CN117464712A - Under-actuated robot hand capable of being driven reversely - Google Patents

Abstract

The invention discloses a reversely driven underactuated robot hand which comprises a base and a main frame, wherein the base is vertically arranged in the middle of the main frame and is fixedly connected with the main frame, a bearing seat is further arranged above the base and is fixed on the inner side surface of the main frame, an elastic driver is rotatably arranged on the bearing seat, and a direct current motor for driving the elastic driver to rotate is fixedly arranged on the outer side surface of the main frame. This application is through installing elastic drive ware in the main frame and come as the actuating element of drive robot hand, and the structure setting of elastic drive ware guarantees direct current motor drive simultaneously and drives the cam shell through the enclosing cover to through installing arc spring between enclosing cover and drive cam shell, the perception snatchs the process through arc spring's compression in the convenient transmission process, and then based on reverse drive characteristic, snatchs power, construction information and snatchs the two-way high-efficient transmission in space.

Description

Under-actuated robot hand capable of being driven reversely

Technical Field

The invention relates to the technical field of robot grippers, in particular to an underactuated robot hand capable of being driven reversely.

Background

At present, the robot gripper is a basic component part for the robot to realize gripping operation, develops a high-performance actuator capable of executing complex tasks such as gripping, sensing and the like in extremely severe environments, and is a research hot spot and a difficult point in the fields of intelligent weapon equipment, robots and the like. In the process of executing tasks such as mine sweeping, bomb dismantling, dangerous goods transferring and the like by the military explosion-proof robot, the factors such as smoke, dust, sharp fragments, high temperature and the like in the environment can cause functional limitation in the existing grabbing sensing and controlling method based on fingertips and visual sensors.

The prior Chinese patent with publication number CN115151387A discloses a robot gripper, which comprises: a base; a first finger comprising a first phalange connected to the base by a joint and a tip portion distal from the base; a second finger comprising a first phalange connected to the base by a joint and a tip portion distal from the base, wherein the first and second fingers are opposite each other, the first finger comprising an inner surface facing the second finger.

Aiming at the related technology, the inventor considers that the robot hand cannot realize sensing and controlling the grabbing process when grabbing the target object, and the situations of loose clamping or damage to the object are easy to occur, so that the robot hand cannot reliably and flexibly grab the target object in extremely severe environments.

Disclosure of Invention

In order to achieve the effect of self-adaptive grabbing of a target, the application provides an underactuated robot hand capable of being driven reversely.

The invention is realized in the following way:

the utility model provides a but back drive's underactuated robot hand, includes frame and main frame, the vertical middle part at the main frame that installs of frame, and frame and main frame fixed connection, the top of frame still is provided with the bearing frame, the bearing frame is fixed on the medial surface of main frame, rotate on the bearing frame and install elastic actuator, still fixed mounting has the direct current motor that drives elastic actuator pivoted on the lateral surface of main frame, the arm actuating lever is installed to elastic actuator's head, arm actuating lever one end is connected with elastic actuator rotation, and the other end is connected with the first connecting rod of level setting, first connecting rod, and first connecting rod and frame longitudinal sliding connection, the both ends symmetry of first connecting rod is provided with the second connecting rod, the upper end and the first connecting rod rotation of second connecting rod are connected, and the lower extreme of second connecting rod is connected with the frame rotation through the fourth connecting rod, the junction of first connecting rod and second connecting rod still rotates and installs the third connecting rod, the lower extreme of third connecting rod is connected with the sixth connecting rod, the sixth bending structure is connected with the fifth connecting rod, the fifth connecting rod is installed with the fifth connecting rod, the fifth connecting rod is connected with the rotation, the fifth connecting rod is connected with the other end.

Through adopting above-mentioned technical scheme, conveniently fix a position the installation main frame through setting up to the frame, make things convenient for the frame to connect fixedly through the main frame, the whole shell of installation is convenient to use through the main frame simultaneously, through setting up the bearing frame in the top of frame, conveniently install the elastic driver through the bearing frame, make things convenient for the elastic driver to realize putting the operation under direct current motor's drive, the centre gripping power of operation machine equipment uses, just can drive through the arm actuating lever of head installation when the elastic driver rotates and carry out first connecting rod and reciprocate, conveniently leave the second connecting rod that moves and realize driving both ends through first connecting rod and remove simultaneously, just so can form crank slider mechanism through the elastic driver, the arm actuating lever, the light stick on first connecting rod and the frame, with the swing of elastic driver change the vertical rectilinear motion of first connecting rod into; meanwhile, the first connecting rod, the second connecting rod, the fourth connecting rod and the mechanical arm driving rod form a reverse crank sliding block mechanism, so that the longitudinal reciprocating linear motion of the first connecting rod can realize the swinging of the fourth connecting rod; meanwhile, the second connecting rod is also connected with the third connecting rod, and the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod form a double-rocker mechanism, so that the third connecting rod and the fifth connecting rod are driven to perform local rotary motion by local rotary motion of the fourth connecting rod, and under the rotary motion of the third connecting rod and the fifth connecting rod, the L-shaped sixth connecting rod connected to the lower end of the third connecting rod and the lower end of the fifth connecting rod through a pin shaft starts to perform local rotary motion, and a clamping jaw fixedly connected to the lower end of the sixth connecting rod through a threaded hole array starts to perform grabbing and releasing motions.

Further, the frame includes seat frame, guide rail seat and light stick, guide rail seat symmetry installs the upper and lower both ends at seat frame rear end face, and guide rail seat and seat frame fixed connection, light stick is vertical to be installed between upper and lower guide rail seat, and light stick and guide rail seat fixed connection.

Through adopting above-mentioned technical scheme, guarantee through the structure setting to the frame that two guide rail seats of fixed mounting are carried out to the rear end at the seat frame, conveniently carry out the upper and lower both ends of fixed light stick through two upper and lower guide rail seats, just so can install first connecting rod through the light stick, guarantee that first connecting rod can carry out vertical sliding adjustment along the line of defense of light stick.

Further, the seat frame comprises an N-shaped top frame and an arc bottom plate, the arc bottom plate is arranged on the lower end face of the N-shaped top frame, the arc bottom plate and the N-shaped top frame are integrally formed, a longitudinal sliding groove is further formed in one side of the N-shaped top frame, and a pair of first shaft holes for connecting the fourth connecting rod and a pair of second shaft holes for connecting the fifth connecting rod are symmetrically formed in the arc bottom plate.

Through adopting above-mentioned technical scheme, through the structure setting to the seat frame guarantee that he is at the lower extreme fixed mounting arc bottom plate of N shape top frame, can regard as holistic main frame through N shape top frame when facilitating the use, then connect and fix a position installation fourth connecting rod and fifth connecting rod through the arc bottom plate of lower extreme, simultaneously through setting up first shaft hole and second shaft hole on the arc bottom plate symmetry, just can connect fourth connecting rod and fifth connecting rod through the round pin axle when installing like this, simultaneously can guarantee that fourth connecting rod and fifth connecting rod at both ends can be adjusted in step through the symmetry setting, and then realize stable centre gripping purpose of use.

Further, the main frame comprises a bottom frame for mounting the bearing seat and a motor frame for mounting the direct current motor, wherein the bottom frame is arranged on the front end face of the seat frame and fixedly connected with the seat frame, the motor frame is arranged on the rear end face of the guide rail seat, and the motor frame is fixedly connected with the guide rail seat.

Through adopting above-mentioned technical scheme, through setting up the structure to main frame and guaranteeing bottom frame and motor frame and fix respectively at the front and back both ends of frame, just so can shelter from the front and back both ends of frame through bottom frame and motor frame, set up the installation that the bearing frame made things convenient for elastic driver through bottom frame one side simultaneously, carry out fixed mounting direct current motor through motor frame's setting simultaneously, make things convenient for the drive elastic driver that direct current motor can be stable to put the operation.

Further, the first connecting rod comprises a horizontal plate and a limiting block, the limiting block is arranged in the middle of the rear end face of the horizontal plate, the limiting block and the horizontal plate are integrally formed, the two ends of the horizontal plate are symmetrically provided with matching holes connected with the second connecting rod, the middle of the horizontal plate is provided with a third shaft hole connected with a driving rod of the mechanical arm, and the middle of the limiting block is provided with a longitudinal hole for installing a light rod.

Through adopting above-mentioned technical scheme, through the structure setting to first connecting rod when guaranteeing the horizontal plate installation, can overlap through the longitudinal hole on the rear end stopper and establish and fix a position the installation on the optical wand, simultaneously through offer mating holes and third shaft hole on the horizontal plate, conveniently install through the cooperation of second connecting rod and arm actuating lever, just can drive first connecting rod through the arm actuating lever when making things convenient for elastic actuator swing to adjust like this and carry out reciprocating motion, and then drive the second connecting rod and come synchronous movement use.

Furthermore, the bottom frame is provided with positioning holes for mounting the bearing seat, the bottom frame and the motor frame are provided with two groups of grooves, and the grooves are triangular.

Through adopting above-mentioned technical scheme, through offer the locating hole that supplies the bearing frame to install on the bottom frame, make things convenient for the better location installation of bearing frame like this, simultaneously through all having offered two sets of triangle-shaped flutings on bottom frame and motor frame, can guarantee like this bottom frame and motor frame be difficult for the deformation in the use, the cutter is stable, firm and withstand voltage effect.

Further, the elastic driver comprises a cam shell and an outer cover, wherein the cam shell is internally symmetrically provided with mounting grooves, the outer cover is rotatably mounted in the cam shell, the inner side surface of the outer cover is coaxially provided with a positioning disc, the positioning disc is provided with auxiliary grooves corresponding to the mounting grooves, and the mounting grooves and the auxiliary grooves are internally provided with arc springs.

Through adopting above-mentioned technical scheme, guarantee to install the enclosing cover on the cam shell through setting up the structure to elastic actuator, be mutually pivoted between enclosing cover and the cam shell simultaneously, install arc spring through seting up at mounting groove and auxiliary tank simultaneously, and the diameter of arc spring is greater than the degree of depth of mounting groove and auxiliary tank, can guarantee simultaneously the block in mounting groove and auxiliary tank after arc spring installs like this, will compress arc spring when the enclosing cover rotates in the cam shell like this, and then cause arc spring's deformation, and then can carry out the process of perception special area article through arc spring.

Further, a connecting shaft connected with the output end of the direct current motor is arranged in the center of the inner side surface of the positioning disc, and a clamping groove in rotary fit with the bearing seat is further formed in the rear end surface of the cam shell.

Through adopting above-mentioned technical scheme, through the center department fixed mounting connecting axle at the locating plate medial surface, make things convenient for the locating plate to be connected with direct current motor through the connecting axle, direct current motor can drive the enclosing cover through the connecting axle at first when using like this, then the enclosing cover drives the cam shell through the arc spring and swings, acts on the arm actuating lever through the cam shell, simultaneously through opening the block groove of setting up at the rear end face of cam shell, make things convenient for better rotation between cam shell and the bearing frame to connect.

Further, the clamping jaw comprises a connecting block and a antiskid plate, wherein the connecting block is fixedly arranged on the outer side face of the sixth connecting rod, and the antiskid plate is fixedly arranged on one side of the connecting block.

Through adopting above-mentioned technical scheme, guarantee to install antiskid ribbed tile through the connecting block through the structure setting to the clamping jaw, conveniently directly carry out centre gripping article through antiskid ribbed tile.

Further, the cleat is made of a rigid, flexible, or rigid-flexible coupling material.

Through adopting above-mentioned technical scheme, can select the antiskid ribbed tile of different materials as required when the robot hand carries out centre gripping use to different products, guarantee to draw the in-process safer effective.

Compared with the prior art, the invention has the beneficial effects that:

(1) According to the robot hand driving device, the elastic driver is installed in the main frame to serve as a driving element for driving the robot hand, meanwhile, the structure of the elastic driver is arranged to ensure that the cam shell is driven by the outer cover when the direct-current motor is driven, the arc spring is installed between the outer cover and the driving cam shell, the sensing grabbing process can be conducted through compression of the arc spring in the transmission process, further, based on reverse driving characteristics, grabbing force and construction information are transmitted in the driving and grabbing space in a bidirectional efficient mode, object grabbing force position information is transmitted and sensed based on the driving space, and meanwhile, the robot hand is integrally provided with no sensor, so that complexity of hardware and control can be remarkably reduced.

(2) The force on the elastic driver is transmitted to the clamping jaw through the cooperation of the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod, and the elastic driver, the mechanical arm driving rod, the first connecting rod and the optical rod on the base form a crank sliding block mechanism; the first connecting rod, the second connecting rod, the fourth connecting rod and the mechanical arm driving rod form a reverse crank sliding block mechanism; the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod form a double-rocker mechanism, the clamping jaw is driven through the cooperation of the two groups of crank sliding block mechanisms and the group of double-rocker mechanisms, and then the purpose that the clamping jaw adopts a novel variable-metamorphic multi-connecting-rod compliant mechanism to realize the self-adaptive grabbing of objects with different shapes is achieved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of the device of the present invention with a housing installed;

FIG. 2 is a perspective view of the overall structure of the device of the present invention;

FIG. 3 is a perspective view of the device of FIG. 2 without the motor frame mounted;

FIG. 4 is a front view of the device of FIG. 3;

FIG. 5 is a perspective view of the housing of the apparatus of the present invention;

FIG. 6 is a front view of the device of FIG. 5;

FIG. 7 is a perspective view of a first link of the apparatus of the present invention;

FIG. 8 is a perspective view of the bottom frame of the device of the present invention;

FIG. 9 is a schematic exploded view of the spring motor of the device of the present invention;

FIG. 10 is a rear view of the cam housing of FIG. 9;

FIG. 11 is a perspective view of the outer cap of FIG. 9;

FIG. 12 is a perspective view of the cam housing and arcuate spring of FIG. 1 mated;

FIG. 13 is a diagram of a stress analysis of the cam housing in use;

FIG. 14 is a diagram showing the overall force analysis of the device of the present invention.

In the figure: 1. a base; 10. a bearing seat; 11. a mounting; 111. an N-shaped top frame; 112. an arc-shaped bottom plate; 113. a longitudinal chute; 114. a first shaft hole; 115. a second shaft hole; 12. a guide rail seat; 13. a light bar; 2. a main frame; 21. a bottom frame; 211. positioning holes; 22. a motor frame; 221. slotting; 3. an elastic driver; 31. a cam housing; 311. a mounting groove; 312. a clamping groove; 32. an outer cover; 321. a positioning plate; 322. an auxiliary groove; 323. a connecting shaft; 33. an arc spring; 4. a DC motor; 5. a mechanical arm driving rod; 51. a first link; 511. a horizontal plate; 512. a limiting block; 513. a mating hole; 514. a third shaft hole; 515. a longitudinal bore; 52. a second link; 53. a third link; 54. a fourth link; 55. a fifth link; 56. a sixth link; 6. a clamping jaw; 61. a connecting block; 62. a antiskid plate.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

Referring to fig. 1, 2, 3, 4 and 5, an underactuated robot hand capable of being reversely driven comprises a base 1 and a main frame 2, wherein the base 1 is vertically installed in the middle of the main frame 2, the base 1 is fixedly connected with the main frame 2, a bearing seat 10 is further arranged above the base 1, the bearing seat 10 is fixed on the inner side surface of the main frame 2, an elastic driver 3 is rotatably installed on the bearing seat 10, a direct current motor 4 for driving the elastic driver 3 to rotate is fixedly installed on the outer side surface of the main frame 2, a mechanical arm driving rod 5 is installed at the head of the elastic driver 3, one end of the mechanical arm driving rod 5 is rotationally connected with the elastic driver 3, the other end of the mechanical arm driving rod 5 is connected with a first connecting rod 51 which is horizontally arranged, the first connecting rod 51 is longitudinally and slidingly connected with the base 1, the two ends of the first connecting rod 51 are symmetrically provided with a second connecting rod 52, the upper end of the second connecting rod 52 is rotationally connected with the first connecting rod 51, the lower end of the second connecting rod 52 is rotationally connected with the machine base 1 through a fourth connecting rod 54, a third connecting rod 53 is rotationally installed at the joint of the first connecting rod 51 and the second connecting rod 52, a sixth connecting rod 56 is connected with the lower end of the third connecting rod 53, the sixth connecting rod 56 is of a bent structure, the head of the sixth connecting rod 56 is rotationally connected with the third connecting rod 53, a fifth connecting rod 55 is also installed in the middle of the sixth connecting rod 56, one end of the fifth connecting rod 55 is rotationally connected with the sixth connecting rod 56, the other end of the fifth connecting rod 55 is rotationally connected with the lower end of the machine base 1, and a clamping jaw 6 is fixedly installed on the sixth connecting rod 56. The main frame 2 is conveniently positioned and installed through the arrangement of the machine base 1, the machine base 1 can be conveniently connected and fixed through the main frame 2, meanwhile, the whole shell is conveniently installed through the main frame 2 for use, the elastic driver 3 is conveniently installed through the bearing seat 10 arranged above the machine base 1, the elastic driver 3 can be conveniently placed under the drive of the direct current motor 4, the clamping power of operation machine equipment is conveniently used, when the elastic driver 3 rotates, the first connecting rod 51 can be driven to move up and down through the mechanical arm driving rod 5 installed on the head, the second connecting rod 52 at the two ends can be conveniently driven to move synchronously through the first connecting rod 51, and therefore swinging of the elastic driver 3 can be converted into longitudinal reciprocating linear motion of the first connecting rod 51 through the crank slider mechanism formed by the elastic driver 3, the mechanical arm driving rod 5, the first connecting rod 51 and the optical rod 13 on the machine base 1; meanwhile, the first connecting rod 51, the second connecting rod 52, the fourth connecting rod 54 and the mechanical arm driving rod 5 form a reverse crank sliding block mechanism, so that the longitudinal reciprocating linear motion of the first connecting rod 51 can realize the swinging of the fourth connecting rod 54; meanwhile, the second connecting rod 52 is also connected with the third connecting rod 53, and the third connecting rod 53, the fourth connecting rod 54, the fifth connecting rod 55 and the sixth connecting rod 56 form a double-rocker mechanism, so that the third connecting rod 53 and the fifth connecting rod 55 are driven to perform local rotary motion by local rotary motion of the fourth connecting rod 54, and under the rotary motion of the third connecting rod 53 and the fifth connecting rod 55, the L-shaped sixth connecting rod 56 connected to the lower end of the third connecting rod 53 and the lower end of the fifth connecting rod 55 through a pin shaft starts to perform local rotary motion, and the clamping jaw 6 fixedly connected to the lower end of the sixth connecting rod 56 through a threaded hole array starts to perform grabbing and releasing motions.

Referring to fig. 4, 5 and 6, the stand 1 includes a seat frame 11, guide rail seats 12 and light bars 13, the guide rail seats 12 are symmetrically installed at upper and lower ends of a rear end surface of the seat frame 11, the guide rail seats 12 are fixedly connected with the seat frame 11, the light bars 13 are vertically installed between the upper and lower guide rail seats 12, and the light bars 13 are fixedly connected with the guide rail seats 12. Through guaranteeing to carry out two guide rail seat 12 of fixed mounting at the rear end of seat frame 11 to the structure setting of frame 1, conveniently carry out the upper and lower both ends of fixed light stick 13 through two upper and lower guide rail seat 12, just so can install first connecting rod 51 through light stick 13, guarantee that first connecting rod 51 can carry out longitudinal sliding adjustment along the line of defense of light stick 13. The seat frame 11 comprises an N-shaped top frame 111 and an arc-shaped bottom plate 112, the arc-shaped bottom plate 112 is arranged on the lower end face of the N-shaped top frame 111, the arc-shaped bottom plate 112 and the N-shaped top frame 111 are integrally formed, a longitudinal sliding groove 113 is further formed in one side of the N-shaped top frame 111, and a pair of first shaft holes 114 for connecting the fourth connecting rod 54 and a pair of second shaft holes 115 for connecting the fifth connecting rod 55 are symmetrically formed in the arc-shaped bottom plate 112. Through the structure setting to seat frame 11 guarantees that he is at the fixed mounting arc bottom plate 112 of the lower extreme of N shape top frame 111, can regard as holistic main frame 2 through N shape top frame 111 when facilitating the use, then connect and fix a position installation fourth connecting rod 54 and fifth connecting rod 55 through the arc bottom plate 112 of lower extreme, simultaneously through setting up first shaft hole 114 and second shaft hole 115 on arc bottom plate 112 symmetry, just so can connect fourth connecting rod 54 and fifth connecting rod 55 through the round pin axle when installing, just can guarantee through the symmetry setting that fourth connecting rod 54 and fifth connecting rod 55 at both ends can be adjusted in step simultaneously, and then realize stable centre gripping purpose of using.

Referring to fig. 2 and 8, the main frame 2 includes a bottom frame 21 for mounting the bearing housing 10 and a motor frame 22 for mounting the dc motor 4, the bottom frame 21 is disposed on a front end surface of the mount 11, the bottom frame 21 is fixedly connected with the mount 11, the motor frame 22 is disposed on a rear end surface of the rail mount 12, and the motor frame 22 is fixedly connected with the rail mount 12. Through the structure setting to main frame 2 guarantees that bottom frame 21 and motor frame 22 are fixed respectively at the front and back both ends of frame 1, just so can shelter from the front and back both ends of frame 1 through bottom frame 21 and motor frame 22, set up bearing frame 10 through bottom frame 21 one side simultaneously and make things convenient for the installation of elastic driver 3, carry out fixed mounting direct current motor 4 through motor frame 22's setting simultaneously, make things convenient for the driving elastic driver 3 that direct current motor 4 can be stable to put the operation. The bottom frame 21 is provided with a positioning hole 211 for installing the bearing seat 10, the bottom frame 21 and the motor frame 22 are provided with two groups of grooves 221, and the grooves 221 are triangular. Through set up the locating hole 211 that supplies bearing frame 10 to install on bottom frame 21, make things convenient for the better location installation of bearing frame 10 like this, simultaneously through all having seted up two sets of triangle-shaped flutings 221 on bottom frame 21 and motor frame 22, can guarantee like this bottom frame 21 and motor frame 22 be difficult for the deformation in the use, the effect of cutter stability, firm and withstand voltage.

Referring to fig. 4 and 7, the first link 51 includes a horizontal plate 511 and a stopper 512, the stopper 512 is disposed in the middle of the rear end surface of the horizontal plate 511, the stopper 512 is integrally formed with the horizontal plate 511, two ends of the horizontal plate 511 are symmetrically provided with a fitting hole 513 connected with the second link 52, the middle of the horizontal plate 511 is provided with a third shaft hole 514 connected with the mechanical arm driving rod 5, and the middle of the stopper 512 is provided with a longitudinal hole 515 for mounting the light rod 13. Through the structure setting to first connecting rod 51 guarantees that horizontal plate 511 installs the time can be through the vertical hole 515 cover on the rear end stopper 512 establish and fix a position the installation on light stick 13, simultaneously through set up mating holes 513 and third axle hole 514 on horizontal plate 511, the convenience is installed through the cooperation of second connecting rod 52 and arm actuating lever 5, just so can drive first connecting rod 51 through arm actuating lever 5 when making things convenient for elasticity driver 3 swing to adjust and carry out reciprocating motion, and then drive second connecting rod 52 and come synchronous movement use.

Referring to fig. 9, 10, 11 and 12, the elastic driver 3 includes a cam housing 31 and an outer cover 32, in which a mounting groove 311 is symmetrically formed in the cam housing 31, the outer cover 32 is rotatably mounted in the cam housing 31, a positioning plate 321 is coaxially disposed on an inner side surface of the outer cover 32, an auxiliary groove 322 corresponding to the mounting groove 311 is formed on the positioning plate 321, and an arc spring 33 is mounted in the mounting groove 311 and the auxiliary groove 322. The outer cover 32 is guaranteed to be installed on the cam shell 31 through the structure setting of the elastic driver 3, meanwhile, the outer cover 32 and the cam shell 31 rotate mutually, meanwhile, the arc-shaped spring 33 is installed through the installation of the installation groove 311 and the auxiliary groove 322, the diameter of the arc-shaped spring 33 is larger than the depth of the installation groove 311 and the auxiliary groove 322, and therefore the arc-shaped spring 33 can be guaranteed to be clamped in the installation groove 311 and the auxiliary groove 322 simultaneously after being installed, the arc-shaped spring 33 is compressed when the outer cover 32 rotates in the cam shell 31, deformation of the arc-shaped spring 33 is caused, and the process of sensing special-area objects can be conducted through the arc-shaped spring 33. A connecting shaft 323 connected with the output end of the direct current motor 4 is arranged in the center of the inner side surface of the positioning disk 321, and a clamping groove 312 which is in running fit with the bearing seat 10 is also formed in the rear end surface of the cam shell 31. Through the fixed mounting connecting axle 323 in the center department of positioning disk 321 medial surface, make things convenient for positioning disk 321 can be connected with direct current motor 4 through connecting axle 323, so when using direct current motor 4 can drive enclosing cover 32 through connecting axle 323 at first, then enclosing cover 32 drives cam shell 31 through arc spring 33 and swings, act on arm actuating lever 5 through cam shell 31, simultaneously through opening the block groove 312 at the rear end face of cam shell 31, make things convenient for better rotation between cam shell 31 and the bearing frame 10 to connect.

Referring to fig. 4, the jaw 6 includes a connection block 61 and a cleat 62, the connection block 61 being fixedly installed on an outer side surface of the sixth link 56, the cleat 62 being fixedly installed at one side of the connection block 61. The cleat 62 is made of a rigid, flexible, or rigid-flexible coupling material. The anti-skid plates 62 are installed through the connecting blocks 61 by arranging the structure of the clamping jaw 6, so that the clamping objects can be clamped directly through the anti-skid plates 62. When the robot hand clamps different products for use, the antiskid plates 62 with different materials can be selected according to the requirements, so that the safety and effectiveness in the drawing process are ensured.

Working principle: referring to fig. 13 and 14, in the object gripping process, the object gripping force is transmitted to the elastic driver 2 via the jaw 6, the machine gripper (the link structure consisting of the mechanical arm driving lever, the first link, the horizontal plate, the second link, the third link, the fourth link, the fifth link, and the sixth link), the spring deformation angle θ is measured by the micro angle sensor, and when the fingertip is in contact with the object, the spring inside the tandem elastic driver 2 is gradually deformed. When the under-actuated robot hand grabs an object, the direct current motor 4 works, the elastic component 2 connected with the direct current motor 4 rotates to generate a rotating moment Fa, the mechanical arm driving rod 1 drives the machine clamp holder 12 to perform grabbing action to generate grabbing force Fg under the action of the rotating moment Fa, the serial elastic driver 2 drives the machine clamp holder 12 to grab the object, when fingertips are contacted with the object, the grabbing force Fg is increased, the force Fr acting on the serial elastic driver 2 is gradually increased, the internal spring of the serial elastic driver 2 is gradually deformed to generate elastic force Fn to sense the grabbing force Fg, in the grabbing process, the grabbing force Fg forms a buffering process through the internal spring of the serial elastic driver 2, when the grabbing force Fg and a target driving force reach balance, the machine clamp holder 12 has enough grabbing force Fg, the grabbing object is realized, the under-actuated robot hand senses the grabbing force through the internal spring of the serial elastic driver 2, and the grabbing force is realized at the driving end.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a but back drive's underactuated robot hand, includes frame (1) and main frame (2), its characterized in that: the machine seat (1) is vertically arranged in the middle of the main frame (2), the machine seat (1) is fixedly connected with the main frame (2), a bearing seat (10) is further arranged above the machine seat (1), the bearing seat (10) is fixedly arranged on the inner side surface of the main frame (2), an elastic driver (3) is rotatably arranged on the bearing seat (10), a direct current motor (4) for driving the elastic driver (3) to rotate is fixedly arranged on the outer side surface of the main frame (2), a mechanical arm driving rod (5) is arranged at the head of the elastic driver (3), one end of the mechanical arm driving rod (5) is rotationally connected with the elastic driver (3), the other end of the mechanical arm driving rod is connected with a first connecting rod (51) which is horizontally arranged, the first connecting rod (51) is longitudinally and slidingly connected with the machine seat (1), two ends of the first connecting rod (51) are symmetrically provided with a second connecting rod (52), the upper end of the second connecting rod (52) is rotationally connected with the first connecting rod (51), the lower end of the second connecting rod (52) is rotationally connected with the third connecting rod (53) through the second connecting rod (53), the utility model discloses a machine frame, including frame (1) and clamping jaw, including frame, clamping jaw, third connecting rod (56), fifth connecting rod (55), sixth connecting rod (56) set up to the kink structure, and the head of sixth connecting rod (56) rotates with third connecting rod (53) to be connected, fifth connecting rod (55) are still installed at the middle part of sixth connecting rod (56), fifth connecting rod (55) one end rotates with sixth connecting rod (56) to be connected, and the lower extreme rotation of fifth connecting rod (55) other end and frame (1) is connected, still fixed mounting has clamping jaw (6) on sixth connecting rod (56).

2. The underactuated robot hand capable of being reversely driven according to claim 1, wherein the machine base (1) comprises a seat frame (11), a guide rail seat (12) and an optical rod (13), the guide rail seat (12) is symmetrically arranged at the upper end and the lower end of the rear end face of the seat frame (11), the guide rail seat (12) is fixedly connected with the seat frame (11), the optical rod (13) is vertically arranged between the upper guide rail seat (12) and the lower guide rail seat (12), and the optical rod (13) is fixedly connected with the guide rail seat (12).

3. The underactuated robot hand capable of being driven reversely according to claim 2, wherein the seat frame (11) comprises an N-shaped top frame (111) and an arc-shaped bottom plate (112), the arc-shaped bottom plate (112) is arranged on the lower end face of the N-shaped top frame (111), the arc-shaped bottom plate (112) and the N-shaped top frame (111) are integrally formed, a longitudinal sliding groove (113) is further formed in one side of the N-shaped top frame (111), and a pair of first shaft holes (114) for connecting the fourth connecting rod (54) and a pair of second shaft holes (115) for connecting the fifth connecting rod (55) are symmetrically formed in the arc-shaped bottom plate (112).

4. A backdrivable under-actuated robot hand as claimed in claim 3, in which the main frame (2) comprises a bottom frame (21) for mounting the bearing block (10) and a motor frame (22) for mounting the dc motor (4), the bottom frame (21) is provided on the front end face of the mount (11), and the bottom frame (21) is fixedly connected with the mount (11), the motor frame (22) is provided on the rear end face of the guide rail seat (12), and the motor frame (22) is fixedly connected with the guide rail seat (12).

5. The underactuated robot hand capable of being reversely driven according to claim 4, wherein the first connecting rod (51) comprises a horizontal plate (511) and a limiting block (512), the limiting block (512) is arranged in the middle of the rear end face of the horizontal plate (511), the limiting block (512) and the horizontal plate (511) are integrally formed, two ends of the horizontal plate (511) are symmetrically provided with matching holes (513) connected with the second connecting rod (52), the middle of the horizontal plate (511) is provided with a third shaft hole (514) connected with the mechanical arm driving rod (5), and the middle of the limiting block (512) is provided with a longitudinal hole (515) for installing the light rod (13).

6. The underactuated robot hand as claimed in claim 5, wherein the bottom frame (21) is provided with a positioning hole (211) for installing the bearing seat (10), two groups of slots (221) are formed in the bottom frame (21) and the motor frame (22), and the slots (221) are triangular.

7. The underactuated robot hand as claimed in claim 6, wherein the elastic driver (3) comprises a cam shell (31) and an outer cover (32), wherein the cam shell (31) is symmetrically provided with mounting grooves (311), the outer cover (32) is rotatably mounted in the cam shell (31), the inner side surface of the outer cover (32) is coaxially provided with a positioning disc (321), the positioning disc (321) is provided with auxiliary grooves (322) corresponding to the mounting grooves (311), and the mounting grooves (311) and the auxiliary grooves (322) are provided with arc springs (33).

8. The underactuated robot hand as claimed in claim 7, wherein a connecting shaft (323) connected with the output end of the dc motor (4) is installed at the center of the inner side surface of the positioning disk (321), and a locking groove (312) rotationally matched with the bearing seat (10) is further opened at the rear end surface of the cam housing (31).

9. A back-drivable underactuated robot hand as claimed in any one of claims 1 to 8, in which the gripping jaw (6) comprises a connection block (61) and a cleat (62), the connection block (61) being fixedly mounted on the outer side of the sixth link (56), the cleat (62) being fixedly mounted on one side of the connection block (61).

10. The backdrivable underactuated robotic hand of claim 9, wherein the cleat (62) is made of a rigid, flexible or rigid-flexible coupling material.