CN212287680U - Sliding block flexible piece flat clamping indirect self-adaptive robot hand device - Google Patents
Sliding block flexible piece flat clamping indirect self-adaptive robot hand device Download PDFInfo
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- CN212287680U CN212287680U CN202020973933.XU CN202020973933U CN212287680U CN 212287680 U CN212287680 U CN 212287680U CN 202020973933 U CN202020973933 U CN 202020973933U CN 212287680 U CN212287680 U CN 212287680U
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Abstract
A sliding block flexible piece parallel clamping indirect self-adaptive robot hand device belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, two transmission wheels, a flexible piece, a sliding block, a spring piece, a motor, a transmission mechanism and the like. The device has realized earlier the coupling linkage double joint, and then the self-adaptation rotates the distant joint, can realize snatching the self-adaptation of object of different shapes, size, and the device has two kinds and snatchs the mode: one is a pinching and holding mode that the tail end finger section contacts the object, the action process has high anthropomorphic degree, and the pinching and holding mode is an ideal mode for grabbing small objects on a desktop; the other is an envelope grabbing mode that two finger sections contact the object, and grabbing is stable. The device only uses one motor to drive two joints, thereby achieving the under-actuated effect and being easy to control; the robot has low manufacturing and maintenance cost, and is suitable for various automatic pipelines or service robots needing to grab and release objects.
Description
Technical Field
The utility model belongs to the technical field of the robot hand, in particular to indirect self-adaptation robot hand device of slider flexible piece parallel clip's structural design.
Background
The robot hand is an important part for grabbing objects by the robot, and the design of the robot hand needs to have a good stable grabbing effect on one hand and also needs to have a sufficient personification effect in the grabbing process, namely the rotation condition of a plurality of joints is close to the rotation condition of human fingers.
Currently existing robotic hands include two types: the robot has good anthropomorphic property, simulates human hands in appearance, size and action, generally has a plurality of fingers, each finger has a plurality of joints, and not only can realize good grabbing, but also can be used by disabled people; the other type is a dexterous hand which is provided with more joints, each joint is generally provided with a motor for active driving, and a few joints are linked in a coupling mode. Considering that human hands are an optimized result of long-term biological evolution, simulating human hands to develop robot hands is an important and popular research and development direction, but the direction has many difficulties: the staff is small, and the flexibility ratio is big, and it is high to snatch stability, has very big adaptability of snatching, and on the other hand current technique is difficult to reach and has great output power under same volume, and the artificial hand of many emulations or the dexterous hand of robot of development all is difficult to satisfy the requirement of grabbing weight and control simply, and the cost is expensive simultaneously. A compromise in this respect is to use under-actuated techniques, i.e. to drive a greater number of joints with fewer motors (or other drive means).
Some under-actuated fingers have been designed, mainly including coupling, parallel clamping and adaptive grasping modes. The two grabbing modes of coupling and self-adapting are two main grabbing modes on a human hand. There is an under-actuated finger (chinese patent publication No. CN 105643644B) having both coupling and adaptive motion modes, comprising a base joint, a proximal knuckle, a middle knuckle and a distal knuckle, a reduction box is fixed on the base, a motor is connected with a first bevel gear, a second bevel gear is fixed on a worm and engaged with the first bevel gear; the worm wheel is sleeved on the near joint shaft, the worm is meshed with the worm wheel, the third knuckle shell is connected with the second knuckle shell through the far joint shaft, and the far knuckle is sleeved on the far joint shaft through the position sensor. The under-actuated robot finger has the following defects: the structure is complicated, the volume is large, the manufacturing and maintenance cost is high, the humanoid degree is not high, the self-adaptive capacity is poor, and the grabbing force is small.
Disclosure of Invention
In order to overcome the shortcomings of the prior art, the utility model aims to provide an indirect self-adaptive robot hand device with a flat clamp of a slider flexible piece. The device can realize snatching the self-adaptation of object size and shape, realizes coupling linkage double joint earlier, and then the self-adaptation rotates the distant joint, has two kinds to snatch the mode: one is a pinching mode in which the end finger section contacts the object; the other is an envelope grabbing mode that two finger sections contact an object; the two joints are driven by one motor, so that an under-actuated effect is achieved, and the control is easy; the manufacturing and maintenance costs are low.
The utility model aims at adopting the following technical scheme to realize. According to the utility model provides a slider flexible piece parallel clamping indirect self-adaptive robot hand device, which comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor and a transmission mechanism; the motor is fixedly connected to the base, and an output shaft of the motor is connected with an input end of the transmission mechanism; the output end of the transmission mechanism is connected with the first finger section; the proximal joint shaft is sleeved in the base, the first finger section is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger section, and the second finger section is sleeved on the distal joint shaft; the proximal joint axis and the distal joint axis are parallel to each other; the device also comprises a first driving wheel, a second driving wheel, a flexible part, a sliding block and a spring part; the first driving wheel is sleeved on the near joint shaft and fixedly connected with the base, and the second driving wheel is sleeved on the far joint shaft and fixedly connected with the second finger section; one end of the flexible part is fixedly connected with the first driving wheel, the flexible part is sequentially wound through the first driving wheel, the first finger section and the second driving wheel, and the other end of the flexible part is fixedly connected with the second driving wheel; the sliding block is embedded in the first finger section in a sliding mode and contacts with an object firstly in the enveloping and grabbing stage; setting the central point of the near joint shaft as A and the central point of the far joint shaft as B, and enabling the sliding direction of the sliding block to be vertical to the line segment AB; the sliding block is in contact with the flexible piece through the middle part of the first finger section when in the initial position; two ends of the spring piece are respectively connected with the second transmission wheel and the first finger section, and the spring piece enables the flexible piece to penetrate through the middle of the first finger section and tend to be in a tensioning state.
Furthermore, the transmission radiuses of the first transmission wheel and the second transmission wheel are equal.
Further, the transmission mechanism comprises a speed reducer, a worm gear, a transition shaft, a first transition wheel and a second transition wheel; the output shaft of the motor is connected with the input shaft of the speed reducer, the worm is fixedly sleeved on the output shaft of the speed reducer, the worm is meshed with the worm wheel, the worm wheel is fixedly sleeved on the transition shaft, the transition shaft is sleeved in the base, the first transition wheel is fixedly sleeved on the transition shaft, and the second transition wheel is fixedly sleeved on the proximal joint shaft and meshed with the first transition wheel; the first finger section is fixedly connected with the second transition wheel.
Further, the flexible member is a tendon rope.
Compared with the prior art, the utility model, following outstanding characteristics and beneficial effect have:
the utility model discloses the device adopts motor, drive mechanism, two drive wheels, flexible piece, slider and spring spare etc. to synthesize and has realized snatching the self-adaptation of the object of different shapes, size, has realized earlier coupling linkage double joint, and later self-adaptation rotates the distant joint again, can have two kinds to snatch the mode: one is a pinching and holding mode that the tail end finger section contacts the object, the action process has high anthropomorphic degree, and the pinching and holding mode is an ideal mode for grabbing small objects on a desktop; the other is an envelope grabbing mode that two finger sections contact the object, and grabbing is stable. The device only uses one motor to drive two joints, achieves the underactuated effect and is easy to control; the robot has low manufacturing and maintenance cost, and is suitable for various automatic pipelines or service robots needing to grab and release 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 according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective view of an embodiment of a slider-flexure parallel-clamping indirect adaptive robot hand device provided by the present invention.
FIG. 2 is a perspective view of the embodiment of FIG. 1 with the base and first finger section side plate removed.
Fig. 3 is a front external view of the embodiment shown in fig. 1.
Fig. 4 is a right sectional view of fig. 3.
Fig. 5 is a right side view of fig. 3.
Fig. 6 is a right sectional view of fig. 5.
Fig. 7 to 9 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 for grabbing an object in an envelope holding manner.
Fig. 10 to 12 are schematic views showing the action process of the second finger section for clamping the object in parallel opening (called flat clamp gripping) as another way for gripping the object according to the embodiment shown in fig. 1.
[ reference numerals ]
1-base 2-first finger segment 3-second finger segment 4-proximal joint axis
5-far joint shaft 6-motor 71-first driving wheel 72-second driving wheel
73-tendon rope 74-sliding block 75-spring part 81-speed reducer
82-worm 83-worm wheel 84-transition shaft 85-first transition wheel
86-second transition wheel 9-object
Detailed Description
The specific structure, operation principle and operation process of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1 to 6, an embodiment of a sliding block flexible piece parallel clamping indirect adaptive robot hand device according to the present invention is shown. The present embodiment 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 motor 6 and a transmission mechanism; the motor 6 is fixedly connected to the base 1, and an output shaft of the motor 6 is connected with an input end of the transmission mechanism; the output end of the transmission mechanism is connected with the first finger section 2; the proximal joint shaft 4 is sleeved in the base, 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, and the second finger section 3 is sleeved on the distal joint shaft 5; the proximal joint axis 4 and the distal joint axis 5 are parallel to each other. The embodiment also comprises a first transmission wheel 71, a second transmission wheel 72, a flexible part, a sliding block 74 and a spring part 75; the first driving wheel 71 is sleeved on the near joint shaft 4, the second driving wheel 72 is sleeved on the far joint shaft 5, the first driving wheel 71 is fixedly connected with the base 1, and the second driving wheel 72 is fixedly connected with the second finger section 3; one end of the flexible part is fixedly connected with the first driving wheel 71, the flexible part sequentially winds through the first driving wheel 71, penetrates through the first finger section 2 and winds through the second driving wheel 72, and the other end of the flexible part is fixedly connected with the second driving wheel 72; the sliding block 74 is embedded in the first finger section 2 in a sliding mode and is used for firstly contacting an object in the envelope grabbing stage; if the central point of the proximal joint shaft 4 is a and the central point of the distal joint shaft 5 is B, the sliding direction of the slider 74 is perpendicular to the line segment AB; the slider 74 is in contact with the flexible member through the middle of the first finger section in the initial position; the two ends of the spring element 75 are respectively connected with the second finger section 3 and the first finger section 2, and the spring element 75 enables the flexible element to pass through the middle part of the first finger section to be prone to be in a tensioning state.
In the present embodiment, the transmission mechanism includes a speed reducer 81, a worm 82, a worm wheel 83, a transition shaft 84, a first transition wheel 85, and a second transition wheel 86; an output shaft of the motor 6 is connected with an input shaft of the speed reducer 81, the worm 82 is fixedly sleeved on the output shaft of the speed reducer 81, the worm 82 is meshed with the worm wheel 83, the worm wheel 83 is fixedly sleeved on the transition shaft 84, the transition shaft 84 is sleeved in the base 1, the first transition wheel 85 is fixedly sleeved on the transition shaft 84, and the second transition wheel 86 is fixedly sleeved on the proximal joint shaft 4; the first transition wheel 85 is meshed with the second transition wheel 86, and the first finger section 2 is fixedly connected with the second transition wheel 86.
In this embodiment, two grooves extending in a direction perpendicular to the line segment AB are symmetrically disposed in the first finger segment 2; the sliding block 74 is provided with a stressed part which is positioned on the outer side of the first finger section and is in contact with an object in the enveloping and grabbing stage, a protruding sliding part which is matched with the groove and enables the sliding block to move in the direction perpendicular to the line segment AB when the stressed part is in contact with the object is symmetrically arranged on two sides of the stressed part, a through hole is formed in the sliding part, the flexible part penetrates through the through hole during assembly, and the flexible part penetrates through the first finger section and the sliding block and the flexible part penetrate through the middle of the first finger section to be in contact.
In this embodiment, the flexible member is a tendon rope 73.
The operation of the present embodiment will be described with reference to the accompanying drawings.
In the embodiment, the initial position is set to be the state that the finger is straightened, and the first finger section 2 and the second finger section 3 are both in the vertical state in the figure (as shown in figures 7 and 10)
The motor 6 rotates, the worm 82 is driven to rotate through the speed reducer 81, the worm drives the worm wheel 83, the worm wheel drives the first transition wheel 85 through the transition shaft 84, and the first transition wheel drives the second transition wheel 86.
The second transition wheel 86 rotates to enable the first finger section 2 to rotate, because the first transmission wheel 71 is fixedly connected with the base 1, and meanwhile, one end of the tendon rope 73 is fixed by the first transmission wheel 71, the tendon rope 73 can be always kept in a tensioned state under the action of the spring element 75 in the process of rotating the first finger section, the winding part of the tendon rope 73 on the first transmission wheel 71 is reduced by a section of length, the winding part of the tendon rope 73 on the second transmission wheel 72 is increased by a corresponding section of length, and because the transmission radiuses of the first transmission wheel 71 and the second transmission wheel 72 are equal, the second transmission wheel 72 and the fixedly connected second finger section 3 can reversely rotate around the far joint shaft 5 by an angle which is the same as the rotation angle of the first finger section 2 around the near joint shaft 4.
When the second finger section 3 contacts the object first, the grabbing is finished, and the grabbing effect of pinching the end is achieved, and the corresponding action process is as shown in fig. 10 to fig. 12.
In the above process, the slider 74 contacts the object prior to the second finger section 3, the slider 74 is pressed by the object 9 to slide towards the inside of the first finger section 2, at this time, the slider 74 presses the tendon rope 73 to pass through the middle of the first finger section, so that the tendon rope 73 is bent, the tendon rope 73 pulls the second transmission wheel 72 to rotate, the second transmission wheel drives the second finger section 3 to rotate, the spring 75 deforms until the second finger section 3 contacts the object 9, and the process is suitable for objects with different shapes and sizes, so that the self-adaptive grabbing is realized, and the corresponding action process is as shown in fig. 7 to 9.
The process of releasing the object 9 is the reverse of the above process and will not be described in detail.
The utility model discloses the device adopts motor, drive mechanism, two drive wheels, flexible piece, slider and spring spare etc. to synthesize and has realized snatching the self-adaptation of the object of different shapes, size, has realized earlier coupling linkage double joint, and later self-adaptation rotates the distant joint again, can have two kinds to snatch the mode: one is a pinching and holding mode that the tail end finger section contacts the object, the action process has high anthropomorphic degree, and the pinching and holding mode is an ideal mode for grabbing small objects on a desktop; the other is an envelope grabbing mode that two finger sections contact the object, and grabbing is stable. The device only uses one motor to drive two joints, achieves the underactuated effect and is easy to control; the robot has low manufacturing and maintenance cost, and is suitable for various automatic pipelines or service robots needing to grab and release objects.
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 replacements made by those of ordinary skill in the art to the technical solutions of the present invention 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 (4)
1. The sliding block flexible piece flat clamping indirect self-adaptive robot hand device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor and a transmission mechanism; the motor is fixedly connected to the base, and an output shaft of the motor is connected with an input end of the transmission mechanism; the output end of the transmission mechanism is connected with the first finger section; the proximal joint shaft is sleeved in the base, the first finger section is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger section, and the second finger section is sleeved on the distal joint shaft; the proximal joint axis and the distal joint axis are parallel to each other; the method is characterized in that: the sliding block flexible piece flat clamping indirect self-adaptive robot hand device further comprises a first driving wheel, a second driving wheel, a flexible piece, a sliding block and a spring piece; the first driving wheel is sleeved on the near joint shaft and fixedly connected with the base, and the second driving wheel is sleeved on the far joint shaft and fixedly connected with the second finger section; one end of the flexible part is fixedly connected with the first driving wheel, the flexible part is sequentially wound through the first driving wheel, the first finger section and the second driving wheel, and the other end of the flexible part is fixedly connected with the second driving wheel; the sliding block is embedded in the first finger section in a sliding mode and contacts with an object firstly in the enveloping and grabbing stage; setting the central point of the near joint shaft as A and the central point of the far joint shaft as B, and enabling the sliding direction of the sliding block to be vertical to the line segment AB; the sliding block is in contact with the flexible piece through the middle part of the first finger section when in the initial position; two ends of the spring piece are respectively connected with the second transmission wheel and the first finger section, and the spring piece enables the flexible piece to penetrate through the middle of the first finger section and tend to be in a tensioning state.
2. The slider-flexure parallel-clamping indirect adaptive robotic hand device of claim 1, wherein: the transmission radiuses of the first transmission wheel and the second transmission wheel are equal.
3. The slider-flexure parallel-clamping indirect adaptive robotic hand device of claim 1, wherein: the transmission mechanism comprises a speed reducer, a worm wheel, a transition shaft, a first transition wheel and a second transition wheel; the output shaft of the motor is connected with the input shaft of the speed reducer, the worm is fixedly sleeved on the output shaft of the speed reducer, the worm is meshed with the worm wheel, the worm wheel is fixedly sleeved on the transition shaft, the transition shaft is sleeved in the base, the first transition wheel is fixedly sleeved on the transition shaft, and the second transition wheel is fixedly sleeved on the proximal joint shaft and meshed with the first transition wheel; the first finger section is fixedly connected with the second transition wheel.
4. The slider-flexure parallel-clamping indirect adaptive robotic hand device of claim 1, wherein: the flexible piece adopts a tendon rope.
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| CN202020973933.XU CN212287680U (en) | 2020-06-01 | 2020-06-01 | Sliding block flexible piece flat clamping indirect self-adaptive robot hand device |
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| CN202020973933.XU CN212287680U (en) | 2020-06-01 | 2020-06-01 | Sliding block flexible piece flat clamping indirect self-adaptive robot hand device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618761A (en) * | 2021-08-10 | 2021-11-09 | 程少如 | Flexible part transmission displacement self-adaptive robot finger device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618761A (en) * | 2021-08-10 | 2021-11-09 | 程少如 | Flexible part transmission displacement self-adaptive robot finger device |
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