CN106625741A - Support connecting rod belt wheel driven straight line translation robotic hand device - Google Patents
Support connecting rod belt wheel driven straight line translation robotic hand device Download PDFInfo
- Publication number
- CN106625741A CN106625741A CN201610891523.9A CN201610891523A CN106625741A CN 106625741 A CN106625741 A CN 106625741A CN 201610891523 A CN201610891523 A CN 201610891523A CN 106625741 A CN106625741 A CN 106625741A
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- axle
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- connecting rod
- driving member
- belt wheel
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- 238000013519 translation Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 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 claims description 21
- 210000002435 tendon Anatomy 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 9
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 238000003754 machining Methods 0.000 abstract 1
- 230000007704 transition Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a support connecting rod belt wheel driven straight line translation robotic hand device and belongs to the technical field of robotic hands. The device comprises a base, a motor, a speed reducer, a transmission mechanism and at least two finger units, wherein each of the finger units comprises a first finger section, a second finger section, five shafts, three connecting rods and two belt wheel transmission mechanisms. The device realizes the grabbing effect of parallel clamping along an approximate horizontal straight line, the finger sections at the tail ends hardly generate displacement in the height direction during the finger open-close process and grab in a centring manner, cooperation of arm joints of a robot is greatly reduced during open-close grabbing, the grabbing range is large, and grabbing is stable and reliable; and the device is simple in structure, small in size, light in weight, low in machining, assembling and repairing costs, and suitable for being mounted on the robot to be used as a tail end clamp holder.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of support link belt wheel transmission linear translation robot
The structure design of arm device.
Background technology
End gripper is one of vitals of robot.Robot by using end gripper clamp, operation with
Release object, completes the arranged action of operator.Due to the shape of different objects it is different, size difference than larger, in industry
In it is a large amount of adopt is all the end gripper with relative finger, this clamper with relative finger is for most things
Body crawl task can well complete stable crawl, and the low cost of manufacture of end gripper, and reliability is very high.It is similar
Staff, when removing to grip object using two or more fingers are relative, the end segment for generally requiring two fingers is parallel to each other, this
Sample can obtain preferably crawl effect, and the paw with this function is referred to as translation clamper.Existing translation clamper
Finger can produce an arc track in the folding stage, although two finger end segments maintain it is parallel, but crawl desktop on
During object, relying solely on the motor movement of clamper can not realize good crawl, because finger is in the folding stage, finger
The high and low position of end segment changes with the different of folding angle, therefore according to the different size of object, needs during crawl
The cooperation of multiple joint motions of robot arms' (industrial robot) could realize the crawl to object.Considerable straight line is put down
Dynamic device is developed and the end effector as industrial robot, and they have chute to constrain, and volume is big, and weight is big,
Capture being limited in scope for object.
The content of the invention
The invention aims to overcome the weak point of prior art, there is provided a kind of support link belt wheel transmission straight line
Translation robot hand device.The device can realize the crawl effect along the clamping of level of approximation straight line parallel, and end segment is in handss
Hardly there is the displacement of short transverse during referring to folding, centering crawl, folding is greatly reduced robots arm when capturing
The cooperation in portion joint, crawl scope is big, while small volume, low cost, it is adaptable to as end gripper in robot
Use.
Technical scheme is as follows：
A kind of support link belt wheel transmission linear translation robot hand device of present invention design, it is characterised in that：Including
Pedestal, motor, decelerator, drive mechanism and at least two finger units；The motor is affixed with pedestal；The output of the motor
Axle is connected with the input shaft of decelerator, and the output shaft of the decelerator is connected with the input shaft of drive mechanism；The finger unit
Including the first segment, the second segment, first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle, first connecting rod, second connecting rod,
Three connecting rods, the first drive, the second drive, the 3rd drive, the first driving member and the second driving member；The first axle,
Two axles, the 3rd axle, the 4th axle and the 5th axle are parallel to each other；The output shaft of the drive mechanism is connected with first axle；Described first
Axle is movably set in pedestal；One end of the first connecting rod is fixed in first axle, and second axle is movably set in first
In the other end of connecting rod；One end of the second connecting rod is movably set on the second axle, the other end activity of the second connecting rod
It is set on the 4th axle, the 3rd axle is movably set in the middle part of second connecting rod；One end pivot bush unit of the third connecting rod
On the 3rd axle, the other end of third connecting rod is actively socketed on the 5th axle, and the 5th axle is movably set in pedestal；It is described
First segment is affixed with second connecting rod, and second segment is socketed on the 4th axle；First drive is actively socketed on
On five axles, first drive is affixed with pedestal；Second drive is actively socketed on the 3rd axle, the 3rd transmission
Wheel is socketed on the 5th axle；3rd drive is affixed with the second segment；First driving member connect the first drive and
Second drive, first driving member adopt transmission belt, chain or tendon rope, first drive using belt wheel, sprocket wheel or
Rope sheave；Second drive adopts belt wheel, sprocket wheel or rope sheave；First driving member, the first drive and the second drive
Three constitutes belt wheel transmission relation, chain gear transmission relation or rope sheave drive connection, and first driving member is in O shapes；Described second
Driving member connects the second drive and the 3rd drive, and second driving member adopts transmission belt, chain or tendon rope, and the described 3rd
Drive adopts belt wheel, sprocket wheel or rope sheave；Second driving member, the second drive and the 3rd drive constitute belt wheel transmission and close
System, chain gear transmission relation or rope sheave drive connection, second driving member is in O shapes；If the first transmission takes turns to the second drive
Gear ratio is i, and it is j, ij=1 that the second transmission takes turns to the gear ratio of the 3rd drive；If the center of first axle is point A, the second axle
Center be point B, the center of the 3rd axle is point C, and the center of the 4th axle is point D, and the center of the 5th axle is point E, the length of line segment BC
The length three of degree, the length of line segment CD and line segment CE is equal, and the length of line segment AE is equal to 2 times of the length of line segment AB, line segment
The length of CE is 2.5 times of the length of line segment AB.
The present invention compared with prior art, with advantages below and salience effect：
Apparatus of the present invention are comprehensively realized along level of approximation using motor, jointed gear unit, belt wheel transmission mechanism etc.
The crawl effect of straight line parallel clamping, hardly there is the displacement of short transverse in end segment, right during fingers opening-closing
Middle crawl, folding is greatly reduced the cooperation in robot arms joint when capturing, crawl scope is big, grasping stability reliability；The dress
Simple structure, small volume, lightweight is put, processing, assembling and maintenance cost are low, it is adaptable to press from both sides as end in robot
Holder is used.
Description of the drawings
Fig. 1 is a kind of the vertical of embodiment of the support link belt wheel transmission linear translation robot hand device of present invention design
Body outside drawing.
Fig. 2 is the side elevational schematic view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 3 is the stereoscopic viewing figure (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 4 is the right side view (being not drawn into part) of Fig. 2.
Fig. 5 is connecting rod principle schematic.
Fig. 6 to Fig. 8 is embodiment illustrated in fig. 1 crawl object process schematic.
In Fig. 1 to Fig. 8：
1- pedestals, 2- finger units, 3- motors, 31- decelerators,
41- first bevel gears, 42- second bevel gears, 43- transition axises, 44- first gears,
45- second gears, the belt wheels of 51- first, the belt wheels of 52- second, 53- transmission belts,
The segments of 21- first, the segments of 22- second, 61- first axles, the axles of 62- second,
The axles of 63- the 3rd, the axles of 64- the 4th, the axles of 65- the 5th, 71- first connecting rods,
72- second connecting rods, 73- third connecting rods, the drives of 81- first, the drives of 82- second,
The drives of 83- the 3rd, the driving members of 84- first, the driving members of 85- second, 9- objects.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail the present invention concrete structure, the content of operation principle.
A kind of embodiment of the support link belt wheel transmission linear translation robot hand device of present invention design, such as Fig. 1 is extremely
Shown in Fig. 4, including pedestal 1, motor 3, decelerator 31, drive mechanism and two finger units 2；The motor 3 is consolidated with pedestal 1
Connect；The output shaft of the motor 3 is connected with the input shaft of decelerator 31, and the output shaft of the decelerator 31 is defeated with drive mechanism
Enter axle to be connected；The finger unit 2 include the first segment 21, the second segment 22, first axle 61, the second axle 62, the 3rd axle 63, the
Four axles 64, the 5th axle 65, first connecting rod 71, second connecting rod 72, third connecting rod 73, the first drive 81, the second drive 82,
Three drives 83, the first driving member 84 and the second driving member 85；The first axle 61, the second axle 62, the 3rd axle 63, the 4th axle 64
It is parallel to each other with the 5th axle 65；The output shaft of the drive mechanism is connected with first axle 61；The first axle 61 is movably set in
In pedestal 1；One end of the first connecting rod 71 is fixed in first axle 61, and second axle 62 is movably set in first connecting rod 71
The other end in；One end of the second connecting rod 72 is movably set on the second axle 62, and the other end of the second connecting rod 72 is lived
Dynamic to be set on the 4th axle 64, the 3rd axle 63 is movably set in the middle part of second connecting rod 72；The one of the third connecting rod 73
End is actively socketed on the 3rd axle 63, and the other end of third connecting rod 73 is actively socketed on the 5th axle 85, and the 5th axle 85 is lived
It is dynamic to be set in pedestal 1；First segment 21 is affixed with second connecting rod 72, and second segment 22 is socketed in the 4th axle 64
On；First drive 81 is actively socketed on the 5th axle 65, and first drive 81 is affixed with pedestal 1；Described second
Drive 82 is actively socketed on the 3rd axle 63, and the 3rd drive 83 is socketed on the 5th axle 65；3rd drive
83 is affixed with the second segment 22；First driving member 84 connects the first drive 81 and the second drive 82, and described first passes
Moving part 84 adopts transmission belt, chain or tendon rope, first drive 81 to adopt belt wheel, sprocket wheel or rope sheave；Second transmission
Wheel 82 adopts belt wheel, sprocket wheel or rope sheave；First driving member 84, the first drive 81 and the three of the second drive 82 constitute band
Wheel drive connection, chain gear transmission relation or rope sheave drive connection, first driving member 84 is in O shapes；Second driving member 85
Connect the second drive 82 and the 3rd drive 83, second driving member 85 adopts transmission belt, chain or tendon rope, the described 3rd
Drive 83 adopts belt wheel, sprocket wheel or rope sheave；Second driving member 85, the second drive 82 and the 3rd drive 83 constitute band
Wheel drive connection, chain gear transmission relation or rope sheave drive connection, second driving member 85 is in O shapes；If the first drive 81 is arrived
The gear ratio of the second drive 82 is i, and the gear ratio of the second drive 82 to the 3rd drive 83 is j, ij=1；If first axle
61 center is point A, and the center of the second axle 62 is point B, and the center of the 3rd axle 63 is point C, and the center of the 4th axle 64 is point D, the
The center of five axles 65 is point E, and the length three of the length, the length of line segment CD and line segment CE of line segment BC is equal, the length of line segment AE
2 times of length of the degree equal to line segment AB, the length of line segment CE is 2.5 times of the length of line segment AB.
In the present embodiment, the gear ratio of first the 81 to the second drive of drive 82 is 1, the second drive 82 to the 3rd
The gear ratio of drive 83 is 1, therefore meets ij=1.
In the present embodiment, two fingers are arranged in symmetrical position.
In the present embodiment, the drive mechanism includes first bevel gear 41, second bevel gear 42, transition axis 43, the first tooth
Wheel 44, second gear 45, the first belt wheel 51, the second belt wheel 52 and transmission belt 53；The first bevel gear 41 is fixed in decelerator
On 31 output shaft, the first bevel gear 41 is engaged with second bevel gear 42, and the second bevel gear 42 is fixed in transition axis
On 43, the transition axis 43 is movably set in pedestal 1, and the first gear 44 is fixed on transition axis 43, first tooth
Wheel 44 is engaged with second gear 45, and the second gear 45 is fixed in a finger unit (finger unit of left in Fig. 3)
First axle 61 on；First belt wheel 51 is fixed on transition axis 43, and second belt wheel 52 is fixed in another finger list
In first axle 61 in first (finger unit of right in Fig. 3), the transmission belt 53 connects respectively the first belt wheel 51 and the second band
Wheel 52.
The operation principle of the present embodiment, is described below with reference to accompanying drawing：
The original state of the present embodiment is as shown in Figure 1, Figure 2 or shown in Fig. 3.There are two structure identical finger lists in the present embodiment
Unit 2, by taking a finger unit 2 on the right in Fig. 2 as an example operation principle is illustrated.
Motor 3 is rotated forward, as shown in figure 3, by decelerator 31, driven first bevel gear 41 to rotate, the second cone tooth
Wheel 42 is rotated, and transition axis 43 is rotated, and the first belt wheel 51 is rotated, and by transmission belt 53 second belt wheel 52 is rotated, right in Fig. 3
Finger unit 2 in first axle 61 rotate, drive first connecting rod 71 rotate counterclockwise；Due to first connecting rod 71, second connecting rod
72 and the quadric chain that constitutes of third connecting rod 73 and pedestal can produce operating principle as shown in Figure 5, i.e., when first connecting rod 71
During rotating counterclockwise to bottom from the top, the central point D of the 4th axle 64 can be along near linear to left, should
Translation trajectory, parallel to line segment AE, is in Figure 5 horizontal line.
Due to passing through the first driving member 84, the second drive 82, the second driving member 85 to the 3rd from the first drive 81
The transmission of driving wheel 83 is constant speed drive, and the first drive 81 is affixed with pedestal 1, thus the 3rd drive 83 is relative to pedestal 1
Remain constant attitude --- will not opposite base 1 rotate, thus second segment 22 affixed with the 3rd drive 83
Initial attitude is remained with respect to pedestal 1.
The aspect of summary two, the second segment 22 will be relative to pedestal 1 along near linear translation.The support link band
Two finger units 2 in wheel drive linear translation robot hand device are to be arranged symmetrically, in two symmetrical finger units
Second segment 22 can reach centering crawl, parallel clamping crawl and along approximate along the direction relative motion of level of approximation line
The effect of linear motion, when the second segment 22 contacts object 9, crawl terminates, and has reached flat gripper and has taken effect.
The process schematic of the present embodiment crawl object is as shown in Figure 6 to 8.
During release object 9, motor 3 is rotated backward, as shown in Fig. 2 first connecting rod 71 is rotated clockwise, the second segment 22 to
It is right to leave object 9 along near linear translation, reach release object.
Apparatus of the present invention are comprehensively realized along level of approximation using motor, jointed gear unit, belt wheel transmission mechanism etc.
The crawl effect of straight line parallel clamping, hardly there is the displacement of short transverse in end segment, right during fingers opening-closing
Middle crawl, folding is greatly reduced the cooperation in robot arms joint when capturing, crawl scope is big, grasping stability reliability；The dress
Simple structure, small volume, lightweight is put, processing, assembling and maintenance cost are low, it is adaptable to press from both sides as end in robot
Holder is used.
Claims (1)
1. a kind of support link belt wheel transmission linear translation robot hand device, it is characterised in that：Including pedestal, motor, deceleration
Device, drive mechanism and at least two finger units；The motor is affixed with pedestal；The output shaft of the motor is defeated with decelerator
Enter axle to be connected, the output shaft of the decelerator is connected with the input shaft of drive mechanism；The finger unit include the first segment, the
Two segments, first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle, first connecting rod, second connecting rod, third connecting rod, the first transmission
Wheel, the second drive, the 3rd drive, the first driving member and the second driving member；The first axle, the second axle, the 3rd axle, the 4th
Axle and the 5th axle are parallel to each other；The output shaft of the drive mechanism is connected with first axle；The first axle is movably set in pedestal
In；One end of the first connecting rod is fixed in first axle, and second axle is movably set in the other end of first connecting rod；Institute
The one end for stating second connecting rod is movably set on the second axle, and the other end of the second connecting rod is movably set on the 4th axle, institute
State the middle part that the 3rd axle is movably set in second connecting rod；One end of the third connecting rod is actively socketed on the 3rd axle, and the 3rd connects
The other end of bar is actively socketed on the 5th axle, and the 5th axle is movably set in pedestal；First segment connects with second
Bar is affixed, and second segment is socketed on the 4th axle；First drive is actively socketed on the 5th axle, and described first passes
Driving wheel is affixed with pedestal；Second drive is actively socketed on the 3rd axle, and the 3rd driving wheel tube is connected on the 5th axle；
3rd drive is affixed with the second segment；First driving member connects the first drive and the second drive, and described the
One driving member adopts transmission belt, chain or tendon rope, first drive to adopt belt wheel, sprocket wheel or rope sheave；Second transmission
Wheel adopts belt wheel, sprocket wheel or rope sheave；First driving member, the first drive and the second drive three constitute belt wheel transmission and close
System, chain gear transmission relation or rope sheave drive connection, first driving member is in O shapes；The second driving member connection second is driven
Wheel and the 3rd drive, second driving member adopts transmission belt, chain or tendon rope, the 3rd drive to adopt belt wheel, chain
Wheel or rope sheave；Second driving member, the second drive and the 3rd drive constitute belt wheel transmission relation, chain gear transmission relation or
Rope sheave drive connection, second driving member is in O shapes；If it is i that the first transmission takes turns to the gear ratio of the second drive, second is driven
The gear ratio for taking turns to the 3rd drive is j, ij=1；If the center of first axle is point A, the center of the second axle is point B, the 3rd axle
Center be point C, the center of the 4th axle is point D, and the center of the 5th axle is point E, the length of line segment BC, the length of line segment CD and line
The length three of section CE is equal, and the length of line segment AE is equal to 2 times of the length of line segment AB, and the length of line segment CE is the length of line segment AB
2.5 times of degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891523.9A CN106625741B (en) | 2016-10-12 | 2016-10-12 | Support link belt wheel transmission linear translation robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891523.9A CN106625741B (en) | 2016-10-12 | 2016-10-12 | Support link belt wheel transmission linear translation robot hand device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625741A true CN106625741A (en) | 2017-05-10 |
| CN106625741B CN106625741B (en) | 2019-05-07 |
Family
ID=58855781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610891523.9A Expired - Fee Related CN106625741B (en) | 2016-10-12 | 2016-10-12 | Support link belt wheel transmission linear translation robot hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625741B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823891A (en) * | 2019-11-13 | 2020-02-21 | 河北工程大学 | Digital holographic microscopic imaging equipment for cultural relic identification |
| CN113146217A (en) * | 2021-04-19 | 2021-07-23 | 东北大学 | Thread-assembly-oriented clamp holder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648380A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Gripper with heavy load and wide range |
| JP2016068192A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | Robot hand and robot |
| CN105583849A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel-clamping handy robot finger device with connection rods |
| JP2016087749A (en) * | 2014-11-06 | 2016-05-23 | 株式会社豊田自動織機 | Robot hand |
| CN105835077A (en) * | 2016-05-19 | 2016-08-10 | 清华大学 | Parallel-clamping self-adaptive robot finger device with closed-loop flexible part and guide rod |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
-
2016
- 2016-10-12 CN CN201610891523.9A patent/CN106625741B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648380A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Gripper with heavy load and wide range |
| JP2016068192A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | Robot hand and robot |
| JP2016087749A (en) * | 2014-11-06 | 2016-05-23 | 株式会社豊田自動織機 | Robot hand |
| CN105583849A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel-clamping handy robot finger device with connection rods |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN105835077A (en) * | 2016-05-19 | 2016-08-10 | 清华大学 | Parallel-clamping self-adaptive robot finger device with closed-loop flexible part and guide rod |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823891A (en) * | 2019-11-13 | 2020-02-21 | 河北工程大学 | Digital holographic microscopic imaging equipment for cultural relic identification |
| CN113146217A (en) * | 2021-04-19 | 2021-07-23 | 东北大学 | Thread-assembly-oriented clamp holder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106625741B (en) | 2019-05-07 |
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Granted publication date: 20190507 |