CN105835076A - Closed flexible piece parallel clamping dexterous robot finger device - Google Patents

Abstract

Closed-loop flexible part clamping dexterous robot finger device in parallel belongs to the field of robot hand technology, including base, finger segment, joint shaft, driver, transmission wheel, flexible transmission part, torque limiter, bump dial and limit bump, etc. . The device realizes four grasping modes: 1) Parallel clamping grasping mode; 2) Grasping mode of independent rotation of each joint; 3) Parallel clamping first, and then independent rotation of each joint; 4) Double joints first rotate independently , and then fix the posture of the second finger segment to rotate the grasping mode near the joint. The device can not only achieve the parallel clamping effect of the traditional parallel clamping fingers, which is driven by a single motor to rotate multiple joints at the same time, but also has the arbitrary grasping effect of independent rotation of a single joint that the traditional parallel clamping fingers do not have; it can also limit and guarantee more Good gripping force; large gripping range; parallel gripping stage can be completed with only one driver; compact structure, small size and low cost.

Description

Closed-loop flexible part parallel gripping dexterous robot finger device

technical field

The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a device for parallel clamping of dexterous robot fingers by closed-loop flexible parts.

Background technique

The robot hand is an important terminal for the robot to grasp and manipulate objects. It is generally designed with multiple fingers similar to the human hand. A robot hand with multiple fingers is often called a multi-finger robot hand, and its grasping method mainly adopts the principle of force closure and shape closure.

In the industry, the grasping mode of "parallel clamping" (also known as parallel pinching, flat pinching) is often used, that is, the end fingers are parallel, touching the object from both sides of the object and applying a grasping force to pick up the object, so as to A force-closed gripping effect is achieved. The advantage of this parallel clamping and grasping mode is that the grasping positioning is accurate, which is beneficial for the robot to complete subsequent tasks such as operation or assembly, and this mode has a large grasping range-it can grasp objects ranging from small to large sizes . In addition, this method of parallel clamping and grasping objects is the only way to grasp objects in some cases, such as thin plate parts placed on the table. crawl.

Another commonly used grasping mode is the envelope grasping mode (also known as envelope grasping, holding), that is, using multiple finger segments to contact objects to achieve a form-closed grasping effect. The advantage of this grasping mode is that the grasping is more stable and greater gripping force can be applied.

Common industrial grippers generally adopt a clamping method with parallel ends, without the envelope holding function, and cannot adapt to the stable envelope grasping of objects of various shapes.

Existing adaptive underactuated fingers can be grasped in an adaptive envelope-like manner, but cannot perform parallel gripping. An existing underactuated two-joint robot finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle finger segment, an end finger segment and a flat pulley type first transmission mechanism. The device realizes the function of double-joint self-adaptive underactuation to hold an object. Its shortcoming is, this device can't realize the parallel gripping mode.

An existing double-joint rack-coupled robot finger device (Chinese invention patent CN101653940B) includes a base, a motor, a proximal joint shaft, a middle finger segment, a distal joint shaft, a terminal finger segment, a first gear, a second gear, Racks and springs, etc. The device realizes the function of two-joint fingers coupled to grasp objects. Its shortcoming is that the near joint and the far joint must be linked. When the near joint cannot rotate, the far joint cannot rotate, and it is difficult to grasp different objects in a better envelope.

An existing dual-joint co-direction transmission compound underactuated robot finger device (Chinese invention patent CN102161204B) realizes the adaptive grasping function of firstly coupling and rotating multiple joints, and then rotating the end joints. Its disadvantage is that the device cannot implement parallel clamping, and the grasping range is small.

An existing five-link underactuated robot finger device, such as the US patent US8973958B2, includes five links, springs and the like. The device can realize the function of clamping in parallel first, and then grabbing adaptively. Its shortcoming is, this device can't realize arbitrarily rotating each joint to grab object.

Contents of the invention

The object of the present invention is to provide a closed-loop flexible member parallel clamping dexterous robot finger device in order to overcome the shortcomings of the prior art. The device has two degrees of freedom and can realize a variety of grasping modes, including: 1) double-joint terminal finger segment parallel clamping grasping mode; 2) double-joint independent rotation grasping mode; 3) double-joint parallel clamping first Rotate, and then rotate independently; 4) Double joints rotate independently first, and then maintain the joint grasp mode of the end finger segment posture; can limit the grasping force exerted by the first finger segment and the second finger segment on the object , optimize the gripping force and protect the motor when gripping.

Technical scheme of the present invention is as follows:

A kind of closed-loop flexible part parallel clamping dexterous robot finger device designed by the present invention includes a base, a first finger segment, a second finger segment, a proximal joint shaft, a distal joint shaft and a first motor; the first motor is connected to the base The seat is fixed; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis; it is characterized in that: the closed-loop flexible member parallel clamping dexterous robot finger device also includes a second motor, a first transmission mechanism, a second transmission Mechanism, a first transmission wheel, a second transmission wheel, a flexible transmission member, a first torque limiter, a second torque limiter, a bump dial and a limit bump; the joint-proximal shaft is movably sleeved in the base The distal joint shaft is movably sleeved in the first finger segment; the first finger segment is sleeved on the proximal joint shaft; the second finger segment is sleeved on the distal joint shaft; the first transmission mechanism Set in the base; the output shaft of the first motor is connected to the input end of the first transmission mechanism, the output end of the first transmission mechanism is connected to the input end of the first torque limiter, and the first torque limiter The output end of the device is connected to the first finger section; the second motor is fixedly connected to the base; the second transmission mechanism is arranged in the base, and the output shaft of the second motor is connected to the input end of the second transmission mechanism connected, the output end of the second transmission mechanism is connected with the input end of the second torque limiter, and the output end of the second torque limiter is connected with the first transmission wheel; on the joint shaft; the second transmission wheel is sleeved on the distal joint shaft, and the second transmission wheel is fixedly connected to the second finger segment; the flexible transmission part adopts a transmission belt, tendon rope or chain, and the first transmission wheel adopts Pulley, rope wheel or sprocket, the second transmission wheel adopts belt pulley, rope wheel or sprocket, and the flexible transmission part connects the first transmission wheel and the second transmission wheel, and the flexible transmission part, the first transmission The pulley and the second transmission wheel cooperate to form a pulley transmission relationship, a rope pulley transmission relationship or a sprocket transmission relationship; the flexible transmission member forms an "O" shape; the transmission radius of the first transmission wheel is the same as that of the second transmission wheel The transmission radii are equal; the bump dial is fixedly connected to the first transmission wheel; the bump dial is movably sleeved on the proximal joint shaft; the limiting bump is fixedly connected to the base; the bump The dial is in contact with the limit bump or separated by a certain distance; the rotation direction of the first finger segment close to the object is the positive direction near the joint, and the rotation direction of the first finger segment away from the object is the reverse direction near the joint; in this closed-loop flexible When the finger device of the dexterous robot is clamped in parallel with parts in the initial state, the bump dial is in contact with the limit bump. Suppose the rotation angle of the bump dial relative to the base is 0 degrees at this time. From this position, the bump dial The rotation angle is positive when the knob dial rotates in the positive direction near the joint, and the rotation angle is negative when the bump dial rotates in the reverse direction near the joint; the limit bump restricts the rotation angle of the bump dial to only be positive; The first transmission mechanism adopts a reduction transmission mechanism with a reduction ratio greater than 100:1 or a reduction transmission mechanism with self-locking characteristics; the second transmission mechanism adopts a reduction transmission mechanism with a reduction ratio greater than 100:1 or a reduction transmission mechanism with self-locking characteristics. transmission mechanism.

The closed-loop flexible member parallel clamping dexterous robot finger device according to the present invention is characterized in that: the first transmission mechanism includes a first reducer, a first bevel gear, a second bevel gear, a first transition shaft, a first belt wheel, the second pulley and the first transmission belt; the output shaft of the first motor is connected with the input shaft of the first reducer, the first bevel gear is sleeved on the output shaft of the first reducer, and the first The second bevel gear is sleeved on the first transition shaft, and the first bevel gear meshes with the second bevel gear; the first transition shaft is sleeved in the base, and the first pulley is sleeved on the first transition shaft. On the shaft, the second pulley is movably sleeved on the proximal joint shaft, the second pulley is fixedly connected to the first finger section, the first transmission belt connects the first pulley and the second pulley, and the The first transmission belt, the first pulley and the second pulley form a pulley transmission relationship, and the transmission belt is in an "O" shape.

The closed-loop flexible part clamping dexterous robot finger device in parallel according to the present invention is characterized in that: the second transmission mechanism includes a second reducer, a third bevel gear, a fourth bevel gear, a second transition shaft, a third belt wheel, the fourth pulley and the second transmission belt; the output shaft of the second motor is connected with the input shaft of the second reducer, the third bevel gear is sleeved on the output shaft of the second reducer, and the first The four bevel gears are fixed on the second transition shaft, the third bevel gear meshes with the fourth bevel gear; the second transition shaft is set in the base, and the third pulley is fixed on the second transition On the shaft, the fourth pulley is movably sleeved on the proximal joint shaft, the fourth pulley is fixedly connected to the first transmission pulley, the second transmission belt is connected to the third pulley and the fourth pulley, and the The second transmission belt, the third pulley and the fourth pulley form a pulley transmission relationship, and the transmission belt is in an "O" shape.

Compared with the prior art, the present invention has the following advantages and outstanding effects:

The device of the present invention comprehensively realizes four grasping modes with two degrees of freedom by using dual drivers, a closed-loop flexible transmission mechanism, a bump dial, and a limit bump: 1) Parallel clamping linkage grasping mode of double-joint terminal finger segments ; 2) The grasping mode in which the two joints rotate independently and arbitrarily; 3) The grasping mode in which the two joints clamp in parallel first, and then rotate independently; 4) The joint grasping mode in which the two joints rotate independently first, and then fix the posture of the end fingers The device can not only achieve the parallel clamping effect that a single motor drives multiple joints to rotate at the same time as the traditional parallel clamping fingers, but also has the arbitrary grasping effect of independently rotating a single joint that the traditional parallel clamping fingers do not have; the The device uses the first torque limiter and the second torque limiter respectively to limit the grasping force exerted by the first finger segment and the second finger segment on the object, which protects the motor; the device has a large grasping range; the parallel clamping stage only uses It can be completed by one driver; it is easy to control when grasping objects; all motors and reducers are hidden in the base, and the finger rotating part is small in size and light in weight; the device has a compact structure, low manufacturing and maintenance costs, and is suitable for robotic hands.

Description of drawings

Fig. 1 is a three-dimensional appearance view of an embodiment of a closed-loop flexible member parallel clamping dexterous robot finger device designed by the present invention.

Figure 2 is a front view of the embodiment shown in Figure 1 .

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

Fig. 4 is a cross-sectional view along line A-A of Fig. 2 .

Fig. 5 is a B-B sectional view of Fig. 2 .

Fig. 6 is a C-C sectional view of Fig. 2 .

Fig. 7 is an internal perspective view from an angle of the embodiment shown in Fig. 1 (parts not shown).

Fig. 8 is an internal perspective view from another angle of the embodiment shown in Fig. 1 (parts not shown).

Fig. 9 is a front appearance view of the embodiment shown in Fig. 1 (base front plate, base surface plate, first finger segment front plate, first finger segment surface plate are not shown).

Figure 10 is an exploded view of the embodiment shown in Figure 1 .

Fig. 11 to Fig. 13 are schematic diagrams of the first stage parallel gripping process of the embodiment shown in Fig. 1 when grasping an object in an envelope gripping manner (when the first motor is turned on).

14 to 15 are schematic diagrams of the second-stage envelope grasping process of the embodiment shown in FIG. 1 when grasping an object in an envelope grasping manner (when the second motor is turned on).

16 to 18 are schematic diagrams of the action process of the embodiment shown in FIG. 1 when the first motor is driven to clamp the object in parallel. At this time, the second finger segment touches the object, and the grasping ends.

Figures 19 to 21 show the changes in the relative positions of the bump dial and the limit bump when the embodiment shown in Figure 1 sequentially uses parallel opening and closing and enveloping to grab objects at several key positions.

Figure 22 is a sectional view of a torque limiter employed in another embodiment.

In Figures 1 to 22:

1-base, 111-base front panel, 112-base rear panel, 113-base left panel,

114 - the right side plate of the base, 115 - the surface plate of the base, 116 - the bottom plate of the base, 117 - the middle plate of the base,

118-base inclined cover plate, 2-first finger segment, 21-first finger segment skeleton, 22-first finger segment left side panel,

23 - the right side panel of the first finger segment, 24 - the surface panel of the first finger segment, 25 - the front panel of the first finger segment, 26 - the rear panel of the first finger segment,

3-second finger segment, 4-proximal joint shaft, 5-distal joint shaft, 83-bearing,

84-sleeve, 85-screw, 86-pin, 9-first driving wheel,

10-second transmission wheel, 11-flexible transmission member, 12-bump dial, 14-first motor,

141-the first reducer, 142-the first bevel gear, 143-the second bevel gear, 144-the first transition shaft,

145-the first pulley, 146-the second pulley, 147-the first transmission belt, 15-the second motor,

151-the second reducer, 152-the third bevel gear, 153-the fourth bevel gear, 154-the second transition shaft,

155-the third pulley, 156-the fourth pulley, 157-the second drive belt, 17-object,

18-limiting bump, 901-first torque limiter, 902-second torque limiter,

900 - torque limiter, 910 - housing, 920 - rotating member, 930 - rotating shaft,

940-ball, 950-pressure spring.

detailed description

The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

An embodiment of the closed-loop flexible part parallel clamping dexterous robot finger device designed by the present invention, as shown in Figures 1 to 10, includes a base 1, a first finger segment 2, a second finger segment 3, and a proximal joint axis 4 , the distal joint shaft 5 and the first motor 14; the first motor 14 is fixedly connected to the base 1; the centerline of the proximal joint shaft 4 is parallel to the centerline of the distal joint shaft 5. This embodiment also includes a second motor 15, a first transmission mechanism, a second transmission mechanism, a first transmission wheel 9, a second transmission wheel 10, a flexible transmission member 11, a first torque limiter 901, and a second torque limiter 902 , bump dial 12 and limit bump 18; the proximal joint shaft 4 is movably sleeved in the base 1; the distal joint shaft 5 is movably sleeved in the first finger section 2; the first finger The segment 2 is sleeved on the proximal joint shaft 4; the second finger segment 3 is sleeved on the distal joint shaft 5; the first transmission mechanism is arranged in the base 1; the output shaft of the first motor 14 is connected to the The input end of the first transmission mechanism is connected; the output end of the first transmission mechanism is connected with the input end of the first torque limiter 901 , and the output end of the first torque limiter 901 is connected with the first finger segment 2 .

In this embodiment, the second motor 15 is fixedly connected to the base 1; the second transmission mechanism is arranged in the base, and the output shaft of the second motor 15 is connected to the input end of the second transmission mechanism, so The output end of the second transmission mechanism is connected to the input end of the second torque limiter 902, and the output end of the second torque limiter 902 is connected to the first transmission wheel 9; the first transmission wheel 9 is movably sleeved on On the proximal joint shaft 4; the second transmission wheel 10 is sleeved on the distal joint shaft 5, and the second transmission wheel 10 is fixedly connected with the second finger segment 3; the flexible transmission part 11 adopts a transmission belt, a tendon rope or a chain, The first transmission wheel 9 adopts a pulley, a sheave or a sprocket, and the second transmission wheel 10 adopts a pulley, a sheave or a sprocket, and the flexible transmission member 11 connects the first transmission wheel 9 and the second transmission wheel 10, the flexible transmission member 11, the first transmission wheel 9 and the second transmission wheel 10 cooperate to form a pulley transmission relationship, a rope pulley transmission relationship or a sprocket transmission relationship; the flexible transmission member 11 forms a " O " font; the transmission radius of the first transmission wheel 9 is equal to the transmission radius of the second transmission wheel 10; it is set up so that: through the transmission of the flexible transmission member 11, the transmission from the first transmission wheel 9 to the second transmission wheel 10 It is the same direction transmission and the transmission ratio is equal to 1. The bump dial 12 is fixedly connected to the first transmission wheel 9 .

In this embodiment, the bump dial 12 is movably sleeved on the proximal joint shaft 4; the limit bump 18 is fixedly connected to the base 1; Contact or leave a certain distance; Let the rotation direction of the first finger section 2 close to the object 17 be the positive direction near the joint (clockwise direction in Figure 11), and the rotation direction of the first finger section 2 away from the object 17 is the reverse direction near the joint. Direction; when the closed-loop flexible part clamps the dexterous robot finger device in parallel and is in the initial state (the stretched state shown in Figure 11 and Figure 16), the bump dial 12 contacts with the limit bump 18, and the bump dial 12 is set at this time. The rotation angle of the block dial 12 relative to the base 1 is 0 degree (as shown in FIG. 19 ). From this position, the rotation angle of the bump dial 12 is positive when the bump dial 12 rotates toward the positive direction near the joint, and the bump dial 12 The rotation angle when rotating in the opposite direction to the proximal joint is negative; the limit bump 18 limits the rotation angle of the bump dial 12 to only be positive, that is, the bump dial 12 can only move along the direction shown in Figure 11. Arrows indicate direction to turn.

The connecting rod parallel clamping dexterous robot finger device according to the present invention is characterized in that: the first transmission mechanism adopts a reduction transmission mechanism with a reduction ratio exceeding 100:1 or a reduction transmission mechanism with self-locking characteristics; The transmission mechanism adopts a reduction transmission mechanism with a reduction ratio exceeding 100:1 or a reduction transmission mechanism with self-locking characteristics.

In this embodiment, the first transmission mechanism adopts a reduction transmission mechanism with a reduction ratio exceeding 100:1; the second transmission mechanism adopts a reduction transmission mechanism with a reduction ratio exceeding 100:1.

In yet another preferred embodiment, the first transmission mechanism adopts a transmission mechanism with self-locking characteristics, such as a worm gear transmission mechanism or a screw nut transmission mechanism, and achieves the reverse self-locking condition. This can better ensure the stability of the first finger segment 2 grasping the object 17 .

In yet another preferred embodiment, the second transmission mechanism adopts a transmission mechanism with self-locking characteristics, such as a worm gear transmission mechanism or a screw nut transmission mechanism, and achieves the reverse self-locking condition. This can better ensure the stability of the second finger segment 3 grasping the object 17 .

The first torque limiter 901 limits the transmission torque that makes the first finger section 2 move toward the grasping object 17 . This ensures that the force of the first finger section 2 to grab the object 17 will not be too large, and can prevent the first motor 14 from being blocked and damaged by overheating. The second torque limiter 902 limits the transmission torque that makes the second finger section 3 move toward the grasping object 17 . This ensures that the force of the second finger section 3 to grasp the object 17 will not be too large, and can prevent the second motor 15 from being blocked and damaged by overheating.

In this embodiment, the base 1 includes a base front plate 111, a base rear plate 112, a base left side plate 113, a base right side plate 114, a base surface plate 115, a base Bottom plate 116 , base middle plate 117 and base inclined cover plate 118 . In this embodiment, the first finger segment 2 includes a first finger segment skeleton 21, a first finger segment left side plate 22, a first finger segment right side plate 23, and a first finger segment surface plate 24 fixed together. , The front plate 25 of the first finger segment and the rear plate 26 of the first finger segment. The limiting protrusion 18 is fixedly connected to the middle plate 117 of the base.

In this embodiment, the first transmission mechanism includes a first reducer 141, a first bevel gear 142, a second bevel gear 143, a first transition shaft 144, a first pulley 145, a second pulley 146 and a first Transmission belt 147; the output shaft of the first motor 14 is connected with the input shaft of the first speed reducer 141, the first bevel gear 142 is sleeved on the output shaft of the first speed reducer 141, and the second bevel gear 143 Sleeved on the first transition shaft 144, the first bevel gear 142 meshes with the second bevel gear 143; the first transition shaft 144 is sleeved in the base 1, and the first pulley 145 is sleeved on the On the first transition shaft 144, the second pulley 146 is movably sleeved on the proximal joint shaft 4, the second pulley 146 is fixedly connected to the first finger segment 2, and the first transmission belt 147 is connected to the first belt The pulley 145 and the second pulley 146, the first transmission belt 147, the first pulley 145 and the second pulley 146 form a pulley transmission relationship, and the transmission belt is in an "O" shape. The reduction ratio of the first reducer 141 is greater than 100:1.

In this embodiment, the second transmission mechanism includes a second reducer 151, a third bevel gear 152, a fourth bevel gear 153, a second transition shaft 154, a third pulley 155, a fourth pulley 156 and a second Transmission belt 157; the output shaft of the second motor 15 is connected with the input shaft of the second speed reducer 151, the third bevel gear 152 is sleeved on the output shaft of the second speed reducer 151, and the fourth bevel gear 153 Sleeved on the second transition shaft 154, the third bevel gear 152 meshes with the fourth bevel gear 153; the second transition shaft 154 is sleeved in the base 1, and the third pulley 155 is sleeved on On the second transition shaft 154, the fourth pulley 156 is movably sleeved on the proximal joint shaft 4, the fourth pulley 156 is fixedly connected to the first transmission wheel 9, and the second transmission belt 157 is connected to the third belt The pulley 155 and the fourth pulley 156, the second transmission belt 157, the third pulley 155 and the fourth pulley 156 form a pulley transmission relationship, and the transmission belt is in an "O" shape. The reduction ratio of the second reducer 151 is greater than 100:1.

The present embodiment also adopts some bearings 83, some sleeves 84, some screws 85, some pins 86 and other parts, which belong to the known and commonly used technologies and will not be described in detail.

The device of the present invention comprehensively realizes four grasping modes with two degrees of freedom by using dual drivers, a closed-loop flexible member transmission mechanism, a bump dial and a limit bump, including:

1) Parallel clamping and linkage grabbing mode of the end fingers of the double joints: At this time, only the first motor 14 is rotated, and the second motor 15 is not rotated. After the rotation, it is shown in Figure 11, Figure 12, and Figure 13;

2) The grasping mode of double joints rotating independently and arbitrarily: at this time, the first motor 14 and the second motor 15 can rotate at the same time, and the first motor 14 will make the fingers (the first finger segment 2 and the second finger segment 3) generate a parallel grip The second motor 15 can arbitrarily change the rotation angle of the second finger segment 3 on this basis;

3) The grasping mode in which the two joints are clamped and linked in parallel first, and then independently rotated: at this time, the first motor 14 is rotated first, and when the first finger segment touches the object 17, the first motor 14 is stopped, and then the second motor is rotated 15;

4) The two joints rotate independently first, and then fix the posture of the end finger segments in the linkage grabbing mode: at this time, first start the first motor 14 and the second motor 15 at the same time, after a period of time, stop the second motor 15, and then rotate the first motor 14.

With reference to accompanying drawings 11 to 21, the following further explains the action principle of the commonly used second grabbing mode with an example. The device uses a second grasping mode to grasp objects in two phases: a parallel-grip grasping phase and a dexterous grasping phase.

The initial position of this embodiment is the state where the fingers are stretched, as shown in FIG. 11 , the first finger segment 2 and the second finger segment 3 are in a straight state with the base 1 at this time. When the present embodiment is used to grasp an object, the first motor 14 rotates, and through the first transmission mechanism, the first finger segment 2 is driven to rotate an angle around the centerline of the proximal joint axis 4 , as shown in FIGS. 11 to 13 .

During this process, the second motor 15 does not rotate, because the reduction ratio of the second transmission mechanism is very large, and the inertia of the motor rotor is relatively large, it presents a "soft self-locking" state (the second transmission with self-locking characteristics is used). mechanism can also achieve the same effect), the first transmission wheel 9 and the bump dial 12 will not rotate, and are still in contact with the limit bump 18 on the base 1. Therefore, the positive rotation of the first finger section 2 will cause the second transmission wheel 10 to rotate in the opposite direction (counterclockwise in Fig. The finger segment 3 reversely rotates the same angle around the center line of the far joint shaft 5 (because the transmission ratio from the first transmission wheel to the second transmission wheel is 1), thereby realizing two joints of the near joint shaft 4 and the far joint shaft 5 At the same time, one forward and one reverse two-way rotation, the second finger segment 3 always maintains the same direction as the initial state posture (relative to the base 1), but the position changes, which is the parallelism of the first grasping stage. Clamp and rotate, as shown in Figure 11 to Figure 13. The relative positions of the corresponding bump dial 12 and the limit bump 18 are shown in FIG. 19 . At this stage, it is suitable to hold the object 17 in parallel with the second finger segment 3 , or use the second finger segment 3 to open the object 17 from the inside to the outside by stretching out. For example, in the taking of a hollow cylinder, the inner side of the object is spread out to support the wall of the cylinder, thereby taking the object.

During a parallel gripping grab, if the second finger segment 3 touches the object, but the first finger segment 2 does not touch the object, then the grab ends, in which case there is only one parallel gripping grab process, That is, the effect of parallel clamping (or parallel pinching) of objects is realized, as shown in FIGS. 16 to 18 .

In the process of parallel clamping and grasping, if the first finger segment 2 touches the object 17 first, as shown in Figure 13, the first motor 14 is stopped and the second motor 15 is started. This subsequent process is a dexterous grasping stage. As described below:

The second motor 15 rotates, and by the second transmission mechanism, drives the rotation of the first transmission wheel 9 (the bump dial 12 also rotates accordingly), and realizes the forward direction of the second finger segment 3 by the flexible transmission member 11 and the second transmission wheel 10. Rotate until the second finger segment 3 touches the object 17, the rotation angle of the second finger segment 3 is not limited by the rotation angle of the first finger segment 2, as shown in Figure 14 and Figure 15, to achieve the purpose of dexterous grasping in the second grasping stage . The relative positions of the corresponding bump dial 12 and the limit bump 18 are shown in FIG. 20 and FIG. 21 .

The working principle of the torque limiter 900 is briefly as follows:

As shown in Figure 22, when the torque from the rotating member 920 of the torque limiter 900 to the housing 910 (the output end of the torque limiter) is smaller than the elastic force of the pressure spring 950, the rotating shaft 930 (the input end of the torque limiter) The rotation (clockwise direction indicated by the arrow A in the figure) can be transmitted to the rotating member 920, and the rotation of the rotating member 920 is transmitted to the housing 910 through the ball 940; If the torque is greater than the elastic force of the pressure spring 950, the spring 950 will be compressed and deformed, and the rotating shaft 930 will rotate idly.

Fig. 11 to Fig. 15 are schematic diagrams of the action process of the embodiment shown in Fig. 1 to grab the object 17 in the form of envelope grabbing, wherein Fig. 11 is the initial state, and Fig. 11 to Fig. 13 are the first finger segment 2 touching the object The action process before 17—parallel opening and closing action, Figure 13 shows the situation when the first finger segment 2 just touched the object, and Figure 13 to Figure 15 shows the action process after the first finger segment 2 touched the object 17—including The network grasps the object until the second finger segment 3 touches the object, as shown in Figure 15, the grasping ends.

Fig. 16 to Fig. 18 are another possible way of grasping the object 17 in the embodiment shown in Fig. 1 - a typical action process of parallel pinching the object until the second finger section 3 touches the object 17, as shown in Fig. 18, grasping Take the end.

Fig. 19 to Fig. 21 are several key positions in the action process of the embodiment shown in Fig. 1 by parallel opening and closing and enveloping in order to grab the object, showing the relative positions of the bump dial 12 and the limit bump 18 Changes. 1) The situation shown in Fig. 19 is the position situation of the bump dial 12 in Fig. 11, Fig. 12, Fig. 13, Fig. 16, Fig. 17 and Fig. 18; One finger segment, the bump dial 12 is in contact with the limit bump 18, the second finger segment 3 is in a fixed vertical posture relative to the base 1, and this situation continues until the end of the clamping and grabbing in Figure 18, Or continue until the envelope grabbing of Fig. 13 starts; 2) Fig. 20 corresponds to the situation of Fig. 14, at this moment the first finger section 2 of this embodiment has touched the object 17 and is blocked and cannot move, and the second motor 15 Under the action of the second transmission mechanism, the first transmission wheel 9, the second transmission wheel 10 and the transmission of the flexible transmission member 11, the second finger section 3 rotates an angle around the distal joint axis 5 (rotating relative to the base 1) , the second finger section 3 no longer maintains the original vertical initial posture, and the bump dial 12 has left the limit bump 18 that was always in contact with the original; 3) Figure 21 corresponds to the position of the bump dial 12 in Figure 15 , at this moment, the present embodiment completes the contact of the two finger segments of the object—envelope grabbing, stable grabbing, and large force; compared with the situation in FIG. 20 , the bump dial 12 in FIG. The larger the angle, the farther the distance away from the limit projection 18, the second finger section 3 also rotates the same angle as the rotation angle of the projection dial 12.

The process of releasing the object 17: the first motor 14 is reversed, the second motor 15 is reversed, and the subsequent process is just opposite to the process of grabbing the object 17 described above, and will not be repeated here.

The device of the present invention comprehensively realizes four grasping modes with two degrees of freedom by using dual drivers, a closed-loop flexible transmission mechanism, a bump dial, and a limit bump: 1) Parallel clamping linkage grasping mode of double-joint terminal finger segments ; 2) The grasping mode in which the two joints rotate independently and arbitrarily; 3) The grasping mode in which the two joints clamp in parallel first, and then rotate independently; 4) The joint grasping mode in which the two joints rotate independently first, and then fix the posture of the end fingers The device can not only achieve the parallel clamping effect that a single motor drives multiple joints to rotate at the same time as the traditional parallel clamping fingers, but also has the arbitrary grasping effect of independently rotating a single joint that the traditional parallel clamping fingers do not have; the The device uses the first torque limiter and the second torque limiter respectively to limit the grasping force exerted by the first finger segment and the second finger segment on the object, which protects the motor; the device has a large grasping range; the parallel clamping stage only uses It can be completed by one driver; it is easy to control when grasping objects; all motors and reducers are hidden in the base, and the finger rotating part is small in size and light in weight; the device has a compact structure, low manufacturing and maintenance costs, and is suitable for robotic hands.

Claims (3)

1. A kind of close-loop flexible part clamps dexterous robot finger device in parallel, comprises base, first finger segment, second finger segment, proximal joint shaft, far joint shaft and first motor; Described first motor is fixed with base connected; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis; it is characterized in that: the closed-loop flexible member parallel clamping dexterous robot finger device also includes a second motor, a first transmission mechanism, a second transmission mechanism, The first transmission wheel, the second transmission wheel, the flexible transmission member, the first torque limiter, the second torque limiter, the bump dial and the limit bump; the joint-proximate shaft is movably sleeved in the base; the The distal joint shaft is movably sleeved in the first finger segment; the first finger segment is sleeved on the proximal joint shaft; the second finger segment is sleeved on the distal joint shaft; the first transmission mechanism is arranged on In the base; the output shaft of the first motor is connected with the input end of the first transmission mechanism, the output end of the first transmission mechanism is connected with the input end of the first torque limiter, and the first torque limiter The output end is connected to the first finger section; the second motor is fixedly connected to the base; the second transmission mechanism is arranged in the base, and the output shaft of the second motor is connected to the input end of the second transmission mechanism, The output end of the second transmission mechanism is connected to the input end of the second torque limiter, and the output end of the second torque limiter is connected to the first transmission wheel; the first transmission wheel is movably sleeved on the proximal joint shaft above; the second transmission wheel is sleeved on the distal joint shaft, and the second transmission wheel is fixedly connected to the second finger segment; the flexible transmission part adopts a transmission belt, tendon rope or chain, and the first transmission wheel adopts a pulley , a rope wheel or a sprocket, the second transmission wheel adopts a pulley, a rope wheel or a sprocket, and the flexible transmission member connects the first transmission wheel and the second transmission wheel, and the flexible transmission member, the first transmission wheel and the The three of the second transmission wheels cooperate to form a pulley transmission relationship, a rope pulley transmission relationship or a sprocket transmission relationship; the flexible transmission member forms an "O" shape; The radii are equal; the bump dial is fixedly connected to the first transmission wheel; the bump dial is movably sleeved on the proximal joint shaft; the limit bump is fixedly connected to the base; the bump dial Contact or leave a certain distance with the limit bump; set the rotation direction of the first finger segment close to the object as the positive direction near the joint, and the rotation direction of the first finger segment away from the object as the reverse direction near the joint; When the clamping dexterous robot finger device is in the initial state, the bump dial is in contact with the limit bump. Assume that the rotation angle of the bump dial relative to the base is 0 degrees at this time. From this position, the bump dial faces closer The rotation angle when the joint rotates in the positive direction is positive, and the rotation angle when the bump dial rotates in the opposite direction near the joint is negative; the limit bump restricts the rotation angle of the bump dial to only be positive; the first The first transmission mechanism adopts a reduction transmission mechanism with a reduction ratio greater than 100:1 or a reduction transmission mechanism with self-locking characteristics; the second transmission mechanism adopts a reduction transmission mechanism with a reduction ratio greater than 100:1 or a reduction transmission mechanism with self-locking characteristics . 2. The closed-loop flexible member parallel clamping dexterous robot finger device according to claim 1, characterized in that: the first transmission mechanism includes a first reducer, a first bevel gear, a second bevel gear, a first transition shaft , the first pulley, the second pulley and the first transmission belt; the output shaft of the first motor is connected with the input shaft of the first reducer, and the first bevel gear is fixed on the output shaft of the first reducer , the second bevel gear is sleeved on the first transition shaft, and the first bevel gear meshes with the second bevel gear; the first transition shaft is sleeved in the base, and the first pulley is sleeved On the first transition shaft, the second pulley is movably sleeved on the proximal joint shaft, the second pulley is fixedly connected to the first finger segment, and the first transmission belt connects the first pulley and the second belt The first transmission belt, the first pulley and the second pulley form a pulley transmission relationship, and the transmission belt is in the shape of an "O". 3. The closed-loop flexible member parallel clamping dexterous robot finger device according to claim 1, characterized in that: the second transmission mechanism includes a second speed reducer, a third bevel gear, a fourth bevel gear, and a second transition shaft , the third pulley, the fourth pulley and the second transmission belt; the output shaft of the second motor is connected with the input shaft of the second reducer, and the third bevel gear is fixed on the output shaft of the second reducer , the fourth bevel gear is sleeved on the second transition shaft, the third bevel gear meshes with the fourth bevel gear; the second transition shaft is sleeved in the base, and the third pulley is sleeved On the second transition shaft, the fourth pulley is movably sleeved on the proximal joint shaft, the fourth pulley is fixedly connected to the first transmission pulley, and the second transmission belt is connected to the third pulley and the fourth belt The second transmission belt, the third pulley and the fourth pulley form a pulley transmission relationship, and the transmission belt is in the shape of an "O".