CN105835076A - Closed flexible piece parallel clamping dexterous robot finger device - Google Patents
Closed flexible piece parallel clamping dexterous robot finger device Download PDFInfo
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- CN105835076A CN105835076A CN201610152877.1A CN201610152877A CN105835076A CN 105835076 A CN105835076 A CN 105835076A CN 201610152877 A CN201610152877 A CN 201610152877A CN 105835076 A CN105835076 A CN 105835076A
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- drive
- belt wheel
- segment
- parallel clamping
- pedestal
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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
- B25J15/0009—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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a closed flexible piece parallel clamping dexterous robot finger device and belongs to the technical field of robot hands. The closed flexible piece parallel clamping dexterous robot finger device comprises a base, finger sections, joint shafts, a driver, transmission wheels, a flexible transmission piece, torque limiters, a lug driving plate, a limiting lug and the like. The device achieves four grabbing modes which comprise (1) the parallel clamping grabbing mode; (2) the grabbing mode of independently rotating all the joints; (3) the grabbing mode that parallel clamping is conducted firstly and then all the joints are rotated independently; and (4) the grabbing mode that the double joints are rotated independently firstly and then the posture of the second finger section is fixed to rotate so as to get close to the joints. By the adoption of the device, the parallel clamping effect that according to traditional parallel clamping fingers, a single motor drives a plurality of joints to rotate at the same time can be achieved, and the arbitrary grabbing effect, which cannot be achieved by the traditional parallel clamping fingers, of independently rotating single joints can be achieved; good grabbing force can be limited and guaranteed, the grabbing range is wide; and the parallel clamping stage can be completed through only one driver; and the structure is compact, the size is small, and the cost is low.
Description
Technical field
The invention belongs to robot technical field, particularly to a kind of closed loop flexible piece parallel clamping handyman hands
Refer to the structure design of device.
Background technology
Robot be robot for capturing and operate the important terminal of object, general similar staff is designed as multiple hands
Refer to.Having the robot referred to more and be frequently referred to multifingered robot hands, its mode captured mainly uses force-closed principle and shape
Closure principle.
Put down frequently with the grasp mode (the most parallel grip, flat pinch) of " parallel clamping ", i.e. end segment in the industry
OK, from the both sides of object contact object and apply grasping force object is taken up, reach force-closure grasp effect with this.This flat
The advantage of row clamping grasp mode is to capture registration, beneficially robot to complete the follow-up works such as operation or assembling, and
This pattern captures scope and can capture greatly from the least to the object of very large scale scope.Additionally, this parallel clamping is grabbed
The mode taking object is being the object mode that uniquely captures in some cases, the sheet part placed the most on the table, for
For multifingered robot hands, the mode of parallel clamping can only be used to go to capture.
Another kind of conventional grasp mode is envelope grasp mode (also referred to as envelope grips, grips), i.e. utilizes multiple finger
Section contact object, reaches Shape closed with this and captures effect.The advantage of this grasp mode is that crawl is more stable, can apply more
Big grasping force.
Common industrial clamper typically uses the method for clamping that end is parallel, does not has envelope holding function, it is impossible to adapt to
The stable envelope of various shape object captures.
Existing self adaptation under-actuated finger can grip in the way of using self adaptation envelope object, but cannot implement to put down
Row clamping captures.Existing a kind of under-actuated two-articulated robot finger device (Chinese invention patent CN101234489A), bag
Include pedestal, motor, middle part segment, end segment peace belt wheel the first drive mechanism etc..The arrangement achieves doublejointed adaptive
Drive lacking is answered to grip the function of object.It is disadvantageous in that, this device can not realize parallel clamping grasp mode.
Existing a kind of finger device of double joint rack coupling robot (Chinese invention patent CN101653940B), including
Pedestal, motor, nearly joint shaft, middle part segment, remote joint shaft, end segment, the first gear, the second gear, tooth bar and spring part etc..
The arrangement achieves the coupling of doublejointed finger and capture the function of object.It is disadvantageous in that, nearly joint must join with remote joint
Dynamic, when nearly joint cannot rotate, remote joint also cannot rotate, it is difficult to preferably envelope captures different objects.
Existing a kind of doublejointed co-rotating transmission is combined under-actuated robot finger device (Chinese invention patent
CN102161204B), it is achieved that the first multiple joint of coupling rotational, it is rotated further by the self-adapting grasping function in end joint.It is not enough
Part is, this device cannot implement parallel clamping, captures scope little.
Existing a kind of five connecting rod under-actuated robot finger devices, such as U.S. patent Nos US8973958B2, including five
Individual connecting rod, spring etc..This device can realize first parallel clamping, the function of self-adapting grasping the most again.It is disadvantageous in that,
This device cannot realize arbitrarily rotating each joint and go to capture object.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is provided that the parallel clamping spirit of a kind of closed loop flexible piece
Skilful robot finger apparatus.This device has two degree of freedom, can realize multiple grasp mode, including: 1) doublejointed end refers to
Duan Pinghang clamps grasp mode；2) doublejointed independently rotates grasp mode；3) doublejointed first parallel nip rotation, the most independent
The grasp mode rotated；4) doublejointed is the most independent rotates, and keeps the linkage grasp mode of end segment attitude the most again；Can limit
Make the first segment, grasping force that object is applied by the second segment, optimize grasping force, during grasping, protect motor.
Technical scheme is as follows:
A kind of closed loop flexible piece parallel clamping handyman finger apparatus of present invention design, including pedestal, the first finger
Section, the second segment, nearly joint shaft, remote joint shaft and the first motor；Described first motor is affixed with pedestal；Described nearly joint shaft
Centrage and the centerline parallel of remote joint shaft；It is characterized in that: this closed loop flexible piece parallel clamping handyman finger fills
Put also include the second motor, the first drive mechanism, the second drive mechanism, the first drive, the second drive, flexible drive parts,
First torque limiter, the second torque limiter, projection driver plate and spacing block set；Described nearly joint shaft is movably set in pedestal
In；Described remote joint shaft is movably set in the first segment；Described first segment is socketed on nearly joint shaft；Described second segment
It is socketed on remote joint shaft；Described first drive mechanism is arranged in pedestal；The output shaft of described first motor and the first transmission
The input of mechanism is connected, and the outfan of described first drive mechanism and the input of the first torque limiter are connected, and described the
The outfan of one torque limiter and the first segment are connected；Described second motor is affixed with pedestal；Described second drive mechanism sets
Putting in pedestal, the output shaft of described second motor and the input of the second drive mechanism are connected, described second drive mechanism
The input of outfan and the second torque limiter is connected, the outfan of described second torque limiter and the first drive phase
Even；Described first drive is actively socketed on nearly joint shaft；Described second driving wheel tube is connected on remote joint shaft, the second transmission
Take turns affixed with the second segment；Described flexible drive parts employing transmission band, tendon rope or chain, described first drive employing belt wheel,
Rope sheave or sprocket wheel, described second drive uses belt wheel, rope sheave or sprocket wheel, and described flexible drive parts connects the first drive and the
Two drives, cooperatively form belt wheel transmission relation, rope between described flexible drive parts, the first drive and the second drive three
Wheel drive connection or chain gear transmission relation；Described flexible drive parts forms " O " font；The transmission radius of the first drive and second
The transmission radius of drive is equal；Described projection driver plate and the first drive are affixed；Described projection driver plate is actively socketed on nearly pass
On nodal axisn；Described spacing block set is affixed with pedestal；Described projection driver plate contacts with spacing block set or stands away；If the
It is nearly joint positive direction that one segment is close to the rotation direction of object, and the first segment is nearly joint negative side away from the rotation direction of object
To；When this closed loop flexible piece parallel clamping handyman finger apparatus is in original state, projection driver plate and spacing block set
Contact, if now the anglec of rotation of projection driver plate opposite base is 0 degree, from the beginning of this position, projection driver plate is square towards nearly joint
To rotate time rotational angle be just, projection driver plate towards nearly joint opposite direction rotate time rotational angle be negative；Described limit convex
Block limits the rotational angle of projection driver plate and is just only；Described first drive mechanism uses the speed reducing ratio deceleration more than 100:1 to pass
Motivation structure or there is the reduction gearing mechanism of latching characteristics；Described second drive mechanism uses speed reducing ratio subtracting more than 100:1
Speed drive mechanism or there is the reduction gearing mechanism of latching characteristics.
Closed loop flexible piece of the present invention parallel clamping handyman finger apparatus, it is characterised in that: described first
Drive mechanism includes the first decelerator, the first bevel gear, the second bevel gear, First Transition axle, the first belt wheel, the second belt wheel and
One transmission band；The output shaft of described first motor and the power shaft of the first decelerator are connected, and described first bevel gear is fixed in the
On the output shaft of one speed reducer, described second bevel gear is fixed on First Transition axle, described first bevel gear and the second cone tooth
Wheel engagement；Described First Transition axle sleeve is located in pedestal, and described first belt wheel is fixed on First Transition axle, described second belt wheel
Being actively socketed on nearly joint shaft, described second belt wheel and the first segment are affixed, described first transmission band connect the first belt wheel and
Second belt wheel, described first transmission band, the first belt wheel and the second belt wheel formation belt wheel transmission relation, described transmission band is in " O " word
Shape.
Closed loop flexible piece of the present invention parallel clamping handyman finger apparatus, it is characterised in that: described second
Drive mechanism includes the second decelerator, third hand tap gear, the 4th bevel gear, the second transition axis, the 3rd belt wheel, the 4th belt wheel and
Two transmission bands；The output shaft of described second motor and the power shaft of the second decelerator are connected, and described triconodont wheel is fixed in the
On the output shaft of two decelerators, described 4th bevel gear is fixed on the second transition axis, described third hand tap gear and the 4th cone tooth
Wheel engagement；Described second transition axis is set in pedestal, and described 3rd belt wheel is fixed on the second transition axis, described 4th belt wheel
Being actively socketed on nearly joint shaft, described 4th belt wheel and the first drive are affixed, and described second transmission band connects the 3rd belt wheel
With the 4th belt wheel, described second transmission band, the 3rd belt wheel and the 4th belt wheel formation belt wheel transmission relation, described transmission band is in " O "
Font.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize dual drive, closed loop flexible piece drive mechanism, projection driver plate and spacing block set etc. comprehensive real
Show four kinds of grasp modes of two-freedom: 1) doublejointed end segment parallel clamping linkage grasp mode；2) doublejointed is independent
The grasp mode arbitrarily rotated；3) doublejointed the most parallel clamping linkage, the more independent grasp mode rotated；4) doublejointed is first
Independent rotation, the linkage grasp mode of fixation ends segment attitude the most again；This device can reach Conventional parallel holding finger
The single motor realized drives the parallel clamping effect that multiple joints rotate simultaneously, and having again Conventional parallel holding finger does not has
Independence rotate single joint arbitrarily capture effect；This device is utilized respectively the first torque limiter and the second torque limiter
Limit the first segment, grasping force that object is applied by the second segment, protect motor；It is big that this device captures scope；Parallel folder
Stage of holding can complete merely with a driver；Control easily when capturing object；All motors, decelerator are all hidden into pedestal
In, finger rotating part volume is little, lightweight；This apparatus structure is compact, manufacture and maintenance cost is low, it is adaptable to robot.
Accompanying drawing explanation
Fig. 1 is the vertical of a kind of embodiment of the closed loop flexible piece parallel clamping handyman finger apparatus that the present invention designs
Body outside drawing.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view of embodiment illustrated in fig. 1.
Fig. 4 is the A-A sectional view of Fig. 2.
Fig. 5 is the B-B sectional view of Fig. 2.
Fig. 6 is the C-C sectional view of Fig. 2.
Fig. 7 is the inside three-dimensional view (being not drawn into part) observed from an angle of embodiment illustrated in fig. 1.
Fig. 8 be embodiment illustrated in fig. 1 from the inside three-dimensional view (being not drawn into part) that another angle is observed.
Fig. 9 is that the front appearance figure of embodiment illustrated in fig. 1 is (before being not drawn into pedestal header board, base-plates surface plate, the first segment
Plate, the first segment surface plate).
Figure 10 is the explosive view of embodiment illustrated in fig. 1.
Figure 11 to Figure 13 is that embodiment illustrated in fig. 1 is in the first stage parallel clamping capturing object in the way of envelope gripping
Process schematic (when starting the first motor).
Figure 14 to Figure 15 is that embodiment illustrated in fig. 1 captures at the second stage envelope capturing object in the way of envelope gripping
Process schematic (when starting the second motor).
Figure 16 to Figure 18 is embodiment illustrated in fig. 1 course of action of a kind of situation when starting the first motor parallel clamping object
Schematic diagram, now the second segment contact object, crawl terminates.
Figure 19 to Figure 21 is several in the embodiment illustrated in fig. 1 course of action successively with parallel folding and envelope crawl object
During key position, the situation of change of projection driver plate and the relative position of spacing block set.
Figure 22 is the sectional view of the torque limiter that another kind of embodiment is used.
In Fig. 1 to Figure 22:
1-pedestal, 111-pedestal header board, 112-pedestal back plate, 113-pedestal left plate,
114-pedestal right plate, 115-base-plates surface plate, 116-pedestal bottom plate, plate in 117-pedestal,
The oblique cover plate of 118-pedestal, 2-the first segment, 21-the first segment skeleton, 22-the first segment left plate,
23-the first segment right plate, 24-the first segment surface plate, 25-the first segment header board, 26-the first segment
Back plate,
3-the second segment, the nearly joint shaft of 4-, the remote joint shaft of 5-, 83-bearing,
84-sleeve, 85-screw, 86-pin, 9-the first drive,
10-the second drive, 11-flexible drive parts, 12-projection driver plate, 14-the first motor,
141-the first decelerator, 142-the first bevel gear, 143-the second bevel gear, 144-First Transition axle,
145-the first belt wheel, 146-the second belt wheel, 147-the first transmission band, 15-the second motor,
151-the second decelerator, 152-third hand tap gear, 153-the 4th bevel gear, 154-the second transition axis,
155-the 3rd belt wheel, 156-the 4th belt wheel, 157-the second transmission band, 17-object,
18-spacing block set, 901-the first torque limiter, 902-the second torque limiter,
900-torque limiter, 910-housing, 920-rotating member, 930-rotary shaft,
940-ball, 950-compression spring.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment is described in further detail the content of the concrete structure of the present invention, operation principle.
A kind of embodiment of the closed loop flexible piece parallel clamping handyman finger apparatus of present invention design, such as Fig. 1 extremely
Shown in Figure 10, including pedestal the 1, first segment the 2, second segment 3, nearly joint shaft 4, remote joint shaft 5 and the first motor 14；Described
One motor 14 is affixed with pedestal 1；The centrage of described nearly joint shaft 4 and the centerline parallel of remote joint shaft 5.The present embodiment also wraps
Include second motor the 15, first drive mechanism, the second drive mechanism, first drive the 9, second drive 10, flexible drive parts 11,
First torque limiter the 901, second torque limiter 902, projection driver plate 12 and spacing block set 18；Described nearly joint shaft 4 is movable
It is set in pedestal 1；Described remote joint shaft 5 is movably set in the first segment 2；Described first segment 2 is fixed in nearly joint shaft 4
On；Described second segment 3 is fixed on remote joint shaft 5；Described first drive mechanism is arranged in pedestal 1；Described first motor
The output shaft of 14 and the input of the first drive mechanism are connected；The outfan of described first drive mechanism and the first torque limiter
The input of 901 is connected, and outfan and first segment 2 of described first torque limiter 901 are connected.
In the present embodiment, described second motor 15 is affixed with pedestal 1；Described second drive mechanism is arranged in pedestal, institute
The input of the output shaft and the second drive mechanism of stating the second motor 15 is connected, the outfan and second of described second drive mechanism
The input of torque limiter 902 is connected, and outfan and first drive 9 of described second torque limiter 902 are connected；Described
First drive 9 is actively socketed on nearly joint shaft 4；Described second drive 10 is socketed on remote joint shaft 5, the second drive
10 is affixed with the second segment 3；Described flexible drive parts 11 uses transmission band, tendon rope or chain, described first drive 9 to use band
Wheel, rope sheave or sprocket wheel, described second drive 10 uses belt wheel, rope sheave or sprocket wheel, described flexible drive parts 11 to connect the first biography
Driving wheel 9 and the second drive 10, coordinate shape between described flexible drive parts the 11, first drive 9 and the second drive 10 three
Become belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation；Described flexible drive parts 11 forms " O " font；First passes
The transmission radius of driving wheel 9 and the transmission radius of the second drive 10 are equal；So arrange so that: by flexible drive parts 11
Transmission, is that co-rotating transmission and gear ratio are equal to 1 from the transmission of first drive the 9 to the second drive 10.Described projection driver plate 12
Affixed with the first drive 9.
In the present embodiment, described projection driver plate 12 is actively socketed on nearly joint shaft 4；Described spacing block set 18 and pedestal 1
Affixed；Described projection driver plate 12 contacts with spacing block set 18 or stands away；If the first segment 2 is close to turning of object 17
Dynamic direction is nearly joint positive direction (clockwise direction as in Figure 11), and the first segment 2 is near away from the rotation direction of object 17
Joint opposite direction；It is in original state (such as Figure 11, Tu16Suo at this closed loop flexible piece parallel clamping handyman finger apparatus
The straight configuration shown) time, projection driver plate 12 contacts with spacing block set 18, if the anglec of rotation of now projection driver plate 12 opposite base 1
Degree is 0 degree (as shown in figure 19), from the beginning of this position, projection driver plate 12 towards nearly joint positive direction rotate time rotational angle be
Just, projection driver plate 12 towards nearly joint opposite direction rotate time rotational angle be negative；Described spacing block set 18 limits projection driver plate 12
Rotational angle be just only, i.e. projection driver plate 12 only along as shown in figure 11 arrow direction indication rotate.
Connecting rod of the present invention parallel clamping handyman finger apparatus, it is characterised in that: described first driver
Structure uses the speed reducing ratio reduction gearing mechanism more than 100:1 or has the reduction gearing mechanism of latching characteristics；Described second passes
Motivation structure uses the speed reducing ratio reduction gearing mechanism more than 100:1 or has the reduction gearing mechanism of latching characteristics.
In the present embodiment, described first drive mechanism uses the speed reducing ratio reduction gearing mechanism more than 100:1；Described second
Drive mechanism uses the speed reducing ratio reduction gearing mechanism more than 100:1.
In another preferred embodiment, described first drive mechanism uses the drive mechanism with latching characteristics, such as
Use Worm and worm-wheel gearing or screw nut driving mechanism, and reach the condition of reverse self-locking.So can preferably protect
Demonstrate,prove the first segment 2 and capture the stability of object 17.
In another preferred embodiment, described second drive mechanism uses the drive mechanism with latching characteristics, such as
Use Worm and worm-wheel gearing or screw nut driving mechanism, and reach the condition of reverse self-locking.So can preferably protect
Demonstrate,prove the second segment 3 and capture the stability of object 17.
Described first torque limiter 901 limits the transmission moment making the first segment 2 be close to capture object 17 direction.So
Ensureing that the first segment 2 captures the strength of object 17 will not be excessive, and is possible to prevent the first motor 14 stall to cross cause thermal damage.Described
Second torque limiter 902 limits the transmission moment making the second segment 3 be close to capture object 17 direction.So ensure the second segment
3 strength capturing object 17 will not be excessive, and is possible to prevent the second motor 15 stall to cross cause thermal damage.
In the present embodiment, on the left of pedestal header board 111 that described pedestal 1 includes being fixed together, pedestal back plate 112, pedestal
Plate 117 and the oblique cover plate of pedestal 118 in plate 113, pedestal right plate 114, base-plates surface plate 115, pedestal bottom plate 116, pedestal.This reality
Executing in example, described first segment 2 includes first segment skeleton the 21, first segment left plate the 22, first segment being fixed together
Right plate the 23, first segment surface plate the 24, first segment header board 25 and the first segment back plate 26.Described spacing block set 18 and pedestal
Middle plate 117 is affixed.
In the present embodiment, described first drive mechanism includes the first decelerator 141, first bevel gear the 142, second bevel gear
143, First Transition axle the 144, first belt wheel the 145, second belt wheel 146 and the first transmission band 147；The output of described first motor 14
The power shaft of axle and the first decelerator 141 is connected, and described first bevel gear 142 is fixed on the output shaft of the first decelerator 141,
Described second bevel gear 143 is fixed on First Transition axle 144, and described first bevel gear 142 engages with the second bevel gear 143；
Described First Transition axle 144 is set in pedestal 1, and described first belt wheel 145 is fixed on First Transition axle 144, and described second
Belt wheel 146 is actively socketed on nearly joint shaft 4, and described second belt wheel 146 is affixed with the first segment 2, described first transmission band 147
Connect the first belt wheel 145 and the second belt wheel 146, described first transmission band the 147, first belt wheel 145 and the second belt wheel 146 and form band
Wheel drive connection, described transmission band is in " O " font.The speed reducing ratio of described first decelerator 141 is more than 100:1.
In the present embodiment, described second drive mechanism includes the second decelerator 151, third hand tap gear the 152, the 4th bevel gear
153, the second transition axis the 154, the 3rd belt wheel the 155, the 4th belt wheel 156 and the second transmission band 157；The output of described second motor 15
The power shaft of axle and the second decelerator 151 is connected, and described third hand tap gear 152 is fixed on the output shaft of the second decelerator 151,
Described 4th bevel gear 153 is fixed on the second transition axis 154, and described third hand tap gear 152 engages with the 4th bevel gear 153；
Described second transition axis 154 is set in pedestal 1, and described 3rd belt wheel 155 is fixed on the second transition axis 154, and the described 4th
Belt wheel 156 is actively socketed on nearly joint shaft 4, and described 4th belt wheel 156 is affixed with the first drive 9, described second transmission band
157 connect the 3rd belt wheel 155 and the 4th belt wheel 156, described second transmission band the 157, the 3rd belt wheel 155 and the 4th belt wheel 156 shape
Becoming belt wheel transmission relation, described transmission band is in " O " font.The speed reducing ratio of described second decelerator 151 is more than 100:1.
If the present embodiment additionally uses the parts such as dry bearing 83, some sleeves 84, some screws 85 and some pins 86, belong to
In known common technology, do not repeat.
Apparatus of the present invention utilize dual drive, closed loop flexible piece drive mechanism, projection driver plate and spacing block set etc. comprehensive real
Show four kinds of grasp modes of two-freedom, including:
1) doublejointed end segment parallel clamping linkage grasp mode: the most only allow the first motor 14 rotate, the second motor
15 do not rotate, after rotation as shown in Figure 11, Figure 12, Figure 13；
2) the independent grasp mode arbitrarily rotated of doublejointed: now first motor the 14, second motor 15 can rotate simultaneously,
First motor 14 can make finger (the first segment 2 and the second segment 3) produce the doublejointed linkage of parallel clamping, the second motor 15
Can the most arbitrarily change the rotational angle of the second segment 3；
3) doublejointed the most parallel clamping linkage, the more independent grasp mode rotated: the most first rotate the first motor 14,
After the first segment touches object 17, stop the first motor 14, be rotated further by the second motor 15；
4) doublejointed is the most independent rotates, the linkage grasp mode of fixation ends segment attitude the most again: now first simultaneously open
Dynamic first motor 14 and the second motor 15, after a period of time, stops the second motor 15, is rotated further by the first motor 14.
In conjunction with accompanying drawing 11 to Figure 21, below to conventional the second grasp mode its operating principle of further illustration.
The process that this device uses the second grasp mode to capture object is divided into two stages: parallel clamping stage of gripping and dexterity capture
Stage.
The initial position of the present embodiment is the state that finger stretches, as shown in figure 11, and now the first segment 2 and the second segment
3 with pedestal 1 in straight configuration.When using the present embodiment to capture object, the first motor 14 rotates, by the first drive mechanism,
The first segment 2 is driven to rotate an angle, as shown in Figure 11 to Figure 13 around the centrage of nearly joint shaft 4.
In the process, the second motor 15 does not rotate, and owing to the speed reducing ratio of the second drive mechanism is very big, adds that motor turns
The inertia of son is relatively big, and (employing has the second drive mechanism of latching characteristics can also reach same to present " soft self-locking " state
Effect), the first drive 9 and projection driver plate 12 will not rotate, and still contact with the spacing block set 18 on pedestal 1.Cause
This, rotating forward of the first segment 2 can make by flexible drive parts 11, drives the second drive 10 to go the long way round in joint shaft 5
Heart line reversely (counter clockwise direction in Figure 11) rotates, and also allows for the go the long way round centrage of joint shaft 5 of the second segment 3 and rotates backward
Equal angular (because taking turns to the gear ratio of the second drive from the first transmission is 1), it is achieved thereby that nearly joint shaft 4 closes with remote
A positive and a negative Double-directional rotary while 5 two joints of nodal axisn, the second segment 3 remains at consistent with the attitude of original state
Direction (for pedestal 1), simply position there occurs change, and this is the parallel nip rotation of the first stage of gripping, such as figure
Shown in 11 to Figure 13.The projection driver plate 12 of correspondence is with the relative position of spacing block set 18 as shown in figure 19.This stage be suitable for
Second segment 3 removes parallel clamping object 17, or goes outside the mode from inside to outside opened by the second segment 3 by the way of outer
Open support and take object 17.Taking of a such as hollow cylindrical tube, is flared out propping up barrel from the inner side of this object, thus takes
Object.
During parallel clamping captures, if the second segment 3 contacts object, and the first segment 2 is not in contact with object, that
Capture and terminate, in the case of this crawl, only have a parallel clamping crawl process, i.e. achieve parallel clamping and (or parallel pinch
Hold) effect of object, as shown in Figure 16 to Figure 18.
During parallel clamping captures, if the first segment 2 first touches object 17, as shown in figure 13, then the is stopped
One motor 14, starts the second motor 15, and this subsequent process is a dexterous stage of gripping, as described below:
Second motor 15 rotates, and by the second drive mechanism, drives rotation (the projection driver plate 12 also phase of the first drive 9
Should rotate), realize the second segment 3 by flexible drive parts the 11, second drive 10 and rotate forward until the second segment 3 contactant
Body 17, the corner of the second segment 3 is not limited by the corner of the first segment 2, as shown in Figure 14, Figure 15, reaches the second crawl rank
The dexterous of section captures purpose.The projection driver plate 12 of correspondence is with the relative position of spacing block set 18 as shown in Figure 20, Figure 21.
The brief introduction of work principle using torque limiter 900 is as follows:
As shown in figure 22, when rotating member 920 to the housing 910 (output of this torque limiter of torque limiter 900
End) moment of torsion less than the elastic force of compression spring 950 time, the rotation of rotary shaft 930 (input of this torque limiter) (arrow in figure
The clockwise direction of head A indication) can be for delivery to rotating member 920, the ball 940 that is rotated through of rotating member 920 is passed
To housing 910；When the moment of torsion of rotating member 920 to the housing 910 of torque limiter 900 is more than the elastic force of compression spring 950, bullet
There is compression in spring 950, rotary shaft 930 will idle running.
Figure 11 to Figure 15 is the course of action schematic diagram that embodiment illustrated in fig. 1 captures object 17 in the way of envelope crawl,
Wherein, Figure 11 is original state, and Figure 11 to Figure 13 is that the course of action before the first segment 2 touches object 17 is parallel to be opened
Conjunction mode action, Figure 13 is the situation that the first segment 2 has just touched object, and Figure 13 to Figure 15 is that the first segment 2 touches object
Course of action envelope after 17 captures object, until the second segment 3 contacts object, as shown in figure 15, crawl terminates.
Figure 16 to Figure 18 is the alternatively possible mode parallel grip object that embodiment illustrated in fig. 1 captures object 17
Typical action process, until the second segment 3 contacts object 17, as shown in figure 18, crawl terminates.
Figure 19 to Figure 21 be embodiment illustrated in fig. 1 capture in the course of action of object successively with parallel folding and envelope several
Individual key position, shows the situation of change of projection driver plate 12 and the relative position of spacing block set 18.1) situation shown in Figure 19
Being the situation of the projection driver plate 12 of Figure 11, Figure 12, Figure 13, Figure 16, Figure 17 and Figure 18, now the present embodiment is in initial bit
Putting or only bent the first segment, projection driver plate 12 contacts with spacing block set 18, and the second segment 3 is in relative to pedestal 1
Fixing vertical attitude, this situation be continued until Figure 18 clamping capture terminate, or last till Figure 13 envelope capture
Start；2) Figure 20 is corresponding to the situation of Figure 14, now first segment 2 of the present embodiment touched object 17 be blocked and not
Can move, under the effect of the second motor 15, by the second drive mechanism, first drive the 9, second drive 10 and flexible biography
The transmission of moving part 11, the second segment 3 joint shaft 5 of going the long way round have rotated an angle (rotating relative to pedestal 1), and the second segment 3 is not
The most vertical initial attitude, projection driver plate 12 is kept to have left the spacing block set 18 being originally permanently connected to again；3) Figure 21 is corresponding
In the situation of the projection driver plate 12 of Figure 15, now the present embodiment completes the contact realization bag of to object two segments
Network captures, and grasping stability, strength is big；Compared with the situation of Figure 20, the projection driver plate 12 in Figure 21 is rotated to bigger angle,
Leaving the distance that spacing block set 18 is farther, the second segment 3 also have rotated the angle identical with the corner of projection driver plate 12.
The process of release object 17: the first motor 14 inverts, and the second motor 15 inverts, subsequent process and above-mentioned crawl object
The process of 17 is just contrary, repeats no more.
Apparatus of the present invention utilize dual drive, closed loop flexible piece drive mechanism, projection driver plate and spacing block set etc. comprehensive real
Show four kinds of grasp modes of two-freedom: 1) doublejointed end segment parallel clamping linkage grasp mode；2) doublejointed is independent
The grasp mode arbitrarily rotated；3) doublejointed the most parallel clamping linkage, the more independent grasp mode rotated；4) doublejointed is first
Independent rotation, the linkage grasp mode of fixation ends segment attitude the most again；This device can reach Conventional parallel holding finger
The single motor realized drives the parallel clamping effect that multiple joints rotate simultaneously, and having again Conventional parallel holding finger does not has
Independence rotate single joint arbitrarily capture effect；This device is utilized respectively the first torque limiter and the second torque limiter
Limit the first segment, grasping force that object is applied by the second segment, protect motor；It is big that this device captures scope；Parallel folder
Stage of holding can complete merely with a driver；Control easily when capturing object；All motors, decelerator are all hidden into pedestal
In, finger rotating part volume is little, lightweight；This apparatus structure is compact, manufacture and maintenance cost is low, it is adaptable to robot.
Claims (3)
1. a closed loop flexible piece parallel clamping handyman finger apparatus, including pedestal, the first segment, the second segment, near
Joint shaft, remote joint shaft and the first motor；Described first motor is affixed with pedestal；The centrage of described nearly joint shaft and remote joint
The centerline parallel of axle；It is characterized in that: this closed loop flexible piece parallel clamping handyman finger apparatus also includes the second electricity
Machine, the first drive mechanism, the second drive mechanism, the first drive, the second drive, flexible drive parts, the first torque limiter,
Second torque limiter, projection driver plate and spacing block set；Described nearly joint shaft is movably set in pedestal；Described remote joint shaft is lived
Move and be set in the first segment；Described first segment is socketed on nearly joint shaft；Described second segment is socketed on remote joint shaft；
Described first drive mechanism is arranged in pedestal；The output shaft of described first motor and the input of the first drive mechanism are connected,
The outfan of described first drive mechanism and the input of the first torque limiter are connected, the output of described first torque limiter
End is connected with the first segment；Described second motor is affixed with pedestal；Described second drive mechanism is arranged in pedestal, and described second
The output shaft of motor and the input of the second drive mechanism are connected, the outfan of described second drive mechanism and the second torque limit
The input of device is connected, and the outfan of described second torque limiter and the first drive are connected；Described first drive is movable
It is socketed on nearly joint shaft；Described second driving wheel tube is connected on remote joint shaft, and the second drive and the second segment are affixed；Described
Flexible drive parts uses transmission band, tendon rope or chain, described first drive to use belt wheel, rope sheave or sprocket wheel, and described second passes
Driving wheel uses belt wheel, rope sheave or sprocket wheel, and described flexible drive parts connects the first drive and the second drive, described Flexible Transmission
Belt wheel transmission relation, rope sheave drive connection or chain gear transmission is cooperatively formed between part, the first drive and the second drive three
Relation；Described flexible drive parts forms " O " font；The transmission radius of the first drive and the transmission radius phase of the second drive
Deng；Described projection driver plate and the first drive are affixed；Described projection driver plate is actively socketed on nearly joint shaft；Described spacing block set
Affixed with pedestal；Described projection driver plate contacts with spacing block set or stands away；If the first segment is close to turning of object
Dynamic direction is nearly joint positive direction, and the first segment is nearly joint opposite direction away from the rotation direction of object；At this closed loop flexible piece
When parallel clamping handyman finger apparatus is in original state, projection driver plate contacts with spacing block set, if now projection is dialled
The anglec of rotation of dish opposite base is 0 degree, from the beginning of this position, projection driver plate towards nearly joint positive direction rotate time rotational angle
For just, projection driver plate towards nearly joint opposite direction rotate time rotational angle be negative；Described spacing block set limits turning of projection driver plate
Dynamic angle is just only；Described first drive mechanism uses the speed reducing ratio reduction gearing mechanism more than 100:1 or has self-locking
The reduction gearing mechanism of characteristic；Described second drive mechanism uses the speed reducing ratio reduction gearing mechanism more than 100:1 or has
The reduction gearing mechanism of latching characteristics.
2. closed loop flexible piece parallel clamping handyman finger apparatus as claimed in claim 1, it is characterised in that: described the
One drive mechanism include the first decelerator, the first bevel gear, the second bevel gear, First Transition axle, the first belt wheel, the second belt wheel and
First transmission band；The output shaft of described first motor and the power shaft of the first decelerator are connected, and described first bevel gear is fixed in
On the output shaft of the first decelerator, described second bevel gear is fixed on First Transition axle, described first bevel gear and the second cone
Gear engages；Described First Transition axle sleeve is located in pedestal, and described first belt wheel is fixed on First Transition axle, described second band
Wheel is actively socketed on nearly joint shaft, and described second belt wheel and the first segment are affixed, and described first transmission band connects the first belt wheel
With the second belt wheel, described first transmission band, the first belt wheel and the second belt wheel formation belt wheel transmission relation, described transmission band is in " O "
Font.
3. closed loop flexible piece parallel clamping handyman finger apparatus as claimed in claim 1, it is characterised in that: described the
Two drive mechanisms include the second decelerator, third hand tap gear, the 4th bevel gear, the second transition axis, the 3rd belt wheel, the 4th belt wheel and
Second transmission band；The output shaft of described second motor and the power shaft of the second decelerator are connected, and described triconodont wheel is fixed in
On the output shaft of the second decelerator, described 4th bevel gear is fixed on the second transition axis, described third hand tap gear and the 4th cone
Gear engages；Described second transition axis is set in pedestal, and described 3rd belt wheel is fixed on the second transition axis, described 4th band
Wheel is actively socketed on nearly joint shaft, and described 4th belt wheel and the first drive are affixed, and described second transmission band connects the 3rd band
Wheel and the 4th belt wheel, described second transmission band, the 3rd belt wheel and the 4th belt wheel form belt wheel transmission relation, described transmission band in
" O " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152877.1A CN105835076A (en) | 2016-03-17 | 2016-03-17 | Closed flexible piece parallel clamping dexterous robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152877.1A CN105835076A (en) | 2016-03-17 | 2016-03-17 | Closed flexible piece parallel clamping dexterous robot finger device |
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| CN105835076A true CN105835076A (en) | 2016-08-10 |
Family
ID=56588346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610152877.1A Pending CN105835076A (en) | 2016-03-17 | 2016-03-17 | Closed flexible piece parallel clamping dexterous robot finger device |
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| CN (1) | CN105835076A (en) |
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| CN106625741A (en) * | 2016-10-12 | 2017-05-10 | 清华大学 | Support connecting rod belt wheel driven straight line translation robotic hand device |
| CN106695851A (en) * | 2016-12-14 | 2017-05-24 | 上海理工大学 | Two-direction perception adaptive robot finger device with closed-ring flexible piece and control method of two-direction perception adaptive robot finger device |
| CN107775659A (en) * | 2016-08-26 | 2018-03-09 | 奇异平台股份有限公司 | Mechanical arm |
| CN108189054A (en) * | 2017-11-22 | 2018-06-22 | 清华大学 | Single channel transmission integral type, which is put down, pinches adaptive robot finger apparatus |
| WO2019144268A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳蓝胖子机器人有限公司 | Mechanical finger and mechanical hand |
| WO2019144266A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳蓝胖子机器人有限公司 | Mechanical finger and manipulator |
| CN111761599A (en) * | 2020-07-03 | 2020-10-13 | 内蒙古工业大学 | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device |
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