CN216266087U - Parallel connecting rod mode switching parallel clamp coupling self-adaptive robot finger device - Google Patents

Abstract

Parallel connection link mode switching parallel clamp coupling self-adaptive robot finger device belongs to the technical field of robot hands, and comprises a base, two finger sections, two joint shafts, two motors, two sets of transmission mechanisms, six connecting rods, a spring piece, a limiting block and the like. The device can carry out mode switching, can accomplish parallel centre gripping, coupling and snatch, three kinds of modes of snatching of self-adaptation. By setting two rotation centers, the driving and switching of the device are not affected mutually, the process is simple when switching is carried out, and redundant actions cannot occur. In the driving state, when the two finger sections are not blocked, the device is in a first stage of flat clamping or coupling, and the second finger section shows a specific motion track along with the selection of the mode; when the first finger segment is blocked, the device enters a self-adaptive grabbing state, and the second finger segment rotates around the distal joint shaft until contacting an object. The device has the advantages of good adaptability, stable grabbing, simple control, low manufacturing and maintenance cost and wide application range.

Description

Parallel Link Mode Switching Flat Clamp Coupling Adaptive Robot Finger Device

technical field

The utility model belongs to the technical field of robot hands, in particular to a structural design of a parallel link mode switching flat clip coupling self-adaptive robot finger device.

Background technique

The robot hand is an important end effector in the field of robotics. In order to reproduce the dexterity and adaptability of human hands to a greater extent, many scholars have begun to study dexterous hands with more driving degrees of freedom, such as the Gifu II hand developed by Gifu University in Japan and the Robonaut hand developed by NASA. Each joint of the dexterous hand is individually controlled one-to-one by a motor, so it has high precision. However, dexterous hands are often complicated in structure, difficult to control, and expensive, making it difficult to be widely used at this stage.

On the other hand, the underactuated robot hand uses a clever mechanism design, so that a small number of motors can control the degrees of freedom of multiple joints, and the grasping method is adaptive, so that the fingers can adapt to objects of different shapes and sizes, expanding the grasping range . At the same time, the smaller number of motors also greatly simplifies the control scheme and effectively reduces the cost of manufacturing and maintenance, which has attracted extensive attention from the outside world and has become a research hotspot in recent years. The parallel gripping adaptive hand (US patent US8973958B2) produced by Robotiq of Canada is an underactuated robot hand.

There are several basic types of underactuated robotic hands, such as flat clamp, coupling, and self-adaptation, as well as composite types in which they are combined with each other. Among them, the flat clamp fingers always maintain the same posture of the distal finger segment during the grasping process; the coupling fingers make multiple joints linked during the grasping process to speed up the closing speed of the fingertips and achieve the effect of cage-type envelope grasping ; The adaptive finger rotates in turn from the root joint to the end joint. After the previous finger segment touches the object, the next finger segment will start to move, and finally achieve the effect of adapting to objects of different shapes and sizes.

The flat-clamp adaptive finger is a composite grasping type finger that combines the parallel clamping and the adaptive grasping function in one, one, and two time periods. For example, the Canadian Robotiq finger is a typical parallel gripping and adaptive composite mode finger; while the coupled adaptive finger is a composite grasping type finger produced by combining the coupled gripping and adaptive grasping functions in the two time periods before and after.

However, at present, the adaptability of the flat clip adaptive finger and the coupled adaptive finger is only displayed at the end segment of the finger. But in the early stage of movement, the movement trajectory of the finger is unique and relatively single. Therefore, even if an adaptive function is added at the end of the finger, its adaptiveness and adaptive range will still be largely limited by the uniquely determined motion pattern in the early stage of motion. Therefore, in order to break through this limitation, multi-mode switchable fingers become a potential research direction.

An existing multi-mode grasping parallel link compound adaptive robot finger device (patent CN109129530A) includes a base, two finger segments, two joint shafts, and two drives, and adopts a plurality of connecting rods, gears, Dial blocks, spring parts and limit bumps, etc. The device utilizes a driver, a connecting rod transmission mechanism, a gear transmission mechanism, a spring element, a bump dial and a limit bump to comprehensively realize multi-mode composite adaptive grasping. The disadvantage is that the finger realizes mode switching by flipping the bottom link, but in the process of flipping, the link will simultaneously drive the link mechanism where it is located to move at the same time, resulting in redundant actions of the end finger; at the same time, During the switching process, with the flipping of the bottom link, at a certain moment, the link mechanism where the bottom link is located will have multiple links collinear (called singular position), resulting in the occurrence of the next movement step. There are multiple solutions, and the movement mode is not unique, so it is necessary to add additional mechanisms in the design to prevent abnormal switching process.

Utility model content

The purpose of the utility model is to overcome the shortcomings of the prior art and provide a parallel link mode switching flat clip coupling adaptive robot finger device. The device has various grasping modes such as flat clip, coupling, flat clip adaptive and coupling adaptive grasping. The adaptability of the device is reflected in two aspects. First, the second motor can be driven according to the condition of the object to be grasped, and the second motor can be switched to a suitable mode, and then the grasping along a specific trajectory with end-adaptiveness can be performed. Compared with a single flat clip self-adaptive and coupled self-adaptive fingers, the device provides more trajectory choices, which strengthens the adaptability of the underactuated fingers on the early trajectory; Multi-solution problem during handover.

The technical scheme of the present utility model is as follows:

The parallel link mode switching flat clip coupling adaptive robot finger device designed by the utility model comprises a base, a first finger segment, a second finger segment, a proximal joint shaft, a distal joint shaft, a first motor, a second motor, a first a transmission mechanism and a second transmission mechanism; the distal joint shaft is sleeved in the first finger segment, and the second finger segment is sleeved on the distal joint shaft; the first motor is fixedly connected to the base, and the The output shaft of the first motor is connected to the input end of the first transmission mechanism; the second motor is fixedly connected to the base, and the output shaft of the second motor is connected to the input end of the second transmission mechanism; the proximal joint shaft , The center lines of the distal joint shafts are parallel to each other; it is characterized in that: the parallel link mode switching flat clip coupling adaptive robot finger device also includes a third transmission mechanism, a fourth transmission mechanism, a first connecting rod, a second connecting rod, The third connecting rod, the fourth connecting rod, the first shaft, the second shaft, the third shaft, the fourth shaft, the spring member and the limit block; the output end of the first transmission mechanism is connected with the second connecting rod; The first output end of the second transmission mechanism is connected with the input end of the third transmission mechanism; in the initial state, the second output end of the second transmission mechanism is connected with the fourth transmission mechanism, and the fourth transmission mechanism has a self-locking function; The output end of the third transmission mechanism is connected with the first connecting rod, and the output end of the fourth transmission mechanism is connected with the fourth connecting rod; the speed of the third transmission mechanism and the output end of the fourth transmission mechanism are consistent in magnitude and direction; The fourth shaft is sleeved in the base; one end of the first connecting rod is sleeved on the fourth shaft, and the other end of the first connecting rod is sleeved on the proximal joint shaft; One end is sleeved on the fourth shaft, and the other end of the second connecting rod is sleeved on the second 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 second shaft on the first shaft; the two ends of the spring element are respectively connected to the second connecting rod and the third connecting rod, and the limiting block is fixedly connected with the third connecting rod; in the initial state, the limiting block is connected to the second connecting rod and the third connecting rod. The connecting rod is in contact; the second finger segment is sleeved on the first shaft, the first finger segment is sleeved on the third shaft; one end of the fourth connecting rod is sleeved on the third shaft, and the fourth The other end of the connecting rod is sleeved on the proximal joint shaft.

The parallel link mode switching flat clip coupling adaptive robot finger device according to the utility model is characterized in that: the first transmission mechanism comprises a first reducer, a first gear, a second gear, a third gear, a fifth gear shaft; the output shaft of the first motor is connected with the input shaft of the first reducer, the third gear is sleeved on the output shaft of the first reducer; the fifth shaft is sleeved in the base; The second gear is sleeved on the fifth shaft, and the second gear meshes with the third gear; the first gear is sleeved on the fourth shaft, and the first gear meshes with the second gear.

The parallel link mode switching flat clip coupling adaptive robot finger device according to the utility model is characterized in that: the second transmission mechanism comprises a second reducer, a fourth gear, a fifth gear, a sixth gear, a seventh gear a gear, a sixth shaft, a seventh shaft and an eighth shaft; the output shaft of the second motor is connected to the input shaft of the second reducer, and the seventh gear is sleeved on the output shaft of the second reducer; The sixth shaft is sleeved in the base, the seventh shaft is sleeved in the base, and the eighth shaft is sleeved in the base; the sixth gear is sleeved on the seventh shaft, the sixth The gear meshes with the seventh gear; the fifth gear is sleeved on the eighth shaft, the fifth gear meshes with the sixth gear, and the fifth gear is the first output end of the second transmission mechanism; the fourth gear is sleeved On the sixth shaft, the fourth gear meshes with the sixth gear, and the fourth gear is the second output end of the second transmission mechanism.

The parallel link mode switching flat clip coupling adaptive robot finger device according to the utility model is characterized in that: the third transmission mechanism comprises an eighth gear, a ninth shaft, a first worm gear and a first worm; The nine shaft is sleeved in the base; the eighth gear is sleeved on the ninth shaft, and the eighth gear is connected with the first output end of the second transmission mechanism; the first worm is sleeved and fixed on the ninth shaft; The first worm gear is sleeved on the fourth shaft, and the first worm gear is engaged with the first worm.

The parallel link mode switching flat clip coupling adaptive robot finger device according to the utility model is characterized in that: the fourth transmission mechanism comprises a ninth gear, a tenth shaft, a second worm gear and a second worm; The tenth shaft is sleeved in the first finger segment, the ninth gear is sleeved on the tenth shaft, and the ninth gear is connected with the second output end of the second transmission mechanism; the second worm is sleeved and fixed on the tenth shaft the second worm gear is sleeved on the third shaft, and the second worm gear is engaged with the second worm.

The parallel link mode switching flat clip coupling adaptive robot finger device of the utility model is characterized in that: the spring member adopts a tension spring, a compression spring or a torsion spring.

Compared with the prior art, the utility model has the following advantages and outstanding effects:

A parallel link mode switching flat clip coupling adaptive robot finger device belongs to the technical field of robot hands, comprising a base, two finger segments, two joint shafts, two motors, two sets of transmission mechanisms, six connecting rods, and a spring member and limit blocks, etc. The device can switch modes, and can complete three gripping modes: parallel gripping, coupling gripping, and adaptive gripping. By setting up two rotation centers, the driving and switching of the device do not affect each other, and the switching process is simple and no redundant actions occur. In the driving state, when the two finger segments are not blocked, the device is in the first stage of flat clamping or coupling, and the second finger segment will show a specific motion trajectory with the selection of the mode; when the first finger segment is blocked When blocked, the device enters an adaptive grasping state, and the second finger segment rotates around the distal joint axis until it touches the object. The device has good adaptability, stable grasping, simple control, low manufacturing and maintenance costs, and wide application range.

Description of drawings

1 is a perspective view of an embodiment of a parallel link mode switching flat clip coupling adaptive robot finger device designed by the present invention.

FIG. 2 is a perspective view of the embodiment shown in FIG. 1 (some parts are not shown).

Fig. 3 is a left side view of the embodiment shown in Fig. 1 in a flat clamp mode (parts are not shown).

FIG. 4 is a left side view of the embodiment shown in FIG. 1 in a coupled mode (parts not shown).

Fig. 5 is a front view of the embodiment shown in Fig. 1 (parts not shown).

FIG. 6 is a perspective view of the embodiment shown in FIG. 1 (parts not shown).

FIG. 7 is a perspective view of the embodiment shown in FIG. 1 (parts not shown).

FIG. 8 is a parallel clamping action process in the flat clamping mode of the embodiment shown in FIG. 1 .

FIG. 9 is an adaptive action process of the embodiment shown in FIG. 1 in a flat clamp mode.

FIG. 10 is a process of coupling and clamping in the coupling mode of the embodiment shown in FIG. 1 .

FIG. 11 is an adaptive action process in the coupled mode of the embodiment shown in FIG. 1 .

FIG. 12 is the action process of switching from the flat clamp mode to the coupling mode in the preparatory stage of the embodiment shown in FIG. 1 .

Fig. 13 is a schematic diagram of the left-view mechanism of the embodiment shown in Fig. 1 in a flat clip mode.

Fig. 14 is a schematic diagram of the three-dimensional mechanism of the embodiment shown in Fig. 1 in a flat clip mode.

Fig. 15 is a schematic diagram of the left-view mechanism of the embodiment shown in Fig. 1 in a coupling mode.

FIG. 16 is a schematic diagram of the three-dimensional mechanism of the embodiment shown in FIG. 1 in a coupling mode.

In Figures 1 to 16:

100-base, 101-base first left panel, 102-base right panel, 103-base first rear panel,

104- the second left plate of the base, 105- the bottom plate of the base, 106- the front plate of the base, 107- the second rear plate of the base,

108- the first cover of the base, 109- the second cover of the base, 110- the first motor, 111- the second motor,

112-first reducer, 113-second reducer, 201-first connecting rod, 202-second connecting rod,

203-third link, 204-fourth link, 301-first shaft, 302-second shaft,

303-third axis, 304-fourth axis, 305-fifth axis, 306-sixth axis,

307 - the seventh axis, 308 - the eighth axis, 309 - the ninth axis, 310 - the tenth axis,

401-first finger segment, 402-second finger segment, 403-first left link, 404-first right link,

405-4th left link, 406-4th right link, 501-proximal joint axis, 502-distal joint axis,

503- the fourth left shaft, 504- the fourth right shaft, 601- the first gear, 602- the second gear,

603-Third gear, 604-Fourth gear, 605-Fifth gear, 606-Sixth gear,

607 - seventh gear, 608 - eighth gear, 609 - ninth gear, 701 - first worm,

702-second worm, 703-first worm gear, 704-second worm gear, 801-spring piece,

802 - Limit block, 900 - Object.

Detailed ways

The specific structure and working principle of the present utility model are further described in detail below with reference to the accompanying drawings and embodiments.

An embodiment of the parallel link mode switching flat clip coupling adaptive robot finger device designed by the present invention, as shown in FIG. 1 to FIG. 7 , includes a base 100, a first finger segment 401, a second finger segment 402, The proximal joint shaft 501, the distal joint shaft 502, the first motor 110, the second motor 111, the first transmission mechanism and the second transmission mechanism; the distal joint shaft 502 is sleeved in the first finger segment 401, the second The finger segment 402 is sleeved on the distal joint shaft 502; the first motor 110 is fixedly connected to the base 100, and the output shaft of the first motor 110 is connected to the input end of the first transmission mechanism; the second motor 111 Fixedly connected to the base 100, the output shaft of the second motor 111 is connected to the input end of the second transmission mechanism; the centerlines of the proximal joint shaft 501 and the distal joint shaft 502 are parallel to each other; it is characterized in that: the parallel connection The lever mode switching flat clip coupling adaptive robot finger device further includes a third transmission mechanism, a fourth transmission mechanism, a first link 201, a second link 202, a third link 203, a fourth link 204, a first axis 301, the second shaft 302, the third shaft 303, the fourth shaft 304, the spring member 801 and the limit block 802; the output end of the first transmission mechanism is connected to the second connecting rod 202; The first output end is connected with the input end of the third transmission mechanism; in the initial state, the second output end of the second transmission mechanism is connected with the fourth transmission mechanism, and the fourth transmission mechanism has a self-locking function; the third transmission mechanism The output end of the transmission mechanism is connected with the first connecting rod 201, the output end of the fourth transmission mechanism is connected with the fourth connecting rod 204; the speed of the third transmission mechanism and the output end of the fourth transmission mechanism are consistent in size and direction; The shaft 304 is sleeved on the base 100; one end of the first connecting rod 201 is sleeved on the fourth shaft 304, and the other end of the first connecting rod 201 is sleeved on the proximal joint shaft 501; the second connecting rod 201 is sleeved on the proximal joint shaft 501; One end of the rod 202 is sleeved on the fourth shaft 304, and the other end of the second connecting rod 202 is sleeved on the second shaft 302; one end of the third connecting rod 203 is sleeved on the second shaft 302, and the third The other end of the connecting rod 203 is sleeved on the first shaft 301 ; the two ends of the spring member 801 are respectively connected to the second connecting rod 202 and the third connecting rod 203 , and the limiting block 802 is fixed to the third connecting rod 203 . In the initial state, the limit block 802 is in contact with the second link 202; the second finger segment 402 is sleeved on the first shaft 301, and the first finger segment 401 is sleeved on the third shaft 303 ; one end of the fourth connecting rod 204 is sleeved on the third shaft 303 , and the other end of the fourth connecting rod 204 is sleeved on the proximal joint shaft 501 .

In this embodiment, the first transmission mechanism includes a first reducer 112, a first gear 601, a second gear 602, a third gear 603, and a fifth shaft 305; the output shaft of the first motor 110 is connected to the first gear 601. The input shaft of a reducer 112 is connected to each other, the third gear 603 is sleeved on the output shaft of the first reducer 112 ; the fifth shaft 305 is sleeved in the base 100 ; the second gear 602 is sleeved On the fifth shaft 305 , the second gear 602 meshes with the third gear 603 ; the first gear 601 is sleeved on the fourth shaft 304 , and the first gear 601 meshes with the second gear 602 .

In this embodiment, the second transmission mechanism includes the second reducer 113 , the fourth gear 604 , the fifth gear 605 , the sixth gear 606 , the seventh gear 607 , the sixth shaft 306 , the seventh shaft 307 and the first Eight shafts 308; the output shaft of the second motor 111 is connected to the input shaft of the second reducer 113, the seventh gear 607 is fixed on the output shaft of the second reducer 113; the sixth shaft 306 is sleeved Set in the base 100, the seventh shaft 307 is sleeved in the base 100, the eighth shaft 308 is sleeved in the base 100; the sixth gear 606 is sleeved on the seventh shaft 307, The sixth gear 606 meshes with the seventh gear 607; the fifth gear 605 is sleeved on the eighth shaft 308, the fifth gear 605 meshes with the sixth gear 606, and the fifth gear 605 is the first output of the second transmission mechanism The fourth gear 604 is sleeved on the sixth shaft 306, the fourth gear 604 meshes with the sixth gear 606, and the fourth gear 604 is the second output end of the second transmission mechanism.

In this embodiment, the third transmission mechanism includes an eighth gear 608, a ninth shaft 309, a first worm wheel 703 and a first worm 701; the ninth shaft 309 is sleeved in the base 100; the The eighth gear 608 is sleeved on the ninth shaft 309, and the eighth gear 608 is connected with the first output end of the second transmission mechanism; the first worm 701 is sleeved on the ninth shaft 309; the first worm gear 703 is sleeved Fixed on the fourth shaft 304 , the first worm gear 703 is engaged with the first worm 701 .

In this embodiment, the fourth transmission mechanism includes a ninth gear 609, a tenth shaft 310, a second worm wheel 704 and a second worm 702; the tenth shaft 310 is sleeved in the first finger segment 401, so The ninth gear 609 is sleeved on the tenth shaft 310, and the ninth gear 609 is connected with the second output end of the second transmission mechanism; the second worm 702 is sleeved on the tenth shaft 310; the second worm gear 704 is sleeved on the third shaft 303 , and the second worm gear 704 is engaged with the second worm 702 .

The parallel link mode switching flat clip coupling adaptive robot finger device of the utility model is characterized in that: the spring member adopts a tension spring, a compression spring or a torsion spring. In this embodiment, the spring member 801 adopts a tension spring.

In this embodiment, the base 100 includes a base first left panel 101, a base right panel 102, a base first rear panel 103, a base second left panel 104, a base bottom panel 105, and a base front panel 105. Plate 106 , base second rear plate 107 , base first cover plate 108 and base second cover plate 109 .

In this embodiment, the first link 201 includes a first left link 403 and a first right link 404; the fourth link 204 includes a fourth left link 405 and a fourth right link 406; The fourth shaft 304 includes a fourth left shaft 503 and a fourth right shaft 504; one end of the first left link 403 is sleeved on the fourth left shaft 503, and the other end of the first left link 403 is sleeved On the proximal joint shaft 501; one end of the first right connecting rod 404 is sleeved on the fourth right shaft 504, and the other end of the first right connecting rod 404 is sleeved on the proximal joint shaft 501; the fourth left connecting rod 404 is sleeved on the proximal joint shaft 501; One end of the connecting rod 405 is sleeved on the third shaft 303 , and the other end of the fourth left connecting rod 405 is sleeved on the proximal joint shaft 501 ; one end of the fourth right connecting rod 406 is sleeved on the third shaft 303 , the other end of the fourth right link 406 is sleeved on the proximal joint shaft 501 .

The working principle of the present embodiment, in conjunction with the accompanying drawings, is described as follows:

The movement process of this embodiment is roughly divided into a preparation stage and a driving stage.

When the present embodiment is in the preparatory stage and the initial state of the driving stage, as shown in FIG. 3 , under the action of the spring member 801 , the second link 202 is in contact with the limiting block 802 .

(1) Preparatory stage

As shown in FIG. 7 , in the preliminary stage of this embodiment, the ninth gear 609 meshes with the fourth gear 604 ; as shown in FIGS. 13-16 , in the preliminary stage of this embodiment, the line segment FG is parallel to the y-axis, point A , D, and I are located on the same straight line; the centerlines of the third axis 303 , the fourth left axis 503 and the fourth right axis 504 are collinear. At this time, the second motor 111 passes through the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism, so that the first link 201 and the fourth link 204 can rotate synchronously around the fourth right shaft 504 and the third shaft 303 respectively. , so as to realize the mode switching; as shown in FIG. 12 , the action process of switching from the flat clamp mode to the coupling mode in this embodiment is shown.

When the first link 201 and the fourth link 204 point to the positive half-axis of the y-axis as shown in FIG. 14 , the present embodiment is in the flat clamp mode; when the first link 201 and the fourth link 204 are as shown in FIG. 16 When the y-axis is pointed to the negative half-axis of the y-axis, the present embodiment is in the coupling mode; and when the first link 201 and the fourth link 204 are in an intermediate state between the above two situations, the present embodiment is in a certain geometric relationship. Variable ratio coupling mode.

(2) Drive stage

After the first link 201 and the fourth link 204 rotate to desired positions, the second motor 111 stops rotating. Since the second worm gear 704 and the second worm screw 702 in the fourth transmission mechanism are engaged with each other and have a self-locking function, the relative positions of the first finger segment 401 and the fourth connecting rod 204 remain unchanged at this time, and they etc. Acts as a connecting rod connecting point E and point C. Similarly, when the first finger segment 401 does not receive sufficient resistance, the relative position of the second link 202 and the third link 203 remains unchanged due to the combined action of the spring member 801 and the limit block 802. Equivalent to a connecting rod connecting point G and point I. Therefore, when the first finger segment has not yet touched the object, the links represented by the line segments GF, EC, BA, and IG will constitute a four-bar linkage mechanism.

Then, in the driving stage of this embodiment, the first motor 110 rotates to drive the second link 202 to rotate around the fourth left axis 503; when the first finger segment has not yet touched the object, it can be seen from the above analysis that the first motor 110 It is equivalent to driving the line segment IG to rotate around the point I, thereby driving the four-bar linkage mechanism composed of the connecting rods represented by the line segments GF, EC, BA, and IG; during the movement, the line segment BA remains fixed, and the line segment EC revolves around the point C Rotation, the line segment GF rotates around the point F, and the line segment IG rotates around the point I.

When the second finger first touches the object, the driving stops and the grasping ends; when the first finger first touches the object, the first finger is blocked and cannot move; at this time, the first motor 110 continues to rotate and continues The second link 202 is driven to rotate around the fourth left axis 503, thereby driving the third link 203 to rotate around the ninth axis 309, and then the second finger segment 402 is driven to rotate around the distal joint axis 502 to perform adaptive grasping.

At this time, the angle between the second link and the third link increases, the spring member 801 is stretched, and the second link 202 is separated from the limiting block 802 .

In order to better explain the working principle of the driving phase, an example analysis will be given in combination with a specific situation.

(3) Reference example of driving stage: flat clamp and flat clamp self-adaptation

After the first link 201 and the fourth link 204 rotate to the positions shown in FIGS. 13 and 14 , the second motor 111 stops rotating, and this embodiment is in the flat clamp mode. Since the second worm gear 704 and the second worm screw 702 in the fourth transmission mechanism are engaged with each other and have a self-locking function, the relative positions of the first finger segment 401 and the fourth connecting rod 204 remain unchanged at this time, and they etc. Acts as a connecting rod connecting point E and point C. Similarly, when the first finger segment 401 does not receive sufficient resistance, the relative position of the second link 202 and the third link 203 remains unchanged due to the combined action of the spring member 801 and the limit block 802. Equivalent to a connecting rod connecting point G and point I. Therefore, when the first finger segment has not yet touched the object, the connecting rods represented by the line segments GF, EC, BA, and IG will form a parallelogram.

Then, in the driving stage of this embodiment, the first motor 110 rotates to drive the second link 202 to rotate around the fourth left axis 503; when the first finger segment has not yet touched the object, it can be seen from the above analysis that the first motor 110 It is equivalent to driving the line segment IG to rotate around the point I, thereby driving the parallelogram formed by the connecting rods represented by the line segments GF, EC, BA, and IG; during the motion process, the line segment BA remains fixed, and the line segment EC rotates around the point C, The line segment GF rotates around the point F, the line segment IG rotates around the point I, and the line segment GF is kept horizontal with the line segment BA at all times. The action process of parallel clamping in the flat clamping mode.

When the second finger first touches the object, the driving stops and the grasping ends; when the first finger first touches the object, the first finger is blocked and cannot move; at this time, the first motor 110 continues to rotate and continues Drive the second link 202 to rotate around the fourth left axis 503, thereby driving the third link 203 to rotate around the ninth axis 309, and then push the second finger segment 402 to rotate around the distal joint axis 502 to perform adaptive grabbing; as shown in Figure 9 Shown is the action process of self-adaptive grasping in the flat-clamp mode of the present embodiment.

At this time, the angle between the second link and the third link increases, the spring member 801 is stretched, and the second link 202 is separated from the limiting block 802 .

(4) Reference example of driving stage: coupling and coupling adaptation

After the first link 201 and the fourth link 204 rotate to the positions shown in FIGS. 15 and 16 , the second motor 111 stops rotating, and the embodiment is in the coupling mode. Since the second worm gear 704 and the second worm screw 702 in the fourth transmission mechanism are engaged with each other and have a self-locking function, the relative positions of the first finger segment 401 and the fourth connecting rod 204 remain unchanged at this time, and they etc. Acts as a connecting rod connecting point E and point C. Similarly, when the first finger segment 401 does not receive sufficient resistance, the relative position of the second link 202 and the third link 203 remains unchanged due to the combined action of the spring member 801 and the limit block 802. Equivalent to a connecting rod connecting point G and point I. Therefore, when the first finger segment has not yet touched the object, the links represented by the line segments GF, EC, BA, and IG will constitute a figure-eight four-bar linkage.

Then, in the driving stage of this embodiment, the first motor 110 rotates to drive the second link 202 to rotate around the fourth left axis 503; when the first finger segment has not yet touched the object, it can be seen from the above analysis that the first motor 110 It is equivalent to driving the line segment IG to rotate around the point I, thereby driving the eight-character four-bar linkage mechanism composed of the connecting rods represented by the line segments GF, EC, BA, and IG; during the movement, the line segment BA remains fixed, and the line segment EC wraps around C The point rotates, the line segment GF rotates around the F point, the line segment IG rotates around the I point, and the line segment EC rotates around the C point at the same rate as the line segment GF rotates around the F point, which accelerates the grasping process of the second finger segment and performs coupling grasping Take; as shown in FIG. 10 , the action process of coupling and clamping in the coupling mode of this embodiment is shown.

When the second finger first touches the object, the driving stops and the grasping ends; when the first finger first touches the object, the first finger is blocked and cannot move; at this time, the first motor 110 continues to rotate and continues Drive the second link 202 to rotate around the fourth left axis 503, thereby driving the third link 203 to rotate around the ninth axis 309, and then push the second finger segment 402 to rotate around the distal joint axis 502 to perform adaptive grabbing; as shown in Figure 11 Shown is the action process of adaptive grabbing in the coupling mode in this embodiment.

At this time, the angle between the second link and the third link increases, the spring member 801 is stretched, and the second link 202 is separated from the limiting block 802 .

(5) Other modes in the driving stage

The above "(3)" and "(4)" are only two special cases. When the first link 201 and the fourth link 204 are in the intermediate state of the above two switching situations, the rotation of the second motor can also be stopped. , enter the drive stage. At this time, this embodiment will perform variable-ratio coupling adaptive grabbing that conforms to a certain geometric relationship.

The process of releasing the object 9 is opposite to the above process, and will not be repeated here.

A parallel link mode switching flat clip coupling adaptive robot finger device belongs to the technical field of robot hands, comprising a base, two finger segments, two joint shafts, two motors, two sets of transmission mechanisms, six connecting rods, and a spring member and limit blocks, etc. The device can switch modes, and can complete three gripping modes: parallel gripping, coupling gripping, and adaptive gripping. By setting up two rotation centers, the driving and switching of the device do not affect each other, and the switching process is simple and no redundant actions occur. In the driving state, when the two finger segments are not blocked, the device is in the first stage of flat clamping or coupling, and the second finger segment will show a specific motion trajectory with the selection of the mode; when the first finger segment is blocked When blocked, the device enters an adaptive grasping state, and the second finger segment rotates around the distal joint axis until it touches the object. The device has good adaptability, stable grasping, simple control, low manufacturing and maintenance costs, and wide application range.

Claims (6)

1. A parallel connecting rod mode switching parallel clamp coupling self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a first motor, a second motor, a first transmission mechanism and a second transmission mechanism; the far joint shaft is sleeved in the first finger section, and the second finger section is sleeved on the far joint shaft; the first motor is fixedly connected with the base, and an output shaft of the first motor is connected with an input end of the first transmission mechanism; the second motor is fixedly connected with the base, and an output shaft of the second motor is connected with an input end of the second transmission mechanism; the central lines of the proximal joint shaft and the distal joint shaft are parallel to each other; the method is characterized in that: the parallel connecting rod mode switching parallel clamp coupling self-adaptive robot finger device further comprises a third transmission mechanism, a fourth transmission mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first shaft, a second shaft, a third shaft, a fourth shaft, a spring piece and a limiting block; the output end of the first transmission mechanism is connected with the second connecting rod; the first output end of the second transmission mechanism is connected with the input end of the third transmission mechanism; in an initial state, a second output end of the second transmission mechanism is connected with a fourth transmission mechanism, and the fourth transmission mechanism has a self-locking function; the output end of the third transmission mechanism is connected with the first connecting rod, and the output end of the fourth transmission mechanism is connected with the fourth connecting rod; the speed of the output ends of the third transmission mechanism and the fourth transmission mechanism is consistent in magnitude and direction; the fourth shaft is sleeved in the base; one end of the first connecting rod is sleeved on the fourth shaft, and the other end of the first connecting rod is sleeved on the near joint shaft; one end of the second connecting rod is sleeved on the fourth shaft, and the other end of the second connecting rod is sleeved on the second 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 first shaft; two ends of the spring piece are respectively connected with a second connecting rod and a third connecting rod, and the limiting block is fixedly connected with the third connecting rod; in an initial state, the limiting block is in contact with the second connecting rod; the second finger section is sleeved on the first shaft, and the first finger section is sleeved on the third shaft; one end of the fourth connecting rod is sleeved on the third shaft, and the other end of the fourth connecting rod is sleeved on the near joint shaft.

2. The parallel link mode switching parallel clamp coupled adaptive robotic finger device of claim 1, wherein: the first transmission mechanism comprises a first speed reducer, a first gear, a second gear, a third gear and a fifth shaft; an output shaft of the first motor is connected with an input shaft of the first speed reducer, and the third gear is fixedly sleeved on the output shaft of the first speed reducer; the fifth shaft is sleeved in the base; the second gear is sleeved on the fifth shaft and is meshed with the third gear; the first gear is fixedly sleeved on the fourth shaft and meshed with the second gear.

3. The parallel link mode switching parallel clamp coupled adaptive robotic finger device of claim 1, wherein: the second transmission mechanism comprises a second speed reducer, a fourth gear, a fifth gear, a sixth gear, a seventh gear, a sixth shaft, a seventh shaft and an eighth shaft; an output shaft of the second motor is connected with an input shaft of a second speed reducer, and the seventh gear is fixedly sleeved on the output shaft of the second speed reducer; the sixth shaft is sleeved in the base, the seventh shaft is sleeved in the base, and the eighth shaft is sleeved in the base; the sixth gear is sleeved on the seventh shaft and is meshed with the seventh gear; the fifth gear is sleeved on the eighth shaft and meshed with the sixth gear, and the fifth gear is a first output end of the second transmission mechanism; the fourth gear is sleeved on the sixth shaft and meshed with the sixth gear, and the fourth gear is a second output end of the second transmission mechanism.

4. The parallel link mode switching parallel clamp coupled adaptive robotic finger device of claim 1, wherein: the third transmission mechanism comprises an eighth gear, a ninth shaft, a first worm wheel and a first worm; the ninth shaft is sleeved in the base; the eighth gear is fixedly sleeved on the ninth shaft and is connected with the first output end of the second transmission mechanism; the first worm is fixedly sleeved on the ninth shaft; the first worm wheel is fixedly sleeved on the fourth shaft and meshed with the first worm.

5. The parallel link mode switching parallel clamp coupled adaptive robotic finger device of claim 1, wherein: the fourth transmission mechanism comprises a ninth gear, a tenth shaft, a second worm wheel and a second worm; the tenth shaft is sleeved in the first finger section, the ninth gear is fixedly sleeved on the tenth shaft, and the ninth gear is connected with the second output end of the second transmission mechanism; the second worm is fixedly sleeved on the tenth shaft; the second worm wheel is fixedly sleeved on the third shaft and meshed with the second worm.

6. The parallel link mode switching parallel clamp coupled adaptive robotic finger device of claim 1, wherein: the spring part adopts a tension spring, a pressure spring or a torsion spring.

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