CN210161180U - Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device - Google Patents

Abstract

A tooth belt connecting rod series-parallel connection 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 gear transmission mechanism, a multi-path belt wheel transmission mechanism, a connecting rod transmission mechanism, four spring pieces, a tendon rope, a winding reel 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 5 grabbing modes of horizontal clamping and grabbing of a tail end finger section, coupling and grabbing of a middle joint, self-adaptive grabbing of the middle finger section, 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 to grab objects, has a large grabbing range, and can adapt to grabbing of objects with different shapes and sizes; the device has the advantages of small volume, compact structure, no need of complex sensing and control systems, low cost and application to various grabbing robots.

Description

Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device

Technical Field

The utility model belongs to the technical field of the robot hand, in particular to toothed belt connecting rod series-parallel connection is compound snatchs structural design of robot finger device.

Background

With the innovation of technology, the robot industry has come to the golden age of development, and the robot hand as a key part of the robot to realize various functions has become a hot spot of research in the field at present. The quality of the robot hand can directly determine the practical performance of the robot, along with the increasingly complex application scenes, the requirements on the reliability and the adaptability of the robot hand are higher and higher, and in order to pursue the diversity of the functions and the flexibility of use of the robot hand, the fingers of the robot should have as many grabbing modes as possible. Therefore, the underactuated adaptive hand with multiple grabbing modes is one of the foremost subjects in the field of robot hands. 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, parallel gripping (flat 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 centering gripping is realized, the gripping position is accurate, and a great amount of industrial applications are obtained. 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, so that objects with different shapes and sizes are difficult to grasp, therefore, 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 generally has more degrees of freedom and better dexterity, has the highest anthropomorphic degree, can simulate the human hand to the maximum extent to complete complex work, and has high flexibility and reliability. Although the dexterous hand has the advantage of flexibility, the control system and the sensing system are very complex, the cost is high, and the grabbing force is small.

3) The hand is underactuated. The under-actuated hand has the advantages of the two robot hands, the joint freedom degree of the under-actuated hand is less than the number of the motors, the requirement on a control system is reduced, the under-actuated hand has high adaptability and grabbing force, the grabbing control is simple, the manufacturing cost is low, the output is large, the application range is wide, the under-actuated hand is researched in a hot spot of nearly more than ten years, and the under-actuated hand is developed at a rapid 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 (US 8973958B2) 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 disadvantages are 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 coupling 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 disadvantages:

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 a flat clamp and a coupling exist simultaneously, and needs manual decision of an operator or selection of an external sensor according to the field situation;

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.

Disclosure of Invention

For overcoming the not enough of existing robot finger device existence, the utility model aims to provide a toothed belt connecting rod cluster and series-parallel complex snatchs robot finger device, the device will the parallel clip, the coupling combines together with the self-adaptation three, it snatchs to have terminal finger section parallel clip, middle part joint coupling snatchs, middle part finger section self-adaptation snatchs, terminal finger section self-adaptation snatchs, 5 kinds of modes of snatching that terminal finger section parallel clip self-adaptation snatchs, it is many to snatch the mode, only with a motor drive three joint, underactuated is effectual, it is quick to snatch the object, it is big to snatch the scope, can adapt to the snatching of not unidimensional object.

The purpose of the utility model is realized by adopting the following technical scheme.

The utility model relates to a toothed belt connecting rod series-parallel connection composite grabbing robot finger device, which comprises a base, a first finger section, a second finger section, a near joint shaft, a middle joint shaft, a motor, a worm gear transmission mechanism, a first gear transmission mechanism, a second gear transmission mechanism, a first transmission gear, a second transmission gear, a third transmission gear, 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 worm gear and worm transmission mechanism is arranged in the base; the output shaft of the motor is connected with the input end of the worm gear 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 first gear transmission mechanism and the second gear transmission mechanism are respectively arranged in the first finger section; the output end of the worm gear transmission mechanism is connected with the first transmission gear; the first transmission gear is movably sleeved on the near joint shaft and is connected with the input end of the first gear transmission mechanism, the output end of the first gear transmission mechanism is connected with the second transmission gear, and the second transmission gear is fixedly sleeved on the middle joint shaft; through the transmission of the first gear transmission mechanism, the transmission from the first transmission gear to the second transmission gear is the same-direction and accelerated transmission; the third transmission gear is movably sleeved on the near joint shaft and is connected with the input end of the second gear transmission mechanism; the first lug is fixedly connected with the third transmission gear; the first limiting block and the second limiting block are fixedly connected with the base respectively; one end of the first spring piece is connected with the first bump through a first tendon rope wound through the first winding drum, the other end of the first spring piece is connected with the base, and in an initial state, the first bump is in contact with the first limiting block; the toothed belt connecting rod serial-parallel connection composite grabbing robot finger device further comprises a second finger section intermediate shaft, a third finger section, a far joint shaft, a first belt wheel transmission mechanism, a second belt wheel transmission mechanism, a third belt wheel transmission mechanism, a first transmission belt wheel, a second transmission belt wheel, a third transmission belt wheel, a fourth transmission belt wheel, a fifth transmission belt wheel, a sixth transmission belt wheel, a connecting rod transmission mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a third spring piece, a fourth spring piece, a third limiting block and a third protruding block; the far joint shaft is movably sleeved in the second finger section; the second finger section intermediate 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 first belt wheel transmission mechanism, the second belt wheel transmission mechanism and the connecting rod transmission mechanism are respectively arranged in the first finger section; the third belt wheel transmission mechanism is arranged in the second finger section; the central line of the middle shaft of the second finger section is parallel to the central line of the middle joint shaft; the output end of the second gear transmission mechanism is fixedly connected with the first transmission belt wheel; the transmission from the third transmission gear to the first transmission belt wheel is reverse and constant-speed transmission through the transmission of the second gear transmission mechanism; the first transmission belt wheel is the input end of the first belt wheel transmission mechanism, the second transmission belt wheel is the output end of the first belt wheel transmission mechanism, the second transmission belt wheel is movably sleeved on the middle joint shaft, and the second transmission belt wheel is fixedly connected with the second finger section; the transmission from the first transmission belt wheel to the second transmission belt wheel is the same-direction and constant-speed transmission through the transmission of the first belt wheel transmission mechanism; one end of the first connecting rod is movably sleeved on the near joint shaft, the distance between the first connecting rod and the near joint shaft is equal to the distance between the first connecting rod and the middle joint shaft, the first connecting rod is the input end of the connecting rod transmission mechanism, the other end of the first connecting rod is movably sleeved with one end of the second connecting rod, the other end of the second connecting rod is movably sleeved with one end of a third connecting rod and one end of a fourth connecting rod, the other end of the third connecting rod is movably sleeved on the middle joint shaft, the third connecting rod is fixedly connected with the second transmission gear and is equal to the first connecting rod, and the other end of the fourth connecting rod is movably sleeved on the second finger section intermediate shaft; the third transmission belt wheel is movably sleeved on the near joint shaft, the third transmission belt wheel is the input end of the second belt wheel transmission mechanism, the fourth transmission belt wheel is the output end of the second belt wheel transmission mechanism, and the fourth transmission belt wheel is fixedly sleeved on the middle joint shaft; the transmission from the third transmission belt wheel to the fourth transmission belt wheel is the same-direction and constant-speed transmission through the transmission of the second belt wheel transmission mechanism; the fifth driving belt wheel is fixedly connected with the fourth driving belt wheel, the fifth driving belt wheel is the input end of the third belt wheel driving mechanism, the sixth driving belt wheel is the output end of the third belt wheel driving mechanism, and the sixth driving belt wheel is fixedly sleeved on the far joint shaft and fixedly connected with the third finger section; through the transmission of the third belt wheel transmission mechanism, the transmission from the fifth transmission belt wheel to the sixth transmission belt wheel is the transmission with the same direction and the same speed; the second lug is fixedly connected with a third transmission belt wheel; one end of the second spring piece is connected with the second bump through a second tendon rope wound through the second winding drum, and the other end of the second spring piece is connected with the base; the third bump is fixedly connected with the first connecting rod; the third limiting block is fixedly connected with the base; one end of the third spring piece is connected with the second bump through a second tendon rope wound through the second winding drum, and the other end of the third spring piece is connected with the base; in an initial state, the second bump is in contact with the second limiting block, and the third bump is in contact with the third limiting block; one end of the fourth spring piece is connected with the first finger section through a fourth tendon rope wound through a fourth bobbin, the other end of the fourth spring piece is connected with the base, and the fourth bobbin is movably sleeved on the proximal joint shaft.

Compare with existing robot finger device, the utility model has the advantages of it is following and outstanding effect:

the device comprehensively realizes the functions of parallel clamping, coupling and self-adaptive composite grabbing of the fingers of the double-joint robot by utilizing the motor, the multi-path gear transmission mechanism, the multi-path belt wheel transmission mechanism, the connecting rod transmission mechanism, the four spring pieces, the tendon rope, the bobbin and the like. The device combines the parallel clamp, the coupling and the self-adaptation, has 5 kinds of modes of grabbing that the parallel clamp of terminal finger section grabbed, middle part joint coupling grabbed, middle part finger section self-adaptation grabbed, terminal finger section self-adaptation grabbed, the parallel clamp self-adaptation of terminal finger section grabbed, and it is many to grab the mode, only uses a motor to drive three joints, and the under-actuated is effectual, and it is quick to grab the object, and it is big to grab the scope, can adapt to the grabbing of different shapes, size object. Meanwhile, the device is small in size, compact in structure, low in cost and applicable to various grabbing robots, and complex sensing and control systems are not needed.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a perspective external view of an embodiment of the finger device of the toothed belt connecting rod series-parallel hybrid composite grabbing robot designed by the utility model.

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 rear view of the embodiment of fig. 1, 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).

The labels in the figure are: 1-base, 101-first stopper, 102-second stopper, 103-third 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, 34-second finger section middle shaft, 411-worm, 412-worm wheel, 421-first transmission gear, 422-second transmission gear, 423-first middle gear, 424-second middle gear, 425-third middle gear, 426-fourth middle gear, 431-third transmission gear, 432-fifth middle gear, 441-first transmission pulley, 442-second transmission pulley, 451-third transmission pulley, 452-fourth transmission pulley, 461-fifth transmission pulley, 462-sixth transmission pulley, 471-first connecting rod, 472-second connecting rod, 473-third connecting rod, 474-fourth connecting rod, 51-first synchronous belt, 52-second synchronous belt, 53-third synchronous belt, 61-first spring piece, 62-second spring piece, 63-third spring piece, 64-fourth spring piece, 71-first lug, 72-second lug, 73-third lug, 81-fourth tendon rope, 82-fourth bobbin, and 9-object.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 10, an embodiment of a finger device of a toothed belt connecting rod series-parallel hybrid composite grabbing robot designed by the present invention includes a base 1, a first finger section 21, a second finger section 22, a proximal joint shaft 31, a middle joint shaft 32, a motor 11, a worm gear transmission mechanism, a first gear transmission mechanism, a second gear transmission mechanism, a first transmission gear 421, a second transmission gear 422, a third transmission gear 431, a first spring 61, a second spring 62, a first stopper 101, a second stopper 102, a first bump 71 and a second bump 72; the motor 11 is fixedly connected with the base 1; the worm gear and worm transmission mechanism is arranged in the base 1 and comprises a worm 411 serving as an input end of the transmission mechanism and a worm wheel 412 serving as an output end of the transmission mechanism; the output shaft of the motor 11 is connected with the worm 411; 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 first gear transmission mechanism and the second gear transmission mechanism are respectively arranged in the first finger section 21, the first gear transmission mechanism comprises a first intermediate gear 423, a second intermediate gear 424, a third intermediate gear 425 and a fourth intermediate gear 426 which are respectively supported on the first finger section through shafts, the first intermediate gear 423 serving as the input end of the transmission mechanism is fixedly connected with the second intermediate gear 424, the second intermediate gear 424 and the third intermediate gear 425 are sequentially meshed with the fourth intermediate gear 426 serving as the output end of the transmission mechanism for transmission, the second gear transmission mechanism comprises a third transmission gear 431 and a fifth intermediate gear 432 which are meshed with each other, the third transmission gear 431 is the input end of the transmission mechanism, and the fifth intermediate gear 432 is the output end of the transmission mechanism; the worm gear 412 is in meshing transmission with a first transmission gear 421, the first transmission gear 421 is movably sleeved on the near joint shaft 31, the first transmission gear 421 is in meshing transmission with a first intermediate gear 423, the fourth intermediate gear 426 is in meshing transmission with a second transmission gear 422, and the second transmission gear 422 is fixedly sleeved on the middle joint shaft 32; through the transmission of the first gear transmission mechanism, the transmission from the first transmission gear 421 to the second transmission gear 422 is the same-direction and accelerated transmission; the third transmission gear 431 is movably sleeved on the proximal joint shaft 31, the first bump 71 is fixedly connected with the third transmission gear 431, the first limit block 101 is fixedly connected with the base 1, one end of the first spring piece 61 is connected with the first bump 71 through a first tendon rope wound around the first bobbin, the other end of the first spring piece is connected with the base 1, and the first bump 71 is in contact with the first limit block 101 in an initial state.

The toothed belt connecting rod serial-parallel connection composite grabbing robot finger device further comprises a second finger section intermediate shaft 34, a third finger section 23, a far joint shaft 33, a first belt wheel transmission mechanism consisting of a first transmission belt wheel 441, a second transmission belt wheel 442 and a first synchronous belt 51, a second belt wheel transmission mechanism consisting of a third transmission belt wheel 451, a fourth transmission belt wheel 452 and a second synchronous belt 52, a third belt wheel transmission mechanism consisting of a fifth transmission belt wheel 461, a sixth transmission belt wheel 462 and a third synchronous belt 53, a connecting rod transmission mechanism consisting of a first connecting rod 471, a second connecting rod 472, a third connecting rod 473 and a fourth connecting rod 474, a second spring element 62, a third spring element 63, a fourth spring element 64, a third limiting block 103 and a third lug 73; the far joint shaft 33 is movably sleeved in the second finger section 22; the second finger section intermediate shaft 34 is movably sleeved in the second finger section 22 and is positioned below the distal joint shaft 33; 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 first belt wheel transmission mechanism, the second belt wheel transmission mechanism and the connecting rod transmission mechanism are respectively arranged in the first finger section 21; the third pulley transmission is arranged in the second finger section 22; the central line of the second finger section intermediate shaft 34 and the central line of the middle joint shaft 32 are parallel to each other; a fifth intermediate gear 432 serving as an output end of the second gear transmission mechanism is fixedly connected with the first transmission belt wheel 441, and transmission from the third transmission gear 431 to the first transmission belt wheel 441 is reverse and constant-speed transmission through transmission of the second gear transmission mechanism; the first driving pulley 441 is an input end of the first pulley transmission mechanism, the second driving pulley 442 is an output end of the first pulley transmission mechanism, the second driving pulley 442 is movably sleeved on the middle joint shaft 32, the second driving pulley 442 is fixedly connected with the second finger section 22, and transmission from the first driving pulley 441 to the second driving pulley 442 is equidirectional and constant-speed transmission through transmission of the first pulley transmission mechanism; one end of the first connecting rod 471 is movably sleeved on the proximal joint shaft 31, the distance between the first connecting rod 471 and the proximal joint shaft 31 and the distance between the first connecting rod 471 and the middle joint shaft 32 are equal, the first connecting rod 471 is the input end of the connecting rod transmission mechanism, the other end of the first connecting rod 471 is movably sleeved with one end of the second connecting rod 472, the other end of the second connecting rod 472 is movably sleeved with one end of a third connecting rod 473 and one end of a fourth connecting rod 474, the other end of the third connecting rod 473 is movably sleeved on the middle joint shaft 32, the third connecting rod 473 is as long as the first connecting rod 471, and the other end of the fourth connecting rod 474 is movably sleeved on the second finger section intermediate shaft 34; the third driving belt wheel 451 is movably sleeved on the near joint shaft 31, the third driving belt wheel 451 is an input end of a second belt wheel transmission mechanism, the fourth driving belt wheel 452 is an output end of the second belt wheel transmission mechanism, the fourth driving belt wheel 452 is fixedly sleeved on the middle joint shaft 32, and transmission from the third driving belt wheel 451 to the fourth driving belt wheel 452 is homodromous and constant-speed transmission through transmission of the second belt wheel transmission mechanism; the fifth driving pulley 461 is fixedly connected with the fourth driving pulley 452, the fifth driving pulley 461 is an input end of a third pulley transmission mechanism, the sixth driving pulley 462 is an output end of the third pulley transmission mechanism, the sixth driving pulley 462 is fixedly sleeved on the far joint shaft 33, the sixth driving pulley 462 is fixedly connected with the third finger section 23, and the transmission from the fifth driving pulley 461 to the sixth driving pulley 462 is the transmission with the same direction and the same speed through the transmission of the third pulley transmission mechanism; the second lug 72 is fixedly connected with a third driving belt wheel 451, the second limit block 102 is fixedly connected with the base 1, one end of the second spring element 62 is connected with the second lug 72 through a second tendon rope wound by a second reel, and the other end is connected with the base 1; the third lug 73 is fixedly connected with the first connecting rod 471, the third limiting block 103 is fixedly connected with the base 1, one end of the third spring element 63 is connected with the third lug 73 through a third tendon rope wound through a third reel, and the other end is connected with the base 1; in the initial state, the second bump 72 is in contact with the second stopper 102, and the third bump 73 is in contact with the third stopper 103; the lower end of the fourth spring element 64 is connected with the base 1, the upper end thereof is connected with a fourth tendon rope 81, the fourth tendon rope 81 is wound around a fourth bobbin 82 movably sleeved on the proximal joint shaft 31, and the end thereof is connected with the first finger section 21.

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, the worm gear transmission mechanism drives the first transmission gear 421 to rotate forwards (close to the side for grabbing the object 9) by an angle α larger than zero around the near joint shaft 31, the first finger section 21 and the second transmission gear 422 are driven to rotate respectively and comprehensively reach a state through the transmission of the first gear transmission mechanism, the transmission from the first transmission gear 421 to the second transmission gear 422 is a transmission with the same direction and the same speed, the second gear transmission mechanism transmits the motion from the third transmission gear 431 to the fifth intermediate gear 432 to form a reverse constant speed transmission relationship, the fifth intermediate gear 432 is fixedly connected with the first transmission pulley 441, the first transmission gear transmits the motion from the first transmission pulley 441 to the second transmission pulley 442 to form a transmission with the same direction and the same speed, the third transmission gear 431 maintains a fixed posture with the base 1 under the action of the first spring 61, therefore, when the first finger section 21 rotates forwards by an angle δ larger than zero around the near joint shaft 31 (because the transmission from the first transmission gear 3521 to the second transmission gear 442, the third transmission gear 431 is fixedly connected with the base 1 to form a constant speed transmission gear 462, the same posture as the second transmission gear 462, the second transmission gear 21, the second finger belt wheel 32 rotates forward direction, the same angle 462, the second finger belt wheel 32 is formed by the same angle, the second finger belt wheel 21 and the second finger belt wheel 21, the second finger belt wheel 32, the same posture of the same angle is fixedly connected with the same angle 21, the same angle is formed by the second finger belt wheel 21, the second finger belt wheel 32, the same angle is equal speed, the same as the second finger angle, the second finger angle 462, the second finger angle of the second finger angle 462, the second finger angle of the second finger angle 462, the second finger angle of the third finger angle 462, the second;

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 first contacts the object 9, as shown in fig. 12, the second finger section and the third finger section are executed in the combined adaptive grabbing mode;

2) when the object is grabbed in the self-adaptive mode of combining the second finger section and the third finger section, the working principle of the device is as follows:

when the first finger section 21 contacts the object 9 first, the first motor 11 continues to rotate, the first transmission gear 421 is driven to continue to rotate by an angle α larger than zero through the worm gear mechanism, the second transmission gear 422 is driven to continue to rotate through the first gear transmission mechanism, at this time, the second transmission gear 422 rotates in the second finger section 22 because the first finger section 21 is restricted by the object 9 and cannot continue to move, the link transmission mechanism transfers the movement from the first connecting rod 471 to the third connecting rod 473 and the fourth connecting rod 474, the second connecting rod 472 and the third connecting rod 473 form a parallel, the axial distance between the middle joint shaft 32 and the middle joint shaft 34, the third connecting rod 474 and the fourth connecting rod 474 form a triangle, the fourth connecting rod 474 pushes the second finger section to move, the third finger section is driven by the link transmission mechanism, the movement from the first connecting rod 472 to the third connecting rod 474 and the fourth connecting rod 474 is the same as the movement of the middle joint shaft 34, the third connecting rod 473 and the fourth connecting rod 474 form a triangle, the fourth connecting rod 462, the third connecting rod 26 and the fourth connecting rod 462 are driven to rotate around the same angle α, the same as the third connecting rod 462, the fourth connecting rod 462, the third connecting rod 422 and the fifth transmission gear 26 are driven to rotate, the same angle α, the same as the third connecting rod 462, the fourth connecting rod 462, the third connecting rod 422 and the fourth connecting rod 26, the third connecting rod 26 and the fourth connecting rod 26 are driven to rotate continuously, the same as the fourth connecting rod 462, the third connecting rod 462, the fourth connecting rod 2, the third connecting rod 462, the fourth connecting rod 462, the third connecting rod 26, the third connecting rod 422 rotate, the fourth connecting rod 26 and the third connecting rod 26, the third connecting rod 26 and the fourth connecting rod 26, the fourth connecting rod 26 and the third connecting rod 26, the same angle of the same as the fourth connecting rod 26, the same as the fourth connecting rod 2, the third connecting rod 2, the;

at this time, if the second finger section 22 contacts the object 9, as shown in fig. 13; or the third finger segment 23 contacts the object 9, as shown in fig. 14, the combined adaptive grabbing mode of the second finger segment and the third finger segment is completed, and the grabbing process is finished;

process of releasing the object 9: the first motor 11 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 9, which is not described in detail.

The utility model discloses the device utilizes motor, multichannel gear drive, multichannel band pulley drive, connecting rod drive, four spring spare, tendon rope, bobbin etc. to synthesize and has realized that double-knuckle robot finger parallel clamp, coupling, self-adaptation are compound snatchs the function. The device combines a flat clamp, a coupling and a self-adaption, and has 5 grabbing modes of tail end finger section flat clamp grabbing, middle joint coupling grabbing, middle finger section self-adaption 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, an object is grabbed quickly, the grabbing range is large, and the device can be suitable for grabbing objects with different shapes and sizes; the device has the advantages of small volume, compact structure, no need of complex sensing and control systems, low cost and application to various grabbing robots.

Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the design and scope of the technical solutions of the present invention.

Claims (1)

1. A toothed belt connecting rod serial-parallel combined 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 worm gear transmission mechanism, a first gear transmission mechanism, a second gear transmission mechanism, a first transmission gear, a second transmission gear, a third transmission gear, 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 worm gear and worm transmission mechanism is arranged in the base; the output shaft of the motor is connected with the input end of the worm gear 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 first gear transmission mechanism and the second gear transmission mechanism are respectively arranged in the first finger section; the output end of the worm gear transmission mechanism is connected with the first transmission gear; the first transmission gear is movably sleeved on the near joint shaft and is connected with the input end of the first gear transmission mechanism, the output end of the first gear transmission mechanism is connected with the second transmission gear, the second transmission gear is fixedly sleeved on the middle joint shaft, and the transmission from the first transmission gear to the second transmission gear is the same-direction and accelerated transmission through the transmission of the first gear transmission mechanism; the third transmission gear is movably sleeved on the near joint shaft and is connected with the input end of the second gear transmission mechanism; the first lug is fixedly connected with the third transmission gear; the first limiting block and the second limiting block are fixedly connected with the base respectively; one end of the first spring piece is connected with the first bump through a first tendon rope wound through the first winding drum, the other end of the first spring piece is connected with the base, and in an initial state, the first bump is in contact with the first limiting block; the method is characterized in that: the toothed belt connecting rod serial-parallel connection composite grabbing robot finger device further comprises a second finger section intermediate shaft, a third finger section, a far joint shaft, a first belt wheel transmission mechanism, a second belt wheel transmission mechanism, a third belt wheel transmission mechanism, a first transmission belt wheel, a second transmission belt wheel, a third transmission belt wheel, a fourth transmission belt wheel, a fifth transmission belt wheel, a sixth transmission belt wheel, a connecting rod transmission mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a third spring piece, a fourth spring piece, a third limiting block and a third protruding block; the far joint shaft is movably sleeved in the second finger section; the second finger section intermediate 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 first belt wheel transmission mechanism, the second belt wheel transmission mechanism and the connecting rod transmission mechanism are respectively arranged in the first finger section; the third belt wheel transmission mechanism is arranged in the second finger section; the central line of the middle shaft of the second finger section is parallel to the central line of the middle joint shaft; the output end of the second gear transmission mechanism is fixedly connected with the first transmission belt wheel, and transmission from the third transmission gear to the first transmission belt wheel is reverse and constant-speed transmission through the transmission of the second gear transmission mechanism; the first transmission belt wheel is the input end of the first belt wheel transmission mechanism, the second transmission belt wheel is the output end of the first belt wheel transmission mechanism, the second transmission belt wheel is movably sleeved on the middle joint shaft and fixedly connected with the second finger section, and transmission from the first transmission belt wheel to the second transmission belt wheel is homodromous and constant-speed transmission through the transmission of the first belt wheel transmission mechanism; one end of the first connecting rod is movably sleeved on the near joint shaft, the distance between the first connecting rod and the near joint shaft is equal to the distance between the first connecting rod and the middle joint shaft, the first connecting rod is the input end of the connecting rod transmission mechanism, the other end of the first connecting rod is movably sleeved with one end of the second connecting rod, the other end of the second connecting rod is movably sleeved with one end of a third connecting rod and one end of a fourth connecting rod, the other end of the third connecting rod is movably sleeved on the middle joint shaft, the third connecting rod is fixedly connected with the second transmission gear and is equal to the first connecting rod, and the other end of the fourth connecting rod is movably sleeved on the second finger section intermediate shaft; the third driving belt wheel is movably sleeved on the near joint shaft, the third driving belt wheel is the input end of the second belt wheel driving mechanism, the fourth driving belt wheel is the output end of the second belt wheel driving mechanism, the fourth driving belt wheel is sleeved on the middle joint shaft, and the driving from the third driving belt wheel to the fourth driving belt wheel is the same-direction and constant-speed driving through the driving of the second belt wheel driving mechanism; the fifth driving belt wheel is fixedly connected with the fourth driving belt wheel, the fifth driving belt wheel is the input end of the third belt wheel driving mechanism, the sixth driving belt wheel is the output end of the third belt wheel driving mechanism, the sixth driving belt wheel is fixedly sleeved on the far joint shaft and fixedly connected with the third finger section, and the driving from the fifth driving belt wheel to the sixth driving belt wheel is the same-direction and constant-speed driving through the driving of the third belt wheel driving mechanism; the second lug is fixedly connected with a third driving belt wheel, one end of the second spring piece is connected with the second lug through a second tendon rope wound by a second winding drum, and the other end of the second spring piece is connected with the base; the third bump is fixedly connected with the first connecting rod, the third limiting block is fixedly connected with the base, one end of the third spring piece is connected with the third bump through a third tendon rope wound through a third bobbin, and the other end of the third spring piece is connected with the base; in an initial state, the second bump is in contact with the second limiting block, and the third bump is in contact with the third limiting block; one end of the fourth spring piece is connected with the first finger section through a fourth tendon rope wound through a fourth bobbin, the other end of the fourth spring piece is connected with the base, and the fourth bobbin is movably sleeved on the proximal joint shaft.

Images