CN207522617U - Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus - Google Patents
Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus Download PDFInfo
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- CN207522617U CN207522617U CN201721580011.7U CN201721580011U CN207522617U CN 207522617 U CN207522617 U CN 207522617U CN 201721580011 U CN201721580011 U CN 201721580011U CN 207522617 U CN207522617 U CN 207522617U
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Abstract
Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus, belongs to robot technical field, including pedestal, two segments, two joint shafts, motor, multiple connecting rods, sliding slot, sliding block, auxiliary rod and two spring parts etc..The arrangement achieves the functions that robot finger's straight line puts down folder and self-adapting grasping；The device is translatable in parallel the second segment of reception step along straight path, holds various sizes of sheet goods suitable for putting down to pinch on the table, the coordinated without mechanical arm goes to the position of adjustment robot, reduces control difficulty.The device can the second segment of linear translation carry out straight line and put down folder, also can after the first segment captures object envelope object automatically, achieve the purpose that self-adapting grasping different size, shaped objects；Two joints are driven using single motor, it is at low cost without complicated real-time sensing and control system, suitable for robot.
Description
Technical field
The utility model belongs to robot technical field, and it is adaptive that more particularly to a kind of slide bar auxiliary end straight line puts down folder
The structure design of robot finger apparatus.
Background technology
Under-actuated robot hand drives multiple degree-of-freedom joints by a small number of motors, less to reach the crawl to object
Number of motors save the palm space of robot, the motor hidden into palm can select the power and volume of bigger, go out
Power is big, while underactuated manipulator is sensed without real-time electronic, is simplified the control system of robot, can be realized to object
Stablize crawl, control it is simple and convenient, it is at low cost.
A kind of existing under-actuated finger device (United States Patent (USP) US8973958B2) includes five connecting rods, spring, motors
Deng the arrangement achieves circular arcs to put down folder and self-adapting grasping pattern.At work, which first keeps end segment opposite base
Posture is constant, carries out the translation of arc track, achievees the effect that flat folder or realizes adaptive envelope crawl.Its shortcoming
It is：The device is a kind of circular arc translation end segment in the flat folder stage, linear translation end segment can not be realized, in workbench
Mechanical arm coordinated is needed during the various sizes of sheet goods of upper clamping, to adjust the position of robot, so as to increase
Difficulty is controlled, is unfavorable for high-speed flexible crawl.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, a kind of slide bar auxiliary end straight line is provided and puts down folder
Adaptive robot finger apparatus.There are two types of grasp modes for device tool, can straight path translation the second segment end realization
Straight line puts down folder grasp mode, but can after the first segment captures object the remote joint of automatic bending, reach adaptive envelope and hold not
Similar shape, the function of size objects realize self-adapting grasping pattern；It is big to capture range.
Technical scheme is as follows：
A kind of slide bar auxiliary end straight line of the present invention puts down folder adaptive robot finger apparatus, including pedestal, the
One segment, the second segment, nearly joint shaft, remote joint shaft, first connecting rod, second connecting rod, third connecting rod, fourth link, first axle,
Second axis, third axis, motor, transmission mechanism, spacing block set and the first spring part；The motor is fixed on pedestal, the motor
Output shaft be connected with transmission mechanism input terminal, the output terminal of the transmission mechanism is connected with second connecting rod；The nearly joint shaft
It being set in pedestal, first segment is socketed on nearly joint shaft, and the remote joint shaft is set in the first segment, and described
One end of one connecting rod is socketed on nearly joint shaft, and the first axle is set on first connecting rod, an end cap of the third connecting rod
It being connected in first axle, the other end of third connecting rod is socketed on third axis, and one end of second segment is socketed on third axis,
The other end of second segment is socketed on remote joint shaft, and one end of the second connecting rod is socketed on nearly joint shaft, second connecting rod
The other end be socketed on the second axis, one end of the fourth link is socketed on the second axis, the socket of the other end of fourth link
On third axis, the spacing block set is fixed on pedestal, and the both ends of the first spring part connect first connecting rod and pedestal respectively；
It is characterized in that：The slide bar auxiliary end straight line put down folder adaptive robot finger apparatus further include sliding slot, sliding block, auxiliary rod,
Second spring part and the second segment face cap；The sliding slot is fixed on first connecting rod；The sliding block slip is embedded in sliding slot, sliding
The center line of glide direction and first connecting rod of the block in sliding slot is mutually parallel；One end of the auxiliary rod is fixed on sliding block,
The other end of auxiliary rod is connected with the second segment face cap, by the connection relation of sliding block, auxiliary rod and the second segment face cap,
So that the second segment face cap is steady state value relative to the distance of first connecting rod；Second segment face cap slip is embedded in the
In two segments, the second segment face cap is orthogonal relative to the direction of motion of the second segment and the center line of first connecting rod.
Slide bar auxiliary end straight line of the present invention puts down folder adaptive robot finger apparatus, it is characterised in that：It is described
The both ends of second spring part connect auxiliary rod and the second segment face cap respectively.
Compared with prior art, the present invention it has the following advantages and high-lighting effect：
Apparatus of the present invention realize machine using the synthesis such as motor, multiple connecting rods, auxiliary rod, sliding block, sliding slot and two spring parts
Device finger straight line equals the function of folder and self-adapting grasping；The device is put down in parallel the second segment of reception step along straight path
It is dynamic, various sizes of sheet goods are held suitable for putting down to pinch on the table, the coordinated without mechanical arm removes adjustment machine
The position of device human hand reduces control difficulty.The device can the second segment of linear translation carry out straight line put down folder, also can be first
Automatic envelope object after segment crawl object, achievees the purpose that self-adapting grasping different size, shaped objects；Utilize single motor
Two joints are driven, it is at low cost without complicated real-time sensing and control system, suitable for robot.
Description of the drawings
Fig. 1 is a kind of embodiment that the slide bar auxiliary end straight line that the present invention designs puts down folder adaptive robot finger apparatus
Stereo appearance figure.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side external view (right view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 4 is another side external view (left view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 5 is the A-A sectional views of Fig. 2.
Fig. 6 is the B-B sectional views of Fig. 2.
Fig. 7 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 8 is the inside three-dimensional view (being not drawn into part) from another angle of embodiment illustrated in fig. 1.
Fig. 9 is the front appearance figure (being not drawn into the first segment foreboard, pedestal foreboard) of embodiment illustrated in fig. 1.
The explosive view of embodiment illustrated in fig. 1 during Figure 10.
Figure 11 to Figure 13 is the action process signal that embodiment illustrated in fig. 1 captures object in a manner of being clamped by straight line parallel
Figure, the movement locus of the second segment face cap is straight line.
Figure 14 to Figure 17 is embodiment illustrated in fig. 1 in the action process signal that object is captured in a manner of adaptive envelope
Figure.
Figure 18 to Figure 19 be embodiment illustrated in fig. 1 in the process of grasping, sliding block reaches the second segment before and after sliding slot end, the
The situation of change of the relative position of two segment face caps, the second spring part and auxiliary rod.
In Fig. 1 to Figure 19：
1- pedestals, 111- pedestal foreboards, 112- pedestal bottom plates, 113- pedestal right plates,
114- pedestal left plates, 115- pedestal back plates, 10- motors, 101- retarders,
21- worm gears, 22- worm screws, 23- transmission shafts, 24- first gears,
25- second gears, the nearly joint shafts of 31-, 32- first axles, the second axis of 33-,
34- third axis, the remote joint shafts of 35-, the first segments of 4-, 40- the first segment skeletons,
401- the first segment foreboards, 402- the first segment left plates, 403- the first segment right plates, 41- first connecting rods,
42- second connecting rods, 43- third connecting rods, 44- fourth links, the second segments of 45-,
51- sliding slots, 52- sliding blocks, 61- auxiliary rods, 62- the second segment face caps,
63- the second spring parts, 71- spacing block sets, 72- the first spring parts, 8- objects,
91- bearings, 92- screws, 93- pins
Specific embodiment
The concrete structure of the present invention, the content of operation principle are described in further detail with reference to the accompanying drawings and embodiments.
The slide bar auxiliary end straight line that the present invention designs equals a kind of embodiment of folder adaptive robot finger apparatus, such as schemes
Shown in 1 to 10, including pedestal 1, the first segment 4, the second segment 45, nearly joint shaft 31, remote joint shaft 35, first connecting rod 41,
Two connecting rods 42, third connecting rod 43, fourth link 44, first axle 32, the second axis 33, third axis 34, motor 10, transmission mechanism, limit
Position 71 and first spring part 72 of convex block；The motor 10 is fixed on pedestal 1, and the nearly joint shaft 31 is set in pedestal 1, described
First segment skeleton 40 is socketed on nearly joint shaft 31, and the remote joint shaft 35 is set in the first segment skeleton 40, and described
One end of one connecting rod 41 is socketed on nearly joint shaft 31, and the first axle 32 is set on first connecting rod 41, the third connecting rod
43 one end is socketed in first axle 32, and the other end of third connecting rod 43 is socketed on third axis 34, second segment 45
One end is socketed on third axis 34, and the other end of the second segment 45 is socketed on remote joint shaft 35, and the one of the second connecting rod 42
End cap is connected on nearly joint shaft 31, and the other end of second connecting rod 42 is socketed on the second axis 33, one end of the fourth link 44
It is socketed on the second axis 33, the other end of fourth link 44 is socketed on third axis 34, and the spacing block set 71 is fixed in pedestal 1
On, the both ends of the first spring part 72 connect first connecting rod 41 and pedestal 1, the output shaft and transmission mechanism of the motor 10 respectively
Input terminal is connected, and the output terminal of the transmission mechanism is connected with second connecting rod 42；It is adaptive that slide bar auxiliary end straight line puts down folder
Robot finger apparatus further includes sliding slot 51, sliding block 52, auxiliary rod 61, the second spring part 63 and the second segment face cap 62；It is described
Sliding slot 51 is fixed on first connecting rod 41；The slip of sliding block 52 is embedded on sliding slot 51, slip of the sliding block 52 on sliding slot 51
Direction and the center line of first connecting rod 41 are mutually parallel；One end of the auxiliary rod 61 is fixed on sliding block 52, auxiliary rod 61
The other end is connected with the second segment face cap 62；By sliding block 52, the connection relation of 61 and second segment face cap 62 of auxiliary rod,
So that the second segment face cap 62 is steady state value relative to the distance of first connecting rod 41；The second segment face cap 62 slides edge
In the second segment 45, the second segment face cap 62 is relative to the direction of motion of the second segment 45 and the center of first connecting rod 41
Line is orthogonal.
In the present embodiment, the both ends of the second spring part 63 connect 61 and second segment face cap 62 of auxiliary rod respectively.
In the present embodiment, the pedestal 1 is included on the left of the pedestal foreboard 111, pedestal bottom plate 112, pedestal that are fixed together
Plate 114, pedestal right plate 113 and pedestal back plate 115.In the present embodiment, first segment 4 includes be fixed together first
Segment skeleton 40, the first segment foreboard 401, the first segment left plate 402 and the first segment right plate 403.
In the present embodiment, the transmission mechanism includes retarder 101, worm screw 22, worm gear 21, transmission shaft 23, first gear
24 and second gear 25；The output shaft of the motor 10 is connected with the input shaft of retarder 101, and the worm screw 22 is fixed in deceleration
On the output shaft of device 101, the worm gear 21 is fixed on transmission shaft 23, and the worm screw 22 and worm gear 21 engage；The transmission shaft
23 are set in pedestal 1, and the first gear 24 is fixed on transmission shaft 23, and the second gear 25 is actively socketed on nearly joint
On axis 31, the second gear 25 and second connecting rod 42 are affixed, and the first gear 24 is engaged with second gear 25.
If the present embodiment additionally uses dry bearing 91,93 grade parts of several screws 92 and several pins belong to known common
Technology does not repeat.
The operation principle of the present embodiment with reference to attached drawing, is described below：
When the present embodiment is in original state, as shown in figure 11.
Motor 10 rotates, and second connecting rod 42 is driven to be rotated clockwise (in Fig. 4 around nearly joint shaft 31 by transmission mechanism
Clockwise arrow direction, similarly hereinafter), finger motion is driven, two different finger grip moulds can be entered in different situations
Formula：
1) straight line parallel clamping grasp mode
Straight line parallel clamps 45 movement parallel to each other of the second segment during object 8 is captured of grasp mode, that is, finger, together
When the distance that is kept constant in the vertical direction with pedestal 1 of the second segment face cap 62.End straight line is assisted in the slide bar
In flat folder adaptive robot finger apparatus：
Motor 10 starts to rotate forward, and by the transmission of worm screw 22 and worm gear 21, first gear 24 is driven to rotate, second gear 25
Rotation drives second connecting rod 42 to be rotated clockwise around nearly joint shaft 31；By the transmission of fourth link 44, third axis 34 can generate
Thrust.The parallelogram mechanism formed due to first connecting rod 41, third connecting rod 43, the second segment 45 and the first segment skeleton 40
Constraint, and due to the pulling force effect of the first spring part 72 so that first connecting rod 41 abuts limited block, so that the second segment 45
Non- opposite base 1 rotates.Thrust on third axis 34 can push the second segment 45 (right direction as shown in Figure 4) circle to the right
Arc is translatable.Second segment face cap 62 can be slided relative to the second segment 45, due to sliding block 52,61 and second segment table of auxiliary rod
The connection function of mask 62 so that the distance between the second segment face cap 62 and first connecting rod 41 be steady state value, at this time if
Second segment face cap 62 contacts object, then crawl terminates, that is, realizes straight line and put down folder grasp mode.2) self-adapting grasping mould
Formula：
Self-adapting grasping pattern i.e. each segment of finger during finger grip object 8 is contacted with 8 surface of object,
Reach the crawl effect for adapting to 8 surface of object.
It is no longer able to turn when the first segment 4 touches object 8 by the blocking of object 8, transmission mechanism continues driving second and connects
Bar 42 rotates clockwise, and the second segment 45 joint shaft 35 of going the long way round is pushed to rotate clockwise by fourth link 44, due to parallel four
Bian Xing mechanisms, therefore first connecting rod 41 is rotated around nearly joint shaft 31, and the first spring part 72 is driven to extend, since sliding slot 51 and first connects
Bar 41 is affixed, therefore sliding slot 51 is rotated clockwise around nearly joint shaft 31, at this time the second segment face cap 62 and the distance of sliding slot 51
It is constantly subjected to the limitation of auxiliary rod 61 and remains unchanged, the second segment 45 rotates clockwise, until the second segment face cap 62 connects
Object 8 is touched, crawl terminates.The crawl process can adapt to the object of different shape, size automatically, that is, realize adaptive folder
Hold grasp mode.
The effect of second spring part 63 is：In above process, when sliding block 52 moves to 51 end of sliding slot, sliding block 52 is hindered
It keeps off and can not move, due to the thrust of third axis 34, the second spring part 63 deforms, 62 opposing slider 52 of the second segment face cap
Generate translation.(as shown in Figure 18 to Figure 19)
Discharge the process of object 8：Motor 10 inverts, and the process of subsequent process and above-mentioned crawl object 8 is just on the contrary, no longer
It repeats.
Apparatus of the present invention realize machine using the synthesis such as motor, multiple connecting rods, auxiliary rod, sliding block, sliding slot and two spring parts
Device finger straight line equals the function of folder and self-adapting grasping；The device is put down in parallel the second segment of reception step along straight path
It is dynamic, various sizes of sheet goods are held suitable for putting down to pinch on the table, the coordinated without mechanical arm removes adjustment machine
The position of device human hand reduces control difficulty.The device can the second segment of linear translation carry out straight line put down folder, also can be first
Automatic envelope object after segment crawl object, achievees the purpose that self-adapting grasping different size, shaped objects；Utilize single motor
Two joints are driven, it is at low cost without complicated real-time sensing and control system, suitable for robot.
Claims (2)
1. a kind of slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus, refer to including pedestal, the first segment, second
Section, nearly joint shaft, remote joint shaft, first connecting rod, second connecting rod, third connecting rod, fourth link, first axle, the second axis, third
Axis, motor, transmission mechanism, spacing block set and the first spring part；The motor is fixed on pedestal, the output shaft and biography of the motor
Motivation structure input terminal is connected, and the output terminal of the transmission mechanism is connected with second connecting rod；The nearly joint shaft is set in pedestal,
First segment is socketed on nearly joint shaft, and the remote joint shaft is set in the first segment, one end of the first connecting rod
It being socketed on nearly joint shaft, the first axle is set on first connecting rod, and one end of the third connecting rod is socketed in first axle,
The other end of third connecting rod is socketed on third axis, and one end of second segment is socketed on third axis, the second segment it is another
One end is socketed on remote joint shaft, and one end of the second connecting rod is socketed on nearly joint shaft, the other end socket of second connecting rod
On the second axis, one end of the fourth link is socketed on the second axis, and the other end of fourth link is socketed on third axis, institute
It states spacing block set to be fixed on pedestal, the both ends of the first spring part connect first connecting rod and pedestal respectively；It is characterized in that：It should
Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus and further includes sliding slot, sliding block, auxiliary rod, the second spring part and second
Segment face cap；The sliding slot is fixed on first connecting rod；The sliding block slip is embedded in sliding slot, cunning of the sliding block in sliding slot
The center line of dynamic direction and first connecting rod is mutually parallel；One end of the auxiliary rod is fixed on sliding block, the other end of auxiliary rod
It is connected with the second segment face cap, passes through the connection relation of sliding block, auxiliary rod and the second segment face cap so that the second segment table
Mask is steady state value relative to the distance of first connecting rod；The second segment face cap slip is embedded in the second segment, and second
Segment face cap is orthogonal relative to the direction of motion of the second segment and the center line of first connecting rod.
2. slide bar auxiliary end straight line as described in claim 1 puts down folder adaptive robot finger apparatus, it is characterised in that：Institute
The both ends for stating the second spring part connect auxiliary rod and the second segment face cap respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721580011.7U CN207522617U (en) | 2017-11-22 | 2017-11-22 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721580011.7U CN207522617U (en) | 2017-11-22 | 2017-11-22 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN207522617U true CN207522617U (en) | 2018-06-22 |
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|---|---|---|---|
| CN201721580011.7U Withdrawn - After Issue CN207522617U (en) | 2017-11-22 | 2017-11-22 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901061A (en) * | 2017-11-22 | 2018-04-13 | 清华大学 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
-
2017
- 2017-11-22 CN CN201721580011.7U patent/CN207522617U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901061A (en) * | 2017-11-22 | 2018-04-13 | 清华大学 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180622 Effective date of abandoning: 20200501 |
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| AV01 | Patent right actively abandoned |