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WO2021139652A1 - 一种可用于多指夹持器的变构型基座 - Google Patents

一种可用于多指夹持器的变构型基座 Download PDF

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Publication number
WO2021139652A1
WO2021139652A1 PCT/CN2021/070330 CN2021070330W WO2021139652A1 WO 2021139652 A1 WO2021139652 A1 WO 2021139652A1 CN 2021070330 W CN2021070330 W CN 2021070330W WO 2021139652 A1 WO2021139652 A1 WO 2021139652A1
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Prior art keywords
base
platform
motor
bearing
finger
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PCT/CN2021/070330
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English (en)
French (fr)
Inventor
康荣杰
杨铖浩
张旭
戴建生
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Tianjin University
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Tianjin University
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Publication of WO2021139652A1 publication Critical patent/WO2021139652A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the invention belongs to the technical field of holders, and in particular relates to a deformable base that can be used for a multi-finger holder.
  • the robot generally uses the gripper as the end manipulator to contact the target.
  • the gripper is an important part of the robot system.
  • the gripper in the traditional industrial robot can complete some single tasks through a simple grasping mechanism, which is flexible
  • robots need to face complex and changeable tasks. Therefore, simple grasping mechanisms are difficult to meet the needs. Therefore, they are often designed with more joints and degrees of freedom to enhance the gripper’s work.
  • this kind of holder is often difficult to miniaturize. Therefore, it is often difficult to effectively complete the target task for complex tasks under limited space.
  • the existing grippers have the following shortcomings: it is difficult to balance flexibility and miniaturization, and it is difficult to have good compatibility for different environments, especially flexible work content in small environments, which greatly limits the robot's ability to work differently. Content adaptability.
  • the purpose of the present invention is to provide a deformable base that can be used for multi-finger grippers in view of the deficiencies of the prior art, so that the grippers can take into account flexibility and miniaturization, and improve the adaptability of the robot to different work contents.
  • a deformable base that can be used for a multi-finger gripper includes a driving device.
  • the driving device includes a first motor, a second motor, a first base, a second base, a first platform that can move in translation, and a second base.
  • Two platforms, a first bearing and a second bearing, the first base and the second base are respectively matched with the inner ring and the outer ring of the first bearing, and the first platform and the second platform are respectively matched with the second
  • the inner ring and outer ring of the bearing are matched, the stator of the first motor is fixedly connected to the first base, the output shaft of the first motor is fixedly connected to the second base, and the stator of the second motor It is fixedly connected to the second base, and the output shaft of the second motor is fixedly connected to the first platform.
  • the deformable base further includes a change auxiliary device, and the change auxiliary device includes a plurality of corresponding guides.
  • Rods, compression springs and linear bearings, a plurality of the guide rods are respectively symmetrically fixedly connected around the first base and the second base, and a plurality of the linear bearings are respectively installed on a plurality of the guide rods,
  • a plurality of the pressure springs are respectively installed between the linear bearing and the first base; or a plurality of the pressure springs are respectively installed between the linear bearing and the second base.
  • the deformable base further includes a tensioning and closing device, and the tensioning and closing device includes a plurality of corresponding shears.
  • a fork mechanism, a sliding node and a finger support, each of the scissor mechanisms is respectively connected to the sliding node and the finger support, and a plurality of the scissor mechanisms are installed symmetrically on the first platform and the first platform, respectively Between the two platforms and the sliding nodes, a plurality of the sliding nodes are respectively fixedly connected to a plurality of the linear bearings.
  • the lower end of the guide rod is provided with a thread for being fixedly connected with the first base.
  • the number of the guide rod, the pressure spring and the linear bearing are all 3-6, so The number of the scissor mechanism, the sliding node and the finger support are all 3-6.
  • the first base, the second base and the first bearing are formed for accommodating In the space of the first motor, the first motor is fixed on the shaft end of the structure matched with the first base and the first bearing.
  • the second base and the second platform are respectively referred to as the first base and the first platform.
  • the rotating connection is used for rotating movement relative to the first base and the first platform.
  • the first motor is an ultra-thin stepping motor
  • the second motor is a linear motor
  • the first bearing and the second bearing are both tapered roller bearings.
  • the first base, the second base, the first platform, and the second platform are all It is round.
  • the present invention includes a driving device including a first motor, a second motor, a first base, a second base, a first platform that can be translated, a second platform, a first bearing and
  • the second bearing, the first base and the second base are respectively matched with the inner ring and the outer ring of the first bearing, and the first platform and the second platform are respectively matched with the inner ring and the outer ring of the second bearing.
  • the stator of the first motor is fixedly connected to the first base
  • the output shaft of the first motor is fixedly connected to the second base
  • the stator of the second motor is fixedly connected to the The second base, the output shaft of the second motor is fixedly connected to the first platform.
  • the stator of the first motor is fixedly connected to the first base by bolts.
  • the output shaft is a D-shaped shaft. It can be matched with the D-shaped hole of the second base to transmit torque and complete the driving function of variable configuration motion.
  • the stator is fixedly connected to the second base by bolts, and the output shaft flange is fixedly connected to the first translational platform by bolts, so that the displacement drive of the second motor can be transmitted to the first platform and the rotatable and translational second platform.
  • the platform realizes the driving function of the driving device of the holder base.
  • the invention enables the gripper to take into account flexibility and miniaturization, improves the adaptability of the robot to different work contents, and is also compatible with multiple configuration changes, so that the gripper can complete a variety of flexible and changeable tasks.
  • Figure 1 is a schematic structural diagram of the adduction configuration of Example 1 of the present invention.
  • Fig. 2 is a schematic structural diagram of the abduction configuration of embodiment 1 of the present invention.
  • Figure 3 is a schematic structural diagram of the adduction configuration of Example 2 of the present invention.
  • Fig. 4 is a schematic structural diagram of the abduction configuration of embodiment 2 of the present invention.
  • Fig. 5 is a schematic diagram of the configuration change of the included angle transformation in embodiment 3 of the present invention.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense.
  • it may be a fixed connection or a detachable connection.
  • integrally connected it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between the two components.
  • the specific meanings of the above-mentioned terms in the present invention can be understood according to specific circumstances.
  • a deformable base that can be used for a multi-finger gripper includes a driving device.
  • the driving device includes a first motor 11, a second motor 12, a first base 13, and a second base 14.
  • the first platform 15, the second platform 16, the first bearing 17 and the second bearing 18 that can be translated, the first base 13 and the second base 14 are respectively matched with the inner ring and the outer ring of the first bearing 17, the first The platform 15 and the second platform 16 are respectively matched with the inner and outer rings of the second bearing 18, the stator of the first motor 11 is fixedly connected to the first base 13, and the output shaft of the first motor 11 is fixedly connected to the second base 14.
  • the stator of the second motor 12 is fixedly connected to the second base 14, and the output shaft of the second motor 12 is fixedly connected to the first platform 15. Because the existing gripper is difficult to balance flexibility and miniaturization, it is difficult to have good compatibility for different environments, especially flexible work content in a small environment, which greatly limits the robot's ability to adapt to different work content. Therefore, The stator of the first motor 11 is fixedly connected to the first base 13 through a bolt connection.
  • the output shaft is a D-shaped shaft, which cooperates with the D-shaped hole of the second base 14 to transmit torque and complete the driving function of the deformed movement.
  • the stator of the second motor 12 is fixedly connected to the second base 14 by bolts, and the output shaft flange is fixedly connected to the first platform 15 that can move in translation by bolts, so that the displacement drive of the second motor 12 can be transmitted to the first platform 15 and
  • the rotatable and translational second platform 16 realizes the driving function of the driving device of the holder base.
  • the deformed base further includes a changing auxiliary device, which includes a number of corresponding guide rods 21, compression springs 22, and linear bearings 23, and a number of guide rods 21 are respectively symmetrically fixed around the first base 13 and Around the second base 14, a plurality of linear bearings 23 are respectively installed on the plurality of guide rods 21, and a plurality of pressure springs 22 are respectively installed between the linear bearing 23 and the first base 13; or a plurality of pressure springs 22 are respectively installed on the linear Between the bearing 23 and the second base 14.
  • a changing auxiliary device which includes a number of corresponding guide rods 21, compression springs 22, and linear bearings 23, and a number of guide rods 21 are respectively symmetrically fixed around the first base 13 and Around the second base 14, a plurality of linear bearings 23 are respectively installed on the plurality of guide rods 21, and a plurality of pressure springs 22 are respectively installed between the linear bearing 23 and the first base 13; or a plurality of pressure springs 22 are respectively installed on the linear Between the bearing 23 and the second base
  • the compression spring 22 can make the displacement drive input provided by the second motor 12, and the generated output can be converted between the opening and closing movement of the scissors mechanism 31 of the opening and closing device and the overall translational displacement of a single opening and closing device, that is, the space is not limited.
  • the sliding node 32 in the tensioning and closing device can be fixed along the axial direction of the linear bearing 23, and the displacement generated by the second motor 12 in the driving device can cause the shearing fork mechanism 31 of the corresponding tensioning and closing device to generate the tensioning and closing movement, and in the space
  • the compression spring 22 shrinks under the equal effect of the space restriction, which can make the sliding node 32 in the tensioning device produce the same displacement compensation along the axial direction of the linear bearing 23 as the second motor 12 in the same direction.
  • the expansion and closing device produces an overall translational displacement along the axial direction of the linear bearing 23, without causing the scissors mechanism 31 of the expansion and closing device to produce expansion and closing movement, so as to realize the asynchronous adduction and expansion configuration of the holder base Change pattern.
  • the deformed base also includes a tensioning and closing device, which includes a number of corresponding scissor mechanisms 31, sliding nodes 32 and finger supports 33, and each scissor mechanism 31 is respectively connected to the sliding node 32 and the finger bearing.
  • a tensioning and closing device which includes a number of corresponding scissor mechanisms 31, sliding nodes 32 and finger supports 33, and each scissor mechanism 31 is respectively connected to the sliding node 32 and the finger bearing.
  • a tensioning and closing device which includes a number of corresponding scissor mechanisms 31, sliding nodes 32 and finger supports 33, and each scissor mechanism 31 is respectively connected to the sliding node 32 and the finger bearing.
  • a tensioning and closing device which includes a number of corresponding scissor mechanisms 31, sliding nodes 32 and finger supports 33, and each scissor mechanism 31 is respectively connected to the sliding node 32 and the finger bearing.
  • a tensioning and closing device which includes a number of corresponding scissor mechanisms 31, sliding nodes 32 and finger supports 33, and
  • the four groups of tensioning and closing devices are divided into two groups and installed symmetrically in translation.
  • the first platform 15, the rotatable and translational second platform 16 and the sliding node 32 because the connection is a rotating pair, fixed by a pin, the translational first platform 15 and the rotatable and translational second platform 15
  • the displacement change between the platform 16 and the sliding node 32 can cause the scissor mechanism 31 to expand and close, thereby changing the position of the finger support 33, completing the synchronous adduction, abduction, and asynchrony of the gripper base
  • the change pattern of adduction and abduction configuration The change pattern of adduction and abduction configuration.
  • the lower end of the guide rod 21 is provided with a thread for being fixedly connected with the first base 13.
  • the number of the guide rod 21, the pressure spring 22 and the linear bearing 23 are all 3-6, and the number of the scissor mechanism 31, the sliding node 32 and the finger support 33 are all 3-6.
  • the number of stretching and closing devices can be increased by grouping the number of interfaces on the first base 13, the second base 14, the first platform 15 that can be translated and the second platform 16 that can be rotated and translated, and there are different numbers of adaptations. Finger grippers.
  • the opening and closing movement of the scissor mechanism 31 of the opening and closing device can cause the end finger bearing 33 to change the radial dimension relative to the axis of the holder base.
  • a space for accommodating the first motor 11 is formed between the first base 13, the second base 14 and the first bearing 17, and the first motor 11 is fixed to the shaft end of the structure where the first base 13 and the first bearing 17 cooperate. on.
  • the second base 14 and the second platform 16 are rotationally connected to the first base 13 and the first platform 15 respectively, and are used for rotating movement relative to the first base 13 and the first platform 15.
  • the first motor 11 is an ultra-thin stepping motor
  • the second motor 12 is a linear motor.
  • Stepping motor is an open-loop control motor that converts electrical pulse signals into angular displacement or linear displacement. It is the main executive element in modern digital program control systems. It is widely used. In the case of non-overload, the speed of the motor is stopped. The position depends only on the frequency and number of pulses of the pulse signal, and is not affected by load changes.
  • the stepper driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle in the set direction, which is called " “Step angle", its rotation runs step by step at a fixed angle.
  • the angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning; at the same time, the speed and rotation of the motor can be controlled by controlling the pulse frequency.
  • Acceleration so as to achieve the purpose of speed regulation, linear motors are also called linear motors, linear motors, linear motors, and push rod motors.
  • the most commonly used linear motors are flat, U-slot and tubular.
  • the typical composition of the coil is three. Phase, brushless commutation is realized by Hall element.
  • the first bearing 17 and the second bearing 18 are both tapered roller bearings.
  • Tapered roller bearings are separable bearings. Both the inner and outer rings of the bearing have tapered raceways. This type of bearing is divided into single row, double row and four row tapered roller bearings according to the number of rows installed.
  • Single row tapered roller bearings can bear radial load and single direction axial load. When the bearing bears radial load, it will produce an axial component force, so when it needs another bearing that can bear the axial force in the opposite direction to balance it.
  • the first base 13, the second base 14, the first platform 15 and the second platform 16 are all circular.
  • the user can choose round or other shapes of the first base 13, the second base 14, the first platform 15, and the second platform 16 according to the cost and production requirements.
  • the working principle of the present invention is:
  • the stator of the first motor 11 is fixedly connected to the first base 13 through a bolt connection.
  • the output shaft is a D-shaped shaft, which cooperates with the D-shaped hole of the second base 14 to transmit torque and complete the driving function of the deformed movement.
  • the stator of the second motor 12 is fixedly connected to the second base 14 by bolts, and the output shaft flange is fixedly connected to the first platform 15 that can move in translation by bolts, so that the displacement drive of the second motor 12 can be transmitted to the first platform 15 and
  • the rotatable and translational second platform 16 realizes the driving function of the driving device of the holder base.
  • the pressure spring 22 provides upward force for the lower node of the scissor mechanism 31 to maintain the opening and closing movement of the scissor mechanism 31.
  • the inherent elasticity of the pressure spring 22 can provide a certain degree of adaptability for the holder. .
  • the configuration of the gripper base needs to be synchronized adduction and abduction.
  • the second motor 12 works on the first base 13 (the second base 14) and the translational first platform 15 ( There is an axial displacement between the rotatable and translational second platform 16). This displacement causes the four sets of scissor mechanisms 31 to expand and close, so that the corresponding finger holder 33 expands outward or contracts inward, so that The holder base realizes the configuration change mode of synchronous adduction and abduction.
  • Embodiment 1 requires a configuration change of the angle of the gripper base for a given work target.
  • the output shaft of the first motor 11 of the drive device is changed.
  • the second platform 16 produces equidistant circumferential rotation.
  • Embodiment 5 the difference from Embodiment 1 is that this embodiment requires the holder base to undergo asynchronous adduction and abduction configuration changes for the established work target. At this time, the holder base is in adduction as a whole.
  • the second motor 12 works between the first base 13 (second base 14) and the first translational platform 15 (rotatable and translational second platform 16) to produce an axial displacement that reduces the spacing , This displacement is input to all the expansion and closing devices without difference.
  • this input causes the scissors mechanism 31 to expand and close, and the corresponding finger support 33 Relative to the holder base, it expands outward; for the asynchronous configuration change auxiliary device with limited space in the corresponding direction, this input causes the compression spring 22 to contract, and the entire expansion and closing device produces axial translational displacement, and The finger support 33 still maintains the posture in the adduction configuration, so that the holder base realizes the configuration change mode of asynchronous adduction and abduction.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明属于夹持器的技术领域，具体涉及一种可用于多指夹持器的变构型基座，包括驱动装置，所述驱动装置包括第一电机、第二电机、第一底座、第二底座、可平动的第一平台、第二平台、第一轴承和第二轴承，所述第一底座和所述第二底座分别与第一轴承的内圈、外圈配合，所述第一平台和第二平台分别与第二轴承内圈、外圈配合，所述第一电机的定子固联于所述第一底座上，第一电机的输出轴固联于所述第二底座上，所述第二电机的定子固联于所述第二底座，所述第二电机的输出轴固联于所述第一平台。本发明使得夹持器能够兼顾灵活性和小型化，提高机器人对不同工作内容的适应能力，还兼容多种构型变化，使夹持器能够完成多种灵活多变的任务。

Description

一种可用于多指夹持器的变构型基座 技术领域
本发明属于夹持器的技术领域，具体涉及一种可用于多指夹持器的变构型基座。
背景技术
机器人一般以夹持器作为末端操作器来与目标接触，夹持器是机器人系统中重要的组成部分，传统工业机器人中夹持器可以只通过简单的抓取机构完成一些单一的任务，其灵活度很低，而现代工程中机器人需要面对复杂多变的任务，因此简单的抓取机构难以满足需求，因而往往设计有较多的关节数量和自由度，以此来增强夹持器对工作环境的适应性。但是受限于复杂的结构，这种夹持器往往难以小型化，因此对于空间受限下的复杂工作任务，往往难以有效完成目标任务。
发明人发现现有的夹持器存在以下缺陷：难以兼顾灵活性和小型化，对于不同环境尤其是狭小环境下较为灵活的工作内容，难以有很好的兼容性，大大限制了机器人对不同工作内容的适应能力。
发明内容
本发明的目的在于：针对现有技术的不足，提供一种可用于多指夹持器的变构型基座，使得夹持器能够兼顾灵活性和小型化，提高机器人对不同工作内容的适应能力，还兼容多种构型变化，使夹持器能够完成多种灵活多变的任务。
为了实现上述目的，本发明采用如下技术方案：
一种可用于多指夹持器的变构型基座，包括驱动装置，所述驱动装置包括第一电机、第二电机、第一底座、第二底座、可平动的第一平台、第二平台、第一轴承和第二轴承，所述第一底座和所述第二底座分别与所述第一轴承的内圈、外圈配合，所述第一平台和第二平台分别与第二轴承内圈、外圈配合，所述第一电机的定子固联于所述第一底座上，所述第一电机的输出轴固联于所述第二底座上，所述第二电机的定子固联于所述第二底座，所述第二电机的输出轴固联于所述第一平台。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述变构型基座还包括变化辅助装置，所述变化辅助装置包括若干个对应的导杆、压力弹簧及直线轴承，若干个所述导杆分别对称固联于所述第一底座周围和所述第二底座周围，若干个所述直线轴承分别安装于若干个所述导杆上，若干个所述压力弹簧分别安装于所述直线轴承与所述第一底座之间；或若干个所述压力弹簧分别安装于所述直线轴承与所述第二底座之间。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述变构型基座还包括张合装置，所述张合装置包括若干个对应的剪叉机构、滑动节点及手指承托，每个所述剪叉机构分别连接所述滑动节点和所述手指承托，若干个所述剪叉机构分别对称安装于所述第一平台、所述第二平台和所述滑动节点之间，若干个所述滑动节点分别固联于若干个所述直线轴承上。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述导杆下端设置有用于与所述第一底座固联的螺纹。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述导杆、所述压力弹簧及所述直线轴承的数量均为3～6个，所述剪叉机构、所述滑动节点及所述手指承托的数量均为3～6个。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述第一底座、所述第二底座和所述第一轴承之间形成用于容纳所述第一电机的空间，所述第一电机固定于所述第一底座和所述第一轴承配合的结构轴端上。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述第二底座和所述第二平台分别语所述第一底座、所述第一平台旋转连接，用于相对于所述第一底座、所述第一平台作旋转运动。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述第一电机为超薄型步进电机，所述第二电机为直线电机。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述第一轴承和所述第二轴承均为圆锥滚子轴承。
作为本发明所述的一种可用于多指夹持器的变构型基座的一种改进，所述第一底座、所述第二底座、所述第一平台及所述第二平台均为圆形。
本发明的有益效果在于，本发明包括驱动装置，所述驱动装置包括第一电机、第二电机、第一底座、第二底座、可平动的第一平台、第二平台、第一轴承和第二轴承，所述第一底座和所述第二底座分别与所述第一轴承的内圈、外圈配合，所述第一平台和第二平台分别与所述第二轴承内圈、外圈配合，所述第一电机的定子固联于所述第一底座上，所述第一电机的输出轴固联于所述第二底座上，所述第二电机的定子固联于所述第二底座，所述第二电机的输出轴固联于所述第一平台。由于现有夹持器难以兼顾灵活性和小型化，对于不同环境尤其是狭小环境下较为灵活的工作内容，难以有很好的兼容性，大大限制了机器人对不同工作内容的适应能力，因此，第一电机的定子通过螺栓连接固 联于第一底座上，输出轴为D型轴，与第二底座的D形孔配合，可以传递扭矩，完成变构型运动的驱动功能，第二电机的定子通过螺栓连接固联于第二底座，输出轴法兰通过螺栓固联于可平动的第一平台，可使第二电机的位移驱动传递至第一平台和可旋转可平动的第二平台，实现该夹持器基座的驱动装置的驱动功能。本发明使得夹持器能够兼顾灵活性和小型化，提高机器人对不同工作内容的适应能力，还兼容多种构型变化，使夹持器能够完成多种灵活多变的任务。
附图说明
图1为本发明中实施例1的内收构型的结构示意图。
图2为本发明中实施例1的外展构型的结构示意图。
图3为本发明中实施例2的内收构型的结构示意图。
图4为本发明中实施例2的外展构型的结构示意图。
图5为本发明中实施例3的夹角变换构型变化示意图。
其中：11-第一电机；12-第二电机；13-第一底座；14-第二底座；15-第一平台；16-第二平台；17-第一轴承；18-第二轴承；21-导杆；22-压力弹簧；23-直线轴承；31-剪叉机构；32-滑动节点；33-手指承托。
具体实施方式
如在说明书及权利要求当中使用了某些词汇来指称特定组件。本领域技术人员应可理解，硬件制造商可能会用不同名词来称呼同一个组件。本说明书及权利要求并不以名称的差异来作为区分组件的方式，而是以组件在功能上的差异来作为区分的准则。如在通篇说明书及权利要求当中所提及的“包含”为一开放式用语，故应解释成“包含但不限定于”。“大致”是指在可接受的误差范围内，本领域技术人员能够在一定误差范围内解决技术问题，基本达到技术效果。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、水平”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况 理解上述术语在本发明中的具体含义。
以下结合附图对本发明作进一步详细说明，但不作为对本发明的限定。
实施例1
如图1～2所示，一种可用于多指夹持器的变构型基座，包括驱动装置，驱动装置包括第一电机11、第二电机12、第一底座13、第二底座14、可平动的第一平台15、第二平台16、第一轴承17和第二轴承18，第一底座13和第二底座14分别与第一轴承17的内圈、外圈配合，第一平台15和第二平台16分别与第二轴承18内圈、外圈配合，第一电机11的定子固联于第一底座13上，第一电机11的输出轴固联于第二底座14上，第二电机12的定子固联于第二底座14，第二电机12的输出轴固联于第一平台15。由于现有夹持器难以兼顾灵活性和小型化，对于不同环境尤其是狭小环境下较为灵活的工作内容，难以有很好的兼容性，大大限制了机器人对不同工作内容的适应能力，因此，第一电机11的定子通过螺栓连接固联于第一底座13上，输出轴为D型轴，与第二底座14的D形孔配合，可以传递扭矩，完成变构型运动的驱动功能，第二电机12的定子通过螺栓连接固联于第二底座14，输出轴法兰通过螺栓固联于可平动的第一平台15，可使第二电机12的位移驱动传递至第一平台15和可旋转可平动的第二平台16，实现该夹持器基座的驱动装置的驱动功能。
优选的，变构型基座还包括变化辅助装置，变化辅助装置包括若干个对应的导杆21、压力弹簧22及直线轴承23，若干个导杆21分别对称固联于第一底座13周围和第二底座14周围，若干个直线轴承23分别安装于若干个导杆21上，若干个压力弹簧22分别安装于直线轴承23与第一底座13之间；或若干个压力弹簧22分别安装于直线轴承23与第二底座14之间。压力弹簧22可使第二电机12所提供的位移驱动输入，产生的输出在张合装置的剪叉机构31的张合运动和单个张合装置整体平动位移之间转化，即空间不受限时，可使张合装置中滑动节点32沿直线轴承23轴向方向固定，使驱动装置中第二电机12产生的位移，使对应张合装置的剪叉机构31产生张合运动，而在空间受限时，在空间限制作用产生的等效力的作用下，压力弹簧22收缩，可使张合装置中滑动节点32沿直线轴承23轴向方向产生与第二电机12同向距离相同的位移补偿，使张合装置沿直线轴承23轴向方向产生整体平动位移，而不会使张合装置的剪叉机构31产生张合运动，从而实现夹持器基座的异步内收外展构型变化模式。
优选的，变构型基座还包括张合装置，张合装置包括若干个对应的剪叉机构31、滑动节点32及手指承托33，每个剪叉机构31分别连接滑动节点32和手指承托33，若干个剪叉机构31分别对称安装于第一平台15、第二平台16和滑动节点32之间，若干个滑动节点 32分别固联于若干个直线轴承23上。每组剪叉机构31分别连接一个滑动节点32和一个手指承托33，剪叉机构31连杆之间的旋转副通过销钉连接，四组张合装置分为两组分别对称安装于可平动的第一平台15、可旋转可平动的第二平台16和滑动节点32之间，由于该连接为旋转副，通过销钉固定，可平动的第一平台15和可旋转可平动第二平台16与滑动节点32之间的位移变化，可使剪叉机构31产生张合运动，从而使手指承托33的位姿发生变化，完成实现夹持器基座的同步内收外展和异步内收外展构型变化模式。
优选的，导杆21下端设置有用于与第一底座13固联的螺纹。
优选的，导杆21、压力弹簧22及直线轴承23的数量均为3～6个，剪叉机构31、滑动节点32及手指承托33的数量均为3～6个。张合装置数量可通过成组增加第一底座13、第二底座14、可平动的第一平台15和可旋转可平动的第二平台16上的接口数量而增加，适配具有不同数量手指的夹持器。
张合装置的剪叉机构31张合运动，可使末端手指承，33相对夹持器基座的轴线产生径向尺寸的变化。
优选的，第一底座13、第二底座14和第一轴承17之间形成用于容纳第一电机11的空间，第一电机11固定于第一底座13和第一轴承17配合的结构轴端上。
优选的，第二底座14和第二平台16分别语第一底座13、第一平台15旋转连接，用于相对于第一底座13、第一平台15作旋转运动。
优选的，第一电机11为超薄型步进电机，第二电机12为直线电机。步进电机是将电脉冲信号转变为角位移或线位移的开环控制电机，是现代数字程序控制系统中的主要执行元件，应用极为广泛，在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度，称为“步距角”，它的旋转是以固定的角度一步一步运行的，可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的，直线电机也称线性电机、线性马达、直线马达、推杆马达，最常用的直线电机类型是平板式、U型槽式和管式，线圈的典型组成是三相，由霍尔元件实现无刷换相。
优选的，第一轴承17和第二轴承18均为圆锥滚子轴承。圆锥滚子轴承属于分离型轴承，轴承的内、外圈均具有锥形滚道。该类轴承按所装滚子的列数分为单列、双列和四列圆锥滚子轴承等不同的结构型式。单列圆锥滚子轴承可以承受径向负荷和单一方向轴向负荷。当轴承承受径向负荷时，将会产生一个轴向分力，所以当需要另一个可承受反 方向轴向力的轴承来加以平衡。
优选的，第一底座13、第二底座14、第一平台15及第二平台16均为圆形。用户可以根据成本和生产需求，选择圆形或其他形状的第一底座13、第二底座14、第一平台15及第二平台16。
本发明的工作原理是：
由于现有夹持器难以兼顾灵活性和小型化，对于不同环境尤其是狭小环境下较为灵活的工作内容，难以有很好的兼容性，大大限制了机器人对不同工作内容的适应能力，因此，第一电机11的定子通过螺栓连接固联于第一底座13上，输出轴为D型轴，与第二底座14的D形孔配合，可以传递扭矩，完成变构型运动的驱动功能，第二电机12的定子通过螺栓连接固联于第二底座14，输出轴法兰通过螺栓固联于可平动的第一平台15，可使第二电机12的位移驱动传递至第一平台15和可旋转可平动的第二平台16，实现该夹持器基座的驱动装置的驱动功能。
压力弹簧22在正常夹持工作时，为剪叉机构31下端节点提供向上作用力，以维持剪叉机构31的张合运动，同时压力弹簧22固有的弹性可为夹持器提供一定的适应性。
夹持器基座在空间环境下受到径向尺寸的限制，且限制产生的等效力大于压力弹簧22弹性形变阻力时，驱动装置中第二电机12产生的位移在异步构型变化辅助装置作用下，可使压力弹,22产生位移补偿，使该剪叉机构31正常状态下的张合运动变为整体平动位移。
对于既定工作目标需使夹持器基座进行同步内收外展的构型变化，此时第二电机12工作在第一底座13(第二底座14)和可平动的第一平台15(可旋转可平动第二平台16)之间产生轴向位移，这一位移使四组剪叉机构31发生张合运动，使得对应手指承托33发生向外展开或向内收缩的运动，使该夹持器基座实现同步内收外展的构型变化模式。
实施例2
如图3～4所示，与实施例1不同的是：本实施例对于既定工作目标需使夹持器基座进行夹角变换的构型变化，此时驱动装置的第一电机11输出轴带动第二底座14与第一底座13之间发生一定角度的相对转动，该周向转动通过异步构型变化辅助装置和张合装置传递使可平动的第一平台15和可旋转可平动的第二平台16之间产生等距的周向转动，在这个过程中，第二底座14和可旋转可平动的第二平台16之间的异步构型变化辅助装置和张合装置也产生了相同的转动，即在此时手指承托33之间的夹角已经产生了变化，使该夹持器基座实现夹角变换的构型变化模式。
其他结构与实施例1相同，这里不再赘述。
实施例3
如图5所示，与实施例1不同的是：本实施例对于既定工作目标需使夹持器基座进行异步内收外展的构型变化，此时夹持器基座整体处于内收的构型，第二电机12工作在第一底座13(第二底座14)和可平动第一平台15(可旋转可平动第二平台16)之间产生使间距减小的轴向位移，这一位移无差别的输入至所有张合装置中，对于对应方向上空间不受限的异步构型变化辅助装置，这一输入使剪叉机构31发生张合运动，使对应手指承托33相对夹持器基座发生了向外展开的运动；对于对应方向上空间受限的异步构型变化辅助装置，这一输入使压力弹簧22收缩，张合装置整体产生轴向平动位移，而手指承托33仍保持内收构型下的位姿，使该夹持器基座实现异步内收外展的构型变化模式。
其他结构与实施例1相同，这里不再赘述。
根据上述说明书的揭示和教导，本发明所属领域的技术人员还能够对上述实施方式进行变更和修改。因此，本发明并不局限于上述的具体实施方式，凡是本领域技术人员在本发明的基础上所作出的任何显而易见的改进、替换或变型均属于本发明的保护范围。此外，尽管本说明书中使用了一些特定的术语，但这些术语只是为了方便说明，并不对本发明构成任何限制。

Claims (10)

  1. 一种可用于多指夹持器的变构型基座，其特征在于：包括驱动装置，所述驱动装置包括第一电机(11)、第二电机(12)、第一底座(13)、第二底座(14)、可平动的第一平台(15)、第二平台(16)、第一轴承(17)和第二轴承(18)，所述第一底座(13)和所述第二底座(14)分别与所述第一轴承(17)的内圈、外圈配合，所述第一平台(15)和第二平台(16)分别与所述第二轴承(18)内圈、外圈配合，所述第一电机(11)的定子固联于所述第一底座(13)上，所述第一电机(11)的输出轴固联于所述第二底座(14)上，所述第二电机(12)的定子固联于所述第二底座(14)，所述第二电机(12)的输出轴固联于所述第一平台(15)。
  2. 如权利要求1所述的一种可用于多指夹持器的变构型基座，其特征在于：所述变构型基座还包括变化辅助装置，所述变化辅助装置包括若干个对应的导杆(21)、压力弹簧(22)及直线轴承(23)，若干个所述导杆(21)分别对称固联于所述第一底座(13)周围和所述第二底座(14)周围，若干个所述直线轴承(23)分别安装于若干个所述导杆(21)上，若干个所述压力弹簧(22)分别安装于所述直线轴承(23)与所述第一底座(13)之间；或若干个所述压力弹簧(22)分别安装于所述直线轴承(23)与所述第二底座(14)之间。
  3. 如权利要求2所述的一种可用于多指夹持器的变构型基座，其特征在于：所述变构型基座还包括张合装置，所述张合装置包括若干个对应的剪叉机构(31)、滑动节点(32)及手指承托(33)，每个所述剪叉机构(31)分别连接所述滑动节点(32)和所述手指承托(33)，若干个所述剪叉机构(31)分别对称安装于所述第一平台(15)、所述第二平台(16)和所述滑动节点(32)之间，若干个所述滑动节点(32)分别固联于若干个所述直线轴承(23)上。
  4. 如权利要求3所述的一种可用于多指夹持器的变构型基座，其特征在于：所述导杆(21)下端设置有用于与所述第一底座(13)固联的螺纹。
  5. 如权利要求3所述的一种可用于多指夹持器的变构型基座，其特征在于：所述导杆(21)、所述压力弹簧(22)及所述直线轴承(23)的数量均为3～6个，所述剪叉机构(31)、所述滑动节点(32)及所述手指承托(33)的数量均为3～6个。
  6. 如权利要求1所述的一种可用于多指夹持器的变构型基座，其特征在于：所述第一底座(13)、所述第二底座(14)和所述第一轴承(17)之间形成用于容纳所述第一电机(11)的空间，所述第一电机(11)固定于所述第一底座(13)和所述第一轴承(17)配合的结构轴端上。
  7. 如权利要求1所述的一种可用于多指夹持器的变构型基座，其特征在于：所述第二底座(14)和所述第二平台(16)分别与所述第一底座(13)、所述第一平台(15)旋转连接，用于相对于所述第一底座(13)、所述第一平台(15)作旋转运动。
  8. 如权利要求1所述的一种可用于多指夹持器的变构型基座，其特征在于：所述第一电机(11)为超薄型步进电机，所述第二电机(12)为直线电机。
  9. 如权利要求1所述的一种可用于多指夹持器的变构型基座，其特征在于：所述第一轴承(17)和所述第二轴承(18)均为圆锥滚子轴承。
  10. 如权利要求1所述的一种可用于多指夹持器的变构型基座，其特征在于：所述第一底座(13)、所述第二底座(14)、所述第一平台(15)及所述第二平台(16)均为圆形。
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