CN205799554U - Idle running contact gear flat folder adaptive robot finger apparatus - Google Patents
Idle running contact gear flat folder adaptive robot finger apparatus Download PDFInfo
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- CN205799554U CN205799554U CN201620474271.5U CN201620474271U CN205799554U CN 205799554 U CN205799554 U CN 205799554U CN 201620474271 U CN201620474271 U CN 201620474271U CN 205799554 U CN205799554 U CN 205799554U
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Abstract
Idle running contact gear flat folder adaptive robot finger apparatus, belongs to robot technical field, including pedestal, two segments, two joint shafts, driver, gear drive, projection driver plate, thumb wheel, two spring parts and spacing block set.This device utilizes driver, gear drive, two spring parts, projection driver plate, spacing block sets comprehensively to achieve the function of the parallel clamping of doublejointed robot finger and self-adapting grasping with thumb wheel etc.；Owing to there being one section of idle running between the second projection on the drive lugs on thumb wheel and projection driver plate, when the first segment rotates, the second segment keeps translation to rotate not with respect to pedestal, has reached parallel clamping and has captured function；After the first segment contact object is blocked, through one period the least, drive lugs on thumb wheel can contact and stir the second projection on projection driver plate, thus drive the first pinion rotation, through gear train, the transmission of the second gear, drive the second segment to rotate, reach self-adapting grasping function.
Description
Technical field
This utility model belongs to robot technical field, particularly to a kind of idle running contact gear flat folder self adaptation machine
The structure design of device finger device.
Background technology
Self adaptation under-actuated robot hand uses a small amount of motor to drive multiple degree-of-freedom joints, owing to number of motors is few, hides
The motor entering palm can select bigger power and volume, exerts oneself big, and the feedback system of Purely mechanical is without to environment simultaneously
Sensitivity can also realize stable crawl, automatically adapts to the object of difformity size, does not has real-time electronic sensing and closed loop feedback
The demand controlled, controls simple and convenient, reduces manufacturing cost.
Mainly having two kinds of grasping means when capturing object, one is grip, and one is to grip.Grip is to use end finger
Tip portion go to grip object, uses two points or two soft finger faces to remove contact object, mainly for small-size object or tool
There is the larger object of opposite；Gripping is the contact realizing multiple point with multiple segment enveloping rings of finger around object, reaches
More stable shape envelope captures.Industry clamper typically uses the method for clamping that end is parallel, it is difficult to has envelope and grips merit
Can, it is impossible to the stable envelope adapting to various shape object captures；Self adaptation under-actuated finger can use self adaptation envelope object
Mode grip, but the parallel clamping of end cannot be implemented and capture, such as, existing a kind of under-actuated two-articulated robot finger
Device (Chinese patent CN101234489A), including pedestal, motor, middle part segment, end segment peace belt wheel drive mechanism
Deng.The arrangement achieves the bending of doublejointed under-actuated finger and capture the special-effect of object, there is adaptivity.This lack of driven
The weak point of tool finger apparatus is: finger presents straight configuration before not touching object all the time, and Grasp Modes predominantly grips
Mode, difficulty realizes the parallel clamping of preferable end and captures effect.
Existing a kind of five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP)
US8973958B2, including five connecting rods, spring and mechanical constraint etc..The arrangement achieves flat folder self-adapting grasping pattern.In work
When making, the incipient stage keeps the attitude of end segment to carry out nearly arthrogryposis action, can realize according to the position of object afterwards
The function that parallel grip or self adaptation envelope grip.It is disadvantageous in that, this device is only capable of realizing flat folder self-adapting grasping mould
Formula, it is impossible to realize coupling adaptive grasp mode；Additionally, it uses extremely complex multi-connecting-rod mechanism, motion to exist bigger
Dead band, captures scope less, and organization volume is big, lacks compliance, and manufacturing cost is too high.
Utility model content
The purpose of this utility model is the weak point in order to overcome prior art, it is provided that a kind of idle running contact gear is put down
Folder adaptive robot finger apparatus.This device has multiple grasp mode, translation the second segment can clamp object, also can be first
Rear rotation the first segment and the second segment self adaptation envelope difformity, the object of size；Crawl scope is big；Without complicated biography
Sense and control system.
The technical solution of the utility model is as follows:
The idle running contact gear flat folder adaptive robot finger apparatus of this utility model design, including pedestal, first
Segment, the second segment, nearly joint shaft, remote joint shaft and driver；Described driver is affixed with pedestal；In described nearly joint shaft
Heart line and the centerline parallel of remote joint shaft；It is characterized in that: this idle running contact gear flat folder adaptive robot finger dress
Put and also include drive mechanism, thumb wheel, the first gear, the second gear, driving gear set, projection driver plate, the first spring part, the second spring part
And spacing block set；Described nearly joint shaft is movably set in pedestal；Described remote joint shaft is movably set in the first segment；Described
First segment is actively socketed on nearly joint shaft；Described second segment is socketed on remote joint shaft；Described drive mechanism is arranged on
In pedestal；The output shaft of described driver is connected with the input of drive mechanism, the outfan of described drive mechanism and thumb wheel phase
Even；Described thumb wheel is actively socketed on nearly joint shaft；Described first gear is actively socketed on nearly joint shaft；Described second gear
Being socketed on remote joint shaft, the second gear and the second segment are affixed；The input of described driving gear set and the engagement of the first gear,
The outfan of described driving gear set and the engagement of the second gear；By the transmission of driving gear set, from the first gear to the second tooth
The transmission of wheel is that co-rotating transmission and gear ratio are equal to 1；Described projection driver plate is actively socketed on nearly joint shaft, described projection driver plate
Affixed with the first gear；Described projection driver plate includes driver plate, the first projection and the second projection；Described first projection, the second projection
Affixed with driver plate respectively；Described spacing block set is affixed with pedestal；Described first projection contacts with spacing block set or leaves one section
Distance；Described thumb wheel includes affixed drive lugs；Described second projection contacts with drive lugs or stands away；If
It is nearly joint positive direction that first segment is close to the rotation direction of object, and the first segment is that nearly joint is anti-away from the rotation direction of object
Direction；When this idle running contact gear flat folder adaptive robot finger apparatus is in original state, the first projection is with spacing
Bump contact, if now the anglec of rotation of projection driver plate opposite base is 0 degree, from the beginning of this position, projection driver plate is towards nearly joint
Positive direction rotate time rotational angle be just, projection driver plate towards nearly joint opposite direction rotate time rotational angle be negative；Described limit
Position projection limits the rotational angle of projection driver plate and is just only；The two ends of described first spring part connect projection driver plate and base respectively
Seat；When this idle running contact gear flat folder adaptive robot finger apparatus is in original state, described second projection and biography
Dynamic projection stands away；In thumb wheel slewing area, drive lugs can touch the second projection；The two of described second spring part
End connects thumb wheel and the first segment respectively.
Idle running contact gear described in the utility model flat folder adaptive robot finger apparatus, it is characterised in that: institute
State driver and use motor, cylinder or hydraulic cylinder.
Idle running contact gear described in the utility model flat folder adaptive robot finger apparatus, it is characterised in that: institute
State the first spring part and use extension spring, stage clip, leaf spring or torsion spring.
Idle running contact gear described in the utility model flat folder adaptive robot finger apparatus, it is characterised in that: institute
State the second spring part and use extension spring, stage clip, leaf spring or torsion spring.
This utility model compared with prior art, has the following advantages and salience effect:
This utility model device utilizes driver, gear drive, two spring parts, projection driver plate, spacing block sets and dials
Wheel etc. comprehensively achieves the function of the parallel clamping of doublejointed robot finger and self-adapting grasping；Due to the drive lugs on thumb wheel
And have one section of idle running between the second projection on projection driver plate, first segment rotate time second segment keep translation and the most relative
Rotate in pedestal, reached parallel clamping and captured function；When the first segment contacts after object is blocked, through one section the least time
Between, the drive lugs on thumb wheel can contact and stir the second projection on projection driver plate, thus drives the first pinion rotation, passes through
Gear train, the transmission of the second gear, drive the second segment to rotate, reached self-adapting grasping function.This device is according to object shape
Shape and the difference of position, can translation the second segment grip object, also can rotate the first segment and the second segment self adaptation successively
Envelope difformity, the object of size；Crawl scope is big, and grasping stability is reliable；Merely with two joints of a driver drives,
Without complicated sensing and real-time control system；This apparatus structure is simple, volume is little, lightweight, process, assemble and maintenance cost
Low, it is adaptable to robot.
Accompanying drawing explanation
Fig. 1 is that a kind of enforcement pressing from both sides adaptive robot finger apparatus put down by the idle running contact gear of this utility model design
The stereo appearance figure of example.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (left view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 4 be embodiment illustrated in fig. 1 front view (be not drawn into pedestal header board, base-plates surface plate, the first segment header board,
One segment surface plate).
Fig. 5 is part part position figure in embodiment illustrated in fig. 1.
Fig. 6 is part part position figure in embodiment illustrated in fig. 1.
Fig. 7 is part part position figure in embodiment illustrated in fig. 1.
Fig. 8 is the explosive view of embodiment illustrated in fig. 1.
Fig. 9 to Figure 13 is that embodiment illustrated in fig. 1 is shown at the course of action capturing object in the way of the gripping of self adaptation envelope
It is intended to.
Figure 14 to Figure 16 is that embodiment illustrated in fig. 1 is at the course of action schematic diagram capturing object in the way of parallel clamping.
Figure 17, Figure 18 are embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the situation of change of projection driver plate, the first spring part and the relative position of spacing block set.
Figure 19 to Figure 22 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, thumb wheel, the situation of change of relative position of projection driver plate.
In Fig. 1 to Figure 22:
1-pedestal, 111-pedestal header board, 112-pedestal back plate, 113-pedestal left plate,
114-pedestal right plate, 115-base-plates surface plate, 116-pedestal bottom plate, 2-the first segment,
21-the first segment surface plate, 22-the first segment left plate, 23-the first segment right plate, 24-the first segment
Header board,
25-the first segment back plate, 3-the second segment, the nearly joint shaft of 4-, the remote joint shaft of 5-,
83-bearing, 84-sleeve, 85-screw, 86-pin,
9-the first gear, 10-the second gear, 11-driving gear set, 91-the first idler gear,
92-the second idler gear, 93-the 3rd idler gear, 911-the first intermediate gear shaft, 921-the second center tooth
Wheel shaft,
931-the 3rd intermediate gear shaft,
12-projection driver plate, 121-the first projection, 122-the second projection,
13-the first spring part, 14-driver (motor), 141-decelerator, 142-the first bevel gear,
143-the second bevel gear, 144-transition gear axle, 145-transition pulley, 147-transmission band,
15-thumb wheel, 151-drive lugs, 16-the second spring part, 17-object,
18-spacing block set.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment be described in further detail concrete structure of the present utility model, operation principle interior
Hold.
A kind of embodiment of folder adaptive robot finger apparatus equalled by the idle running contact gear of this utility model design, as
Shown in Fig. 1 to Fig. 8, including pedestal the 1, first segment the 2, second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 14；Described
Driver 14 is affixed with pedestal 1；The centrage of described nearly joint shaft 4 and the centerline parallel of remote joint shaft 5.The present embodiment also wraps
Include drive mechanism, thumb wheel the 152, first gear the 9, second gear 10, driving gear set 11, projection driver plate the 12, first spring part 13,
Two spring parts 53 and spacing block set 18；Described nearly joint shaft 4 is movably set in pedestal 1；Described remote joint shaft 5 is movably set in
In one segment 2；Described first segment 2 is actively socketed on nearly joint shaft 4；Described second segment 3 is socketed on remote joint shaft 5；
Described drive mechanism is arranged in pedestal 1；The described output shaft of driver 14 is connected with the input of drive mechanism；Described transmission
The outfan of mechanism is connected with thumb wheel；Described thumb wheel is actively socketed on nearly joint shaft 4.
In the present embodiment, described first gear is actively socketed on nearly joint shaft；Described second geared sleeve is connected on remote joint
On axle, the second gear and the second segment are affixed；The input of described driving gear set and the engagement of the first gear, described travelling gear
The outfan of group and the engagement of the second gear；By the transmission of driving gear set 11, from the transmission of first gear the 9 to the second gear 10
It is that co-rotating transmission and gear ratio are equal to 1.
In the present embodiment, described projection driver plate 12 is actively socketed on nearly joint shaft 4, described projection driver plate 12 and the first tooth
Take turns 9 affixed.Described projection driver plate includes driver plate, the first projection and the second projection；Described first projection, the second projection respectively with dial
Dish is affixed；Described spacing block set 18 is affixed with pedestal 1；Described first projection contact with spacing block set 18 or leave one section away from
From, as shown in Fig. 6, Figure 17 and Figure 18；Described thumb wheel includes affixed drive lugs.Described second projection connects with drive lugs
Touch or stand away, as shown in Fig. 7, Figure 19, Figure 20, Figure 21 and Figure 22；If the first segment 2 is close to the rotation side of object 17
To for nearly joint positive direction (the clockwise direction of arrow in such as Fig. 9), the first segment 2 is near away from the rotation direction of object 17
Joint opposite direction；It is in original state (such as Fig. 9, Figure 14 at this idle running contact gear flat folder adaptive robot finger apparatus
Shown straight configuration) time, the first projection contacts with spacing block set 18, if the anglec of rotation of now projection driver plate 12 opposite base 1
Degree is 0 degree (as shown in Figure 6), from the beginning of this position, projection driver plate 12 towards nearly joint positive direction rotate time rotational angle be just,
Projection driver plate 12 towards nearly joint opposite direction rotate time rotational angle be negative；Described spacing block set 18 limits turning of projection driver plate 12
Dynamic angle is just only, i.e. projection driver plate 12 rotates only along arrow direction indication as shown in figure 17.Described first spring part
The two ends of 13 connect projection driver plate 12 and pedestal 1 respectively, and the first spring part 13 makes projection driver plate 12 be close to spacing block set 18；At this sky
When journey contact gear flat folder adaptive robot finger apparatus is in original state, described second projection leaves with drive lugs
One segment distance, as shown in Figure 7；In thumb wheel slewing area, drive lugs can touch the second projection, such as Figure 19 to Figure 22 institute
Show；The two ends of described second spring part connect thumb wheel and the first segment respectively, as shown in Figure 4.
Idle running contact gear described in the utility model flat folder adaptive robot finger apparatus, it is characterised in that: institute
State driver 14 and use motor, cylinder or hydraulic cylinder.In the present embodiment, described driver 14 uses motor.
Idle running contact gear described in the utility model flat folder adaptive robot finger apparatus, it is characterised in that: institute
State the first spring part and use extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, described first spring part 13 uses extension spring.
Idle running contact gear described in the utility model flat folder adaptive robot finger apparatus, it is characterised in that: institute
State the second spring part and use extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, described second spring part 16 uses torsion spring.
In the present embodiment, on the left of pedestal header board 111 that described pedestal 1 includes being fixed together, pedestal back plate 112, pedestal
Plate 113, pedestal right plate 114, base-plates surface plate 115 and pedestal bottom plate 116.In the present embodiment, described first segment 2 includes solid
First segment surface plate the 21, first segment left plate the 22, first segment right plate the 23, first segment header board 24 and being connected together
First segment back plate 25.
In the present embodiment, described driving gear set 11 includes in the middle of first idler gear the 91, second idler gear the 92, the 3rd
Gear the 93, first intermediate gear shaft the 911, second intermediate gear shaft 921 and the 3rd intermediate gear shaft 931.Described first center tooth
Wheel 91 engages with the first gear, and described second idler gear 92 engages with the first idler gear 91, described 3rd idler gear 93
Engaging with the second idler gear 92, described second gear and the 3rd idler gear 93 engage；Described first idler gear 91, second
Idler gear 92 and the 3rd idler gear 93 are socketed in first intermediate gear shaft the 911, second intermediate gear shaft 921 and the 3rd respectively
On intermediate gear shaft 931.
In the present embodiment, described drive mechanism includes decelerator the 141, first bevel gear the 142, second bevel gear 143, transition
Gear shaft 144, transition pulley 145 and transmission band 147；The output shaft of described motor 14 is connected with the power shaft of decelerator 141, institute
Stating the first bevel gear 142 to be fixed on the output shaft of decelerator 141, described second bevel gear 143 is fixed in transition gear axle 144
On, described first bevel gear 142 engages with the second bevel gear 143；Described transition gear axle 144 is set in pedestal 1, described mistake
Crossing belt wheel 145 to be fixed on transition gear axle 144, described transmission band 147 connects transition pulley 145 and thumb wheel 15, described transmission
Band 147, transition pulley 145 and thumb wheel 15 form belt wheel transmission relation.
In the present embodiment, described drive mechanism can be the drive mechanism of other a variety of routines, such as gear drive
Mechanism, belt wheel transmission mechanism etc., it is also possible to be primary transmission mechanism or the drive mechanism of more than two grades, as long as by driver
The power of (motor) passes to thumb wheel.
If the present embodiment also includes dry bearing 83, some sleeves 84, some screws 85 and some pins 86 etc., belong to known skill
Art, does not repeats.
The operation principle of the present embodiment, is described below in conjunction with accompanying drawing:
When the present embodiment is in original state, as shown in Fig. 1, Fig. 5, Fig. 6 and Fig. 7.
Motor 14 rotates, and drives the first bevel gear 142 by reductor 141, drives the second bevel gear 143, drives transition
Gear shaft 144, drives transition pulley 145, drives thumb wheel 15 to rotate by transmission band 147, pull first by the second spring part 16
Segment 2 rotates around joint shaft 4, it is achieved the first articulation；Now, drive lugs 151 is also not in contact with the second projection 122, the
One spring part 13 hauls projection driver plate 12 against on spacing block set 18, owing to projection driver plate 12 is affixed with the first gear 9, and institute
Keep initial attitude constant with the first gear 9；Now, refer in first gear the 9, second gear 10, driving gear set 11 and first
Under the effect of section 2, the second gear 10 and the second segment 3 remain in that initial attitude, reason are: by the biography of driving gear set 11
Dynamic, from the transmission of first gear the 9 to the second gear 10 be co-rotating transmission and gear ratio equal to 1, so when the first segment 2 is closed around near
When nodal axisn 4 rotates and the first gear 9 is motionless, the second gear 10 opposite base 1 only carries out translational motion without rotating, due to
Two gears 10 are affixed with the second segment 3, so the second segment 3 opposite base 1 only carries out translational motion without rotating, protect all the time
Hold original attitude.
A) the second segment 2 contacts parallel clamping (the most parallel folding or the flat folder) grasp mode of object 17:
If now the second segment 2 contacts object 17, then it it is parallel clamping grasp mode.Course of action such as Figure 14 to Figure 16
Shown in.
Motor 14 is rotated further, thumb wheel 15 is rotated further but time drive lugs 151 is also not in contact with the second projection 122,
There is moderate finite deformation in two spring parts 16, (this power is referred to as F to the deformation elastic force of the second spring part 161), by the first segment 2, remote joint shaft 5
Etc. being applied in second segment 3 grasping force to object 17, if grasping force is enough, motor 14 stall, crawl terminates.
After said process, if grasping force is inadequate, thumb wheel 15 is rotated further an angle, now the second spring part 16
More large deformation, F are given birth to1Bigger；Meanwhile, drive lugs 151 contacts the second projection 122 and applies a power (this power is referred to as F2) give
Second projection 122, F2It has been applied to the second segment 3 to object 17 by the first gear 9, driving gear set 11 and the second gear 10
Grasping force in (needing to deduct the deformation elastic force impact on grasping force of the first spring part), motor 14 stall, crawl terminates.
Parallel clamping grasp mode is suitable for the second segment 3 de-clamping object 17, or with second by the way of outer
Segment 3 is gone from inside to outside to support and is taken object 17.Taking of a such as hollow cylindrical tube, is flared out propping up from the inner side of this object
Barrel, thus object of taking.
B) the first segment 2 contacts the self-adapting grasping pattern of object 17:
The flat gripper of first stage takes the self-adapting grasping with second stage and is collectively referred to as flat folder self-adapting grasping pattern.
Contact object 17 when the first segment 2 and stopped by object 17 and be no longer able to turn, will be automatically into self-adapting grasping rank
Section.Motor 14 is rotated further, and thumb wheel 15 is rotated further, but when drive lugs 151 is also not in contact with the second projection 122, the second spring
There is moderate finite deformation in part 16, (this power is referred to as F to the deformation elastic force of the second spring part 161), it is applied to the first segment 2 grabbing object 17
In holding force.
Motor 14 is rotated further, and thumb wheel 15 is rotated further an angle, and now the second spring part 16 there occurs more large deformation, F1
Bigger；Meanwhile, drive lugs 16 contacts the second projection 122 and promotes the second projection 122, and projection driver plate 12 and the first gear 9 exist
Overcome the first spring part 13 to deform elastic force to rotate, drive the second gear 10 and the second segment 3 to go the long way round by driving gear set 11
Joint shaft 5 rotates, until the second segment 3 contacts object 17 and applies grasping force, motor 14 stall, crawl terminates, and completes adaptive
Envelope is answered to capture the effect of object.Course of action is if Fig. 9 is to shown in 13.
For difformity, the object of size, the present embodiment has adaptivity, it is possible to capture multiple object.
In above process, when the anglec of rotation of projection driver plate 12 is timing, under the effect of driving gear set 11, second
Gear 10 and the second segment 3 are equal to the first gear 9 and projection driver plate 12 relative to first relative to the anglec of rotation of the first segment 2
The anglec of rotation of segment 2.
Fig. 6 is the projection driver plate 12 of Fig. 9, Figure 10 and Figure 11, spacing block set 18 and the situation of the first spring part.Now this enforcement
Example is in initial position or has only bent the first segment, and the first spring part 13 makes projection driver plate 12 contact with spacing block set 18,
Second segment 3 is in the fixing initial attitude relative to pedestal 1, and this situation is continued until that the envelope of Figure 11 captures and starts,
Or the clamping of Figure 16 captures and terminates.
Figure 17 is the relative change in location situation of the projection driver plate 12 of Figure 12, spacing block set 18 and the first spring part.Now originally
First segment 2 of embodiment has touched object 17 and has been blocked from motion, under the driving effect of driver 14, second
Segment 3 joint shaft 5 of having gone the long way round rotates an angle (rotating relative to pedestal 1), and the second segment 3 the most no longer keeps original perpendicular
Straight initial attitude, projection driver plate 12 have left the spacing block set 18 being originally permanently connected to.
Figure 18 is the relative change in location situation of the projection driver plate 12 of Figure 13, spacing block set 18 and the first spring part.Now originally
Embodiment completes the contact of to object two segments and realizes the crawl of self adaptation envelope, the object energy to difformity size
Enough automatic envelopes capture, grasping stability；Compared with the situation of Figure 17, projection driver plate 12 is rotated to bigger angle, leaves limit
The distance that position projection 18 is farther, the second segment 3 also have rotated the angle identical with the corner of projection driver plate 12.
Figure 19, Figure 20 are drive lugs and the situations of the second projection of Figure 11.Figure 21 be Figure 12 drive lugs and
The situation of the second projection.Figure 22 is drive lugs and the situation of the second projection of Figure 13.
The process of release object 17: motor 14 inverts, and subsequent process is the most contrary, no with the process of above-mentioned crawl object 17
Repeat again.
This utility model device utilizes driver, gear drive, two spring parts, projection driver plate, spacing block sets and dials
Wheel etc. comprehensively achieves the function of the parallel clamping of doublejointed robot finger and self-adapting grasping；Due to the drive lugs on thumb wheel
And have one section of idle running between the second projection on projection driver plate, first segment rotate time second segment keep translation and the most relative
Rotate in pedestal, reached parallel clamping and captured function；When the first segment contacts after object is blocked, through one section the least time
Between, the drive lugs on thumb wheel can contact and stir the second projection on projection driver plate, thus drives the first pinion rotation, passes through
Gear train, the transmission of the second gear, drive the second segment to rotate, reached self-adapting grasping function.This device is according to object shape
Shape and the difference of position, can translation the second segment grip object, also can rotate the first segment and the second segment self adaptation successively
Envelope difformity, the object of size；Crawl scope is big, and grasping stability is reliable；Merely with two joints of a driver drives,
Without complicated sensing and real-time control system；This apparatus structure is simple, volume is little, lightweight, process, assemble and maintenance cost
Low, it is adaptable to robot.
Claims (4)
1. an idle running contact gear flat folder adaptive robot finger apparatus, including pedestal, the first segment, the second segment,
Nearly joint shaft, remote joint shaft and driver；Described driver is affixed with pedestal；The centrage of described nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that: this idle running contact gear flat folder adaptive robot finger apparatus also includes driver
Structure, thumb wheel, the first gear, the second gear, driving gear set, projection driver plate, the first spring part, the second spring part and spacing block set；Institute
State nearly joint shaft to be movably set in pedestal；Described remote joint shaft is movably set in the first segment；Described first segment activity
It is socketed on nearly joint shaft；Described second segment is socketed on remote joint shaft；Described drive mechanism is arranged in pedestal；Described drive
The output shaft of dynamic device is connected with the input of drive mechanism, and the outfan of described drive mechanism is connected with thumb wheel；Described thumb wheel is lived
Move and be socketed on nearly joint shaft；Described first gear is actively socketed on nearly joint shaft；Described second geared sleeve is connected on remote joint
On axle, the second gear and the second segment are affixed；The input of described driving gear set and the engagement of the first gear, described travelling gear
The outfan of group and the engagement of the second gear；By the transmission of driving gear set, the transmission from the first gear to the second gear is same
It is equal to 1 to transmission and gear ratio；Described projection driver plate is actively socketed on nearly joint shaft, and described projection driver plate and the first gear are solid
Connect；Described projection driver plate includes driver plate, the first projection and the second projection；Described first projection, the second projection are solid with driver plate respectively
Connect；Described spacing block set is affixed with pedestal；Described first projection contacts with spacing block set or stands away；Described thumb wheel
Including affixed drive lugs；Described second projection contacts with drive lugs or stands away；If the first segment is close to
The rotation direction of object is nearly joint positive direction, and the first segment is nearly joint opposite direction away from the rotation direction of object；At this sky
When journey contact gear flat folder adaptive robot finger apparatus is in original state, the first projection contacts with spacing block set, if
Now the anglec of rotation of projection driver plate opposite base is 0 degree, from the beginning of this position, projection driver plate towards nearly joint positive direction rotate time
Rotational angle be just, projection driver plate towards nearly joint opposite direction rotate time rotational angle be negative；Described spacing block set limits convex
The rotational angle of block driver plate is just only；The two ends of described first spring part connect projection driver plate and pedestal respectively；Connect in this idle running
When touch gear flat folder adaptive robot finger apparatus is in original state, described second projection and drive lugs leave one section
Distance；In thumb wheel slewing area, drive lugs can touch the second projection；The two ends of described second spring part connect thumb wheel respectively
With the first segment.
2. idle running contact gear as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described
Driver uses motor, cylinder or hydraulic cylinder.
3. idle running contact gear as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described
First spring part uses extension spring, stage clip, leaf spring or torsion spring.
4. idle running contact gear as claimed in claim 1 flat folder adaptive robot finger apparatus, it is characterised in that: described
Second spring part uses extension spring, stage clip, leaf spring or torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620474271.5U CN205799554U (en) | 2016-05-23 | 2016-05-23 | Idle running contact gear flat folder adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620474271.5U CN205799554U (en) | 2016-05-23 | 2016-05-23 | Idle running contact gear flat folder adaptive robot finger apparatus |
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| Publication Number | Publication Date |
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| CN205799554U true CN205799554U (en) | 2016-12-14 |
Family
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|---|---|---|---|
| CN201620474271.5U Withdrawn - After Issue CN205799554U (en) | 2016-05-23 | 2016-05-23 | Idle running contact gear flat folder adaptive robot finger apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798936A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Idle-stroke contact gear parallel clamping self-adaption robot finger device |
| CN109227583A (en) * | 2018-09-30 | 2019-01-18 | 清华大学 | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line |
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2016
- 2016-05-23 CN CN201620474271.5U patent/CN205799554U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798936A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Idle-stroke contact gear parallel clamping self-adaption robot finger device |
| CN105798936B (en) * | 2016-05-23 | 2018-05-29 | 清华大学 | Idle running contact gear puts down folder adaptive robot finger apparatus |
| CN109227583A (en) * | 2018-09-30 | 2019-01-18 | 清华大学 | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line |
| CN109227583B (en) * | 2018-09-30 | 2023-12-22 | 清华大学 | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20161214 Effective date of abandoning: 20180529 |
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| AV01 | Patent right actively abandoned |