WO2019140930A1 - 自适应欠驱动转向三指机器人夹爪 - Google Patents

自适应欠驱动转向三指机器人夹爪 Download PDF

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Publication number
WO2019140930A1
WO2019140930A1 PCT/CN2018/105324 CN2018105324W WO2019140930A1 WO 2019140930 A1 WO2019140930 A1 WO 2019140930A1 CN 2018105324 W CN2018105324 W CN 2018105324W WO 2019140930 A1 WO2019140930 A1 WO 2019140930A1
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WO
WIPO (PCT)
Prior art keywords
finger
transmission mechanism
steering
driving rod
module
Prior art date
Application number
PCT/CN2018/105324
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English (en)
French (fr)
Inventor
康熙
Original Assignee
深圳市大寰机器人科技有限公司
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Application filed by 深圳市大寰机器人科技有限公司 filed Critical 深圳市大寰机器人科技有限公司
Publication of WO2019140930A1 publication Critical patent/WO2019140930A1/zh

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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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links

Definitions

  • the invention relates to the field of robot jaws, and more particularly to an adaptive underactuated steering three-finger robot jaw.
  • Robotic jaws are widely used in industrial assembly lines such as part sorting and part moving, and can move the target in a structural or non-structural environment. At present, most of the jaws are specially designed to cooperate with the robot to grab specific items. They are often designed and manufactured according to the structural characteristics of the grab items, the manufacturer's production conditions and actual needs, and the production efficiency is low and the cost is high.
  • Parallel grip refers to the gripping of the end fingers of the jaw fingers in parallel during the grasping of small objects or larger objects with opposite faces;
  • the envelope grip refers to multiple fingers with the fingers of the jaws. The segment envelops the target object and stably grips it through multiple points of contact.
  • the robot jaws disclosed in the prior art are designed into a complicated structure, such as a mechanical structure or a control system, and have low rigidity, small gripping force, high production cost, and are not in line with actual development requirements. Therefore, how to develop a The jaws that can actually adapt to the target object and have lower production costs are the problems we need to solve.
  • the clamping jaw comprises two driving motors, one of which realizes the adaptive gripping function of the three finger modules, and the other driving motor realizes that two finger modules of the three finger modules rotate around their own axes, changing three fingers
  • the relative pose between the modules The invention has the advantages of compact structure, large gripping range, capable of self-locking, strong gripping force, and an integrated button panel, and has a simple and easy-to-operate button teaching function.
  • an adaptive underactuated steering three-finger robot jaw comprising a jaw housing, a driving module and a finger module;
  • the jaw housing includes a housing cover plate, a housing case and a fixing flange, and one end of the housing case is fixedly connected to the housing cover plate, and the other end is connected to the fixing flange;
  • the driving module includes a first power transmission system, a second power transmission system, a first driving rod, a second driving rod and a third driving rod; the first driving rod, the second driving rod and the third driving rod pass the first a driving motor drives synchronous linear motion along the axis of the rod, and the first driving motor transmits torque through the first power transmission system, and the second driving rod and the third driving rod are driven by the second driving motor
  • the rod axis direction is reversely synchronously rotated, and the second drive motor transmits torque through the second power transmission system;
  • the finger module includes a first finger module, a second finger module, and a third finger module, each of the finger modules includes a first finger segment and a second finger segment, both of which are fixed on the finger base; the first finger module, The second finger module and the third finger module are evenly distributed in the circumferential direction of the housing cover.
  • the first power transmission system includes a first transmission mechanism and a second transmission mechanism, and an input end of the first transmission mechanism is connected to an output end of the first drive motor; an output end of the first transmission mechanism Connected to an input end of the second transmission mechanism; the first drive rod, the second drive rod and the third drive rod are disposed on an output end of the second transmission mechanism.
  • the first transmission mechanism adopts one of a gear transmission mechanism, a flat belt pulley transmission mechanism, a toothed belt pulley transmission mechanism, a sheave transmission mechanism, a chain transmission mechanism, a rack and pinion transmission mechanism or a link transmission mechanism or
  • the second transmission mechanism employs a combination of one or more of a screw nut drive mechanism or a worm gear drive mechanism having a self-locking function.
  • the second power transmission system includes a first steering transmission mechanism and a second steering transmission mechanism; an output end of the first steering transmission mechanism is connected to an output shaft of the second driving motor; the first steering transmission An output end of the mechanism is coupled to the second drive rod; an input shaft of the second steering transmission is coupled to an output shaft of the second drive motor, an output shaft of the second steering transmission mechanism and the third
  • the driving rods are connected, and the second driving rod and the third driving rod rotate at the same speed and rotate in opposite directions.
  • first steering transmission mechanism and the second steering transmission mechanism adopt a gear transmission mechanism, a flat belt pulley transmission mechanism, a toothed belt pulley transmission mechanism, a sheave transmission mechanism, a chain transmission mechanism, a rack and pinion transmission mechanism or a connecting rod A combination of one or more of the transmission mechanisms.
  • the finger base of the first finger module is fixedly coupled with the housing cover, the first finger module is hinged with the first driving rod, and the first driving rod is disposed at the On the central axis of the first finger module, the first finger module is driven by the first driving rod to complete a gripping action;
  • the second finger module is hinged with the second driving rod, and the second driving rod Provided on a central axis of the second finger module, the second finger module is driven by the second driving rod to complete a gripping action and coaxial rotation;
  • the third finger module is hinged with the third driving rod And the third driving rod is disposed on a central axis of the third finger module, and the third finger module is driven by the third driving rod to complete a gripping action and a coaxial rotation.
  • the finger module includes three working modes: a parallel posture, a right posture, and The two fingers grasp the posture, and the working mode automatically switches according to the actual situation.
  • the housing case is provided with an operation panel, an indicator light and an aviation plug, wherein the operation panel is used for controlling the entire device, the indicator light indicates the operating state of the device, and the aviation plug is used to connect the external device. .
  • the invention has the beneficial effects that the dual-drive motor is used for control, which not only realizes the adaptive gripping function of the three finger modules, but also ensures that two finger modules of the three finger modules rotate around their own axes, changing three fingers.
  • the relative position between the modules, in order to achieve the grip of different items; the gripper has a large gripping range, can achieve self-locking, and has a large gripping force, and has an integrated button panel, which has a simple and easy-to-operate button display. Teaching function.
  • Figure 1 is a main body diagram of the present invention
  • FIG. 2 is a frame diagram of the present invention
  • FIG. 3 is a schematic diagram of a driving module of the present invention.
  • FIG. 4 is a schematic diagram of a finger module of the present invention.
  • FIG. 5 is a schematic diagram of a parallel gripping object of a finger module in parallel posture according to the present invention.
  • FIG. 6 is a schematic diagram of a finger module parallel posture attitude grasping object according to the present invention.
  • FIG. 7 is a schematic diagram of a finger module grasping an object in a heart position and posture according to the present invention.
  • FIG. 8 is a schematic diagram of the finger gripping posture of the finger module in parallel according to the present invention.
  • Finger base 20 the first finger segment
  • Second steering transmission mechanism 26 the first grip transmission gear
  • the present invention discloses an adaptive underactuated steering three-finger robot jaw comprising a jaw housing 1 , a driving module 2 and a finger module;
  • the jaw housing 1 includes a housing a cover plate 6, a casing box 7 and a fixing flange 8, the one end of the casing box 7 is fixedly connected to the casing cover 6 and the other end is connected to the fixing flange 8;
  • the driving module 2 comprises a first power transmission system 14 and a second The power transmission system 15, the first drive rod 16, the second drive rod 17, and the third drive rod 18; the first drive rod 16, the second drive rod 17, and the third drive rod 18 are driven along the rod by the first drive motor 12.
  • the axial direction is synchronous linear motion, and the first driving motor 12 transmits torque through the first power transmission system 14, and the second driving rod 17 and the third driving rod 18 are driven to rotate synchronously around the axis of the rod by the second driving motor 13 And the second driving motor 13 transmits torque through the second power transmission system 15;
  • the finger module includes a first finger module 3, a second finger module 4, and a third finger module 5, each finger module includes a first finger segment 20 and a Two finger segments 21 are fixed on the finger base 19; Finger module 3, a second finger and the third finger module module 4 5 6 uniformly distributed in the circumferential direction of the housing cover.
  • the casing box 7 is provided with an operation panel 9, an indicator lamp 10, and an aviation plug 11, and the operation panel 9 is provided with a teaching button, the indicator lamp 10 indicates the operating state of the device, and the aviation plug 11 is used to connect the external device.
  • the drive module 2 includes a first powertrain 14, a second powertrain 15, a first drive lever 16, a second drive lever 17, and a third drive lever 18; a first drive motor 12 and The second driving motor 13 is fixed inside the jaw housing 1; the first power transmission system 14 includes a first transmission mechanism 22 and a second transmission mechanism 23.
  • the first transmission mechanism 22 adopts a gear transmission mechanism, including the first grasping mechanism.
  • Holding the transmission gear 26 and the second holding transmission gear 27, the second transmission mechanism 23 adopts a screw nut transmission mechanism, including a lead screw 28 and a nut slider 29, and the first holding transmission gear 26 is disposed on the first driving motor.
  • the second gripping transmission gear 27 meshes with the first gripping transmission gear 26, is mounted at the bottom end of the lead screw 28, and the nut slider 29 and the lead screw 28 are screwed, the first driving rod 16
  • the second drive rod 17 and the third drive rod 18 are disposed on the nut slider 29;
  • the second power transmission system 15 includes a first steering transmission mechanism 24 and a second steering transmission mechanism 25, and the first steering transmission of the embodiment Mechanism 24 employs a gearing mechanism, including a steering transmission gear 30 and a second steering transmission gear 31,
  • the second steering transmission mechanism 25 adopts a gear transmission mechanism, including a third steering transmission gear 32, a fourth steering transmission gear 33 and a fifth steering transmission gear 34, the first steering transmission
  • the gear 30 and the third steering gear 32 are disposed on the motor output shaft of the second drive motor 13, and the second steering gear 31 meshes with the first steering gear 30, is mounted on the second drive rod 17, and the fourth steering transmission
  • the gear 33 meshes with the third steering transmission gear 32, and the fifth steering transmission gear 34 is mounted on
  • the working principle of the invention is:
  • the finger module of the three-finger jaw mainly has three working postures: a parallel posture, a heart posture, and a two-finger grip posture.
  • the second finger module 4 and the third finger module 5 are designed to be rotatable about their own axes, and both have the same angle and opposite directions when rotated.
  • the parallel pose is defined as the pose of the finger module when the first finger module 3 and the second finger module 4 and the third finger module 5 are parallel to each other.
  • the second finger module 4 and the third finger module 5 have a rotation angle of 0°, such as FIG. 5 and FIG.
  • FIGS. 6 are schematic diagrams showing the parallel gripping of the rectangular parallelepiped and the enveloping object when the three-finger jaws are in parallel posture.
  • the second finger module 4 is rotated 60° clockwise around the axis
  • the third finger module 5 is rotated 60° counterclockwise
  • the three finger modules are symmetrically distributed on the jaw housing 1 at 120°, which is called
  • the position of the heart as shown in Fig. 7, is a schematic diagram of the entrapment of the sphere by the three-finger jaw to the heart position.
  • FIG. 8 it is a schematic diagram of the three-finger jaws holding the small squares in parallel in the heart position.
  • the first drive motor 12 rotates, and the torque is transmitted through the first power transmission system 14, that is, the first drive lever 16, the second drive lever 17, and the third drive lever 18 are driven along the first transmission mechanism 22 and the second transmission mechanism 23.
  • the axial direction synchronously moves linearly; the second drive motor 13 rotates, and the torque is transmitted through the second power transmission system 15, that is, the second drive rod 17 and the third drive rod are respectively driven by the first steering transmission mechanism 24 and the second steering transmission mechanism 25; 18 rotates around its own axis.
  • the first driving motor 12 rotates
  • the first gripping transmission gear 26 is rotated
  • the engaged second gripping transmission gear 27 rotates to drive the coaxial screw 28 to rotate, so that the nut slider 29
  • the first driving rod 16, the second driving rod 17, and the third driving rod 18 mounted on the nut slider 29 are linearly moved in synchronization with each other, and the first finger module 3 and the second finger module are driven to drive. 4 and the extension movement of the finger of the third finger module 5, the grasping, operation and release of the adaptive grip are completed.
  • the first steering transmission gear 30 and the third steering transmission gear 32 are rotated clockwise, and the first steering transmission gear 30 drives the second steering transmission.
  • the gear 31 rotates counterclockwise to drive the second driving rod 17 to rotate counterclockwise about its own axis;
  • the third steering transmission gear 32 rotates clockwise to drive the engaged fourth steering gear 33 to rotate counterclockwise, driving the fifth steering transmission gear 34 to
  • the hour hand rotates to rotate the third drive lever 18 clockwise about its axis, thereby achieving counterclockwise rotation of the second finger module 4 and clockwise rotation of the third finger module 5.
  • the dual-drive motor is used for control, which not only realizes the adaptive gripping function of the three finger modules, but also ensures that two finger modules of the three finger modules rotate around their own axes, changing the relative relationship between the three finger modules. Position, and thus achieve the grasp of different items;
  • the gripper has a large gripping range, can realize self-locking, has a large gripping force, and has an integrated button panel, and has a simple and easy-to-operate button teaching function;

Abstract

一种自适应欠驱动转向三指机器人夹爪，包括夹爪壳体（1）、驱动模块（2）和三个手指模块；驱动模块（2）包括第一动力传动系统（14）、第二动力传动系统（15）和三个驱动杆；第一驱动电机（12）通过第一动力传动系统（14）驱动三个手指模块完成抓持动作，第二驱动电机（13）通过第二动力传动系统（15）驱动两个手指模块绕自身轴线旋转。

Description

自适应欠驱动转向三指机器人夹爪 技术领域
本发明涉及机器人夹爪领域，尤其涉及一种自适应欠驱动转向三指机器人夹爪。
 背景技术
机器人夹爪被广泛应用于零件分拣、零件移动等工业装配线中，可以在结构环境或非结构环境下实现对目标的移动操作。目前，大多数的夹爪是为配合机器人抓取特定物品而专门设计的，往往要根据抓取物品的结构特点、厂商的生产条件和实际需要自行设计制造，生产效率低、成本高昂。机器人夹爪在抓持物体时主要有两种抓持方法，一种是平行抓持，一种是包络抓持。平行抓持指的是在抓取小尺寸物体或者具有对立面的较大物体过程中，夹爪手指的末端指段保持平行进行抓持；包络抓持指的是用夹爪手指的多个指段包络目标物体，通过多点接触稳定地进行抓持。
 技术问题
现有技术中所公开的机器人夹爪无论是机械结构还是控制系统都设计为很复杂的结构 ，且刚度低，抓取力小，生产成本高，不符合实际发展需求，因此，如何开发一款能切实对目标物体有着更好适应性，且生产成本更低的夹爪是我们亟待解决的问题。
 技术解决方案
针对上述技术中存在的不足之处，本发明的目的在于提供一种自适应欠驱动转向三指机器人夹爪。该夹爪包含两个驱动电机，其中一个驱动电机实现了三个手指模块的自适应抓持功能，另一个驱动电机实现了三个手指模块中两个手指模块绕自身轴线旋转，改变三个手指模块之间的相对位姿。本发明结构紧凑，夹爪抓取范围大，能够实现抓持自锁，抓持力度大，并带有一体化按键面板，具有简单易操作的按键示教功能。
为实现上述目的，本发明公开了一种自适应欠驱动转向三指机器人夹爪，包括夹爪壳体、驱动模块和手指模块；
所述夹爪壳体包括壳体盖板、壳体箱和固定法兰，所述壳体箱一端与所述壳体盖板固定连接，另一端与所述固定法兰连接；
所述驱动模块包括第一动力传动系统、第二动力传动系统、第一驱动杆、第二驱动杆和第三驱动杆；所述第一驱动杆、第二驱动杆和第三驱动杆通过第一驱动电机驱动沿杆件轴线方向作同步直线运动，且所述第一驱动电机通过所述第一动力传动系统传递力矩，所述第二驱动杆和第三驱动杆通过第二驱动电机驱动绕杆件轴线方向反向同步旋转，且所述第二驱动电机通过所述第二动力传动系统传递力矩；
所述手指模块包括第一手指模块、第二手指模块和第三手指模块，各手指模块均包括第一指段和第二指段，均固定在手指基座上；所述第一手指模块、第二手指模块和第三手指模块均匀分布在所述壳体盖板圆周方向。
进一步，所述第一动力传动系统包括第一传动机构和第二传动机构，所述第一传动机构的输入端和所述第一驱动电机的输出端相连；所述第一传动机构的输出端与所述第二传动机构的输入端相连；所述第一驱动杆，第二驱动杆和第三驱动杆设置在所述第二传动机构的输出端上。
进一步，所述第一传动机构采用齿轮传动机构、平带轮传动机构、齿形带轮传动机构、绳轮传动机构、链条传动机构、齿轮齿条传动机构或连杆传动机构中的一种或几种的组合，所述第二传动机构采用具有自锁功能的丝杠螺母传动机构或蜗轮蜗杆传动机构的一种或几种的组合。
进一步，所述第二动力传动系统包括第一转向传动机构和第二转向传动机构；所述第一转向传动机构的输出端与所述第二驱动电机的输出轴相连；所述第一转向传动机构的输出端与所述第二驱动杆相连；所述第二转向传动机构的输入轴与所述第二驱动电机的输出轴相连，所述第二转向传动机构的输出轴与所述第三驱动杆相连，所述第二驱动杆和所述第三驱动杆旋转速度相同，旋转方向相反。
进一步，所述第一转向传动机构和第二转向传动机构采用齿轮传动机构、平带轮传动机构、齿形带轮传动机构、绳轮传动机构、链条传动机构、齿轮齿条传动机构或连杆传动机构中的一种或几种的组合。
进一步，所述第一手指模块的手指基座与所述壳体盖板固定连接在一起，所述第一手指模块与所述第一驱动杆铰接，且所述第一驱动杆设置在所述第一手指模块的中心轴线上，所述第一手指模块由所述第一驱动杆驱动完成抓持动作；所述第二手指模块与所述第二驱动杆铰接，且所述第二驱动杆设置在所述第二手指模块的中心轴线上，所述第二手指模块由所述第二驱动杆驱动完成抓持动作和同轴旋转；所述第三手指模块与所述第三驱动杆铰接，且所述第三驱动杆设置于所述第三手指模块的中心轴线上，所述第三手指模块由所述第三驱动杆驱动完成抓持动作和同轴旋转。
进一步，所述第一指段的一端与所述手指基座铰接相连，另一端与所述第二指段铰接相连；所述手指模块包括三种工作方式：平行位姿、对心位姿和两指抓持位姿，工作方式之间根据实际情况自动切换。
进一步，所述壳体箱上设置有操作面板、指示灯和航空插头，所述操作面板用于对整个装置进行控制，所述指示灯表示装置的运转状态，所述航空插头用于连接外部装置。
 有益效果
本发明的有益效果是：采用双驱动电机来进行控制，既实现了三个手指模块的自适应抓持功能，同时保证了三个手指模块中两个手指模块绕自身轴线旋转，改变三个手指模块之间的相对位姿，进而实现不同物品的抓持；夹爪抓取范围大，能够实现抓持自锁，抓持力度大，并带有一体化按键面板，具有简单易操作的按键示教功能。
 附图说明
图1为本发明的主体图；
图2为本发明的框架图；
图3为本发明的驱动模块示意图；
图4为本发明的手指模块示意图；
图5为本发明手指模块平行位姿平行抓持物体的示意图；
图6为本发明手指模块平行位姿包络抓持物体的示意图；
图7为本发明手指模块对心位姿包络抓持物体的示意图；
图8为本发明手指模块两指抓持位姿平行抓持物体的示意图。
主要元件符号说明如下：
1、夹爪壳体                        2、驱动模块，
3、第一手指模块                    4、第二手指模块
5、第三手指模块                    6、壳体盖板
7、壳体箱、                        8、固定法兰
9、操作面板                        10、指示灯
11、为航空插头                     12、第一驱动电机
13、第二驱动电机                   14、第一动力传动系统
15、第二动力传动系统               16、第一驱动杆
17、第二驱动杆                     18、第三驱动杆
19、手指基座                       20、第一指段
21、第二指段                       22、第一传动机构
23、第二传动机构                   24、第一转向传动机构
25、第二转向传动机构               26、第一抓持传动齿轮
27、第二抓持传动齿轮               28、丝杠
29、螺母滑块                       30、第一转向传动齿轮
31、第二转向传动齿轮               32、第三转向传动齿轮
33、第四转向传动齿轮               34、第五转向传动齿轮
35、物体。
 本发明的实施方式
为了更清楚地表述本发明，下面结合附图对本发明作进一步地描述。
请参阅图1、图2和图3，本发明公开了一种自适应欠驱动转向三指机器人夹爪，包括夹爪壳体1、驱动模块2和手指模块；夹爪壳体1包括壳体盖板6、壳体箱7和固定法兰8，壳体箱7一端与壳体盖板6固定连接，另一端与固定法兰8连接；驱动模块2包括第一动力传动系统14、第二动力传动系统15、第一驱动杆16、第二驱动杆17和第三驱动杆18；第一驱动杆16、第二驱动杆17和第三驱动杆18通过第一驱动电机12驱动沿杆件轴线方向作同步直线运动，且第一驱动电机12通过第一动力传动系统14传递力矩，第二驱动杆17和第三驱动杆18通过第二驱动电机13驱动绕杆件轴线方向反向同步旋转，且第二驱动电机13通过第二动力传动系统15传递力矩；手指模块包括第一手指模块3、第二手指模块4和第三手指模块5，各手指模块均包括第一指段20和第二指段21，均固定在手指基座19上；第一手指模块3、第二手指模块4和第三手指模块5均匀分布在壳体盖板6圆周方向。壳体箱7上设置有操作面板9、指示灯10和航空插头11，操作面板9上设置有示教按钮，指示灯10表示装置的运转状态，航空插头11用于连接外部装置。
请参阅图3和图4，驱动模块2包括第一动力传动系统14、第二动力传动系统15、第一驱动杆16、第二驱动杆17和第三驱动杆18；第一驱动电机12和第二驱动电机13固定在夹爪壳体1内部；第一动力传动系统14包括第一传动机构22和第二传动机构23，本实施例第一传动机构22采用齿轮传动机构，包括第一抓持传动齿轮26、第二抓持传动齿轮27，第二传动机构23采用丝杠螺母传动机构，包括丝杠28、螺母滑块29，第一抓持传动齿轮26设置于所述第一驱动电机12的电机输出轴上，第二抓持传动齿轮27与第一抓持传动齿轮26啮合，安装在丝杠28的底端，螺母滑块29与丝杠28通过螺纹连接，第一驱动杆16、第二驱动杆17和第三驱动杆18设置于所述螺母滑块29上；第二动力传动系统15包括第一转向传动机构24和第二转向传动机构25，本实施例第一转向传动机构24采用齿轮传动机构，包括第一转向传动齿轮30和第二转向传动齿轮31，第二转向传动机构25采用齿轮传动机构，包括第三转向传动齿轮32、第四转向传动齿轮33和第五转向传动齿轮34，第一转向传动齿轮30和第三转向传动齿轮32设置于第二驱动电机13的电机输出轴上，第二转向传动齿轮31与第一转向传动齿轮30啮合，安装在第二驱动杆17上，第四转向传动齿轮33与第三转向传动齿轮32啮合，第五转向传动齿轮34安装在第三驱动杆18上，与第四转向传动齿轮33啮合。
本发明的工作原理为：
本实施例中，三指夹爪的手指模块主要有三种工作位姿：平行位姿，对心位姿和两指抓持位姿。与固定方向的第一手指模块3不同，第二手指模块4和第三手指模块5被设计成可以绕自身轴线自转，且转动时二者角度相同、方向相反。平行位姿定义为第一手指模块3与第二手指模块4和第三手指模块5平行相对时手指模块的位姿，此时第二手指模块4和第三手指模块5转角为0°，如图5、图6所示，为三指夹爪平行位姿时平行抓持长方体和包络抓持物体的示意图。当第二手指模块4绕轴线顺时针转动60°时，第三手指模块5逆时针转动60°，此时三个手指模块两两互呈120°对称分布于夹爪壳体1上，称为对心位姿，如图7所示，为三指夹爪对心位姿时包络抓持球体的示意图。当第二手指模块4绕轴线顺时针转动90°时，第三手指模块5逆时针转动90°，此时第二手指模块4和第三手指模块5平行相对，称为两指抓持位姿，如图8所示，为三指夹爪对心位姿时平行抓持小方块体的示意图。
驱动模块的工作原理：
第一驱动电机12转动，通过第一动力传动系统14传递力矩，即通过第一传动机构22和第二传动机构23驱动第一驱动杆16、第二驱动杆17和第三驱动杆18沿自身轴线方向同步直线移动；第二驱动电机13转动，通过第二动力传动系统15传递力矩，即通过第一转向传动机构24和第二转向传动机构25分别驱动第二驱动杆17和第三驱动杆18绕自身轴线自转。
本实施例中，第一驱动电机12转动时，带动第一抓持传动齿轮26转动，相啮合的第二抓持传动齿轮27随之转动，驱动同轴丝杠28转动，使螺母滑块29沿丝杠28轴线方向直线移动，安装在螺母滑块29上的第一驱动杆16、第二驱动杆17和第三驱动杆18同步直线移动，驱动实现第一手指模块3、第二手指模块4和第三手指模块5手指的伸展运动，完成自适应抓持的抓取、操作和释放。
本实施例中，第二驱动电机13顺时针转动时，带动同轴的第一转向传动齿轮30、第三转向传动齿轮32顺时针转动，第一转向传动齿轮30驱动相啮合的第二转向传动齿轮31逆时针转动，带动第二驱动杆17绕自身轴线逆时针转动；第三转向传动齿轮32顺时针转动驱动相啮合的第四转向传动齿轮33逆时针转动，带动第五转向传动齿轮34顺时针转动，使第三驱动杆18绕其轴线顺时针转动，实现第二手指模块4的逆时针自转和第三手指模块5的顺时针自转运动。第二驱动电机13逆时针转动时，带动同轴的第一转向传动齿轮30、第三转向传动齿轮32逆时针转动，后续过程与上述抓取物体的过程刚好相反，不再赘述，实现第二手指模块4的顺时针自转和第三手指模块5的逆时针自转运动。
 工业实用性
1）采用双驱动电机来进行控制，既实现了三个手指模块的自适应抓持功能，同时保证了三个手指模块中两个手指模块绕自身轴线旋转，改变三个手指模块之间的相对位姿，进而实现不同物品的抓持；
2）夹爪抓取范围大，能够实现抓持自锁，抓持力度大，并带有一体化按键面板，具有简单易操作的按键示教功能；
3）设置有航空插头，可外接设备，使得整个机器人夹爪的使用范围更广。
 序列表自由内容
以上公开的仅为本发明的一个具体实施例，但是本发明并非局限于此，将夹爪的数量进行增加或是减少，这些本领域的技术人员能思之的变化都应落入本发明的保护范围。

Claims (8)

  1. 一种自适应欠驱动转向三指机器人夹爪，其特征在于，包括夹爪壳体、驱动模块和手指模块；
    所述夹爪壳体包括壳体盖板、壳体箱和固定法兰，所述壳体箱一端与所述壳体盖板固定连接，另一端与所述固定法兰连接；
    所述驱动模块包括第一动力传动系统、第二动力传动系统、第一驱动杆、第二驱动杆和第三驱动杆；所述第一驱动杆、第二驱动杆和第三驱动杆通过第一驱动电机驱动沿杆件轴线方向作同步直线运动，且所述第一驱动电机通过所述第一动力传动系统传递力矩，所述第二驱动杆和第三驱动杆通过第二驱动电机驱动绕杆件轴线方向反向同步旋转，且所述第二驱动电机通过所述第二动力传动系统传递力矩；
    所述手指模块包括第一手指模块、第二手指模块和第三手指模块，各手指模块均包括第一指段和第二指段，均固定在手指基座上；所述第一手指模块、第二手指模块和第三手指模块均匀分布在所述壳体盖板圆周方向。
  2. 根据权利要求1所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述第一动力传动系统包括第一传动机构和第二传动机构，所述第一传动机构的输入端和所述第一驱动电机的输出端相连；所述第一传动机构的输出端与所述第二传动机构的输入端相连；所述第一驱动杆，第二驱动杆和第三驱动杆设置在所述第二传动机构的输出端上。
  3. 根据权利要求2所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述第一传动机构采用齿轮传动机构、平带轮传动机构、齿形带轮传动机构、绳轮传动机构、链条传动机构、齿轮齿条传动机构或连杆传动机构中的一种或几种的组合，所述第二传动机构采用具有自锁功能的丝杠螺母传动机构或蜗轮蜗杆传动机构的一种或几种的组合。
  4. 根据权利要求1所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述第二动力传动系统包括第一转向传动机构和第二转向传动机构；所述第一转向传动机构的输入轴与所述第二驱动电机的输出轴相连；所述第一转向传动机构的输出轴与所述第二驱动杆相连；所述第二转向传动机构的输入轴与所述第二驱动电机的输出轴相连，所述第二转向传动机构的输出轴与所述第三驱动杆相连，所述第二驱动杆和所述第三驱动杆旋转速度相同，旋转方向相反。
  5. 根据权利要求4所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述第一转向传动机构和第二转向传动机构采用齿轮传动机构、平带轮传动机构、齿形带轮传动机构、绳轮传动机构、链条传动机构、齿轮齿条传动机构或连杆传动机构中的一种或几种的组合。
  6. 根据权利要求1所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述第一手指模块的手指基座与所述壳体盖板固定连接在一起，所述第一手指模块与所述第一驱动杆铰接，且所述第一驱动杆设置在所述第一手指模块的中心轴线上，所述第一手指模块由所述第一驱动杆驱动完成抓持动作；所述第二手指模块与所述第二驱动杆铰接，且所述第二驱动杆设置在所述第二手指模块的中心轴线上，所述第二手指模块由所述第二驱动杆驱动完成抓持动作和同轴旋转；所述第三手指模块与所述第三驱动杆铰接，且所述第三驱动杆设置于所述第三手指模块的中心轴线上，所述第三手指模块由所述第三驱动杆驱动完成抓持动作和同轴旋转。
  7. 根据权利要求1所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述第一指段的一端与所述手指基座铰接相连，另一端与所述第二指段铰接相连；所述手指模块包括三种工作方式：平行位姿、对心位姿和两指抓持位姿，工作方式之间根据实际情况自动切换。
  8. 根据权利要求1所述的自适应欠驱动转向三指机器人夹爪，其特征在于，所述壳体箱上设置有操作面板、指示灯和航空插头，所述操作面板具有示教功能，所述指示灯表示装置的运转状态，所述航空插头用于连接外部装置。
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