CN111360860A

CN111360860A - Five-rod sliding groove linear parallel clamping self-adaptive robot finger device

Info

Publication number: CN111360860A
Application number: CN202010230064.6A
Authority: CN
Inventors: 张文增; 尤强周; 王永康; 张瑞; 刘文彦; 郭伟波; 杨倩倩; 霍雪婷
Original assignee: Tianjin Research Institute For Advanced Equipment Tsinghua University Luoyang Advanced Manufacturing Industry Research And Development Base
Current assignee: Qingyan Advanced Manufacturing Industry Research Institute (Yangquan) Co.,Ltd.; TIANJIN RESEARCH INSTITUTE FOR ADVANCED EQUIPMENT TSINGHUA University LUOYANG ADVANCED MANUFACTURING INDUSTRY RESEARCH AND DEVELOPMENT BASE
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2020-07-03

Abstract

Five pole spout straight lines parallel clamp self-adaptation robot finger devices belongs to robot hand technical field, including base, first finger section, second finger section, motor, slider, spout, far away joint axle, two connecting rods, three pivot, spring spare and two spacing lugs etc.. The device realizes the linear parallel clamping and self-adaptive composite grabbing functions of the fingers of the robot, can translate the first finger section and the second finger section, and clamps an object in a flat clamping and pinching mode; the self-adaptive object holding device can realize self-adaptive object holding and has self-adaptability to objects with different shapes and sizes; internal grasping can be achieved. The device can reach the terminal accurate motion along the straight line of second finger section in parallel centre gripping stage to the adaptation is parallel centre gripping and is snatched the not unidimensional object on table surface, and need not to adjust the holistic position of robot hand, the cost is reduced. The device has wide grabbing range, only adopts a single motor to drive, and does not need a complex sensing and real-time control system.

Description

Five-rod sliding groove linear parallel clamping self-adaptive robot finger device

Technical Field

The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a five-rod sliding groove linear parallel clamping self-adaptive robot finger device.

Background

The traditional under-actuated robot hand with the parallel clamping self-adaptive function has the advantages that two grabbing modes of parallel clamping and self-adaptation can be realized, but the tail end presents an arc track, so that different palm positions are needed when the robot hand grabs different-size objects on a working table surface, the whole position of the robot hand can be adjusted by utilizing the mechanical arm, and the problem that the working efficiency is reduced and the working time is prolonged can be solved.

A robot hand device (U.S. patent 2014/0265401A1) adopts a plurality of connecting rods to realize the functions of parallel clamping and self-adaptive composite grabbing, and has the defects that: in the process of parallel clamping, the first finger section rotates around the near joint shaft, the translation of the far joint shaft and the second finger section in an arc track is generated, the position of the tail end of the second finger section is lowered, and the device cannot adapt to objects with large size change when the device is used for grabbing the objects on a working table top. If the position of the whole robot hand (palm base) relative to the working table surface needs to be adjusted again when objects with different sizes are grabbed, additional robot arm programming tasks are brought, time for adjusting the position of the robot hand is needed, and the robot is not favorable for high-speed grabbing and operation.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a five-rod sliding groove linear parallel clamping self-adaptive robot finger device. The device has multiple grabbing modes, can move the fingers horizontally to clamp an object in a flat clamping and pinching mode, can bend the second finger section to self-adaptively envelop the object after the first finger section contacts the object, and has self-adaptability to objects with different shapes and sizes; the device can achieve the purpose that the tail end of the second finger section accurately moves along a straight line in the parallel clamping stage, so that the device is suitable for clamping and grabbing objects with different sizes on the working table surface in parallel, the position of the whole robot hand does not need to be adjusted, and the cost is reduced; and a single motor is adopted for driving, and a complex sensing and real-time control system is not needed.

The purpose of the invention is realized by adopting the following technical scheme. The invention provides a five-rod sliding groove linear parallel clamping self-adaptive robot finger device which comprises a base, two first finger sections, two second finger sections, two far joint shafts, a transmission mechanism and a motor, wherein the base is provided with a first sliding groove and a second sliding groove; the motor is fixedly arranged in the base; the two first finger sections and the two second finger sections are oppositely arranged, the ith far joint shaft is movably sleeved in the ith first finger section, and the ith second finger section is sleeved on the ith far joint shaft; the output shaft of the motor is connected with the input end of the transmission mechanism; the five-rod sliding groove linear parallel clamping self-adaptive robot finger device further comprises two sliding blocks, two first connecting rods, two second connecting rods, two first rotating shafts, two second rotating shafts, two third rotating shafts, two spring pieces, two first limiting lugs and two second limiting lugs; the base is provided with a fixed sliding chute, the two sliding blocks are embedded in the sliding chute in a sliding manner, and the sliding direction of the sliding blocks is perpendicular to the central line of the far joint shaft; the end part of the ith first finger section is fixedly connected with the ith sliding block, and the sliding directions of the two first finger sections are opposite; the output end of the transmission mechanism is connected with the two first connecting rods; the ith first rotating shaft is sleeved in the base, one end of an ith first connecting rod is sleeved on the ith first rotating shaft, the other end of the ith first connecting rod is sleeved on the ith second rotating shaft, one end of the ith second connecting rod is sleeved on the ith second rotating shaft, and the other end of the ith second connecting rod is sleeved on the ith third rotating shaft; the two ends of the ith spring are respectively connected with the ith first finger section and the ith second finger section; the ith first limiting lug is fixedly connected with the ith first finger section, the ith second limiting lug is fixedly connected with the ith second finger section, and the ith first limiting lug is contacted with the ith second limiting lug under the elastic force of the ith spring piece in an initial state; one end of the ith second finger section is sleeved on the ith third rotating shaft; the central lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the far joint shaft are parallel to each other; wherein i is 1, 2.

Furthermore, the transmission mechanism comprises two gears, two belt wheels and a transition shaft, and the transition shaft is movably sleeved in the base; an output shaft of the motor is connected with a first rotating shaft, a first gear is fixedly sleeved on the first rotating shaft, and one end of a first connecting rod is fixedly connected with the first gear; the second gear and the first belt wheel are sleeved on the transition shaft and fixedly connected with the transition shaft, and the first gear and the second gear are meshed to realize reverse rotation at the same speed; the second belt wheel is sleeved on the other first rotating shaft, and one end of the other first connecting rod is fixedly connected with the second belt wheel; the first belt wheel and the second belt wheel are connected through an O-shaped belt to realize the same-direction and same-speed rotation.

Furthermore, the second finger section comprises a grabbing portion for grabbing the target object and a connecting rod portion with the end portion sleeved on the corresponding third rotating shaft, and the second limiting convex block is fixedly connected with the corresponding second finger section and is close to the connecting rod portion.

Further, the spring piece is a cylindrical spring or a torsion spring.

The scheme has the following outstanding effects and obvious characteristics:

the device adopts motor, a plurality of connecting rods, a plurality of pivot, spout, spring spare and two spacing lugs etc. to realize the parallel centre gripping of robot finger straight line and the compound function of snatching of self-adaptation, has three kinds and snatchs the mode: (1) the device can translate the first finger section and the second finger section to clamp an object in a flat clamping and holding manner; (2) the device can realize self-adaptive object holding, after the first finger section is in translational contact with the object and is blocked, the second finger section automatically rotates around the far joint shaft until the first finger section is in contact with the object, so that the effect of holding the object in a self-adaptive enveloping manner is achieved, and the device has self-adaptability to objects with different shapes and sizes; (3) the device can realize inside snatching, can prop when first finger section and the outside opening of second finger section and get the cavity object. The device can reach the terminal accurate motion along the straight line of second finger section in parallel centre gripping stage to the adaptation is parallel centre gripping and is snatched the not unidimensional object on table surface, and need not to adjust the holistic position of robot hand, the cost is reduced. The device has the advantages of simple structure, low manufacturing cost and wide grabbing range, only adopts a single motor for driving, does not need a complex sensing and real-time control system, and is suitable for various robots needing to grab different objects.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a perspective external view of an embodiment of a five-bar sliding groove linear parallel clamping adaptive robot finger device designed by the invention.

Fig. 2 is a partial part position view of the embodiment shown in fig. 1.

Fig. 3 is a rear view of the embodiment shown in fig. 1.

Fig. 4 is an exploded view of the embodiment shown in fig. 1.

Fig. 5A to 5B are schematic views illustrating the operation process of the embodiment shown in fig. 1 for realizing internal grasping, and expanding the hollow object when the first finger section and the second finger section are expanded outward.

Fig. 6A to 6B are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 for gripping an object in a parallel clamping manner.

Fig. 7A to 7C are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 for grabbing an object in an adaptive envelope gripping manner.

[ reference numerals ]

1-base, 11-sliding groove, 21-first finger section, 211-sliding block, 22-second finger section,

3-a far joint shaft, 4-a motor, 61-a first connecting rod, 62-a second connecting rod, 71-a first rotating shaft,

72-second rotating shaft, 73-third rotating shaft, 8-spring piece, 91-first limiting convex block and 92-second limiting convex block.

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.

Referring to fig. 1 to 4, in an embodiment of the five-bar sliding chute linear parallel clamping adaptive robot finger device designed in the present invention, a position of the second finger section is defined as "up" and a position of the base is defined as "down". The present embodiment comprises a base 1, two first finger sections 21, two second finger sections 22, two distal joint shafts 3, a transmission mechanism and a motor 4; the motor 4 is fixedly arranged in the base 1; the two first finger sections 21 and the second finger section 22 are oppositely arranged, the ith far joint shaft 3 is movably sleeved in the ith first finger section 21, and the ith second finger section 22 is sleeved on the ith far joint shaft 3; and an output shaft of the motor 4 is connected with an input end of the transmission mechanism. The present embodiment further includes two sliding blocks 211, two first connecting rods 61, two second connecting rods 62, two first rotating shafts 71, two second rotating shafts 72, two third rotating shafts 73, two spring elements 8, two first limiting protrusions 91 and two second limiting protrusions 92; the base 1 is provided with a fixed sliding chute 11, the two sliding blocks 211 are slidably embedded in the sliding chute 11, and the sliding direction of the sliding blocks 211 is perpendicular to the central line of the far joint shaft 3; the lower end of the ith first finger section 21 is fixedly connected with the ith sliding block 211, and the sliding directions of the two first finger sections 21 are opposite; the output end of the transmission mechanism is connected with two first connecting rods 61; the ith first rotating shaft 71 is sleeved in the base 1; one end of the ith first connecting rod 61 is sleeved on the ith first rotating shaft 71, and the other end of the ith first connecting rod 61 is sleeved on the ith second rotating shaft 72; one end of the ith second connecting rod 62 is sleeved on the ith second rotating shaft 72, and the other end of the ith second connecting rod 62 is sleeved on the ith third rotating shaft 73; the two ends of the ith spring element 8 are respectively connected with an ith first finger section 21 and an ith second finger section 22; the ith first limiting bump 91 is fixedly connected with the ith first finger section 21, and the ith second limiting bump 92 is fixedly connected with the ith second finger section 22; in the initial state, the ith first limiting lug 91 is contacted with the ith second limiting lug 92 under the elastic force of the ith spring element 8; one end of the ith second finger section 22 is sleeved on the ith third rotating shaft 73; the central lines of the first rotating shaft 71, the second rotating shaft 72, the third rotating shaft 73 and the far joint shaft 3 are parallel to each other; wherein i is 1, 2.

In this embodiment, the transmission mechanism includes two gears, two belt pulleys, and a transition shaft, and the transition shaft is movably sleeved in the base 1; the output shaft of the motor 4 is connected with a first rotating shaft 71 on the left side; the first gear is fixedly sleeved on the first rotating shaft 71 on the left side, and one end of the first connecting rod 61 is fixedly connected with the first gear; the second gear and the first belt wheel are sleeved on the transition shaft, and the second gear is fixedly connected with the first belt wheel; the first gear and the second gear are meshed to realize reverse rotation at the same speed; the second belt wheel is sleeved on the first rotating shaft 71 on the right side, and one end of the other first connecting rod 61 is fixedly connected with the second belt wheel; the first belt wheel and the second belt wheel are connected through an O-shaped belt to realize the same-direction and same-speed rotation. Of course, in other embodiments of the present invention, the transmission mechanism may be many other conventional transmission mechanisms, such as a gear transmission mechanism, a pulley transmission mechanism, etc., and may also be a primary transmission mechanism or a transmission mechanism with more than two stages, as long as the power of the driver (motor) is transmitted to the first link.

In this embodiment, the second finger section 22 is V-shaped, and includes a grabbing portion and a connecting rod portion, where the grabbing portion is used for grabbing a target object; the ends of the link portions are sleeved on the corresponding third rotating shafts 73. The second limiting convex block 92 is fixedly connected with the corresponding second finger section 22 and is close to the connecting rod part.

In this embodiment, the spring member 8 is a cylindrical spring, but may be a torsion spring in other embodiments.

The working principle of the invention is described as follows by combining the attached drawings:

in the initial state, the first limit projection 91 is in contact with the second limit projection 92 under the elastic force of the spring member 8, as shown in fig. 5A, 6A, and 7A.

When the object is grabbed, the motor 4 rotates, the first connecting rod 61 is driven to rotate through the transmission mechanism, and the first limiting convex block 91 is in contact with the second limiting convex block 92 in the initial state, so that the second finger section 22 cannot rotate around the far joint shaft 3, and at the moment, the first finger section 21 and the second finger section 22 form an approximately rigid structure due to the constraint of the spring 8, so that the effect that the first finger section 21 and the second finger section 22 move linearly together under the pushing of the second connecting rod 62 is achieved. When the two first finger sections move away from each other, when the second finger section 22 contacts an object, internal grabbing is realized, and the action process is shown in fig. 5A to 5B. When the two first finger sections move oppositely, when the second finger section 22 contacts an object, parallel clamping and grabbing are realized, and the action process is shown in fig. 6A to 6B; when the second finger section 22 does not contact the object and the first finger section 21 contacts the object, the motor 4 continues to rotate, the transmission mechanism drives the first connecting rod 61 to continue to rotate and the second connecting rod 62 to continue to push, at this time, the spring 8 deforms, the angle between the second connecting rod 62 and the first connecting rod 61 changes, the second finger section 22 located on the left side rotates clockwise around the center line of the distal joint shaft 3, the second finger section 22 located on the right side rotates counterclockwise around the center line of the distal joint shaft 3 until the two second finger sections 22 contact the object, the grabbing is finished, and the action process is as shown in fig. 7A to 7C. The device has realized the self-adaptation and has snatched the effect, and this process has the adaptability to different shapes, size object, snatchs stably.

When the object is released, the motor rotates reversely, and the process of releasing the object is opposite to the process, so that the details are not repeated.

Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the design and scope of the technical solutions of the present invention.

Claims

1. A five-rod sliding groove linear parallel clamping self-adaptive robot finger device comprises a base, two first finger sections, two second finger sections, two far joint shafts, a transmission mechanism and a motor; the motor is fixedly arranged in the base; the two first finger sections and the two second finger sections are oppositely arranged, the ith far joint shaft is movably sleeved in the ith first finger section, and the ith second finger section is sleeved on the ith far joint shaft; the output shaft of the motor is connected with the input end of the transmission mechanism; the method is characterized in that: the five-rod sliding groove linear parallel clamping self-adaptive robot finger device further comprises two sliding blocks, two first connecting rods, two second connecting rods, two first rotating shafts, two second rotating shafts, two third rotating shafts, two spring pieces, two first limiting lugs and two second limiting lugs; the base is provided with a fixed sliding chute, the two sliding blocks are embedded in the sliding chute in a sliding manner, and the sliding direction of the sliding blocks is perpendicular to the central line of the far joint shaft; the end part of the ith first finger section is fixedly connected with the ith sliding block, and the sliding directions of the two first finger sections are opposite; the output end of the transmission mechanism is connected with the two first connecting rods; the ith first rotating shaft is sleeved in the base, one end of an ith first connecting rod is sleeved on the ith first rotating shaft, the other end of the ith first connecting rod is sleeved on the ith second rotating shaft, one end of the ith second connecting rod is sleeved on the ith second rotating shaft, and the other end of the ith second connecting rod is sleeved on the ith third rotating shaft; the two ends of the ith spring are respectively connected with the ith first finger section and the ith second finger section; the ith first limiting lug is fixedly connected with the ith first finger section, the ith second limiting lug is fixedly connected with the ith second finger section, and the ith first limiting lug is contacted with the ith second limiting lug under the elastic force of the ith spring piece in an initial state; one end of the ith second finger section is sleeved on the ith third rotating shaft; the central lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the far joint shaft are parallel to each other; wherein i is 1, 2.

2. The five-bar chute linear parallel clamping adaptive robot finger device according to claim 1, characterized in that: the transmission mechanism comprises two gears, two belt wheels and a transition shaft, and the transition shaft is movably sleeved in the base; an output shaft of the motor is connected with a first rotating shaft, a first gear is fixedly sleeved on the first rotating shaft, and one end of a first connecting rod is fixedly connected with the first gear; the second gear and the first belt wheel are sleeved on the transition shaft and fixedly connected with the transition shaft, and the first gear and the second gear are meshed to realize reverse rotation at the same speed; the second belt wheel is sleeved on the other first rotating shaft, and one end of the other first connecting rod is fixedly connected with the second belt wheel; the first belt wheel and the second belt wheel are connected through an O-shaped belt to realize the same-direction and same-speed rotation.

3. The five-bar chute linear parallel clamping adaptive robot finger device according to claim 1, characterized in that: the second finger section comprises a grabbing part for grabbing the target object and a connecting rod part with the end part sleeved on the corresponding third rotating shaft, and the second limiting convex block is fixedly connected with the corresponding second finger section and is close to the connecting rod part.

4. The five-bar chute linear parallel clamping adaptive robot finger device according to claim 1, characterized in that: the spring piece is a cylindrical spring or a torsion spring.