CN207983381U - The flat folder adaptive robot finger apparatus of wave Buddhist relics link linear - Google Patents
The flat folder adaptive robot finger apparatus of wave Buddhist relics link linear Download PDFInfo
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- CN207983381U CN207983381U CN201721579633.8U CN201721579633U CN207983381U CN 207983381 U CN207983381 U CN 207983381U CN 201721579633 U CN201721579633 U CN 201721579633U CN 207983381 U CN207983381 U CN 207983381U
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Abstract
The flat folder adaptive robot finger apparatus of wave Buddhist relics link linear, belong to robot technical field, including pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft, motor, transmission mechanism, four driving wheels, flexible drive parts, active convex block, driven convex block, five spring parts, seven connecting rods, four shafts, two jackshafts, two breast wheels and spacing block set.The arrangement achieves straight line parallel clamping and self-adapting grasping finger function, can linear translation the second segment grip object or outer support take object, can also rotate the object of the first segment and the adaptive envelope different shapes and sizes of the second segment successively；The device is suitble to capture the different objects on work top in such a way that straight line puts down folder, is not necessarily to readjust the position of pedestal to various sizes of object, and work efficiency is high, and crawl range is big；Two joints are driven merely with a motor, without complicated sensing and control system, are suitable for robot.
Description
Technical field
The utility model belongs to robot technical field, more particularly to the flat folder adaptive robot of a kind of wave Buddhist relics link linear
The structure design of finger apparatus.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, since number of motors is few, hides
The power and volume of bigger can be selected by entering the motor of palm, be contributed big, while the reponse system of Purely mechanical is not necessarily to environment
Sensitive sensor can also realize stable crawl, the automatic object for adapting to different shape size, without real-time electronic sensing and
The demand of closed loop feedback control, control is simple and convenient, reduces manufacturing cost.
When capturing object, there are mainly two types of grasping means, and one is clampings, and one is grippings.Grip is to use end finger
Tip portion go gripping 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 envelope object with multiple segments of finger, is reached
More stable shape envelope crawl.The method of clamping that industrial clamper generally uses end parallel, it is difficult to which there is envelope to hold work(
Can, the stabilization envelope crawl of various shapes object is not adapted to；Adaptive envelope object may be used in adaptive under-actuated finger
Mode hold, but end parallel clamping crawl can not be implemented, for example, a kind of existing under-actuated two-articulated robot finger
Device (Chinese invention patent CN101234489A), including the transmission of pedestal, motor, middle part segment, end segment peace belt wheel
Mechanism etc..The arrangement achieves the special-effects that doublejointed under-actuated finger is bent crawl object, have adaptivity.This owes to drive
The shortcoming of dynamic mechanical finger device with functions is：Straight configuration is presented in finger always before not touching object, and grasp mode is mainly
Holding mode, hardly possible realize that the parallel clamping in preferable end captures effect.
Invention content
The purpose of the invention is to overcome the shortcoming of prior art, provide a kind of flat folder of wave Buddhist relics link linear from
Adapt to robot finger apparatus.There are two joints for device tool, have a variety of grasp modes, can the second segment of linear translation folder
Object is held, the object of the first segment and the adaptive envelope different shapes and sizes of the second segment also can be successively rotated；The device is suitble to
The different objects on work top are captured in such a way that straight line puts down folder, to various sizes of object without readjusting pedestal
Position；It is only driven with a motor, without complicated sensing and control system.
Technical scheme is as follows：
The flat folder adaptive robot finger apparatus of a kind of wave Buddhist relics link linear that the present invention designs, including pedestal, first
Segment, the second segment, nearly joint shaft, remote joint shaft, motor and transmission mechanism；The motor and pedestal are affixed；The motor
Output shaft is connected with the input terminal of transmission mechanism；The nearly joint shaft is movably set in pedestal；The first segment movable sleeve
It is connected on nearly joint shaft；Second segment is socketed on remote joint shaft；The center line of the nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that：The flat folder adaptive robot finger apparatus of the wave Buddhist relics link linear further includes the first transmission
Wheel, the second driving wheel, third driving wheel, the 4th driving wheel, flexible drive parts, active convex block, driven convex block, the first spring part,
Two spring parts, third spring part, the 4th spring part, the 5th spring part, spacing block set, first connecting rod, second connecting rod, third connecting rod, the 4th connect
Bar, the 5th connecting rod, six-bar linkage, seven-link assembly, first rotating shaft, the second shaft, third shaft, the 4th shaft, the first jackshaft,
Second jackshaft, the first breast wheel and the second breast wheel；First segment is equipped with fixed sliding slot, and the remote joint shaft is slided
It is dynamic to be embedded in sliding slot；The output end of the transmission mechanism is connected with the first driving wheel；First driving wheel is fixed in nearly pass
On nodal axisn；Second driving wheel is fixed on nearly joint shaft；The third driving wheel is actively socketed on nearly joint shaft；It is described
4th driving wheel tube is connected on remote joint shaft, and the 4th driving wheel and the second segment are affixed；The both ends of the first spring part connect respectively
Connect the first driving wheel, the first segment；The both ends of the second spring part are separately connected the first driving wheel, first connecting rod；The third
The both ends of spring part are separately connected third driving wheel, spacing block set；The both ends of the 4th spring part are separately connected the first jackshaft,
One segment；The both ends of the 5th spring part are separately connected the second jackshaft, the first segment；The flexible drive parts connection third passes
Driving wheel, the first breast wheel, the 4th driving wheel, the second breast wheel；The flexible drive parts are achiasmate closed curve shape；Institute
It states flexible drive parts, third driving wheel, the first breast wheel, the 4th driving wheel, the second breast wheel and forms drive connection；It is described
The transmission radius of third driving wheel and the 4th driving wheel is equal；First breast wheel and the second breast wheel are tensioning wheel, described
First breast wheel is actively socketed on the first jackshaft, and second breast wheel is actively socketed on the second jackshaft；The master
Dynamic convex block is fixed on the second driving wheel, and the driven convex block is fixed on third driving wheel；The active convex block with it is driven convex
Block separates one section of angular distance in the initial state；The spacing block set is fixed in pedestal；The third driving wheel and limit
Convex block is in contact in the initial state；One end of the first connecting rod is actively socketed on nearly joint shaft, first connecting rod it is another
End is actively socketed in first rotating shaft；One end of the second connecting rod is actively socketed in first rotating shaft, second connecting rod it is another
End is actively socketed in the second shaft；One end of the third connecting rod is actively socketed in the second shaft, third connecting rod it is another
End is actively socketed on remote joint shaft；One end of the fourth link is actively socketed in the second shaft, fourth link it is another
End is actively socketed in third shaft；One end of 5th connecting rod is actively socketed in first rotating shaft, the 5th connecting rod it is another
End is actively socketed in the 4th shaft；One end of the six-bar linkage is actively socketed on remote joint shaft, six-bar linkage it is another
End is actively socketed in the 4th shaft；One end of the seven-link assembly is actively socketed in third shaft, seven-link assembly it is another
End is actively socketed in the 4th shaft；The third shaft is fixedly attached on pedestal；If nearly joint shaft central point is A, first
Spindle central point is B, and the second spindle central point is C, and remote joint shaft central point is D, and third spindle central point is E, the 4th shaft
Central point is F；The length of line segment AE is equal to line segment AB, and the length of line segment BC is equal to line segment CD, and the length of line segment BC is equal to line segment
The length of BF, line segment CD are equal to line segment DF, and the length of line segment CE is equal to line segment EF；The glide direction of the sliding slot is total with line segment AD
Line；The first jackshaft sliding is embedded in the first segment；The second jackshaft sliding is embedded in the first segment.
Compared with prior art, the present invention haing the following advantages and high-lighting effect：
Apparatus of the present invention utilize motor, flexible piece transmission mechanism, five spring parts, active convex block, driven convex block, seven companies
Bar, six shafts, two runners and spacing block set etc. be comprehensive realize the clamping of doublejointed robot finger's straight line parallel with it is adaptive
The function that should be captured can linear translation the second segment grip object or outer according to the difference of target object shape and position
Support takes object, can also rotate the object of the first segment and the adaptive envelope different shapes and sizes of the second segment successively；The device is suitable
Conjunction captures the different objects on work top in such a way that straight line puts down folder, to various sizes of object without readjusting pedestal
Position, work efficiency is high, crawl range it is big；Two joints are driven merely with a driver, without complicated sensing and control
System processed is suitable for robot.
Description of the drawings
Fig. 1 is a kind of embodiment for the flat folder adaptive robot finger apparatus of wave Buddhist relics link linear that the present invention designs
Three-dimensional view (is not drawn into pedestal foreboard, pedestal right panel, the first segment right panel).
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (left view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 4 is the front view (being not drawn into pedestal foreboard, the first segment left plate, the first segment right panel) of embodiment illustrated in fig. 1.
Fig. 5 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 6 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 7 is part position figure in part in embodiment illustrated in fig. 1.
Fig. 8 is the explosive view of embodiment illustrated in fig. 1.
Fig. 9 to Figure 13 is that embodiment illustrated in fig. 1 is shown in the action process for capturing object in a manner of the gripping of adaptive envelope
It is intended to.
Figure 14 to Figure 16 is the action process signal that embodiment illustrated in fig. 1 captures object in a manner of being clamped by straight line parallel
Figure.
Figure 17, Figure 18 are embodiment illustrated in fig. 1 several passes during adaptive envelope holding mode captures object motion
When key position, third driving wheel, third spring part and spacing block set relative position situation of change.
Figure 19 to Figure 22 is embodiment illustrated in fig. 1 several passes during adaptive envelope holding mode captures object motion
When key position, the situation of change of the relative position of active convex block (the second driving wheel) and driven convex block (third driving wheel).
In Fig. 1 to Figure 22：
1- pedestals, 11- spacing block sets, 111- pedestal foreboards, 112- pedestal back plates,
113- pedestal left plates, 114- pedestal right plates, 115- base-plates surface plates, 116- pedestal bottom plates,
14- motors, 141- retarders, 142- worm screws, 143- worm gears,
144- transition gear axles, 145- transition gears, the first segments of 2-, 20- sliding slots,
201- the first segment foreboards, 202- the first segment back plates, 203- the first segment left plates, 204- first refer to
Section right plate,
The first intermediate plates of 205-, the second segments of 3-, the nearly joint shafts of 4-, the remote joint shafts of 5-,
The first driving wheels of 21-, the second driving wheels of 22-, 23- third driving wheels, the 4th driving wheels of 24-,
25- flexible drive parts, 221- active convex blocks, the driven convex blocks of 231-, 61- first connecting rods,
62- second connecting rods, 63- third connecting rods, 64- fourth links, the 5th connecting rods of 65-,
66- six-bar linkages, 67- seven-link assemblies, 90- objects, 71- first rotating shafts,
The second shafts of 72-, 73- third shafts, the 4th shafts of 74-, the first jackshafts of 75-,
The second jackshafts of 76-, the first breast wheels of 77-, the second breast wheels of 78-, 81- the first spring parts,
82- the second spring parts, 83- third spring parts, the 4th spring parts of 84-, the 5th spring parts of 85-.
Specific implementation mode
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.
A kind of embodiment for the flat folder adaptive robot finger apparatus of wave Buddhist relics link linear that the present invention designs, such as Fig. 1
Shown in Fig. 8, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5, motor 14 and transmission mechanism；
The motor 14 and pedestal 1 are affixed；The output shaft of the motor 14 is connected with the input terminal of transmission mechanism；The nearly joint shaft 4
It is movably set in pedestal 1；First segment 2 is actively socketed on nearly joint shaft 4；Second segment 3 is socketed in remote pass
On nodal axisn 5；The centerline parallel of the center line and remote joint shaft 5 of the nearly joint shaft 4；The flat folder of the wave Buddhist relics link linear is adaptive
To answer robot finger apparatus further include the first driving wheel 21, the second driving wheel 22, third driving wheel 23, the 4th driving wheel 24, soft
Property driving member 25, active convex block 221, driven convex block 231, the first spring part 81, the second spring part 82, third spring part 83, the 4th spring part
84, the 5th spring part 85, spacing block set 11, first connecting rod 61, second connecting rod 62, third connecting rod 63, fourth link 64, the 5th connecting rod
65, six-bar linkage 66, seven-link assembly 67, first rotating shaft 71, the second shaft 72, third shaft 73, among the 4th shaft 74, first
Axis 75, the second jackshaft 76, the first breast wheel 77 and the second breast wheel 78；First segment 2 is equipped with fixed sliding slot 20,
The sliding of remote joint shaft 5 is embedded in sliding slot 20；The output end of the transmission mechanism is connected with the first driving wheel 21；Described
One driving wheel 21 is fixed on nearly joint shaft 4；Second driving wheel 22 is fixed on nearly joint shaft 4；The third driving wheel
23 are actively socketed on nearly joint shaft 4；4th driving wheel 24 is socketed on remote joint shaft 5, the 4th driving wheel 24 and second
Segment 3 is affixed；The both ends of the first spring part 81 are separately connected the first driving wheel 21, the first segment 2；The second spring part 82
Both ends are separately connected the first driving wheel 21, first connecting rod 61；The both ends of the third spring part 83 be separately connected third driving wheel 23,
Spacing block set 11；The both ends of the 4th spring part 84 are separately connected the first jackshaft 75, the first segment 2；The 5th spring part 85
Both ends be separately connected the second jackshaft 76, the first segment 2；The flexible drive parts 25 connect in third driving wheel 23, first
Between wheel the 77, the 4th driving wheel 24, the second breast wheel 78；The flexible drive parts 25 are achiasmate closed curve shape；It is described
Flexible drive parts 25, third driving wheel 23, the first breast wheel 77, the 4th driving wheel 24, the second breast wheel 78 5 form transmission
Relationship；The transmission radius of 23 and the 4th driving wheel 24 of the third driving wheel is equal；Among first breast wheel 77 and second
Wheel 78 is tensioning wheel, and first breast wheel 77 is actively socketed on the first jackshaft 75,78 movable sleeve of the second breast wheel
It is connected on the second jackshaft 76；The active convex block 221 is fixed on the second driving wheel 22, and the driven convex block 231 is fixed on
On third driving wheel 23；The active convex block 221 separates one section of angular distance in the initial state with driven convex block 231；It is described
Spacing block set 11 is fixed in pedestal 1；The third driving wheel 23 is in contact in the initial state with spacing block set 11；It is described
One end of first connecting rod 61 is actively socketed on nearly joint shaft 4, and the other end of first connecting rod 61 is actively socketed on first rotating shaft 71
On；One end of the second connecting rod 62 is actively socketed in first rotating shaft 71, and the other end of second connecting rod 62 is actively socketed on
In two shafts 72；One end of the third connecting rod 63 is actively socketed in the second shaft 72, the other end activity of third connecting rod 63
It is socketed on remote joint shaft 5；One end of the fourth link 64 is actively socketed in the second shaft 72, fourth link 64 it is another
End is actively socketed in third shaft 73；One end of 5th connecting rod 65 is actively socketed in first rotating shaft 71, the 5th connecting rod
65 other end is actively socketed in the 4th shaft 74；One end of the six-bar linkage 66 is actively socketed on remote joint shaft 5, the
The other end of six-bar linkage 66 is actively socketed in the 4th shaft 74；One end of the seven-link assembly 67 is actively socketed on third shaft
On 73, the other end of seven-link assembly 67 is actively socketed in the 4th shaft 74；The third shaft 73 is fixedly attached to pedestal 1
On；If 4 central point of nearly joint shaft is A, 71 central point of first rotating shaft is B, and 72 central point of the second shaft is C, 5 center of remote joint shaft
Point is D, and 73 central point of third shaft is E, and 74 central point of the 4th shaft is F；The length of line segment AE is equal to line segment AB, line segment BC
Length be equal to line segment CD, the length of line segment BC is equal to line segment BF, and the length of line segment CD is equal to line segment DF, the length etc. of line segment CE
In line segment EF；I.e.：AE=AB, BC=CD, BC=BF, CD=DF, CE=EF；The glide direction of the sliding slot 20 and line segment AD
Collinearly；The sliding of first jackshaft 75 is embedded in the first segment 2；The sliding of second jackshaft 76 is embedded in the first segment
In 2.
The operation principle of the present embodiment, is described below in conjunction with attached drawing：
When the present embodiment is in original state, as shown in Fig. 1, Fig. 5, Fig. 6 and Fig. 7.
Motor 14 rotates, and drives worm screw 142 by speed reducer 141, drives turbine 143, drives transition gear axle 144, band
Dynamic transition gear 145, driving the first driving wheel 21 rotation pull the first segment 2 around 4 turns of nearly joint shaft by the first spring part 81
It is dynamic, realize the first articulation；At this point, active convex block 221 contacts driven convex block 231 not yet, third spring part 83 hauls third
Driving wheel 23 is against on spacing block set 11, so the second driving wheel 22 keeps original state constant；At this point, being passed in flexibility
Under moving part 25 acts on, the second segment 3 still maintains initial attitude, the reason is that：By the transmission of flexible drive parts 25, passed from third
The transmission of driving wheel 23 to the 4th driving wheel 24 is co-rotating transmission and transmission ratio is equal to 1, so when the first segment 2 is around nearly joint shaft 4
Rotation and when third driving wheel 23 is motionless, 24 opposite base of the 4th driving wheel 1 carry out translational motion without rotating, due to the
Four driving wheels 24 and the second segment 3 are affixed, so 3 opposite base of the second segment 1 carries out translational motion without rotating, always
Remain original posture.At this point, the second spring part 82 deforms, first connecting rod 61 is driven to be rotated around nearly joint shaft 4, first
The phase of connecting rod 61, second connecting rod 62, third connecting rod 63, fourth link 64, the 5th connecting rod 65, six-bar linkage 66, seven-link assembly 67
Under interaction, the diamond structure that second connecting rod 62, third connecting rod 63, the 5th connecting rod 65, six-bar linkage 66 are constituted is shunk, and is made
Remote joint shaft 5 slides on sliding slot 20, and the distance of first rotating shaft 71 and remote joint shaft 5 changes so that first rotating shaft 21 is at one
Linear motion.
A) straight line parallel clamping (also referred to as straight line parallel folding or the flat folder of straight line) crawl mould of the second segment 2 contact object 90
Formula：
It is straight line parallel clamping grasp mode if the second segment 2 contacts object 90 at this time.Action process such as Figure 14 is extremely
Shown in Figure 16.
Motor 14 is rotated further, and the first driving wheel 21, the second driving wheel 22 are rotated further but active convex block 221 connects not yet
When touching driven convex block 231, moderate finite deformation occurs for the first spring part 81, and (power is known as F to the deformation elastic force of the first spring part 811), pass through
First segment 2, remote joint shaft 5 etc. have been applied to the second segment 3 in the grasping force of object 90, if grasping force is enough, motor
14 stallings, crawl terminate.
After the above process, if grasping force is inadequate, the first driving wheel 21 is rotated further an angle, at this time the first spring
More large deformation, F has occurred in part 811Bigger；Meanwhile active convex block 221 contact driven convex block 231 and apply a power (power claims
For F2) give driven convex block 231, F2It is applied to the second finger by third driving wheel 23, flexible drive parts 25 and the 4th driving wheel 24
It (needing to deduct influence of the deformation elastic force of third spring part 83 to grasping force) in the grasping force of 3 pairs of objects 90 of section, motor 14 stalls,
Crawl terminates.
Parallel clamping grasp mode is suitble to 3 de-clamping object 90 of the second segment, or with second by way of opening outside
Segment 3, which goes to support from inside to outside, takes object 90.Such as hollow cylindrical tube is taken, and is flared out and is propped up on the inside of the object
Barrel, to object of taking.
B) the self-adapting grasping pattern of the first segment 2 contact object 90：
The flat gripper of straight line of first stage take the self-adapting grasping with second stage be collectively referred to as flat folder it is adaptive (or flat coupling from
Adapt to) grasp mode.
It is no longer able to turn by the blocking of object 90 when the first segment 2 contacts object 90, it will be automatically into self-adapting grasping rank
Section.Motor 14 is rotated further, and the first driving wheel 21, the second driving wheel 22 are rotated further, but active convex block 221 not yet contact from
When dynamic convex block 231, moderate finite deformation occurs for the first spring part 81, and (power is known as F to the deformation elastic force of the first spring part 811), it is applied to
One segment 2 is in the grasping force of object 90.
Motor 14 is rotated further, and the first driving wheel 21, the second driving wheel 22 are rotated further an angle, at this time the first spring part
81 have occurred more large deformation, F1Bigger；Meanwhile active convex block 221 contacts driven convex block 231 and pushes driven convex block 231, third
Driving wheel 23 is overcoming the deformation elastic force of third spring part 83 to rotate, and 24 He of the 4th driving wheel is driven by flexible drive parts 25
Second segment 3 rotates, and until the second segment 3 contacts object 17 and applies grasping force, motor 14 stalls, and crawl terminates, and completes certainly
Adapt to the effect of envelope crawl object.Action process is as shown in Fig. 9 to 13.
For the object of different shapes and sizes, the present embodiment has adaptivity, can capture a variety of objects.
The case where Fig. 6 is the third driving wheel 23, spacing block set 11 and third spring part 83 of Fig. 9, Figure 10 and Figure 11.At this time originally
Embodiment is in initial position or has only been bent the first segment, and third spring part 83 makes third driving wheel 23 and 11 phase of spacing block set
Contact, the second segment 3 are in the fixation initial attitude relative to pedestal 1, and such case is continued until the envelope crawl of Figure 11
Start or the clamping of Figure 16 crawl terminates.
Figure 17 is the active convex block 221 of Figure 12, driven convex block 231, third driving wheel 23, spacing block set 11 and third spring part
83 relative position situation of change.First segment 2 of the present embodiment has touched object 17 and has been blocked from movement at this time,
Under the driving effect of driver 14, the second segment 3 joint shaft 5 of having gone the long way round rotates angle (being rotated relative to pedestal 1),
Second segment 3 no longer keeps original vertical initial attitude, third driving wheel 23 to have left the limit being permanently connected to originally
Convex block 11.
Figure 18 is the relative position situation of change of the third driving wheel 23 of Figure 13, spacing block set 11 and third spring part 83.This
When the present embodiment complete the contact to two segments of object --- realize that adaptive envelope captures, to the object of different shape size
Body envelope can capture automatically, grasping stability；Compared with Figure 17 the case where, third driving wheel 23 is rotated to the angle of bigger,
11 farther distance of spacing block set is left, the second segment 3 also has rotated angle identical with the corner of convex block driver plate 12.
Figure 19, Figure 20 are the situations of the active convex block and driven convex block of Figure 11.Figure 21 be Figure 12 active convex block and
The situation of driven convex block.Figure 22 is the situation of the active convex block and driven convex block of Figure 13.
Discharge the process of object 17：Motor 14 inverts, and the process of subsequent process and above-mentioned crawl object 17 is not just on the contrary,
It repeats again.
Apparatus of the present invention using motor, closed loop flexible piece transmission mechanism, active convex block, driven convex block, five spring parts, seven
Connecting rod, six shafts, spacing block set and two runners etc., which integrate, realizes the clamping of doublejointed robot finger's straight line parallel and oneself
The function of adapting to crawl can linear translation the second segment grip object or outer according to the difference of target object shape and position
It opens support and takes object, can also rotate the object of the first segment and the adaptive envelope different shapes and sizes of the second segment successively；The device
It is suitble to capture the different objects on work top in such a way that straight line puts down folder, to various sizes of object without readjusting base
The position of seat, work efficiency is high, and crawl range is big；Drive two joints merely with driver, without complicated sensing and
Control system is suitable for robot.
Claims (1)
1. a kind of flat folder adaptive robot finger apparatus of wave Buddhist relics link linear, including pedestal, the first segment, the second segment,
Nearly joint shaft, remote joint shaft, motor and transmission mechanism；The motor and pedestal are affixed；The output shaft and driver of the motor
The input terminal of structure is connected；The nearly joint shaft is movably set in pedestal；First segment is actively socketed on nearly joint shaft；
Second segment is socketed on remote joint shaft；The centerline parallel of the center line and remote joint shaft of the nearly joint shaft；It is special
Sign is：The flat folder adaptive robot finger apparatus of the wave Buddhist relics link linear further includes the first driving wheel, the second driving wheel, the
Three driving wheels, the 4th driving wheel, flexible drive parts, active convex block, driven convex block, the first spring part, the second spring part, third spring part,
4th spring part, the 5th spring part, spacing block set, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, the 6th
Connecting rod, seven-link assembly, first rotating shaft, the second shaft, third shaft, the 4th shaft, the first jackshaft, the second jackshaft, first
Breast wheel and the second breast wheel；First segment is equipped with fixed sliding slot, and the remote joint shaft sliding is embedded in sliding slot；
The output end of the transmission mechanism is connected with the first driving wheel；First driving wheel is fixed on nearly joint shaft；Described second
Driving wheel is fixed on nearly joint shaft；The third driving wheel is actively socketed on nearly joint shaft；The 4th driving wheel socket
On remote joint shaft, the 4th driving wheel and the second segment are affixed；The both ends of the first spring part are separately connected the first driving wheel,
One segment；The both ends of the second spring part are separately connected the first driving wheel, first connecting rod；The both ends of the third spring part connect respectively
Connect third driving wheel, spacing block set；The both ends of the 4th spring part are separately connected the first jackshaft, the first segment；Described 5th
The both ends of spring part are separately connected the second jackshaft, the first segment；Flexible drive parts connection third driving wheel, among first
Wheel, the 4th driving wheel, the second breast wheel；The flexible drive parts are achiasmate closed curve shape；The flexible drive parts,
Third driving wheel, the first breast wheel, the 4th driving wheel, the second breast wheel form drive connection；The third driving wheel and
The transmission radius of 4th driving wheel is equal；First breast wheel and the second breast wheel are tensioning wheel, and first breast wheel is lived
Dynamic to be socketed on the first jackshaft, second breast wheel is actively socketed on the second jackshaft；The active convex block is fixed on
On second driving wheel, the driven convex block is fixed on third driving wheel；The active convex block is with driven convex block in original state
When separate one section of angular distance；The spacing block set is fixed in pedestal；The third driving wheel is with spacing block set in initial shape
It is in contact when state；One end of the first connecting rod is actively socketed on nearly joint shaft, and the other end of first connecting rod is actively socketed on
In first rotating shaft；One end of the second connecting rod is actively socketed in first rotating shaft, and the other end of second connecting rod is actively socketed on
In second shaft；One end of the third connecting rod is actively socketed in the second shaft, and the other end of third connecting rod is actively socketed on
On remote joint shaft；One end of the fourth link is actively socketed in the second shaft, and the other end of fourth link is actively socketed on
In third shaft；One end of 5th connecting rod is actively socketed in first rotating shaft, and the other end of the 5th connecting rod is actively socketed on
In 4th shaft；One end of the six-bar linkage is actively socketed on remote joint shaft, and the other end of six-bar linkage is actively socketed on
In 4th shaft；One end of the seven-link assembly is actively socketed in third shaft, and the other end of seven-link assembly is actively socketed on
In 4th shaft；The third shaft is set on pedestal；If nearly joint shaft central point is A, first rotating shaft central point is B, the
2 spindle central points are C, and remote joint shaft central point is D, and third spindle central point is E, and the 4th spindle central point is F；Line segment AE
Length be equal to line segment AB, the length of line segment BC is equal to line segment CD, and the length of line segment BC is equal to line segment BF, the length etc. of line segment CD
It is equal to line segment EF in the length of line segment DF, line segment CE；The glide direction of the sliding slot is conllinear with line segment AD；First jackshaft
Sliding is embedded in the first segment；The second jackshaft sliding is embedded in the first segment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721579633.8U CN207983381U (en) | 2017-11-22 | 2017-11-22 | The flat folder adaptive robot finger apparatus of wave Buddhist relics link linear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721579633.8U CN207983381U (en) | 2017-11-22 | 2017-11-22 | The flat folder adaptive robot finger apparatus of wave Buddhist relics link linear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983381U true CN207983381U (en) | 2018-10-19 |
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| CN201721579633.8U Expired - Fee Related CN207983381U (en) | 2017-11-22 | 2017-11-22 | The flat folder adaptive robot finger apparatus of wave Buddhist relics link linear |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891439A (en) * | 2017-11-22 | 2018-04-10 | 清华大学 | The flat folder adaptive robot finger apparatus of ripple Buddhist relics link linear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891439A (en) * | 2017-11-22 | 2018-04-10 | 清华大学 | The flat folder adaptive robot finger apparatus of ripple Buddhist relics link linear |
| CN107891439B (en) * | 2017-11-22 | 2024-04-02 | 清华大学 | Wave-cutting-off sharp connecting rod straight line parallel clamping self-adaptive robot finger device |
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