CN208068286U - The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line - Google Patents
The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line Download PDFInfo
- Publication number
- CN208068286U CN208068286U CN201820330537.8U CN201820330537U CN208068286U CN 208068286 U CN208068286 U CN 208068286U CN 201820330537 U CN201820330537 U CN 201820330537U CN 208068286 U CN208068286 U CN 208068286U
- Authority
- CN
- China
- Prior art keywords
- motor
- segment
- sensor
- joint shaft
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 230000008447 perception Effects 0.000 title claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 230000007704 transition Effects 0.000 claims description 38
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
- 241000237858 Gastropoda Species 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 150000001875 compounds Chemical class 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Abstract
The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line, belong to robot technical field, including pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft, three axis, connector, three connecting rods, sliding block, slide bar, two motors and two transmission mechanisms, trigger sensors, stop grabbing sensor, two park sensor, control module and two motor drive modules.The arrangement achieves the flat folders of straight line and self-adapting grasping function：According to the difference of target object shape and position, object can be clamped outside the second segment of linear translation, can also open support from the inside and take hollow object, moreover it is possible to rotate the object that two segments go envelope crawl different shape, size successively；The demand to control system is reduced when capturing the different size sheet goods being positioned on workbench, crawl range is big, grasping stability；Manufacture is low with maintenance cost, is suitable for robot.
Description
Technical field
The utility model belongs to robot technical field, more particularly to the flat folder perception self-adaption of a kind of concyclic slide bar straight line
The structure design of robot finger apparatus.
Background technology
Robot captures object, and there are mainly two types of grasp modes, and one is grips, and one is envelope grippings.The former is directed to
Object on desktop, and light, wisp crawl；The latter is the crawl for larger heavy objects.
Existing compound crawl robot has the function of two kinds of grip and gripping.
A kind of existing under-actuated robot finger device (patent US5762390A), including pedestal, driver, the second biography
Motivation structure, six connecting rods, three segments, position-limit mechanism and multiple springs etc..The arrangement achieves flat folder and adaptive inclusion complexs
The effect of body：The device is disadvantageous in that：The device in the initial period that flat gripper takes, in circular arc transport by finger tips
It is dynamic --- end circular arc is translatable, and cannot achieve the effect of end segment linear translation, when capturing object on table top, needs mechanical arm
It is good fit, thus increase the dependence programmed to mechanical arm Collaborative Control.
The flat folder adaptive robot hand (patent US8973958B2) of another multi link, including five connecting rods, spring, electricity
Machine etc., the arrangement achieves the flat folders of circular arc and self-adapting grasping pattern.The device can not only realize grip and gripping, and pinch
During holding, the second segment remains the posture constant relative to pedestal, has reached good parallel clamping grasp mode
(referred to as flat gripper take), this grasp mode are particularly suitable for sheet goods of the crawl on work top (desktop), even this
Unique grasp mode in the case of kind (other than going absorption using sucker).In addition, the robot can also object compared with
The stabilization envelope for being contacted object when big using two segments is captured, which obtains the shape closing more more stable than parallel clamping
Effect is captured, this is to capture the more contact points crawl that must be used when heavy objects.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 that adaptive envelope is grabbed
It takes.Disadvantage is that：The device is a kind of circular arc translation end segment in the flat folder stage, cannot achieve linear translation end
Segment needs mechanical arm coordinated when various sizes of sheet goods being clamped on the table, to adjust the position of robot
It sets, to increase control difficulty, is unfavorable for high-speed flexible crawl.
Have the robot (patent WO2016063314A1) of linear translation clamping, including pedestal, motor, transition second
Transmission mechanism, the first segment, the second segment, eight connecting rods, multiple shafts etc..The device can realize that the straight line of the second segment is flat
It is dynamic, the function of straight line parallel clamping is realized to object using the straight line parallel movement of the second segment.Disadvantage is that：The dress
It sets and is only capable of realizing straight line parallel clamping function, cannot achieve the function of adaptive envelope crawl.
Utility model content
The purpose of this utility model is to overcome the shortcomings of prior art, provide a kind of flat folder of concyclic slide bar straight line
Perception self-adaption robot finger apparatus.The device realizes the flat folder of straight line and adaptive compound crawl function：It can be flat along straight line
Object is clamped in dynamic second segment, can also rotate two segments successively and envelope is gone to capture object, adaptive different shape, size object
Body, suitable crawl are positioned over the object on workbench.
The technical solution of the utility model is as follows：
The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line of the utility model design, including pedestal, the
One segment, the second segment, nearly joint shaft) and remote joint shaft；One end of first segment is socketed on nearly joint shaft, and first refers to
The other end of section is socketed on remote joint shaft；Second segment is socketed on remote joint shaft；The nearly joint shaft and remote joint
The center line of axis is mutually parallel；It is characterized in that：The flat folder perception self-adaption robot finger apparatus of the concyclic slide bar straight line also wraps
Include first motor, the first transmission mechanism, slide bar, first axle, the second axis, third axis, connector, intermediate connecting rod, lower link, after
Portion's connecting rod, the second motor, the second transmission mechanism, trigger sensor, stops grabbing sensor, first parks sensor, second stops at sliding block
Put sensor, control module, first motor drive module and the second motor drive module；The first motor and pedestal are affixed；
The output shaft of the first motor is connected with the input terminal of the first transmission mechanism, the output end of first transmission mechanism and connection
Part is connected, and the connector sliding is embedded in pedestal；The first axle is set in connector；The slide bar is solid with pedestal
It connects, the sliding block sliding is embedded on slide bar；The nearly joint shaft is set in sliding block；One end of the intermediate connecting rod is socketed in
In first axle, the other end of intermediate connecting rod is socketed on nearly joint shaft；The intermediate connecting rod and the first segment are affixed；The lower part
One end of connecting rod is socketed on nearly joint shaft, and the other end of lower link is socketed on the second axis；One end of the rear link
It is socketed on the second axis, the other end of rear link is socketed on third axis；Second segment is socketed on third axis；It is described
First axle, the second axis, third axis and nearly joint shaft center line be mutually parallel；If nearly joint shaft, remote joint shaft, first axle, the
Two axis, third axis central point be respectively A, B, E, D, C, four side parallel with line segment DA compositions line segment AB, line segment BC, line segment CD
Shape；The line segment AB and line segment AE is mutually perpendicular to, glide direction and connector sliding on pedestal of the sliding block along slide bar
Angle is α between direction, and the ratio between the line segment AB and line segment AE are tan (pi/2-α)；The center line and connector of the first axle
Glide direction in pedestal is vertical；Second motor and sliding block are affixed, the output shaft of second motor and the second transmission
The input terminal of mechanism is connected, and the output end of second transmission mechanism is connected with lower link；The control module includes first
Motor drive output, triggering input terminal, stops grabbing input terminal, first parks input terminal, second stops at the second motor drive output
Put input terminal and reset terminal；The reset terminal of the control module connects reset signal；The first motor of the control module drives
Output end, the second motor drive output respectively with the input terminal of first motor drive module, the second motor drive module it is defeated
Enter end connection；The output end of the first motor drive module, the output end of the second motor drive module respectively with first motor,
The lead of second motor is connected；The trigger sensor is fixedly mounted on the gripping surface of the first segment, acquires grabbed object and touches
Touch the information of the first segment；The signal exit of the trigger sensor and the triggering input terminal of control module connect；It is described
Stop grab the gripping surface that sensor is fixedly mounted on the second segment, acquire the information that grabbed object touches the second segment；Described
Stop grabbing the signal exit of sensor and the input terminal that stops grabbing of control module connects；Described first parks sensor fixed installation
On pedestal, acquisition connector is relative to the information for sliding into initial position in pedestal；Described first parks the letter of sensor
The first of number exit and control module parks input terminal connection；Described second parks sensor and is fixedly mounted on sliding block,
Acquisition lower link turns to the information of some set angle relative to sliding block around nearly joint shaft；Described second parks sensor
Signal exit and control module second park input terminal connection；The control module operation control program, is obtaining
After external crawl object instruction, sends out instruction and first motor rotation is driven by first motor drive module, triggered
After the trigger signal of sensor feedback, sends out instruction and first motor rotation is stopped by first motor drive module, and send out finger
Enable and the rotation of the second motor driven by the second motor drive module, obtain stopping grabbing sensor feedback stop grabbing signal after, send out
Instruction stops the rotation of the second motor by the second motor drive module；After obtaining reset signal, sends out instruction and pass through the second electricity
Machine drive module drive the second motor reversal, obtain second park sensor feedback park signal after, send out instruction and pass through
Second motor drive module stops the second motor, and sends out instruction and drive first motor reversion by first motor drive module,
Obtain first park sensor feedback park signal after, send out instruction by first motor drive module stop first electricity
Machine.
The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line described in the utility model, it is characterised in that：
First transmission mechanism includes leading screw and nut；The output shaft of the first motor and one end of leading screw are affixed, the leading screw
It is set in pedestal, the nut cooperatively forms screw-driven relationship with leading screw, and the nut and connector are affixed；The leading screw
Center line it is consistent with glide direction of the connector in pedestal.
The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line described in the utility model, it is characterised in that：
Second transmission mechanism includes retarder, worm screw, worm gear, transition axis, First Transition gear and the second transition gear；Described
The output shaft of two motors is connected with the input terminal of retarder, and the worm screw is fixed on the output shaft of retarder；The worm screw with
Worm gear engages, and the worm gear is fixed on transition axis, and the transition axis is set in sliding block, and the First Transition gear is fixed in
On transition axis, the First Transition gear is engaged with the second transition gear, and second transition gear is socketed on nearly joint shaft,
Second transition gear and lower link are affixed.
The utility model compared with prior art, has the following advantages and high-lighting effect：
Utility model device utilizes 4 points of concyclic linkage rod slide block mechanisms, multiple sensors, control module and two motors
Deng the comprehensive compound grasp mode for realizing straight line parallel clamping and the crawl of adaptive envelope.According to target object shape and position
Difference, object can be clamped outside linear translation the second segment, can also open support from the inside and take hollow object, also
The object that the first segment and the second segment go envelope crawl different shape, size with two segment contacts can be rotated successively；Crawl
The demand to control system is reduced when the different size sheet goods being positioned on workbench, without being carried out for different objects
Complicated program, crawl range is big, grasping stability；Manufacture is low with maintenance cost, is suitable for robot.
Description of the drawings
Fig. 1 is a kind of reality of the flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line of the utility model design
Apply the stereo appearance figure of example.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is a side external view (left view of Fig. 2) for embodiment illustrated in fig. 1.
Fig. 4 is the K-K sectional views of Fig. 3.
Fig. 5 is the inside three-dimensional view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 is the electrical schematic diagram of embodiment illustrated in fig. 1.
Fig. 8 is the straight-line mechanism principle schematic of embodiment illustrated in fig. 1.
Fig. 9 is the action process figure of the second segment of embodiment illustrated in fig. 1 linear translation.
Figure 10 is embodiment illustrated in fig. 1 with the action process schematic diagram of object on straight line parallel method of clamping crawl desktop.
Figure 11 is the action process schematic diagram that embodiment illustrated in fig. 1 captures object with adaptive envelope holding mode.
In Fig. 1 to Figure 11：
1-pedestal, 101-pedestal bottom plates, 102-pedestal left plates, 103-pedestal right plates,
104-pedestal foreboards, 105-pedestal back plates, 11-first motors, the 110-the first transmission mechanism,
111-leading screws, 112-nuts, 113-shaft couplings, 12-slide bars,
21-the first segment, the 210-the first segment outer cover, the 22-the second segment, the 220-the second segment outer cover,
31-nearly joint shafts, 32-remote joint shafts, 331-first axles, the 332-the second axis,
333-third axis, 41-connectors, 42-intermediate connecting rods, 43-lower links,
44-rear links, 5-sliding blocks, 51-slide bodies, 52-sliding block cover boards,
61-the second motor, the 62-the second transmission mechanism, 620-retarders, 621-worm screws,
622-worm gears, 623-transition axises, 624-First Transition gears, the 625-the second transition gear,
71-trigger sensors, 72-stop grabbing sensor, and 731-the first parks sensor, and 732-the second parks sensing
Device,
8-control modules, 91-first motor drive modules, the 92-the second motor drive module, 93-bearings,
94-screws, 95-gaskets, 10-objects.
Specific implementation mode
Be described in further detail with reference to the accompanying drawings and embodiments the concrete structure of the utility model, operation principle it is interior
Hold.
A kind of embodiment of the flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line of the utility model design,
As shown in Figures 1 to 7, including pedestal 1, the first segment 21, the second segment 22, nearly joint shaft 31 and remote joint shaft 32；Described
One end of one segment 21 is socketed on nearly joint shaft 31, and the other end of the first segment 21 is socketed on remote joint shaft；Described second
Segment 22 is socketed on remote joint shaft 32；The center line of the nearly joint shaft 31 and remote joint shaft 32 is mutually parallel；The concyclic cunning
The flat folder perception self-adaption robot finger apparatus of bar straight line further includes first motor 11, the first transmission mechanism 110, slide bar 12, the
One axis 331, the second axis 332, third axis 333, connector 41, intermediate connecting rod 42, lower link 43, rear link 44, sliding block 5,
Second motor 61, trigger sensor 71, stops grabbing sensor 72, first parks sensor 731, second stops at second transmission mechanism 62
Put sensor 732, control module 8, first motor drive module 91 and the second motor drive module 92；The first motor and base
Seat is affixed；The output shaft of the first motor 11 is connected with the input terminal of the first transmission mechanism 110, first transmission mechanism
110 output end is connected with connector 41, and the sliding of the connector 41 is embedded in pedestal；331 company of being set in of the first axle
In fitting 41；The slide bar 12 and pedestal 1 are affixed, and the sliding of the sliding block 5 is embedded on slide bar 12；The nearly joint shaft 31 is arranged
In sliding block 5；One end of the intermediate connecting rod 42 is socketed in first axle 331, and the other end of intermediate connecting rod is socketed in nearly joint
On axis 31；The intermediate connecting rod 42 and the first segment 21 are affixed；One end of the lower link 43 is socketed on nearly joint shaft 31,
The other end of lower link 43 is socketed on the second axis 332；One end of the rear link 44 is socketed on the second axis 332, after
The other end of portion's connecting rod 44 is socketed on third axis 333；Second segment 22 is socketed on third axis 333；The first axle
331, the center line of the second axis 332, third axis 333 and nearly joint shaft 31 is mutually parallel；If nearly joint shaft 31, remote joint shaft 32,
First axle 331, the second axis 332, third axis 333 central point be respectively A, B, E, D, C, as shown in figure 8, line segment AB, line segment BC,
Line segment CD and line segment DA constitute parallelogram；The line segment AB and line segment AE is mutually perpendicular to, cunning of the sliding block 5 along slide bar 12
Angle is α between the dynamic glide direction of direction and connector 41 on pedestal 1, the ratio between the line segment AB and line segment AE for tan (π/
2-α)；The center line of the first axle 331 is vertical with glide direction of the connector 41 in pedestal 1；Second motor 61 with
Sliding block 5 is affixed, and the output shaft of second motor 61 is connected with the input terminal of the second transmission mechanism 62, second transmission mechanism
62 output end is connected with lower link 43；The control module 8 is defeated including first motor drive output, the driving of the second motor
Outlet, triggering input terminal stop grabbing input terminal, first park input terminal, second park input terminal and reset terminal；The control module
8 reset terminal connects reset signal；The first motor drive output of the control module 8, the second motor drive output point
It is not connect with the input terminal of the input terminal of first motor drive module 91, the second motor drive module 92；The first motor is driven
The output end of dynamic model block 91, the second motor drive module 92 output end respectively with first motor 11, the lead of the second motor 61
It is connected；The trigger sensor 71 is fixedly mounted on the gripping surface of the first segment 21, acquires grabbed object 10 and touches the first finger
The information of section 21；The signal exit of the trigger sensor 71 is connect with the triggering input terminal of control module 8；Described stops
The gripping surface that sensor 72 is fixedly mounted on the second segment 22 is grabbed, the information that grabbed object 10 touches the second segment 22 is acquired；Institute
The signal exit for stopping grabbing sensor 72 stated is connect with the input terminal that stops grabbing of control module 8；Described first parks sensor
731 are fixedly mounted on pedestal 1, and acquisition connector 41 is relative to the information for sliding into initial position in pedestal 1；Described first
It parks the signal exit of sensor 731 and parks input terminal with the first of control module 8 and connect；Described second parks sensor
732 are fixedly mounted on sliding block 5, and acquisition lower link 43 turns to some set angle relative to sliding block 5 around nearly joint shaft 31
Information；Described second, which parks the signal exit of sensor 732 and park input terminal with the second of control module 8, to be connect；Institute
The operation control program of control module 8 stated sends out instruction and is driven by first motor after obtaining external crawl object instruction
Module 91 drives first motor 11 to rotate, and after the trigger signal for obtaining the feedback of trigger sensor 71, sends out instruction and passes through first
Motor drive module 91 stops first motor 11 and rotates, and sends out instruction and drive the second motor by the second motor drive module 92
61 rotations, obtain stopping grabbing the feedback of sensor 72 stop grabbing signal after, send out instruction and stopped by the second motor drive module 92
Second motor 61 rotates；After obtaining reset signal, sends out instruction and the second motor 61 is driven by the second motor drive module 92
Reversion, obtain second park sensor 732 feedback park signal after, send out instruction stopped by the second motor drive module 92
Only the second motor 61, and send out instruction and drive first motor 11 to invert by first motor drive module 91, stop obtaining first
Put sensor 731 feedback park signal after, send out instruction by first motor drive module 91 stop first motor 11.
In the present embodiment, first transmission mechanism 110 includes leading screw 111, nut 112 and shaft coupling 113；Described first
The output shaft of motor 11 is affixed by shaft coupling 113 and one end of leading screw 111, and the leading screw 111 is set in pedestal 1, described
Nut 112 cooperatively forms screw-driven relationship with leading screw 111, and the nut 112 and connector 41 are affixed；The leading screw 111
Center line is consistent with glide direction of the connector 41 in pedestal 1.
In the present embodiment, second transmission mechanism 62 include retarder 620, worm screw 621, worm gear 622, transition axis 623,
First Transition gear 624 and the second transition gear 625；The output shaft of second motor 61 and the input terminal phase of retarder 620
Even, the worm screw 621 is fixed on the output shaft of retarder 620；The worm screw 621 engages with worm gear 622, the worm gear 622
It is fixed on transition axis 623, the transition axis 623 is set in sliding block 5, and the First Transition gear 624 is fixed in transition axis
On 623, the First Transition gear 624 is engaged with the second transition gear 625, and second transition gear 625 is socketed in nearly pass
On nodal axisn 31, second transition gear 625 and lower link 43 are affixed.
In the present embodiment, the pedestal 1 includes pedestal bottom plate 101, pedestal left plate 102, pedestal right plate 103, pedestal
Foreboard 104 and pedestal back plate 105, the pedestal bottom plate 101, pedestal left plate 102, pedestal right plate 103, pedestal foreboard 104
It is affixed with pedestal back plate 105.
In the present embodiment, first segment 21 includes the first affixed segment outer cover 210；Second segment 22 includes
The second affixed segment outer cover 220；The sliding block 5 includes affixed slide body 51 and sliding block cover board 52.
The present embodiment further includes bearing 93, screw 94 and gasket 95 etc..
In conjunction with attached drawing, the operation principle for introducing the utility model is as follows：
Remember that the central point E of first axle sliding up and down in pedestal constitutes straight line EO, wherein O points are that point E is sliding straight and A
Sliding straight intersection point of the point on slide bar, as shown in Figure 8.
Utility model device includes 4 points of concyclic mechanisms, referred to as 4 points of concyclic linkage rod slide block mechanisms.Under
Face provides 4 points of concyclic proofs in the mechanism.
It is known：∠ EOA=α, AB/AE=tan (pi/2-α), EA ⊥ AB, at a time, point E1、A1、B1Respectively point E,
A, B post exercises current point, point E1It is translatable on straight line EO, corresponding, A1It is accordingly translatable on straight line OA, will be proven below point B1
Be translatable on straight line BO, and straight line BO vertically with straight line EO.
Q EA⊥AB.
∴ line segments EB is the diameter of a circle of 3 points of passing point E, A, B
QAB/AE=tan (pi/2-α)
∴ ∠ EBA=α (1)
Q ∠ EOA=α (2) again
It is obtained by (1), (2)：∠ EOA=∠ EBA=α
According to " corresponding two angles of circumference of same string are equal, then four points are concyclic ",
4 points of concyclic of ∴ points O, E, A, B
Remember ∠ AEB=β, has：β=pi/2-α
According to " angle of circumference of identical chord length is equal ",
Then 4 points of point O, E, A, B concyclic middle corresponding chord length AB ∠ AOB=∠ AEB=β,
And a line of β is fixed straight line AO,
Therefore the another a line of β be straight line BO, BO be it is fixed,
That is B1Put the on straight line BO always
Q alpha+betas=pi/2,
∴BO⊥EO.
When capturing object 10, first motor 11 rotates, and so that leading screw 111 is rotated by shaft coupling 113, nut 112 and affixed
Connector 41 be translatable downwards on pedestal 1, by first axle 331 so that intermediate connecting rod 42 and affixed first segment 21 are corresponding
Movement, proves that the central point B of remote joint shaft 32 is straight to the left along straight line BO according to 4 points of concyclic linkage rod slide block mechanism principles above
Line is translatable, as shown in Figure 9；Sliding block 5 accordingly slides on slide bar 12, and the second motor 61 does not rotate at this time, by the second driver
Structure 62 so that 43 opposing slider 5 of lower link does not rotate, and lower link 43 is constant relative to 1 posture of pedestal, because parallel four
The relationship of side shape ABCD, the second segment 22 (i.e. line segment BC) keep parallel with lower link 43 in the process, to which second refers to
Section 22 is constant relative to the posture of pedestal 1, reaches the function of straight line parallel clamping, and object 10 on the table is put in suitable crawl
(be in this case unique grasp mode).
In above process, if the second segment 22 first contacts object 10, stop grabbing sensor 72 and obtain signal, control mould
Block 8 sends out instruction, and by first motor drive module 91 so that first motor 11 stalls, crawl terminates.Reach and has been referred to second
Section 22 contacts the grasp mode of the straight line parallel clamping object of object 10.Action process is as shown in Figure 10.
In above process, if the first segment 21 first contacts object 10, trigger sensor 71 obtains signal, controls mould
Block 8 sends out instruction, by first motor drive module 91 so that first motor 11 stalls, is made by the second motor drive module 92
The rotation of the second motor 61 is obtained, the second transmission mechanism 62 (retarder 620, worm screw 621, worm gear 622, transition axis 623, first are passed through
Transition gear 624, the second transition gear 625) so that lower link 43 is rotated around nearly joint shaft 31, it is driven by rear link 44
Second segment 22 is gone the long way round the rotation of joint shaft 32, until the second segment 22 also contact object 10, is stopped grabbing sensor 72 and is obtained signal, control
Molding block 8 sends out instruction, and by first motor drive module 91 so that first motor 11 stalls, crawl terminates.Reach with
One segment 21 and the second segment 22 contact the grasp mode of the self-adapting grasping object of object 10 simultaneously, which can be certainly
The dynamic object for adapting to different shape, size, there are two contact points for tool, and grasp force is big and crawl is more stable, is suitble to crawl heavier
Different objects.Action process is as shown in figure 11.
When discharging object 10, control module 8 sends out instruction, allows the second motor 61 to invert, is made by the second transmission mechanism 62
Lower link 43 inverts, and 10 surface of object is left in the reversion of the second segment 21, while first motor 11 inverts, and passes through the first driver
Structure 61 makes 21 corresponding sports of intermediate connecting rod 42 and the first segment, the first segment 21 leave 10 surface of object, parks sensing when first
Device 731 obtains signal, stops first motor 11；When second parks sensor 732 and obtain signal, stop the second motor 61, release
Terminate, which is returned to initial position.
Reset signal is received, control module 8 executes the pattern of above-mentioned release object, repeats no more.
Utility model device utilizes 4 points of concyclic linkage rod slide block mechanisms, multiple sensors, control module and two motors
Deng the comprehensive compound grasp mode for realizing straight line parallel clamping and the crawl of adaptive envelope.According to target object shape and position
Difference, object can be clamped outside linear translation the second segment, can also open support from the inside and take hollow object, also
The object that the first segment and the second segment go envelope crawl different shape, size with two segment contacts can be rotated successively；Crawl
The demand to control system is reduced when the different size sheet goods being positioned on workbench, without being carried out for different objects
Complicated program, crawl range is big, grasping stability；Manufacture is low with maintenance cost, is suitable for robot.
Claims (3)
1. a kind of flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line, including pedestal, the first segment, the second finger
Section, nearly joint shaft and remote joint shaft；One end of first segment is socketed on nearly joint shaft, the other end socket of the first segment
On remote joint shaft；Second segment is socketed on remote joint shaft；The center line of the nearly joint shaft and remote joint shaft is mutual
It is parallel；It is characterized in that：The flat folder perception self-adaption robot finger apparatus of the concyclic slide bar straight line further includes first motor, first
Transmission mechanism, slide bar, first axle, the second axis, third axis, connector, intermediate connecting rod, lower link, rear link, sliding block,
Two motors, trigger sensor, stop grabbing sensor, first park sensor, second park sensor, control at the second transmission mechanism
Module, first motor drive module and the second motor drive module；The first motor and pedestal are affixed；The first motor
Output shaft is connected with the input terminal of the first transmission mechanism, and the output end of first transmission mechanism is connected with connector, the company
Fitting sliding is embedded in pedestal；The first axle is set in connector；The slide bar and pedestal are affixed, the sliding block sliding
It is embedded on slide bar；The nearly joint shaft is set in sliding block；One end of the intermediate connecting rod is socketed in first axle, and centre connects
The other end of bar is socketed on nearly joint shaft；The intermediate connecting rod and the first segment are affixed；One end of the lower link is socketed
On nearly joint shaft, the other end of lower link is socketed on the second axis；One end of the rear link is socketed on the second axis,
The other end of rear link is socketed on third axis；Second segment is socketed on third axis；The first axle, the second axis,
The center line of third axis and nearly joint shaft is mutually parallel；If in nearly joint shaft, remote joint shaft, first axle, the second axis, third axis
Heart point is respectively A, B, E, D, C, and line segment AB, line segment BC, line segment CD and line segment DA constitute parallelogram；The line segment AB and line
Section AE is mutually perpendicular to, and sliding block angle between the glide direction on pedestal of glide direction and connector of slide bar is α, institute
It is tan (pi/2-α) to state the ratio between line segment AB and line segment AE；The center line of the first axle and glide direction of the connector in pedestal
Vertically；Second motor and sliding block are affixed, and the output shaft of second motor is connected with the input terminal of the second transmission mechanism, institute
The output end for stating the second transmission mechanism is connected with lower link；The control module includes first motor drive output, second
Motor drive output, triggering input terminal stop grabbing input terminal, first park input terminal, second park input terminal and reset terminal；Institute
State the reset terminal connection reset signal of control module；The first motor drive output of the control module, the driving of the second motor
Output end is connect with the input terminal of the input terminal of first motor drive module, the second motor drive module respectively；First electricity
The output end of machine drive module, the second motor drive module output end be connected respectively with the lead of first motor, the second motor；
The trigger sensor is fixedly mounted on the gripping surface of the first segment, acquires the information that grabbed object touches the first segment；Institute
The signal exit for the trigger sensor stated and the triggering input terminal of control module connect；Described stops grabbing sensor fixed installation
In the gripping surface of the second segment, the information that grabbed object touches the second segment is acquired；The signal for stopping grabbing sensor is drawn
End is connect with the input terminal that stops grabbing of control module；Described first parks sensor and is fixedly mounted on pedestal, acquires connector
Relative to the information for sliding into initial position in pedestal；Described first parks the signal exit and control module of sensor
First parks input terminal connection；Described second parks sensor and is fixedly mounted on sliding block, and acquisition lower link is relative to cunning
Block turns to the information of some set angle around nearly joint shaft；Described second parks the signal exit and control mould of sensor
The second of block parks input terminal connection；The control module operation control program, after obtaining external crawl object instruction,
It sends out instruction and first motor rotation is driven by first motor drive module, obtaining the trigger signal of trigger sensor feedback
Afterwards, it sends out instruction and first motor rotation is stopped by first motor drive module, and send out instruction and mould is driven by the second motor
Block drives the rotation of the second motor, obtain stopping grabbing sensor feedback stop grabbing signal after, send out instruction and driven by the second motor
Module stops the rotation of the second motor；After obtaining reset signal, sends out instruction and pass through the second electricity of the second motor drive module driving
Machine invert, obtain second park sensor feedback park signal after, send out instruction by the second motor drive module stop
Second motor, and send out instruction and first motor reversion is driven by first motor drive module, park sensor obtaining first
After that feeds back parks signal, sends out instruction and first motor is stopped by first motor drive module.
2. the flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line as described in claim 1, it is characterised in that：Institute
It includes leading screw and nut to state the first transmission mechanism；The output shaft of the first motor and one end of leading screw are affixed, the screw set
It is located in pedestal, the nut cooperatively forms screw-driven relationship with leading screw, and the nut and connector are affixed；The leading screw
Center line is consistent with glide direction of the connector in pedestal.
3. the flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line as described in claim 1, it is characterised in that：Institute
It includes retarder, worm screw, worm gear, transition axis, First Transition gear and the second transition gear to state the second transmission mechanism；Described second
The output shaft of motor is connected with the input terminal of retarder, and the worm screw is fixed on the output shaft of retarder；The worm screw and snail
Wheel engagement, the worm gear are fixed on transition axis, and the transition axis is set in sliding block, and the First Transition gear was fixed in
It crosses on axis, the First Transition gear is engaged with the second transition gear, and second transition gear is socketed on nearly joint shaft, institute
It is affixed with lower link to state the second transition gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820330537.8U CN208068286U (en) | 2018-03-09 | 2018-03-09 | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820330537.8U CN208068286U (en) | 2018-03-09 | 2018-03-09 | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208068286U true CN208068286U (en) | 2018-11-09 |
Family
ID=64038967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820330537.8U Withdrawn - After Issue CN208068286U (en) | 2018-03-09 | 2018-03-09 | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208068286U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312163A (en) * | 2018-03-09 | 2018-07-24 | 清华大学 | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line |
| CN110561467A (en) * | 2019-08-06 | 2019-12-13 | 张嘉伟 | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device |
| CN112092010A (en) * | 2020-09-16 | 2020-12-18 | 芯导精密(北京)设备有限公司 | Novel mechanical arm transmission structure and mechanical arm comprising same |
| CN114378806A (en) * | 2020-10-20 | 2022-04-22 | 腾讯科技（深圳）有限公司 | Robot hand, method and apparatus for driving robot hand |
-
2018
- 2018-03-09 CN CN201820330537.8U patent/CN208068286U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312163A (en) * | 2018-03-09 | 2018-07-24 | 清华大学 | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line |
| CN108312163B (en) * | 2018-03-09 | 2023-12-29 | 清华大学 | Co-circular slide bar straight line parallel clamping sensing self-adaptive robot finger device |
| CN110561467A (en) * | 2019-08-06 | 2019-12-13 | 张嘉伟 | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device |
| CN110561467B (en) * | 2019-08-06 | 2023-09-08 | 张嘉伟 | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device |
| CN112092010A (en) * | 2020-09-16 | 2020-12-18 | 芯导精密(北京)设备有限公司 | Novel mechanical arm transmission structure and mechanical arm comprising same |
| CN114378806A (en) * | 2020-10-20 | 2022-04-22 | 腾讯科技（深圳）有限公司 | Robot hand, method and apparatus for driving robot hand |
| CN114378806B (en) * | 2020-10-20 | 2023-12-22 | 腾讯科技（深圳）有限公司 | Manipulator, and driving method and device for manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208068286U (en) | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line | |
| CN105798938B (en) | Flat folder perception self-adaption robot finger apparatus and its control method | |
| CN108274487A (en) | The flat folder indirect self-adaptive robot finger apparatus of rack slide bar straight line | |
| CN108972603A (en) | The flat folder adaptive robot finger apparatus of the compensation straight line of glide base | |
| CN108515528A (en) | The flat folder adaptive robot finger apparatus of slide bar delay displacement straight line | |
| CN107351076A (en) | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation | |
| CN107972051A (en) | Spacing leverage speedup compensating line puts down folder adaptive robot finger apparatus | |
| CN108927817B (en) | Inclined rod double-slider linear flat clamping indirect self-adaptive robot finger device | |
| CN206966984U (en) | A kind of two-sided bus-bar automatic assembling machine | |
| CN106346499B (en) | The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line | |
| CN108312163A (en) | The flat folder perception self-adaption robot finger apparatus of concyclic slide bar straight line | |
| CN107284979A (en) | A kind of side's bar automatic charging device | |
| CN109176566A (en) | The flat folder adaptive robot finger apparatus of gear sliding slot link linear | |
| CN107962581A (en) | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus | |
| CN109500832A (en) | The flat folder adaptive robot finger apparatus of altimetric compensation bar tooth parallel connection straight line | |
| CN207983375U (en) | Limit the flat folder adaptive robot finger apparatus of leverage speedup compensating line | |
| JP2002036154A (en) | Self-standing work transfer device | |
| CN207361314U (en) | A kind of robot captures transfer device | |
| CN106272496B (en) | The flat adaptive finger apparatus of folder of belt wheel link linear in parallel | |
| CN114044353B (en) | Harbour logistics manipulator with adjustable grabbing state | |
| CN108247658A (en) | Flat folder coupling adaptive multi-mode crawl robot finger apparatus | |
| CN207071940U (en) | A kind of flat folder coupling conversion handyman finger apparatus of rack | |
| CN109571520A (en) | The flat folder adaptive robot finger apparatus of Huo Ken link linear | |
| CN207522619U (en) | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus | |
| CN209036551U (en) | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181109 Effective date of abandoning: 20231229 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181109 Effective date of abandoning: 20231229 |