CN209036551U - The flat folder adaptive robot finger apparatus of gear sliding slot link linear - Google Patents
The flat folder adaptive robot finger apparatus of gear sliding slot link linear Download PDFInfo
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- CN209036551U CN209036551U CN201821564204.8U CN201821564204U CN209036551U CN 209036551 U CN209036551 U CN 209036551U CN 201821564204 U CN201821564204 U CN 201821564204U CN 209036551 U CN209036551 U CN 209036551U
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Abstract
The flat folder adaptive robot finger apparatus of gear sliding slot link linear, belongs to robot technical field, including pedestal, two segments, motor, multiple gears, multiple connecting rods, straight, idler wheel, spring part and limited block etc..The arrangement achieves the compound grasp modes of robot straight line parallel clamping and self-adapting grasping.Device energy second segment of linear translation clamps object, and being translatable, the second segment clamps the object stage, and the second segment end remains the motion profile of straight line, is suitble to grab different size objects in work top；The device also can self-adapting grasping object, the first segment contact object stop motion after, the second segment go the long way round joint shaft rotation, adapt to body form carry out envelope crawl, be suitble to crawl different shape, size object；The device utilizes two segments of a motor driven, and crawl range is big, without complicated sensing and control, is easy to control；The apparatus structure is compact, at low cost, suitable in the various robots for needing to grab.
Description
Technical field
The utility model belongs to robot technical field, in particular to the flat folder of a kind of gear sliding slot link linear is adaptive
The structure of robot finger apparatus designs.
Background technique
Mankind's scientific and technological progress continues to develop, and various robots come into being, and play in all trades and professions important
Role, help the mankind to complete various uninteresting, dangerous or hard works.Robot is that robot gripping tool is carried out the work
Or the important component of directly grasping manipulation object.Crawl, which refers to, turns object three one-movement-freedom-degrees in space and three
Dynamic freedom degree all limits, thus to reach and stablize crawl and need more than two relative contacts, thus with finger
Multifingered robot hands have obtained a large amount of research.Multifingered robot hands include the primary categories such as Dextrous Hand, drive lacking hand.Wherein,
Since delicate finger-joint freedom degree is very more, cause to control it is extremely complex, contribute it is also small, be difficult to promote the use of at present.Drive lacking
Hand is the robot using the more joint freedom degrees of less motor driven.Drive lacking hand be divided into coupling finger, flat clip finger and
The basic class such as adaptive finger also include coupling adaptive, the flat adaptive compound crawl type finger of two classes of folder.Flat folder is adaptive
Compound finger because have preferable centering to grab effect, and can self-adapting grasping object, control is easier, and has obtained wide
General research, during constantly promoting and applying.
Flat folder under-actuated finger (patent WO2016063314A1) of connecting rod type linear is devised, and is driven using a motor
Dynamic two segments movement, core is that Chebyshev's link mechanism and double parallel four-bar mechanism parallel configuration have been reached end
Parallel clamping (the flat folder of abbreviation straight line) grasp mode that segment is moved along straight path, it is different to be particularly suitable for clamping on the table
The object of size, control is relatively easy, and crawl range is big, all using cradle head, without using translation to constrain.It is not
Foot place is: the device does not have the function of adaptive envelope crawl.
The parallel under-driving robot finger (patent US5762390A) of multi link is devised, using motor and transmission
Mechanism drives double trapezoid four-bar mechanism, and using double parallel quadrilateral connecting rod mechanism and spring part as constraint, realizes flat folder
With adaptive compound crawl function.First stage of the finger when grabbing object is parallel clamping mode, i.e. successively rotation first
Segment, the second segment and third segment, the third segment of end remain relative to the changeless posture of pedestal, guidance the
One, after two segments contact object just can adaptive curved end joint, achieve the purpose that adaptively to include crawl.Its deficiency
Be in: the device does not have straight line to equal folder function --- the end segment of the device be during translation present circular motion,
Thus when grabbing the different size objects on workbench, needs mechanical arm cooperation control to be just able to achieve, increase control difficulty.
Utility model content
The purpose of this utility model is to overcome the shortcomings of prior art, propose a kind of gear sliding slot link linear
Flat folder adaptive robot finger apparatus.When the device clamps object, the second segment remains straight-line trajectory, Neng Gouzhi
Line the second segment grip object of translation, is suitable for work top and grabs different size objects, be easy to control, cooperate without mechanical arm
Adjust the height of robot；When the device-adaptive grabs object, after the first segment contacts object stop motion, second refers to
Section continues to rotate the object for realizing adaptive envelope crawl different shape, size.
The technical solution of the utility model is as follows:
The flat folder adaptive robot finger apparatus of the gear sliding slot link linear of the utility model design, it is characterised in that:
Including pedestal, motor, transmission mechanism, the first segment, the second segment, first axle, the second axis, third axis, the 4th axis, the 5th axis,
Roller shaft, idler wheel, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, first gear, second gear,
Three gears, the 4th gear, the 5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear, the tenth gear, the first tooth
Wheel shaft, second gear axis, third gear shaft, the 4th gear shaft, the 5th gear shaft, the 6th gear shaft, convex block, limited block and spring
Part；The motor and pedestal are affixed；The output end of the motor is connected with the input terminal of transmission mechanism；The transmission mechanism it is defeated
Outlet is connected with third connecting rod；The third connecting rod is socketed in first axle；The first axle is set in pedestal；Described first
Connecting rod is actively socketed in first axle；Second axle sleeve is located in first connecting rod；The second connecting rod is actively socketed on second
On axis；5th axle sleeve is located in second connecting rod；The third axle sleeve is located in third connecting rod；The fourth link movable sleeve
It connects on third axis；4th axle sleeve is located in fourth link；The both ends of 5th connecting rod are actively socketed on the 4th respectively
On axis and the 5th axis；The roller shaft is set in pedestal；The idler wheel is actively socketed on roller shaft；The second connecting rod has
Straight；The idler wheel inlays movement in straight；First segment and second connecting rod are affixed；Second segment
It is affixed with the 5th connecting rod；The limited block is affixed on the base；The convex block and first gear are affixed；In the initial state, institute
Convex block is stated to contact with limited block；The both ends of the spring part are separately connected pedestal and convex block；The first gear is actively socketed on
On one axis；The second gear is actively socketed on first gear axis；The third gear is actively socketed on the second axis；It is described
4th gear is actively socketed on the second axis；5th gear is actively socketed on second gear axis；6th gear is living
It is dynamic to be socketed on third gear shaft；7th gear is actively socketed on the 4th gear shaft；The eighth gear pivot bush unit
On the 5th gear shaft；9th gear is actively socketed on the 6th gear shaft；Tenth gear is actively socketed on the 5th
On axis；The first gear axle sleeve is located on first connecting rod；The second gear axis, third gear shaft, the 4th gear shaft, the 5th
Gear shaft, the 6th gear shaft are respectively sleeved on second connecting rod；The first gear is engaged with second gear；The second gear
It is engaged with third gear；The third gear and the 4th gear are affixed；4th gear is engaged with the 5th gear；Described 5th
Gear is engaged with the 6th gear；6th gear is engaged with the 7th gear；7th gear is engaged with eighth gear；It is described
Eighth gear is engaged with the 9th gear；9th gear is engaged with the tenth gear；If first axle, the second axis, third axis, the 4th
The central point of axis, the 5th axis and roller shaft is respectively A, B, C, D, E, F；The length of line segment AF is 1.5 times of the length of line segment AB,
The length of line segment BE is 6 times of the length of line segment AB；The center line of the straight is overlapped with line segment BE；Point B is in straight line FA
On subpoint be located on the extended line of line segment FA；Transmission from first gear by second gear to third gear is constant speed biography
It is dynamic；From the 4th gear by the 5th gear, the 6th gear, the 7th gear, eighth gear and the 9th gear to the tenth gear biography
It moves as constant speed drive；The first axle, the second axis, third axis, the 4th axis, the 5th axis, first gear axis, second gear axis,
Three gear shafts, the 4th gear shaft, the 5th gear shaft, the 6th gear shaft and roller shaft center line be parallel to each other.
The flat folder adaptive robot finger apparatus of gear sliding slot link linear described in the utility model, it is characterised in that:
The transmission mechanism includes retarder, worm screw, worm gear, transition axis, the first pedestal gear and the second pedestal gear；The motor
Output shaft is connected with the input shaft of retarder, and the worm screw is fixed on the output shaft of retarder, and the worm gear is engaged with worm screw,
The worm gear is fixed on transition axis, and the transition axis is set in pedestal, and the first pedestal gear is fixed on transition axis,
The second pedestal gear is engaged with the first pedestal gear；The second pedestal gear is socketed in first axle；Second base
Seat gear and third connecting rod are affixed.
The flat folder adaptive robot finger apparatus of gear sliding slot link linear described in the utility model, it is characterised in that:
The spring part uses tension spring, pressure spring or torsional spring.
The utility model compared with prior art, has the following advantages that and high-lighting effect:
Utility model device utilizes two segments, motor, multiple gears, multiple connecting rods, straight, idler wheel, spring part
With the comprehensive compound grasp mode for realizing robot straight line parallel clamping and self-adapting grasping such as limited block.The device energy straight line
Second segment that is translatable clamps object, and being translatable, the second segment clamps the object stage, and the second segment end remains the fortune of straight line
Dynamic rail mark is suitble to grab different size objects in work top；The device also can self-adapting grasping object, the first segment contact
After object stop motion, the second segment is gone the long way round joint shaft rotation, is adapted to body form and is carried out envelope crawl, is suitble to crawl not similar shape
The object of shape, size；The device utilizes two segments of a motor driven, and crawl range is big, without complicated sensing and control, holds
It is easy to control；The apparatus structure is compact, at low cost, suitable in the various robots for needing to grab.
Detailed description of the invention
Fig. 1 is a kind of reality of the flat folder adaptive robot finger apparatus of gear sliding slot link linear of the utility model design
Apply the three-dimensional view of example.
Fig. 2 is the three-dimensional view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 3 is the three-dimensional view (being not drawn into part) of another angle of embodiment illustrated in fig. 1.
Fig. 4 is the front view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 5 is the dorsal 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 action process schematic diagram of the second segment of embodiment illustrated in fig. 1 linear translation crawl object.
Fig. 8 is embodiment illustrated in fig. 1 with the action process schematic diagram of the flat folder of straight line and adaptive mode crawl object.
Fig. 9 is the parts such as first connecting rod, second connecting rod, pedestal, roller shaft, idler wheel in embodiment illustrated in fig. 1 connecting rod machine
Structure generates the schematic diagram that point E is moved along straight path.
Figure 10 is the mechanism principle schematic diagram of embodiment illustrated in fig. 1.
In Fig. 1 into Figure 10:
1- pedestal, 101- pedestal top plate, 102- pedestal bottom plate, 103- pedestal backboard,
Plate in 104- pedestal, 105- pedestal foreboard, 106- pedestal right panel, 11- motor,
12- retarder, 13- worm screw, 14- worm gear, 15- transition axis,
16- the first pedestal gear, 17- the second pedestal gear, 18- limited block, the first segment of 21-,
The second segment of 22-, 221- the second segment surface plate, 31- first axle, the second axis of 32-,
33- third axis, the 4th axis of 34-, the 5th axis of 35-, 36- roller shaft,
361- idler wheel, 41- first connecting rod, 42- second connecting rod, 420- straight,
421- long side plate, 422- short side plate, 43- third connecting rod, 44- fourth link,
The 5th connecting rod of 45-, 5- spring part, 60- first gear, 601- convex block,
61- second gear, 62- third gear, the 4th gear of 63-, the 5th gear of 64-,
The 6th gear of 65-, the 7th gear of 66-, 67- eighth gear, the 9th gear of 68-,
The tenth gear of 69-, 71- first gear axis, 72- second gear axis, 73- third gear shaft,
The 4th gear shaft of 74-, the 5th gear shaft of 75-, the 6th gear shaft of 76-, 8- object.
Specific embodiment
Be described in further detail with reference to the accompanying drawings and embodiments the specific structure of the utility model, working principle it is interior
Hold.
A kind of embodiment of the flat folder adaptive robot finger apparatus of the gear sliding slot link linear of the utility model design,
As shown in Figures 1 to 6, including pedestal 1, motor 11, transmission mechanism, the first segment 21, the second segment 22, first axle 31, second
Axis 32, third axis 33, the 4th axis 34, the 5th axis 35, roller shaft 36, idler wheel 361, first connecting rod 41, second connecting rod 42, third connect
Bar 43, fourth link 44, the 5th connecting rod 45, first gear 60, second gear 61, third gear 62, the 4th gear 63, the 5th tooth
Take turns the 64, the 6th gear 65, the 7th gear 66, eighth gear 67, the 9th gear 68, the tenth gear 69, first gear axis 71, second
Gear shaft 72, third gear shaft 73, the 4th gear shaft 74, the 5th gear shaft 75, the 6th gear shaft 76, convex block 601, limited block 18
With spring part 5；The motor 11 and pedestal 1 are affixed；The output end of the motor 1 is connected with the input terminal of transmission mechanism；The biography
The output end of motivation structure is connected with third connecting rod 43；The third connecting rod 43 is socketed in first axle 31；31 sets of the first axle
It is located in pedestal 1；The first connecting rod 41 is actively socketed in first axle 31；Second axis 32 is set in first connecting rod 41
In；The second connecting rod 42 is actively socketed on the second axis 32；5th axis 35 is set in second connecting rod 42；The third
Axis 33 is set in third connecting rod 43；The fourth link 44 is actively socketed on third axis 33；4th axis 34 is set in
In fourth link 44；The both ends of 5th connecting rod 45 are actively socketed on respectively on the 4th axis 34 and the 5th axis 35；The idler wheel
Axis 36 is set in pedestal 1；The idler wheel 361 is actively socketed on roller shaft 36；The second connecting rod 42 has straight
420；The idler wheel 361 inlays movement in straight 420；First segment 21 and second connecting rod 42 are affixed；Described
Two segments 22 and the 5th connecting rod 45 are affixed；The limited block 18 is fixed on pedestal 1；The convex block 601 and first gear 60 are solid
It connects；In the initial state, the convex block 601 is contacted with limited block 18；The both ends of the spring part 5 are separately connected pedestal 1 and convex block
601；The first gear 60 is actively socketed in first axle 31；The second gear 61 is actively socketed on first gear axis 71
On；The third gear 62 is actively socketed on the second axis 32；4th gear 63 is actively socketed on the second axis 32；It is described
5th gear 64 is actively socketed on second gear axis 72；6th gear 65 is actively socketed on third gear shaft 73；Institute
The 7th gear 66 is stated to be actively socketed on the 4th gear shaft 74；The eighth gear 67 is actively socketed on the 5th gear shaft 75；
9th gear 68 is actively socketed on the 6th gear shaft 76；Tenth gear 69 is actively socketed on the 5th axis 35；Institute
First gear axis 71 is stated to be set on first connecting rod 41；The second gear axis 72, third gear shaft 73, the 4th gear shaft 74,
5th gear shaft 75,1 the 6th gear shaft 76 are respectively sleeved on second connecting rod 42；The first gear 60 is nibbled with second gear 61
It closes；The second gear 61 is engaged with third gear 62；The third gear 62 and the 4th gear 63 are affixed；4th gear
63 engage with the 5th gear 64；5th gear 64 is engaged with the 6th gear 65；6th gear 65 and the 7th gear 66
Engagement；7th gear 66 is engaged with eighth gear 67；The eighth gear 67 is engaged with the 9th gear 68；9th tooth
Wheel 68 is engaged with the tenth gear 69；If first axle 31, the second axis 32, third axis 33, the 4th axis 34, the 5th axis 35 and roller shaft 36
Central point be respectively A, B, C, D, E, F；The length of line segment AF is 1.5 times of the length of line segment AB, and the length of line segment BE is line
6 times of the length of section AB；The center line of the straight 420 is overlapped with line segment BE；Subpoint of the point B on straight line FA is located at
On the extended line of line segment FA；Transmission from first gear 60 by second gear 61 to third gear 62 is constant speed drive；From
Four gears 63 are by the 5th gear 64, the 6th gear 65, the 7th gear 66, eighth gear 67 and the 9th gear 68 to the tenth gear
69 transmission is constant speed drive；The first axle 31, the second axis 32, third axis 33, the 4th axis 34, the 5th axis 35, first gear
Axis 71, second gear axis 72, third gear shaft 73, the 4th gear shaft 74, the 5th gear shaft 75, the 6th gear shaft 76 and roller shaft
36 center line is parallel to each other.
In the present embodiment, the transmission mechanism includes retarder 12, worm screw 13, worm gear 14, transition axis 15, the first pedestal tooth
Wheel 16 and the second pedestal gear 17；The output shaft of the motor 11 is connected with the input shaft of retarder 12, and 13 sets of the worm screw solid
On the output shaft of retarder, the worm gear 14 is engaged with worm screw 13, and the worm gear 14 is fixed on transition axis 15, the transition
Axis 15 is set in pedestal 1, and the first pedestal gear 16 is fixed on transition axis 15, the second pedestal gear 17 and first
Pedestal gear 16 engages；The second pedestal gear 17 is socketed in first axle 31；The second pedestal gear 17 connects with third
Bar 43 is affixed.
The flat folder adaptive robot finger apparatus of gear sliding slot link linear described in the utility model, it is characterised in that:
The spring part uses tension spring, pressure spring or torsional spring.In the present embodiment, the spring part 5 uses tension spring.
In the present embodiment, the second connecting rod 42 further includes long side plate 421 and short side plate 422；The second gear axis 72,
Third gear shaft 73, the 4th gear shaft 74, the 5th gear shaft 75, the 6th gear shaft 76 are respectively sleeved on long side plate 421；It is described
Second segment is affixed with long side plate 421, short side plate 422 respectively.
The working principle of the present embodiment is described below in conjunction with attached drawing:
The parts such as first connecting rod 41, second connecting rod 42, roller shaft 36, idler wheel 361 in the present embodiment make the edge invocation point E
Straight path movement, principle are as shown in Figure 9.Can achieve by the connection of third connecting rod 43, fourth link 44 makes motor 11
Power be pushed to the second segment movement --- be first translatable and rotate afterwards.Due to passing through second gear 61 to third from first gear 60
The constant speed drive of gear 62 keeps third gear 62 and first gear 60 relative to the identical posture of pedestal 1, further, since
From the 4th gear 63 by the constant speed drive of the 5th gear 64 to the 9th gear 68 to the tenth gear 69 make the tenth gear 69 with
4th gear 63 is kept relative to the same posture of pedestal 1, since third gear 62 and the 4th gear 63 are affixed, and first gear
60 and convex block 601 abutted against under the action of spring part 5 on the limited block 18 on pedestal 1, therefore, the tenth gear 69 is relative to pedestal
1 keeps original posture constant.
It is in the rotatable straight of fixed point, when line segment AB is using A as under the center of circle with F that line segment BE sliding, which is embedded in,
When semicircle (Fig. 9) rotates, point E is moved along the track (Fig. 9) straight line S, and straight line S is vertical with line segment AF.Since point B is in the throwing of straight line FA
Shadow point is located on the extended line of FA, therefore line segment AB can only be using A as the lower half circular motion in the center of circle.(note: when line segment AB is with A
When rotating for the upper semi-circle in the center of circle, the track of point E is not straight line.)
The mechanism principle schematic diagram of the present embodiment is as shown in Figure 10.
Original state is as shown in figure 4, motor 11 rotates at this time, by transmission mechanism drive third connecting rod 43 around first axle 31
(Fig. 4) is rotated clockwise, specifically, motor 11 drives worm screw 13 by retarder 12, and worm gear 14 rotates, and passes through transition axis 15
So that the first pedestal gear 16 rotates, the rotation of the second pedestal gear 17 drives third connecting rod 43 to rotate clockwise (Fig. 4).Third
The rotation of connecting rod 43 can push the 4th axis 34 by fourth link 44, and the horizontal component of the thrust can make the 5th connecting rod 45 and second
Segment 22 is translatable to the right along straight line, the reason is that: first connecting rod 41, with the second connecting rod 42 of straight 420, first gear
60, second gear 61, third gear 62, the 4th gear 63, the 5th gear 64, the 6th gear 65, the 7th gear 66, eighth gear
67, the 9th gear 68, the tenth gear 69, pedestal backboard 103 and the synthesis of idler wheel 361 are realized when the 4th axis 34 moves right
(Figure 10), the 4th 34, axis meeting are translatable to the right along horizontal linear, and the second segment 22 linear translation to the right, principle such as Fig. 9, Figure 10
It is shown.At this point, idler wheel 361 moves in straight 421, first connecting rod 41 rotates clockwise (Fig. 4) around first axle 31, due to
Spring part 5 hauls convex block 601 and abuts against on limited block 18, and first gear 60 is fixed, and line segment DE keeps fixed relative to pedestal 1
Constant posture, then the 5th connecting rod 45 and second segment 22 holding affixed with the 5th connecting rod 45 are constant relative to pedestal 1
Posture, the second segment 22 are translatable to the right along horizontal linear.This process is known as straight line parallel clamping movement process.It is flat in above-mentioned straight line
During row clamping movement, after the second segment 22 contacts object 8, crawl terminates, and realizes flat gripper and takes object 8, such as Fig. 7 institute
Show.
During above-mentioned straight line parallel clamping movement, when the first segment 21 first contact object 8 by object 8 blocking cannot be again
Continue to move, affixed second connecting rod 42 cannot move with the first segment 21, and motor 11 continues to rotate, and drives by transmission mechanism
Third connecting rod 43 continues to rotate clockwise (Figure 10), pushes the 4th axis 34 by fourth link 44, the second segment 22 and the 5th connects
Bar 45 will be rotated clockwise around the 5th axis 35, and convex block 601 leaves limited block 18, and spring part 5 deforms, and first gear 60 rotates, idler wheel
361 have movement in straight 420；Until the second segment 22 also contacts object 8, crawl terminates this process, reaches
First segment 21, the second segment 22 contact the envelope crawl effect of object 8.This envelope of the present embodiment grabs process pair
Different shape, size objects have the characteristics that adaptive, this crawl process is known as self-adapting grasping, as shown in Figure 8.
The action process schematic diagram of the second segment of the present embodiment linear translation 22 is as shown in Figure 7.The present embodiment is flat with straight line
The action process schematic diagram of folder and adaptive mode crawl object is as shown in Figure 8.
The process of release object 8 is with the above process on the contrary, repeating no more.
Utility model device utilizes two segments, motor, multiple gears, multiple connecting rods, straight, idler wheel, spring part
With the comprehensive compound grasp mode for realizing robot straight line parallel clamping and self-adapting grasping such as limited block.The device energy straight line
Second segment that is translatable clamps object, and being translatable, the second segment clamps the object stage, and the second segment end remains the fortune of straight line
Dynamic rail mark is suitble to grab different size objects in work top；The device also can self-adapting grasping object, the first segment contact
After object stop motion, the second segment is gone the long way round joint shaft rotation, is adapted to body form and is carried out envelope crawl, is suitble to crawl not similar shape
The object of shape, size；The device utilizes two segments of a motor driven, and crawl range is big, without complicated sensing and control, holds
It is easy to control；The apparatus structure is compact, at low cost, suitable in the various robots for needing to grab.
Claims (3)
1. a kind of flat folder adaptive robot finger apparatus of gear sliding slot link linear, it is characterised in that: including pedestal, motor,
Transmission mechanism, the first segment, the second segment, first axle, the second axis, third axis, the 4th axis, the 5th axis, roller shaft, idler wheel,
One connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, first gear, second gear, third gear, the 4th tooth
Wheel, the 5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear, the tenth gear, first gear axis, second gear
Axis, third gear shaft, the 4th gear shaft, the 5th gear shaft, the 6th gear shaft, convex block, limited block and spring part；The motor and base
Seat is affixed；The output end of the motor is connected with the input terminal of transmission mechanism；The output end and third connecting rod of the transmission mechanism
It is connected；The third connecting rod is actively socketed in first axle；The first axle is set in pedestal；The first connecting rod movable sleeve
It connects in first axle；Second axle sleeve is located in first connecting rod；The second connecting rod is actively socketed on the second axis；Described
Five axle sleeves are located in second connecting rod；The third axle sleeve is located in third connecting rod；The fourth link is actively socketed on third axis
On；4th axle sleeve is located in fourth link；The both ends of 5th connecting rod are actively socketed on the 4th axis and the 5th axis respectively
On；The roller shaft is set in pedestal；The idler wheel is actively socketed on roller shaft；The second connecting rod has straight；
The idler wheel inlays movement in straight；First segment and second connecting rod are affixed；Second segment connects with the 5th
Bar is affixed；The limited block is affixed on the base；The convex block and first gear are affixed；In the initial state, the convex block with
Limited block contact；The both ends of the spring part are separately connected pedestal and convex block；The first gear is actively socketed in first axle；Institute
Second gear is stated to be actively socketed on first gear axis；The third gear is actively socketed on the second axis；4th gear
It is actively socketed on the second axis；5th gear is actively socketed on second gear axis；6th gear is actively socketed on
On third gear shaft；7th gear is actively socketed on the 4th gear shaft；The eighth gear is actively socketed on the 5th tooth
On wheel shaft；9th gear is actively socketed on the 6th gear shaft；Tenth gear is actively socketed on the 5th axis；It is described
First gear axle sleeve is located on first connecting rod；The second gear axis, third gear shaft, the 4th gear shaft, the 5th gear shaft,
Six gear shafts are respectively sleeved on second connecting rod；The first gear is engaged with second gear；The second gear and third tooth
Wheel engagement；The third gear and the 4th gear are affixed；4th gear is engaged with the 5th gear；5th gear and
The engagement of six gears；6th gear is engaged with the 7th gear；7th gear is engaged with eighth gear；The eighth gear
It is engaged with the 9th gear；9th gear is engaged with the tenth gear；If first axle, the second axis, third axis, the 4th axis, the 5th
The central point of axis and roller shaft is respectively A, B, C, D, E, F；The length of line segment AF is 1.5 times of the length of line segment AB, line segment BE
Length be 6 times of length of line segment AB；The center line of the straight is overlapped with line segment BE；Throwing of the point B on straight line FA
Shadow point is located on the extended line of line segment FA；Transmission from first gear by second gear to third gear is constant speed drive；From
4th gear is etc. by the transmission of the 5th gear, the 6th gear, the 7th gear, eighth gear and the 9th gear to the tenth gear
Speed transmission；The first axle, the second axis, third axis, the 4th axis, the 5th axis, first gear axis, second gear axis, third gear
Axis, the 4th gear shaft, the 5th gear shaft, the 6th gear shaft and roller shaft center line be parallel to each other.
2. the flat folder adaptive robot finger apparatus of gear sliding slot link linear as described in claim 1, it is characterised in that: institute
Stating transmission mechanism includes retarder, worm screw, worm gear, transition axis, the first pedestal gear and the second pedestal gear；The motor it is defeated
Shaft is connected with the input shaft of retarder, and the worm screw is fixed on the output shaft of retarder, and the worm gear is engaged with worm screw, institute
It states worm gear to be fixed on transition axis, the transition axis is set in pedestal, and the first pedestal gear is fixed on transition axis, institute
The second pedestal gear is stated to engage with the first pedestal gear；The second pedestal gear is socketed in first axle；Second pedestal
Gear is affixed with third connecting rod.
3. the flat folder adaptive robot finger apparatus of gear sliding slot link linear as described in claim 1, it is characterised in that: institute
Spring part is stated using tension spring, pressure spring or torsional spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821564204.8U CN209036551U (en) | 2018-09-21 | 2018-09-21 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821564204.8U CN209036551U (en) | 2018-09-21 | 2018-09-21 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209036551U true CN209036551U (en) | 2019-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821564204.8U Withdrawn - After Issue CN209036551U (en) | 2018-09-21 | 2018-09-21 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
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| CN (1) | CN209036551U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176566A (en) * | 2018-09-21 | 2019-01-11 | 清华大学 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
-
2018
- 2018-09-21 CN CN201821564204.8U patent/CN209036551U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176566A (en) * | 2018-09-21 | 2019-01-11 | 清华大学 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
| CN109176566B (en) * | 2018-09-21 | 2023-12-08 | 清华大学 | Self-adaptive robot finger device with gear chute and connecting rod linearly clamped in parallel |
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