CN108189055B - Rack cosine telescopic straight-line parallel clamping self-adaptive finger device - Google Patents
Rack cosine telescopic straight-line parallel clamping self-adaptive finger device Download PDFInfo
- Publication number
- CN108189055B CN108189055B CN201711175186.4A CN201711175186A CN108189055B CN 108189055 B CN108189055 B CN 108189055B CN 201711175186 A CN201711175186 A CN 201711175186A CN 108189055 B CN108189055 B CN 108189055B
- Authority
- CN
- China
- Prior art keywords
- shaft
- finger section
- rack
- sleeved
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A self-adaptive finger device for a rack cosine telescopic straight-line parallel clamp belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, a driver, a plurality of connecting rods, a transmission mechanism, a spring piece and the like. The device realizes the functions of linear parallel clamping and self-adaptive grabbing of the fingers of the robot. The device can keep the posture of the second finger section to linearly translate the second finger section to clamp the object according to the difference of the shape and the position of the object, and can automatically rotate the second finger section to contact the object after the first finger section contacts the object, thereby achieving the purpose of self-adaptively enveloping the objects with different shapes and sizes; the grabbing range is large, and grabbing is stable and reliable; driving the two finger segments with a driver; the device has simple structure and low processing, assembling and maintaining cost, and is suitable for robot hands.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a rack cosine telescopic straight-line parallel clamping self-adaptive finger device.
Background
With the development of intelligent technology, the robot technology becomes a research hotspot at present, the robot hand draws more and more attention, and the research results in this aspect are more and more. To assist robots in performing more tasks in special situations, a wide variety of robot hands have been developed, such as dexterous hands, special hands, pliers (industrial grippers), and the like. The objects in the space are various and different in size, thin paper, stones with irregular shapes, large spheres and the like are arranged in the space, the objects have six degrees of freedom, and when the robot hand grasps the objects, the robot hand can stably grasp the objects only by limiting the six degrees of freedom of the objects. In order to assist the robot to complete more tasks, the robot hand needs to be capable of maximally accommodating to grab objects with various shapes and sizes.
For this reason, various robot hands such as dexterous hands, special hands, pincer-like hands (industrial grippers), and the like have been developed. The development of the robot hand can be as flexible as a human hand, can grab various objects, and can finish various tasks is always a common target of scientists. The research of the robot hand is mainly performed by a dexterous hand, a driver is respectively arranged at each finger joint, but the control is complex, the holding force is small, and the application of the dexterous hand is greatly limited.
The adaptive object surface grabbing mainly adopts the mode that the acting force of the surfaces of the fingers on the surface of the object and the external force applied to the object reach mechanical balance, and then the object reaches a static balance state, so that the object is static, and the object is grabbed. The acting force on the object depends on the acting force of the object on the contact surface of the finger, the external force applied to the object and the like. The process of balancing the large friction force and the external force applied to the object is not needed, so that the acting force of the surfaces of the fingers on the surface of the object in the object surface grabbing mode is far smaller than the acting force of the industrial gripper on the surface of the object, and the object surface grabbing is also called powerful grabbing.
The adaptive grabbing mode is a grabbing mode in which the fingers of the robot can move relative to each other according to the surface of an object when grabbing the object by using flexible joints or springs and the like, so that the object grabbing effect of the adaptive object surface envelope is achieved, for example, the SARAH hand and the Southampton hand are adaptive grabbing modes.
The existing dexterous hand and the under-actuated hand can realize the grabbing mode suitable for the surface of an object. The dexterous hand has high anthropomorphic degree in the action process and can finish the grabbing of the surface of an adaptive object, but the dexterous hand has higher cost and complex control and needs to be maintained frequently. The existing dexterous hand joint drivers (such as a motor, air muscles and the like) generate small driving force, and the motion of each finger section of the dexterous hand is directly driven by the dexterous hand joint drivers, so that the loading capacity of the dexterous hand is weak, and the dexterous hand cannot be widely put into production practice and daily life.
Therefore, the under-actuated anthropomorphic robot hand is produced, the number of actuators of the under-actuated robot hand is less than the number of joint degrees of freedom, and the theory of the under-actuated robot hand and the under-actuated robot hand with a classic four-bar-spring structure are provided earlier by Laval university in Canada. Theories and practices prove that the under-actuated robot hand has the advantages of less drivers, simple control, large grasping force, compact structure and high application value. Since then, a great deal of research efforts have been made on underactuated hands, which have also been put into production practice in large quantities.
For example, an under-actuated two-joint robot finger device (chinese patent CN101234489A) is provided, which includes a base, a motor, a middle finger section, a tail finger section, and a parallel belt-pulley transmission mechanism. The device realizes the special effect that the double-joint under-actuated fingers grasp objects in a bending way, and has self-adaptability. The under-actuated mechanical finger device has the following defects: the fingers are always in a straight state before touching the object, the grabbing mode is mainly a holding mode, and the better parallel clamping and grabbing effect of the tail end is difficult to realize. However, for an object with a small volume, because the surface of the object is small, and the length of each finger segment of the under-actuated robot finger is too long relative to the surface of the object, the surface of the object is difficult to adapt, and the parallel clamping has obvious advantages.
A robot hand with linear translational clamping has been invented, for example, in patent WO2016063314a1, which comprises a plurality of links, a clamping finger section, and a driver. The device can realize the linear translation of the clamping finger sections, and realizes the function of parallel clamping of objects with different sizes by utilizing the parallel movement of the clamping finger sections. The disadvantages are that: the device can only realize the parallel clamping function of straight line, can not realize the function that self-adaptation envelope snatched the object.
A conventional under-actuated hand with two grasping modes has been developed, and one type of under-actuated finger, such as US8973958B2, includes five links, springs, mechanical restraints, and actuators, among others. The device realizes the circular arc parallel clamping and self-adaptive grabbing mode. During operation, the posture of the tail end finger section is kept relative to the base at the beginning stage to perform the proximal joint bending action, and then the parallel clamping or the self-adaptive envelope holding function can be realized according to the position of an object. The device has the disadvantages that (1) the device can only realize the arc parallel clamping function and cannot realize the straight line parallel clamping function, and when sheet objects with different sizes are clamped on a workbench, the robot arm moves to realize the grabbing in a matching way, so that the grabbing has serious defects; (2) the device adopts many link mechanism, and the motion has great dead zone, and it is little to snatch the scope.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rack cosine telescopic straight-line parallel clamping self-adaptive finger device. The device can realize a linear parallel clamping and self-adaptive composite grabbing mode, can linearly translate the second finger section to clamp an object, and can rotate the first finger section to touch the object and then rotate the second finger section to envelop the object to grasp the object, so that the self-adaptive grasping effect on the objects with different shapes and sizes is achieved.
The technical scheme of the invention is as follows:
the invention designs a self-adaptive finger device with a rack cosine telescopic linear parallel clamp, which comprises a base, a first finger section, a second finger section, a proximal joint shaft, a distal joint shaft, a first shaft, a second shaft, a third shaft, a spring piece, a limiting block, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a driver and a transmission mechanism, wherein the first finger section is arranged on the base; the driver is fixedly connected with the base, and the output end of the driver is connected with the input end of the transmission mechanism; the near joint shaft is sleeved in the base, the first finger section is sleeved on the near joint shaft, the far joint shaft is sleeved in the first finger section, the second finger section is sleeved on the far joint shaft, and the central line of the near joint shaft is parallel to the central line of the far joint shaft; the output end of the transmission mechanism is connected with the first connecting rod; one end of the first connecting rod is sleeved on the proximal joint shaft, and the other end of the first connecting rod is sleeved on the first shaft; one end of the second connecting rod is sleeved on the first shaft, and the other end of the second connecting rod is sleeved on the third shaft; one end of the third connecting rod is sleeved on the second shaft, and the other end of the third connecting rod is sleeved on the third shaft; one end of the fourth connecting rod is sleeved on the proximal joint shaft, and the other end of the fourth connecting rod is sleeved on the second shaft; the third shaft is sleeved in the second finger section; two ends of the spring piece are respectively connected with the base and the fourth connecting rod; the limiting block is fixedly connected to the base; the limiting block is contacted with the fourth connecting rod in the initial state; setting the central point of the proximal joint axis as A, the central point of the distal joint axis as B, the central point of the third axis as C, the central point of the second axis as D, the length of the line segment AB is equal to that of the line segment CD, and the length of the line segment BC is equal to that of the line segment AD; the central point of the first axis is F, and the length of the line segment AF is greater than that of the line segment BC; the method is characterized in that: the rack cosine telescopic straight line parallel clamping self-adaptive finger device further comprises a fourth shaft, an orthogonal sliding groove piece, a first rack, a second rack, a first gear, a second gear, an intermediate transmission mechanism, a first transmission shaft, a second transmission shaft and a second finger section surface cover; the fourth shaft is sleeved on the third connecting rod, the orthogonal sliding groove piece is provided with a sliding groove, and the fourth shaft is embedded in the sliding groove in a sliding manner; the orthogonal chute piece is embedded in the second finger section in a sliding mode, and the sliding direction of the orthogonal chute piece in the second finger section is perpendicular to the sliding direction of the fourth shaft in the orthogonal chute piece; setting the central point of the fourth axis as E, setting the point C, the point E and the point D to be collinear, and setting the ratio of the length of the line segment CD to the length of the line segment CE as k, wherein k is more than 1; the first rack is fixedly connected to the orthogonal sliding groove part; the first gear is meshed with the first rack, and the first transmission shaft is sleeved on the second finger section; the second transmission shaft is sleeved on the second finger section; the first gear is sleeved on the first transmission shaft; the second gear is sleeved on the second transmission shaft and meshed with a second rack, and the second rack is embedded on the second finger section in a sliding manner; the surface cover of the second finger section is fixedly connected on the second rack; the surface cover of the second finger section is embedded on the second finger section in a sliding way; the first gear is connected with the input end of the middle transmission mechanism, the output end of the middle transmission mechanism is connected with the second gear, the middle transmission mechanism, the first gear and the second gear form a transmission relation, and the ratio of the moving speed of the second rack relative to the second finger section to the moving speed of the first rack relative to the second finger section is k through the transmission of the first gear, the middle transmission mechanism and the second gear; the second finger section surface cover, the first rack, the second rack and the orthogonal sliding groove component are respectively parallel to each other relative to the movement direction of the second finger section.
The invention relates to a rack cosine telescopic straight line parallel clamping self-adaptive finger device, which is characterized in that: the intermediate transmission mechanism adopts one or a combination of a plurality of gears, connecting rods, transmission belts, chains and ropes.
The invention relates to a rack cosine telescopic straight line parallel clamping self-adaptive finger device, which is characterized in that: the driver adopts a motor, an air cylinder or a hydraulic cylinder.
The invention relates to a rack cosine telescopic straight line parallel clamping self-adaptive finger device, which is characterized in that: the first spring piece adopts a tension spring.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the functions of linear parallel clamping and self-adaptive grabbing of the fingers of the robot by utilizing a plurality of connecting rods, two finger sections, two joint shafts, a driver, a plurality of connecting rods, a transmission mechanism, a spring piece and the like; the grabbing motion of the first finger section and the second finger section is realized by adopting a crank rocker mechanism; the second finger section is matched with the spring to realize the translation of the fixed posture of the second finger section; a sine mechanism, a double-rack transmission linear speed increasing mechanism and the like which meet certain conditions are adopted to realize that the second finger section surface cover moves along a straight line relative to the base; the first spring piece is matched to realize that the second finger section is automatically rotated to contact the object after the first finger section is blocked from contacting the object. The device can linearly translate the second finger section according to the different shapes and positions of the objects, meanwhile, the second finger section keeps a fixed posture to clamp the objects, and can automatically rotate the second finger section to contact the objects after the first finger section contacts the objects, so that the purpose of self-adaptively enveloping the objects with different shapes and sizes is achieved; the grabbing range is large, and grabbing is stable and reliable; driving the two finger segments with a driver; the device has simple structure and low processing, assembling and maintaining cost, and is suitable for robot hands.
Drawings
Fig. 1 is a perspective external view of an embodiment of a rack cosine telescopic straight-line parallel clamping adaptive finger device designed by the present invention.
Fig. 2 is a front view of the embodiment shown in fig. 1.
Fig. 3 is a schematic diagram of the mechanism of the embodiment of fig. 1 (not shown in part) showing point A, B, C, D, E, F and the position of line K.
Fig. 4 is an elevation view (with parts broken away) of the embodiment shown in fig. 1.
Fig. 5 is a perspective cross-sectional view (with the base and first finger section cut away) of the embodiment shown in fig. 1.
Fig. 6 is an exploded view of the embodiment shown in fig. 1.
Fig. 7 is a schematic view of the embodiment of fig. 1 for gripping an object with a pinch having a second finger section contacting the object during a straight pinch gripping stage, and two-dot chain lines represent three states during movement.
Fig. 8 to 10 are operation diagrams of the linear adaptive grasping according to the embodiment shown in fig. 1, in which the distal joint axes are linearly moved in parallel while the second finger section is maintained in the original posture.
Fig. 11 and 13 are diagrams illustrating the operation process of the embodiment of fig. 1 for adaptively gripping an object, in which the first finger segment is blocked by the object and can not move any more, and the second finger segment continues to rotate around the distal joint shaft under the action of the motor, so as to achieve the purpose of adaptively gripping the object.
Fig. 14 to 16 show the fourth link 44, the stopper 8 and the spring member 9 (sectional base) in the grasping process of the embodiment shown in fig. 1.
In fig. 1 to 16:
1-base, 2-first finger section, 3-second finger section, 4-proximal joint axis,
5-far joint shaft, 6-second finger section surface cover, 7-orthogonal sliding groove component, 8-limited block,
9-spring element, 21 first shaft, 22-second shaft, 23-third shaft,
24-fourth shaft, 31-first gear, 32-second gear, 33-intermediate transmission,
34-a first transmission shaft, 34-a second transmission shaft, 41-a first connecting rod, 42-a second connecting rod,
43-third link, 44-fourth link, 51-first rack, 52-second rack,
200-driver, 201-transmission mechanism, 300-object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
The invention relates to a self-adaptive finger device for a rack cosine telescopic linear parallel clamp, which comprises a base 1, a first finger section 2, a second finger section 3, a proximal joint shaft 4, a distal joint shaft 5, a first shaft 21, a second shaft 22, a third shaft 23, a spring piece 9, a limiting block 8, a first connecting rod 41, a second connecting rod 42, a third connecting rod 43, a fourth connecting rod 44, a driver 200 and a transmission mechanism 201; the driver 200 is fixedly connected with the base 1, and the output end of the driver 200 is connected with the input end of the transmission mechanism 201; the proximal joint shaft 4 is sleeved in the base 1, the first finger section 2 is sleeved on the proximal joint shaft 4, the distal joint shaft 5 is sleeved in the first finger section 2, the second finger section 3 is sleeved on the distal joint shaft 5, and the central line of the proximal joint shaft 4 is parallel to the central line of the distal joint shaft 5; the output end of the transmission mechanism 201 is connected with the first connecting rod 41; one end of the first connecting rod 41 is sleeved on the proximal joint shaft 4, and the other end of the first connecting rod 41 is sleeved on the first shaft 21; one end of the second connecting rod 42 is sleeved on the first shaft 21, and the other end of the second connecting rod 42 is sleeved on the third shaft 23; one end of the third connecting rod 43 is sleeved on the second shaft 22, and the other end of the third connecting rod 43 is sleeved on the third shaft 23; one end of the fourth connecting rod 44 is sleeved on the proximal joint shaft 4, and the other end of the fourth connecting rod 44 is sleeved on the second shaft 22; the third shaft 23 is sleeved in the second finger section 3; two ends of the spring element 9 are respectively connected with the base 1 and the fourth connecting rod 44; the limiting block 8 is fixedly connected to the base 1; the stopper 8 is in contact with the fourth link 44 in the initial state; setting the central point of the proximal joint shaft 4 as A, the central point of the distal joint shaft 5 as B, the central point of the third shaft 23 as C, the central point of the second shaft 22 as D, the length of the line segment AB is equal to that of the line segment CD, and the length of the line segment BC is equal to that of the line segment AD; the central point of the first axis 21 is F, and the length of the line segment AF is greater than that of the line segment BC; the method is characterized in that: the rack cosine telescopic straight-line parallel clamping self-adaptive finger device further comprises a fourth shaft 24, an orthogonal sliding groove part 7, a first rack 51, a second rack 52, a first gear 31, a second gear 32, an intermediate transmission mechanism 33, a first transmission shaft 34, a second transmission shaft 35 and a second finger section surface cover; the fourth shaft 24 is sleeved on the third connecting rod 43, the orthogonal sliding groove piece 7 is provided with a sliding groove, and the fourth shaft 24 is embedded in the sliding groove in a sliding manner; the orthogonal chute member 7 is slidably embedded in the second finger section 3, and the sliding direction of the orthogonal chute member 7 in the second finger section 3 is perpendicular to the sliding direction of the fourth shaft 24 in the orthogonal chute member 7; setting the central point of the fourth axis 24 as E, the point C, the point E and the point D are collinear, and the ratio of the length of the line segment CD to the length of the line segment CE is k, wherein k is more than 1; the first rack 51 is fixedly connected to the orthogonal chute member 7; the first gear 31 is meshed with the first rack 51, and the first transmission shaft 34 is sleeved on the second finger section 3; the second transmission shaft 35 is sleeved on the second finger section 3; the first gear 31 is sleeved on the first transmission shaft 34; the second gear 32 is sleeved on the second transmission shaft 35, the second gear 32 is meshed with a second rack 52, and the second rack 52 is embedded on the second finger section 3 in a sliding manner; the surface cover of the second finger section is fixedly connected on the second rack 52; the surface of the second finger section is embedded on the second finger section 3 in a sliding way; the first gear 31 is connected with the input end of the middle transmission mechanism 33, the output end of the middle transmission mechanism 33 is connected with the second gear 32, the middle transmission mechanism 33, the first gear 31 and the second gear 32 form a transmission relationship, and the ratio of the moving speed of the second rack 52 relative to the second finger section 3 to the moving speed of the first rack 51 relative to the second finger section 3 is k through the transmission of the first gear 31, the middle transmission mechanism 33 and the second gear 32; the second finger section surface cover, the first rack 51, the second rack 52 and the orthogonal chute member 7 are respectively parallel to each other relative to the moving direction of the second finger section 3.
The invention relates to a rack cosine telescopic straight line parallel clamping self-adaptive finger device, which is characterized in that: the intermediate transmission mechanism 33 adopts one or more combinations of gears, connecting rods, transmission belts, chains and ropes.
In this embodiment, the driver 200 is a motor, and the spring 9 is a tension spring.
The working principle of the embodiment is described as follows in combination with the attached drawings:
in the initial state of the present embodiment, the fourth link 44 is kept relatively still with the base 1 against the stopper 8 under the pulling force of the spring 9, and the second finger section 3 is kept parallel to the vertical direction due to the action of the parallelogram mechanism formed by the first finger section 2, the second finger section 3, the third link 43 and the fourth link 44 and the setting of the position of the stopper 8. The motor 200 rotates to drive the first link 41 to rotate counterclockwise (clockwise refers to clockwise in fig. 3, the same applies hereinafter) through the transmission mechanism 201 (speed reducer, belt wheel, etc.), and applies a pushing force to the third shaft 23 through the second link 42. The thrust has a component force towards the left in the horizontal direction, and due to the action of the parallelogram mechanism formed by the first finger section 2, the second finger section 3, the third connecting rod 43 and the fourth connecting rod 44, the second finger section 3 performs circular arc motion towards the left, and simultaneously the first finger section 2 rotates anticlockwise around the proximal joint shaft 4. The robot finger has two grabbing modes, namely a straight line parallel clamping grabbing mode and an adaptive envelope grabbing mode.
(1) Linear parallel clamping grabbing mode
The motor passes through drive mechanism 201 drive robot finger motion's in-process, when first finger section 2 does not contact object 300, gets into the straight line parallel clamp and snatchs the mode: second finger section 3 is kept in a fixed posture and moves in parallel relative to base 1, and second finger section surface cover 6 can be driven by a special mechanism to move in the vertical direction relative to second finger section 3 so as to realize that second finger section surface cover 6 moves in a straight line relative to base 1 and moves synchronously in the horizontal direction relative to second finger section 3. When second finger-segment surface covering 6 contacts object 300 and exerts sufficient gripping force, the gripping process ends. This mode eliminates the need for a displacement of the end of the robot arm in cooperation with the movement of the gripper when gripping the sheet object 300 on the table, simplifying the sensing control system. The linear motion process of the second finger-segment surface cover 6 in the linear clamp mode is demonstrated below in conjunction with the geometry of the mechanism of the robot finger (as shown in fig. 3).
Known as2＝k·s1，L＝kd，
Let θ be the rotation angle of the third link 43 with respect to the vertical direction, in units: rad; the length of the line segments AB, CD is L, unit: mm; the length of the line segment CE is d, in units: mm; the sliding distance of the first toothed rack 51 in the second finger section 3 is s1The unit: mm; the sliding distance of the second rack 52 in the second finger section 3 is s2The unit: mm; the displacement of point E in the vertical direction with respect to second finger 3 is t, and the distance by which point C descends in the vertical direction with respect to base 1 during rotation is q, in units: mm.
Then there are:
and (3) simultaneous resolution to obtain:
s2＝L·(1-cosθ)＝q.
i.e. the second rack 52 is raised in the vertical direction by a distance s relative to the point C2Equal to the distance q of the point C in the vertical direction with respect to the base 1, i.e. the displacement of the second rack 52 with respect to the base 1 in the vertical direction is 0, and since the second finger-section surface cover 6 is fixed to the second rack 52, the second finger-section surface cover 6 is not displaced with respect to the base 1 in the vertical direction, i.e. the second finger-section surface cover 6 moves linearly with respect to the base 1.
In the above process, when the second finger piece surface cover 6 contacts the object 300, the gripping is terminated, and the gripping process is as shown in fig. 7, in which the two-dot chain line represents the other three flat-grip state, that is, the straight-line parallel grip mode.
(2) Adaptive grab mode
When the second finger section surface cover 6 does not contact the object 300 and the first finger section 2 contacts the object 300 and is blocked in the above process, the first finger section 2 cannot rotate any further, and at this time, the first connecting rod 41, the second connecting rod 42, the second finger section 3 and the first finger section 2 form a crank-rocker mechanism. The motor continues to rotate, and the transmission mechanism 201 drives the first connecting rod 41 to continue to rotate counterclockwise, so as to drive the second finger section 3 to have a tendency of rotating counterclockwise around the distal joint shaft 5. Due to the action of the parallelogram mechanism formed by the first finger section 2, the second finger section 3, the third connecting rod 43 and the fourth connecting rod 44, the torque of the second finger section 3 is transmitted to the fourth connecting rod 44, so that the fourth connecting rod 44 rotates anticlockwise around the proximal joint shaft 4 against the action of the spring 9, and the second finger section 3 is driven to rotate anticlockwise around the distal joint shaft 5. The grasping is ended until the second finger section 3 contacts the object 300. The grabbing can be adapted to objects 300 with different shapes and sizes, that is, an adaptive grabbing effect is achieved, which is shown in fig. 8 to 13, wherein fig. 8 to 11 show that the distal joint axis 5 approaches the object 300 to the right along a straight line, while the second finger section 3 rotates in a coupling manner, fig. 12 and 13 show that the first finger section 2 is stopped from moving after contacting the object 300, and the second finger section 3 continues to rotate around the distal joint axis 5 in an adaptive manner.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the functions of linear parallel clamping and self-adaptive grabbing of the fingers of the robot by utilizing a plurality of connecting rods, two finger sections, two joint shafts, a driver, a plurality of connecting rods, a transmission mechanism, a spring piece and the like; the grabbing motion of the first finger section and the second finger section is realized by adopting a crank rocker mechanism; the second finger section is matched with the spring to realize the translation of the fixed posture of the second finger section; a sine mechanism, a double-rack transmission linear speed increasing mechanism and the like which meet certain conditions are adopted to realize that the second finger section surface cover moves along a straight line relative to the base; the first spring piece is matched to realize that the second finger section is automatically rotated to contact the object after the first finger section is blocked from contacting the object. The device can linearly translate the second finger section according to the different shapes and positions of the objects, meanwhile, the second finger section keeps a fixed posture to clamp the objects, and can automatically rotate the second finger section to contact the objects after the first finger section contacts the objects, so that the purpose of self-adaptively enveloping the objects with different shapes and sizes is achieved; the grabbing range is large, and grabbing is stable and reliable; driving the two finger segments with a driver; the device has simple structure and low processing, assembling and maintaining cost, and is suitable for robot hands.
Claims (4)
1. A self-adaptive finger device with a rack cosine telescopic linear flat clamp comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first shaft, a second shaft, a third shaft, a spring piece, a limiting block, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a driver and a transmission mechanism; the driver is fixedly connected with the base, and the output end of the driver is connected with the input end of the transmission mechanism; the near joint shaft is sleeved in the base, the first finger section is sleeved on the near joint shaft, the far joint shaft is sleeved in the first finger section, the second finger section is sleeved on the far joint shaft, and the central line of the near joint shaft is parallel to the central line of the far joint shaft; the output end of the transmission mechanism is connected with the first connecting rod; one end of the first connecting rod is sleeved on the proximal joint shaft, and the other end of the first connecting rod is sleeved on the first shaft; one end of the second connecting rod is sleeved on the first shaft, and the other end of the second connecting rod is sleeved on the third shaft; one end of the third connecting rod is sleeved on the second shaft, and the other end of the third connecting rod is sleeved on the third shaft; one end of the fourth connecting rod is sleeved on the proximal joint shaft, and the other end of the fourth connecting rod is sleeved on the second shaft; the third shaft is sleeved in the second finger section; two ends of the spring piece are respectively connected with the base and the fourth connecting rod; the limiting block is fixedly connected to the base; the limiting block is contacted with the fourth connecting rod in the initial state; setting the central point of the proximal joint axis as A, the central point of the distal joint axis as B, the central point of the third axis as C, the central point of the second axis as D, the length of the line segment AB is equal to that of the line segment CD, and the length of the line segment BC is equal to that of the line segment AD; the central point of the first axis is F, and the length of the line segment AF is greater than that of the line segment BC; the method is characterized in that: the rack cosine telescopic straight line parallel clamping self-adaptive finger device further comprises a fourth shaft, an orthogonal sliding groove piece, a first rack, a second rack, a first gear, a second gear, an intermediate transmission mechanism, a first transmission shaft, a second transmission shaft and a second finger section surface cover; the fourth shaft is sleeved on the third connecting rod, the orthogonal sliding groove piece is provided with a sliding groove, and the fourth shaft is embedded in the sliding groove in a sliding manner; the orthogonal chute piece is embedded in the second finger section in a sliding mode, and the sliding direction of the orthogonal chute piece in the second finger section is perpendicular to the sliding direction of the fourth shaft in the orthogonal chute piece; setting the central point of the fourth axis as E, setting the point C, the point E and the point D to be collinear, and setting the ratio of the length of the line segment CD to the length of the line segment CE as k, wherein k is more than 1; the first rack is fixedly connected to the orthogonal sliding groove part; the first gear is meshed with the first rack, and the first transmission shaft is sleeved on the second finger section; the second transmission shaft is sleeved on the second finger section; the first gear is sleeved on the first transmission shaft; the second gear is sleeved on the second transmission shaft and meshed with a second rack, and the second rack is embedded on the second finger section in a sliding manner; the surface cover of the second finger section is fixedly connected on the second rack; the surface cover of the second finger section is embedded on the second finger section in a sliding way; the first gear is connected with the input end of the middle transmission mechanism, the output end of the middle transmission mechanism is connected with the second gear, the middle transmission mechanism, the first gear and the second gear form a transmission relation, and the ratio of the moving speed of the second rack relative to the second finger section to the moving speed of the first rack relative to the second finger section is k through the transmission of the first gear, the middle transmission mechanism and the second gear; the second finger section surface cover, the first rack, the second rack and the orthogonal sliding groove component are respectively parallel to each other relative to the movement direction of the second finger section.
2. The rack cosine telescopic straight-line parallel clamping adaptive finger device according to claim 1, wherein: the intermediate transmission mechanism adopts one or a combination of a plurality of gears, connecting rods, transmission belts, chains and ropes.
3. The rack cosine telescopic straight-line parallel clamping adaptive finger device according to claim 1, wherein: the driver adopts a motor, an air cylinder or a hydraulic cylinder.
4. The rack cosine telescopic straight-line parallel clamping adaptive finger device according to claim 1, wherein: the spring part adopts a tension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711175186.4A CN108189055B (en) | 2017-11-22 | 2017-11-22 | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711175186.4A CN108189055B (en) | 2017-11-22 | 2017-11-22 | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189055A CN108189055A (en) | 2018-06-22 |
| CN108189055B true CN108189055B (en) | 2020-09-25 |
Family
ID=62572912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711175186.4A Active CN108189055B (en) | 2017-11-22 | 2017-11-22 | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189055B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129549B (en) * | 2018-09-14 | 2021-08-17 | 清华大学 | Sliding chute double-crank linear parallel clamping self-adaptive robot finger device |
| CN109605404B (en) * | 2018-11-27 | 2022-05-03 | 安徽工业大学 | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
| CN109605414B (en) * | 2018-11-27 | 2021-07-06 | 安徽工业大学 | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110115244A1 (en) * | 2008-07-17 | 2011-05-19 | Kawasaki Jukogyo Kabushiki Kaisha | Robot hand |
| US20140265401A1 (en) * | 2011-11-25 | 2014-09-18 | Robotiq Inc. | Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN106142118A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running transmission flat folder adaptive robot finger apparatus taken turns by four bars six |
| CN106272501A (en) * | 2016-08-31 | 2017-01-04 | 清华大学 | Toggle slide bar adaptive robot finger apparatus |
| CN106564065A (en) * | 2016-08-31 | 2017-04-19 | 清华大学 | Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device |
| CN107053220A (en) * | 2016-10-12 | 2017-08-18 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line |
-
2017
- 2017-11-22 CN CN201711175186.4A patent/CN108189055B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110115244A1 (en) * | 2008-07-17 | 2011-05-19 | Kawasaki Jukogyo Kabushiki Kaisha | Robot hand |
| US20140265401A1 (en) * | 2011-11-25 | 2014-09-18 | Robotiq Inc. | Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN106142118A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running transmission flat folder adaptive robot finger apparatus taken turns by four bars six |
| CN106272501A (en) * | 2016-08-31 | 2017-01-04 | 清华大学 | Toggle slide bar adaptive robot finger apparatus |
| CN106564065A (en) * | 2016-08-31 | 2017-04-19 | 清华大学 | Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device |
| CN107053220A (en) * | 2016-10-12 | 2017-08-18 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108189055A (en) | 2018-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053220B (en) | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack | |
| CN108214534B (en) | Self-adaptive under-actuated robot clamping jaw | |
| CN104889998B (en) | Under-actuated robot finger device with enveloping and clamping functions | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| CN108274487B (en) | Indirect self-adaptive robot finger device with linear flat clamping of rack and slide bar | |
| CN108818577B (en) | Self-adaptive robot finger device for linearly and parallelly clamping oscillating bar and sliding groove | |
| CN105150231B (en) | Seven-connecting-rod parallel-connection pinching-holding composite self-adaptive robot finger device | |
| CN106564065B (en) | The flat adaptive finger apparatus of folder of herringbone connecting rod rack sliding block straight line | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN107309887B (en) | Coupling and self-adaptive under-actuated bionic dexterous finger | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN202241307U (en) | Connecting rod slider type under-actuated bionic robot hand device | |
| CN108748230B (en) | Separation driving cam type height self-adjusting flat clamp self-adaptive finger device | |
| CN109176566B (en) | Self-adaptive robot finger device with gear chute and connecting rod linearly clamped in parallel | |
| CN109129548B (en) | Variable-geometry linear parallel clamping self-adaptive robot finger device | |
| CN109227583B (en) | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute | |
| CN101628416A (en) | Biarticulate sliding block type directly driving robot finger device with variable holding force | |
| CN108189057B (en) | Fluid acceleration tail end telescopic linear parallel clamping self-adaptive robot finger device | |
| CN108453768B (en) | Rod wheel parallel racing envelope self-adaptive robot finger device | |
| CN107433607B (en) | Robot finger device suitable for grabbing desktop objects | |
| CN109571520B (en) | Huo Ken connecting rod straight line parallel clamping self-adaptive robot finger device | |
| CN111761599B (en) | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device | |
| CN210233032U (en) | Co-circular slide bar linear flat clamping indirect self-adaptive robot finger device | |
| CN206393654U (en) | The flat folder indirect self-adaptive robot finger apparatus of rack parallel connection is put in motor | |
| CN107243915B (en) | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |