CN207189681U - The flat folder coupling switching robot finger apparatus of fluidic adaptive - Google Patents

Abstract

The flat folder coupling switching robot finger apparatus of fluidic adaptive, belong to robot technical field, including pedestal, two segments, two joint shafts, motor, bellows, flexible pipe, fluid, active plate, switch boards, switch boards connector, rotating shaft, spring part and spacing block set etc..The arrangement achieves the flat folder self-adapting grasping pattern of robot finger and coupling adaptive grasp mode；In flat folder self-adapting grasping pattern, the device can translation the second segment grip object, can also rotate the objects of the first segment and the second segment envelope different shapes and sizes successively；In coupling adaptive grasp mode, the device can link two articulations simultaneously, and be transferred to the self-adapting grasping stage of the second segment of bending naturally after the first segment contact object is blocked；It is big and reliable and stable to capture scope；Using drive lacking mode, two segments are driven using a motor, it is low with maintenance cost without the sensing and control system of complexity, compact-sized, small volume, manufacture.

Description

The flat folder coupling switching robot finger apparatus of fluidic adaptive

Technical field

The utility model belongs to robot technical field, the flat folder coupling switching machine of more particularly to a kind of fluidic adaptive The structure design of finger device.

Background technology

Adaptive under-actuated robot hand refers to drive multiple degree-of-freedom joints using a small amount of motor, due to number of motors Few, the motor hidden into palm can select bigger power and volume, contribute big, while the reponse system of Purely mechanical is without right Environment sensitive can also realize stable crawl, the automatic object for adapting to different shape size, without real-time electronic sensing and closed loop The demand of feedback control, control is simple and convenient, and cost is cheap, in light weight, small volume, can be widely used in industry, agricultural With being used in service trade robot or as artifucial limb to disabled person.

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.Industrial clamper typically uses grip mode, it is difficult to has and stablizes holding function, it is impossible to adapts to The stable envelope crawl of various shapes object；Adaptive under-actuated finger can be gripped by the way of adaptive envelope object, But grip crawl can not be implemented；The multi-joint hand of coupling can realize multi-joint while rotate, and can realize grip, it is impossible to real Now gripped for the multiple spot envelope of the stabilization of various shapes object.Above-mentioned three kinds of hands have greatly improved space.

A kind of existing five connecting rod clamping devices with double freedom under-actuated finger, such as United States Patent (USP) US8973958B2, including five connecting rods, spring, mechanical constraints.At work, the incipient stage keeps end segment to the device Posture carries out nearly arthrogryposis action, can realize parallel grip or the work(that adaptive envelope grips according to the position of object afterwards Energy.It is disadvantageous in that the device uses extremely complex multi-connecting-rod mechanism, and motion has larger dead band, captures scope Smaller, organization volume is big, lacks compliance, and manufacturing cost is too high.

A kind of existing finger device of double-joint parallel under-actuated robot, such as Chinese patent CN101633171B, including Pedestal, motor, two joint shafts, two segments, coupled transmission mechanism, drive lacking transmission mechanism and multiple spring parts.The device is real Show coupling adaptive grasp mode, the effect of multi-joint coupling rotational be just presented before finger touches object, personalizes very much, Also contributing to grip mode captures object simultaneously；Just rotated after finger touches object using a kind of multi-joint drive lacking mode Effect, there is the self-reacting benefit of size dimension to captured object.It is disadvantageous in that the device is only capable of realizing coupling Self-adapting grasping pattern is closed, flat folder self-adapting grasping pattern can not be realized；In addition, mechanism is complicated, installation and maintenance are difficult；Spring number of packages Mesh is excessive, and the contradiction reconciled between coupled transmission mechanism and adaptive transmission mechanism is decoupled using spring part, usually causes multiple springs Part deformation is larger, causes excessive and unnecessary energy loss.

Utility model content

The purpose of this utility model is to overcome the weak point of prior art, there is provided a kind of flat folder coupling of fluidic adaptive Close switching robot finger apparatus.The device has a variety of grasp modes, flat folder self-adapting grasping pattern can have both been realized, in letter After single switching, coupling adaptive grasp mode can be realized again；The device can the parallel clamping object of the segment of translation second, also can Positive bending uncoupling grip object, acceptable priority rotate the first segment and the adaptive envelope of the second segment simultaneously in two joints The object of different shapes and sizes；It is big to capture scope；Without complicated sensing and control system.

The technical solution of the utility model is as follows：

A kind of flat folder coupling switching robot finger apparatus of fluidic adaptive of the utility model design, including pedestal, the One segment, the second segment, nearly joint shaft, remote joint shaft and motor；The nearly joint shaft is movably set in pedestal, and described first Segment movable sleeve is close on joint shaft, and the remote joint shaft is movably set in the first segment, and second segment is socketed in far On joint shaft；The motor and pedestal are affixed；The centerline parallel of the center line and remote joint shaft of the nearly joint shaft；Its feature It is：The flat folder coupling switching robot finger apparatus of the fluidic adaptive also includes transmission mechanism, the first bellows, the second ripple Pipe, the 3rd bellows, the 4th bellows, the first pipe clamp, the second pipe clamp, the first flexible pipe, the second flexible pipe, first fluid, second Body, the first spacing block set, the second spacing block set, active plate, switch boards, switch boards connector, rotating shaft and spring part；The driver Structure is arranged in pedestal；The output shaft of the motor is connected with the input of transmission mechanism, the output end of the transmission mechanism with First segment is connected；First flexible pipe, the second flexible pipe are non-telescoping sebific duct, and first flexible pipe, the second flexible pipe are equal In the first segment；First bellows, the second bellows, the 3rd bellows, the 4th bellows are scalable and curved Bent hollow pipe, the bottom of first bellows and active plate are affixed, and the top of the first bellows is fixedly mounted on the first finger The bottom of section, the top of the first bellows connects with the lower seal of the first flexible pipe；The top and first of second bellows Contiguous block is affixed, and the bottom of the second bellows is fixedly mounted on the top of the first segment, the bottom of the second bellows and first soft The top seal connection of pipe；The bottom of 3rd bellows and switch boards are affixed, and the top of the 3rd bellows is fixedly mounted on The bottom of first segment, the 3rd bellows connect with the sealing of the second flexible pipe；The top of 4th bellows and the second contiguous block Affixed, the bottom of the 4th bellows connects with the sealing of the second flexible pipe, and the bottom of the 4th bellows is fixedly mounted on the first segment Top；The first fluid 8 is sealed in the first bellows, the first flexible pipe and the second bellows；The second fluid is sealed in In 3rd bellows, the second flexible pipe and the 4th bellows；The pipe clamp and switch boards are affixed；First pipe clamp and the second pipe clamp It is affixed with the first segment respectively；The switch boards connector is fixed on nearly joint shaft；The rotating shaft is set in switch boards connection On part, the switch boards are socketed in rotating shaft；First spacing block set, the second spacing block set are affixed with pedestal respectively；Flat folder During grasp mode, the switch boards are located remotely from the side of crawl object, and the top of the 3rd bellows is embedded in the first pipe clamp In, switch boards contact with the first spacing block set；When coupling grasp mode, the switch boards are located at close to the side of crawl object, The top of 3rd bellows is embedded in the second pipe clamp, and switch boards contact with the second spacing block set；3rd bellows The distance of center line and the center line of nearly joint shaft is a, the center line of the 4th bellows and the center line of remote joint shaft distance It is equal with b for b, a；The internal diameter of 3rd bellows is equal with the internal diameter of the 4th bellows；The length of 3rd bellows With the equal length of the 4th bellows；The both ends of the spring part connect pedestal and switch boards respectively；In first bellows The distance of heart line and the center line of nearly joint shaft is c, and the distance of the center line of the second bellows and the center line of remote joint shaft is D, c are more than d；The internal diameter of first bellows is equal with the internal diameter of the second bellows.

The utility model compared with prior art, has advantages below and high-lighting effect：

The utility model device using motor, hermetic flexible part transmission mechanism, bellows, fluid, spring part, active plate, cut Changing the synthesis such as plate and spacing block set realizes the parallel clamping of doublejointed robot finger with coupling grip switching while having adaptive The function that should be captured,, can translation second according to target object shape and the difference of position in flat folder self-adapting grasping pattern Segment grip object or outside support take object, can also rotate the first segment and the second segment envelope different shapes and sizes successively Object；In coupling adaptive grasp mode, in coupling adaptive grasp mode, the device can link two joints simultaneously Rotate, and be transferred to the self-adapting grasping stage of the second segment of bending naturally after the first segment contact object is blocked；The device It is big to capture scope；By the way of drive lacking, two joints are driven using a motor, sensing and control system without complexity System；The apparatus structure is compact, small volume, and manufacture is low with maintenance cost, suitable for robot.

Brief description of the drawings

Fig. 1 is a kind of embodiment of the flat folder coupling switching robot finger apparatus of fluidic adaptive of the utility model design Stereo appearance figure.

Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.

Fig. 3 is a side external view (Fig. 2 left view) for embodiment illustrated in fig. 1.

Fig. 4 is another side external view (Fig. 2 right view) of embodiment illustrated in fig. 1.

Fig. 5 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.

Fig. 6 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.

Fig. 7 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.

Fig. 8 is the front appearance figure of embodiment illustrated in fig. 1 (before being not drawn into pedestal foreboard, base-plates surface plate, the first segment Plate, the first segment surface plate).

Fig. 9 is the explosive view of embodiment illustrated in fig. 1.

Figure 10 to Figure 14 is that embodiment illustrated in fig. 1 captures object under flat folder adaptive model in a manner of envelope grips Action process schematic diagram.

Figure 15 to Figure 17 is the embodiment illustrated in fig. 1 parallel segment of folding second clamping object under flat folder adaptive model Action process schematic diagram.

Figure 18 to Figure 21 is that embodiment illustrated in fig. 1 captures object under coupling adaptive pattern in a manner of envelope grips Action process schematic diagram.

Figure 22 to Figure 24 is that embodiment illustrated in fig. 1 couples bending the second segment clamping object under coupling adaptive pattern Action process schematic diagram.

Figure 25 is the center line of center line and the nearly joint shaft of the 3rd bellows apart from schematic diagram.

Figure 26 is the center line of center line and the remote joint shaft of the 4th bellows apart from schematic diagram.

Figure 27 is the center line of center line and the nearly joint shaft of the first bellows apart from schematic diagram.

Figure 28 is the center line of center line and the remote joint shaft of the second bellows apart from schematic diagram.

In Fig. 1 into Figure 28：

1- pedestals, 111- pedestal foreboards, 112- pedestal back plates, 113- pedestal left plates,

114- pedestal right plates, 115- base-plates surface plates, 116- pedestal bottom plates, the segments of 2- first,

21- the first segment skeletons, 22- the first segment left plates, 23- the first segment right plates, 24- the first segment tables Panel,

25- the first segment foreboards, 26- the first segment back plates, the segments of 3- second, the nearly joint shafts of 4-,

The remote joint shafts of 5-, the bellowss of 6- first, 61- active plates, the bellowss of 62- second,

The bellowss of 63- the 3rd, 631- switch boards, the pipe clamps of 632- first, the pipe clamps of 633- second,

The bellowss of 64- the 4th, the flexible pipes of 7- first, the flexible pipes of 71- second, 8- first fluids,

81- second fluids, 82- sleeves, 83- bearings, 84- screws,

85- pins, 9- spring parts, 10- switch boards connectors, 11- rotating shafts,

The spacing block sets of 12- first, the spacing block sets of 13- second, 14- motors, 141- decelerators,

142- first bevel gears, 143- second bevel gears, 144- transition gear axles, 145- first pulleys,

The belt wheels of 146- second, 147- transmission belts, the connectors of 15- first, the connectors of 16- second,

17- objects.

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.

A kind of embodiment of the flat folder coupling switching robot finger apparatus of fluidic adaptive of the utility model design, such as schemes Shown in 1 to Fig. 9, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and motor 14；The nearly pass Nodal axisn 4 is movably set in pedestal 1, and first segment 3 is movably set on nearly joint shaft, the remote movable sleeve of joint shaft 5 It is located in the first segment 2, second segment 3 is socketed on remote joint shaft 5；The motor 14 and pedestal 1 are affixed；The nearly pass The centerline parallel of the center line of nodal axisn 4 and remote joint shaft 5；Also include transmission mechanism, the first bellows 61, master in the present embodiment Dynamic plate 61, the second bellows 62, the 3rd bellows 63, switch boards 631, the first pipe clamp 632, the second pipe clamp 633, the 4th bellows 64th, the first flexible pipe 7, the second flexible pipe 71, first fluid 8, second fluid 81, spring part 9, switch boards connector 10, rotating shaft 11, first The spacing block set 13 of spacing block set 12 and second；The transmission mechanism is arranged in pedestal 1；The output shaft of the motor 14 and transmission The input of mechanism is connected, and the output end of the transmission mechanism is connected with the first segment 2；First flexible pipe 7, the second flexible pipe 71 It is non-telescoping sebific duct, first flexible pipe 7, the second flexible pipe 71 are respectively positioned in the first segment 2；First bellows 61st, the second bellows 62, the 3rd bellows 62, the 4th bellows 64 be it is scalable and bending hollow pipe, the first wave The bottom of line pipe 6 and active plate 61 are affixed, and the top of the first bellows 6 is fixedly mounted on the bottom of the first segment 2, the first ripple The top of pipe 6 connects with the lower seal of the first flexible pipe 7；The top of second bellows 62 and the first contiguous block 13 are affixed, The bottom of second bellows 62 is fixedly mounted on the top of the first segment 2, and the bottom of the second bellows 62 is upper with the first flexible pipe 7 Portion's sealing connection；The bottom of 3rd bellows 63 and switch boards 631 are affixed, and the top of the 3rd bellows 63 is fixedly mounted on The bottom of first segment 2, the 3rd bellows 63 connect with the sealing of the second flexible pipe 71；The top and second of 4th bellows 64 Contiguous block 131 is affixed, and the bottom of the 4th bellows connects with the sealing of the second flexible pipe 71, and the bottom of the 4th bellows 64 is fixedly mounted On the top of the first segment 2；The first fluid 8 is sealed in the first bellows 6, the first flexible pipe 7 and the second bellows 62；Institute Second fluid 81 is stated to be sealed in the 3rd bellows 63, the second flexible pipe 71 and the 4th bellows 64；The pipe clamp 632 and switch boards 631 is affixed；The pipe clamp 633 of first pipe clamp 632 and second is affixed with the first segment 2 respectively；The switch boards connector 10 is solid It is connected on nearly joint shaft 4；The rotating shaft 11 is set on switch boards connector 10, and the switch boards 631 are socketed in rotating shaft 11； First spacing block set 12, the second spacing block set 13 are affixed with pedestal 1 respectively；If the center line of the 3rd bellows 63 with The distance of the center line of nearly joint shaft 4 is a, and the distance of the center line of the 4th bellows 64 and the center line of remote joint shaft 5 is b, a It is equal with b；The internal diameter of 3rd bellows 63 is equal with the internal diameter of the 4th bellows 64；If the length of the 3rd bellows 63 The equal length of degree and the 4th bellows 64；The both ends of the spring part 9 connect pedestal 1 and switch boards 631 respectively；The first wave The distance of the center line of line pipe 61 and the center line of nearly joint shaft 4 is c, the center line of the second bellows 62 and remote joint shaft 5 The distance of center line is d, and c is more than d；The internal diameter of first bellows 61 is equal with the internal diameter of the second bellows 62.

The flat folder coupling switching robot finger apparatus of fluidic adaptive described in the utility model, it is characterised in that：It is described Spring uses extension spring, stage clip, leaf spring or torsion spring.In the present embodiment, the spring 9 uses extension spring.

In the present embodiment, the first fluid, second fluid use liquid or gas, the not high liquid of preferred compressed. In the present embodiment, the first fluid 8, second fluid 81 are water.

In the present embodiment, if the distance of the center line of the 3rd bellows 63 and the center line of nearly joint shaft 4 is a, the The distance of the center line of four bellowss 64 and the center line of remote joint shaft 5 is b, and a is equal with b；3rd bellows 63 it is interior Footpath is equal with the internal diameter of the 4th bellows 64；If the length of the 3rd bellows 63 and the equal length of the 4th bellows 64. The constant speed drive's effect reached from the 3rd bellows 63 to the 4th bellows 64 is so set：Define the phase of switch boards 631 Velocity of rotation for the first segment 2 is ω₁, it is ω to define second segment 3 relative to the velocity of rotation of the first segment 2₂, Pass through the 3rd bellows 63, second fluid 81 and the transmission of the three of the 4th bellows 64, ω₁=ω₂, i.e. gearratio is 1.

In the present embodiment, the switch boards 631 are actively socketed on nearly joint shaft 4；First spacing block set 12 and base Seat 1 is affixed；In flat folder self-adapting grasping pattern, the switch boards 631 are located remotely from the side of crawl object, the 3rd ripple The top of line pipe 63 is embedded in the first pipe clamp 632；The switch boards 631 and the first spacing block set 12 be in contact or leave one section away from From；If the rotation direction that the first segment 2 is close to object 17 is nearly joint positive direction (clockwise direction in such as Figure 11), first refers to 2 rotation directions away from object 17 of section are nearly joint opposite direction；In the flat folder coupling switching robot finger's dress of the fluidic adaptive To put when being in original state (straight configuration as shown in Figure 10, Figure 15), switch boards 631 contact with the first spacing block set 12, if Now the anglec of rotation of the opposite base 1 of switch boards 631 is 0 degree (as shown in figure 19), and since the position, switch boards 631 are towards near The rotational angle for (being less than 180 degree) during the positive direction rotation of joint is just, switch boards 631 (is less than when being rotated towards nearly joint opposite direction 180 degree) rotational angle be negative；The rotational angle that first spacing block set 12 limits switch boards 631 is only just, that is, is switched Plate 631 can only rotate clockwise.The both ends of the spring part 9 connect switch boards 631 and pedestal 1 respectively, and spring part 9 makes to cut Change plate 631 and be close to the first spacing block set 12.First spacing block set 12 and pedestal 1 are affixed；In coupling adaptive grasp mode When, the switch boards 631 are located at is embedded in the second pipe clamp 633 close to the side of crawl object, the top of the 3rd bellows 63 In；The switch boards 631 are in contact or stood away with the second spacing block set 13；If the first segment 2 is close to object 17 Rotation direction is nearly joint positive direction (clockwise direction in such as Figure 11), and the first rotation direction of the segment 2 away from object 17 is Nearly joint opposite direction；Original state (such as Figure 10, Figure 15 are in the flat folder coupling switching robot finger apparatus of the fluidic adaptive Shown straight configuration) when, switch boards 631 contact with the second spacing block set 13, if the now rotation of the opposite base 1 of switch boards 631 Gyration is 0 degree (as shown in figure 19), and since the position, switch boards 631 (are less than 180 degree) when being rotated towards nearly joint positive direction Rotational angle for just, the rotational angle that switch boards 631 (are less than 180 degree) when being rotated towards nearly joint opposite direction is negative；Described The rotational angle of two spacing block sets 13 limitation switch boards 631 is only just, i.e., switch boards 631 can only turn along counter clockwise direction It is dynamic.The both ends of the spring part 9 connect switch boards 631 and pedestal 1 respectively, and spring part 9 makes switch boards 631 be close to the second spacing block set 13。

The present embodiment also includes the first connector 15, and first connector 15 is socketed on remote joint shaft 5, and described second Segment 3 and the first connector 15 are affixed..

The present embodiment also includes the second connector 16, and second connector 16 is socketed on remote joint shaft 5, and described second Segment 3 and the second connector 16 are affixed.

In the present embodiment, pedestal foreboard 111 that the pedestal 1 includes being fixed together, pedestal back plate 112, on the left of pedestal Plate 113, pedestal right plate 114, base-plates surface plate 115 and pedestal bottom plate 116 and base side cover plate 117.It is described in the present embodiment The first segment skeleton 21 that first segment 2 includes being fixed together, the first segment left plate 22, the first segment right plate 23, the One segment surface plate 24, the first segment foreboard 25 and the first segment back plate 26.

In the present embodiment, the transmission mechanism includes decelerator 141, first bevel gear 142, second bevel gear 143, transition Gear shaft 144, first pulley 145, the second belt wheel 146 and transmission belt 147；The output shaft of the motor 14 and decelerator 141 Input shaft is connected, and the first bevel gear 142 is fixed on the output shaft of decelerator 141, and the second bevel gear 143 is fixed in In transition gear axle 144, the first bevel gear 142 engages with second bevel gear 143；The transition gear axle 144 is set in In pedestal 1, the first pulley 145 is fixed in transition gear axle 144, and second belt wheel 146 is actively socketed on nearly joint On axle 4.

If the present embodiment additionally uses the parts such as some sleeves 82, dry bearing 83, some screws 84 and some pins 85, category In known common technology, repeat no more.

The operation principle of the present embodiment, with reference to accompanying drawing 10 to Figure 28, it is described below：

The device has two kinds of grasp modes：One kind is coupling adaptive grasp mode, and another kind is that flat folder is adaptively grabbed Modulus formula, the switching of both of which can be realized by the rotation of switch boards 631.

Flat folder self-adapting grasping pattern and the manual switching method of coupling adaptive grasp mode are：

The state that the plant running is adjusted to stretch, then by switch boards 631 around the shaft 11 rotation 180 degree.

1) realization of folder self-adapting grasping pattern is put down

Switch boards are toggled it to the side for being close to rear, at this moment switch boards, the 3rd bellows, the second flexible pipe, second fluid, 4th bellows and the second connector constitute constant speed drive in the same direction.Carried out specifically below for flat folder self-adapting grasping pattern It is bright：

Initial position is finger straight configuration.

A) when the anglec of rotation of switch boards 631 is 0 degree (as shown in figure 19), now spring part 9, which hauls switch boards 631, makes it Abut against on the first spacing block set 12, when the first segment 2 rotates around the center line of nearly joint shaft 4, acted in second fluid 81 Under, the second segment 3 still can be maintained at initial posture, and reason is：Because switch boards 631 and the 3rd bellows 63 are affixed, by In the gearratio for the transmission system that the 3rd bellows 63, the second flexible pipe 71, the bellows 64 4 of second fluid 81 and the 4th are formed For 1, and second fluid 81 is incompressible, thus in the presence of second fluid 81, the elongation of the 3rd bellows 63 can promote phase With the shortening of the 4th bellows 64 of arc length change, thus 132 opposite base of the second connector 1 carry out translational motion without Rotation, because the second connector 16 and the second segment 3 are affixed, so the progress translational motion of 3 opposite base of the second segment 1 without It can rotate, remain original posture.

B) when the anglec of rotation of switch boards 631 is timing, in the presence of second fluid 81, the anglec of rotation of the second connector 16 Spend the anglec of rotation that (i.e. the anglec of rotation of the second segment) is equal to switch boards 631.

When the present embodiment captures object 17, motor 14 passes through closed Wavelet piece transmission mechanism so that and active plate 61 rotates, The corner of the opposite base 1 of active plate 61 is α.In the presence of first fluid 8, active plate 61 with respect to the first segment 2 corner with The corner of first connector, 15 relative first segment 2 has a certain proportion of relation.If it is driven from active plate 61 by first fluid 8 Gearratio to the first connector is i, and the gearratio is the rotating speed (relative to the first segment 2) and the first connector of active plate 61 The ratio between 15 rotating speed (relative to the first segment 2).Because gearratio i is less than 1, therefore it is step-up drive, output speed is more than defeated Enter speed.If the first segment 2 is δ around the corner of nearly joint shaft 4.Because the first connector 15 and the second segment 3 are affixed, and second Segment 3 does not rotate relative to pedestal 1, therefore now the first connector 15 does not also rotate with respect to pedestal 1, Then the present embodiment device, which can be derived from, will be equilibrated at the position for meeting following (formula 1)：

α=δ (1-i) (formula 1)

Because i is less than 1, it is respectively positive different angle that can obtain a α and δ (wherein α is less than δ).Therefore motor is worked as 14 have rotated an angle [alpha] by the transmission of closed Wavelet piece transmission mechanism, active plate, and now, the first segment 2 is around nearly joint shaft 4 have turned over an angle δ, and the second segment 3 is same posture all the time relative to pedestal 1, and simply position is changed.This is The stage (such as Figure 10, Figure 11, Figure 12, Figure 15, Figure 16, Figure 17, Figure 21) of parallel clamping.This stage is adapted to the second segment 3 A support takes object 17 outside de-clamping object 17, or the mode for going to open from inside to outside with the second segment 3 by way of opening outside. Such as hollow cylindrical tube is taken, and is flared out propping up barrel on the inside of the object, so as to object of taking.

Stopped by object 17 and be no longer able to turn when the first segment 2 contacts object 17, the second of adaptive envelope will be entered The segment 3 of stage (as shown in Figure 13, Figure 14, Figure 19, Figure 20 and Figure 22) second rotates around nearly joint shaft 4, and spring part 9 deforms (as shown in Figure 13, Figure 19), now can the go the long way round center line of joint shaft 5 of the second segment 3 be rotated further, until the second segment 3 connects Untill touching object 17, the effect of adaptive envelope crawl object is completed.For the object of different shapes and sizes, the present embodiment tool There is adaptivity, being capable of the general a variety of objects of crawl.

Figure 10 to Figure 14 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object 17 in a manner of envelope grips, Wherein, Figure 10 is original state, and Figure 10 to Figure 12 is the action process before the first segment 2 touches object 17 --- it is parallel to open Conjunction mode acts, and Figure 12 is the situation that the rigid connection of the first segment 2 contacts object, and Figure 12 to Figure 14 is that the first segment 2 touches object Action process after 17 --- adaptive envelope object, until the second segment 3 contacts object, as shown in figure 14, crawl terminates.

Figure 15 to Figure 17 is alternatively possible mode --- the parallel grip object of embodiment illustrated in fig. 1 crawl object 17 Typical action process, until the second segment 3 contacts object 17, as shown in figure 17, crawl terminates.

2) realization of coupling adaptive grasp mode

Switch boards 631 are toggled it to the side for being close to rear, at this moment switch boards, the 3rd bellows, the second flexible pipe, second Body, the 4th bellows and the second connector constitute reverse constant speed drive.

It is described in detail below for flat folder self-adapting grasping pattern：

When motor 14 is driving the first segment 2 just by active plate 6, the first flexible pipe 7, the connector 15 of first fluid 8 and first When being close to object 17 to rotation, because switch boards 631 are close to the second spacing block set 13 without rotating all the time, the first ripple Pipe compresses, and the second bellows accordingly extends so that the second segment 3 is close to the rotation of the direction of object 17, now has：

α=δ (1+i)

Discharge the process of object 15：Motor 14 inverts, and the process of subsequent process and above-mentioned crawl object 15 is not just on the contrary, Repeat again.

The utility model device utilizes motor, closed Wavelet piece transmission mechanism, bellows, fluid, spring part, switch boards connection Part, rotating shaft, switch boards and spacing block set etc. are comprehensive to realize the flat folder self-adapting grasping pattern of robot finger and coupling adaptive The function that grasp mode can simply switch.The device can realize flat folder self-adapting grasping pattern, after simplified manual switching, Coupling adaptive grasp mode can be realized again.In flat folder self-adapting grasping pattern, the device can the segment of translation second pinch Object is held, can also rotate the object of the first segment and the second segment envelope different shapes and sizes successively；Captured in coupling adaptive In pattern, the device can link two articulations simultaneously, and be transferred to naturally after the first segment contact object is blocked curved The self-adapting grasping stage of bent second segment；It is big to capture scope；By the way of drive lacking, two passes are driven using a motor Section, sensing and control system without complexity；The apparatus structure is compact, small volume, and manufacture is low with maintenance cost, suitable for machine Human hand.

Claims (1)

1. a kind of flat folder coupling switching robot finger apparatus of fluidic adaptive, including it is pedestal, the first segment, the second segment, near Joint shaft, remote joint shaft and motor；The nearly joint shaft is movably set in pedestal, and the first segment movable sleeve is close to joint On axle, the remote joint shaft is movably set in the first segment, and second segment is socketed on remote joint shaft；The motor with Pedestal is affixed；The centerline parallel of the center line and remote joint shaft of the nearly joint shaft；It is characterized in that：The fluidic adaptive is put down Folder coupling switching robot finger apparatus also includes transmission mechanism, the first bellows, the second bellows, the 3rd bellows, the 4th Bellows, the first pipe clamp, the second pipe clamp, the first flexible pipe, the second flexible pipe, first fluid, second fluid, the first spacing block set, Two spacing block sets, active plate, switch boards, switch boards connector, rotating shaft and spring part；The transmission mechanism is arranged in pedestal；Institute State the output shaft of motor with the input of transmission mechanism to be connected, the output end of the transmission mechanism is connected with the first segment；It is described First flexible pipe, the second flexible pipe are non-telescoping sebific duct, and first flexible pipe, the second flexible pipe are respectively positioned in the first segment；Institute It is scalable and bending hollow pipe to state the first bellows, the second bellows, the 3rd bellows, the 4th bellows, and described the The bottom of one bellows and active plate are affixed, and the top of the first bellows is fixedly mounted on the bottom of the first segment, the first ripple The top of pipe connects with the lower seal of the first flexible pipe；The top of second bellows and the first contiguous block are affixed, the second ripple The bottom of line pipe is fixedly mounted on the top of the first segment, and the bottom of the second bellows connects with the top seal of the first flexible pipe； The bottom of 3rd bellows and switch boards are affixed, and the top of the 3rd bellows is fixedly mounted on the bottom of the first segment, the Three bellowss connect with the sealing of the second flexible pipe；The top of 4th bellows and the second contiguous block are affixed, the 4th bellows Bottom connects with the sealing of the second flexible pipe, and the bottom of the 4th bellows is fixedly mounted on the top of the first segment；The first fluid It is sealed in the first bellows, the first flexible pipe and the second bellows；The second fluid is sealed in the 3rd bellows, the second flexible pipe In the 4th bellows；The pipe clamp and switch boards are affixed；First pipe clamp and the second pipe clamp are affixed with the first segment respectively； The switch boards connector is fixed on nearly joint shaft；The rotating shaft is set on switch boards connector, the switch boards socket In rotating shaft；First spacing block set, the second spacing block set are affixed with pedestal respectively；During flat folder grasp mode, the switching Plate is located remotely from the side of crawl object, and the top of the 3rd bellows is embedded in the first pipe clamp, and switch boards are spacing with first Bump contact；When coupling grasp mode, the switch boards are located at close to the side of crawl object, the top of the 3rd bellows In embedded second pipe clamp, switch boards contact with the second spacing block set；In the center line and nearly joint shaft of 3rd bellows The distance of heart line is a, and the distance of the center line of the 4th bellows and the center line of remote joint shaft is b, and a is equal with b；Described 3rd The internal diameter of bellows is equal with the internal diameter of the 4th bellows；The length and the length phase of the 4th bellows of 3rd bellows Deng；The both ends of the spring part connect pedestal and switch boards respectively；The center line of first bellows and the center of nearly joint shaft The distance of line is c, and the distance of the center line of the second bellows and the center line of remote joint shaft is d, and c is more than d；First ripple The internal diameter of pipe is equal with the internal diameter of the second bellows.