CN106363651A - Supporting wheel system fixed shaft and sliding sleeve linear-coupling and self-adaptive robot finger device - Google Patents
Supporting wheel system fixed shaft and sliding sleeve linear-coupling and self-adaptive robot finger device Download PDFInfo
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- CN106363651A CN106363651A CN201610791515.7A CN201610791515A CN106363651A CN 106363651 A CN106363651 A CN 106363651A CN 201610791515 A CN201610791515 A CN 201610791515A CN 106363651 A CN106363651 A CN 106363651A
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- 238000010168 coupling process Methods 0.000 title claims abstract description 37
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 37
- 230000008878 coupling Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000003044 adaptive effect Effects 0.000 claims description 20
- 230000006870 function Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 abstract 1
- 230000006978 adaptation Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a supporting wheel system fixed shaft and sliding sleeve linear-coupling and self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a rack, two finger sections, two joint shafts, a driver, a plurality of connecting rods, a guide sleeve, a plurality of driving wheels, a plurality of driving pieces, a spring piece and the like. The device achieves the robot finger coupling and self-adaptive grabbing functions. According to the device, the second finger section can be moved linearly according to the shape and position differences of objects, meanwhile, the second finger section rotates relative to the first finger section so as to clamp the objects, the second finger section can also automatically rotate to make contact with the objects after the first finger section makes contact with the objects, and accordingly the purpose of enveloping the objects with different shapes and sizes in a self-adaptive mode is achieved. The grabbing range is wide, and grabbing is stable and reliable. The two finger sections are driven by one driver. The device is simple in structure, low in machining, assembling and maintenance cost, and suitable for the robot hands.
Description
Technical field
The invention belongs to robot technical field, particularly to a kind of supporting wheel systems dead axle sliding sleeve straight line coupling adaptive
The structure design of robot finger apparatus.
Background technology
Self adaptation under-actuated robot hand adopts the multiple degree-of-freedom joint of a small amount of Motor drive, because number of motors is few, hides
The motor entering palm can select bigger power and volume, exerts oneself big, the feedback system of Purely mechanical need not be to environment simultaneously
Sensitivity can also realize stable crawl, automatically adapt to the object of different shape size, do not have real-time sensing and closed loop feedback control
Demand, control simple and convenient, reduce manufacturing cost.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, one kind is to grip.
Grip is to go to grip object with the tip portion of end finger, removes contactant using two points or two soft finger faces
Body, mainly for small-size object or the larger object with opposite；Gripping is around thing with multiple segment enveloping rings of finger
Body, to realize the contact of multiple points, reaches more stable shape envelope crawl.
Self adaptation under-actuated finger can be gripped in the way of using self adaptation envelope object, but cannot implement end grip
Crawl.
A kind of existing under-actuated two-articulated robot finger device (Chinese invention patent cn101234489a), including base
Seat, motor, middle part segment, end segment, nearly joint shaft, remote joint shaft, belt wheel transmission mechanism and spring part etc..The arrangement achieves
The special-effect of doublejointed under-actuated finger bending crawl object, has adaptivity, can adapt to the thing of different shape size
Body.The weak point of this under-actuated two-articulated robot finger device is: 1) Grasp Modes are only holding mode, and difficulty is realized curved
The end grip crawl effect in bent remote joint；2) process of this device crawl object is not anthropomorphic, and this device is not before touching object
All the time assume the state stretched.
There is coupling and self adaptation is combined robot finger's referred to as coupling adaptive finger of grasp mode.So-called coupling
It is combined grasp mode with self adaptation and refer to that this finger can be realized coupling crawl and being combined that the crawl of self adaptation drive lacking combines
Drive lacking captures, and that is, during bending grasping object, before encountering object, each segment is by certain angle for robot finger apparatus
Ratio bends simultaneously；And after nearly segment encounters object, rotation second joint can be decoupled again, make the second segment automatically adapt to object
Surface configuration, thus complete envelope grips object, and only passes through the multiple joint of driver drives；If in coupling rotational
During two joints, the second segment contact object, then crawl terminates it is achieved that grip effect.
A kind of existing finger device of double-joint parallel under-actuated robot (Chinese invention patent cn101633171b), bag
Include pedestal, middle part segment, end segment, nearly joint shaft, remote joint shaft, motor, coupled transmission mechanism, self adaptation drive mechanism and
Three spring parts.This device can be realized coupling and be combined grasp mode with self adaptation, and deficiency is: 1) mechanism is complicated, has two sets of biographies
Motivation structure is arranged between nearly joint shaft and remote joint shaft；2) the spring number of packages mesh needing is excessive, and spring part type selecting is difficult；3) using many
Individual spring part, to realize decoupling the contradiction being in harmonious proportion between coupled transmission mechanism and self adaptation drive mechanism, usually makes multiple springs
Part deformation is larger, leads to excessive and unnecessary energy loss.
Content of the invention
The invention aims to overcoming the weak point of prior art, provide a kind of supporting wheel systems dead axle sliding sleeve straight line
Coupling adaptive robot finger apparatus.This device is capable of coupling and is combined grasp mode with self adaptation, can link two
End grip object is saved in pass, also can first rotate and be rotated further by the second segment envelope gripping object after the first segment touches object, reach
To the self adaptation grip effect to different shape size objects.
Technical scheme is as follows:
A kind of supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of present invention design, including machine
Frame, the first segment, the second segment, nearly joint shaft, remote joint shaft, driver and drive mechanism；Described driver is affixed with frame,
The outfan of described driver is connected with the input of drive mechanism；Described nearly joint shaft is set in one end of the first segment, institute
State the other end that remote joint shaft is set in the first segment, described second segment is socketed on remote joint shaft, described nearly joint shaft
Centrage and the centerline parallel of remote joint shaft；It is characterized in that: this supporting wheel systems dead axle sliding sleeve straight line coupling adaptive machine
Finger device also includes the first drive, the second drive, the 3rd drive, the 4th drive, the 5th drive, the 6th biography
Driving wheel, spring part, the first driving member, the second driving member, the 3rd driving member, the first guide rod, the second guide rod, pilot sleeve, the first company
Bar, second connecting rod, third connecting rod, first axle, the second axle and the 3rd axle；The outfan of described drive mechanism is connected with the 3rd axle；
Described 6th drive is fixed on the 3rd axle；The two ends of described spring part connect the 6th drive and third connecting rod respectively；Described
One end of third connecting rod is socketed on the second axle, and the other end of third connecting rod is actively socketed on the 3rd axle；Described second connecting rod
One end be socketed on nearly joint shaft, the other end of second connecting rod is socketed on the second axle；One end socket of described first connecting rod
On nearly joint shaft, the other end of first connecting rod is socketed in first axle；Described first axle is set in frame；Described 3rd axle
It is set in frame；The centrage of described first axle, the center of the centrage of the second axle, the centrage of the 3rd axle and nearly joint shaft
Line is parallel to each other；One end of described first guide rod is socketed on remote joint shaft, and the other end of the first guide rod slides and is embedded in
In pilot sleeve；One end of described second guide rod is socketed on nearly joint shaft, and the other end of the second guide rod slides and is embedded in guiding
In sleeve；The middle part of described pilot sleeve is actively socketed in first axle；If the central point of the 3rd axle is a, the center of the second axle
Point is b, and the central point of nearly joint shaft is c, and the central point of remote joint shaft is d, and the central point of first axle is e, the length of line segment ab
The length three of line segment, the length of ae and line segment ce is equal, and the length of the length of line segment bc and line segment cd is equal, line segment bc
Length be equal to 2 times of length of line segment ab, point b, point d and point e three are conllinear；Cunning in pilot sleeve for described first guide rod
Glide direction in pilot sleeve is conllinear with the second guide rod in dynamic direction；Described first driving wheel tube is connected on remote joint shaft, the
One drive is affixed with the second segment；Described second driving wheel tube is connected on nearly joint shaft；Described first driving member connects respectively
First drive, the second drive, described first driving member, the first drive, the second drive three constitute drive connection；Institute
State the 3rd driving wheel tube to be connected on nearly joint shaft, the 3rd drive is affixed with the second drive；Described 4th driving wheel tube is connected on
In first axle；Described second driving member connects the 3rd drive, the 4th drive, described second driving member, the 3rd transmission respectively
Wheel, the 4th drive three constitute drive connection；Described 5th driving wheel tube is connected in first axle, and the 5th drive and the 4th passes
Driving wheel is affixed；Described 3rd driving member connects the 5th drive, the 6th drive respectively, described 3rd driving member, the 5th transmission
Wheel, the 6th drive three constitute drive connection；By the first driving member, the second drive, the 3rd drive, the second transmission
Part, the 4th drive, the 5th drive, the transmission of the 3rd driving member, take turns to the 6th drive composition from the first transmission and pass in the same direction
Dynamic relation.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention it is characterised in that:
Described first driving member adopts gear, connecting rod, transmission belt, chain or rope；Described second driving member adopts gear, connecting rod, transmission
Band, chain or rope；Described 3rd driving member adopts gear, connecting rod, transmission belt, chain or rope.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention it is characterised in that:
Described driver adopts motor, cylinder or hydraulic cylinder.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention it is characterised in that:
Described spring part adopts torsion spring.
The present invention compared with prior art, has advantages below and a salience effect:
Apparatus of the present invention utilize driver, multiple connecting rod, pilot sleeve, multiple drive, multiple driving member and spring part etc.
Comprehensively achieve the function of robot finger's coupling and self-adapting grasping；Using the multi link meeting certain condition and pilot sleeve
Mechanism achieves remote joint shaft along linear motion, realizes the second segment using the cooperation of Multi-stage transmission wheel mechanism and goes the long way round joint shaft
Coupling rotational；Achieved after the first segment contact object is blocked using the cooperation of spring part, automatically rotate the second segment and go to contact
Object., according to the difference of body form and position, energy linear translation second segment, the second segment is with respect to first simultaneously for this device
Segment rotates de-clamping object moreover it is possible to after the first segment contacts object, automatically rotating the second segment and go to contact object, reach
The purpose of self adaptation envelope different shapes and sizes object；Crawl scope is big, and grasping stability is reliable；Using driver drives
Two segments；This apparatus structure is simple, processing, assembling and maintenance cost low it is adaptable to robot.
Brief description
Fig. 1 is a kind of real of the supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of present invention design
Apply the stereo appearance figure of example.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the front appearance figure (being not drawn into part) of embodiment illustrated in fig. 1, and in figure shows a, b, c, d, e point
Position with straight line k.
Fig. 4 is the front section view (section view frame and the first segment) of embodiment illustrated in fig. 1.
Fig. 5 is the three-dimensional cutaway view (section view frame and the first segment) of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 is that the grip mode contacting object in coupling stage of gripping second segment of embodiment illustrated in fig. 1 captures object
Schematic diagram, double dot dash line represents original state.
Fig. 8 to Figure 11 is the course of action figure of the straight line coupling crawl of embodiment illustrated in fig. 1, during this crawl, remote pass
Nodal axisn straight line parallel moves, and the second segment goes the long way round joint shaft relative to the first segment coupling rotational simultaneously.
Figure 12 to Figure 14 is the course of action figure of embodiment illustrated in fig. 1 self-adapting grasping object, during this crawl, first
Segment is blocked by the body can not move again, and the second segment continues, under motor effect, joint shaft rotation of going the long way round, thus reaching adaptive
The purpose of object should be captured.
In Fig. 1 to Figure 14:
1- frame, 2- first segment, 3- second segment, the nearly joint shaft of 4-,
The remote joint shaft of 5-, 61- first drive, 62 second drives, 63- the 3rd drive,
64- the 4th drive, 65- the 5th drive, 66- the 6th drive, 7- spring part,
71- first driving member, 72- second driving member, 73- the 3rd driving member, 81- first guide rod,
82- second guide rod, 83- pilot sleeve, 91- first connecting rod, 92- second connecting rod,
93- third connecting rod, 101 first axles, 102- second axle, 103- the 3rd axle,
200- driver, 201- drive mechanism, 300- object.
Specific embodiment
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 supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of present invention design,
As shown in Figures 1 to 6, including frame 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5, driver 200 and
Drive mechanism 201；Described driver 200 is affixed with frame 1, the outfan of described driver 200 and the input of drive mechanism 201
End is connected；Described nearly joint shaft 4 is set in one end of the first segment 2, and described remote joint shaft 5 is set in the another of the first segment 2
End, described second segment 3 is socketed on remote joint shaft 5, and the centrage of described nearly joint shaft 4 is put down with the centrage of remote joint shaft 5
OK；This supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus also includes the first drive 61, second and is driven
Wheel the 62, the 3rd drive 63, the 4th drive 64, the 5th drive 65, the 6th drive 66, spring part 7, the first driving member 71,
Second driving member 72, the 3rd driving member 73, the first guide rod 81, the second guide rod 82, pilot sleeve 83, first connecting rod 91, second are even
Bar 92, third connecting rod 93, first axle 101, the second axle 102 and the 3rd axle 103；The outfan and the 3rd of described drive mechanism 201
Axle 103 is connected；Described 6th drive 66 is fixed on the 3rd axle 103；The two ends of described spring part 7 connect the 6th drive respectively
66 and third connecting rod 93；One end of described third connecting rod 93 is socketed on the second axle 102, the other end movable sleeve of third connecting rod 93
It is connected on the 3rd axle 103；One end of described second connecting rod 92 is socketed on nearly joint shaft 4, the other end socket of second connecting rod 92
On the second axle 102；One end of described first connecting rod 91 is socketed on nearly joint shaft 4, and the other end of first connecting rod 91 is socketed in
In first axle 101；Described first axle 101 is set in frame 1；Described 3rd axle 103 is set in frame 1；Described first axle
101 centrage, the centrage, the centrage of the 3rd axle 103 and nearly joint shaft 4 of the second axle 102 centrage mutually flat
OK；One end of described first guide rod 81 is socketed on remote joint shaft 5, and the other end of the first guide rod 81 slides and is embedded in pilot sleeve
In 83；One end of described second guide rod 82 is socketed on nearly joint shaft 4, and the other end of the second guide rod 82 slides and is embedded in fairlead
In cylinder 83；The middle part of described pilot sleeve 83 is actively socketed in first axle 101；If the central point of the 3rd axle 103 is a, second
The central point of axle 102 is b, and the central point of nearly joint shaft 4 is c, and the central point of remote joint shaft 5 is d, the central point of first axle 101
For e, the position of each point is as shown in Figure 3；The length three of the length line segment, the length of ae and line segment ce of line segment ab is equal, line segment
The length of the length of bc and line segment cd is equal, and the length of line segment bc is equal to 2 times of the length of line segment ab, point b, point d and point e
Three is conllinear；Described first guide rod 81 is in the glide direction in pilot sleeve 83 and cunning in pilot sleeve 83 for second guide rod 82
Dynamic direction is conllinear；Described first drive 61 is socketed on remote joint shaft 5, and the first drive 61 is affixed with the second segment 3；Described
Second drive 62 is socketed on nearly joint shaft 4；Described first driving member 71 connects the first drive 61, the second drive respectively
62, described first driving member 71, the first drive 61, the second drive 62 three constitute drive connection；Described 3rd drive
63 are socketed on nearly joint shaft 4, and the 3rd drive 63 is affixed with the second drive 62；Described 4th drive 64 is socketed in first
On axle 101；Described second driving member 72 connects the 3rd drive 63, the 4th drive 64 respectively, described second driving member 72,
Three drives 63, the 4th drive 64 three constitute drive connection；Described 5th drive 65 is socketed in first axle 101, the
Five drives 65 are affixed with the 4th drive 64；Described 3rd driving member 73 connects the 5th drive 65, the 6th drive respectively
66, described 3rd driving member 73, the 5th drive 65, the 6th drive 66 three constitute drive connection；By the first driving member
71st, the second drive 62, the 3rd drive 63, the second driving member 72, the 4th drive 64, the 5th drive the 65, the 3rd transmission
The transmission of part 73, constitutes co-rotating transmission relation from the first drive 61 to the 6th drive 66.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention it is characterised in that:
Described first driving member 71 adopts gear, connecting rod, transmission belt, chain or rope；Described second driving member 72 adopt gear, connecting rod,
Transmission belt, chain or rope；Described 3rd driving member 73 adopts gear, connecting rod, transmission belt, chain or rope.In the present embodiment, described
First driving member 71 adopts transmission belt, and described second driving member 72 adopts transmission belt, and described 3rd driving member 73 adopts transmission belt.
Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus of the present invention it is characterised in that:
Described driver 200 adopts motor, cylinder or hydraulic cylinder.In the present embodiment, described driver 200 adopts motor.
In the present embodiment, described spring part adopts torsion spring.
The operation principle of the present embodiment, is described below in conjunction with accompanying drawing:
When the present embodiment is in original state, as shown in the double dot dash line of Fig. 7 or Fig. 8；Motor rotates, by drive mechanism
201 (decelerator and belt wheel etc.) drives the 3rd axle 103, and (this finger clockwise is clockwise on Fig. 7 or Fig. 8, similarly hereinafter) turns clockwise
Dynamic, the 6th drive 66 rotates clockwise with respect to frame 1, drives third connecting rod 93 also around the 3rd axle 103 relatively by spring part 7
Rotate clockwise in frame 1, due to second connecting rod 92, first connecting rod 91, the first segment 2, pilot sleeve 83, the first guide rod 81 and
The multi-connecting-rod mechanism that second guide rod 82 is constituted can make remote joint shaft 5 (point d, as shown in Figure 3) along straight line k (as shown in Figure 3)
Mobile, this straight line k is perpendicular to line segment ae；In this stage, because the 6th drive 66 and third connecting rod 93 are under spring part 7 effect
Rotate clockwise, rotational angle is identical, so not producing relative fortune between the 6th drive 66 and third connecting rod 93 simultaneously
Dynamic, however, third connecting rod 93 and second connecting rod 92 can occur the phenomenon that angle reduces at the volley, the behavior that this angle reduces
The 5th drive 65 (and the 4th affixed drive 64) can be brought to create one clockwise turn with respect to second connecting rod 92
Angle, then passes through the second driving member 72 and drives the 3rd drive 63 (with the second affixed drive 62) relative around the second axle 102
In second connecting rod 92 produce rotate clockwise, can produce the second drive 62 around nearly joint shaft 4 with respect to the first segment 2 up time
Pin rotates, and drives the first drive 61 to go the long way round joint shaft 5 turning clockwise with respect to the first segment 2 by the first driving member 71
Dynamic, then create second segment 3 affixed with the first drive 61 joint shaft 5 of going the long way round clockwise with respect to the first segment 2
Rotate, reach remote joint shaft 5 along straight line near object 300 while the second segment 3 go the long way round the rotation of joint shaft 5, i.e. straight line
Coupling rotational effect.
During this, when the second segment 3 contacts object 300, then crawl terminates, and this crawl process is as shown in fig. 7, this grab
Taking is grip grasp mode.
When, in said process, if the second segment 3 is not in contact with object 300, and the first segment 2 contacts object 300 and hindered
Gear, the first segment 2 can not further rotate, and now, motor is rotated further, and drives the 3rd axle 103 to continue by drive mechanism 201
Continue and rotate clockwise, drive the 6th drive 66 to rotate clockwise, because third connecting rod 93 is no longer able to turn, then spring part 7 becomes
Shape, the 6th drive 66 is rotated further, and drives the 5th drive 65 and the 4th drive 64 to rotate by the 3rd driving member 73, leads to
Crossing the second driving member 72 drives the 3rd drive 63 and the second drive 62 to rotate, and drives the first transmission by the first driving member 71
Wheel 61 and the second segment 3 joint shaft 5 of going the long way round rotate, and until the second segment 3 contacts object 300, crawl terminates.This crawl is permissible
Adapt to different shape size object 300 reached self-adapting grasping effect, this process as shown in Fig. 8 to Figure 14, its
Middle Fig. 8 to Figure 11 for remote joint shaft along straight line to the right near object, the second segment coupling rotational simultaneously, Figure 12 to Figure 14 is first
Segment has contacted object and has been blocked from moving, and the second segment continues the process of joint shaft self adaptation rotation of going the long way round.
During release object 300, motor reversal, contrary with said process, repeat no more.
Apparatus of the present invention utilize driver, multiple connecting rod, pilot sleeve, multiple drive, multiple driving member and spring part etc.
Comprehensively achieve the function of robot finger's coupling and self-adapting grasping；Using the multi link meeting certain condition and pilot sleeve
Mechanism achieves remote joint shaft along linear motion, realizes the second segment using the cooperation of Multi-stage transmission wheel mechanism and goes the long way round joint shaft
Coupling rotational；Achieved after the first segment contact object is blocked using the cooperation of spring part, automatically rotate the second segment and go to contact
Object., according to the difference of body form and position, energy linear translation second segment, the second segment is with respect to first simultaneously for this device
Segment rotates de-clamping object moreover it is possible to after the first segment contacts object, automatically rotating the second segment and go to contact object, reach
The purpose of self adaptation envelope different shapes and sizes object；Crawl scope is big, and grasping stability is reliable；Using driver drives
Two segments；This apparatus structure is simple, processing, assembling and maintenance cost low it is adaptable to robot.
Claims (4)
1. a kind of supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus, including frame, the first segment, second
Segment, nearly joint shaft, remote joint shaft, driver and drive mechanism；Described driver is affixed with frame, the output of described driver
End is connected with the input of drive mechanism；Described nearly joint shaft is set in one end of the first segment, and described remote joint shaft is set in
The other end of the first segment, described second segment is socketed on remote joint shaft, the centrage of described nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that: this supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus also includes
First drive, the second drive, the 3rd drive, the 4th drive, the 5th drive, the 6th drive, spring part, the first biography
Moving part, the second driving member, the 3rd driving member, the first guide rod, the second guide rod, pilot sleeve, first connecting rod, second connecting rod, the 3rd
Connecting rod, first axle, the second axle and the 3rd axle；The outfan of described drive mechanism is connected with the 3rd axle；Described 6th driving wheel tube
Gu on the 3rd axle；The two ends of described spring part connect the 6th drive and third connecting rod respectively；One end set of described third connecting rod
It is connected on the second axle, the other end of third connecting rod is actively socketed on the 3rd axle；One end of described second connecting rod is socketed in nearly pass
On nodal axisn, the other end of second connecting rod is socketed on the second axle；One end of described first connecting rod is socketed on nearly joint shaft, and first
The other end of connecting rod is socketed in first axle；Described first axle is set in frame；Described 3rd axle sleeve is located in frame；Described
The centrage of first axle, the centrage of the centrage of the second axle, the centrage of the 3rd axle and nearly joint shaft are parallel to each other；Institute
The one end stating the first guide rod is socketed on remote joint shaft, and the other end of the first guide rod slides and is embedded in pilot sleeve；Described
One end of two guide rods is socketed on nearly joint shaft, and the other end of the second guide rod slides and is embedded in pilot sleeve；Described fairlead
The middle part of cylinder is actively socketed in first axle；If the central point of the 3rd axle is a, the central point of the second axle is b, in nearly joint shaft
Heart point is c, and the central point of remote joint shaft is d, and the central point of first axle is e, the length line segment of line segment ab, the length of ae and line segment
The length three of ce is equal, and the length of the length of line segment bc and line segment cd is equal, and the length of line segment bc is equal to line segment ab's
2 times of length, point b, point d and point e three are conllinear；Glide direction in pilot sleeve for described first guide rod and the second guide rod exist
Glide direction in pilot sleeve is conllinear；Described first driving wheel tube is connected on remote joint shaft, the first drive and the second segment
Affixed；Described second driving wheel tube is connected on nearly joint shaft；Described first driving member connects the first drive, the second transmission respectively
Wheel, described first driving member, the first drive, the second drive three constitute drive connection；Described 3rd driving wheel tube is connected on
On nearly joint shaft, the 3rd drive is affixed with the second drive；Described 4th driving wheel tube is connected in first axle；Described second biography
Moving part connects the 3rd drive, the 4th drive, described second driving member, the 3rd drive, the 4th drive three's structure respectively
Become drive connection；Described 5th driving wheel tube is connected in first axle, and the 5th drive is affixed with the 4th drive；Described 3rd biography
Moving part connects the 5th drive, the 6th drive, described 3rd driving member, the 5th drive, the 6th drive three's structure respectively
Become drive connection；By the first driving member, the second drive, the 3rd drive, the second driving member, the 4th drive, the 5th biography
Driving wheel, the transmission of the 3rd driving member, take turns to the 6th drive from the first transmission and constitute co-rotating transmission relation.
2. supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus as claimed in claim 1, its feature exists
In: described first driving member adopts gear, connecting rod, transmission belt, chain or rope；Described second driving member adopts gear, connecting rod, biography
Dynamic band, chain or rope；Described 3rd driving member adopts gear, connecting rod, transmission belt, chain or rope.
3. supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus as claimed in claim 1, its feature exists
In: described driver adopts motor, cylinder or hydraulic cylinder.
4. supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus as claimed in claim 1, its feature exists
In: described spring part adopts torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610791515.7A CN106363651B (en) | 2016-08-31 | 2016-08-31 | Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus |
Applications Claiming Priority (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106986180A (en) * | 2017-05-02 | 2017-07-28 | 岳西县科盛机电有限公司 | A kind of automatic carriage of Two axle drive |
| CN108189057A (en) * | 2017-11-29 | 2018-06-22 | 清华大学 | Fluid speedup end stretch straight line put down folder adaptive robot finger apparatus |
| CN109648591A (en) * | 2019-02-11 | 2019-04-19 | 宋易飞 | Robot finger apparatus |
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| CN105773608A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Gear fluid parallel clamping self-adaptive robot finger device |
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| US5501498A (en) * | 1988-08-31 | 1996-03-26 | The Trustees Of The University Of Pennsylvania | Methods and apparatus for mechanically intelligent grasping |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| CN102896636A (en) * | 2012-03-28 | 2013-01-30 | 中南大学 | Differential gear train coupled adaptive under-actuated finger device |
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| CN108189057A (en) * | 2017-11-29 | 2018-06-22 | 清华大学 | Fluid speedup end stretch straight line put down folder adaptive robot finger apparatus |
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| CN109648591B (en) * | 2019-02-11 | 2024-03-26 | 宋易飞 | Robot finger device |
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| CN106363651B (en) | 2019-04-02 |
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