CN210046674U - Gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device - Google Patents
Gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device Download PDFInfo
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- CN210046674U CN210046674U CN201822049070.2U CN201822049070U CN210046674U CN 210046674 U CN210046674 U CN 210046674U CN 201822049070 U CN201822049070 U CN 201822049070U CN 210046674 U CN210046674 U CN 210046674U
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Abstract
A gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device belongs to the technical field of robot hands and comprises a base, three finger sections, three joint shafts, a motor, a multi-path transmission mechanism, three spring pieces, a tendon rope, a winding drum and the like. The device realizes the functions of parallel clamping, coupling and self-adaptive composite grabbing of the fingers of the double-joint robot. The device has 4 grabbing modes of horizontal clamping and grabbing of the tail end finger section, coupling and grabbing of the middle joint, self-adaptive grabbing of the tail end finger section and horizontal clamping and self-adaptive grabbing of the tail end finger section, is driven by only one motor, is quick in object grabbing, is wide in grabbing range, and can be suitable for grabbing objects with different shapes and sizes; the device has small volume, compact structure and easy control, and is suitable for various robots needing to grab objects.
Description
Technical Field
The utility model belongs to the technical field of the robot hand, in particular to gear drive parallel clamp coupling self-adaptation compound structural design who snatchs robot finger device.
Background
The design of the robot hand plays an important role in the manufacture of the robot, and the quality of the design directly determines the practical performance of the robot. However, the bionic dexterous hand which is widely applied at present has the problems of high cost, complex operation, difficult maintenance and the like, so that the robot hand is difficult to produce in a large scale. The robot hand is responsible for finishing grabbing and operating objects. The mode of snatching the object is diversified, needs different modes of snatching according to different objects. The grabbing modes of the multi-finger robot hand generally include parallel clamping grabbing, coupling multi-joint linkage grabbing, self-adaptive grabbing and the like. Robotic hands with multiple grasping modes have become a hotspot of current research.
Currently, robotic hands with more than two gripping modes have been developed, and there are three major categories of typical multi-fingered robotic hands:
1) an industrial gripper. The industrial gripper is frequently used when an industrial assembly line grabs an object, fingers have a parallel gripping function, the parallel gripping (called as parallel gripping for short) is a very effective gripping mode in many occasions, and is also an even unique gripping mode for grabbing the object on a table top, so that the object is gripped in a centering manner, the gripping position is accurate, and the industrial gripper is widely applied in industry. The industrial gripper has simple structure, easy manufacture and reliable work, but the middle part of the fingers of the industrial gripper is not provided with a rotating joint, and objects with different shapes and sizes are difficult to grasp, so the industrial gripper has narrow application range and is not beneficial to being applied to a service robot;
2) is skillful and skillful. The dexterous hand is provided with a plurality of joints, each joint is generally provided with a motor for driving, and the joints are driven by a plurality of motors; the control is complex, the cost is high, the output is small, the dexterous hand brings convenience to the realization of gestures, but the application and popularization are influenced by high cost and great control difficulty;
3) the hand is underactuated. The underactuated hand has the advantages of the two robot hands, has a plurality of fingers with multiple joints, is expanded in grabbing mode, has more gestures, uses fewer drivers such as motors or cylinders, is simple in grabbing control, low in manufacturing cost, large in output, wide in application range, and is researched in hot spots of over ten years, and is developed at a high speed.
Robotic hands with parallel-grip adaptive grasping and under-actuated hands with coupled adaptive grasping were developed:
1) the coupling self-adaptive grabbing robot hand can combine coupling and self-adaptive grabbing, firstly adopts a coupling grabbing mode, and then adopts a self-adaptive grabbing mode after a near finger section contacts an object, so that another better composite grabbing is realized;
an existing coupling under-actuated integrated double-joint robot finger device (Chinese patent CN101664930B) comprises a base, a motor, two finger sections, two joint shafts, a motor, four connecting rods, two spring pieces and the like. The device has realized that two joint finger coupling snatchs the process and the under-actuated self-adaptation snatchs the process and fuses in effect of an organic whole, and the device adopts the coupling mode to rotate before touching the object, and can realize holding between the fingers the mode and snatching the object, after touching the object, can adopt the under-actuated self-adaptation mode again to rotate and snatch the object, and the size and the shape of the object are grabbed in the automatic adaptation realizes holding the mode and snatchs. The device has the following disadvantages: the device only has a coupling self-adaptive grabbing mode, and can not realize parallel clamping self-adaptive grabbing.
2) Parallel clamping and self-adaptive grabbing can be integrated by the flat-clamping self-adaptive grabbing robot hand, a parallel clamping grabbing mode is adopted firstly, and a self-adaptive grabbing mode is adopted after a near finger section contacts an object, so that better composite grabbing is realized;
there is a five-link clamping device with two degrees of freedom under actuated fingers, as in US8973958B2, comprising five links, springs, mechanical constraints. When the device works, the posture of the tail end finger section is kept at the beginning stage to perform the proximal joint bending action, and then the parallel pinching or self-adaptive envelope gripping function can be realized according to the position of an object. The device has the defects that the device only has a parallel clamping self-adaptive grabbing mode, and cannot realize coupling self-adaptive grabbing.
In addition, multi-grasp mode switching fingers with coupled adaptation and pinch adaptation have been designed.
A disc tooth switching multi-mode fusion self-adaptive robot finger device (Chinese patent CN108481354A) comprises two finger sections, two joints, a multi-path transmission mechanism, two motors, two spring pieces, a switching mechanism and the like, and self-adaptive grabbing of double-joint parallel clamping and coupling switching is achieved.
The device has the following defects:
1) when the device is used for grabbing, only a parallel clamping self-adaptive grabbing mode or a coupling self-adaptive grabbing mode can be adopted;
2) the device does not have a gripping mode in which the parallel clamping and the coupling exist simultaneously, and needs manual decision of an operator or external sensors to select according to the situation of the site.
3) The device needs to use a single motor to provide a power source in the switching process of realizing the parallel clamping self-adaptive grabbing mode or the coupling self-adaptive grabbing mode.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the weak point of prior art, provide a gear drive parallel clamp coupling self-adaptation is compound snatchs robot finger device. The device combines the parallel clamp, the coupling and the self-adaptation, has 4 kinds of modes of grabbing of the parallel clamp of the terminal finger section, the coupling of the middle part joint, the self-adaptation of the terminal finger section, and the parallel clamp of the terminal finger section, and the modes of grabbing are many, only uses a motor to drive three joints, and the underactuated effect is good, and it is quick to grab the object, and the grabbing scope is big, can adapt to the grabbing of objects of different sizes.
The technical scheme of the utility model as follows:
the utility model relates to a gear drive parallel clamp coupling self-adaptation compound grabbing robot finger device, including base, first finger section, second finger section, nearly articulated shaft, well articulated shaft, motor, first drive mechanism, second drive mechanism, third drive mechanism, fourth drive mechanism, first drive wheel, second drive wheel, third drive wheel, fourth drive wheel, fifth drive wheel, sixth drive wheel, first spring spare, second spring spare, first stopper, second stopper, first lug and second lug; the motor is fixedly connected with the base; the first transmission mechanism is arranged in the base; the output shaft of the motor is connected with the input end of the first transmission mechanism; the proximal joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the middle joint shaft is movably sleeved in the first finger section; the second finger section is movably sleeved on the middle joint shaft; the central line of the proximal joint shaft is parallel to the central line of the middle joint shaft; the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism are respectively arranged in the first finger section; the output end of the first transmission mechanism is connected with the first transmission wheel; the first driving wheel is movably sleeved on the near-joint shaft, the first driving wheel is connected with the input end of the second driving mechanism, and the output end of the second driving mechanism is connected with the second driving wheel; through the transmission of the second transmission mechanism, the transmission from the first transmission wheel to the second transmission wheel is the same-direction and accelerated transmission; the third driving wheel is movably sleeved on the near joint shaft, the third driving wheel is connected with the input end of the third transmission mechanism, the output end of the third transmission mechanism is connected with a fourth driving wheel, the fourth driving wheel is movably sleeved on the middle joint shaft, and the fourth driving wheel is fixedly connected with the second finger section; the transmission from the third transmission wheel to the fourth transmission wheel is reverse and constant-speed transmission through the transmission of the third transmission mechanism; the fifth driving wheel is movably sleeved on the near joint shaft, the fifth driving wheel is connected with the input end of the fourth transmission mechanism, and the output end of the fourth transmission mechanism is connected with the sixth driving wheel; through the transmission of the fourth transmission mechanism, the transmission from the fifth transmission wheel to the sixth transmission wheel is the transmission in the same direction and at the same speed; the first lug is fixedly connected with a third driving wheel, and the second lug is fixedly connected with a fifth driving wheel; the first limiting block and the second limiting block are fixedly connected with the base respectively; two ends of the first spring are respectively connected with the third driving wheel and the base; two ends of the second spring are respectively connected with a fifth driving wheel and a base; in an initial state, the first bump is in contact with the first limiting block, and the second bump is in contact with the second limiting block; the method is characterized in that: the gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device further comprises a third finger section, a far joint shaft, a fifth transmission mechanism, a seventh transmission wheel, a third spring piece, a tendon rope and a bobbin; the far joint shaft is movably sleeved in the second finger section; the third finger section is fixedly sleeved on the distal joint shaft; the central line of the far joint shaft and the central line of the middle joint shaft are parallel to each other; the second driving wheel is fixedly sleeved on the middle joint shaft; the sixth driving wheel is fixedly sleeved on the middle joint shaft; the fifth transmission mechanism is arranged in the second finger section, the fourth transmission wheel is fixedly connected with the second finger section, the sixth transmission wheel is connected with the input end of the fifth transmission mechanism, the output end of the fifth transmission mechanism is connected with the seventh transmission wheel, and the seventh transmission wheel is fixedly sleeved on the far joint shaft; through the transmission of the fifth transmission mechanism, the transmission from the sixth transmission wheel to the seventh transmission wheel is the transmission in the same direction and at the same speed; one end of the tendon rope is connected with the first finger section, the tendon rope is wound through the winding reel, the winding reel is movably sleeved on the proximal joint shaft, the other end of the tendon rope is connected with the upper end of the third spring piece, and the lower end of the third spring piece is connected with the base.
Compared with the prior art, the utility model, have following advantage and outstanding effect:
the utility model discloses the device utilizes motor, multichannel drive mechanism, three spring spare, tendon rope, bobbin etc. to synthesize and has realized that double-jointed robot finger parallel clamp, coupling, self-adaptation are compound snatchs the function. The device combines the flat clamp, the coupling and the self-adaption, and has 4 grabbing modes of tail end finger section flat clamp grabbing, middle joint coupling grabbing, tail end finger section self-adaption grabbing and tail end finger section flat clamp self-adaption grabbing, wherein the grabbing modes are multiple, only one motor is used for driving three joints, the underactuated effect is good, the object grabbing speed is high, the grabbing range is large, and the device can be suitable for grabbing objects with different sizes; the device has small volume, compact structure and easy control, and is suitable for various robots needing to grab objects.
Drawings
Fig. 1 is a perspective external view of an embodiment of the gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device designed by the present invention.
Fig. 2 is a front external view of the embodiment shown in fig. 1.
Fig. 3 is a perspective view of the embodiment of fig. 1 (not shown with some parts).
Fig. 4 is a perspective view (not shown in detail) of the embodiment of fig. 1 from another angle.
Fig. 5 is a side external view of fig. 1 (right side view of fig. 2).
Fig. 6 is a side external view of fig. 1 (left side view of fig. 2).
Fig. 7 is the view of fig. 5, but without showing parts.
Fig. 8 is the view of fig. 6, but without showing parts.
Fig. 9 is a view of fig. 2, but without showing parts.
Fig. 10 is a cross-sectional view of the embodiment shown in fig. 1.
Fig. 11 is a diagram illustrating the operation of the embodiment shown in fig. 1 in the coupled flatclamp gripping mode stage with the third finger section contacting the object (wherein the chain double-dashed line is the initial state and the dashed line is the intermediate state).
Fig. 12 is a motion process of the embodiment shown in fig. 1 in which the first finger section and the second finger section contact the object successively at the stage of the coupled flatclamp gripping mode (where the chain double-dashed line is an initial state, and the dashed line is an intermediate state).
Fig. 13 is an action process of the embodiment shown in fig. 1, in which the first finger section and the second finger section contact the object successively in the stage of the second finger section adaptive grabbing mode (where the two-dot chain line is an adaptive initial state, and the dashed line is an intermediate state).
Fig. 14 is an operation process of the embodiment shown in fig. 1, in which the first finger section, the second finger section, and the third finger section contact the object successively in the stage of the third finger section adaptive grabbing mode (where the two-dot chain line is an adaptive initial state, and the dashed line is an intermediate state).
FIG. 15 is a partial detail view of the embodiment of FIG. 1 in an initial state.
Fig. 16 is a partial part view of the embodiment of fig. 1 in the adaptive phase of the second finger adaptive grabbing mode.
Fig. 17 is an action process from an initial state to an adaptation phase in the second finger segment adaptive grabbing mode of the embodiment shown in fig. 1 (where a dotted line is the adaptation phase).
FIG. 18 is a partial detail view of the embodiment of FIG. 1 in an initial state.
Fig. 19 is a partial detail view of the embodiment of fig. 1 during an adaptive phase of a third finger segment adaptive grabbing mode.
Fig. 20 is a process of actions from an initial state to an adaptation phase in the third finger segment adaptive grabbing mode of the embodiment shown in fig. 1 (where a dotted line is the adaptation phase).
In fig. 1 to 20:
1-base, 101-first stopper, 102-second stopper, 11-motor, 21-first finger section, 22-second finger section, 23-third finger section, 31-proximal joint shaft, 32-middle joint shaft, 33-distal joint shaft, 41-first transmission mechanism, 411-worm, 412-worm wheel, 42-second transmission mechanism, 421-second transmission mechanism first gear, 422-second transmission mechanism second gear, 423-second transmission mechanism third gear, 424-second transmission mechanism fourth gear, 43-third transmission mechanism, 431-third transmission mechanism first gear, 432-third transmission mechanism second gear, 44-fourth transmission mechanism, 441-fourth transmission mechanism first gear, 442-fourth transmission mechanism second gear, 443-fourth transmission mechanism third gear, 45-fifth transmission mechanism, 451-fifth transmission mechanism first gear, 452-fifth transmission mechanism second gear, 453-a fifth transmission mechanism third gear, 51-a first transmission wheel, 52-a second transmission wheel, 53-a third transmission wheel, 54-a fourth transmission wheel, 55-a fifth transmission wheel, 56-a sixth transmission wheel, 57-a seventh transmission wheel, 61-a first spring piece, 62-a second spring piece, 63-a third spring piece, 71-a first bump, 72-a second bump, 81-a tendon rope, 82-a bobbin and 9-an object.
Detailed Description
The details of the structure and the operation principle of the present invention will be described in detail with reference to the accompanying drawings and embodiments.
The utility model relates to an embodiment of a gear drive parallel-clamping coupling self-adaptation composite grabbing robot finger device, as shown in fig. 1 to 5, including base 1, first finger section 21, second finger section 22, near joint shaft 31, middle joint shaft 32, motor 11, first drive mechanism 41, second drive mechanism 42, third drive mechanism 43, fourth drive mechanism 44, first drive wheel 51, second drive wheel 52, third drive wheel 53, fourth drive wheel 54, fifth drive wheel 55, sixth drive wheel 56, first spring 61, second spring 62, first stopper 101, second stopper 102, first bump 71 and second bump 72; the motor 11 is fixedly connected with the base 1; the first transmission mechanism 41 is arranged in the base 1; the output shaft of the motor 11 is connected with the input end of the first transmission mechanism 41; the proximal joint shaft 31 is movably sleeved in the base 1; the first finger section 21 is movably sleeved on the proximal joint shaft 31; the middle joint shaft 32 is movably sleeved in the first finger section 21; the second finger section 22 is movably sleeved on the middle joint shaft 32; the central line of the proximal joint shaft 31 and the central line of the middle joint shaft 32 are parallel to each other; the second transmission mechanism 42, the third transmission mechanism 43 and the fourth transmission mechanism 44 are respectively arranged in the first finger section 21; the output end of the first transmission mechanism 41 is connected with a first transmission wheel 51; the first driving wheel 51 is movably sleeved on the near-joint shaft 31, the first driving wheel 51 is connected with the input end of the second driving mechanism 42, and the output end of the second driving mechanism 42 is connected with the second driving wheel 52; through the transmission of the second transmission mechanism 42, the transmission from the first transmission wheel 51 to the second transmission wheel 52 is the same-direction and accelerated transmission; the third driving wheel 53 is movably sleeved on the proximal joint shaft 31, the third driving wheel 53 is connected with the input end of the third transmission mechanism 43, the output end of the third transmission mechanism 43 is connected with the fourth driving wheel 54, the fourth driving wheel 54 is movably sleeved on the middle joint shaft 32, and the fourth driving wheel 54 is fixedly connected with the second finger section 22; the transmission from the third transmission wheel 53 to the fourth transmission wheel 54 is a reverse and constant transmission by the transmission of the third transmission mechanism 43; the fifth transmission wheel 55 is movably sleeved on the proximal joint shaft 31, the fifth transmission wheel 55 is connected with the input end of the fourth transmission mechanism 44, and the output end of the fourth transmission mechanism 44 is connected with the sixth transmission wheel 56; the transmission from the fifth transmission wheel 55 to the sixth transmission wheel 56 is the same-direction and constant-speed transmission through the transmission of the fourth transmission mechanism 44; the first lug 71 is fixedly connected with the third driving wheel 53, and the second lug 72 is fixedly connected with the fifth driving wheel 55; the first limiting block 101 and the second limiting block 102 are fixedly connected with the base 1 respectively; two ends of the first spring piece 61 are respectively connected with the third transmission wheel 53 and the base 1; two ends of the second spring element 62 are respectively connected with the fifth transmission wheel 55 and the base 1; in the initial state, the first bump 71 is in contact with the first stopper 101, and the second bump 72 is in contact with the second stopper 102; the gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device further comprises a third finger section 23, a far joint shaft 33, a fifth transmission mechanism 45, a seventh transmission wheel 57, a third spring piece 63, a tendon rope 81 and a winding reel 82; the far joint shaft 33 is movably sleeved in the second finger section 22; the third finger section 23 is fixedly sleeved on the distal joint shaft 33; the center line of the distal joint axis 33 and the center line of the middle joint axis 32 are parallel to each other; the second transmission wheel 52 is fixedly sleeved on the middle joint shaft 32; the sixth transmission wheel 56 is fixedly sleeved on the middle joint shaft 32; the fifth transmission mechanism 45 is arranged in the second finger section 22, the fourth transmission wheel 54 is fixedly connected with the second finger section 22, the sixth transmission wheel 56 is connected with the input end of the fifth transmission mechanism 45, the output end of the fifth transmission mechanism 45 is connected with the seventh transmission wheel 57, and the seventh transmission wheel 57 is fixedly sleeved on the far joint shaft 33; the transmission from the sixth transmission wheel 56 to the seventh transmission wheel 57 is the same-direction and constant-speed transmission through the transmission of the fifth transmission mechanism 45; one end of the tendon rope 81 is connected with the first finger section 21, the tendon rope 81 is wound by the winding reel 82, the winding reel 82 is movably sleeved on the proximal joint shaft 31, the other end of the tendon rope 81 is connected with the upper end of the third spring 63, and the lower end of the third spring 63 is connected with the base 1.
The operation principle of the present embodiment is described below with reference to the accompanying drawings.
1) When an object is grabbed in a flat clamp coupling mode, the working principle of the device is as follows:
the first motor 11 rotates to drive the first transmission wheel 51 forward (toward the object grasping side) by an angle α greater than zero around the proximal joint shaft 31 through the first transmission mechanism 41, the first finger section 21 and the first gear 421 of the second transmission mechanism are driven to rotate respectively and comprehensively reach a state through the transmission of the second transmission mechanism 42, and the transmission from the first transmission wheel 51 to the second transmission wheel 52 is a same-direction and accelerated transmission, and the third transmission mechanism 43 transmits the motion from the third transmission wheel 53 to the fourth transmission wheel 54 to form a reverse constant-speed transmission relationship, while the third transmission wheel 53 is kept in a fixed posture with the base 1 under the action of the first spring 71, so when the first finger section 21 rotates forward around the proximal joint shaft 31 by an angle δ greater than zero (because the transmission from the first transmission wheel 51 to the second transmission wheel 52 is a same-direction and accelerated transmission, the angle δ is smaller than the first transmission wheel 51 α), the fourth transmission wheel 54 rotates forward around the center of the joint shaft 32 by the same angle δ, the same angle δ is smaller than the first transmission from the second transmission wheel 51 to the second transmission wheel 52, so that the seventh transmission wheel 23 and the seventh transmission wheel 23 forms a reverse constant-speed transmission mode, when the fifth finger section 23 rotates around the proximal joint shaft 31, the sixth transmission mechanism 23, the sixth transmission wheel 23, the seventh transmission mechanism 23, the seventh finger section 23 and the seventh finger section 23 is connected forward direction around the sixth transmission mechanism 23, the seventh finger joint shaft 23, the seventh transmission mechanism 23, the seventh finger joint shaft 23 forms a horizontal transmission mechanism 23, the seventh finger joint shaft 23 is connected to form a horizontal transmission angle δ connected to the sixth transmission mechanism 23, and the seventh transmission mechanism 23, the sixth finger joint shaft 23, the seventh transmission mechanism 23, the seventh finger joint shaft 23, the seventh transmission mechanism 23 is connected to form a horizontal transmission mechanism 23, the sixth finger joint shaft;
at this time, if the third finger section 23 contacts the object 9, the gripping is finished, and the coupled parallel clamp gripping mode is completed, as shown in fig. 11;
at this time, if the first finger section 21 contacts the object 9 first, the second finger section adaptive capture mode will be executed next;
at this time, if the second finger segment 22 contacts the object 9 first, or the first finger segment 21 and the second finger segment 22 contact the object 9 together, as shown in fig. 12; then the third finger segment adaptive grabbing mode is executed next;
2) when the object is grabbed in the second finger section self-adaptive mode, the working principle of the device is as follows:
after the first finger section 21 contacts the object 9, the first motor 11 continues to rotate, the first transmission mechanism 41 drives the first transmission wheel 51 to continue to rotate by an angle α larger than zero, and the second transmission mechanism 42 drives the first gear 421 of the second transmission mechanism to continue to rotate, at this time, because the first finger section 21 is limited by the object 9 and can not continue to move, the first spring 71 is stretched, the third transmission wheel 53 is disengaged from the base 1, the second finger section 22 rotates by an angle β, the movement continues until the second finger section 22 also contacts the object 9, in addition, under the action of the second spring 72, the fifth transmission wheel 55 keeps a fixed posture with the base 1, so that the third finger section 23 and the base 1 do not rotate relatively, and a flat clamping motion state is always kept in the mode;
at this time, if the second finger section 22 contacts the object 9, the second finger section adaptive grabbing mode is completed, as shown in fig. 13; next, executing a third finger segment adaptive grabbing mode;
3) when the object is grabbed in the third finger section self-adaptive mode, the working principle of the device is as follows:
when the second finger section 22 contacts the object 9, the first motor 11 continues to rotate, the first transmission wheel 51 is driven to continue to rotate by an angle α larger than zero through the first transmission mechanism 41, and the second transmission wheel 52 is driven to continue to rotate by an angle β larger than zero through the second transmission device 42, the second transmission wheel 52 and the sixth transmission wheel 56 are both fixedly connected with the middle joint shaft 32, so that the sixth transmission wheel 56 also rotates forwards by an angle β larger than zero, at the moment, because the first finger section 21 and the second finger section 22 are both limited by the object 9 and can not move continuously, the spring 72 is stretched, the fifth transmission wheel 55 is separated from the base 1, because the fifth transmission mechanism 45 transmits the motion from the sixth transmission wheel 56 to the seventh transmission wheel 57, a reverse constant-speed transmission relationship is formed, so that the seventh transmission wheel 57 also rotates forwards by the same angle β around the center of the far joint shaft 33, and because the third finger section 23 and the seventh transmission wheel 57 are fixedly connected, the third finger section 23 rotates forwards by the same angle β around the center of the far joint shaft 33, and the third finger section 23 continuously contacts the object 389;
at this time, if the third finger section 23 contacts the object 9, the third finger section adaptive grabbing mode is completed, and as shown in fig. 14, the grabbing process is ended;
process of releasing the object 8: the first motor 11 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 8, which is not described in detail.
The utility model discloses the device utilizes motor, multichannel drive mechanism, three spring spare, tendon rope, bobbin etc. to synthesize and has realized that double-jointed robot finger parallel clamp, coupling, self-adaptation are compound snatchs the function. The device combines the flat clamp, the coupling and the self-adaption, and has 4 grabbing modes of tail end finger section flat clamp grabbing, middle joint coupling grabbing, tail end finger section self-adaption grabbing and tail end finger section flat clamp self-adaption grabbing, wherein the grabbing modes are multiple, only one motor is used for driving three joints, the underactuated effect is good, the object grabbing speed is high, the grabbing range is large, and the device can be suitable for grabbing objects with different sizes; the device has small volume, compact structure and easy control, and is suitable for various robots needing to grab objects.
Claims (1)
1. A gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a middle joint shaft, a motor, a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel, a sixth transmission wheel, a first spring piece, a second spring piece, a first limiting block, a second limiting block, a first lug and a second lug; the motor is fixedly connected with the base; the first transmission mechanism is arranged in the base; the output shaft of the motor is connected with the input end of the first transmission mechanism; the proximal joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the middle joint shaft is movably sleeved in the first finger section; the second finger section is movably sleeved on the middle joint shaft; the central line of the proximal joint shaft is parallel to the central line of the middle joint shaft; the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism are respectively arranged in the first finger section; the output end of the first transmission mechanism is connected with the first transmission wheel; the first driving wheel is movably sleeved on the near-joint shaft, the first driving wheel is connected with the input end of the second driving mechanism, and the output end of the second driving mechanism is connected with the second driving wheel; through the transmission of the second transmission mechanism, the transmission from the first transmission wheel to the second transmission wheel is the same-direction and accelerated transmission; the third driving wheel is movably sleeved on the near joint shaft, the third driving wheel is connected with the input end of the third transmission mechanism, the output end of the third transmission mechanism is connected with a fourth driving wheel, the fourth driving wheel is movably sleeved on the middle joint shaft, and the fourth driving wheel is fixedly connected with the second finger section; the transmission from the third transmission wheel to the fourth transmission wheel is reverse and constant-speed transmission through the transmission of the third transmission mechanism; the fifth driving wheel is movably sleeved on the near joint shaft, the fifth driving wheel is connected with the input end of the fourth transmission mechanism, and the output end of the fourth transmission mechanism is connected with the sixth driving wheel; through the transmission of the fourth transmission mechanism, the transmission from the fifth transmission wheel to the sixth transmission wheel is the transmission in the same direction and at the same speed; the first lug is fixedly connected with a third driving wheel, and the second lug is fixedly connected with a fifth driving wheel; the first limiting block and the second limiting block are fixedly connected with the base respectively; two ends of the first spring are respectively connected with the third driving wheel and the base; two ends of the second spring are respectively connected with a fifth driving wheel and a base; in an initial state, the first bump is in contact with the first limiting block, and the second bump is in contact with the second limiting block; the method is characterized in that: the gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device further comprises a third finger section, a far joint shaft, a fifth transmission mechanism, a seventh transmission wheel, a third spring piece, a tendon rope and a bobbin; the far joint shaft is movably sleeved in the second finger section; the third finger section is fixedly sleeved on the distal joint shaft; the central line of the far joint shaft and the central line of the middle joint shaft are parallel to each other; the second driving wheel is fixedly sleeved on the middle joint shaft; the sixth driving wheel is fixedly sleeved on the middle joint shaft; the fifth transmission mechanism is arranged in the second finger section, the fourth transmission wheel is fixedly connected with the second finger section, the sixth transmission wheel is connected with the input end of the fifth transmission mechanism, the output end of the fifth transmission mechanism is connected with the seventh transmission wheel, and the seventh transmission wheel is fixedly sleeved on the far joint shaft; through the transmission of the fifth transmission mechanism, the transmission from the sixth transmission wheel to the seventh transmission wheel is the transmission in the same direction and at the same speed; one end of the tendon rope is connected with the first finger section, the tendon rope is wound through the winding reel, the winding reel is movably sleeved on the proximal joint shaft, the other end of the tendon rope is connected with the upper end of the third spring piece, and the lower end of the third spring piece is connected with the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822049070.2U CN210046674U (en) | 2018-12-06 | 2018-12-06 | Gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822049070.2U CN210046674U (en) | 2018-12-06 | 2018-12-06 | Gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device |
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| CN210046674U true CN210046674U (en) | 2020-02-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794953A (en) * | 2018-12-06 | 2019-05-24 | 清华大学 | The flat folder compound crawl robot finger apparatus of coupling adaptive of gear drive |
| CN109794953B (en) * | 2018-12-06 | 2024-10-29 | 清华大学 | Gear transmission flat clamp coupling self-adaptive composite grabbing robot finger device |
-
2018
- 2018-12-06 CN CN201822049070.2U patent/CN210046674U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794953A (en) * | 2018-12-06 | 2019-05-24 | 清华大学 | The flat folder compound crawl robot finger apparatus of coupling adaptive of gear drive |
| CN109794953B (en) * | 2018-12-06 | 2024-10-29 | 清华大学 | Gear transmission flat clamp coupling self-adaptive composite grabbing robot finger device |
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| AV01 | Patent right actively abandoned |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200211 Effective date of abandoning: 20241029 |