CN107009375A - Compound adaptive robot finger apparatus with a variety of crawl force modes - Google Patents
Compound adaptive robot finger apparatus with a variety of crawl force modes Download PDFInfo
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- CN107009375A CN107009375A CN201710256598.4A CN201710256598A CN107009375A CN 107009375 A CN107009375 A CN 107009375A CN 201710256598 A CN201710256598 A CN 201710256598A CN 107009375 A CN107009375 A CN 107009375A
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- gear
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- segment
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- projection
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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
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- 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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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Compound adaptive robot finger apparatus with a variety of crawl force modes, belong to robot technical field, including pedestal, the first segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, two motors, two decelerators, eight gears, four belt wheels, two transmission belts, six spring parts, four driving levers and four projections.The arrangement achieves the change grip grip built in driving with gripping compound self-adapting grasping function.Motor is placed in the middle part of finger by the device, reduce susceptor space to take, can have during crawl object and self-adapting grasping effect is obtained to different shape size objects, control is simple, without complicated sensing and control system, and it is high to act anthropomorphic degree, being capable of grip wisp, weight and big object can also be gripped, grasping force is variable.
Description
Technical field
It is more particularly to a kind of with the compound adaptive of a variety of crawl force modes the invention belongs to robot technical field
Answer the structure design of robot finger apparatus.
Background technology
Adaptive under-actuated robot hand drives multiple degree-of-freedom joints using a small amount of motor, because number of motors is few, hides
Bigger power and volume can be selected by entering the motor of palm, be exerted oneself big, while the reponse system of Purely mechanical is without to environment
Sensitivity can also realize stable crawl, the automatic object for adapting to different shape size, without real-time sensing and closed loop feedback control
Demand, control it is simple and convenient, reduce manufacturing cost.
Mainly there are two kinds of grasping means when capturing object, one kind is grip, and one kind is to grip.Grip is to use end finger
Tip portion go grip object, using two points or two soft finger faces go contact object, mainly for small-size object or tool
There is the larger object of opposite；Gripping is the contact for realizing multiple points around object with multiple segment enveloping rings of finger, is reached
More stable shape envelope crawl.Traditional pure adaptive under-actuated finger can be held by the way of adaptive envelope object
Hold, but end grip crawl can not be implemented.
The content of the invention
The invention aims to overcome the weak point of prior art there is provided a kind of with a variety of crawl force modes
Compound adaptive robot finger apparatus.Motor is placed in the middle part of finger by the device, is reduced susceptor space and is taken, captures thing
Can have during body and different shape size objects are obtained with self-adapting grasping effect, control is simple, without complicated sensing and control
System, and it is high to act anthropomorphic degree, can grip wisp, weight and big object can also be gripped, grasping force is variable.
Technical scheme is as follows：
A kind of compound adaptive robot finger apparatus with a variety of crawl force modes that the present invention is designed, its feature
It is：In the middle of pedestal, the first segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, first
Axle, the second jackshaft, the first motor, the second motor, the first decelerator, the second decelerator, first gear, second gear, the 3rd
Gear, the 4th gear, the 5th gear, the 6th gear, the 7th gear, eighth gear, the first spring part, the second spring part, the 3rd spring part,
4th spring part, the 5th spring part, the 6th spring part, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the first projection, second
Projection, the 3rd projection, the 4th projection, the first drive, the second drive, the 3rd drive, the 4th drive, the first transmission belt
With the second transmission belt；The nearly joint shaft is movably set in pedestal；First segment is actively socketed on nearly joint shaft；Institute
Joint shaft is stated to be movably set in the first segment；Second segment is actively socketed on middle joint shaft；The remote joint shaft
It is set in the second segment；3rd segment is socketed on remote joint shaft；First jackshaft is set in the first segment,
Second jackshaft is set in the second segment；First motor is arranged in the first segment, first motor and
One segment is affixed, and the output shaft of first motor is connected with the input shaft of the first decelerator, and the first gear is fixed in
On the output shaft of one speed reducer, the first gear is engaged with second gear, and the second gear is actively socketed on nearly joint shaft
On, the two ends of the first spring part connect second gear and pedestal respectively, and first driving lever and first gear are affixed, and described
Two driving levers and the 4th gear are affixed, the first driving lever and the second driving lever movable contact in the range of stroke, the 3rd gear
It is actively socketed on nearly joint shaft, the 3rd gear is engaged with the 4th gear, the 4th gear and the first drive difference
It is socketed on the first jackshaft, the 4th gear and the first drive are affixed, first transmission belt is in " O " font, described
First transmission belt connects the first drive and the second drive, and the first transmission belt, the first drive, the second drive three coordinate
Belt wheel transmission relation is formed, second drive is actively socketed on middle joint shaft, and the two ends of the 5th spring part connect respectively
The second drive and the second segment are connect, first projection and pedestal are affixed, and second projection and the 3rd gear are affixed, described
First projection and the second projection movable contact in the range of stroke；Second motor is arranged in the second segment, and described second
Motor and the second segment are affixed, and the output shaft of second motor is connected with the input shaft of the second decelerator, the 5th gear
On the output shaft for being fixed in the second decelerator, the 5th gear is engaged with the 6th wheel, during the 6th gear is actively socketed on
On joint shaft, the two ends of the 3rd spring part connect the 6th gear and the first segment, the 3rd driving lever and the 5th gear respectively
Affixed, the 4th driving lever and eighth gear are affixed, the 3rd driving lever and the 4th driving lever movable contact in the range of stroke, institute
State the 7th gear to be actively socketed on middle joint shaft, the 7th gear is engaged with eighth gear, the eighth gear and the 3rd
Drive is actively socketed on the second jackshaft respectively, and the eighth gear and the 3rd drive are affixed, second transmission belt
In " O " font, second transmission belt connects the 3rd drive and the 4th drive, the second transmission belt, the 3rd drive, the 4th
Drive three cooperatively forms belt wheel transmission relation, and the 4th drive is actively socketed on remote joint shaft, the 6th spring
The two ends of part connect the 4th drive and the 3rd segment respectively, and the 3rd projection and the first segment are affixed, the 4th projection
It is affixed with the 7th gear, the 3rd projection and the 4th projection movable contact in the range of stroke；The two ends of the second spring part
Pedestal and the 3rd gear are connected respectively, and the second spring part makes the second projection be close to the first projection；The two ends of the 4th spring part
The first segment and the 7th gear are connected respectively, and the 4th spring part makes the 4th projection be close to the 3rd projection；The first gear with
The modulus of second gear is equal, and the 3rd gear is equal with the modulus of the 4th gear, the 5th gear and the 6th gear
Modulus is equal, and the 7th gear is equal with the modulus of eighth gear；The output shaft of first jackshaft and the first decelerator
Coaxially, the output shaft of second jackshaft and the second decelerator is coaxial.
Compound adaptive robot finger apparatus of the present invention with a variety of crawl force modes, its feature exists
In：The number of teeth of 3rd gear is equal with the number of teeth of the 4th gear, and first drive is equal with the second drive radius,
The number of teeth of 7th gear is equal with the number of teeth of eighth gear, and the 3rd drive is equal with the 4th drive radius.
Compound adaptive robot finger apparatus of the present invention with a variety of crawl force modes, its feature exists
In：The first spring part, the 3rd spring part, the 5th spring part, the 6th spring part use torsion spring；Second spring part, the 4th spring part are used
Extension spring.
The present invention compared with prior art, with advantages below and high-lighting effect：
Apparatus of the present invention are comprehensive using motor, gear combination, belt wheel combination, multiple spring parts, delay driving lever and projection constraint etc.
The change grip grip that closing realizes built in driving is combined self-adapting grasping function with gripping.Motor is placed in finger by the device
Portion, reduces susceptor space and takes, and can have during crawl object and different shape size objects are obtained with self-adapting grasping effect, control
Simply, without complicated sensing and control system, and it is high to act anthropomorphic degree, can grip wisp, weight can also be gripped
With big object, grasping force is variable.
Brief description of the drawings
Fig. 1 is the one kind for the compound adaptive robot finger apparatus with a variety of crawl force modes that the present invention is designed
The front section view of embodiment.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (Fig. 2 left side view) of embodiment illustrated in fig. 1.
Fig. 4 is the location diagram of part in embodiment illustrated in fig. 1.
Fig. 5 is the location diagram of part in embodiment illustrated in fig. 1.
Fig. 6 be embodiment illustrated in fig. 1 in original state, the relative position of first gear, the first driving lever and the second driving lever
Figure.
Fig. 7 be embodiment illustrated in fig. 1 in original state, the relative position of the 5th gear, the 3rd driving lever and the 4th driving lever
Figure.
Fig. 8 is the schematic diagram that embodiment illustrated in fig. 1 first driving lever during crawl contacts the second driving lever.
Fig. 9 is the signal that embodiment illustrated in fig. 1 second driving lever of the first driving lever promotion during crawl turns over an angle
Figure.
Figure 10 is the schematic diagram that embodiment illustrated in fig. 1 the 3rd driving lever during crawl contacts the 4th driving lever.
Figure 11 is the signal that embodiment illustrated in fig. 1 the 4th driving lever of the 3rd driving lever promotion during crawl turns over an angle
Figure.
When Figure 12 to Figure 13 is embodiment illustrated in fig. 1 crawl object, the 3rd segment first contacts the situation of object.
When Figure 14 to Figure 16 is embodiment illustrated in fig. 1 crawl object, the first segment, the second segment are contacted prior to the 3rd segment
The situation of object.
When Figure 17 to Figure 20 is embodiment illustrated in fig. 1 crawl object, the first segment, the second segment and the 3rd segment connect successively
Touch the situation of object.
In Fig. 1 into Figure 20：
1- pedestals, the segments of 21- first, the segments of 22- second, the segments of 23- the 3rd,
Joint shaft in the nearly joint shafts of 31-, 32-, the remote joint shafts of 33-, the jackshafts of 341- first,
The jackshafts of 342- second, the motors of 41- first, the motors of 42- second, the decelerators of 411- first,
The decelerators of 421- second, 51- first gears, 52- second gears, the gears of 53- the 3rd,
The gears of 54- the 4th, the gears of 55- the 5th, the gears of 56- the 6th, the gears of 57- the 7th,
58- eighth gears, 71- the first spring parts, 72- the second spring parts, the spring parts of 73- the 3rd,
The spring parts of 74- the 4th, the spring parts of 75- the 5th, the spring parts of 76- the 6th, the driving levers of 81- first,
The driving levers of 82- second, the driving levers of 83- the 3rd, the driving levers of 84- the 4th, the projections of 91- first,
The projections of 92- second, the projections of 93- the 3rd, the projections of 94- the 4th, 99- objects,
The drives of 101- first, the drives of 102- second, the drives of 103- the 3rd, the drives of 104- the 4th,
The transmission belts of 111- first, the transmission belts of 112- second.
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.
What the present invention was designed has a kind of implementation of the compound adaptive robot finger apparatus of a variety of crawl force modes
Example, as shown in Figures 1 to 7, including pedestal 1, the first segment 21, the second segment 22, the 3rd segment 23, nearly joint shaft 31, middle pass
Nodal axisn 32, remote joint shaft 33, the first jackshaft 341, the second jackshaft 342, the first motor 41, the second motor 42, first slow down
Device 411, the second decelerator 412, first gear 51, second gear 52, the 3rd gear 53, the 4th gear 54, the 5th gear 55,
Six gears 56, the 7th gear 57, eighth gear 58, the first spring part 71, the second spring part 72, the 3rd spring part 73, the 4th spring part 74,
Five spring parts 75, the 6th spring part 76, the first driving lever 81, the second driving lever 82, the 3rd driving lever 83, the 4th driving lever 84, the first projection 91,
Two projections 92, the 3rd projection 93, the 4th projection 94, the first drive 101, the second drive 102, the 3rd drive the 103, the 4th
Drive 104, the first transmission belt 111 and the second transmission belt 112；The nearly joint shaft 31 is movably set in pedestal 1；Described
One segment 21 is actively socketed on nearly joint shaft 31；The middle joint shaft 32 is movably set in the first segment 21；Described second
Segment 22 is actively socketed on middle joint shaft 32；The remote joint shaft 33 is set in the second segment 22；3rd segment 23
It is socketed on remote joint shaft 33；First jackshaft 341 is set in the first segment 21, and second jackshaft 342 is arranged
In the second segment 22；First motor 41 is arranged in the first segment 21, and the segment 21 of the first motor 41 and first is consolidated
Connect, the output shaft of first motor 41 is connected with the input shaft of the first decelerator 411, the first gear 51 is fixed in first
On the output shaft of decelerator 411, the first gear 51 is engaged with second gear 52, and the second gear 52 is actively socketed on closely
On joint shaft 31, the two ends of the first spring part 71 connect second gear 52 and pedestal 1, first driving lever 81 and first respectively
Gear 51 is affixed, and second driving lever 82 and the 4th gear 54 are affixed, and the driving lever 82 of the first driving lever 81 and second is in stroke model
Interior movable contact is enclosed, the 3rd gear 53 is actively socketed on nearly joint shaft 31, the 3rd gear 53 and the 4th gear 54
Engagement, the 4th gear 54 and the first drive 101 are actively socketed on the first jackshaft 341 respectively, the 4th gear
54 is affixed with the first drive 101, and first transmission belt 111 is in " O " font, and the connection of the first transmission belt 111 first is passed
The drive 102 of driving wheel 101 and second, the first transmission belt 111, the first drive 101, the three of the second drive 102 cooperatively form
Belt wheel transmission relation, second drive 102 is actively socketed on middle joint shaft 32, the two ends difference of the 5th spring part 75
The second drive 102 and the second segment 22 are connected, first projection 91 and pedestal 1 are affixed, second projection 92 and the 3rd
Gear 53 is affixed, the movable contact in the range of stroke of projection 92 of the first projection 91 and second；Second motor 42 is set
In the second segment 22, second motor 42 and the second segment 22 are affixed, and the output shaft of second motor 42 subtracts with second
The input shaft of fast device 412 is connected, and the 5th gear 55 is fixed on the output shaft of the second decelerator 412, the 5th gear
55 are engaged with the 6th wheel, and the 6th gear 56 is actively socketed on middle joint shaft 32, the two ends difference of the 3rd spring part 73
The 6th gear 56 and the first segment 21 are connected, the 3rd driving lever 83 and the 5th gear 55 are affixed, the 4th driving lever 84 and
Octadentate wheel 58 is affixed, and the 3rd driving lever 83 and the 4th movable contact in the range of stroke of driving lever 84, the 7th gear 57 are lived
Dynamic to be socketed on middle joint shaft 32, the 7th gear 57 is engaged with eighth gear 58, and the eighth gear 58 and the 3rd is driven
Wheel 103 is actively socketed on the second jackshaft 342 respectively, and the eighth gear 58 and the 3rd drive 103 are affixed, and described second
Transmission belt 112 is in " O " font, and second transmission belt 112 connects the 3rd drive 103 and the 4th drive 104, the second transmission
Band 112, the 3rd drive 103, the three of the 4th drive 104 cooperatively form belt wheel transmission relation, and the 4th drive 104 is lived
Dynamic to be socketed on remote joint shaft 33, the two ends of the 6th spring part 76 connect the 4th drive 104 and the 3rd segment 23 respectively,
3rd projection 93 and the first segment 21 are affixed, and the 4th projection 94 and the 7th gear 57 are affixed, the 3rd projection 93
With the 4th movable contact in the range of stroke of projection 94；The two ends of the second spring part 72 connect the gear of pedestal 1 and the 3rd respectively
53, the second spring part 72 makes the second projection 92 be close to the first projection 91；The two ends of the 4th spring part 74 connect first respectively
The gear 57 of segment 21 and the 7th, the 4th spring part 74 makes the 4th projection 94 be close to the 3rd projection 93；The first gear 51 with
The modulus of second gear 52 is equal, and the 3rd gear 53 is equal with the modulus of the 4th gear 54, the 5th gear 55 and
The modulus of six gears 56 is equal, and the 7th gear 57 is equal with the modulus of eighth gear 58；First jackshaft 341 and
The output shaft of one speed reducer 411 is coaxial, and the output shaft of second jackshaft 342 and the second decelerator 421 is coaxial.
In the present embodiment, the number of teeth of the 3rd gear 53 is equal with the number of teeth of the 4th gear 54, first drive
101 is equal with the radius of the second drive 102, and the number of teeth of the 7th gear 57 is equal with the number of teeth of eighth gear 58, and the described 3rd passes
Driving wheel 103 is equal with the radius of the 4th drive 104.
In the present embodiment, the first spring part 71, the 3rd spring part 73, the 5th spring part 75, the 6th spring part 76 use torsion spring；
Second spring part 72, the 4th spring part 74 use extension spring.
The operation principle of the present embodiment, is described below with reference to accompanying drawing：
The device original state as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, now, the second spring part 72 makes second
Projection 92 abuts the first projection 91 (as shown in Figure 4), and the 4th spring part 74 makes the 4th projection 94 against the 3rd projection 93 (such as Fig. 5 institutes
Show), there is one section of angular distance (as shown in Figure 6), the 3rd driving lever 83 and the 4th driving lever 84 in the first driving lever 81 and the second driving lever 82
In the presence of one section of angular distance (as shown in Figure 7).
First motor 41 is rotated, and first gear 51 is driven by the first decelerator 411, second gear 52 is driven, due to base
Seat 1 is motionless, so second gear 52 can drive the first segment 21 to be rotated around nearly joint shaft 31 by the first spring part 71, (i.e. first refers to
Section 21 rotate be close to object 99), due to the second spring part 72 make the second projection 92 abut the first projection 91, so when the 3rd gear 53
Opposite base 1 is motionless, therefore the rotation of the first segment 21 can cause the 4th gear 54 to be rotated relative to the first segment 21, drives first
Drive 101, drive the first transmission belt 111, drive the second drive 102, by the 5th spring part 75 drive the second segment 22 around
Middle joint shaft 32 rotates (i.e. the second segment 22 rotates and is close to object 99), now, and because the 4th spring part 74 makes the 4th projection 94
Against the 3rd projection 93, so the 7th gear 57 is motionless relative to the first segment 21, therefore the rotation of the second segment 22 can cause
Eighth gear 58 is rotated relative to the second segment 22, drives the 3rd drive 103, drives the second transmission belt 112, drives the 4th to pass
Driving wheel 104, by the 6th spring part 76 drive the 3rd segment 23 go the long way round joint shaft 33 rotate (i.e. the 3rd segment 23 rotation be close to object
99), it is achieved thereby that the coupling linkage effect in three joints.
Now, it is likely encountered following different situation：
1) when the 3rd segment 23 contacts object 99, the first motor 41 many turns of low-angles, the first spring part the 71, the 5th again
Spring part 75, the 6th spring part 76 deform, and the first spring part 71, the 5th spring part 75, the deformation elastic force of the 6th spring part 76 turn into crawl
The grasping force source of object 99, crawl terminates, and this crawl process is as shown in Figure 12 and Figure 13；
2) when the first segment 21 contacts object 99, the first motor 41 is rotated further, and the first spring part 71 deforms, and first
The idle running of the first driving lever 81 on gear 51 through (the i.e. first delay) after a while rotates the touched on the 4th gear 54
Two driving levers 82 (as shown in Figure 8), and the first driving lever 81 promotes the second driving lever 82 to rotate an angle (as shown in Figure 9), so that
It has rotated the 4th gear 54, drive the first drive 101, drive the first transmission belt 111, drive the second drive 102, by the
Five spring parts 75 drive the second segment 22 to be rotated around middle joint shaft 32, and the 7th gear 57 is motionless relative to the first segment 21, octadentate
Wheel 58 is rotated relative to the second segment 22, drives the 3rd drive 103, drives the second transmission belt 112, drives the 4th drive 104,
The 3rd segment 23 joint shaft 33 of going the long way round is driven to rotate by the 6th spring part 76.
Now, it is likely encountered following different situation：
A) when the 3rd segment 23 contacts object 99, the first motor 41 many turns of low-angles, the first spring part the 71, the 5th again
Spring part 75, the 6th spring part 76 deform, and the first spring part 71, the 5th spring part 75, the deformation elastic force of the 6th spring part 76 turn into crawl
The grasping force source of object 99, crawl terminates；
B) when the second segment 22 contacts object 99, the second motor 42 is restarted, and the 5th is driven by the second decelerator 421
Gear 55, drives the 6th gear 56, drives the second segment 22 to be rotated around middle joint shaft 32 by the 3rd spring part 73, the second segment 22
Object 99 is close to, the 7th gear 57 is motionless relative to the first segment 21, eighth gear 58 is rotated relative to the second segment 22, drives the
Three drives 103, drive the second transmission belt 112, drive the 4th drive 104, and the 3rd segment 23 is driven by the 6th spring part 76
Rotate.
Now, it is likely encountered following different situation：
I) when the 3rd segment 23 contacts object 99, the second motor 42 many turns of low-angles, the 3rd spring part the 73, the 6th again
Spring part 76 deforms, and the deformation elastic force of the 3rd spring part 73 and the 6th spring part 76 turns into the grasping force source of crawl object, crawl
Terminate, this crawl process is as shown in Figure 14, Figure 15 and Figure 16；
II) when the second segment 22 contacts object 99, the second motor 42 is rotated further, and is driven by the second decelerator 421
The idle running of the 3rd driving lever 83 on 5th gear 55, the 5th gear 55 through (the i.e. second delay) after a while, which is rotated, touches the
The 4th driving lever 84 (as shown in Figure 10) on octadentate wheel 58, and the 3rd driving lever 83 promotes the 4th driving lever 84 to have rotated an angle
(as shown in figure 11), so as to have rotated eighth gear 58, drives the 3rd drive 103, drives the second transmission belt 112, drives the
Four drives 104, drive the 3rd segment 23 to rotate by the 6th spring part 76, and until the 3rd segment 23 contacts object, crawl terminates,
This crawl process is as shown in Figure 17, Figure 18, Figure 19 and Figure 20.
The crawl is that a kind of multiple joints are rotated simultaneously, can be good at adapting to simultaneously for different shape size objects,
With adaptivity；When needing less grasp force, it is thus only necessary to start the first motor 41, when the grasp force that needs are larger
When, after some segment (referring to the first segment 21, the second segment 22 or the 3rd segment 23) contact object, the first motor 41 continues
The a bit of time is rotated, the first spring part 71, the 3rd spring part 73, the 5th spring part 75 and the 6th spring (can be referred to by different spring parts
Part 76) changeable grasping force is realized, when needing king-sized grasp force, the second motor 42 can also be started and carry out collaboration crawl, this
When grasp force provided jointly by the first motor 41, the second motor 42, grasp force increase is more.First motor 41 can bring three
The then adaptive coupling adaptive that first couples of individual joint (nearly joint, middle joint and remote joint) is combined grasp mode, second
Motor 42 can bring the then adaptive coupling adaptive that first couples in two joints (middle joint and remote joint) to be combined crawl
Pattern.
When the self-adapting grasping in central joint occurs, the first segment 21 contacts object 99 and stops motionless by object 99,
When first driving lever 81 promotes the rotation of the second driving lever 82, the 4th gear 54 is rotated, and the opposite base 1 of the 3rd gear 53 is rotated, the second spring
Part 72 deforms；When the self-adapting grasping in remote joint occurs, the second segment 22 contacts object 99 and stopped by object 99
Motionless, when the 3rd driving lever 83 promotes the rotation of the 4th driving lever 84, eighth gear 58 is rotated, relative 21 turns of first segment of the 7th gear 57
Dynamic, the 4th spring part 74 deforms.
When the present embodiment discharges object 99, the second motor 42 is inverted, and the first motor 41 is inverted, subsequent process and said process
On the contrary, repeating no more.
Apparatus of the present invention are comprehensive using motor, gear combination, belt wheel combination, multiple spring parts, delay driving lever and projection constraint etc.
The change grip grip that closing realizes built in driving is combined self-adapting grasping function with gripping.Motor is placed in finger by the device
Portion, reduces susceptor space and takes, and can have during crawl object and different shape size objects are obtained with self-adapting grasping effect, control
Simply, without complicated sensing and control system, and it is high to act anthropomorphic degree, can grip wisp, weight can also be gripped
With big object, grasping force is variable.
Claims (3)
1. a kind of compound adaptive robot finger apparatus with a variety of crawl force modes, it is characterised in that：Including pedestal,
First segment, the second segment, the 3rd segment, nearly joint shaft, middle joint shaft, remote joint shaft, the first jackshaft, the second jackshaft,
First motor, the second motor, the first decelerator, the second decelerator, first gear, second gear, the 3rd gear, the 4th gear,
5th gear, the 6th gear, the 7th gear, eighth gear, the first spring part, the second spring part, the 3rd spring part, the 4th spring part, the 5th
Spring part, the 6th spring part, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the first projection, the second projection, the 3rd projection,
4th projection, the first drive, the second drive, the 3rd drive, the 4th drive, the first transmission belt and the second transmission belt；
The nearly joint shaft is movably set in pedestal；First segment is actively socketed on nearly joint shaft；The middle joint shaft is lived
It is dynamic to be set in the first segment；Second segment is actively socketed on middle joint shaft；The remote joint shaft is set in the second finger
Duan Zhong；3rd segment is socketed on remote joint shaft；First jackshaft is set in the first segment, in the middle of described second
Axle sleeve is located in the second segment；First motor is arranged in the first segment, and first motor and the first segment are affixed, institute
The output shaft for stating the first motor is connected with the input shaft of the first decelerator, and the first gear is fixed in the output of the first decelerator
On axle, the first gear is engaged with second gear, and the second gear is actively socketed on nearly joint shaft, the first spring part
Two ends connect second gear and pedestal respectively, first driving lever and first gear are affixed, second driving lever and the 4th tooth
Wheel is affixed, and the first driving lever and the second driving lever movable contact in the range of stroke, the 3rd gear is actively socketed on nearly pass
On nodal axisn, the 3rd gear is engaged with the 4th gear, and the 4th gear and the first drive are socketed in the middle of first respectively
On axle, the 4th gear and the first drive are affixed, and first transmission belt is in " O " font, the first transmission belt connection
First drive and the second drive, the first transmission belt, the first drive, the second drive three cooperatively form belt wheel transmission pass
System, second drive is actively socketed on middle joint shaft, the two ends of the 5th spring part connect respectively the second drive and
Second segment, first projection and pedestal are affixed, and second projection and the 3rd gear are affixed, first projection and second
Projection movable contact in the range of stroke；Second motor is arranged in the second segment, second motor and the second segment
Affixed, the output shaft of second motor is connected with the input shaft of the second decelerator, and the 5th gear is fixed in the second deceleration
On the output shaft of device, the 5th gear is engaged with the 6th wheel, and the 6th gear is actively socketed on middle joint shaft, and described the
The two ends of three spring parts connect the 6th gear and the first segment respectively, and the 3rd driving lever and the 5th gear are affixed, described 4th group
Bar is affixed with eighth gear, the 3rd driving lever and the 4th driving lever movable contact in the range of stroke, the 7th gear activity
It is socketed on joint shaft, the 7th gear is engaged with eighth gear, the eighth gear and the activity respectively of the 3rd drive
It is socketed on the second jackshaft, the eighth gear and the 3rd drive are affixed, second transmission belt is in " O " font, described
Second transmission belt connects the 3rd drive and the 4th drive, and the second transmission belt, the 3rd drive, the 4th drive three coordinate
Belt wheel transmission relation is formed, the 4th drive is actively socketed on remote joint shaft, and the two ends of the 6th spring part connect respectively
The 4th drive and the 3rd segment are connect, the 3rd projection and the first segment are affixed, the 4th projection and the 7th gear are affixed,
3rd projection and the 4th projection movable contact in the range of stroke；The two ends of the second spring part connect pedestal and respectively
Three gears, the second spring part makes the second projection be close to the first projection；The two ends of the 4th spring part connect the first segment respectively
With the 7th gear, the 4th spring part makes the 4th projection be close to the 3rd projection；The modulus phase of the first gear and second gear
Deng, the 3rd gear is equal with the modulus of the 4th gear, and the 5th gear is equal with the modulus of the 6th gear, and the described 7th
Gear is equal with the modulus of eighth gear；The output shaft of first jackshaft and the first decelerator is coaxial, in the middle of described second
The output shaft of axle and the second decelerator is coaxial.
2. there is the compound adaptive robot finger apparatus of a variety of crawl force modes, its feature as claimed in claim 1
It is：The number of teeth of 3rd gear is equal with the number of teeth of the 4th gear, first drive and the second drive radius phase
Deng the number of teeth of the 7th gear is equal with the number of teeth of eighth gear, and the 3rd drive is equal with the 4th drive radius.
3. there is the compound adaptive robot finger apparatus of a variety of crawl force modes, its feature as claimed in claim 1
It is：The first spring part, the 3rd spring part, the 5th spring part, the 6th spring part use torsion spring；Second spring part, the 4th spring part are adopted
Use extension spring.
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