finger section 22; the flexible part transmission position-changing self-adaptive robot finger device also comprises a first driving wheel 81, a second driving wheel 82, an intermediate shaft 531, an intermediate transmission wheel 53, a sliding block 91, a second spring part 72 and a third spring part 73; two ends of the second spring piece 72 are respectively connected with the base 1 and the middle finger section 21; the output end of the first transmission mechanism is connected with a first driving wheel 81; one end of the first flexible part 61 is fixedly connected with the first driving wheel 81, and the other end of the first flexible part 61 is fixedly connected with the second driving wheel 52; the first flexible member 61 is wound around the first driving wheel 81, the first driving wheel 51, the intermediate driving wheel 53 and the second driving wheel 52 in sequence; the output end of the second transmission mechanism is connected with a second driving wheel 82; one end of the second flexible part 62 is fixedly connected with the second driving wheel 82, and the other end of the second flexible part 62 is fixedly connected with the sliding block 91; the intermediate transmission wheel 53 is sleeved on an intermediate shaft 531, and the intermediate shaft 531 is sleeved in the sliding block 91; the sliding block 91 is embedded in the middle finger section 21 in a sliding mode; the two ends of the third spring 73 are respectively connected with the sliding block 91 and the middle finger section 21; the center line of the proximal joint shaft 31 and the center line of the distal joint shaft 32 form a plane Q, and the sliding direction of the slider 91 in the middle finger section 21 is perpendicular to the plane Q.
In the present embodiment, the first transmission mechanism includes a first speed reducer 411, a first gear 412, a second gear 413, and a transition shaft 414; the transition shaft 414 is sleeved in the base 1, and the central line of the transition shaft 414 is parallel to the central line of the proximal joint shaft 31; an output shaft of the first motor 41 is connected with an input shaft of a first speed reducer 411, the first gear 412 is fixedly sleeved on the output shaft of the first speed reducer, the first gear 412 is meshed with a second gear 413, the second gear 413 is fixedly sleeved on a transition shaft, and the first driving wheel 81 is fixedly sleeved on the transition shaft 414.
In this embodiment, the second transmission mechanism includes a second speed reducer 421; an output shaft of the second motor 42 is connected with an input shaft of a second speed reducer 421, and the second driving wheel 82 is fixedly sleeved on the output shaft of the second speed reducer 421.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the first spring piece is a torsion spring, a tension spring, a pressure spring or a leaf spring. In this embodiment, the first spring member 71 is a torsion spring.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a torsion spring, a tension spring, a pressure spring or a leaf spring. In this embodiment, the second spring element 72 is a torsion spring.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the third spring part adopts a torsion spring, a tension spring, a pressure spring or a leaf spring. In this embodiment, the third spring member 73 is a compression spring.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the first flexible member adopts a tendon rope, a transmission belt and a chain. In this embodiment, the first flexible member 61 is a tendon rope.
The invention relates to a flexible piece transmission position-changing self-adaptive robot finger device, which is characterized in that: the second flexible part adopts a tendon rope, a transmission belt and a chain. In this embodiment, the second flexible member 62 is a tendon rope.
The working principle of the present invention is described below, as shown in fig. 5 to 15, as follows:
the initial state of this embodiment is shown in fig. 5, where the distal joint of the finger is in a straightened state.
When the first motor 41 rotates, the first gear 412, the second gear 413 and the transition shaft 414 are driven to rotate by the first reducer 411, the first driving wheel 81 is driven to rotate, the first driving wheel 81 pulls the first flexible member 61, and the first flexible member 61 pulls the wound first driving wheel 51. At this time, because the middle finger section 21 and the end finger section 22 are constrained by the first spring 71, the end finger section 22 does not rotate relative to the middle finger section 21 (as if they are fixed), so the middle finger section 21 and the end finger section 22 rotate together around the center of the proximal joint shaft 31 by an angle, and at the same time, the middle transmission wheel 53 and the second transmission wheel 52 do not rotate relative to the middle finger section 21. At this time, the middle finger section 21 is shifted with respect to the base 1, and the amount of deformation of the second spring member 72 increases.
This process is continued until the slide block 91 comes into contact with the object to be grasped, as shown in fig. 6.
Thereafter, the first motor 41 continues to rotate, and the distal finger section 22 can still be pulled to rotate around the distal joint shaft 32 by the first flexible member 61, and the deformation amount of the first spring member 71 is increased. The adaptive grabbing is completed until the end finger segment 22 also contacts the object. The process can be suitable for objects with different shapes and sizes and has the characteristic of self-adaptability. The above-described process is an effect of actuating only the first motor 41.
In the above process, when the sliding block 91 contacts the object, the object can press the sliding block 91 to slide towards the middle finger section 21, the deformation amount of the third spring element 73 is increased, the sliding block 91 can push the intermediate shaft 531, so that the intermediate transmission wheel 53 translates inwards, the first flexible element 61 is pressed towards the middle finger section 21, the first flexible element 61 pulls the tail end finger section 22, the tail end finger section 22 rotates against the elastic force of the first spring element 71, the deformation amount of the first spring element 71 is increased, as shown in fig. 7, until the tail end finger section 22 also contacts the object, the tail end finger section cannot rotate any more, and the grabbing is completed, as shown in fig. 8.
Specifically, when the first motor 41 stops rotating, the process of the end finger section 22 performing indirect adaptive gripping under the pushing of the slider 91 is as follows: 1) in the initial state, the distal joints of the fingers are in the extended state, the middle transmission wheel 53 is positioned at the outermost end of the sliding groove, and the third spring 73 is in the extended state, as shown in fig. 13; 2) when the sliding block 91 is squeezed by an object, the intermediate shaft 531 fixed to the sliding block starts to be pushed to slide and displace s towards the middle finger section 211The intermediate shaft 531 is fixedly connected with the intermediate transmission wheel 53, and the intermediate transmission wheel 53 moves towards the horizontal surface in the middle finger section 211The first flexible piece 61 is dragged and pulls the end finger section 21 to bend by the angle α; 3) the object continues to squeeze the slide block 91 toward the middle finger section 21 until the maximum limit is reached, at which time the slide block 91 moves horizontally by a displacement s2The first flexible element 61 is further dragged, pulling the end finger segment 21 to bend by the angle β.
The above process accelerates the rotation process of the terminal finger section 22, so that the present embodiment has a stronger adaptive grabbing effect, and the grabbing is faster and more stable.
In addition, the second motor can also work at any time:
the second motor 42 is rotated to drive the second driving pulley 82 through the second speed reducer 421, and the second flexible member 62 pulls the slider 91 to slide inward, so that the intermediate shaft 531 and the intermediate transmission wheel 53 move inward, and the deformation amount of the third spring member 73 is increased. At this time, the movement of the intermediate transmission wheel 53 drives the end finger section 22 to rotate through the first flexible member 61, and the deformation amount of the first spring member 71 increases.
Therefore, the second motor 42 acts on the rotation of the end finger section 22, the action of the second motor is overlapped with that of the first motor 41, and the rotation of the end finger section 22 brought by the sliding block 91 is also overlapped, and the overlapping of the first motor, the second motor and the sliding block makes the grabbing effect of the embodiment very obvious, namely the self-adaptive grabbing performance is outstanding, and the grabbing is quicker and more stable.
The first flexible piece 61 and the second flexible piece 62 are flexible and inextensible flexible pieces, so that the terminal finger section 22 is restrained from providing a large gripping force when gripping an object, the force in the direction of buckling the terminal finger section 22 to the object is small, only the elastic force of the first spring piece 71 and the third spring piece 73 is restrained, the terminal finger section 22 has flexibility in the gripping direction, so that the anti-collision safety in the direction is brought, the terminal finger section 22 can continue to rotate forwards under the action of other mechanisms (at the moment, the second flexible piece 62 is in a loose bending state), and therefore, the state of far joint bending of the finger at the moment is determined as the initial position of a subsequent underactuated gripping action. The double-joint under-actuated grasping process achieved when the first motor 41 is operated can still be performed normally. The foregoing process can freely adjust the rotation angle of the end finger section 22, once the adjustment is completed, the second motor 42 stops working, and then the first motor 41 starts working again, and then the subsequent rotation of the finger when the first motor 41 works grasps the object in the same manner as the foregoing process, except that the initial posture of the finger is changed into a bent state.
In the above various cases, the process of releasing the object in this embodiment is just the reverse, and is not described again.
The device comprehensively realizes the self-adaptive grabbing function of the variable initial configuration of the double-joint finger by utilizing two motors, two sets of transmission mechanisms, two flexible parts, three spring parts and the like. The device can automatically adapt to grabbing for objects with different shapes and sizes; the device has the advantages that the angle of the far joint can be flexibly adjusted, and the pre-bending grabbing effect is achieved; the self-adaptive grabbing has the characteristic of quick response, the grabbing time is short, the rotation of the tail end finger section is accelerated through the sliding block, meanwhile, the object grabbing force of the double motors is larger, and the overlapping grabbing effect is good; because two flexible pieces are used as main transmission pieces, the device has an anti-collision function towards the grabbing direction; the finger configuration of the device is changeable and more flexible. The device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.

Claims (8)

1. The flexible part transmission displacement self-adaptive robot finger device comprises a base, a middle finger section, a tail end finger section, a near joint shaft, a far joint shaft, a first motor, a first transmission mechanism, a second motor, a second transmission mechanism, a first transmission wheel, a second transmission wheel, a first flexible part, a second flexible part and a first spring part; the near joint shaft is sleeved in the base, the middle finger section is movably sleeved on the near joint shaft, the far joint shaft is sleeved in the middle finger section, and the tail end finger section is movably sleeved on the far joint shaft; the central line of the proximal joint shaft is parallel to the central line of the distal joint shaft; the first motor is fixedly connected with the base, and an output shaft of the first motor is connected with an input end of the first transmission mechanism; the second motor is fixedly connected with the middle finger section, and an output shaft of the second motor is connected with an input end of the second transmission mechanism; the first driving wheel is sleeved on the near joint shaft, and the second driving wheel is sleeved on the far joint shaft; two ends of the first spring are respectively connected with the middle finger section and the tail end finger section; the method is characterized in that: the flexible piece transmission displacement self-adaptive robot finger device also comprises a first driving wheel, a second driving wheel, an intermediate shaft, an intermediate transmission wheel, a sliding block, a second spring piece and a third spring piece; two ends of the second spring are respectively connected with the base and the middle finger section; the output end of the first transmission mechanism is connected with the first driving wheel; one end of the first flexible part is fixedly connected with the first driving wheel, and the other end of the first flexible part is fixedly connected with the second driving wheel; the first flexible piece is sequentially wound and passes through the first driving wheel, the middle driving wheel and the second driving wheel; the output end of the second transmission mechanism is connected with a second driving wheel; one end of the second flexible part is fixedly connected with the second driving wheel, and the other end of the second flexible part is fixedly connected with the sliding block; the middle driving wheel is sleeved on a middle shaft, and the middle shaft is sleeved in the sliding block; the sliding block is embedded in the middle finger section in a sliding manner; two ends of the third spring are respectively connected with the sliding block and the middle finger section; the central line of the proximal joint shaft and the central line of the distal joint shaft form a plane Q, and the sliding direction of the sliding block in the middle finger section is perpendicular to the plane Q.
2. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the first transmission mechanism comprises a first speed reducer, a first gear, a second gear and a transition shaft; the transition shaft is sleeved in the base, and the central line of the transition shaft is parallel to the central line of the near joint shaft; the output shaft of the first motor is connected with the input shaft of the first speed reducer, the first gear is fixedly sleeved on the output shaft of the first speed reducer, the first gear is meshed with the second gear, the second gear is fixedly sleeved on the transition shaft, and the first driving wheel is fixedly sleeved on the transition shaft.
3. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the second transmission mechanism comprises a second speed reducer; and an output shaft of the second motor is connected with an input shaft of a second speed reducer, and the second driving wheel is fixedly sleeved on the output shaft of the second speed reducer.
4. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the first spring piece is a torsion spring, a tension spring, a pressure spring or a leaf spring.
5. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the second spring piece adopts a torsion spring, a tension spring, a pressure spring or a leaf spring.
6. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the third spring part adopts a torsion spring, a tension spring, a pressure spring or a leaf spring.
7. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the first flexible member adopts a tendon rope, a transmission belt and a chain.
8. The flexible member transmission indexing adaptive robotic finger device of claim 1, wherein: the second flexible part adopts a tendon rope, a transmission belt and a chain.
CN202110913536.2A 2021-08-10 2021-08-10 Flexible part transmission displacement self-adaptive robot finger device Pending CN113618761A (en)

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Application publication date: 20211109