CN206393654U - The flat folder indirect self-adaptive robot finger apparatus of rack parallel connection is put in motor - Google Patents

Abstract

The rack and rack in the motor are connected in parallel with flat clips and the indirect self-adaptive robot finger device belongs to the field of robot hand technology, including a base, a first finger section, a second finger section, a proximal joint axis, a distal joint axis, a motor, multiple gears, a belt Wheels and springs etc. The device comprehensively realizes the flat clamping and indirect self-adaptive composite grasping mode of the double-joint robot finger; driven by a single motor, the second finger segment is used for parallel gripping, or when the first finger segment touches the object, it automatically switches to the second finger segment. The self-adaptive grasping mode that the two fingers continue to rotate; it can adapt to the grasping of objects of different shapes and sizes, the grasping force is large, the grasping is stable, easy to control, the transmission is accurate, the cost is low, and the efficiency is high; the motor and reducer of the device And the transmission mechanism is completely embedded in the first finger segment, does not occupy the palm space of the robot hand, and is suitable for the robot hand.

Description

Indirect self-adaptive robot finger device with rack and rack in the middle of the motor in parallel with flat clamp

technical field

The utility model belongs to the technical field of robot hands, in particular to a structural design of a motor middle-mounted rack parallel connection flat clip indirect self-adaptive robot finger device.

Background technique

In industrial production, robots have become an indispensable backbone. With the development of industry, the demand for robotic hands is gradually increasing. Robotic hands need to have the ability to adapt to the environment and perform some more complex tasks. Simple end effectors with only opening and closing functions can no longer meet the needs. The emergence of underactuated robotic hands just meets this important need. The underactuated robot hand can achieve better adaptive grasping, can automatically adapt to objects of different sizes and shapes, and the grasping is stable, the control is simple and convenient, the cost is low, and it has a good use effect, which also makes it a popular choice in recent years. research hotspot. However, the traditional underactuated hand generally only has a rigid and fixed grasping mode, and lacks a flat clamp grasping mode, which makes it not flexible enough. In reality, a combination of the two grasping modes is often required.

Generally, two types of grasping modes are used for grasping objects: clamping or holding. The clamping and grasping mode uses the end fingertips to grasp the object, and touches the object with two points or two surfaces. This kind of grasping is more accurate, also known as precise grasping. The better effect is parallel clamping and grasping. mode, that is, the end fingers are always kept parallel during the grasping process; the grasping mode is to use multiple fingers to make a multi-point contact with the object in a surrounding manner. This kind of grasping is more stable and the grasping force Larger, also known as a power grab.

Industrial grippers generally adopt a clamping method with parallel ends, which is difficult to have an envelope grip function, and cannot adapt to stable envelope grasping of various shapes; adaptive underactuated hands can adapt to objects and grip in an envelope manner , but it is difficult to achieve the grabbing effect of parallel clamping.

An existing underactuated robot finger device (Chinese invention patent CN1215926C) includes a first knuckle, an underactuated joint and a second knuckle. The device realizes the indirect self-adaptive mode in the self-adaptive grasping mode of fingers. Its disadvantage is that it cannot realize the parallel clamping and grabbing mode. An existing underactuated two-joint robotic finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle finger section, an end finger section, and a parallel gear transmission mechanism. The device realizes double-joint self-adaptive grasping effect. The disadvantage of this device is that the finger is always in a straight state before it touches the object, and the grasping method is only a holding method, which cannot achieve the effect of parallel clamping and grasping.

An existing underactuated finger device (Chinese invention patent CN105798945A) includes a base, a first finger segment, a second finger segment, a proximal joint shaft, a distal joint shaft, a driver, a first transmission wheel, a second transmission wheel, A flexible transmission part, a bump dial, a dial, a transmission mechanism, a first spring part, a second spring part and a limit bump. This device combines parallel clamping and self-adaptation, but its disadvantage is that the device puts the motor in the lower part of the finger, which takes up a lot of space and leads to problems such as a large base, which is not convenient to be equipped in the palm.

Utility model content

The purpose of this utility model is to aim at the deficiencies of the prior art, to provide a kind of indirect adaptive robot finger device with racks in the motor and parallel flat clips. The two joints are driven by a motor. The device can not only realize the parallel clamping and grasping mode, but also have the function of self-adaptive envelope grasping of objects, and can adapt to the grasping of objects of different shapes and sizes. The motor and transmission mechanism are completely embedded in the finger Central, does not take up palm space.

The technical scheme of the utility model is as follows:

A kind of indirect self-adaptive robot finger device designed by the utility model with a rack in the middle of the motor and parallel flat clips, including a base, a motor, a reducer, a first finger section, a second finger section, a proximal joint axis and a distal joint axis; The proximal joint shaft is sleeved in the base; the first finger segment is movably sleeved on the proximal joint shaft, and the distal joint shaft is movably sleeved in the first finger segment; the second finger segment is movably sleeved On the far joint shaft; the proximal joint shaft and the far joint shaft are parallel; the output shaft of the motor is connected to the input shaft of the reducer; it is characterized in that: the motor is equipped with a rack in parallel and connected with a flat clamp indirect self-adaptive robot finger device It also includes a sliding housing, a transition shaft, a driving gear, a first gear, a second gear, a first transmission wheel, a second transmission wheel, a flexible transmission member, a third gear, a rack and a spring; the motor and the first finger segment is fixed, the driving gear is sleeved on the output shaft of the reducer; the transition shaft is sleeved in the first finger segment, and the transition shaft and the proximal joint shaft are parallel to each other; the driving gear meshes with the first gear , the first gear is sleeved on the transition shaft; the second gear is meshed with the first gear; the second gear is sleeved on the proximal joint shaft, and the second gear is fixedly connected to the base; the first transmission wheel The first transmission wheel is fixed on the output shaft of the reducer; the first transmission wheel is fixedly connected to the driving gear; the second transmission wheel is sleeved on the remote joint shaft; the flexible transmission member is respectively connected to the first transmission wheel, the second Transmission wheel, the first transmission wheel adopts a pulley, a sprocket or a rope wheel, the second transmission wheel adopts a pulley, a sprocket or a rope pulley, and the flexible transmission part adopts a transmission belt, a chain or a tendon rope. The first transmission wheel, the second transmission wheel and the flexible transmission part form a pulley transmission relationship, a sprocket transmission relationship or a sheave transmission relationship, and the flexible transmission part is in the shape of an "O"; the two ends of the spring part are respectively Connect the second transmission wheel and the second finger segment; the third gear is sleeved on the distal joint shaft, and the third gear is fixedly connected to the second finger segment; the sliding housing is provided with a fixed sliding bump, the The sliding projection is slidably embedded in the sliding groove of the first finger section; the rack is fixedly connected to the sliding housing, and the rack is meshed with the third gear; through the transmission of the first gear, the transmission ratio from the driving gear to the second gear is i; through the transmission of the flexible transmission member, the transmission ratio from the first transmission wheel to the second transmission wheel is j, i=j.

The utility model described in the motor middle rack parallel connection flat clip indirect self-adaptive robot finger device is characterized in that: the spring part adopts torsion spring.

Compared with the prior art, the utility model has the following advantages and outstanding effects:

The device adopts the motor set in the first finger section, the five-wheel transmission mechanism and the spring to comprehensively realize the flat clamping and indirect adaptive composite grasping mode of the double-joint robot finger; the device drives two joints by a single motor. When the device grabs an object, it first adopts the parallel gripping mode. In this mode, the gripping force is strong and the gripping is stable; when the first finger touches the object, it will automatically switch to the indirect adaptive gripping in which the second finger continues to rotate. Picking mode, the device can adapt to grabbing objects of different shapes and sizes, with simple structure, easy control, precise transmission, low cost, and high efficiency. The motor and transmission mechanism of the device are completely embedded in the first finger segment, and do not occupy the base Space, easy to assemble and use in the hands of the robot.

Description of drawings

Fig. 1 is a three-dimensional appearance view of an embodiment of the indirect self-adaptive robot finger device of the utility model with a rack mounted in the motor in parallel with flat clips.

Fig. 2 is a side appearance view of the embodiment shown in Fig. 1 .

Fig. 3 is a perspective view of the embodiment shown in Fig. 1 (some parts are not shown).

Fig. 4 is a front view of the embodiment shown in Fig. 1 (some parts are not shown).

Fig. 5 is an A-A sectional view of the embodiment shown in Fig. 4 .

Fig. 6 is a B-B sectional view of the embodiment shown in Fig. 4 .

Fig. 7 is a positional relationship diagram of some parts in the embodiment shown in Fig. 1 (the right side view of Fig. 4 ).

FIG. 8 is a perspective view of FIG. 7 .

Fig. 9 to Fig. 12 are diagrams showing changes in the position of the rack and pinion during the process of grabbing objects in the embodiment shown in Fig. 1 .

Fig. 13 to Fig. 16 are side appearance views of several key positions in the process of grasping objects in the embodiment shown in Fig. 1 .

Fig. 17 and Fig. 18 are respectively two cases where the embodiment shown in Fig. 1 adopts the parallel clamping method to grasp the object.

In Figures 1 to 18:

1-base, 20-driving gear, 21-first gear, 22-second gear,

23-first transmission wheel, 24-second transmission wheel, 25-flexible transmission member, 26-third gear,

31-distal joint shaft, 32-reducer output shaft, 33-transition shaft, 34-proximal joint shaft,

4-motor, 5-reducer, 6-rack, 7-spring,

8-sliding shell, 81-sliding projection, 9-first finger section, 91-sliding groove,

10 - second segment, 11 - object.

detailed description

The specific structure and working principle of the present utility model will be described in detail below in conjunction with the accompanying drawings and multiple embodiments.

An embodiment of the indirect self-adaptive robot finger device designed by the utility model with a rack mounted in the motor in parallel with flat clips, as shown in Figures 1 to 12, includes a base 1, a motor 4, a reducer 5, and a first finger segment 9. The second finger segment 10, the proximal joint shaft 34 and the distal joint shaft 31; the proximal joint shaft 34 is sleeved in the base 1; the first finger segment 9 is movably sleeved on the proximal joint shaft 34, so The distal joint shaft 31 is movably sleeved in the first finger segment 9; the second finger segment 10 is movably sleeved on the distal joint shaft 31; the proximal joint shaft 34 is parallel to the distal joint shaft 31; the output of the motor 4 The shaft is connected with the input shaft of the speed reducer 5; the rack and rack in the motor are connected in parallel and the flat clip indirect self-adaptive robot finger device also includes a sliding housing 8, a transition shaft 33, a driving gear 20, a first gear 21, a second gear 22, a A transmission wheel 23, a second transmission wheel 24, a flexible transmission member 25, a third gear 26, a rack 6 and a spring 7; the motor 4 is fixedly connected to the first finger section 9, and the driving gear 20 is sleeved and fixed on the On the output shaft 32 of the reducer 5; the transition shaft 33 is sleeved in the first finger section 9, the transition shaft 33 and the proximal joint shaft 34 are parallel to each other; the driving gear 20 meshes with the first gear 21, and the second A gear 21 is movably socketed on the transition shaft 33; the second gear 22 meshes with the first gear 21; the second gear 22 is socketed on the proximal joint shaft 34, and the second gear 22 is fixedly connected to the base 1 The first transmission wheel 23 is sleeved on the reducer output shaft 32; the second transmission wheel 24 is sleeved on the distal joint shaft 31; the flexible transmission member 25 is respectively connected to the first transmission wheel 23 and the second Transmission wheel 24, described first transmission wheel 23 adopts belt wheel, sprocket wheel or rope wheel, described second transmission wheel 24 adopts belt wheel, sprocket wheel or rope wheel, and described flexible transmission member 25 adopts transmission belt, chain or tendon Rope, the first transmission wheel 23, the second transmission wheel 24 and the flexible transmission member 25 form a belt pulley transmission relationship, a sprocket transmission relationship or a sheave transmission relationship, and the flexible transmission member 25 is in an “O” shape; Both ends of the spring member 7 are respectively connected to the second transmission wheel 24 and the second finger section 10; the third gear 26 is sleeved on the distal joint shaft 31, and the third gear 26 is fixedly connected to the second finger section 10; The sliding housing 8 is provided with a fixed sliding protrusion 81, and the sliding protrusion 81 is slidably embedded in the sliding groove 91 of the first finger segment 9; the rack 6 is fixedly connected with the sliding housing 8, and the rack 6 Mesh with the third gear 26; through the transmission of the first gear, the transmission ratio from the driving gear to the second gear is i, and through the transmission of the flexible transmission member, the transmission ratio from the first transmission wheel 23 to the second transmission wheel 24 is j, i=j; the diameter of the pitch circle of the second gear 22 and the first gear 21 is equal, and the diameter of the pitch circle of the driving gear 20 and the first gear 21 is equal; the first transmission wheel 23 and the second transmission wheel The transmission radius of wheel 24 is equal; Through the transmission of first gear 21, the transmission ratio from driving gear 20 to second gear 22 is 1, through the transmission of flexible transmission member 25, from first transmission wheel 23 to second transmission wheel 24 The transmission ratio is 1.

Spring part 7 described in the utility model adopts torsion spring. The present embodiment adopts torsion spring.

The specific working principle of the present embodiment, in conjunction with shown in Figure 13 to Figure 18, is described as follows:

The initial state of the device of this embodiment is shown in Figure 13, the output shaft of the motor 4 rotates in the forward direction, and drives the driving gear 20 and the first transmission wheel 23 to rotate clockwise (referring to the clockwise direction on Figure 13) through the reducer 5. The driving gear 20 drives the first gear 21 sleeved on the transition shaft to rotate counterclockwise. Since the second gear 22 is fixedly connected to the base, the second gear 22 is always motionless, so the rotation of the first gear 21 makes the entire first finger Segment 9 will rotate counterclockwise around the proximal joint axis 33; at this time, the first transmission wheel 23 rotates clockwise, the second transmission wheel 24 rotates clockwise through the flexible transmission member 25, and the second finger segment 10 is pulled by the spring member 7 Turn clockwise. Due to the constant speed transmission, the clockwise rotation angle of the second finger section 10 is equal to the counterclockwise rotation angle of the first finger section 9, and the second finger section 10 always maintains the same posture as the initial state for translational movement. This process is shown in Figure 13 and Fig. 14 and Figure 15.

During the above process, if the second finger segment 10 touches the object, the grasping ends, and the effect of parallel clamping and grasping is achieved, as shown in FIG. 17 or FIG. 18 .

When the object 11 contacts and blocks the first finger section 9, as shown in Figure 15, the driving gear 20 continues to rotate an angle, the first transmission wheel 23 and the second transmission wheel 24 continue to rotate an angle, and the first finger section 9 continues to rotate At a small angle, the sliding housing 91 is squeezed by the object 11 and slides inward, pushing the rack 6 to make the third gear 26 rotate. The third gear 23 drives the second finger section 10 fixedly connected with it to rotate. At this time, the spring element 7 located between the second transmission wheel 24 and the second finger segment 10 is deformed. Until the second finger segment 10 touches the object 11, the grasping process ends, as shown in FIG. 16 . The effect of adaptively grabbing objects is realized.

The above two processes achieve the effect of clamping in parallel first and then adaptively grabbing the object.

9 to 12 are process schematic diagrams of the action principles of the components near the rack during indirect adaptive grabbing. Figure 9 is the initial state, and Figure 12 is the final state of grabbing objects. When the first finger segment rotates clockwise (direction of the arrow at the bottom of Figure 10), since the second finger segment rotates counterclockwise around the distal joint axis (parallel clamping and grasping stage), the second finger segment affixed to the second finger segment The three gears 26 will therefore rotate counterclockwise (in the direction of the upper arrow in Figure 10), causing the rack 6 to move outward, thereby moving the sliding shell outward, as shown in Figure 10; when the sliding shell touches an object, as shown in Figure 11 Afterwards, the first finger section continues to rotate, and due to the obstruction of the object, the rack no longer moves inwardly, the second finger section no longer rotates counterclockwise, and the spring member 7 is deformed. Not only that, when the first finger section continues to rotate During the process, the object will squeeze the sliding shell to move inward, and drive the rack to move inward, so that the gear and the second finger segment will rotate clockwise until the second finger segment touches the object, as shown in Figure 12, and the grabbing of the object ends , not only the sliding shell touches the object, but also the second finger segment touches the object, achieving the envelope contact of two contact points and realizing force grasping.

The device adopts the motor set in the first finger section, the five-wheel transmission mechanism and the spring to comprehensively realize the flat clamping and indirect adaptive composite grasping mode of the double-joint robot finger; the device drives two joints by a single motor. When the device grabs an object, it first adopts the parallel gripping mode. In this mode, the gripping force is strong and the gripping is stable; when the first finger touches the object, it will automatically switch to the indirect adaptive gripping in which the second finger continues to rotate. Picking mode, the device can adapt to grabbing objects of different shapes and sizes, with simple structure, easy control, precise transmission, low cost, and high efficiency. The motor and transmission mechanism of the device are completely embedded in the first finger segment, and do not occupy the base Space, easy to assemble and use in the hands of the robot.

Claims (2)

1. A kind of indirect self-adaptive robotic finger device with rack and flat clamp in the middle of the motor, comprising a base, a motor, a reducer, a first finger section, a second finger section, a proximal joint shaft and a far joint shaft; the proximal joint The shaft sleeve is set in the base; the first finger segment is movably sleeved on the proximal joint shaft, and the distal joint shaft is movably sleeved in the first finger segment; the second finger segment is movably sleeved on the far joint shaft shaft; the proximal joint axis and the distal joint axis are parallel; the output shaft of the motor is connected to the input shaft of the reducer; it is characterized in that: the rack in the motor is connected in parallel with the flat clip and the indirect self-adaptive robot finger device also includes a sliding Shell, transition shaft, driving gear, first gear, second gear, first transmission wheel, second transmission wheel, flexible transmission member, third gear, rack and spring; the motor is fixedly connected to the first finger section , the driving gear is sleeved on the output shaft of the reducer; the transition shaft is sleeved in the first finger section, and the transition shaft and the proximal joint shaft are parallel to each other; the driving gear meshes with the first gear, and the second A gear is sleeved on the transition shaft; the second gear is meshed with the first gear; the second gear is sleeved on the proximal joint shaft, and the second gear is fixedly connected to the base; the first transmission wheel is sleeved On the output shaft of the reducer; the first transmission wheel is fixedly connected to the driving gear; the second transmission wheel is sleeved on the distal joint shaft; the flexible transmission member is respectively connected to the first transmission wheel and the second transmission wheel, The first transmission wheel adopts a pulley, a sprocket or a sheave, the second transmission wheel adopts a pulley, a sprocket or a sheave, the flexible transmission part adopts a transmission belt, a chain or a tendon rope, and the first transmission The pulley, the second transmission wheel and the flexible transmission part constitute the pulley transmission relationship, the sprocket transmission relationship or the sheave transmission relationship. The flexible transmission part is in the shape of "O"; the two ends of the spring part are respectively connected to the second The transmission wheel and the second finger section; the third gear is sleeved on the distal joint shaft, and the third gear is fixedly connected to the second finger section; the sliding housing is provided with a fixed sliding lug, and the sliding lug The sliding is embedded in the sliding groove of the first finger section; the rack is fixedly connected to the sliding housing, and the rack is engaged with the third gear; through the transmission of the first gear, the transmission ratio from the driving gear to the second gear is i; Through the transmission of the flexible transmission member, the transmission ratio from the first transmission wheel to the second transmission wheel is j, i=j. 2. The indirect self-adaptive robotic finger device with racks in the middle of the motor connected in parallel with flat clips according to claim 1, characterized in that: the spring member is a torsion spring.