WO2018196388A1 - 手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手 - Google Patents

手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手 Download PDF

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Publication number
WO2018196388A1
WO2018196388A1 PCT/CN2017/115206 CN2017115206W WO2018196388A1 WO 2018196388 A1 WO2018196388 A1 WO 2018196388A1 CN 2017115206 W CN2017115206 W CN 2017115206W WO 2018196388 A1 WO2018196388 A1 WO 2018196388A1
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WIPO (PCT)
Prior art keywords
seat
rocker
finger
crank
driven
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Ceased
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PCT/CN2017/115206
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English (en)
French (fr)
Inventor
章军
沈坚
吕兵
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Jiangnan University
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Jiangnan University
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Application filed by Jiangnan University filed Critical Jiangnan University
Priority to US16/072,186 priority Critical patent/US10688668B2/en
Publication of WO2018196388A1 publication Critical patent/WO2018196388A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Definitions

  • the double-drive crank rocker slider parallel mechanism palm-type manipulator with finger displacement and indexing has the advantages of large operation space, wide adaptability and low energy consumption, and belongs to the field of logistics conveying equipment, manipulator and robot.
  • the general machine can only control the center distance of the finger, grasp the circular or spherical object of the size and diameter, or control the finger indexing, from grabbing the circle or
  • the spherical object is transformed into a robot that grabs a rectangular object, and the finger can change position and rotate the angle has not been reported.
  • the invention overcomes the above defects, designs the manipulator from the angle of changing the shape of the palm, and adopts the simplest crank rocker slider mechanism according to the characteristics of the large space of the parallel mechanism, and selects three identical flexible leaf spring fingers, wherein One finger does not move, and the other two fingers are translational motions that both rotate and move.
  • the crank rocker slider mechanism on the left side is an active driving structure, which is driven by two stepping motors respectively to generate angular displacement of the crank and linear movement of the slider;
  • the crank rocker slider mechanism on the right side is a follower mechanism,
  • the pair of gears are driven at equal speed, and the left crank and the right crank are displaced at the same angle;
  • the robot has three leaf spring fingers, two of which are respectively mounted on the left and right links or the rocker, through two steps
  • the motor cooperates to capture the object; also by manual adjustment, the crank eccentricity, the position and angle of the two fingers at the link or the rocker, and the position of the other fixed finger can be changed.
  • the clamping and gripping power of the manipulator of the invention is also driven by two stepping motors, and the self-locking two stepping motors can be powered off during the gripping process.
  • the manipulator of the invention has the advantages of large operation space, wide adaptability, low energy consumption, and the like, and belongs to the field of logistics conveying equipment, manipulators and robots.
  • crank-and-slider slider parallel mechanism of the finger displacement and indexing of the present invention is a palm-type manipulator, which is composed of a bottom plate 1, a guide rail support 2, a linear guide 3, a mounting plate 4, and a linear bearing. 5.
  • the crank rocker slider parallel mechanism of the finger displacement and indexing of the present invention is in a palm type hand, and both ends of the linear guide 3 are fixed by two rail supports 2, two guide rails.
  • the support 2 is mounted on the bottom plate 1.
  • the two ends of the mounting plate 4 are respectively fixed on the two guide rail supports 2.
  • the mounting plate 4 has different positions of the holes connected to the robot body, and the hole size corresponds to the robot body.
  • the center of gravity of different grasped objects and the hole system at different positions are convenient for adjusting the coupling; the linear bearing 5 moves through the linear guide 3, the movable seat 6 is fixed on the linear bearing 5, and the hinge shaft 9 is fixed to the movable seat 6 by the nut.
  • the screw nut 7 is fixed on the moving base 6, and the screw stepping motor 8 is fixed on the bottom plate 1.
  • the screw stepping motor 8 drives the moving seat 6 through the screw nut 7, and drives the linear bearing 5 on the linear guide 3.
  • Linear movement; the hinge shaft 9 passes through the holes on the driven rocker 11 and the active rocker 12, and the left and right sides of the driven rocker 11 have wear washers 10, and the driven rocker 11 and the active rocker 12 are on the hinge shaft. 9 the opposite rotation of the upper rotation;
  • Two horizontal and narrow waist grooves are machined coaxially on the horizontal surface of the active rocker 12, and the active rocker 12 is hingedly coupled with the left link 13 by the pin shaft 14, and the diameter of the guide cylindrical surface of the pin 14 Cooperating with the wide waist groove width of the active rocker 12, the pin 14 is tightened, the pin 14 and the active rocker 12 are integrated, and the connecting rod 13 has a gap, and the connecting rod 13 can be relatively active in the pin 14.
  • the rocker 12 is rotated; after the position of the moving pin 14 is fixed, the working length of the rocker can be manually adjusted; the other end of the connecting rod 13 is hingedly coupled with the slotted crank 17 through the pin 14, and the slotted crank 17 is also coaxial.
  • the grounding and milling process has two different width and narrow waist grooves, and the same principle as the active rocker 12 and the connecting rod 13 is used to adjust the working eccentricity of the manual slotted crank 17;
  • the other end of the active slotted crank 17 is sleeved on the drive shaft 22 and fastened to the flattened surface of one end of the drive shaft 22 by screws, and transmits the rotational torque of the drive shaft 22; the drive shaft 22 is provided with a slotted crank 17 and a long sleeve.
  • the cylinder 23, the two seated bearings 24, the short sleeve 25, the driving gear 20, and the flat cylindrical section of the other end of the driving shaft 22 are inserted into the hole of the driving shaft of the stepping motor 19 with the worm gear reducer with a worm wheel
  • the retarder stepping motor 19 transmits torque to the drive shaft 22 through the flattened cylindrical section, and the flat key 21 on the drive shaft 22 transmits torque to the drive gear 20; the axial length of the long sleeve 23 and the short sleeve 25 is repaired.
  • Dimensions, the axial position of the driving gear 20 can be adjusted; a seat bearing 24 is fixed to the gear cover 18, and the axial gravity of the grasped object is transmitted from the shoulder surface of the drive shaft 22 to the bearing 24 of the bearing.
  • the inner ring is received, and the other bearing 24 of the coaxial core is fixed on the bottom plate 1.
  • the gear cover 18 is connected by the two guiding studs 32 and the bottom plate 1 into a unitary structure, and the two ends of the guiding stud 32 are corresponding to the corresponding holes. The clearance fits the cylindrical surface and then tightens with a nut instead of the guide stud 32. 1 and the gear cover 18;
  • the driven shaft 26 is supported by a seat bearing 24 and a small seat bearing 31, and the seat bearing 24 and the small seat bearing 31 are respectively fixed to the gear cover 18 and the bottom plate 1 and axially by the shoulder surface of the driven shaft 26.
  • the thick sleeve 27, the tapered bore gear 28, the tapered sleeve 29, the oblate nut 30 constitute a rotating body; the driving gear 20 meshes with the tapered bore gear 28, the tapered bore gear 28 has a taper sleeve 29 therein, and the rounded nut 30 is tightened Therefore, the torque is transmitted to the driven shaft 26 through the oblique action of the conical contact surface; the other end of the driven slotted crank 17 is sleeved on the driven shaft 26 and fastened to the end of the driven shaft 26 by screws.
  • the driven shaft 26 rotates the torque and transmits it to the driven slotted crank 17; the loose round nut 30 is reversely twisted, the tapered bore gear 28 and the taper sleeve 29 are disengaged, and the active slotted crank 17 can be adjusted.
  • the phase angle between the driven slotted crank 17 and the driven slotted crank 17 and the driven slotted crank 17 can be bilaterally symmetrical in the horizontal direction or asymmetric.
  • the connecting rod 13 is provided with a waist groove, and the width of the waist groove is in a clearance fit relationship with the length of a cylindrical surface of the threaded end of the short finger seat 15.
  • the short finger seat 15 can be at any position of the waist groove of the connecting rod 13 and the short finger The seat 15 can be rotated at an arbitrary angle with respect to the connecting rod 13 and then fixed on the connecting rod 13 by a nut; the short finger seat 15 is provided with a leaf spring curved finger 16 , and the surface of the finger spring curved finger 16 is used for pinching, The intermediate curved surface portion is used for engraving and grasping;
  • the width of the long finger seat 33 and the width of the wide waist groove on the bottom plate 1 form a clearance fit relationship, and the thread segment of the long finger seat 33 passes through the narrow waist groove on the bottom plate 1 and is fixed by a nut, so the long finger seat 33 can Adjusting the position in the waist groove on the bottom plate 1, and a leaf spring curved finger 16 is also mounted on the long finger seat 33;
  • the dual-drive crank rocker slider parallel mechanism of the present invention has an active crank rocker slider mechanism on the left side and a driven crank rocker slider mechanism on the right side; a short finger seat on the right side; 15 is mounted on the left side of the connecting rod 13, there is also a middle finger seat 34 corresponding to the right side of the connecting rod 13; the short finger seat 15, the middle finger seat 34 and the long finger seat 33 of the three spring curved fingers 16
  • the structure and the dimensions are exactly the same, and the structure of the manipulator must ensure that the planes of the fingers 16 of the three mounting plate spring fingers 16 of the short finger seat 15, the middle finger seat 34 and the long finger seat 33 are coplanar;
  • the short finger holder 15 and the middle finger holder 34 may be respectively mounted on the active rocker 12 and the driven rocker 11; the narrow waist groove of the active rocker 12
  • the width of the cylindrical surface of the threaded end of the short finger base 15 is a clearance fit relationship, and the short finger seat 15 can also be at any position of the waist groove of the active rocker 12, and the short finger base 15 can be rotated at an arbitrary angle with respect to the active rocker 12,
  • the nut is fixed to the active rocker 12, and the same middle finger seat 34 is correspondingly mounted on the driven rocker 11; since the active link 13 is higher than the active rocker 12, the driven link 13 is more than shaken.
  • the position of the rod 11 is high, so after the active rocker 12 is mounted with a short finger holder 15 and after the driven rocker 11 is mounted with a middle finger holder 34, the mounting surface of the mounting leaf spring curved finger 16 is covered with a thick spacer 35. In order to ensure that the short finger seat 15, the middle finger seat 34, the long finger seat 33, the three mounting plate spring curved fingers 16 are coplanar;
  • the screw stepping motor 8 is used to control the position of the slider in the crank rocker slider mechanism, and cooperates with the stepping motor 19 with the worm gear reducer for driving the crank to form a parallel mechanism of the double drive, the screw stepping motor
  • the screw nut structure of 8 and the worm gear reducer with the stepper motor 19 of the worm gear reducer play a self-locking function, which can be powered off during the gripping process and save energy; the worm gear deceleration is higher than the screw stepping motor 8
  • the stepper motor 19 primarily drives the gripping object.
  • Shape adaptability The driving of the two stepping motors is synergistic, and the shape is suitable for rectangular, circular, elliptical, trapezoidal and the like.
  • the robot has three fingers. By manual adjustment, the crank eccentricity, the position and angle of the two fingers on the two connecting rods or the rocker, and the position of the other fixed finger can be changed. .
  • FIG. 1 is a cross-sectional view showing the A-A of a parallel type palm hand manipulator according to the present invention.
  • Figure 2 is a front elevational view of the parallel robotic hand of the present invention.
  • Fig. 3 is a cross-sectional view showing the B-B of the parallel type palm hand manipulator of the present invention.
  • Fig. 4 is a front elevational view of the bottom plate part of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 5 is a front elevational view of the moving seat part of the parallel type palm hand manipulator of the present invention.
  • Figure 6 is a left side elevational view of the moving seat part of the parallel type hand palm manipulator of the present invention.
  • Figure 7 is a cross-sectional view showing the active rocker member of the parallel type palm hand manipulator of the present invention.
  • Figure 8 is a left side elevational view of the active rocker member of the parallel type palm hand manipulator of the present invention.
  • Figure 9 is a front elevational view of the hinge shaft part of the parallel type palm hand manipulator of the present invention.
  • Figure 10 is a front elevational view of the drive shaft assembly of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 11 is a front elevational view of the driven shaft component of the parallel type hand palm manipulator of the present invention.
  • Figure 12 is a front elevational view of the connecting rod parts of the parallel type hand palm manipulator of the present invention.
  • Figure 13 is a cross-sectional view showing the connecting rod parts of the parallel type palm hand manipulator of the present invention.
  • Figure 14 is a right side elevational view of the short finger seat of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 15 is a front elevational view of the short finger seat of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 16 is a left side elevational view of the short finger seat of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 17 is a right side elevational view of the middle finger seat component of the parallel hand palm manipulator of the present invention.
  • Figure 18 is a front elevational view of the middle finger seat portion of the parallel-hand palm manipulator of the present invention.
  • Figure 19 is a left side elevational view of the middle finger seat component of the parallel type palm hand manipulator of the present invention.
  • Figure 20 is a right side elevational view of the long finger seat of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 21 is a front elevational view of the long finger seat of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 22 is a left side elevational view of the long finger seat of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 23 is a cross-sectional view of a leaf spring curved surface of a palm-type manipulator of a parallel mechanism according to the present invention.
  • Figure 24 is a right side elevational view of the leaf spring of the palm-type manipulator of the parallel mechanism of the present invention.
  • Figure 25 is a simplified schematic diagram of the installation of a two-finger grasping circle on the palm-type manipulator link of the parallel mechanism of the present invention.
  • Figure 26 is a simplified schematic diagram of the installation of a two-finger grasping circle on a palm-type manipulator rocker of a parallel mechanism according to the present invention.
  • the finger rocker slider parallel mechanism palm-type manipulator of the finger displacement and indexing of the present invention is implemented.
  • 1 crank eccentricity 2 asymmetry of the left and right side cranks relative to the linear axis of the linear guide 3, 3 positions of the two fingers on the left and right links, 4 fingers respectively
  • the angle on the two links, the position of the two fingers on the left and right joysticks, the angle of the two fingers on the left and right joysticks, the position of 7 and the other fixed finger a total of seven Manual adjustment of the pathway; these seven pathways can be changed individually or in any combination to form a specific embodiment.
  • the first embodiment is a simplified schematic diagram of grasping a circular object: the left and right side links are respectively provided with a short finger holder 15 and a middle finger holder 34, respectively, in the short finger holder 15, the middle finger holder 34 and After the leaf spring surface finger 16 is mounted on the long finger seat 33, the three fingers grasp the circular object effect.
  • the second embodiment is a simplified schematic diagram of grasping a circular object: the left and right side rockers are respectively provided with a short finger seat 15 and a middle finger seat 34, respectively, in the short finger seat 15, the middle finger seat 34 and After the leaf spring surface finger 16 is mounted on the long finger seat 33, the three fingers grasp the circular object effect.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

手指变位并转位的双驱动曲柄摇杆滑块并联机构手掌式机械手，采用曲柄摇杆滑块机构，选用了三个相同的柔性板弹簧手指（16），其中一个手指（16）不动，另外两个手指（16）是既转动又移动的平动运动，这两个手指（16）分别对称安装在左右侧的连杆（13）或摇杆（11，12）上。左侧的曲柄摇杆滑块机构是主动驱动结构，由两个步进电机（8，19）分别驱动，产生曲柄（17）的角位移和滑块的直线移动；右侧的曲柄摇杆滑块机构是从动机构，通过一对齿轮（20，28）等速地传动，左侧曲柄（17）与右侧曲柄（17）的转动角位移相等；通过手动调节，可以改变曲柄（17）偏心距、两个手指（16）分别在连杆（13）或摇杆（11，12）的位置和角度、以及另一个固定手指（16）的位置。该机械手具有操作空间大、适应性广、能耗低等优点，属于物流输送装备、机械手和机器人领域。

Description

手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手 技术领域
本发明手指变位并转位的双驱动曲柄摇杆滑块并联机构手掌式机械手，具有操作空间大、适应性广、能耗低等优点，属于物流输送装备、机械手和机器人领域。
 背景技术
目前除了成本高昂、装有很多传感器的拟人灵巧手之外，普通机械要么只能控制手指的中心距、抓取大小直径的圆形或球形物体，要么控制手指转位，从抓取圆形或球形物体转变到抓取长方形物体，手指既可改变位置、又可转动角度的机械手还没有报道。
 技术问题
本发明克服了上述缺陷，从改变手掌形状的角度设计机械手，根据并联机构作用空间大的特点，采用了最为简单的曲柄摇杆滑块机构，选用了三个相同的柔性的板弹簧手指，其中一个手指不动，另外两个手指是既转动又移动的平动运动。左侧的曲柄摇杆滑块机构是主动驱动结构，由两个步进电机分别驱动，产生曲柄的角位移和滑块的直线移动；右侧的曲柄摇杆滑块机构是从动机构，通过一对齿轮等速地传动，左侧曲柄与右侧曲柄的转动角位移相等；机械手有三个板弹簧手指，其中两个手指分别安装在左右侧的连杆或摇杆上，通过两个步进电机的协同控制抓取物体；也通过手动调节，可以改变曲柄偏心距、两个手指分别在连杆或摇杆的位置和角度、以及另一个固定手指的位置。本发明机械手的夹紧抓取动力也是靠两个步进电机驱动，由于自锁两个步进电机在抓持过程中可以断电。本发明机械手具有操作空间大、适应性广、能耗低等优点，属于物流输送装备、机械手和机器人领域。
 技术解决方案
如附图1-24所示，本发明所述手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手，由底板1、导轨支座2、直线导轨3、安装板4、直线轴承5、移动座6、丝杠螺母7、丝杆步进电机8、铰链轴9、耐磨垫圈10、从动摇杆11、主动摇杆12、连杆13、销轴14、短手指座15、板弹簧曲面手指16、开槽曲柄17、齿轮盖板18、带蜗轮减速器步进电机19、主动齿轮20、平键21、驱动轴22、长套筒23、带座轴承24、短套筒25、从动轴26、厚套筒27、锥孔齿轮28、锥套29、扁圆螺母30、小带座轴承31、导向螺柱32、长手指座33、中手指座34、厚垫块35组成。
如附图1-3所示，本发明所述手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手中，直线导轨3的两端由两个导轨支座2固定，两个导轨支座2安装在底板1上，安装板4的两端各自固定在两个导轨支座2上，安装板4有不同位置的孔系与机器人本体相联结，孔系尺寸对应于机器人本体，为适应不同的被抓持物体的重心、不同位置的孔系便于调整联结；直线轴承5穿过直线导轨3而移动，移动座6固定在直线轴承5上，铰链轴9靠螺母固定在移动座6上；丝杠螺母7固定在移动座6上，丝杆步进电机8固定在底板1上，丝杆步进电机8通过丝杠螺母7驱动移动座6，带动直线轴承5在直线导轨3上直线移动；铰链轴9上穿过从动摇杆11和主动摇杆12上的孔，从动摇杆11左右侧均有耐磨垫圈10，从动摇杆11和主动摇杆12在铰链轴9上旋向相反的相对转动；
主动摇杆12的水平面上同轴心线地铣削加工了两层宽窄不同的腰形槽，主动摇杆12与左侧的连杆13靠销轴14铰链联结，销轴14的导向圆柱面直径与主动摇杆12的宽腰形槽宽度间隙配合，销轴14螺母拧紧后销轴14和主动摇杆12成一体，连杆13厚度上有间隙，连杆13可以在销轴14中相对主动摇杆12转动；移动销轴14位置螺母固定后，可以手工调节摇杆的工作长度；连杆13的另一端与开槽曲柄17通过销轴14铰链联结，开槽曲柄17也同轴心线地铣削加工了两层宽窄不同的腰形槽，同主动摇杆12与连杆13联结原理一样，用来调节手工开槽曲柄17的工作偏心距；
主动的开槽曲柄17的另一端套在驱动轴22上，靠螺钉紧固在驱动轴22一端的削扁面上，传递驱动轴22转动扭矩；驱动轴22装有开槽曲柄17、长套筒23、两个带座轴承24、短套筒25、主动齿轮20，驱动轴22另一端的削扁圆柱段间隙配合地插进带蜗轮减速器步进电机19驱动轴的孔内，带蜗轮减速器步进电机19通过这削扁圆柱段传递扭矩到驱动轴22，驱动轴22上的平键21将扭矩传递到主动齿轮20上；修磨长套筒23、短套筒25的轴心尺寸，可调节主动齿轮20的轴向位置；一个带座轴承24固定在齿轮盖板18上，被抓持物体产生轴向的重力由驱动轴22的轴肩面传递到这个带座轴承24的内圈承受，同轴心线的另一个带座轴承24固定在底板1，齿轮盖板18由两个导向螺柱32和底板1联结成整体结构，导向螺柱32两端均为与相应孔间隙配合的圆柱面，再用螺母拧紧而不是导向螺柱32旋紧在底板1和齿轮盖板18上；
从动轴26由带座轴承24和小带座轴承31支撑，带座轴承24和小带座轴承31分别固定在齿轮盖板18和底板1上，轴向由从动轴26的轴肩面、厚套筒27、锥孔齿轮28、锥套29，扁圆螺母30构成转动体；主动齿轮20与锥孔齿轮28啮合，锥孔齿轮28孔内有锥套29，旋紧扁圆螺母30，从而通过圆锥接触面的斜锲作用，将扭矩传递到从动轴26上；从动的开槽曲柄17的另一端套在从动轴26上，靠螺钉紧固在从动轴26一端的削扁面上，从动轴26转动扭矩再传递给从动的开槽曲柄17；反向拧松扁圆螺母30，锥孔齿轮28和锥套29脱开，可以调节主动的开槽曲柄17和从动的开槽曲柄17之间的相位角，亦即：主动的开槽曲柄17和从动的开槽曲柄17可以在水平面方向左右对称，也可以左右不对称；
连杆13上开有腰型槽，腰形槽的宽度与短手指座15螺纹端的一段圆柱面直径是间隙配合关系，短手指座15可以在连杆13的腰形槽任意位置、且短手指座15可以相对连杆13转动任意角度，再用螺母固定在连杆13上；短手指座15上装有板弹簧曲面手指16，板弹簧曲面手指16指尖曲面部位用于捏取方式抓取、中间曲面部位用于包络方式抓取；
长手指座33的宽度与底板1上宽腰形槽的宽度之间形成间隙配合关系，长手指座33的螺纹段穿过底板1上窄腰形槽、用螺母固定，因此长手指座33可以在底板1上腰形槽中调整位置，长手指座33上也安装一个板弹簧曲面手指16；
如附图2所示，本发明双驱动曲柄摇杆滑块并联机构手掌式机械手左侧是主动的曲柄摇杆滑块机构、右侧是从动的曲柄摇杆滑块机构；一个短手指座15安装在左侧的连杆13上，也有一个中手指座34对应安装在右侧的连杆13；短手指座15、中手指座34和长手指座33上的三个弹簧曲面手指16的结构和尺寸完全相同，本机械手的结构须保证短手指座15、中手指座34、长手指座33这三个安装板弹簧曲面手指16的平面共面；
如附图1、3中的双点划线所示，主动摇杆12和从动摇杆11上也可以分别安装短手指座15和中手指座34；主动摇杆12的窄腰形槽的宽度与短手指座15螺纹端的一段圆柱面直径是间隙配合关系，短手指座15也可以在主动摇杆12的腰形槽任意位置、且短手指座15可以相对主动摇杆12转动任意角度，再用螺母固定在主动摇杆12，同样一个中手指座34对应安装从动摇杆11上；由于主动的连杆13比主动摇杆12的位置高，从动的连杆13比从动摇杆11的位置高，因此在主动摇杆12安装一个短手指座15和在从动摇杆11安装一个中手指座34后，安装板弹簧曲面手指16的安装面上都要垫上厚垫块35，才能保证短手指座15、中手指座34、长手指座33这三个安装板弹簧曲面手指16的平面共面；
丝杆步进电机8用来控制曲柄摇杆滑块机构中滑块的位置，与驱动曲柄转动的带蜗轮减速器步进电机19协同控制，构成了双驱动的并联机构，丝杆步进电机8中的丝杆螺母结构和带蜗轮减速器步进电机19的蜗轮减速器起到自锁作用，抓持过程中可以断电、节省能源；比丝杆步进电机8功率大的带蜗轮减速器步进电机19主要驱动夹持物体。
 有益效果
①形状的适应性：两步进电机的驱动协同，对于长方形、圆形、椭圆形、梯形等形状适应性好。
②尺寸适应性：机械手有三个手指，通过手动调节，可以改变曲柄偏心距、两个手指分别在两个连杆或摇杆上的位置和角度，以及另一个固定手指的位置，尺寸适应性好。
③操作灵活性：三指抓取时，固定手指接触面对称线是机械手的定位坐标原点；两个运动手指手工转动后，两指抓取时，机械手的定位坐标原点是这两个接触面对称线。
④抓取敏捷性：驱动滑块移动的丝杠步进电机主要起定位作用，驱动曲柄转动的带蜗轮减速器步进电机主要起抓持作用，曲柄转动角位移迅速。
⑤使用节能性：曲柄转动采用蜗轮蜗杆机构减速器自锁，滑块直线运动采用丝杠螺母机构自锁，抓持过程中两驱动步进电机断电。
 附图说明
图1为本发明并联机构手掌式机械手的A-A剖视展开图。
图2为本发明并联机构手掌式机械手的主视图。
图3为本发明并联机构手掌式机械手的B-B剖视展开图。
图4为本发明并联机构手掌式机械手的底板零件主视图。
图5为本发明并联机构手掌式机械手的移动座零件主视图。
图6为本发明并联机构手掌式机械手的移动座零件左视图。
图7为本发明并联机构手掌式机械手的主动摇杆零件剖视图。
图8为本发明并联机构手掌式机械手的主动摇杆零件左视图。
图9为本发明并联机构手掌式机械手的铰链轴零件主视图。
图10为本发明并联机构手掌式机械手的驱动轴零件主视图。
图11为本发明并联机构手掌式机械手的从动轴零件主视图。
图12为本发明并联机构手掌式机械手的连杆零件主视图。
图13为本发明并联机构手掌式机械手的连杆零件剖视图。
图14为本发明并联机构手掌式机械手的短手指座零件右视图。
图15为本发明并联机构手掌式机械手的短手指座零件主视图。
图16为本发明并联机构手掌式机械手的短手指座零件左视图。
图17为本发明并联机构手掌式机械手的中手指座零件右视图。
图18为本发明并联机构手掌式机械手的中手指座零件主视图。
图19为本发明并联机构手掌式机械手的中手指座零件左视图。
图20为本发明并联机构手掌式机械手的长手指座零件右视图。
图21为本发明并联机构手掌式机械手的长手指座零件主视图。
图22为本发明并联机构手掌式机械手的长手指座零件左视图。
图23为本发明并联机构手掌式机械手的板弹簧曲面手指剖视图。
图24为本发明并联机构手掌式机械手的的板弹簧曲面手指右视图。
图25为本发明并联机构手掌式机械手连杆上安装二指抓取圆形的简化原理图。
图26为本发明并联机构手掌式机械手摇杆上安装二指抓取圆形的简化原理图。
其中：1、底板；2、导轨支座；3、直线导轨；4、安装板；5、直线轴承；6、移动座；7、丝杠螺母；8、丝杆步进电机；9、铰链轴；10、耐磨垫圈；11、从动摇杆；12、主动摇杆；13、连杆；14、销轴；15、短手指座；16、板弹簧曲面手指；17、开槽曲柄；18、齿轮盖板；19、带蜗轮减速器步进电机；20、主动齿轮；21、平键；22、驱动轴；23、长套筒；24、带座轴承；25、短套筒；26、从动轴；27、厚套筒；28、锥孔齿轮；29、锥套；30、扁圆螺母；31、小带座轴承；32、导向螺柱；33、长手指座；34、中手指座；35、厚垫块。
 本发明的实施方式
本发明所述手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手，实施过程中，除了丝杆步进电机8、带蜗轮减速器步进电机19协同控制抓取物体之外，通过手动调节，可以改变：①曲柄偏心距、②左右侧曲柄相对直线导轨3轴心线的不对称程度、③两个手指分别在左右两个连杆上的位置、④两个手指分别在左右两个连杆上的角度、⑤两个手指分别在左右两个摇杆上的位置、⑥两个手指分别在左右两个摇杆上的角度、⑦以及另一个固定手指的位置，共七种手工调整途径；这七种途径可以单独改变，也可以以任何组合方式改变，形成具体实施方式。下面所列举的只是其中二种的实施方式：
如附图25所示，实施方式一是抓取圆形物体的简化原理图：左右侧连杆上分别装有短手指座15和中手指座34，在短手指座15、中手指座34和长手指座33上安装板弹簧曲面手指16后，三指抓取圆形物体效果。
如附图26所示，实施方式二是抓取圆形物体的简化原理图：左右侧摇杆上分别装有短手指座15和中手指座34，在短手指座15、中手指座34和长手指座33上安装板弹簧曲面手指16后，三指抓取圆形物体效果。
以上描述是对本发明的解释，不是对本发明的限定，本发明所限定的范围参见权利要求。可以理解，本领域技术人员在不脱离本发明的基本构思的前提下直接导出或联想到的其他改进和变化，均应认为包含在本发明的保护范围之内。

Claims (1)

  1. 手指变位并转位的曲柄摇杆滑块并联机构手掌式机械手，其特征是：直线导轨（3）的两端由两个导轨支座（2）固定，两个导轨支座（2）安装在底板（1）上，安装板（4）的两端各自固定在两个导轨支座（2）上，安装板（4）有不同位置的孔系与机器人本体相联结，孔系尺寸对应于机器人本体，为适应不同的被抓持物体的重心、不同位置的孔系便于调整联结；直线轴承（5）穿过直线导轨（3）而移动，移动座（6）固定在直线轴承（5）上，铰链轴（9）靠螺母固定在移动座（6）上；丝杠螺母（7）固定在移动座（6）上，丝杆步进电机（8）固定在底板（1）上，丝杆步进电机（8）通过丝杠螺母（7）驱动移动座（6），带动直线轴承（5）在直线导轨（3）上直线移动；铰链轴（9）上穿过从动摇杆（11）和主动摇杆（12）上的孔，从动摇杆（11）左右侧均有耐磨垫圈（10），从动摇杆（11）和主动摇杆（12）在铰链轴（9）上旋向相反的相对转动；
    　　主动摇杆（12）的水平面上同轴心线地铣削加工了两层宽窄不同的腰形槽，主动摇杆（12）与左侧的连杆（13）靠销轴（14）铰链联结，销轴（14）的导向圆柱面直径与主动摇杆（12）的宽腰形槽宽度间隙配合，销轴（14）螺母拧紧后销轴（14）和主动摇杆（12）成一体，连杆（13）厚度上有间隙，连杆（13）可以在销轴（14）中相对主动摇杆（12）转动；移动销轴（14）位置螺母固定后，可以手工调节摇杆的工作长度；连杆（13）的另一端与开槽曲柄（17）通过销轴（14）铰链联结，开槽曲柄（17）也同轴心线地铣削加工了两层宽窄不同的腰形槽，同主动摇杆（12）与连杆（13）联结原理一样，用来调节手工开槽曲柄（17）的工作偏心距；
    　　主动的开槽曲柄（17）的另一端套在驱动轴（22）上，靠螺钉紧固在驱动轴（22）一端的削扁面上，传递驱动轴（22）转动扭矩；驱动轴（22）装有开槽曲柄（17）、长套筒（23）、两个带座轴承（24）、短套筒（25）、主动齿轮（20），驱动轴（22）另一端的削扁圆柱段间隙配合地插进带蜗轮减速器步进电机（19）驱动轴的孔内，带蜗轮减速器步进电机（19）通过这削扁圆柱段传递扭矩到驱动轴（22），驱动轴（22）上的平键（21）将扭矩传递到主动齿轮（20）上；修磨长套筒（23）、短套筒（25）的轴心尺寸，可调节主动齿轮（20）的轴向位置；一个带座轴承（24）固定在齿轮盖板（18）上，被抓持物体产生轴向的重力由驱动轴（22）的轴肩面传递到这个带座轴承（24）的内圈承受，同轴心线的另一个带座轴承（24）固定在底板（1），齿轮盖板（18）由两个导向螺柱（32）和底板（1）联结成整体结构，导向螺柱（32）两端均为与相应孔间隙配合的圆柱面，再用螺母拧紧而不是导向螺柱（32）旋紧在底板（1）和齿轮盖板（18）上；
    　　从动轴（26）由带座轴承（24）和小带座轴承（31）支撑，带座轴承（24）和小带座轴承（31）分别固定在齿轮盖板（18）和底板（1）上，轴向由从动轴（26）的轴肩面、厚套筒（27）、锥孔齿轮（28）、锥套（29），扁圆螺母（30）构成转动体；主动齿轮（20）与锥孔齿轮（28）啮合，锥孔齿轮（28）孔内有锥套（29），旋紧扁圆螺母（30），从而通过圆锥接触面的斜锲作用，将扭矩传递到从动轴（26）上；从动的开槽曲柄（17）的另一端套在从动轴（26）上，靠螺钉紧固在从动轴（26）一端的削扁面上，从动轴（26）转动扭矩再传递给从动的开槽曲柄（17）；反向拧松扁圆螺母（30），锥孔齿轮（28）和锥套（29）脱开，可以调节主动的开槽曲柄（17）和从动的开槽曲柄（17）之间的相位角，亦即：主动的开槽曲柄（17）和从动的开槽曲柄（17）可以在水平面方向左右对称，也可以左右不对称；
    　　连杆（13）上开有腰型槽，腰形槽的宽度与短手指座（15）螺纹端的一段圆柱面直径是间隙配合关系，短手指座（15）可以在连杆（13）的腰形槽任意位置、且短手指座（15）可以相对连杆（13）转动任意角度，再用螺母固定在连杆（13）上；短手指座（15）上装有板弹簧曲面手指（16），板弹簧曲面手指（16）指尖曲面部位用于捏取方式抓取、中间曲面部位用于包络方式抓取；
    　　长手指座（33）的宽度与底板（1）上宽腰形槽的宽度之间形成间隙配合关系，长手指座（33）的螺纹段穿过底板（1）上窄腰形槽、用螺母固定，因此长手指座（33）可以在底板（1）上腰形槽中调整位置，长手指座（33）上也安装一个板弹簧曲面手指（16）；
    　　所述曲柄摇杆滑块并联机构手掌式机械手左侧是主动的曲柄摇杆滑块机构、右侧是从动的曲柄摇杆滑块机构；一个短手指座（15）安装在左侧的连杆（13）上，也有一个中手指座（34）对应安装在右侧的连杆（13）；短手指座（15）、中手指座（34）和长手指座（33）上的三个弹簧曲面手指（16）的结构和尺寸完全相同，本机械手的结构须保证短手指座（15）、中手指座（34）、长手指座（33）这三个安装板弹簧曲面手指（16）的平面共面；
    　　主动摇杆（12）和从动摇杆（11）上也可以分别安装短手指座（15）和中手指座（34）；主动摇杆（12）的窄腰形槽的宽度与短手指座（15）螺纹端的一段圆柱面直径是间隙配合关系，短手指座（15）也可以在主动摇杆（12）的腰形槽任意位置、且短手指座（15）可以相对主动摇杆（12）转动任意角度，再用螺母固定在主动摇杆（12），同样一个中手指座（34）对应安装从动摇杆（11）上；由于主动的连杆（13）比主动摇杆（12）的位置高，从动的连杆（13）比从动摇杆（11）的位置高，因此在主动摇杆（12）安装一个短手指座（15）和在从动摇杆（11）安装一个中手指座（34）后，安装板弹簧曲面手指（16）的安装面上都要垫上厚垫块（35），才能保证短手指座（15）、中手指座（34）、长手指座（33）这三个安装板弹簧曲面手指（16）的平面共面；　　
    丝杆步进电机（8）用来控制曲柄摇杆滑块机构中滑块的位置，与驱动曲柄转动的带蜗轮减速器步进电机（19）协同控制，构成了双驱动的并联机构，丝杆步进电机（8）中的丝杆螺母结构和带蜗轮减速器步进电机（19）的蜗轮减速器起到自锁作用，抓持过程中可以断电、节省能源；比丝杆步进电机（8）功率大的带蜗轮减速器步进电机（19）主要驱动夹持物体。
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