CN209533441U - The quick crawl bar cluster adaptive robot arm device of controllable force - Google Patents

Abstract

The quick crawl bar cluster adaptive robot arm device of controllable force, belongs to robot technical field, including pedestal, first motor, the second motor, cam, tendon rope, the second spring part and multiple push-rod assemblies etc..The device realizes spatial spreading self-adapting grasping function, realizes the adaptation function to article size and shape using multiple push-rod assemblies, realize quickly crawl using the combination of cam and the second spring part and grasp force controls for grabbing object；The device has reached the multidirectional grasping effect to object, can provide grasping force to object in multiple directions, various shape (including strip) object placed to different directions can be grasped effectively；The device is not driven the limitation of source power, can have the grasp speed being exceedingly fast and great grasp force simultaneously；The apparatus structure is simple, low energy consumption, suitable for being especially suitable for use in the occasion quickly grabbed for needing controllable force in the various robots for needing general crawl.

Description

The quick crawl bar cluster adaptive robot arm device of controllable force

Technical field

The utility model belongs to robot technical field, in particular to the quick crawl bar cluster of a kind of controllable force is adaptive The structure of robot hand device designs.

Background technique

Robot has been widely used in robot field, for by robot and object interim connection and fixation Get up, and can be discharged in due course, the former realizes crawl object, and the latter realizes relieving object.It is general Robot is made into the part having there are two relative motion to reduce cost, in order to which simplest realization grabs and releases Playing function.Also there are many structure for imitating manpower, being designed as having has several joints on more fingers and finger, but that Sample can bring the complexity and high cost of mechanical system, sensor-based system, control system and control algolithm.Partial robotic's hand It is adaptable, i.e., do not know that the object to be grabbed is which kind of shape and size before crawl, also not to crawl in crawl Object carry out sensing detection, but can adaptively grab, this automatic conformability for body form, size So that robot does not increase sensing and demand for control while realizing more extensive crawl different objects.

Peter B.Scott is in document (Peter B.Scott, " Omnigripper ': a form of robot of The ' Universal gripper ", Robotica, vol.3:pp 153-158,1985) in describe a kind of mechanical passive type and adapt to The universal gripper Omnigripper of body form.There are the clamper two groups of bar gatherings to close, and every group of bar gathering conjunction has multiple phases Mutually parallel stock, these stocks for being pushed by object to be grabbed and freely being slided up and down have achieved the purpose that adaptation body form, It drives two groups of bar clusters to draw close or leave in conjunction with driver, realizes the grasping to object.For example, when the end of robot is leaned on When to the object being placed on some seating surface (such as desktop), object, which squeezes stock, slides it into pedestal, due to stock number Measure more, and stock is relatively thin (diameter is smaller), and different stocks touches different object table millet cake, and each stock is into palm Sliding distance is different, and this distance is related with the local shape of object；Later, folder is closed up in two groups of bar gatherings conjunction on the first from left right side again Object is handled, object is clamped from side using stock, reaches crawl purpose.

The device is disadvantageous in that:

(1) it can not accomplish multidirectional grasping.When the device applies grasp force to target object, which can only be along two group The direction that bar gathering is closed up is equivalent to two finger clampers, and generation is only one-dimensional clamping mode, and clamping effect is poor.

(2) failure is grasped for the strip object that specific direction is placed.When target object with the direction parallel and target Object is longer than the device in this direction, then target object will not be due to two groups of telescopic rods close up by grasping force, such as crawl one The object of a strip.

(3) structure is complicated, energy consumption is high.The device has 2 groups of bar gatherings to close, and needs 2 movable supporting members mutually moved (or moving base), a set of linear guide, 2 sliding blocks, driver, transmission mechanisms etc., structure is complex, and to allow a tool There are many heavy bar gathering resultant motions of stock to compare energy consumption.

(4) grasping stability is to be improved.The device grasping force of target object is only closed up by two groups of bar gatherings and It generates, is only capable of the force-closure grasp object using grasping force, and lack preferable envelop-type Shape closed crawl effect, because, power Closing crawl object can not necessarily generate Shape closed crawl, but Shape closed crawl includes centainly force-closure grasp, therefore It is best that grasp stability, which has reached Shape closed,.

Pay macro et al. (Fu H, Yang H, Song W, et al.A novel cluster-tube self- in the literature Adaptive robot hand:[J] .Robotics&Biomimetics, 2017,4 (1): described in 25.) a kind of bar cluster from Adapt to robot.This bar cluster adaptive robot hand has multiple push-rod assemblies, and each push-rod assembly includes shaft, leads Bar, spring part and slip pipe, the freedom degree that there is each push-rod assembly vertical direction to slide and swing laterally.It is first when grabbing object The first shape of the longitudinal adaptive object of all push-rod assemblies, then all push-rod assemblies gather realization crawl to center.Driving institute It is made of the transmission device that push-rod assembly train and elastic string form train and flexible strand, flexible strand is wrapped in all push rod groups The periphery of part, when grabbing object, train rotation drives the tightening of flexible strand.But the device still has some shortcomings, such as grabs Not rapidly, train is needed to rotate and tighten flexible strand when because grabbing, this tightening process needs the time longer, and is driven The limitation of dynamic source power, if accelerating the reduction that tightening process also results in tightening force.

Utility model content

The purpose of this utility model is to overcome the shortcomings of prior art, provide a kind of quick crawl of controllable force Bar cluster adaptive robot arm device.The device has adaptivity for grabbing object, to article size and shape；Reach pair The multidirectional grasping effect of object: can provide grasping force to object in multiple directions, the various shape (packet placed to different directions Including strip) object can grasp effectively；With simple structure, low energy consumption；It is not driven the limitation of source power limit, there is pole Fast grasp speed.

The technical solution of the utility model is as follows:

A kind of quick crawl bar cluster adaptive robot arm device of controllable force of the utility model design, including pedestal, K A push-rod assembly, first motor and the first transmission mechanism；Each push-rod assembly includes slip pipe, guide rod, shaft and the first spring Part；The K slip pipes are circularly and evenly distributed, and each slip pipe sliding is embedded in pedestal；In push-rod assembly, the cunning Pipe is slidably socketed on corresponding guide rod, and the both ends of the first spring part are separately connected corresponding guide rod and corresponding slip pipe, institute Guide rod is stated to be socketed in corresponding shaft；The K shafts are respectively sleeved in pedestal, and the K shafts are circumferentially uniformly divided Cloth；The glide direction of slip pipe and the centerline parallel of guide rod；The center line of the slip pipe and the center line of shaft are mutually perpendicular to；Institute It states first motor to be fixed in pedestal, the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；Its feature Be: the quick crawl bar cluster adaptive robot arm device of the controllable force further includes cam, the second motor, the second driver Structure, reel, jackshaft, tendon rope and K the second spring part；The outer edge surface of the cam has K lug boss and K recessed portion, The lug boss is circularly and evenly distributed, and the recessed portion is circularly and evenly distributed, and the lug boss and recessed portion are in cam It is intervally arranged on outer edge surface；The cam is set in pedestal, and the cam is connected with the output end of the first transmission mechanism, cam Outer edge surface contacted with each guide rod；The pedestal includes tying up chamber, and second motor is affixed on the base, second electricity The output shaft of machine is connected with the input terminal of the second transmission mechanism, and the output end of the second transmission mechanism is connected with reel；In described Between axle sleeve be located in pedestal；The reel is socketed on jackshaft；The starting point of tendon rope and reel are affixed, tendon rope winding warp Cross reel；The second spring part is tension spring；The both ends of i-th of second spring parts are separately connected the end of tendon rope, push away for i-th Bar assembly, all second spring parts are respectively positioned on the tie point of corresponding push-rod assembly to be tied up in chamber；Wherein, K is the nature greater than 3 Number, i=1,2,3 ... K, i are natural number.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute Lug boss is stated with first slope and the second slope, the gradient of first slope is greater than the gradient on the second slope, all first slopes Outer edge surface along cam is circularly and evenly distributed, and all second slopes are circularly and evenly distributed along the outer edge surface of cam.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute The both ends for stating i-th of second spring parts are separately connected the end of tendon rope and i-th of guide rod, i=1,2,3 ... K, i are natural number, and K is The number of push-rod assembly.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute The both ends for stating i-th of second spring parts are separately connected the end of tendon rope and i-th of slip pipe, i=1,2,3 ... K, i are natural number, and K is The number of push-rod assembly.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: every A push-rod assembly further includes fexible film and flexible contact, and the fexible film is by any in rubber, silica gel or latex One or more to be made, the flexible contact is made of any one or more in rubber, silica gel or latex, and i-th flexible Film is wrapped in the outside of i-th of slip pipe, and i-th of flexible contact is fixed in the end of i-th of slip pipe, i=1, and 2,3 ... K, i are Natural number, K are the number of push-rod assembly.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute Stating lug boss includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material be mounted on guide rod with The corresponding height of lug boss.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute Stating recessed portion includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material be mounted on guide rod with The corresponding height of recessed portion.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute Stating the first transmission mechanism includes retarder, worm and worm wheel, and the output shaft of the motor is connected with the input shaft of retarder, described Worm screw is fixed in the output end of retarder, and the worm gear is engaged with worm screw, and the worm gear is connect with cam；Tool in the middle part of the cam There is through-hole, the tendon rope passes through the through-hole of cam.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: institute Stating the second transmission mechanism is retarder.

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

Utility model device utilizes multiple push-rod assemblies, first motor, cam, the second motor, tendon rope and the second spring part Spatial spreading self-adapting grasping function is realized Deng synthesis, is realized using multiple push-rod assemblies to the adaptive of article size and shape Function is answered, quickly crawl is realized using the combination of cam and the second spring part and grasp force controls；The device has reached to object Multidirectional grasping effect, grasping force can be provided to object in multiple directions, various shape (including the length placed to different directions Strip) object can grasp effectively；The device is not driven the limitation of source power, can have the grasp speed being exceedingly fast and pole simultaneously Big grasp force；Structure is simple, low energy consumption.The device is suitable in the various robots for needing general crawl, is especially suitable for using In the occasion quickly grabbed for needing controllable force.

Detailed description of the invention

Fig. 1 is a kind of implementation of the quick crawl bar cluster adaptive robot arm device of the controllable force of the utility model design The stereo appearance figure of example.

Fig. 2 is the isometric cutaway view of embodiment illustrated in fig. 1.

Fig. 3 is the top view (being not drawn into part) of embodiment illustrated in fig. 1.

Fig. 4 is the stereo appearance figure (being not drawn into part) of the tightening state of embodiment illustrated in fig. 1.

Fig. 5 is the stereo appearance figure of the cam of embodiment illustrated in fig. 1.

Fig. 6 is the top view of the cam of embodiment illustrated in fig. 1.

Schematic diagram of internal structure (being not drawn into part) when Fig. 7 is the open configuration of embodiment illustrated in fig. 1.

Schematic diagram of internal structure (being not drawn into part) when Fig. 8 is the tightening state of embodiment illustrated in fig. 1.

Process schematic when Fig. 9 is embodiment illustrated in fig. 1 crawl object.

Figure 10 is the isometric cutaway view of embodiment illustrated in fig. 1 crawl object.

In Fig. 1 into Figure 10:

11- top base cover board, pedestal 14- bottom base cover board 15- bottom base in 12- top base 13-

21- shaft 22- articulation piece 23- the first spring part 24- guide rod 25- rod tube connects Fitting

26- slip pipe 27- fexible film 28- flexible contact 3- first motor 41- worm screw

42- worm gear 51- cam 51A- lug boss 51B- recessed portion 52- bearing

6- the second motor 7- reel 8- tendon rope 9- the second spring part 10- 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 quick crawl bar cluster adaptive robot arm device of controllable force of the utility model design, including pedestal, K A push-rod assembly, first motor and the first transmission mechanism；Each push-rod assembly includes slip pipe, guide rod, shaft and the first spring Part；The K slip pipes are circularly and evenly distributed, and each slip pipe sliding is embedded in pedestal；In push-rod assembly, the cunning Pipe is slidably socketed on corresponding guide rod, and the both ends of the first spring part are separately connected corresponding guide rod and corresponding slip pipe, institute Guide rod is stated to be socketed in corresponding shaft；The K shafts are respectively sleeved in pedestal, and the K shafts are circumferentially uniformly divided Cloth；The glide direction of slip pipe and the centerline parallel of guide rod；The center line of the slip pipe and the center line of shaft are mutually perpendicular to；Institute It states first motor to be fixed in pedestal, the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；Its feature Be: the quick crawl bar cluster adaptive robot arm device of the controllable force further includes cam, the second motor, the second driver Structure, reel, jackshaft, tendon rope and K the second spring part；The outer edge surface of the cam has K lug boss and K recessed portion, The lug boss is circularly and evenly distributed, and the recessed portion is circularly and evenly distributed, and the lug boss and recessed portion are in cam It is intervally arranged on outer edge surface；The cam is set in pedestal, and the cam is connected with the output end of the first transmission mechanism, cam Outer edge surface contacted with each guide rod；The pedestal includes tying up chamber, and second motor is affixed on the base, second electricity The output shaft of machine is connected with the input terminal of the second transmission mechanism, and the output end of the second transmission mechanism is connected with reel；In described Between axle sleeve be located in pedestal；The reel is socketed on jackshaft；The starting point of tendon rope and reel are affixed, tendon rope winding warp Cross reel；The second spring part is tension spring；The both ends of i-th of second spring parts are separately connected the end of tendon rope, push away for i-th Bar assembly, all second spring parts are respectively positioned on the tie point of corresponding push-rod assembly to be tied up in chamber；Wherein, K is the nature greater than 3 Number, i=1,2,3 ... K, i are natural number.

K=8 is taken, then one kind of the quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model Embodiment, as shown in Fig. 1~Figure 10.The embodiment includes pedestal, 8 push-rod assemblies, first motor 3 and the first transmission mechanism； Each push-rod assembly includes slip pipe 26, guide rod 24, shaft 21 and the first spring part 23；8 slip pipes 26 are circumferentially uniform Distribution, each sliding of slip pipe 26 are embedded in pedestal；In push-rod assembly, the slip pipe 26 is slidably socketed leads accordingly On bar 24, the both ends of the first spring part 23 are separately connected corresponding guide rod 24 and corresponding slip pipe 26, and the guide rod 24 is socketed In corresponding shaft 21；8 shafts 21 are respectively sleeved in pedestal, and 8 shafts 21 are circularly and evenly distributed；It is sliding The glide direction of pipe 26 and the centerline parallel of guide rod 24；The center line of the slip pipe 26 and the center line of shaft 21 mutually hang down Directly；The first motor 3 is fixed in pedestal, and the output shaft of the first motor 3 is connected with the input terminal of the first transmission mechanism； The embodiment further includes cam 51, the second motor 6, the second transmission mechanism, reel 7, jackshaft, tendon rope 8 and 8 the second spring part 9；The outer edge surface of the cam 51 has 8 lug boss 51A and 8 recessed portion 51B, and lug boss 51A is circularly and evenly distributed, recessed Concave portion 51B is circularly and evenly distributed, and lug boss 51A and recessed portion 51B is intervally arranged on the outer edge surface of cam 51；51 sets of cam It is located in pedestal, cam 51 is connected with the output end of the first transmission mechanism, and the outer edge surface of cam 51 is contacted with each guide rod 24；Institute Stating pedestal includes tying up chamber, and second motor 6 is affixed on the base, the output shaft and the second driver of second motor 6 The input terminal of structure is connected, and the output end of the second transmission mechanism is connected with reel 7；The jackshaft is set in pedestal；It is described Reel 7 is socketed on jackshaft；The starting point of tendon rope 8 and reel 7 are affixed, and tendon rope 8 coils through reel 7；Described i-th The both ends of a second spring part 9 are separately connected the end of tendon rope 8, i-th of push-rod assembly, all second spring parts 9 and corresponding guide rod 24 tie point, which is respectively positioned on, to be tied up in chamber；Wherein, 8 be natural number greater than 3, i=1,2,3 ... 8, i is natural number.

In the present embodiment, the pedestal includes top base cover board 11, top base 12, middle pedestal 13,14 and of bottom base cover board Bottom base 15；The first motor 3 and the second motor 6 are fixed on top base 12, and 8 shafts 21 are set in top base 12 On；The middle pedestal 13 connects top base 12 and bottom base 15；The bottom base cover board 15 has 8 slip pipe through-holes and 1 tendon Rope through-hole, the bottom base 15 have 8 slip pipe through-holes.

In the present embodiment, the push-rod assembly further includes articulation piece 22, and the guide rod 24 is set in pair by articulation piece 22 In the shaft 21 answered.

In the present embodiment, the lug boss 51A has first slope and the second slope, and the gradient of first slope is greater than second The gradient on slope, all first slopes are circularly and evenly distributed along the outer edge surface of cam 51, and all second slopes are along cam 51 Outer edge surface is circularly and evenly distributed.

In the present embodiment, the both ends of i-th of second spring parts be separately connected tendon rope end and i-th of guide rod, i=1, 2,3 ... 8, i are natural number.

In another kind embodiment described in the utility model, the both ends of i-th of second spring parts are separately connected tendon rope End and i-th of slip pipe i=1,2,3 ... 8, i is natural number.

The quick crawl bar cluster adaptive robot arm device of controllable force described in the utility model, it is characterised in that: every A push-rod assembly further includes fexible film and flexible contact, and the fexible film is by any in latex, silica gel or rubber One or more to be made, the flexible contact is made of any one or more in latex, silica gel or rubber, and i-th flexible Film is wrapped in the outside of i-th of slip pipe, and i-th of flexible contact is fixed in the end of i-th of slip pipe, i=1, and 2,3 ... K, i are Natural number, K are the number of push-rod assembly.

In the present embodiment, each push-rod assembly further includes fexible film 27 and flexible contact 28, the fexible film 27 are made of rubber, and the flexible contact 28 is made of rubber, and i-th of fexible film 27 is wrapped in the outside of i-th of slip pipe 26, I-th of flexible contact 28 is fixed in the end of i-th of slip pipe 26, i=1, and 2,3 ... 8, i is natural number.

In the present embodiment, the lug boss includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, described to lead Magnetic material is mounted on guide rod height corresponding with lug boss.

In the present embodiment, the recessed portion includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, described to lead Magnetic material is mounted on guide rod height corresponding with recessed portion.

In the present embodiment, first transmission mechanism includes retarder, worm screw 41 and worm gear 42, the first motor 3 Output shaft is connected with the input shaft of retarder, and the worm screw 41 is fixed in the output end of retarder, the worm gear 42 and worm screw 41 Engagement, the worm gear 42 are connect with cam 51；There is through-hole, the tendon rope 8 passes through the through-hole of cam 51 in the middle part of the cam 51.

In the present embodiment, second transmission mechanism is retarder.

The working principle of embodiment illustrated in fig. 1 is introduced with reference to the accompanying drawing.

Device tool is there are two state, and open configuration when first state, second state is to gather state.

The device gathers that state is as shown in Figure 4 and Figure 8, and the 8 of cam 51 recessed portion 51B is respectively at 8 push rods at this time Component face, under this state, since the second spring part 9 is there are pretightning force so that the body cradle of 8 push-rod assemblies respectively with cam 51 8 recessed portion 51B contact so that all push-rod assemblies are gathered, the end of the slip pipe 26 of all push-rod assemblies is drawn close Together.

The open configuration of the device is as shown in Figure 1, Figure 2 and Figure 7, and the 8 of cam 51 lug boss 51A divides respectively at 8 at this time Push-rod assembly face, the body cradle of 8 push-rod assemblies is contacted with 8 lug boss 51A of cam 51 respectively, so that all push away The slip pipe 26 of bar assembly state in a vertical shape, all push-rod assemblies is vertical.This state has compared to state, the second spring part 9 is gathered Bigger tensile force.

The device is convex by the driving of the first transmission mechanism by first motor 3 in open configuration and the switching for gathering state It takes turns 51 rotation and realizes.The slope of the two sides lug boss 51A of cam 51 is different, as shown in Figure 5 and Figure 6, the embodiment When grabbing switching state, 51 rotation direction of cam of selection should make the device from open configuration to rapid when gathering state, and From slow when gathering state to open configuration, i.e. the part order that contacts cam 51 of articulation piece 22 are as follows: lug boss 51A, slope are big Side, the small side of recessed portion 51B, slope, lug boss 51A ....

When due to gathering state, 9 deformation quantity of the second spring part is small, therefore the device is in when not working and gathers state.

The device be divided into when grabbing object 10 the following three steps:

Step 1: preparation, cam 51 are rotated by certain angle first motor 3, so that device is from gathering State change is to open configuration.

Step 2: the device generates crowded close to the object 10 put on the bearing surface under the drive of mechanical arm and to object 10 Pressure, if slip pipe 26 has touched object 10, which can be sliding along corresponding guide rod 24 under the reaction force of object 10 It is dynamic；And if slip pipe 26 does not touch object 10, which will not move relative to gripping device；Due to different slip pipes 26 Produce different sliding distances under the extruding reaction force of object 10, therefore the shape of the device-adaptive object 10.

Step 3: cam 51 is rotated by low-angle first motor 3, so that the device is extensive rapidly from open configuration Multiple to state is gathered, all slip pipes 26 are gathered to center, until slip pipe touches object 10 or corresponding articulation piece 22 touches The recessed portion 51B of cam 51, to complete to grab.

The device is divided into two steps when discharging object 10:

Step 1: cam 51 is rotated by first motor 3, which is gradually converted to opening shape from gathering state State, in transition process, the slip pipe around object is gradually distance from object, and grasp force fades away, and object is released, in addition, Slip pipe also returns to initial position under the action of the first spring part.

Step 2: resuming work, and cam 51 is rotated by corresponding angle first motor 3, and the device is from opening State becomes gathering state, then closes device.

The device adjusts grasp speed by the speed control of profile design and first motor 3 to cam 51, has Quick Grabbing properties.Since the device is by two driving sources, so the quickening of grasp speed will not weaken grasp force.Pass through control The angle that the second motor 6 drives reel is made, the stroke of the second spring part 9 can be accurately controlled, and then control grasp force.

Utility model device utilizes multiple push-rod assemblies, first motor, cam, the second motor, tendon rope and the second spring part Spatial spreading self-adapting grasping function is realized Deng synthesis, is realized using multiple push-rod assemblies to the adaptive of article size and shape Function is answered, quickly crawl is realized using the combination of cam and the second spring part and grasp force controls；The device has reached to object Multidirectional grasping effect, grasping force can be provided to object in multiple directions, various shape (including the length placed to different directions Strip) object can grasp effectively；The device is not driven the limitation of source power, can have the grasp speed being exceedingly fast and pole simultaneously Big grasp force；Structure is simple, low energy consumption.The device is suitable in the various robots for needing general crawl, is especially suitable for using In the occasion quickly grabbed for needing controllable force.

Claims (9)

1. a kind of quick crawl bar cluster adaptive robot arm device of controllable force, including pedestal, K push-rod assembly, the first electricity Machine and the first transmission mechanism；Each push-rod assembly includes slip pipe, guide rod, shaft and the first spring part；The K slip pipes are in circle Week is uniformly distributed, and each slip pipe sliding is embedded in pedestal；In push-rod assembly, the slip pipe is slidably socketed corresponding On guide rod, the both ends of the first spring part are separately connected corresponding guide rod and corresponding slip pipe, and the guide rod is socketed in accordingly In shaft；The K shafts are respectively sleeved in pedestal, and the K shafts are circularly and evenly distributed；The glide direction of slip pipe with The centerline parallel of guide rod；The center line of the slip pipe and the center line of shaft are mutually perpendicular to；The first motor is fixed in base In seat, the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；It is characterized by: the controllable force is quick Grabbing bar cluster adaptive robot arm device further includes cam, the second motor, the second transmission mechanism, reel, jackshaft, tendon rope With K the second spring parts；The outer edge surface of the cam has K lug boss and K recessed portion, and the lug boss circumferentially uniformly divides Cloth, the recessed portion are circularly and evenly distributed, and the lug boss and recessed portion are intervally arranged on the outer edge surface of cam；It is described convex Wheel is set in pedestal, and the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of cam is contacted with each guide rod； The pedestal includes tying up chamber, and second motor is affixed on the base, the output shaft and the second driver of second motor The input terminal of structure is connected, and the output end of the second transmission mechanism is connected with reel；The jackshaft is set in pedestal；It is described around Spool is socketed on jackshaft；The starting point of tendon rope and reel are affixed, and tendon rope coils through reel；The second spring part is Tension spring；The both ends of i-th of second spring parts are separately connected the end of tendon rope, i-th of push-rod assembly, all second spring parts and phase The tie point for the push-rod assembly answered, which is respectively positioned on, to be tied up in chamber；Wherein, K is the natural number greater than 3, and i=1,2,3 ... K, i are nature Number.

2. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described Lug boss has first slope and the second slope, and the gradient of first slope is greater than the gradient on the second slope, all first slope edges The outer edge surface of cam is circularly and evenly distributed, and all second slopes are circularly and evenly distributed along the outer edge surface of cam.

3. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described The both ends of i-th of second spring parts are separately connected the end of tendon rope and i-th of guide rod, i=1,2,3 ... K, i are natural number, and K is to push away The number of bar assembly.

4. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described The both ends of i-th of second spring parts are separately connected the end of tendon rope and i-th of slip pipe, i=1,2,3 ... K, i are natural number, and K is to push away The number of bar assembly.

5. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: each The push-rod assembly further includes fexible film and flexible contact, and the fexible film is by any one in rubber, silica gel or latex Kind or it is a variety of be made, the flexible contact is made of any one or more in rubber, silica gel or latex, i-th of flexible thin Film is wrapped in the outside of i-th of slip pipe, and i-th of flexible contact is fixed in the end of i-th of slip pipe, i=1, and 2,3 ... K, i are certainly So number, K are the number of push-rod assembly.

6. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described Lug boss includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material be mounted on guide rod with it is convex Play the corresponding height in portion.

7. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described Recessed portion includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material be mounted on guide rod with it is recessed The corresponding height of concave portion.

8. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described First transmission mechanism includes retarder, worm and worm wheel, and the output shaft of the motor is connected with the input shaft of retarder, the snail Bar is fixed in the output end of retarder, and the worm gear is engaged with worm screw, and the worm gear is connect with cam；Have in the middle part of the cam Through-hole, the tendon rope pass through the through-hole of cam.

9. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described Second transmission mechanism is retarder.