WO2021197319A1 - 指根软轴传递转动又偏心转位的快换手指变掌机械手 - Google Patents

指根软轴传递转动又偏心转位的快换手指变掌机械手 Download PDF

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Publication number
WO2021197319A1
WO2021197319A1 PCT/CN2021/083917 CN2021083917W WO2021197319A1 WO 2021197319 A1 WO2021197319 A1 WO 2021197319A1 CN 2021083917 W CN2021083917 W CN 2021083917W WO 2021197319 A1 WO2021197319 A1 WO 2021197319A1
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WO
WIPO (PCT)
Prior art keywords
finger
hole
fingers
indexing
palm
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PCT/CN2021/083917
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English (en)
French (fr)
Inventor
章军
吕兵
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江南大学
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Application filed by 江南大学 filed Critical 江南大学
Publication of WO2021197319A1 publication Critical patent/WO2021197319A1/zh

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    • 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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

Definitions

  • the invention relates to a quick-change finger-changing manipulator with a finger-root flexible shaft that transmits rotation and eccentrically indexed. It belongs to the field of robots and automation, and is suitable for sorting robots for food, agricultural products, and light industrial products, as well as robots in the packaging and logistics industries. .
  • the gripper also known as the manipulator, the end effector, and the end gripper, is an operating tool for the robot to grasp objects. Due to the complexity of the grasping objects: the material properties, shape, size, and position status are quite different: 1The shape is not Regular objects with large differences in size (fruits, vegetables); 2 Fragile and brittle objects (poultry eggs, glass ceramic products); 3 Soft objects that are easily deformed (bread, flexible packaging items); 4 Abnormal shape and positional state Confusing and difficult to sort out objects (wine bottles, cosmetic bottles), at the same time, in terms of the adaptability of shape and size, different sizes of cuboid, cylinder, sphere, ellipsoid, and triangular prism are the most common shapes.
  • the current end effector cannot grasp the aforementioned complex objects universally and reliably.
  • the surface of the rigid frame of the finger is glued with rubber, and the contact between the rubber outside the rigid frame of the end effector and the object is semi-flexible, and the contact force distribution is very different; or the soft finger, because there is no frame, it cannot withstand greater contact force. And the contact force distribution is not uniform.
  • the contact between the finger and the object is divided into pinch, envelope grab, and soft package grab.
  • the design of the manipulator involves three types: shape, property, and state.
  • the shape refers to the shape, size, and the adaptive design of the manipulator; the physical property refers to the hardness, toughness and brittleness of the material, and the control strategy design involves the precise control of the size and direction of the contact force; the state is the placement state of the object, such as stand, Lying, neatly or chaotically distributed, close or sparsely spaced, contacting each other, such as bagged frozen gnocchi, bagged liquid, bagged pellets and other flexible packaging, involving the path planning of finger knuckles, the position of contact force, contact impact, etc.
  • the control strategy of the motion process also involves the coordinated control of the operation of the manipulator and the manipulator arm.
  • the most commonly used in production is a two-finger clamp type, single-knuckle finger, two-point contact pneumatic jaw, but it has small size adaptability, can't envelop grabbing, and has no shape adaptability.
  • the applicant provides a quick-change finger-to-palm manipulator with a reasonable structure that transmits rotation and eccentrically indexed by the soft shaft of the finger root, which can both pinch and envelop, and also It can be wrapped and grabbed, with a wide grabbing range, suitable for vertical and horizontal grabbing of various objects with complex shapes, high indexing accuracy, fast response speed, and flexible adaptive effects.
  • a quick-change finger palm-changing manipulator capable of transmitting rotation by the soft shaft of the finger root and eccentrically indexed.
  • the palm-changing manipulator is composed of a palm and four fingers with the same structure and uniformly installed. There are four kinds of fingers, including: Rotating gripping fingers, translational gripping fingers, knuckle enveloping fingers, soft enveloping fingers;
  • the palm provides the indexing function of the finger root parts: the center distance of the four fingers is equal, and the four fingers grasp the upright cylinder, sphere, cube, or driven by the indexing motor, the left and right fingers are eccentrically indexed 45 degrees clockwise, forward and backward The fingers are eccentrically rotated counterclockwise by 45 degrees to grasp the horizontally placed cylinder and cuboid;
  • the four fingers adopt an eccentric indexing structure with the center of rotation.
  • the eccentricity of the four fingers is equal.
  • the indexing structure with the center of rotation in place is adopted.
  • the eccentric rotation Position structure grabs a much larger size range of horizontally placed cylinders and cuboids;
  • the palm provides the rotation function of the root part of the finger: the rotating driver drives the toothed belt, and the four fingers are rotated at the same root angle through the four flexible shaft parts.
  • the root angle refers to the angle between the root part and the palm plane (lower plate). ;
  • the choice of finger types and rotating drive the rotating drive that drives the root of the finger to rotate, there are two types of motor and vane-type rotating cylinder; when using non-driven rotating gripping fingers and translational gripping fingers to grasp in pinch mode, select The blade-type rotating cylinder drives the finger root to rotate, according to the feedback of the air pressure sensor, the finger contact force is controlled by a pneumatic high-speed switch valve, or the motor drives the finger root to rotate, and the contact force is controlled by controlling the output torque of the rotating motor; the pneumatic knuckle bag is adopted When connecting fingers and software wrapping fingers, only motors can be used, which has better size adaptability. According to the feedback of the air pressure sensor, the two finger contact states are controlled through the pneumatic high-speed on-off valve;
  • the palm's indexing function integrates gear transmission and linkage transmission; the palm's rotation function also introduces the transmission of flexible shaft components; the indexing and rotation of the finger roots are interrelated coupled movements, and the transmission chain
  • the structure is flexible;
  • the grasping power of the four fingers is pneumatic, and the pneumatic system has driving flexibility and agility;
  • the flexible shaft part contacts and transmits movement through the conical surface, which is convenient to adjust the phase angle and make the initial angle adjustment of the four fingers rotate equal.
  • the overall installation structure of the palm-changing manipulator is:
  • Finger root rotation structure the rotary drive is fixed under the arm mounting plate, one toothed belt gear is fixed on the output shaft of the rotary drive with a set screw, and the four toothed belt gears are each fixed in the four taper holes with a set screw.
  • At the upper end of the drive shaft there is a toothed belt gear fixed on the tensioning pulley shaft with a set screw.
  • the tensioning pulley shaft is adjusted and fixed in the waist groove on the arm mounting plate.
  • the toothed belt surrounds the six toothed belts. Gears, the toothed belt gears on the rotating drive provide driving force.
  • the toothed belt gears on the tensioning pulley shaft with adjustable position play a tensioning role.
  • the four toothed belt gears make the four cone hole drive shafts rotate; cone hole drive
  • the upper and lower ends of the shaft are each equipped with a small diamond-shaped seated bearing, and two small diamond-shaped seated bearings are fixed back to back on the arm mounting plate;
  • the tapered hole The two ends of the pin shaft rotate on the copper sleeve, and the tapered hole pin shaft is axially limited by the elastic retaining ring on the shaft.
  • the two copper sleeves are fitted in the holes of the double side wall of the square head single hole double lug seat; single hole finger root
  • the joint is sleeved in the middle section of the tapered hole pin, and driven by the flat key in the middle section of the tapered hole pin, so that the flexible shaft component drives the single-hole knuckle to rotate; the four rotating gripping fingers are respectively fixed on the four single-hole knuckles , Relying on four curved sections of rotating fingers to pinch objects;
  • Finger root indexing structure the back of the indexing motor is fixed on the arm mounting plate, the lower end of the indexing motor output shaft and the uppermost end of the long shaft are connected by a coupling and fixed with a set screw; the upper and lower ends of the long shaft are each set A large diamond-shaped seated bearing, a large diamond-shaped seated bearing is fixed under the upper plate, and another large diamond-shaped seated bearing is fixed under the lower plate.
  • the incomplete gear is in the middle of the long shaft and is driven by a flat key. There is under the incomplete gear. The sleeve restricts axial movement; the incomplete gear meshes with the two crank gears on the left and right sides.
  • the crank gear on the right, the connecting rod, and the front indexing lever form a crank-rocker mechanism.
  • the position swing lever forms a crank-rocker mechanism; one end of the connecting rod is connected with the crank gear hinge, the other end of the connecting rod is connected with the indexing swing lever hinge, and the bottom of the connecting rod at the two end hinges is clamped on the crank gear and the indexing swing lever.
  • Wear-resistant gaskets reduce friction and realize the incomplete gear rotates forward 45 degrees, then the two crank gears reverse 45 degrees, and the two index pendulum rods rotate forward 45 degrees; the crank gear and the index pendulum rod are all installed on the short shaft
  • the upper and lower sections of the four short shafts are all sleeved with large diamond-shaped seated bearings, one large diamond-shaped seated bearing is fixed under the upper plate, and the other large diamond-shaped seated bearing is fixed under the lower plate;
  • two square-headed single-hole double The square head section of the ear seat is inserted into the rectangular grooves of the two indexing swing rods at the front and rear positions, and fastened with screws and washers.
  • the square head sections of the other two square head single-hole double ear seats are inserted into the two left and right positions.
  • the rectangular grooves of a crank gear are also fastened with screws and washers; the indexing motor drives the incomplete gear and transmits it to the crank gear, and then the crank gear is transmitted to the indexing pendulum rod.
  • the two square-headed single-hole double ear seats are positive Rotate 45 degrees, and the two square head single-hole double ear seats simultaneously reverse 45 degrees, from grabbing upright cylinders and cubes, and transposition grabbing horizontally placing cylinders and cuboids.
  • the flexible shaft component is composed of an elastic flexible shaft, two knurled internal thread sleeves and two tapered pin indenters.
  • the two ends of the flexible flexible shaft are firstly covered with a knurled internal thread sleeve, and the knurled internal thread sleeve
  • the threaded sections are all at the outer end, and then two tapered pin indenters are press-fitted on both ends of the elastic soft shaft respectively.
  • the four parts of the double-hole knuckle, the follower rod, the finger joint, and the square head double-hole binaural seat constitute a parallelogram mechanism, and the rotation of the double-hole knuckle changes
  • the four knuckles gripping the fingers in translation grasp the object; replace the single-hole knuckles and square-head single-hole binaural with double-hole knuckles and square-head double-hole binaural bases respectively
  • the assembly structure of the double-hole knuckle, tapered hole pin, square-head double-hole double lug seat, flexible shaft components, and copper sleeve is the same as the aforementioned single-hole knuckle, tapered-hole pin, and square-head single-hole double
  • the assembly structure of the ear seat, the soft shaft parts and the copper sleeve is the same; the double-hole knuckles are respectively connected with the double-hole knuckles
  • the assembly structure of the knuckle enveloping the finger the side of the bent plate is installed on the single-hole knuckle, and it rotates with the single-hole knuckle; similar to the chain link structure, the lower ring-head L-shaped chain link is on the left side
  • the tip is hingedly connected with the lower heel on the left side of the upper ring head L-shaped link, and the upper tip on the left side of the upper ring head L-shaped link is hinged with the flat hinge base, and the flat hinge base is also fixed on the bend.
  • the ring head of the ring head L-shaped chain link is sleeved in the trough ring of the conical elastic bellows driver, and the conical elastic bellows driver is from top to bottom, and the corresponding different ring head L-shaped chain links are round
  • the ring head diameter is getting smaller and smaller, and the interval between the ring heads (chain pitch) is getting shorter and shorter, that is, the shorter the fingertips, the shorter the length of the knuckles;
  • the seat block is fixed on the bending plate with screws, and the rubber material
  • the conical elastic bellows driver is fixed on the corrugated bayonet of the seat block by a clamp, and the air pipe joint is also screwed on the seat block.
  • the compressed air through the air pipe joint causes the conical elastic bellows driver to bend and expand under the constraint of the chain pitch;
  • the left side of the L-shaped chain link of the torus head contacts the object to be grabbed to form an envelope grabbing.
  • the inflatable curved finger of rubber material contains a braided belt in the wall on one side of the contact surface, and the other side is a corrugated structure with a rectangular cross-section. Then fix it with a holding hoop. Tighten the hose connector on the right end of the mounting base. Use a screw to install the left end of the mounting base on the single-hole knuckle, which rotates with the single-hole knuckle; compressed air enters the inflation and bends through the hose connector.
  • the corrugated structure of the inflatable bending finger expands and is constrained by the braided belt in the contact surface wall, so it bends and deforms and contacts the object to be grasped to form a wrapped grasp.
  • the taper pin at one end of the flexible shaft component is inserted into the tapered hole of the tapered hole drive shaft.
  • the rotation angle of the four flexible shaft components By adjusting the rotation angle of the four flexible shaft components, four single-hole knuckles or double holes are ensured.
  • the initial angles of the knuckles are equal, and the knurled internal thread sleeve is tightened on the taper hole drive shaft, so that the initial angle and angular displacement of the four flexible shaft components rotating in the same direction are equal by rotating the driver.
  • the quick-change finger-to-palm manipulator capable of transferring rotation and eccentric indexing of the finger root of the present invention has reasonable structure design, convenient control, and strong applicability. It can be pinched, enveloped, and wrapped, It has a wide range of grasping, suitable for vertical and horizontal grasping of various objects with complex shapes, high indexing accuracy, fast response speed, and flexible self-adaptive effect.
  • the palm of the present invention can provide the indexing and rotating functions of the finger root components at the same time: the center distance of the four fingers is equal, the four fingers grasp the upright cylinder, the sphere, the cube, or the left and right fingers are eccentrically rotated clockwise under the drive of the indexing motor Position, front and rear fingers are eccentrically rotated counterclockwise to grasp horizontally placed cylinders and cuboids; the rotating driver drives the toothed belt, and the four fingers are rotated at the same root angle through four flexible shafts;
  • the indexing function of the palm integrates gear transmission and connecting rod transmission; the rotation function of the palm also introduces flexible shaft transmission; the indexing and rotation of the finger root components are interrelated coupled motions, and the transmission chain structure is flexible ;
  • the flexible shaft contacts and transmits the movement through the conical surface of the conical pin indenter, which is convenient to adjust the phase angle and make the initial angle adjustment of the four finger rotations equal;
  • the four fingers of the present invention adopt an eccentric indexing structure with the center of rotation.
  • the eccentric distances of the four fingers are equal.
  • the indexing structure with the center of rotation at the same place is adopted.
  • the eccentric indexing structure grabs a much larger size range of horizontally placed cylinders and cuboids;
  • the invention provides four types of fingers and two types of rotary actuators, which can be combined and applied according to actual needs, can determine the best motor output torque control contact force, and has better size adaptability;
  • the grasping power of the four fingers of the present invention is pneumatic, and the pneumatic system has driving flexibility and agility.
  • Fig. 1 is a front view of the A-A rotation section of the present invention.
  • Figure 2 is a top view of the present invention.
  • Figure 3 is a B-B sectional top view of the present invention.
  • Fig. 4 is a 45-degree eccentric transposition diagram of the finger root of the B-B sectional top view of the present invention
  • Figure 5 is a bottom view of the present invention.
  • Fig. 6 is a bottom view of the C-C cross-sectional view of the present invention.
  • Fig. 7 is a partial cross-sectional view of D-D of the present invention.
  • Figure 8 is a schematic diagram of the eccentric indexing of the present invention.
  • Figure 9 is a schematic diagram of in-situ indexing of the same finger installation position.
  • Fig. 10 is an E-E sectional view of the translational clamping finger part of the present invention.
  • Fig. 11 is an F-F cross-sectional front view of the translational gripping finger member of the present invention.
  • Fig. 12 is a top view of the translational gripping finger member of the present invention.
  • Fig. 13 is a front cross-sectional view of the knuckle-enveloped finger component of the present invention.
  • Fig. 14 is a front view of the flat hinge seat part of the knuckle enveloping finger component of the present invention.
  • Figure 15 is a right side view of the flat hinge seat part of the knuckle enveloping finger component of the present invention.
  • Fig. 16 is a G-G sectional left view of the L-shaped chain link part of the ring head of the knuckle enveloping finger component of the present invention.
  • Fig. 17 is an H-H main cross-sectional view of the L-shaped chain link part of the ring head of the knuckle-enveloping finger component of the present invention.
  • Fig. 18 is a partial view of the L-shaped chain link part of the ring head of the knuckle enveloping finger component of the present invention.
  • Figure 19 is a main cross-sectional view of the soft-wrapped finger component of the present invention.
  • Fig. 20 is a J-J sectional top view of the soft-wrapped finger component of the present invention.
  • Figure 21 is a structural diagram of the flexible shaft component of the present invention.
  • Fig. 22 is a front view of the crank gear part of the present invention.
  • Figure 23 is a front view of the incomplete gear part of the present invention.
  • Figure 24 is a front view of the tapered hole drive shaft component of the present invention.
  • Fig. 25 is a front view of the long shaft part of the present invention.
  • Fig. 26 is a top view of the long axis part of the present invention.
  • Figure 27 is a front view of the indexing swing lever part of the present invention.
  • Indexing Motor 13, coupling; 14, upper plate; 15, large diamond-shaped bearing with seat; 16, short shaft; 17, sleeve; 18, rotating swing rod; 19, connecting rod; 20, wear-resistant gasket; 21 , Partial gear; 22, long shaft; 23, lower plate; 24, small double-head matching stud; 25, crank gear; 26, toothed belt; 27, tension pulley shaft; 28, copper sleeve;
  • 6a flexible shaft
  • 6b knurled internal thread sleeve
  • 6c taper pin indenter
  • 1a clamping fingers in translation
  • 2a double-hole knuckles
  • 4a square-head double-hole binaural base
  • 1a1 finger knuckles
  • 1a2 follow-up swing rod
  • 1b Knuckles enveloping the fingers; 1b1, conical elastic bellows driver; 1b2, circular ring head L-shaped chain link; 1b3, flat hinge seat; 1b4, bent plate; 1b5, clamp; 1b6, seat block; 1b7 , Trachea joints;
  • a quick-change finger palm-changing manipulator capable of transmitting rotation and eccentrically indexed by the soft shaft of the finger root is composed of a palm and four fingers 1 with the same structure and uniformly installed.
  • the parts of the palm-changing manipulator include: rotating clamp Finger holding 1, single hole knuckle 2, tapered hole pin 3, square head single hole double lug seat 4, large double-headed mating stud 5, flexible shaft component 6, tapered hole drive shaft 7, small diamond seat bearing 8.
  • Robotic arm mounting plate 9 toothed belt gear 10, rotating drive 11, indexing motor 12, coupling 13, upper plate 14, large diamond seat bearing 15, short shaft 16, sleeve 17, indexing pendulum Rod 18, connecting rod 19, wear-resistant washer 20, incomplete gear 21, long shaft 22, lower plate 23, small double-headed mating stud 24, crank gear 25, toothed belt 26, tension belt wheel shaft 27, copper Set of 28.
  • the fingers can be selected and assembled in four ways, namely: rotating gripping fingers 1, or translational gripping fingers 1a, or knuckle-enclosed fingers 1b, or soft-wrapped fingers 1c; the four fingers must be equipped with the same kind of fingers ;
  • the rotary driver 11 has two options and assembly, namely: rotating motor 11a, or blade-type rotating cylinder 11b; rotating gripping finger 1 and translational gripping finger 1a, rotating drive 11 selects a rotating motor 11a or blade-type rotation
  • the rotary drive 11 can only be a rotary motor 11a.
  • the flexible shaft part 6 includes: an elastic flexible shaft part 6a, a knurled internal thread sleeve 6b, and a tapered pin indenter 6c;
  • the translational clamping fingers 1a include: a double-hole knuckle 2a, a square-head double-hole double ear seat 4a, a finger joint 1a1, and a follower swing rod 1a2.
  • the knuckle enveloping finger 1b includes: a cone-shaped elastic bellows driver 1b1, a circular ring-head L-shaped link 1b2, a flat hinge seat 1b3, a bent plate 1b4, a clamp 1b5, a seat block 1b6, and a tracheal joint 1b7;
  • the soft-wrapped fingers 1c include: an inflatable bending finger 1c1, a braided belt 1c2, a mounting seat 1c3, a holding band 1c4, and a hose connector 1c5.
  • the palm-changing manipulator is composed of a palm and four fingers with the same structure and uniformly installed; there are four kinds of fingers, including: rotating gripping fingers 1, translational gripping fingers 1a, knuckle enveloping fingers 1b, and software Wrap fingers 1c;
  • the palm provides the indexing function of the finger root parts: the center distance of the four fingers is equal, and the four fingers grasp the upright cylinder, sphere, cube, or driven by the indexing motor 12, the left and right fingers are eccentrically rotated clockwise by 45 degrees, The front and back fingers are eccentrically rotated counterclockwise by 45 degrees to grasp the horizontally placed cylinder and cuboid;
  • the four fingers adopt an eccentric indexing structure with the center of rotation.
  • the eccentricity of the four fingers is equal.
  • the indexing structure with the center of rotation in place is adopted.
  • the eccentric rotation Position structure grabs a much larger size range of horizontally placed cylinders and cuboids;
  • the palm provides the function of rotating the finger root part: the rotating driver 11 drives the toothed belt 26, and the four fingers are rotated at the same root angle through the four flexible shaft parts 6.
  • the finger root angle refers to the root part (single-hole knuckle 2 Or the angle between the two-hole phalanx 2a) and the palm plane (lower plate 23);
  • the choice of finger types and rotation driver 11 The rotation driver 11 that drives the root of the finger to rotate has two types: a rotating motor 11a and a blade-type rotating cylinder 11b; using a non-driven rotating gripping finger 1, a translational gripping finger 1a to pinch When grabbing, the blade-type rotating cylinder 11b is used to drive the finger root to rotate. According to the feedback of the air pressure sensor, the finger contact force is controlled by a pneumatic high-speed switch valve, or the rotating motor 11a is used to drive the finger root to rotate, and the rotating motor 11a outputs torque.
  • the palm indexing function integrates gear transmission and connecting rod transmission; the palm rotation function also introduces the flexible shaft part 6 transmission; the indexing and rotation of the finger root part are interrelated coupled motions.
  • the transmission chain structure is flexible;
  • the grasping power of the four fingers is pneumatic, and the pneumatic system has driving flexibility and agility;
  • the flexible shaft part 6 contacts and transmits the movement through the conical surface of the conical pin indenter 6c, which is convenient to adjust the phase angle and make the initial angle adjustment of the four finger rotations equal.
  • Integral installation structure After positioning through the counterbore on the mounting plate 9 of the robot arm and the outer ring of the positioning ring of the robot arm, fix the palm-changing manipulator to the robot arm with screws.
  • the robot arm mounting plate 9 and the upper plate 14 are in clearance fit and are fastened by nuts.
  • the robot arm mounting plate 9 and the upper plate 14 are connected as a whole by two large double-headed studs 5; similarly, two small double-headed studs are used.
  • the stud 24 connects the upper plate 14 and the lower plate 23 into a whole;
  • Finger root rotation structure the rotating driver 11 is fixed under the arm mounting plate 9, a toothed belt gear 10 is fixed on the output shaft of the rotating driver 11 with a set screw, and the four toothed belt gears 10 are each fixed with a set screw At the upper end of the four tapered drive shafts 7, there is a toothed belt gear 10 fixed on the tension pulley shaft 27 with a set screw, and the tension pulley shaft 27 is adjusted and fixed in the waist groove on the mechanical arm mounting plate 9.
  • the toothed belt 26 surrounds these six toothed belt gears 10, the toothed belt gear 10 on the rotating drive 11 provides driving force, and the toothed belt gear 10 on the tensioning pulley shaft 27 with adjustable position plays a tensioning role.
  • the toothed belt gear 10 rotates the four tapered drive shafts 7; the upper and lower ends of the tapered drive shaft 7 are each equipped with a small diamond-shaped seated bearing 8, two small diamond-shaped seated bearings 8 are fixed back to back on the arm mounting plate 9 On; as shown in the upper right corner of Figure 1, the tapered pin indenter 6c at one end of the flexible shaft part 6 is inserted into the tapered hole of the tapered hole drive shaft 7, and then screwed on the tapered hole drive shaft with a knurled female thread sleeve 6b 7, so that the drive 11 is rotated to make the four flexible shaft components 6 rotate in the same direction; as shown on the right side of Figure 2, the tapered pin indenter 6c at the other end of the flexible shaft component 6 is inserted into the square head single hole on the same side In the taper hole of the taper hole pin 3 on the double lug seat 4, screw the taper hole pin 3 with a knurled female thread sleeve 6b.
  • the two ends of the taper hole pin 3 rotate on the copper sleeve 28, and the taper hole pin
  • the shaft 3 is axially limited by an elastic retaining ring (blacked part) on the shaft, and two copper sleeves 28 are assembled in the holes of the double side wall of the square head single-hole double ear seat 4; the single-hole knuckle 2 is sleeved in The middle section of the tapered hole pin 3 is driven by the flat key in the middle section of the tapered hole pin 3, so that the flexible shaft part 6 drives the single-hole knuckle 2 to rotate; the four rotating gripping fingers 1 are respectively fixed on the four single-hole finger roots Section 2, Relying on four curved sections of rotating gripping fingers 1 to pinch objects;
  • Finger root indexing structure the back of the indexing motor 12 is fixed on the arm mounting plate 9, the lower end of the output shaft of the indexing motor 12 and the uppermost end of the long shaft 22 are connected by a coupling 13 and fixed with a set screw; the long shaft 22 The upper and lower ends of each set are equipped with a large diamond-shaped seated bearing 15, a large diamond-shaped seated bearing 15 is fixed under the upper plate 14, another large diamond-shaped seated bearing 15 is fixed under the lower plate 23, and the incomplete gear 21 is on the long shaft 22
  • the middle section is driven by a flat key, and there is a sleeve 17 under the incomplete gear 21 to limit the axial movement; as shown in Figure 3, the incomplete gear 21 meshes with the two left and right crank gears 25, and the right crank gear 25, connecting
  • the rod (19), the front indexing swing rod 18 form a crank-rocker mechanism, and the left crank gear 25, the connecting rod (19), and the rear indexing swing rod 18 form a crank-rocker mechanism; as shown in Figures 2 and 7 As shown
  • a wear-resistant washer 20 is clamped to reduce friction, so that the incomplete gear 21 rotates forward 45 degrees, then the two crank gears 25 reverse 45 degrees, and the two index pendulum rods 18 rotate forward 45 degrees; cranks
  • the gear 25 and the indexing lever 18 are all installed in the middle section of the stub shaft 16.
  • the upper and lower sections of the four stub shafts 16 are all sleeved with large diamond-shaped seated bearings 15, one large diamond-shaped seated bearing 15 is fixed under the upper plate 14, and the other A large diamond-shaped seat bearing 15 is fixed under the lower plate 23; the square head sections of the two square head single-hole double ear seats 4 are inserted into the rectangular grooves of the two indexing swing rods 18 at the front and rear positions, and tightened with screws and washers.
  • the square head sections of the other two square head single-hole double ear seats 4 are inserted into the rectangular grooves of the two crank gears 25 at the left and right positions, and they are also fastened with screws and washers; as shown in Figures 3 and 4, In this way, the incomplete gear 21 is driven by the indexing motor 12, which is transmitted to the crank gear 25, and the crank gear 25 is then transmitted to the indexing pendulum rod 18.
  • the hole binaural seat 4 is reversed at 45 degrees at the same time, from grabbing upright cylinders and cubes, and transposition grabbing horizontally placing cylinders and cuboids.
  • the eccentric indexing structure of the finger rotation center of the present invention shown in FIG. 8 is compared with the in-situ indexing structure of the same finger installation position shown in FIG. 9.
  • the two structures capture vertical cylinders of the same diameter.
  • the eccentric indexing structure grabs a much larger diameter of the horizontally placed cylinder.
  • the flexible shaft part 6 is composed of an elastic flexible shaft part 6a, two knurled internal thread sleeves 6b and two tapered pin indenters 6c.
  • the two ends of the flexible flexible shaft part 6a First, each sleeve is equipped with a knurled internal thread sleeve 6b, and the thread sections of the knurled internal thread sleeve 6b are all at the outer end, and then two tapered pin indenters 6c are respectively press-fitted on both ends of the elastic flexible shaft component 6a.
  • the assembly structure of the translational clamping finger 1a the four parts of the two-hole knuckle 2a, the follower lever 1a2, the finger joint 1a1, and the square-headed two-hole binaural seat 4a constitute parallel Quadrilateral mechanism, the rotation of the two-hole knuckle 2a becomes the translation of the finger knuckle 1a1, and the four translational gripping finger 1a1 of the finger 1a grasps the object; use the double-hole knuckle 2a, square head, double-hole double ear Seat 4a replaced single hole knuckle 2, square head single hole double ear seat 4, double hole knuckle 2a, tapered hole pin 3, square head double hole double ear seat 4a, flexible shaft part 6, copper sleeve
  • the assembly structure of 28 is the same as the assembly structure of single hole knuckle 2, tapered hole pin 3, square head single hole double lug seat 4, flexible shaft part 6, copper sleeve 28; double hole knuckle 2
  • the assembly structure of the knuckle enveloping finger 1b first install the translational gripping finger 1a, and then install the curved plate 1b4 on the side of the translational gripping finger 1a.
  • Parallel, or without the parallel clamping fingers 1a directly install on the single-hole knuckle 2 and rotate with the single-hole knuckle 2; similar to the chain link structure, the lower ring-head L-shaped chain link 1b2 left
  • the upper tip of the side surface is hingedly connected with the lower heel on the left side of the upper ring head L-shaped link 1b2, and the upper tip on the left side of the upper ring head L-shaped link 1b2 is hingedly connected with the flat hinge seat 1b3,
  • the flat hinge seat 1b3 is also fixed on the bent plate 1b4; the ring head of the ring head L-shaped link 1b2 is sleeved in the trough ring of the conical elastic bellows driver 1b1, and the conical elastic bellows driver 1
  • the air pipe joint 1b7 is also screwed on the seat block 1b6, and the compressed air is passed through the air pipe.
  • the joint 1b7 causes the conical elastic bellows driver 1b1 to bend and expand under the constraint of the chain pitch; the left side of the multiple ring-head L-shaped chain links 1b2 contacts the object to be grasped to form an envelope grasp.
  • the structure of the flat hinge base 1b3 is shown in Figs. 14-15, and the structure of the circular ring head L-shaped link 1b2 is shown in Figs. 16-18.
  • the assembly structure of the software-wrapped finger 1c the mounting seat 1c3 has a threaded hole on the left side, first install the translational clamping finger 1a, and then install the finger of the translational clamping finger 1a with screws On the joint 1a1, move with the finger joint 1a1, or without the translational clamping finger 1a, directly install it on the single-hole knuckle 2 and rotate with the single-hole knuckle 2; the inflatable curved finger 1c1 of rubber material touches The wall on one side contains a braided belt 1c2, and the other side is a corrugated structure with a rectangular cross section.
  • the inflatable bending finger 1c1 is sleeved on the corrugated bayonet of the mounting seat 1c3, and then fixed with a clamping hoop 1c4.
  • the hose connector 1c5 is screwed on the right side of the mounting seat 1c3; compressed air enters the inflatable bending finger 1c1 through the hose connector 1c5. And contact the object to be grabbed to form a package grab.
  • the structure diagram of the flexible shaft components is shown in Figure 21, the crank gear components are shown in Figure 22, the incomplete gear components are shown in Figure 23, the tapered drive shaft components are shown in Figure 24, and the long shaft components are shown in Figures 25-26. As shown, the swing rod parts are shown in Figure 27.
  • the initial angle of rotation of the finger root part the tapered pin indenter 6c at one end of the flexible shaft part 6 is inserted into the tapered hole of the tapered hole drive shaft 7.
  • the rotation angle of the four flexible shaft parts 6 is adjusted to ensure four single-hole knuckles 2 Or the initial angles of the two-hole knuckles 2a are equal, and then the knurled female thread sleeve 6b is screwed on the tapered drive shaft 7, so that the drive 11 is rotated to make the four flexible shaft components 6 rotate in the same direction with the initial angle and angular displacement. equal.
  • the initial angle of indexing of the finger root component as shown in Fig. 3-4, when assembling the indexing lever 18, connecting rod 19, crank gear 25, and incomplete gear 21, use an upright cylinder (Fig. 3 double-dot drawing Line) as the assembled cylindrical sample block, ensure that the inner sides of the four square head single-hole double ear seats 4 are close to the cylindrical surface; after the index is 45 degrees, the rectangular parallelepiped (drawing line with double dots in Figure 4) is used as the assembled rectangular parallelepiped sample block , To ensure that the inner sides of the four square-headed single-hole binaural seats 4 are close to the sides of the rectangular parallelepiped-like block.
  • the palm provides finger root indexing function to adapt to shape changes: 1
  • the indexing motor 12 is in the original position, and the four fingers of the palm-changing manipulator grabs vertical cylinders, spheres, cubes, 2or the indexing motor 12 drives the incomplete gear 21 to mesh with the crank gear 25 ,
  • the left and right fingers are rotated clockwise by 45 degrees;
  • the crank gear 25, connecting rod 19, and the indexing swing lever 18 form an inverted crank and rocker mechanism, which makes the front and back fingers rotate counterclockwise by 45 degrees, so that the four fingers can grasp Take a horizontal cylinder or a rectangular parallelepiped; 3 or turn the indexing motor 12 to the middle position to achieve a symmetrical ellipsoid or quadrangular prism.
  • the palm provides finger root rotation or grasping function to adapt to size changes: 1Rotate the motor 11a to drive, make the four knuckles enveloping the fingers 1b, or the soft-wrapped finger 1c to adjust at the same finger root angle; 2Or turn the motor 11a to drive to make The four rotating gripping fingers 1 or the translational gripping fingers 1a grip the object, and the contact force depends on the output torque of the rotating motor 11a; 3 or the vane-type rotating cylinder 11b is driven to make the four rotating gripping fingers 1 or flat
  • the movable gripping finger 1a quickly grips the object, and the contact force is controlled by the input pressure of the vane-type rotating cylinder 11b.
  • the contact state of the palm-changing manipulator For spheres and horizontally placed cylinders, the rotating gripping finger 1 is used, and the height of the palm-changing manipulator has high control accuracy; the translational gripping finger 1a is used, and the height of the palm-changing manipulator has no precision requirements; the knuckle bag is used
  • the contact state is affected by the height of the palm-changing manipulator and the rotation angle of the base of the finger, but the control accuracy of the height of the manipulator changing the palm and the rotation angle of the base of the finger is low.

Abstract

一种指根软轴传递转动又偏心转位的快换手指变掌机械手，由手掌部件和四个结构相同的手指组成，手掌提供指根部件转位功能，四指抓取直立圆柱、球体、正方体，或在转位电机（12）驱动下，左右手指顺时针转位45度、前后手指逆时针转位45度，四指抓取水平圆柱、长方体，手掌提供指根部件转动功能，转动驱动器（11）有转动电机（11a）和叶片式转动气缸（11b）二种，其驱动齿形带（26）、通过四根软轴（6）使四个手指以相同指根角度转动，指根角度是指根部件与手掌平面的夹角，手指有四种，包括：无驱动的转动夹持手指（1）、平动夹持手指（1a），气动的指节包络手指（1b）、软体包裹手指（1c）。

Description

指根软轴传递转动又偏心转位的快换手指变掌机械手 技术领域
本发明涉及一种指根软轴传递转动又偏心转位的快换手指变掌机械手，属于机器人、自动化领域，适用于食品、农产品、轻工产品的分拣机器人，以及包装、物流行业机器人领域。
背景技术
手爪，又称为机械手、末端执行器、末端抓持器，是机器人抓取物体的操作工具，由于抓取对象的复杂性：材料性质、形状尺寸及位置状态的差别较大：①形状不规则的、大小差别大的物体(瓜果、蔬菜)；②易碎的脆性物体(禽蛋、玻璃陶瓷制品)；③易变形的软性物体(面包、软包装物品)；④异形的、位置状态混乱且难理顺的物体(酒瓶、化妆品瓶)，同时，就形状尺寸的适应性看，不同尺寸的长方体、圆柱体、球体、椭球体、三棱柱体是最常见的形状。目前的末端执行器是不能通用地、可靠地抓持前述的复杂对象。就接触状态看，手指刚性骨架表面粘贴橡胶，末端执行器刚性骨架外橡胶与物体的接触是半柔性接触，接触力分布差别大；或者是软体手指，因为没有骨架所以不能承受较大接触力，且接触力分布也不均匀。手指与物体的接触又分为捏取、包络抓取、软体包裹抓取。机械手设计涉及物形、物性、物态三种。其中物形是指形状、尺寸，机械手的适应性设计；物性是材质的软硬、韧脆，控制策略设计涉及接触力的大小、方向的精确控制；物态是物体的放置状态，如立、卧，分布整齐或混乱，相互距离紧密或稀疏，相互接触关系如袋装冷冻汤团、袋装液体、袋装颗粒等软包装，涉及手指各指节的路径规划、接触力的作用位置、接触冲击等运动过程的控制策略，同时涉及机械手与机械联合臂的操作协同控制。
技术问题
目前生产中使用最多的是一种二指夹钳式、单指节手指、两点接触的气动卡爪，但是尺寸适应性小，也不能包络抓取，更没有形状适应性。
本申请人针对上述现有生产技术中的缺点，提供一种结构合理的指根软轴传递转动又偏心转位的快换手指变掌机械手，既可捏取、又可包络抓取，还可以包裹抓取，抓取范围广，适应垂直、水平抓取各种形状复杂的物体，转位精度高、反应速度快，有柔性自适应效果。
技术解决方案
一种指根软轴传递转动又偏心转位的快换手指变掌机械手，所述变掌机械手由手掌和四个结构相同、均布安装的手指组成；所述的手指共有四种，包括：转动夹持手指、平动夹持手指、指节包络手指、软体包裹手指；
所述变掌机械手的安装结构及功能：
①手掌提供指根部件转位功能：四个手指的中心距相等，四个手指抓取直立圆柱、球体、正方体，或在转位电机驱动下，左右手指偏心地顺时针转位45度、前后手指偏心地逆时针转位45度，从而抓取水平放置圆柱、长方体；
②四个手指采用回转中心偏心的转位结构，四个手指的偏心距相等，比四个手指采用回转中心在原地的转位结构，在抓取相同尺寸直立圆柱的手掌尺寸前提下，偏心转位结构抓取水平放置圆柱、长方体的尺寸范围大得多；
③手掌提供指根部件转动功能：转动驱动器驱动齿形带、通过四根软轴部件使四个手指以相同指根角度转动，指根角度是指根部件与手掌平面(下板)的夹角；
④手指种类与转动驱动器的选用：驱动指根转动的转动驱动器，有电机和叶片式转动气缸二种；采用无驱动的转动夹持手指、平动夹持手指以捏取方式抓取时，选用叶片式转动气缸驱 动指根转动，根据气压传感器反馈、通过气动高速开关阀控制手指接触力大小，或采用电机驱动指根转动，通过控制转动电机输出扭矩控制接触力大小；采用气动的指节包络手指、软体包裹手指时，只能选用电机，具有更好的尺寸适应性，根据气压传感器反馈、通过气动高速开关阀控制这二种手指接触状态；
⑤耦合运动关联：手掌的转位功能，综合了齿轮传动、连杆传动；手掌的转动功能，还引入了软轴部件传动；指根的转位与转动是相互关联的耦合运动，其传动链结构具有了柔顺性；
⑥四种手指的抓取动力均为气动方式，气动系统具有驱动柔性与敏捷性；
⑦软轴部件通过圆锥面接触与传递运动，便于调整相位角、使四个手指转动的初始角度调节相等。
所述变掌机械手整体安装结构为：
通过机械臂安装板上面的沉孔与机械臂的定位圆环外圈定位后，用螺钉将变掌机械手固定到机械臂上，大双头配合螺柱的两端分别与机械臂安装板、上板间隙配合，通过螺母紧固，由两根大双头配合螺柱将机械臂安装板和上板联结成整体；同样，由两根小双头配合螺柱将上板和下板联结成整体；
指根转动结构：转动驱动器固定在机械臂安装板下面，一个齿形带齿轮用紧定螺钉固定在转动驱动器的输出轴上，四个齿形带齿轮各自用紧定螺钉固定在四个锥孔驱动轴上端，还有一个齿形带齿轮用紧定螺钉固定在张紧带轮轴，张紧带轮轴在机械臂安装板上的腰形槽里调整固定，齿形带环绕这六个齿形带齿轮，转动驱动器上齿形带齿轮提供驱动力，可调节位置的张紧带轮轴上的齿形带齿轮起张紧作用，四个齿形带齿轮使四个锥孔驱动轴转动；锥孔驱动轴上、下端各装配一个小菱形带座轴承，二个小菱形带座轴承背靠背地固定在机械臂安装板上；
将软轴部件一端的圆锥销压头塞进锥孔驱动轴的锥孔内，再用滚花内螺纹套拧紧在锥孔驱动轴上，从而转动驱动器使四根软轴部件同方向转动；将软轴部件另一端的圆锥销压头塞进同侧的方头单孔双耳座上的锥孔销轴的锥孔内，再用滚花内螺纹套拧紧在锥孔销轴上，锥孔销轴的两端在铜套转动，锥孔销轴靠轴用弹性挡圈轴向限位，二个铜套装配在方头单孔双耳座的双侧壁的孔中；单孔指根节被套装在锥孔销轴中段，靠锥孔销轴中段的平键传动，从而实现软轴部件驱动单孔指根节转动；四个转动夹持手指分别固定在四个单孔指根节，靠四个转动夹持手指的曲面段捏取物体；
指根转位结构：转位电机背部固定在机械臂安装板上，转位电机输出轴的下端与长轴的最上端靠联轴器联结、紧定螺钉固定；长轴的上下端各套有一个大菱形带座轴承，一个大菱形带座轴承固定在上板下面，另一个大菱形带座轴承固定在下板下面，不完全齿轮在长轴的中段，靠平键传动，不完全齿轮下面有套筒限制轴向运动；不完全齿轮与左右侧二个曲柄齿轮啮合，右侧曲柄齿轮、连杆、前面的转位摆杆形成曲柄摇杆机构，左侧曲柄齿轮、连杆、后面的转位摆杆形成曲柄摇杆机构；连杆一端与曲柄齿轮铰链联结，连杆另一端与转位摆杆铰链联结，在二端铰链处连杆下面与曲柄齿轮和转位摆杆上面，均夹有耐磨垫片减少摩擦，实现不完全齿轮正转45度、则二个曲柄齿轮反转45度、二个转位摆杆正转45度；曲柄齿轮、转位摆杆均装在短轴中间段，四根短轴的上下段均套有大菱形带座轴承，一个大菱形带座轴承固定在上板下面，另一个大菱形带座轴承固定在下板下面；二个方头单孔双耳座的方头段插进前后位置的二个转位摆杆的长方形槽中，用螺钉、垫片紧固，另外二个方头单孔双耳座的方头段插进左右位置的二个曲柄齿轮的长方形槽中，也用螺钉、垫片紧固；转位电机驱动不完全齿轮、传动到曲柄齿轮，曲柄齿轮再传动到转位摆杆，二个方头单孔双耳座正转45度、二个方头单孔双耳座同时反转45度，从抓取竖立圆柱体、正方体，转位抓取水平放置圆柱体、长方体。
作为上述技术方案的进一步改进：
所述软轴部件由一根弹性软轴、二个滚花内螺纹套和二个圆锥销压头组成，其弹性软轴两端先各套有一个滚花内螺纹套，滚花内螺纹套的螺纹段均在外端，再将二个圆锥销压头分别压装在弹性软轴两端。
所述平动夹持手指的装配结构中，双孔指根节、随动摆杆、手指节、方头双孔双耳座这四个零件构成平行四边形机构，双孔指根节的转动变为手指节的平动，四个平动夹持手指的手指节抓取物体；用双孔指根节、方头双孔双耳座分别替换掉单孔指根节、方头单孔双耳座，双孔指根节、锥孔销轴、方头双孔双耳座、软轴部件、铜套的装配结构，与前述的单孔指根节、锥孔销轴、方头单孔双耳座、软轴部件、铜套的装配结构相同；双孔指根节分别与双孔指根节和手指节铰链联结，少了个孔中键槽的随动摆杆与双孔指根节结构与尺寸相同，其两端也分别与双孔指根节和手指节铰链联结，手指节和双孔指根节上的二个销孔的距离相等。
所述指节包络手指的装配结构：弯板侧面安装在单孔指根节上，随单孔指根节转动；类似链节结构，下面一个圆环头L形链节左侧面的上尖端与上面圆环头L形链节左侧面的下跟部铰链连接，最上面的圆环头L形链节左侧面的上尖端与平铰链座铰链连接，平铰链座也固定在弯板上；圆环头L形链节的圆环头套在圆锥形弹性波纹管驱动器的波谷圈中，圆锥形弹性波纹管驱动器从上到下，相应的不同的圆环头L形链节的圆环头直径越来越小、圆环头之间的间隔(链节距)越来越短，即越到指尖、指节长度越短；座块用螺钉固定在弯板上，橡胶材料的圆锥形弹性波纹管驱动器靠卡箍固定在座块的波纹卡口上，气管接头也拧在座块上，压缩空气经气管接头使圆锥形弹性波纹管驱动器在链节距的约束下弯曲膨胀；多个圆环头L形链节左侧面与被抓物体接触，形成包络抓取。
软体包裹手指的装配结构：橡胶材料的充气弯曲指接触面一侧的壁内含有编织带、另一侧是横截面为长方形的波纹状结构，充气弯曲指指根段套在安装座的波纹卡口上，再用抱紧箍固定，软管接头拧紧在安装座右端，安装座左端用螺钉安装在单孔指根节上，随单孔指根节转动；压缩空气经软管接头进入充气弯曲指，充气弯曲指的波纹状结构膨胀、又受接触面壁内编织带约束，因而弯曲变形、并接触被抓物体，形成包裹抓取。
调整指根部件转动初始角度时，软轴部件一端的圆锥销压头塞进锥孔驱动轴的锥孔内，通过调整四个软轴部件转动角度，保证四个单孔指根节或双孔指根节的初始角度相等，再用滚花内螺纹套拧紧在锥孔驱动轴上，从而转动驱动器使四根软轴部件同方向转动的初始角度和角位移均相等。
定位指根部件转位初始角度时，转位摆杆、连杆、曲柄齿轮、不完全齿轮的装配时，用竖立的圆柱体作为装配的圆柱样块，保证四个方头单孔双耳座内侧面贴紧圆柱面；转位45度后，再用长方体作为装配的长方体样块，保证四个方头单孔双耳座内侧面紧贴长方体样块的侧面。
有益效果
本发明的指根软轴传递转动又偏心转位的快换手指变掌机械手，结构设计合理，控制方便，适用性强，既可捏取、又可包络抓取，还可以包裹抓取，抓取范围广，适应垂直、水平抓取各种形状复杂的物体，转位精度高、反应速度快，有柔性自适应效果。
本发明还具有如下优点：
本发明手掌能同时提供指根部件转位、转动功能：四个手指的中心距相等，四个手指抓取直立圆柱、球体、正方体，或在转位电机驱动下，左右手指偏心地顺时针转位度、前后手指偏心地逆时针转位度，从而抓取水平放置圆柱、长方体；转动驱动器驱动齿形带、通过四根软轴使四个手指以相同指根角度转动；
手掌的转位功能，综合了齿轮传动、连杆传动；手掌的转动功能，还引入了软轴传动；指根部件的转位与转动是相互关联的耦合运动，其传动链结构具有了柔顺性；软轴通过圆锥销压头的圆锥面接触与传递运动，便于调整相位角、使四个手指转动的初始角度调节相等；
本发明的四个手指采用回转中心偏心的转位结构，四个手指的偏心距相等，比四个手指采用回转中心在原地的转位结构，在抓取相同尺寸直立圆柱的手掌尺寸前提下，偏心转位结构抓取水平放置圆柱、长方体的尺寸范围大得多；
本发明提供四种手指种类与两种转动驱动器种类，可根据实际需求进行组合应用，可确定最佳的电机输出扭矩控制接触力大小，具有更好的尺寸适应性；
本发明四种手指的抓取动力均为气动方式，气动系统具有驱动柔性与敏捷性。
附图说明
图1为本发明的A-A旋转剖主视图。
图2为本发明的俯视图。
图3为本发明的B-B剖俯视图。
图4为本发明的B-B剖俯视图的指根45度偏心转位图
图5为本发明的仰视图。
图6为本发明的C-C剖仰视图。
图7为本发明的D-D局部剖图。
图8为本发明的偏心转位原理图。
图9为相同手指安装位置的原地转位原理图。
图10为本发明平动夹持手指部件的E-E剖座视图。
图11为本发明的平动夹持手指部件的F-F剖主视图。
图12为本发明的平动夹持手指部件的俯视图。
图13为本发明的指节包络手指部件的主剖视图。
图14为本发明的指节包络手指部件平铰链座零件的主视图。
图15为本发明的指节包络手指部件平铰链座零件的右视图。
图16为本发明的指节包络手指部件圆环头L形链节零件的G-G剖左视图。
图17为本发明的指节包络手指部件圆环头L形链节零件的H-H主剖视图。
图18为本发明的指节包络手指部件圆环头L形链节零件的I向局部视图。
图19为本发明的软体包裹手指部件的主剖视图。
图20为本发明的软体包裹手指部件的J-J剖俯视图。
图21为本发明的软轴部件结构图。
图22为本发明的曲柄齿轮零件的主视图。
图23为本发明的不完全齿轮零件的主视图。
图24为本发明的锥孔驱动轴零件的主视图。
图25为本发明的长轴零件的主视图。
图26为本发明的长轴零件的俯视图。
图27为本发明的转位摆杆零件的主视图。
图中：1、转动夹持手指；2、单孔指根节；3、锥孔销轴；4、方头单孔双耳座；5、大双头配合螺柱；6、软轴部件；7、锥孔驱动轴；8、小菱形带座轴承；9、机械臂安装板；10、齿形带齿轮；11、转动驱动器；11a、转动电机；11b、叶片式转动气缸；12、转位电机；13、联轴器；14、上板；15、大菱形带座轴承；16、短轴；17、套筒；18、转动摆杆；19、连杆；20、耐磨垫片；21、不完全齿轮；22、长轴；23、下板；24、小双头配合螺柱；25、曲柄齿轮；26、齿形带；27、张紧带轮轴；28、铜套；
6a、弹性软轴；6b、滚花内螺纹套；6c、圆锥销压头；
1a、平动夹持手指；2a、双孔指根节；4a、方头双孔双耳座；1a1、手指节；1a2、随动摆杆；
1b、指节包络手指中；1b1、圆锥形弹性波纹管驱动器；1b2、圆环头L形链节；1b3、平铰 链座；1b4、弯板；1b5、卡箍；1b6、座块；1b7、气管接头；
1c、软体包裹手指；1c1、充气弯曲指；1c2、编织带；1c3、安装座；1c4、抱紧箍；1c5、软管接头。
本发明的实施方式
下面结合附图，说明本发明的具体实施方式。
本实施例的一种指根软轴传递转动又偏心转位的快换手指变掌机械手，由手掌和四个结构相同、均布安装的手指1组成；变掌机械手的零部件有：转动夹持手指1、单孔指根节2、锥孔销轴3、方头单孔双耳座4、大双头配合螺柱5、软轴部件6、锥孔驱动轴7、小菱形带座轴承8、机械臂安装板9、齿形带齿轮10、转动驱动器11、转位电机12、联轴器13、上板14、大菱形带座轴承15、短轴16、套筒17、转位摆杆18、连杆19、耐磨垫片20、不完全齿轮21、长轴22、下板23、小双头配合螺柱24、曲柄齿轮25、齿形带26、张紧带轮轴27、铜套28。
所述手指有四种可选择与装配，即：转动夹持手指1、或平动夹持手指1a、或指节包络手指1b、或软体包裹手指1c；四个手指须装配同种类的手指；所述转动驱动器11有二种可选择与装配，即：转动电机11a、或叶片式转动气缸11b；转动夹持手指1和平动夹持手指1a，转动驱动器11选用转动电机11a或叶片式转动气缸11b，指节包络手指1b和软体包裹手指1c，转动驱动器11只能选用转动电机11a。
所述软轴部件6中有：弹性软轴部件6a、滚花内螺纹套6b、圆锥销压头6c；
所述平动夹持手指1a中有：双孔指根节2a、方头双孔双耳座4a、手指节1a1、随动摆杆1a2。
所述指节包络手指1b中有：圆锥形弹性波纹管驱动器1b1、圆环头L形链节1b2、平铰链座1b3、弯板1b4、卡箍1b5、座块1b6、气管接头1b7；
所述软体包裹手指1c中有：充气弯曲指1c1、编织带1c2、安装座1c3、抱紧箍1c4、软管接头1c5。
所述变掌机械手由手掌和四个结构相同、均布安装的手指组成；所述手指共有四种，包括：转动夹持手指1、平动夹持手指1a、指节包络手指1b、软体包裹手指1c；
所述变掌机械手的安装结构及功能：
①手掌提供指根部件转位功能：四个手指的中心距相等，四个手指抓取直立圆柱、球体、正方体，或在转位电机12驱动下，左右手指偏心地顺时针转位45度、前后手指偏心地逆时针转位45度，从而抓取水平放置圆柱、长方体；
②四个手指采用回转中心偏心的转位结构，四个手指的偏心距相等，比四个手指采用回转中心在原地的转位结构，在抓取相同尺寸直立圆柱的手掌尺寸前提下，偏心转位结构抓取水平放置圆柱、长方体的尺寸范围大得多；
③手掌提供指根部件转动功能：转动驱动器11驱动齿形带26、通过四根软轴部件6使四个手指以相同指根角度转动，指根角度是指根部件(单孔指根节2或双孔指根节2a)与手掌平面(下板23)的夹角；
④手指种类与转动驱动器11的选用：驱动指根转动的转动驱动器11，有转动电机11a和叶片式转动气缸11b二种；采用无驱动的转动夹持手指1、平动夹持手指1a以捏取方式抓取时，选用叶片式转动气缸11b驱动指根转动，根据气压传感器反馈、通过气动高速开关阀控制手指接触力大小，或采用转动电机11a驱动指根转动，通过控制转动电机11a输出扭矩控制接触力大小；采用气动的指节包络手指1b、软体包裹手指1c时，只能选用转动电机11a，具有更好的尺寸适应性，根据气压传感器反馈、通过气动高速开关阀控制这二种手指接触状态；
⑤耦合运动关联：手掌的转位功能，综合了齿轮传动、连杆传动；手掌的转动功能，还引入 了软轴部件6传动；指根部件的转位与转动是相互关联的耦合运动，其传动链结构具有了柔顺性；
⑥四种手指的抓取动力均为气动方式，气动系统具有驱动柔性与敏捷性；
⑦软轴部件6通过圆锥销压头6c的圆锥面接触与传递运动，便于调整相位角、使四个手指转动的初始角度调节相等。
如附图1-7所示，具体结构是：
整体安装结构：通过机械臂安装板9上面的沉孔与机械臂的定位圆环外圈定位后，用螺钉将变掌机械手固定到机械臂上，大双头配合螺柱5的两端分别与机械臂安装板9、上板14间隙配合，通过螺母紧固，由两根大双头配合螺柱5将机械臂安装板9和上板14联结成整体；同样，由两根小双头配合螺柱24将上板14和下板23联结成整体；
指根转动结构：转动驱动器11固定在机械臂安装板9下面，一个齿形带齿轮10用紧定螺钉固定在转动驱动器11的输出轴上，四个齿形带齿轮10各自用紧定螺钉固定在四个锥孔驱动轴7上端，还有一个齿形带齿轮10用紧定螺钉固定在张紧带轮轴27，张紧带轮轴27在机械臂安装板9上的腰形槽里调整固定，齿形带26环绕这六个齿形带齿轮10，转动驱动器11上齿形带齿轮10提供驱动力，可调节位置的张紧带轮轴27上的齿形带齿轮10起张紧作用，四个齿形带齿轮10使四个锥孔驱动轴7转动；锥孔驱动轴7上、下端各装配一个小菱形带座轴承8，二个小菱形带座轴承8背靠背地固定在机械臂安装板9上；如附图1的右上角所示，将软轴部件6一端的圆锥销压头6c塞进锥孔驱动轴7的锥孔内，再用滚花内螺纹套6b拧紧在锥孔驱动轴7上，从而转动驱动器11使四根软轴部件6同方向转动；如附图2的右侧所示，将软轴部件6另一端的圆锥销压头6c塞进同侧的方头单孔双耳座4上的锥孔销轴3的锥孔内，再用滚花内螺纹套6b拧紧在锥孔销轴3上，锥孔销轴3的两端在铜套28转动，锥孔销轴3靠轴用弹性挡圈(涂黑部分)轴向限位，二个铜套28装配在方头单孔双耳座4的双侧壁的孔中；单孔指根节2被套装在锥孔销轴3中段，靠锥孔销轴3中段的平键传动，从而实现软轴部件6驱动单孔指根节2转动；四个转动夹持手指1分别固定在四个单孔指根节2，靠四个转动夹持手指1的曲面段捏取物体；
指根转位结构：转位电机12背部固定在机械臂安装板9上，转位电机12输出轴的下端与长轴22的最上端靠联轴器13联结、紧定螺钉固定；长轴22的上下端各套有一个大菱形带座轴承15，一个大菱形带座轴承15固定在上板14下面，另一个大菱形带座轴承15固定在下板23下面，不完全齿轮21在长轴22的中段，靠平键传动，不完全齿轮21下面有套筒17限制轴向运动；如附图3所示，不完全齿轮21与左右侧二个曲柄齿轮25啮合，右侧曲柄齿轮25、连杆(19)、前面的转位摆杆18形成曲柄摇杆机构，左侧曲柄齿轮25、连杆(19)、后面的转位摆杆18形成曲柄摇杆机构；如附图2、7所示，连杆(19)一端与曲柄齿轮25铰链联结，连杆(19)另一端与转位摆杆18铰链联结，在二端铰链处连杆(19)下面与曲柄齿轮25和转位摆杆18上面，均夹有耐磨垫片20减少摩擦，从而实现不完全齿轮21正转45度、则二个曲柄齿轮25反转45度、二个转位摆杆18正转45度；曲柄齿轮25、转位摆杆18均装在短轴16中间段，四根短轴16的上下段均套有大菱形带座轴承15，一个大菱形带座轴承15固定在上板14下面，另一个大菱形带座轴承15固定在下板23下面；二个方头单孔双耳座4的方头段插进前后位置的二个转位摆杆18的长方形槽中，用螺钉、垫片紧固，另外二个方头单孔双耳座4的方头段插进左右位置的二个曲柄齿轮25的长方形槽中，也用螺钉、垫片紧固；如附图3、4所示，从而实现转位电机12驱动不完全齿轮21、传动到曲柄齿轮25，曲柄齿轮25再传动到转位摆杆18，二个方头单孔双耳座4正转45度、二个方头单孔双耳座4同时反转45度，从抓取竖立圆柱体、正方体，转位抓取水平放置圆柱体、长方体。
附图8所示的本发明的手指回转中心偏心的转位结构，与附图9所示的相同手指安装位置的 原地转位结构相比，二种结构抓取同样直径的竖立圆柱体，而偏心转位结构抓取水平放置圆柱体的直径大得多。
如附图1、21所示，所述软轴部件6由一根弹性软轴部件6a、二个滚花内螺纹套6b和二个圆锥销压头6c组成，其弹性软轴部件6a两端先各套有一个滚花内螺纹套6b，滚花内螺纹套6b的螺纹段均在外端，再将二个圆锥销压头6c分别压装在弹性软轴部件6a两端。
如附图10-12所示，平动夹持手指1a的装配结构：双孔指根节2a、随动摆杆1a2、手指节1a1、方头双孔双耳座4a这四个零件构成平行四边形机构，双孔指根节2a的转动变为手指节1a1的平动，四个平动夹持手指1a的手指节1a1抓取物体；用双孔指根节2a、方头双孔双耳座4a分别替换掉单孔指根节2、方头单孔双耳座4，双孔指根节2a、锥孔销轴3、方头双孔双耳座4a、软轴部件6、铜套28的装配结构，与前述的单孔指根节2、锥孔销轴3、方头单孔双耳座4、软轴部件6、铜套28的装配结构相同；双孔指根节2a分别与双孔指根节2a和手指节1a1铰链联结，少了个孔中键槽的随动摆杆1a2与双孔指根节2a结构与尺寸相同，其两端端也分别与双孔指根节2a和手指节1a1铰链联结，手指节1a1和双孔指根节2a上的二个销孔的距离相等。
如附图13所示，指节包络手指1b的装配结构：先装上平动夹持手指1a、再弯板1b4侧面安装在平动夹持手指1a的手指节1a1上，随手指节1a1平动，或不装上平动夹持手指1a、直接安装在单孔指根节2上，随单孔指根节2转动；类似链节结构，下面一个圆环头L形链节1b2左侧面的上尖端与上面圆环头L形链节1b2左侧面的下跟部铰链连接，最上面的圆环头L形链节1b2左侧面的上尖端与平铰链座1b3铰链连接，平铰链座1b3也固定在弯板1b4上；圆环头L形链节1b2的圆环头套在圆锥形弹性波纹管驱动器1b1的波谷圈中，圆锥形弹性波纹管驱动器1b1从上到下，相应的不同的圆环头L形链节1b2的圆环头直径越来越小、圆环头之间的间隔(链节距)越来越短，即越到指尖、指节长度越短；座块1b6用螺钉固定在弯板1b4上，橡胶材料的圆锥形弹性波纹管驱动器1b1靠卡箍1b5固定在座块1b6的波纹卡口上，气管接头1b7也拧在座块1b6上，压缩空气经气管接头1b7使圆锥形弹性波纹管驱动器1b1在链节距的约束下弯曲膨胀；多个圆环头L形链节1b2左侧面与被抓物体接触，形成包络抓取。平铰链座1b3结构如附图14-15所示，圆环头L形链节1b2结构如附图16-18所示。
如附图19-20所述，软体包裹手指1c的装配结构：安装座1c3左侧面有螺纹孔，先装上平动夹持手指1a、再用螺钉安装在平动夹持手指1a的手指节1a1上，随手指节1a1平动，或不装上平动夹持手指1a、直接安装在单孔指根节2上，随单孔指根节2转动；橡胶材料的充气弯曲指1c1接触面一侧的壁内含有编织带1c2、另一侧是横截面为长方形的波纹状结构，充气弯曲指1c1指根段套在安装座1c3的波纹卡口上，再用抱紧箍1c4固定，软管接头1c5拧紧在安装座1c3右侧面；压缩空气经软管接头1c5进入充气弯曲指1c1，充气弯曲指1c1的波纹状结构膨胀、又受接触面壁内编织带1c2约束，因而弯曲变形、并接触被抓物体，形成包裹抓取。
软轴部件结构图如图21所示，曲柄齿轮零件如图22所示，不完全齿轮零件如图23所示，锥孔驱动轴零件如图24所示，长轴零件如图25-26所示，摆杆零件如图27所示。
指根部件转动初始角度：软轴部件6一端的圆锥销压头6c塞进锥孔驱动轴7的锥孔内，通过调整四个软轴部件6转动角度，保证四个单孔指根节2或双孔指根节2a的初始角度相等，再用滚花内螺纹套6b拧紧在锥孔驱动轴7上，从而转动驱动器11使四根软轴部件6同方向转动的初始角度和角位移均相等。
指根部件转位初始角度：如附图3-4所示，转位摆杆18、连杆19、曲柄齿轮25、不完全齿轮21的装配时，用竖立的圆柱体(附图3双点画线)作为装配的圆柱样块，保证四个方头单孔双耳座4内侧面贴紧圆柱面；转位45度后，再用长方体(附图4双点画线)作为装配 的长方体样块，保证四个方头单孔双耳座4内侧面紧贴长方体样块的侧面。
本发明的工作原理及使用流程：
手掌提供指根转位功能，适应形状变化：①转位电机12在原位，变掌机械手四指抓取直立圆柱、球体、正方体，②或转位电机12驱动不完全齿轮21啮合曲柄齿轮25，使左、右手指顺时针转位45度；曲柄齿轮25、连杆19、转位摆杆18形成的反曲柄摇杆机构，使前、后手指逆时针转位45度，从而四指抓取水平圆柱、长方体；③或转位电机12转到中间位置，实现抓取对称的椭球体、四棱柱体。
手掌提供指根转动或抓持功能，适应尺寸变化：①转动电机11a驱动，使四个指节包络手指1b、或软体包裹手指1c以相同指根角度调整；②或转动电机11a驱动，使四个转动夹持手指1、或平动夹持手指1a抓持物体，接触力大小靠控制转动电机11a输出扭矩；③或叶片式转动气缸11b驱动，使四个转动夹持手指1、或平动夹持手指1a快速抓持物体，接触力大小靠控制叶片式转动气缸11b输入压力。
变掌机械手的接触状态：对于球体、水平放置圆柱，采用转动夹持手指1，变掌机械手高度的控制精度高；采用平动夹持手指1a，变掌机械手高度没有精度要求；采用指节包络手指1b、或软体包裹手指1c，变掌机械手高度、指根转动角度影响接触状态，但变掌机械手高度、指根转动角度控制精度低。
以上描述是对本发明的解释，不是对发明的限定，本发明所限定的范围参见权利要求，在本发明的保护范围之内，可以作任何形式的修改。

Claims (7)

  1. 一种指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：所述变掌机械手由手掌和四个结构相同、均布安装的手指组成；所述手指共有四种，包括：转动夹持手指(1)、平动夹持手指(1a)、指节包络手指(1b)、软体包裹手指(1c)；
    所述变掌机械手的安装结构及功能特点：
    ①手掌提供指根部件转位功能：四个手指的中心距相等，四个手指抓取直立圆柱、球体、正方体，或在转位电机(12)驱动下，左右手指偏心地顺时针转位45度、前后手指偏心地逆时针转位45度，从而抓取水平放置圆柱、长方体；
    ②四个手指采用回转中心偏心的转位结构，四个手指的偏心距相等，比四个手指采用回转中心在原地的转位结构，在抓取相同尺寸直立圆柱的手掌尺寸前提下，偏心转位结构抓取水平放置圆柱、长方体的尺寸范围大；
    ③手掌提供指根部件转动功能：转动驱动器(11)驱动齿形带(26)、通过四根软轴部件(6)使四个手指以相同指根角度转动，指根角度是单孔指根节(2)与下板(23)的夹角或双孔指根节(2a)与下板(23)的夹角；
    ④手指种类与转动驱动器(11)的选用：驱动指根转动的转动驱动器(11)，有转动电机(11a)和叶片式转动气缸(11b)二种；采用无驱动的转动夹持手指(1)、平动夹持手指(1a)以捏取方式抓取时，选用叶片式转动气缸(11b)驱动指根转动，根据气压传感器反馈、通过气动高速开关阀控制手指接触力大小，或采用转动电机(11a)驱动指根转动，通过控制转动电机(11a)输出扭矩控制接触力大小；采用气动的指节包络手指(1b)、软体包裹手指(1c)时，只能选用转动电机(11a)，具有更好的尺寸适应性，根据气压传感器反馈、通过气动高速开关阀控制这二种手指接触状态；
    ⑤耦合运动关联：手掌的转位功能，综合了齿轮传动、连杆传动；手掌的转动功能，还引入了软轴部件(6)传动；指根部件的转位与 转动是相互关联的耦合运动，其传动链结构具有柔顺性；
    ⑥四种手指的抓取动力均为具有驱动柔性与敏捷性的气动方式；
    ⑦软轴部件(6)通过圆锥销压头(6c)的圆锥面接触与传递运动，便于调整相位角、使四个手指转动的初始角度调节相等；
    所述变掌机械手整体安装结构为：
    通过机械臂安装板(9)上面的沉孔与机械臂的定位圆环外圈定位后，用螺钉将变掌机械手固定到机械臂上，大双头配合螺柱(5)的两端分别与机械臂安装板(9)、上板(14)间隙配合，通过螺母紧固，由两根大双头配合螺柱(5)将机械臂安装板(9)和上板(14)联结成整体；同样，由两根小双头配合螺柱(24)将上板(14)和下板(23)联结成整体；
    指根转动结构：转动驱动器(11)固定在机械臂安装板(9)下面，一个齿形带齿轮(10)用紧定螺钉固定在转动驱动器(11)的输出轴上，四个齿形带齿轮(10)各自用紧定螺钉固定在四个锥孔驱动轴(7)上端，还有一个齿形带齿轮(10)用紧定螺钉固定在张紧带轮轴(27)，张紧带轮轴(27)在机械臂安装板(9)上的腰形槽里调整固定，齿形带(26)环绕这六个齿形带齿轮(10)，转动驱动器(11)上齿形带齿轮(10)提供驱动力，可调节位置的张紧带轮轴(27)上的齿形带齿轮(10)起张紧作用，四个齿形带齿轮(10)使四个锥孔驱动轴(7)转动；锥孔驱动轴(7)上、下端各装配一个小菱形带座轴承(8)，二个小菱形带座轴承(8)背靠背地固定在机械臂安装板(9)上；
    将软轴部件(6)一端的圆锥销压头(6c)塞进锥孔驱动轴(7)的锥孔内，再用滚花内螺纹套(6b)拧紧在锥孔驱动轴(7)上，从而转动驱动器(11)使四根软轴部件(6)同方向转动；将软轴部件(6)另一端的圆锥销压头(6c)塞进同侧的方头单孔双耳座(4)上的锥孔销轴(3)的锥孔内，再用滚花内螺纹套(6b)拧紧在锥孔销轴(3)上，锥孔销轴(3)的两端在铜套(28)转动，锥孔销轴(3)靠轴用弹性挡圈轴向限位，二个铜套(28)装配在方头单孔双耳座(4)的双侧壁的孔中；单孔指根节(2)被套装在锥孔销轴(3)中段，靠 锥孔销轴(3)中段的平键传动，从而实现软轴部件(6)驱动单孔指根节(2)转动；四个转动夹持手指(1)分别固定在四个单孔指根节(2)，靠四个转动夹持手指(1)的曲面段捏取物体；
    指根转位结构：转位电机(12)背部固定在机械臂安装板(9)上，转位电机(12)输出轴的下端与长轴(22)的最上端靠联轴器(13)联结、紧定螺钉固定；长轴(22)的上下端各套有一个大菱形带座轴承(15)，一个大菱形带座轴承(15)固定在上板(14)下面，另一个大菱形带座轴承(15)固定在下板(23)下面，不完全齿轮(21)在长轴(22)的中段，靠平键传动，不完全齿轮(21)下面有套筒(17)限制轴向运动；不完全齿轮(21)与左右侧二个曲柄齿轮(25)啮合，右侧曲柄齿轮、连杆(19)、前面的转位摆杆(18)形成曲柄摇杆机构，左侧曲柄齿轮、连杆(19)、后面的转位摆杆(18)形成曲柄摇杆机构；连杆(19)一端与曲柄齿轮(25)铰链联结，连杆(19)另一端与转位摆杆(18)铰链联结，在二端铰链处连杆(19)下面与曲柄齿轮(25)和转位摆杆(18)上面，均夹有耐磨垫片(20)减少摩擦，实现不完全齿轮(21)正转45度、则二个曲柄齿轮(25)反转45度、二个转位摆杆(18)正转45度；曲柄齿轮(25)、转位摆杆(18)均装在短轴(16)中间段，四根短轴(16)的上下段均套有大菱形带座轴承(15)，一个大菱形带座轴承(15)固定在上板(14)下面，另一个大菱形带座轴承(15)固定在下板(23)下面；二个方头单孔双耳座(4)的方头段插进前后位置的二个转位摆杆(18)的长方形槽中，用螺钉、垫片紧固，另外二个方头单孔双耳座(4)的方头段插进左右位置的二个曲柄齿轮(25)的长方形槽中，也用螺钉、垫片紧固；转位电机(12)驱动不完全齿轮(21)、传动到曲柄齿轮(25)，曲柄齿轮(25)再传动到转位摆杆(18)，二个方头单孔双耳座(4)正转45度、二个方头单孔双耳座(4)同时反转45度，从抓取竖立圆柱体、正方体，转位抓取水平放置圆柱体、长方体。
  2. 根据权利要求1所述的指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：所述软轴部件(6)由一根弹性软轴(6a)、二个滚花内螺纹套(6b)和二个圆锥销压头(6c)组成，其弹性软轴 (6a)两端先各套有一个滚花内螺纹套(6b)，滚花内螺纹套(6b)的螺纹段均在外端，再将二个圆锥销压头(6c)分别压装在弹性软轴(6a)两端。
  3. 根据权利要求1所述的指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：所述平动夹持手指(1a)的装配结构中，双孔指根节(2a)、随动摆杆(1a2)、手指节(1a1)、方头双孔双耳座(4a)这四个零件构成平行四边形机构，双孔指根节(2a)的转动变为手指节(1a1)的平动，四个平动夹持手指(1a)的手指节(1a1)抓取物体；用双孔指根节(2a)、方头双孔双耳座(4a)分别替换掉单孔指根节(2)、方头单孔双耳座(4)，双孔指根节(2a)、锥孔销轴(3)、方头双孔双耳座(4a)、软轴部件(6)、铜套(28)的装配结构，与前述的单孔指根节(2)、锥孔销轴(3)、方头单孔双耳座(4)、软轴部件(6)、铜套(28)的装配结构相同；双孔指根节(2a)分别与双孔指根节(2a)和手指节(1a1)铰链联结，少了个孔中键槽的随动摆杆(1a2)与双孔指根节(2a)结构与尺寸相同，其两端也分别与双孔指根节(2a)和手指节(1a1)铰链联结，手指节(1a1)和双孔指根节(2a)上的二个销孔的距离相等。
  4. 根据权利要求1所述的指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：所述指节包络手指(1b)的装配结构：弯板(1b4)侧面安装在单孔指根节(2)上，随单孔指根节(2)转动；下面一个圆环头L形链节(1b2)左侧面的上尖端与上面圆环头L形链节(1b2)左侧面的下跟部铰链连接，最上面的圆环头L形链节(1b2)左侧面的上尖端与平铰链座(1b3)铰链连接，平铰链座(1b3)也固定在弯板(1b4)上；圆环头L形链节(1b2)的圆环头套在圆锥形弹性波纹管驱动器(1b1)的波谷圈中，圆锥形弹性波纹管驱动器(1b1)从上到下，相应的不同的圆环头L形链节1b2的圆环头直径越来越小、圆环头之间的间隔越来越短，即越到指尖、指节长度越短；座块(1b6)用螺钉固定在弯板(1b4)上，橡胶材料的圆锥形弹性波纹管驱动器(1b1)靠卡箍(1b5)固定在座块(1b6)的波纹卡口上， 气管接头(1b7)也拧在座块(1b6)上，压缩空气经气管接头(1b7)使圆锥形弹性波纹管驱动器(1b1)在圆环头之间的间隔的约束下弯曲膨胀；多个圆环头L形链节(1b2)左侧面与被抓物体接触，形成包络抓取。
  5. 根据权利要求1所述的指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：软体包裹手指(1c)的装配结构：橡胶材料的充气弯曲指(1c1)接触面一侧的壁内含有编织带(1c2)、另一侧是横截面为长方形的波纹状结构，充气弯曲指(1c1)指根段套在安装座(1c3)的波纹卡口上，再用抱紧箍1c4固定，软管接头(1c5)拧紧在安装座(1c3)右端，安装座(1c3)左端用螺钉安装在单孔指根节(2)上，随单孔指根节(2)转动；压缩空气经软管接头(1c5)进入充气弯曲指(1c1)，充气弯曲指(1c1)的波纹状结构膨胀、又受接触面壁内编织带(1c2)约束，因而弯曲变形、并接触被抓物体，形成包裹抓取。
  6. 根据权利要求1所述的指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：调整指根部件转动初始角度时，软轴部件(6)一端的圆锥销压头(6c)塞进锥孔驱动轴(7)的锥孔内，通过调整四个软轴部件(6)转动角度，保证四个单孔指根节(2)或双孔指根节(2a)的初始角度相等，再用滚花内螺纹套(6b)拧紧在锥孔驱动轴(7)上，从而转动驱动器(11)使四根软轴部件(6)同方向转动的初始角度和角位移均相等。
  7. 根据权利要求1所述的指根软轴传递转动又偏心转位的快换手指变掌机械手，其特征在于：定位指根部件转位初始角度时，转位摆杆(18)、连杆(19)、曲柄齿轮(25)、不完全齿轮(21)的装配时，用竖立的圆柱体作为装配的圆柱样块，保证四个方头单孔双耳座(4)内侧面贴紧圆柱面；转位45度后，再用长方体作为装配的长方体样块，保证四个方头单孔双耳座(4)内侧面紧贴长方体样块的侧面。
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