CN210046674U - Gear transmission parallel clamp coupling self-adaptive composite grabbing robot finger device - Google Patents

Abstract

A gear-driven flat-clamp coupling self-adaptive compound grasping robot finger device belongs to the technical field of robot hands, and comprises a base, three finger segments, three joint shafts, a motor, a multi-way transmission mechanism, three spring parts, a tendon, a winding Spool, etc. The device realizes the functions of double-joint robot finger flat clamping, coupling, and self-adaptive compound grasping. The device has 4 grasping modes: end finger flat clip grasping, middle joint coupling grasping, end finger segment adaptive grasping, and end finger segment flat clip adaptive grasping. It is driven by only one motor, which can grasp objects quickly and easily. The pickup range is large, and it can be adapted to grasp objects of different shapes and sizes; the device is small in size, compact in structure, and easy to control, and is suitable for use in various robots that need to grasp objects.

Description

Gear-driven flat-clamp coupling self-adaptive compound grasping robot finger device

technical field

The utility model belongs to the technical field of robot hands, in particular to a structural design of a gear-driven flat-clamp coupling self-adaptive compound grasping robot finger device.

Background technique

The design of the robot hand occupies an important position in the manufacture of the robot, and its pros and cons will directly determine the practical performance of the robot. However, the currently widely used bionic dexterous hands have problems such as high cost, complicated operation, and difficult maintenance, which make it difficult to produce robotic hands on a large scale. The robotic hand is responsible for grasping and manipulating objects. There are various ways of grasping objects, and different grasping modes are required according to different objects. The grasping modes of multi-fingered robotic hands generally include parallel gripping grasping, coupled multi-joint linkage grasping, and adaptive grasping. Robotic hands with multiple grasping modes have become a current research hotspot.

Currently robotic hands with more than two grasping modes have been developed, and there are three broad categories of typical multi-fingered robotic hands:

1) Industrial gripper. Industrial grippers are often used when grabbing objects in industrial production lines. The fingers have the function of parallel gripping. This parallel gripping (referred to as flat gripping) is a very effective way of grabbing in many occasions, and it is also used to grab objects on the desktop. It is even the only way of grabbing, center grabbing and accurate grabbing position, which have been widely used in industry. The industrial gripper is simple in structure, easy to manufacture and reliable in operation. However, there is no rotating joint in the middle of the finger of the industrial gripper, which makes it difficult to grasp objects of different shapes and sizes, so the scope of application is narrow, which is not conducive to application in service robots;

2) Dexterous hands. The dexterous hand has many joints, and each joint is generally equipped with a motor to actively drive, using more motors to drive the joints; the control is complicated, the cost is expensive, and the output is small. This kind of dexterous hand brings convenience to the realization of gestures, but High cost and difficulty in control affect application promotion;

3) Underactuated hand. The underactuated hand has the advantages of the above two robot hands, including multiple fingers with multiple joints, the grasping mode has been expanded, there are more gestures, and at the same time, less motors or cylinders are used, and the grasping control is relatively simple , the manufacturing cost is low, the output is large, and the application range is relatively wide. It has been hot research for more than ten years and is developing rapidly.

Robotic hands with flat-clip adaptive grasping and underactuated hands with coupled adaptive grasping were developed:

1) Coupling and adaptive grasping The robot hand can combine coupling and adaptive grasping. The coupled grasping mode is adopted first, and then the adaptive grasping mode is adopted when the proximal finger touches the object, which realizes another kind of better grasp. compound grab;

An existing coupled and underactuated integrated double-joint robot finger device (Chinese patent CN101664930B) includes a base, a motor, two finger segments, two joint shafts, a motor, four connecting rods, two springs, and the like. The device realizes the effect of integrating the two-joint finger coupling grasping process and the underactuated adaptive grasping process. The device rotates in a coupled manner before touching the object, and can grasp the object in a pinch mode. After the object is picked up, the under-actuated adaptive method can be used to rotate the grasped object, automatically adapt to the size and shape of the grasped object, and realize the grasping method. The disadvantage of the device is that the device only has a coupling adaptive grasping mode, and cannot realize the adaptive grasping of the flat clip.

2) The flat-clamp adaptive grasping robot hand can integrate parallel grasping and adaptive grasping. The parallel grasping grasping mode is adopted first, and then the adaptive grasping mode is adopted when the proximal finger touches the object. good compound grab;

An existing five-link clamping device with underactuated fingers with two degrees of freedom, such as US Pat. No. 8,973,958B2, includes five links, springs, and mechanical constraints. When the device is working, at the beginning, the posture of the terminal finger segment is maintained to perform a near-joint bending action, and then the function of parallel pinch or adaptive envelope grip can be realized according to the position of the object. The disadvantage is that the device only has a flat-clamp adaptive grasping mode, which cannot realize coupling adaptive grasping.

In addition, a multi-grasping mode switching finger with coupling adaptation and flat clip adaptation has been designed.

A disc-tooth switching multi-mode fusion adaptive robot finger device (Chinese patent CN108481354A), including two finger segments, two joints, a multi-way transmission mechanism, two motors, two spring parts and a switching mechanism, etc., to achieve double joints Adaptive grabbing of flat clamp and coupling switching.

The device has the following shortcomings:

1) When the device is grasping, it can only adopt the flat-clamp adaptive grasping mode or the coupling adaptive grasping mode;

2) The device does not have the grasping mode that the flat clamp and the coupling exist at the same time, which requires the operator's manual decision or the external sensor to choose according to the site conditions.

3) The device needs to use a separate motor to provide a power source during the switching process of the flat-clamp adaptive grasping mode or the coupling adaptive grasping mode.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a gear-driven flat-clamp coupling self-adaptive compound grasping robot finger device. The device combines flat clip, coupling and self-adaptation, and has 4 grasping modes: end-finger flat-clamp grasping, middle joint coupling grasping, end-finger self-adaptive grasping, and end-finger-section flat clip adaptive grasping , There are many grasping modes, only one motor is used to drive three joints, the under-drive effect is good, the grasping object is fast, the grasping range is large, and it can adapt to grasping objects of different sizes.

The technical scheme of the present utility model is as follows:

The gear drive flat clip coupling self-adaptive compound grasping robot finger device designed by the utility model comprises a base, a first finger segment, a second finger segment, a proximal joint shaft, a middle joint shaft, a motor, a first transmission mechanism, a second Transmission mechanism, third transmission mechanism, fourth transmission mechanism, first transmission wheel, second transmission wheel, third transmission wheel, fourth transmission wheel, fifth transmission wheel, sixth transmission wheel, first spring member, second transmission a spring member, a first limit block, a second limit block, a first bump and a second bump; the motor is fixedly connected to the base; the first transmission mechanism is arranged in the base; The output shaft is connected with the input end of the first transmission mechanism; the proximal joint shaft is movably sleeved in the base; the first finger segment is movably sleeved on the proximal joint shaft; the middle joint shaft is movably sleeved on the first joint shaft In a finger segment; the second finger segment is movably sleeved on the mid-joint shaft; the center line of the proximal joint shaft and the mid-joint shaft are parallel to each other; the second transmission mechanism, the third transmission mechanism, The fourth transmission mechanisms are respectively arranged in the first finger segments; the output end of the first transmission mechanism is connected with the first transmission wheel; the first transmission wheel is movably sleeved on the proximal joint shaft, and the first transmission The wheel is connected to the input end of the second transmission mechanism, and the output end of the second transmission mechanism is connected to the second transmission wheel; through the transmission of the second transmission mechanism, the transmission from the first transmission wheel to the second transmission wheel is in the same direction The third transmission wheel is movably sleeved on the proximal joint shaft, the third transmission wheel is connected to the input end of the third transmission mechanism, and the output end of the third transmission mechanism is connected to the fourth transmission mechanism. wheels are connected, the fourth transmission wheel is movably sleeved on the middle joint shaft, and the fourth transmission wheel is fixedly connected with the second finger segment; through the transmission of the third transmission mechanism, from the third transmission wheel to the fourth transmission wheel The transmission is reverse and constant speed transmission; the fifth transmission wheel is movably sleeved on the proximal joint shaft, the fifth transmission wheel is connected with the input end of the fourth transmission mechanism, and the output of the fourth transmission mechanism The end is connected with the sixth transmission wheel; through the transmission of the fourth transmission mechanism, the transmission from the fifth transmission wheel to the sixth transmission wheel is the same direction and constant speed transmission; the first bump is fixed to the third transmission wheel , the second bump is fixedly connected with the fifth transmission wheel; the first limit block and the second limit block are respectively fixed with the base; the two ends of the first spring element are respectively connected with the third transmission wheel , base; both ends of the second spring member are respectively connected to the fifth transmission wheel and the base; in the initial state, the first bump is in contact with the first limit block, and the second bump is in contact with the first stopper. The two limit blocks are in contact; it is characterized in that: the gear drive flat clamp coupling adaptive compound grasping robot finger device further comprises a third finger segment, a distal joint shaft, a fifth transmission mechanism, a seventh transmission wheel, a third spring member, Tendon rope and bobbin; the distal joint shaft is movably sleeved in the second finger segment; the third finger segment is sleeved and fixed on the distal joint shaft; the center line of the distal joint shaft and the center of the middle joint shaft The lines are parallel to each other; the second transmission wheel is fixed on the middle joint shaft; the sixth transmission wheel is fixed on the middle joint shaft; the fifth transmission mechanism is arranged in the second finger segment, the fourth The transmission wheel is fixedly connected with the second finger segment, and the sixth transmission wheel is connected with the fifth The input end of the transmission mechanism is connected, the output end of the fifth transmission mechanism is connected with the seventh transmission wheel, and the seventh transmission wheel is sleeved and fixed on the distal joint shaft; through the transmission of the fifth transmission mechanism, from the sixth transmission wheel The transmission to the seventh transmission wheel is transmission in the same direction and at the same speed; one end of the tendon rope is connected to the first finger segment, the tendon rope is wound through the bobbin, and the bobbin is movably sleeved on the proximal joint shaft, The other end of the tendon is connected with the upper end of the third spring element, and the lower end of the third spring element is connected with the base.

Compared with the prior art, the utility model has the following advantages and outstanding effects:

The device of the utility model comprehensively realizes the functions of double-joint robot finger flat clamping, coupling, and self-adaptive composite grasping by using a motor, a multi-way transmission mechanism, three spring parts, tendons, a bobbin and the like. The device combines flat clip, coupling and self-adaptation, and has 4 grasping modes: end-finger flat-clamp grasping, middle joint coupling grasping, end-finger self-adaptive grasping, and end-finger-section flat clip adaptive grasping , there are many grasping modes, only one motor is used to drive three joints, the under-drive effect is good, the grasping object is fast, the grasping range is large, and it can adapt to grasping objects of different sizes; the device is small in size, compact in structure, easy to control, It is suitable for use in various robots that need to grab objects.

Description of drawings

FIG. 1 is a three-dimensional appearance view of an embodiment of a gear-driven flat-clamp coupling self-adaptive compound grasping robot finger device designed by the present invention.

FIG. 2 is a front appearance view of the embodiment shown in FIG. 1 .

FIG. 3 is a perspective view of the embodiment shown in FIG. 1 (parts not shown).

FIG. 4 is a perspective external view of the embodiment shown in FIG. 1 from another angle (some parts are not shown).

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 a view of Fig. 5, but some parts are not shown.

Fig. 8 is a view of Fig. 6, but some parts are not shown.

Fig. 9 is a view of Fig. 2, but some parts are not shown.

FIG. 10 is a cross-sectional view of the embodiment shown in FIG. 1 .

FIG. 11 is the action process of using the third finger segment to contact the object in the coupling flat clip grasping mode stage of the embodiment shown in FIG. 1 (the double-dot chain line is the initial state, and the dashed line is the intermediate state).

12 is the action process of the embodiment shown in FIG. 1 in which the first finger segment and the second finger segment contact the object successively in the coupling flat clamp grasping mode stage (the double-dot chain line is the initial state, and the dotted line is the intermediate state).

13 is the action process of using the first finger segment and the second finger segment to contact the object successively in the second finger segment adaptive grasping mode stage of the embodiment shown in FIG. Intermediate state).

14 is the action process of using the first finger segment, the second finger segment, and the third finger segment to contact the object successively in the third finger segment adaptive grasping mode stage of the embodiment shown in FIG. 1 (wherein the double-dotted line is adaptive The initial state, the dotted line is the intermediate state).

Fig. 15 is a partial view of the components of the embodiment shown in Fig. 1 in an initial state.

FIG. 16 is a partial view of the parts of the embodiment shown in FIG. 1 in the adaptive stage in the second finger segment adaptive grasping mode.

FIG. 17 is the action process from the initial state to the adaptive stage in the second finger segment adaptive grasping mode of the embodiment shown in FIG. 1 (the dotted line is the adaptive stage).

FIG. 18 is a partial view of the embodiment shown in FIG. 1 in an initial state.

Fig. 19 is a partial view of the parts of the embodiment shown in Fig. 1 in the adaptive stage in the third finger segment adaptive grasping mode.

FIG. 20 is the action process from the initial state to the adaptive stage in the third finger segment adaptive grasping mode of the embodiment shown in FIG. 1 (the dotted line is the adaptive stage).

In Figures 1 to 20:

1-base, 101-first limit block, 102-second limit block, 11-motor, 21-first finger segment, 22-second finger segment, 23-third finger segment, 31-proximal joint Shaft, 32-middle joint shaft, 33-distal joint shaft, 41-first transmission mechanism, 411-worm, 412-worm gear, 42-second transmission mechanism, 421-second transmission mechanism, first gear, 422-second The second gear of the transmission mechanism, 423-the third gear of the second transmission mechanism, 424-the fourth gear of the second transmission mechanism, 43-the third transmission mechanism, 431-the first gear of the third transmission mechanism, 432-the third gear of the third transmission mechanism Two gears, 44- the fourth transmission mechanism, 441- the first gear of the fourth transmission mechanism, 442- the second gear of the fourth transmission mechanism, 443- the third gear of the fourth transmission mechanism, 45- the fifth transmission mechanism, 451- the first gear Five first gear of transmission mechanism, 452-second gear of fifth transmission mechanism, 453-third gear of fifth transmission mechanism, 51-first transmission wheel, 52-second transmission wheel, 53-third transmission wheel, 54- Fourth transmission wheel, 55-fifth transmission wheel, 56-sixth transmission wheel, 57-seventh transmission wheel, 61-first spring member, 62-second spring member, 63-third spring member, 71-first spring member A bump, 72 - the second bump, 81 - tendon rope, 82 - bobbin, 9 - object.

Detailed ways

The specific structure and working principle of the present utility model are further described in detail below with reference to the accompanying drawings and embodiments.

An embodiment of the gear-driven flat-clamp coupling self-adaptive compound grasping robot finger device designed by the present invention, as shown in Figures 1 to 5, includes a base 1, a first finger segment 21, a second finger segment 22, The proximal joint shaft 31, the middle joint shaft 32, the motor 11, the first transmission mechanism 41, the second transmission mechanism 42, the third transmission mechanism 43, the fourth transmission mechanism 44, the first transmission wheel 51, the second transmission wheel 52, the first transmission The third transmission wheel 53, the fourth transmission wheel 54, the fifth transmission wheel 55, the sixth transmission wheel 56, the first spring member 61, the second spring member 62, the first limit block 101, the second limit block 102, the first A bump 71 and a second bump 72; the motor 11 is fixedly connected to the base 1; the first transmission mechanism 41 is arranged in the base 1; the output shaft of the motor 11 is connected to the first transmission mechanism 41 The input ends are connected; the proximal joint shaft 31 is movably sleeved in the base 1; the first finger segment 21 is movably sleeved on the proximal joint shaft 31; the middle joint shaft 32 is movably sleeved on the first finger segment 21; the second finger segment 22 is movably sleeved on the mid-joint shaft 32; the centerline of the proximal joint shaft 31 and the mid-joint shaft 32 are parallel to each other; the second transmission mechanism 42, the third The transmission mechanism 43 and the fourth transmission mechanism 44 are respectively arranged in the first finger segment 21; the output end of the first transmission mechanism 41 is connected with the first transmission wheel 51; the first transmission wheel 51 is movably sleeved in the vicinity of the On the joint shaft 31, the first transmission wheel 51 is connected to the input end of the second transmission mechanism 42, and the output end of the second transmission mechanism 42 is connected to the second transmission 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 a transmission in the same direction and increasing speed; the third transmission wheel 53 is movably sleeved on the proximal joint shaft 31, and the third transmission wheel 53 is connected to the third transmission wheel 53. The input end of the transmission mechanism 43 is connected, the output end of the third transmission mechanism 43 is connected with the fourth transmission wheel 54, the fourth transmission wheel 54 is movably sleeved on the middle joint shaft 32, and the fourth transmission wheel 54 It is fixedly connected with the second finger segment 22; through the transmission of the third transmission mechanism 43, the transmission from the third transmission wheel 53 to the fourth transmission wheel 54 is a reverse and constant speed transmission; the fifth transmission wheel 55 is a movable sleeve Adjacent to the joint shaft 31, the fifth transmission wheel 55 is connected to the input end of the fourth transmission mechanism 44, and the output end of the fourth transmission mechanism 44 is connected to the sixth transmission wheel 56; through the fourth transmission mechanism 44 The transmission from the fifth transmission wheel 55 to the sixth transmission wheel 56 is in the same direction and at the same speed; the first bump 71 is fixedly connected to the third transmission wheel 53, and the second bump 72 is connected to the The fifth transmission wheel 55 is fixedly connected; the first limit block 101 and the second limit block 102 are respectively fixed to the base 1 ; the two ends of the first spring member 61 are respectively connected to the third transmission wheel 53 , the base Base 1; both ends of the second spring member 62 are respectively connected to the fifth transmission wheel 55 and the base 1; in the initial state, the first bump 71 contacts the first limit block 101, the second The bump 72 and the second limiting block 10 2 contact; the gear transmission flat clip coupling adaptive compound grasping robot finger device also includes a third finger segment 23, a distal joint shaft 33, a fifth transmission mechanism 45, a seventh transmission wheel 57, a third spring member 63, a tendon rope 81 and bobbin 82; the distal joint shaft 33 is movably sleeved in the second finger segment 22; the third finger segment 23 is sleeved and fixed on the distal joint shaft 33; The center lines of the middle joint shaft 32 are parallel to each other; the second transmission wheel 52 is sleeved on the middle joint shaft 32; the sixth transmission wheel 56 is sleeved and fixed on the middle joint shaft 32; the fifth transmission mechanism 45 is provided In the second finger segment 22, the fourth transmission wheel 54 is fixedly connected to the second finger segment 22, the sixth transmission wheel 56 is connected to the input end of the fifth transmission mechanism 45, and the fifth transmission mechanism 45 The output end is connected with the seventh transmission wheel 57, and the seventh transmission wheel 57 is fixed on the distal joint shaft 33; through the transmission of the fifth transmission mechanism 45, the transmission from the sixth transmission wheel 56 to the seventh transmission wheel 57 is as follows: Co-directional and constant speed transmission; one end of the tendon 81 is connected to the first finger segment 21, the tendon 81 is wound through the bobbin 82, the bobbin 82 is movably sleeved on the proximal joint shaft 31, and the tendon 81 is wound on the bobbin 82. The other end of 81 is connected to the upper end of the third spring member 63 , and the lower end of the third spring member 63 is connected to the base 1 .

The working principle of this embodiment is described as follows with reference to the accompanying drawings.

1) When grabbing an object in the flat-clamp coupling mode, the working principle of the device is as follows:

The first motor 11 rotates, and the first transmission wheel 51 is driven by the first transmission mechanism 41 to rotate forward (toward the side of the grasped object) around the near-joint axis 31 by an angle α greater than zero, through the transmission of the second transmission mechanism 42 , drive the first finger segment 21 and the first gear 421 of the second transmission mechanism to rotate respectively and comprehensively reach a state, and the transmission from the first transmission wheel 51 to the second transmission wheel 52 is a transmission in the same direction and increasing speed; The third transmission mechanism 43 transmits the motion from the third transmission wheel 53 to the fourth transmission wheel 54, forming a reverse constant speed transmission relationship, and the third transmission wheel 53 is kept in contact with the base under the action of the first spring member 71. The posture of the seat 1 is fixed, so when the first finger segment 21 rotates forward around the proximal joint axis 31 by an angle δ greater than zero (because the transmission from the first transmission wheel 51 to the second transmission wheel 52 is in the same direction and increasing Therefore, when the angle δ is smaller than the rotation angle α) of the first transmission wheel 51, the fourth transmission wheel 54 will rotate forward by the same angle δ around the center of the middle joint shaft 32. The wheel 54 is fixedly connected, so the second finger segment 22 is rotated forward by an angle δ around the center of the middle joint shaft 32, so the second finger segment 22 forms a coupling motion with the first finger segment 21; in addition, the fourth transmission mechanism 44 will The movement is transmitted from the fifth transmission wheel 55 to the sixth transmission wheel 56, forming a transmission relationship of the same direction and constant speed, and the fifth transmission mechanism 45 transmits the movement from the sixth transmission wheel 56 to the seventh transmission wheel 57, forming a The transmission relationship is reversed at the same speed, and the fifth transmission wheel 55 maintains a fixed attitude with the base 1 under the action of the second spring member 72. Therefore, when the first finger segment 21 rotates forward around the proximal joint axis 31 by a greater than When the angle δ is zero, the sixth transmission wheel 56 will rotate backward by the same angle δ around the center of the middle joint shaft 32, and then through the fifth transmission mechanism 45, the seventh transmission wheel 57 will also rotate backward around the center of the far joint shaft 33. At the same angle δ, since the third finger segment 23 is fixedly connected to the seventh transmission wheel 57, the third finger segment 23 is rotated backward by an angle δ around the center of the distal joint shaft 33, so the third finger segment 23 and the base 1 There is no relative rotation between them, so the third finger segment 23 forms a flat clip mode;

At this time, if the third finger segment 23 contacts the object 9, the grasping is completed, and the coupling flat clip grasping mode is completed, as shown in FIG. 11 ;

At this time, if the first finger segment 21 touches the object 9 first, the second finger segment adaptive grasping mode will be executed next;

At this time, if the second finger segment 22 touches the object 9 first, or the first finger segment 21 and the second finger segment 22 contact the object 9 at the same time, as shown in FIG. 12 , then the third finger segment adaptive grab will be executed next. model;

2) When grabbing an object in the second finger segment adaptive mode, the working principle of the device is as follows:

After the first finger segment 21 first contacts the object 9, the first motor 11 continues to rotate, and the first transmission wheel 51 is driven by the first transmission mechanism 41 to continue to rotate by an angle α greater than zero, and the second transmission device 42 is driven to drive the second The first gear 421 of the transmission mechanism continues to rotate; at this time, since the first finger segment 21 is restricted by the object 9 and cannot continue to move, the first spring member 71 will be elongated, the third transmission wheel 53 will be disengaged from the base 1, and the first The second finger segment 22 will rotate by an angle β, and this movement will continue until the second finger segment 22 also contacts the object 9; in addition, under the action of the second spring member 72, the fifth transmission wheel 55 remains fixed to the base 1 The posture is changed, so there is no relative rotation between the third finger segment 23 and the base 1, and the flat clip motion state is always maintained in this mode;

At this time, if the second finger segment 22 contacts the object 9, the second finger segment adaptive grasping mode is completed, as shown in FIG. 13; the third finger segment adaptive grasping mode will be executed next;

3) When grabbing an object in the third finger adaptive mode, the working principle of the device is as follows:

After the second finger segment 22 contacts the object 9, the first motor 11 continues to rotate, and the first transmission mechanism 41 drives the first transmission wheel 51 to continue to rotate by an angle α greater than zero, and the second transmission device 42 drives the second transmission gear. 52 continues to rotate by an angle β greater than zero; both the second transmission gear 52 and the sixth transmission gear 56 are fixed to the middle joint shaft 32, so the sixth transmission gear 56 also rotates forward by an angle β greater than zero, at this time due to The first finger segment 21 and the second finger segment 22 are both restricted by the object 9 and cannot continue to move, the first spring member 72 will be elongated, and the fifth transmission wheel 55 will be disengaged from the base 1; due to the fifth transmission mechanism 45 The movement is transmitted from the sixth transmission wheel 56 to the seventh transmission wheel 57, forming a reverse constant speed transmission relationship, so the seventh transmission wheel 57 will also rotate forward around the center of the distal joint shaft 33 by the same angle β, because The third finger segment 23 is fixedly connected with the seventh transmission wheel 57, so the third finger segment 23 is rotated forward by an angle β around the center of the distal joint shaft 33, and this movement will continue until the third finger segment 23 also contacts the object 9;

At this time, if the third finger segment 23 contacts the object 9, the third finger segment adaptive grasping mode is completed, as shown in FIG. 14, the grasping process ends;

The process of releasing the object 8: the first motor 11 is reversed, and the subsequent process is just the opposite of the above-mentioned process of grabbing the object 8, which will not be repeated.

The device of the utility model comprehensively realizes the functions of double-joint robot finger flat clamping, coupling, and self-adaptive composite grasping by using a motor, a multi-way transmission mechanism, three spring parts, tendons, a bobbin and the like. The device combines flat clip, coupling and self-adaptation, and has 4 grasping modes: end-finger flat-clamp grasping, middle joint coupling grasping, end-finger self-adaptive grasping, and end-finger-section flat clip adaptive grasping , there are many grasping modes, only one motor is used to drive three joints, the under-drive effect is good, the grasping object is fast, the grasping range is large, and it can adapt to grasping objects of different sizes; the device is small in size, compact in structure, easy to control, It is suitable for use in various robots that need 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.

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