CN206811980U - Compound adaptive robot finger apparatus with a variety of crawl force modes - Google Patents
Compound adaptive robot finger apparatus with a variety of crawl force modes Download PDFInfo
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- CN206811980U CN206811980U CN201720416094.XU CN201720416094U CN206811980U CN 206811980 U CN206811980 U CN 206811980U CN 201720416094 U CN201720416094 U CN 201720416094U CN 206811980 U CN206811980 U CN 206811980U
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Abstract
Compound adaptive robot finger apparatus with a variety of crawl force modes, belong to robot technical field, including pedestal, the first segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, two motors, two decelerators, eight gears, four belt wheels, two transmission belts, six spring parts, four driving levers and four projections.The arrangement achieves the built-in change grip grip of driving with gripping compound self-adapting grasping function.Motor is placed in the middle part of finger by the device, reduce susceptor space to take, can have when capturing object and self-adapting grasping effect is obtained to different shape size objects, control is simple, without complicated sensing and control system, and it is high to act anthropomorphic degree, being capable of grip wisp, weight and big object can also be gripped, grasping force is variable.
Description
Technical field
The utility model belongs to robot technical field, more particularly to a kind of with the compound of a variety of crawl force modes
The structure design of adaptive robot finger apparatus.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, because number of motors is few, hides
Bigger power and volume can be selected by entering the motor of palm, be contributed big, while the reponse system of Purely mechanical is without to environment
Sensitivity can also realize stable crawl, the automatic object for adapting to different shape size, without real-time sensing and closed loop feedback control
Demand, control it is simple and convenient, reduce manufacturing cost.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, and one kind is to grip.Grip is to use end finger
Tip portion go grip object, using two points or two soft finger faces go contact object, mainly for small-size object or tool
There is the larger object of opposite；Gripping is to realize the contact of multiple points around object with multiple segment enveloping rings of finger, is reached
More stable shape envelope crawl.Traditional pure adaptive under-actuated finger can be held by the way of adaptive envelope object
Hold, but end grip crawl can not be implemented.
Utility model content
The purpose of this utility model is to overcome the weak point of prior art, there is provided one kind has a variety of grasp force moulds
The compound adaptive robot finger apparatus of formula.Motor is placed in the middle part of finger by the device, is reduced susceptor space and is taken, grabs
Take during object to have and different shape size objects obtained with self-adapting grasping effect, control is simple, without complexity sensing and
Control system, and it is high to act anthropomorphic degree, can grip wisp, weight and big object can also be gripped, grasping force is variable.
The technical solution of the utility model is as follows：
A kind of compound adaptive robot finger apparatus with a variety of crawl force modes of the utility model design, its
It is characterised by：Including pedestal, the first segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, first
Jackshaft, the second jackshaft, the first motor, the second motor, the first decelerator, the second decelerator, first gear, second gear,
3rd gear, the 4th gear, the 5th gear, the 6th gear, the 7th gear, eighth gear, the first spring part, the second spring part, the 3rd
Spring part, the 4th spring part, the 5th spring part, the 6th spring part, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the first projection,
Second projection, the 3rd projection, the 4th projection, the first drive, the second drive, the 3rd drive, the 4th drive, first pass
Dynamic band and the second transmission belt；The nearly joint shaft is movably set in pedestal；First segment is actively socketed on nearly joint shaft
On；The middle joint shaft is movably set in the first segment；Second segment is actively socketed on middle joint shaft；The remote pass
Nodal axisn is set in the second segment；3rd segment is socketed on remote joint shaft；First jackshaft is set in the first finger
Duan Zhong, second jackshaft are set in the second segment；First motor is arranged in the first segment, first motor
Affixed with the first segment, the output shaft of first motor is connected with the input shaft of the first decelerator, and the first gear set is solid
On the output shaft of the first decelerator, the first gear engages with second gear, and the second gear is actively socketed on nearly pass
On nodal axisn, the both ends of the first spring part connect second gear and pedestal respectively, and first driving lever and first gear are affixed, institute
State the second driving lever and the 4th gear is affixed, the first driving lever and the second driving lever movable contact in the range of stroke, the described 3rd
Gear is actively socketed on nearly joint shaft, and the 3rd gear engages with the 4th gear, the 4th gear and the first drive
It is socketed in respectively on the first jackshaft, the 4th gear and the first drive are affixed, and first transmission belt is in " O " font,
The first transmission drive of band connection first and the second drive, the first transmission belt, the first drive, the second drive three
Belt wheel transmission relation is cooperatively formed, second drive is actively socketed on middle joint shaft, the both ends point of the 5th spring part
The second drive and the second segment are not connected, first projection and pedestal are affixed, and second projection and the 3rd gear are affixed,
First projection and the second projection movable contact in the range of stroke；Second motor is arranged in the second segment, described
Second motor and the second segment are affixed, and the output shaft of second motor is connected with the input shaft of the second decelerator, and the described 5th
Gear is fixed on the output shaft of the second decelerator, and the 5th gear engages with the 6th wheel, the 6th gear pivot bush unit
On middle joint shaft, the both ends of the 3rd spring part connect the 6th gear and the first segment, the 3rd driving lever and the 5th respectively
Gear is affixed, and the 4th driving lever and eighth gear are affixed, and the 3rd driving lever connects with the 4th driving lever activity in the range of stroke
Touch, the 7th gear is actively socketed on middle joint shaft, and the 7th gear engages with eighth gear, the eighth gear with
3rd drive is actively socketed on the second jackshaft respectively, and the eighth gear and the 3rd drive are affixed, and described second passes
Dynamic band be in " O " font, and described second is driven the drive of band connection the 3rd and the 4th drive, the second transmission belt, the 3rd drive,
4th drive three cooperatively forms belt wheel transmission relation, and the 4th drive is actively socketed on remote joint shaft, and described
The both ends of six spring parts connect the 4th drive and the 3rd segment respectively, and the 3rd projection and the first segment are affixed, and the described 4th
Projection and the 7th gear are affixed, the 3rd projection and the 4th projection movable contact in the range of stroke；The second spring part
Both ends connect pedestal and the 3rd gear respectively, and the second spring part makes the second projection be close to the first projection；The 4th spring part
Both ends connect the first segment and the 7th gear respectively, and the 4th spring part makes the 4th projection be close to the 3rd projection；First tooth
Wheel is equal with the modulus of second gear, and the 3rd gear is equal with the modulus of the 4th gear, the 5th gear and the 6th tooth
The modulus of wheel is equal, and the 7th gear is equal with the modulus of eighth gear；First jackshaft is defeated with the first decelerator
Shaft is coaxial, and the output shaft of second jackshaft and the second decelerator is coaxial.
Compound adaptive robot finger apparatus described in the utility model with a variety of crawl force modes, its feature
It is：The number of teeth of 3rd gear is equal with the number of teeth of the 4th gear, first drive and the second drive radius phase
Deng the number of teeth of the 7th gear is equal with the number of teeth of eighth gear, and the 3rd drive is equal with the 4th drive radius.
Compound adaptive robot finger apparatus described in the utility model with a variety of crawl force modes, its feature
It is：The first spring part, the 3rd spring part, the 5th spring part, the 6th spring part use torsion spring；Second spring part, the 4th spring part are adopted
Use extension spring.
The utility model compared with prior art, has advantages below and high-lighting effect：
The utility model device utilizes motor, gear combination, belt wheel combination, multiple spring parts, delay driving lever and projection constraint
The built-in change grip grip of driving is realized with gripping compound self-adapting grasping function Deng comprehensive.Motor is placed on hand by the device
Refer to middle part, reduce susceptor space and take, can have when capturing object and self-adapting grasping effect is obtained to different shape size objects,
Control is simple, and without the sensing and control system of complexity, and it is high to act anthropomorphic degree, can grip wisp, can also grip
Weight and big object, grasping force are variable.
Brief description of the drawings
Fig. 1 is the compound adaptive robot finger apparatus with a variety of crawl force modes of the utility model design
A kind of front section view of embodiment.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (Fig. 2 left side view) of embodiment illustrated in fig. 1.
Fig. 4 is the location diagram of part in embodiment illustrated in fig. 1.
Fig. 5 is the location diagram of part in embodiment illustrated in fig. 1.
Fig. 6 be embodiment illustrated in fig. 1 in original state, the relative position of first gear, the first driving lever and the second driving lever
Figure.
Fig. 7 be embodiment illustrated in fig. 1 in original state, the relative position of the 5th gear, the 3rd driving lever and the 4th driving lever
Figure.
Fig. 8 is the schematic diagram that embodiment illustrated in fig. 1 first driving lever during crawl contacts the second driving lever.
Fig. 9 is the signal that embodiment illustrated in fig. 1 second driving lever of the first driving lever promotion during crawl turns over an angle
Figure.
Figure 10 is the schematic diagram that embodiment illustrated in fig. 1 the 3rd driving lever during crawl contacts the 4th driving lever.
Figure 11 is the signal that embodiment illustrated in fig. 1 the 4th driving lever of the 3rd driving lever promotion during crawl turns over an angle
Figure.
When Figure 12 to Figure 13 is embodiment illustrated in fig. 1 crawl object, the 3rd segment first contacts the situation of object.
When Figure 14 to Figure 16 is embodiment illustrated in fig. 1 crawl object, the first segment, the second segment contact prior to the 3rd segment
The situation of object.
When Figure 17 to Figure 20 is embodiment illustrated in fig. 1 crawl object, the first segment, the second segment and the 3rd segment connect successively
Touch the situation of object.
In Fig. 1 into Figure 20：
1- pedestals, the segments of 21- first, the segments of 22- second, the segments of 23- the 3rd,
The nearly joint shafts of 31-, joint shaft in 32-, the remote joint shafts of 33-, the jackshafts of 341- first,
The jackshafts of 342- second, the motors of 41- first, the motors of 42- second, the decelerators of 411- first,
The decelerators of 421- second, 51- first gears, 52- second gears, the gears of 53- the 3rd,
The gears of 54- the 4th, the gears of 55- the 5th, the gears of 56- the 6th, the gears of 57- the 7th,
58- eighth gears, 71- the first spring parts, 72- the second spring parts, the spring parts of 73- the 3rd,
The spring parts of 74- the 4th, the spring parts of 75- the 5th, the spring parts of 76- the 6th, the driving levers of 81- first,
The driving levers of 82- second, the driving levers of 83- the 3rd, the driving levers of 84- the 4th, the projections of 91- first,
The projections of 92- second, the projections of 93- the 3rd, the projections of 94- the 4th, 99- objects,
The drives of 101- first, the drives of 102- second, the drives of 103- the 3rd, the drives of 104- the 4th,
The transmission belts of 111- first, the transmission belts of 112- second.
Embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail concrete structure of the present utility model, operation principle it is interior
Hold.
One kind of the compound adaptive robot finger apparatus with a variety of crawl force modes of the utility model design
Embodiment, as shown in Figures 1 to 7, including pedestal 1, the first segment 21, the second segment 22, the 3rd segment 23, nearly joint shaft 31,
Middle joint shaft 32, remote joint shaft 33, the first jackshaft 341, the second jackshaft 342, the first motor 41, the second motor 42, first
Decelerator 411, the second decelerator 412, first gear 51, second gear 52, the 3rd gear 53, the 4th gear 54, the 5th gear
55th, the 6th gear 56, the 7th gear 57, eighth gear 58, the first spring part 71, the second spring part 72, the 3rd spring part 73, the 4th spring part
74th, the 5th spring part 75, the 6th spring part 76, the first driving lever 81, the second driving lever 82, the 3rd driving lever 83, the 4th driving lever 84, the first projection
91st, the second projection 92, the 3rd projection 93, the 4th projection 94, the first drive 101, the second drive 102, the 3rd drive
103rd, the 4th drive 104, the first transmission belt 111 and the second transmission belt 112；The nearly joint shaft 31 is movably set in pedestal 1
In；First segment 21 is actively socketed on nearly joint shaft 31；The middle joint shaft 32 is movably set in the first segment 21；
Second segment 22 is actively socketed on middle joint shaft 32；The remote joint shaft 33 is set in the second segment 22；Described
Three segments 23 are socketed on remote joint shaft 33；First jackshaft 341 is set in the first segment 21, second jackshaft
342 are set in the second segment 22；First motor 41 is arranged in the first segment 21, and first motor 41 and first refers to
Section 21 is affixed, and the output shaft of first motor 41 is connected with the input shaft of the first decelerator 411, and 51 sets of the first gear is solid
On the output shaft of the first decelerator 411, the first gear 51 engages with second gear 52, the movable sleeve of second gear 52
It is connected on nearly joint shaft 31, the both ends of the first spring part 71 connect second gear 52 and pedestal 1, first driving lever 81 respectively
Affixed with first gear 51, second driving lever 82 and the 4th gear 54 are affixed, and the driving lever 82 of the first driving lever 81 and second exists
Movable contact in stroke range, the 3rd gear 53 are actively socketed on nearly joint shaft 31, the 3rd gear 53 and the 4th
Gear 54 is engaged, and the 4th gear 54 and the first drive 101 are actively socketed on the first jackshaft 341 respectively, and described
Four gears 54 and the first drive 101 are affixed, and first transmission belt 111 is in " O " font, and first transmission belt 111 connects
First drive 101 and the second drive 102, the first transmission belt 111, the first drive 101, the three of the second drive 102 match somebody with somebody
Conjunction forms belt wheel transmission relation, and second drive 102 is actively socketed on middle joint shaft 32, and the two of the 5th spring part 75
End connects the second drive 102 and the second segment 22 respectively, and first projection 91 and pedestal 1 are affixed, second projection 92
It is affixed with the 3rd gear 53, the movable contact in the range of stroke of projection 92 of the first projection 91 and second；Second motor
42 are arranged in the second segment 22, and second motor 42 and the second segment 22 are affixed, the output shaft of second motor 42 with
The input shaft of second decelerator 412 is connected, and the 5th gear 55 is fixed on the output shaft of the second decelerator 412, and described
Five gears 55 are engaged with the 6th wheel, and the 6th gear 56 is actively socketed on middle joint shaft 32, and the two of the 3rd spring part 73
End connects the 6th gear 56 and the first segment 21 respectively, and the 3rd driving lever 83 and the 5th gear 55 are affixed, the 4th driving lever
84 is affixed with eighth gear 58, the 3rd driving lever 83 and the 4th movable contact in the range of stroke of driving lever 84, the 7th tooth
Wheel 57 is actively socketed on middle joint shaft 32, and the 7th gear 57 engages with eighth gear 58, the eighth gear 58 and the
Three drives 103 are actively socketed on the second jackshaft 342 respectively, and the eighth gear 58 and the 3rd drive 103 are affixed, institute
It is in " O " font to state the second transmission belt 112, and second transmission belt 112 connects the 3rd drive 103 and the 4th drive 104, the
Two transmission belts 112, the 3rd drive 103, the three of the 4th drive 104 cooperatively form belt wheel transmission relation, the 4th transmission
Wheel 104 is actively socketed on remote joint shaft 33, and the both ends of the 6th spring part 76 connect the 4th drive 104 and the 3rd respectively
Segment 23, the 3rd projection 93 and the first segment 21 are affixed, and the 4th projection 94 and the 7th gear 57 are affixed, and the described 3rd
The movable contact in the range of stroke of projection 94 of projection 93 and the 4th；The both ends of the second spring part 72 connect pedestal 1 and respectively
Three gears 53, the second spring part 72 make the second projection 92 be close to the first projection 91；The both ends of the 4th spring part 74 connect respectively
The first segment 21 and the 7th gear 57 are connect, the 4th spring part 74 makes the 4th projection 94 be close to the 3rd projection 93；First tooth
Wheel 51 is equal with the modulus of second gear 52, and the 3rd gear 53 is equal with the modulus of the 4th gear 54, the 5th gear
55 is equal with the modulus of the 6th gear 56, and the 7th gear 57 is equal with the modulus of eighth gear 58；First jackshaft
341 is coaxial with the output shaft of the first decelerator 411, and the output shaft of second jackshaft 342 and the second decelerator 421 is coaxial.
In the present embodiment, the number of teeth of the 3rd gear 53 is equal with the number of teeth of the 4th gear 54, first drive
101 is equal with the radius of the second drive 102, and the number of teeth of the 7th gear 57 is equal with the number of teeth of eighth gear 58, and the described 3rd passes
Driving wheel 103 is equal with the radius of the 4th drive 104.
In the present embodiment, the first spring part 71, the 3rd spring part 73, the 5th spring part 75, the 6th spring part 76 use torsion spring；
Second spring part 72, the 4th spring part 74 use extension spring.
The operation principle of the present embodiment, is described below with reference to accompanying drawing：
The device original state as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, now, the second spring part 72 makes second
Projection 92 abuts the first projection 91 (as shown in Figure 4), and the 4th spring part 74 makes the 4th projection 94 against the 3rd projection 93 (such as Fig. 5 institutes
Show), one section of angular distance (as shown in Figure 6), the 3rd driving lever 83 and the 4th driving lever 84 be present in the first driving lever 81 and the second driving lever 82
In the presence of one section of angular distance (as shown in Figure 7).
First motor 41 rotates, and drives first gear 51 by the first decelerator 411, second gear 52 is driven, due to base
Seat 1 is motionless, so second gear 52 can drive the first segment 21 to be rotated around nearly joint shaft 31 by the first spring part 71, (i.e. first refers to
Section 21 rotate be close to object 99), because the second spring part 72 makes the second projection 92 abut the first projection 91, so when the 3rd gear 53
Opposite base 1 is motionless, therefore the rotation of the first segment 21 can cause the 4th gear 54 to be rotated relative to the first segment 21, drives first
Drive 101, drive the first transmission belt 111, drive the second drive 102, by the 5th spring part 75 drive the second segment 22 around
Middle joint shaft 32 rotates (i.e. the second segment 22 rotates and is close to object 99), now, and because the 4th spring part 74 makes the 4th projection 94
Against the 3rd projection 93, so the 7th gear 57 is motionless relative to the first segment 21, therefore the rotation of the second segment 22 can cause
Eighth gear 58 rotates relative to the second segment 22, drives the 3rd drive 103, drives the second transmission belt 112, drives the 4th to pass
Driving wheel 104, by the 6th spring part 76 drive the 3rd segment 23 go the long way round joint shaft 33 rotate (i.e. the 3rd segment 23 rotation be close to object
99), it is achieved thereby that the coupling linkage effect in three joints.
Now, it is likely encountered following different situation：
1) when the 3rd segment 23 contacts object 99, the first motor 41 more turns of low-angles again, the first spring part the 71, the 5th
Spring part 75, the 6th spring part 76 deform, and the first spring part 71, the 5th spring part 75, the deformation elastic force of the 6th spring part 76 turn into crawl
The grasping force source of object 99, crawl terminate, and this crawl process is as shown in Figure 12 and Figure 13；
2) when the first segment 21 contacts object 99, the first motor 41 is rotated further, and the first spring part 71 deforms, and first
The idle running of the first driving lever 81 on gear 51 through (the i.e. first delay) after a while rotates the touched on the 4th gear 54
Two driving levers 82 (as shown in Figure 8), and the first driving lever 81 promotes the second driving lever 82 to rotate an angle (as shown in Figure 9), so as to
It has rotated the 4th gear 54, drive the first drive 101, drive the first transmission belt 111, drive the second drive 102, by the
Five spring parts 75 drive the second segment 22 to be rotated around middle joint shaft 32, and the 7th gear 57 is motionless relative to the first segment 21, octadentate
Wheel 58 rotates relative to the second segment 22, drives the 3rd drive 103, drives the second transmission belt 112, drives the 4th drive 104,
The 3rd segment 23 joint shaft 33 of going the long way round is driven to rotate by the 6th spring part 76.
Now, it is likely encountered following different situation：
A) when the 3rd segment 23 contacts object 99, the first motor 41 more turns of low-angles again, the first spring part the 71, the 5th
Spring part 75, the 6th spring part 76 deform, and the first spring part 71, the 5th spring part 75, the deformation elastic force of the 6th spring part 76 turn into crawl
The grasping force source of object 99, crawl terminate；
B) when the second segment 22 contacts object 99, the second motor 42 is restarted, and the 5th is driven by the second decelerator 421
Gear 55, the 6th gear 56 is driven, drive the second segment 22 to be rotated around middle joint shaft 32 by the 3rd spring part 73, the second segment 22
Object 99 is close to, the 7th gear 57 is motionless relative to the first segment 21, and eighth gear 58 rotates relative to the second segment 22, drives the
Three drives 103, the second transmission belt 112 is driven, drive the 4th drive 104, the 3rd segment 23 is driven by the 6th spring part 76
Rotate.
Now, it is likely encountered following different situation：
I) when the 3rd segment 23 contacts object 99, the second motor 42 more turns of low-angles again, the 3rd spring part the 73, the 6th
Spring part 76 deforms, and the deformation elastic force of the 3rd spring part 73 and the 6th spring part 76 turns into the grasping force source of crawl object, crawl
Terminate, this crawl process is as shown in Figure 14, Figure 15 and Figure 16；
II) when the second segment 22 contacts object 99, the second motor 42 is rotated further, and is driven by the second decelerator 421
5th gear 55, idle running of the 3rd driving lever 83 through (the i.e. second delay) after a while on the 5th gear 55, which rotates, touches the
The 4th driving lever 84 (as shown in Figure 10) on octadentate wheel 58, and the 3rd driving lever 83 promotes the 4th driving lever 84 to have rotated an angle
(as shown in figure 11), so as to have rotated eighth gear 58, the 3rd drive 103 is driven, drives the second transmission belt 112, drive the
Four drives 104, the 3rd segment 23 is driven to rotate by the 6th spring part 76, until the 3rd segment 23 contacts object, crawl terminates,
This crawl process is as shown in Figure 17, Figure 18, Figure 19 and Figure 20.
The crawl is a kind of multiple joints while rotated, and can be good at adapting to simultaneously for different shape size objects,
With adaptivity；When needing less grasp force, it is thus only necessary to the first motor 41 is started, when the grasp force that needs are larger
When, after some segment (referring to the first segment 21, the second segment 22 or the 3rd segment 23) contacts object, the first motor 41 continues
The a bit of time is rotated, the first spring part 71, the 3rd spring part 73, the 5th spring part 75 and the 6th spring (can be referred to by different spring parts
Part 76) changeable grasping force is realized, when needing king-sized grasp force, the second motor 42 can also be started and carry out collaboration crawl, this
When grasp force provided jointly by the first motor 41, the second motor 42, grasp force increase it is more.First motor 41 can bring three
Individual joint (nearly joint, middle joint and remote joint) first couples the compound grasp mode of then adaptive coupling adaptive, and second
What motor 42 can bring two joints (middle joint and remote joint) first couples the compound crawl of then adaptive coupling adaptive
Pattern.
When the self-adapting grasping in central joint occurs, the first segment 21 contact object 99 and stopped by object 99 it is motionless,
When first driving lever 81 promotes the rotation of the second driving lever 82, the 4th gear 54 rotates, and the opposite base 1 of the 3rd gear 53 rotates, the second spring
Part 72 deforms；When the self-adapting grasping in remote joint occurs, the second segment 22 contacts object 99 and stopped by object 99
Motionless, when the 3rd driving lever 83 promotes the rotation of the 4th driving lever 84, eighth gear 58 rotates, 57 relative 21 turns of first segment of the 7th gear
Dynamic, the 4th spring part 74 deforms.
When the present embodiment discharges object 99, the second motor 42 inverts, and the first motor 41 inverts, subsequent process and said process
On the contrary, repeat no more.
The utility model device utilizes motor, gear combination, belt wheel combination, multiple spring parts, delay driving lever and projection constraint
The built-in change grip grip of driving is realized with gripping compound self-adapting grasping function Deng comprehensive.Motor is placed on hand by the device
Refer to middle part, reduce susceptor space and take, can have when capturing object and self-adapting grasping effect is obtained to different shape size objects,
Control is simple, and without the sensing and control system of complexity, and it is high to act anthropomorphic degree, can grip wisp, can also grip
Weight and big object, grasping force are variable.
Claims (3)
- A kind of 1. compound adaptive robot finger apparatus with a variety of crawl force modes, it is characterised in that：Including pedestal, First segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, the first jackshaft, the second jackshaft, First motor, the second motor, the first decelerator, the second decelerator, first gear, second gear, the 3rd gear, the 4th gear, 5th gear, the 6th gear, the 7th gear, eighth gear, the first spring part, the second spring part, the 3rd spring part, the 4th spring part, the 5th Spring part, the 6th spring part, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the first projection, the second projection, the 3rd projection, 4th projection, the first drive, the second drive, the 3rd drive, the 4th drive, the first transmission belt and the second transmission belt； The nearly joint shaft is movably set in pedestal；First segment is actively socketed on nearly joint shaft；The middle joint shaft is lived It is dynamic to be set in the first segment；Second segment is actively socketed on middle joint shaft；The remote joint shaft is set in the second finger Duan Zhong；3rd segment is socketed on remote joint shaft；First jackshaft is set in the first segment, among described second Axle sleeve is located in the second segment；First motor is arranged in the first segment, and first motor and the first segment are affixed, institute The output shaft for stating the first motor is connected with the input shaft of the first decelerator, and the first gear is fixed in the output of the first decelerator On axle, the first gear is engaged with second gear, and the second gear is actively socketed on nearly joint shaft, the first spring part Both ends connect second gear and pedestal respectively, first driving lever and first gear are affixed, second driving lever and the 4th tooth Take turns affixed, the first driving lever and the second driving lever movable contact in the range of stroke, the 3rd gear is actively socketed on nearly pass On nodal axisn, the 3rd gear is engaged with the 4th gear, and the 4th gear and the first drive are socketed among first respectively On axle, the 4th gear and the first drive are affixed, and first transmission belt is in " O " font, the first transmission band connection First drive and the second drive, the first transmission belt, the first drive, the second drive three cooperatively form belt wheel transmission pass System, second drive is actively socketed on middle joint shaft, the both ends of the 5th spring part connect respectively the second drive and Second segment, first projection and pedestal are affixed, and second projection and the 3rd gear are affixed, first projection and second Projection movable contact in the range of stroke；Second motor is arranged in the second segment, second motor and the second segment Affixed, the output shaft of second motor is connected with the input shaft of the second decelerator, and the 5th gear is fixed in the second deceleration On the output shaft of device, the 5th gear is engaged with the 6th wheel, and the 6th gear is actively socketed on middle joint shaft, and described the The both ends of three spring parts connect the 6th gear and the first segment respectively, and the 3rd driving lever and the 5th gear are affixed, described 4th group Bar is affixed with eighth gear, the 3rd driving lever and the 4th driving lever movable contact in the range of stroke, the 7th gear activity It is socketed on joint shaft, the 7th gear engages with eighth gear, the eighth gear and the activity respectively of the 3rd drive It is socketed on the second jackshaft, the eighth gear and the 3rd drive are affixed, and second transmission belt is in " O " font, described The second transmission drive of band connection the 3rd and the 4th drive, the second transmission belt, the 3rd drive, the 4th drive three coordinate Belt wheel transmission relation is formed, the 4th drive is actively socketed on remote joint shaft, and the both ends of the 6th spring part connect respectively The 4th drive and the 3rd segment are connect, the 3rd projection and the first segment are affixed, and the 4th projection and the 7th gear are affixed, 3rd projection and the 4th projection movable contact in the range of stroke；The both ends of the second spring part connect pedestal and respectively Three gears, the second spring part make the second projection be close to the first projection；The both ends of the 4th spring part connect the first segment respectively With the 7th gear, the 4th spring part makes the 4th projection be close to the 3rd projection；The modulus phase of the first gear and second gear Deng, the 3rd gear is equal with the modulus of the 4th gear, and the 5th gear is equal with the modulus of the 6th gear, and the described 7th Gear is equal with the modulus of eighth gear；The output shaft of first jackshaft and the first decelerator is coaxial, among described second The output shaft of axle and the second decelerator is coaxial.
- 2. there is the compound adaptive robot finger apparatus of a variety of crawl force modes, its feature as claimed in claim 1 It is：The number of teeth of 3rd gear is equal with the number of teeth of the 4th gear, first drive and the second drive radius phase Deng the number of teeth of the 7th gear is equal with the number of teeth of eighth gear, and the 3rd drive is equal with the 4th drive radius.
- 3. there is the compound adaptive robot finger apparatus of a variety of crawl force modes, its feature as claimed in claim 1 It is：The first spring part, the 3rd spring part, the 5th spring part, the 6th spring part use torsion spring；Second spring part, the 4th spring part are adopted Use extension spring.
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| CN201720416094.XU CN206811980U (en) | 2017-04-19 | 2017-04-19 | Compound adaptive robot finger apparatus with a variety of crawl force modes |
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| CN201720416094.XU CN206811980U (en) | 2017-04-19 | 2017-04-19 | Compound adaptive robot finger apparatus with a variety of crawl force modes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009375A (en) * | 2017-04-19 | 2017-08-04 | 清华大学 | Compound adaptive robot finger apparatus with a variety of crawl force modes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009375A (en) * | 2017-04-19 | 2017-08-04 | 清华大学 | Compound adaptive robot finger apparatus with a variety of crawl force modes |
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