Free-range dual-drive flat clamp coupling adaptive robot finger device

Abstract

The free-range dual-drive flat-clamp coupling adaptive robot finger device belongs to the field of robot hand technology, and includes two finger segments, two joint shafts, two motors, multiple gears, two dials, two dials, three springs, etc. The device has four grasping modes: flat clamping, coupling, adaptive and hooking: 1) Flat clamping grasping: During the grasping process, the device always keeps the second finger segment at the end in an unchanged posture relative to the base, achieving the effect of flat clamping grasping of the second finger segment; 2) Coupling grasping: The two joints can move forward at the same time, the grasping process is anthropomorphic, and the grasping is fast; 3) Adaptive grasping: If the object contacts the first finger segment first, the device will automatically switch to the adaptive grasping mode to achieve the function of adapting to objects of different shapes and sizes; 4) Hooking: The second finger segment can be rotated alone to achieve hooking. The device has a large grasping range, does not require complex sensing and control systems, and has low manufacturing and maintenance costs.

Description

Technical Field

[0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of an idle double-drive flat-clamp coupling adaptive robot finger device. Background Art

[0002] Robot hand technology is an important branch of robotics. A robot hand is a device that contacts an object and restricts it to a spatial position. Similar to the function of a human hand, it grabs an object and then releases it, using the movement of a robotic arm or a mobile trolley chassis to achieve the purpose of moving the object within a certain range. Some can also move within a small range within the robot hand. One of the main functions of a robot hand is to grab objects, and stable grabbing of objects of various shapes and sizes is a key. Due to the different sizes of objects, different grabbing modes (methods) are required: for some relatively small objects, a pinching mode (parallel clamping mode) with fingertips can be used; for some relatively large objects, gripping (such as cylindrical grabbing or spherical grabbing) can be used, also known as envelope grabbing (or parcel grabbing); and for some objects placed in a cavity with limited space, fingers can be inserted for hooking. When carrying a briefcase or suitcase, the hooking mode is often used; in addition, in order to adapt to objects of different shapes and sizes, the ability to automatically adapt to objects is required in envelope grabbing - adaptive grabbing mode.

[0003] Existing robot hands are divided into anthropomorphic multi-fingered hands and special hands based on whether they have fingers. Anthropomorphic multi-fingered hands are further divided into fully active fingers and underactuated hands (partially active fingers) based on the design of fingers. Underactuated fingers have received a lot of attention and research. They use a small number of actuators to achieve joints with more degrees of freedom (including passive degrees of freedom). They have low manufacturing and maintenance costs, reduce control difficulty, have good practicality, and are currently being promoted more.

[0004] An existing under-actuated finger - an idle transmission gear coupled adaptive robot finger device (patent CN106426239B) is designed. The device uses a driver, a gear transmission mechanism, an intermediate transmission mechanism, two dial wheels, a convex dial, two spring members and a limit convex block to comprehensively realize a coupling and adaptive composite grasping mode. The device can not only link two joints to hold objects with the end, and the action is highly anthropomorphic, but also can rotate the first finger segment to touch the object and then rotate the second finger segment to envelop and grasp the object, so as to achieve an adaptive grasping effect for objects of different shapes and sizes; the grasping is relatively fast. Its shortcomings are: the robot finger device can only realize two grasping modes, coupling and adaptive, but cannot realize two modes, parallel clamping and hooking, and cannot adapt to pinching thin plate objects on the desktop, nor can it achieve the hooking mode by only independently moving the second joint.

[0005] Another under-actuated finger, an idle contact type gear flat clamp adaptive robot finger device (patent CNCN105798936B), was designed. The device uses a driver, a gear transmission mechanism, two springs, a convex dial, a limit convex and a dial wheel to comprehensively realize the functions of parallel clamping and adaptive grasping of the double-jointed robot finger. Since there is an idle distance between the transmission convex block on the dial wheel and the second convex block on the convex dial, when the first finger segment rotates, the second finger segment keeps moving in translation without rotating relative to the base, thus achieving the parallel clamping and grasping function; when the first finger segment is blocked from contacting the object, after a short period of time, the transmission convex block on the dial wheel will contact and shift the second convex block on the convex dial, thereby driving the first gear to rotate, and through gear transmission, driving the second finger segment to rotate, thus achieving the adaptive grasping function. Its disadvantage is that the robot finger device can only realize two grasping modes, namely parallel clamping and adaptive grasping, but cannot realize two modes, namely coupled grasping and hooking, and the grasping range is greatly limited. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an idle double-drive flat clamp coupling adaptive robot finger device. The device has two joints, is suitable for grasping objects, has four grasping modes of parallel clamping, coupled grasping, adaptive grasping and hooking, has flexible grasping methods, a wide range of applications, easy grasping process control, no need for complex sensing and control systems, low manufacturing and maintenance costs, and is suitable for robot hands.

[0007] The technical solution of the present invention is as follows:

[0008] The present invention designs an idle double-drive flat-clamp coupling adaptive robot finger device, comprising a base, a first finger segment, a second finger segment, a proximal joint shaft, a distal joint shaft, a first motor, a first transmission mechanism, a first dial, a first gear, a second gear, a transmission gear set, a first spring, a limit spring and a base limit block; the proximal joint shaft is movably sleeved in the base; the first finger segment is movably sleeved on the proximal joint shaft; the distal joint shaft is movably sleeved in the first finger segment; the center lines of the proximal joint shaft and the distal joint shaft are parallel to each other; the first motor is fixed to the base; the first transmission mechanism is arranged in the base; the output shaft of the first motor is connected to the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected to the first dial; A dial is movably sleeved on the proximal joint shaft; the two ends of the first spring member are respectively connected to the first dial and the first finger segment; the first gear is sleeved on the proximal joint shaft; the second gear is movably sleeved on the distal joint shaft; the transmission gear set is arranged in the first finger segment, the input end of the transmission gear set is meshed with the first gear, and the output end of the transmission gear set is meshed with the second gear; the transmission from the first gear to the second gear through the transmission of the transmission gear set is the same direction transmission and the transmission ratio is equal to 1; the first dial is sleeved on the proximal joint shaft; the first dial is fixedly connected to the first gear; the first dial includes a fixed limiting protrusion and a fixed first protrusion; the base limiting block is fixedly connected to the base; the limiting protrusion contacts or leaves a distance from the base limiting block; the first finger segment is set The rotation direction toward the grasped object is the positive direction of the proximal joint, and the rotation direction of the first finger segment away from the grasped object is the reverse direction of the proximal joint; when the idle dual-drive flat clamp coupled adaptive robot finger device is in an initial state, the limit protrusion contacts with the base limit block; assuming that the rotation angle of the first dial relative to the base is 0 degrees at this time, starting from the position of the initial state, the rotation angle of the first dial when rotating toward the positive direction of the proximal joint is positive, and the rotation angle of the first dial when rotating toward the reverse direction of the proximal joint is negative; the base limit block limits the rotation angle of the limit protrusion to only be positive; the first dial wheel includes a fixed first transmission shift block; the first transmission shift block contacts with or leaves a distance from the first projection; when the idle dual-drive flat clamp coupled adaptive robot finger device is in In the initial state, the first transmission shift block is separated from the first protrusion by a distance; the two ends of the limit spring member are respectively connected to the first dial and the base; it is characterized in that: the free-range dual-drive flat clamp coupling adaptive robot finger device also includes a second motor, a second transmission mechanism, a second dial and a second dial; the second finger segment is movably sleeved on the distal joint shaft; the second gear is connected to the second finger segment; the second motor is fixedly connected to the base; the second transmission mechanism is arranged in the base; 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 second dial; the second dial is movably sleeved on the proximal joint shaft; the second dial includes a fixed second transmission shift block; the second dial is sleeved on the proximal joint shaft;The second dial is fixedly connected to the first gear; the second dial includes a fixedly connected second protrusion; the second transmission dial is in contact with or away from the second protrusion for a distance; the first transmission mechanism includes a first reducer, a first bevel gear, a second bevel gear, a first transition shaft, a first transmission wheel and a first transmission member; the output shaft of the first motor is connected to the input shaft of the first reducer, the first bevel gear is sleeved on the output shaft of the first reducer, the first bevel gear is meshed with the second bevel gear, the second bevel gear is sleeved on the first transition shaft, the first transition shaft is movably sleeved in the base, and the first transmission wheel is sleeved on the first On the transition shaft, the first transmission member is respectively connected to the first transmission wheel and the first paddle wheel; the second transmission mechanism includes a second reducer, a third bevel gear, a fourth bevel gear, a second transition shaft, a second transmission wheel, and a second transmission member; the output shaft of the second motor is connected to the input shaft of the second reducer, the third bevel gear is sleeved on the output shaft of the second reducer, the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is sleeved on the second transition shaft, the second transition shaft is movably sleeved in the base, the second transmission wheel is sleeved on the second transition shaft, and the second transmission member is respectively connected to the second transmission wheel and the second paddle wheel. ;

[0009] The free-motion dual-drive flat-clamp coupled adaptive robot finger device of the present invention is characterized in that when the free-motion dual-drive flat-clamp coupled adaptive robot finger device is in an initial state, the second transmission shift block contacts the second protrusion.

[0010] The free-motion dual-drive flat-clamp coupling adaptive robot finger device of the present invention is characterized in that the first spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

[0011] The free-motion dual-drive flat-clamp coupling adaptive robot finger device of the present invention is characterized in that the limit spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

[0012] The free-range dual-drive flat-clamp coupled adaptive robot finger device described in the present invention is characterized in that: the transmission gear group includes a first intermediate gear, a second intermediate gear, a third intermediate gear, a first intermediate shaft, a second intermediate shaft and a third intermediate shaft; the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved in the first finger segment, the first intermediate gear is meshed with the first gear, the first intermediate gear is meshed with the second intermediate gear, the second intermediate gear is meshed with the third intermediate gear, and the third intermediate gear is meshed with the second gear, the first intermediate gear is sleeved on the first intermediate shaft, the second intermediate gear is sleeved on the second intermediate shaft, and the third intermediate gear is sleeved on the third intermediate shaft; the center lines of the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are parallel to each other; the center lines of the first intermediate shaft and the proximal joint shaft are parallel to each other.

[0013] The free-motion dual-drive flat-clamp coupling adaptive robot finger device of the present invention is characterized by further comprising a second spring member, wherein two ends of the second spring member are respectively connected to the second gear and the second finger segment.

[0014] The free-range dual-drive flat-clamp coupled adaptive robot finger device described in the present invention is characterized in that: assuming the rotation speed of the first motor is m, the rotation speed of the second motor is n, the transmission ratio of the first transmission mechanism is k, and the transmission ratio of the second transmission mechanism is q; n / q>m / k.

[0015] The free-motion dual-drive flat-clamp coupling adaptive robot finger device of the present invention is characterized in that the second spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

[0016] The free-motion dual-drive flat-clamp coupling adaptive robot finger device described in the present invention is characterized in that: assuming the rotation speed of the first motor is m, the rotation speed of the second motor is n, the transmission ratio of the first transmission mechanism is k, and the transmission ratio of the second transmission mechanism is q; n / q=2m / k.

[0017] Compared with the prior art, the present invention has the following advantages and outstanding effects:

[0018] The device of the present invention uses two motors, two transmission mechanisms, multiple gears, multiple springs, two thumbwheels and two dials to realize a double-jointed finger with four grasping modes: flat clamping, self-adaptation, coupling and hooking. The device has two joints and is used in a robot hand. The device cooperates with the palm, or more than two devices are connected to the palm to complete the function of grasping objects. The device has the following four main grasping modes:

[0019] 1) Parallel clamping: The device can realize parallel clamping grasping mode, that is, during the grasping process, the two joints are linked, the proximal joint rotates forward, and the distal joint rotates in the opposite direction by the same angle, and the second finger segment at the end is always kept fixed relative to the base, so that the second finger segment can be used to parallel clamp the object;

[0020] 2) Coupled grasping: The device can achieve simultaneous forward movement of two joints, so that the process of grasping objects is highly anthropomorphic, the grasping is fast, and the grasping efficiency is high;

[0021] 3) Adaptive grasping: During parallel gripping or coupled grasping, if the object contacts the first finger segment before contacting the second finger segment, the device can automatically enter the adaptive grasping stage. After the first finger segment is blocked, the second finger segment will continue to rotate until it also contacts the object, thereby achieving adaptive grasping of objects of different shapes and sizes;

[0022] 4) Hooking: The device can independently rotate the second finger segment forward in any action position to achieve the hooking mode.

[0023] The device has a large grasping range, does not require complex sensing and control systems, has a simple structure, and has low manufacturing and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional appearance diagram of an embodiment of the free-range dual-drive flat-clamp coupling adaptive robot finger device designed by the present invention.

[0025] Figure 2 yes Figure 1 Front view of the embodiment shown.

[0026] Figure 3 yes Figure 1 The side view of the embodiment shown ( Figure 2 left view of the ).

[0027] Figure 4 yes Figure 1 A perspective view of the illustrated embodiment from one perspective (some parts are not shown).

[0028] Figure 5 yes Figure 1 A three-dimensional view of the illustrated embodiment from another perspective (some parts are not shown).

[0029] Figure 6 yes Figure 1 A front view of the illustrated embodiment (parts not shown).

[0030] Figure 7 yes Figure 6 AA section view.

[0031] Figure 8 yes Figure 6 BB cross-sectional view.

[0032] Figures 9 to 13 yes Figure 1 The embodiment shown adopts the process of grasping an object in parallel clamping and adaptive grasping mode. Figures 9 to 11 The first stage is the parallel gripping stage, during which the first finger segment touches the object before the second finger segment. Figure 12 to Figure 13 It is the second stage, adaptive grasping of objects.

[0033] Figures 14 to 16 yes Figure 1 The embodiment shown uses the coupling and adaptive grasping modes to grasp the object. Figure 14 to Figure 15 is the first stage: coupling to grasp the object, Fig.16 It is the second stage, adaptive grasping of objects.

[0034] Figures 17 to 19 yes Figure 1 The illustrated embodiment adopts the parallel clamping mode to grasp the object.

[0035] exist Figures 1 to 19 middle:

[0036] 1-base, 11-base limit block, 21-first finger segment, 22-second finger segment, 31-proximal joint shaft, 32-distal joint shaft, 4-first motor, 41-first reducer, 42-first bevel gear, 43-second bevel gear, 44-first transition shaft, 45-first transmission wheel, 46-first transmission member, 5-second motor, 51-second reducer, 52-third bevel gear, 53-fourth bevel gear, 54-second transition shaft, 55-second transmission wheel, 56-second transmission member, 61-first gear, 62-second gear, 631-first intermediate gear, 632-second intermediate gear, 633-third intermediate gear, 641-first intermediate shaft, 642-second intermediate shaft, 643-third intermediate shaft, 71-first dial wheel, 711-first transmission dial block, 72-second dial wheel, 721 - second transmission shift block, 81 - first dial, 811 - first projection, 812 - limiting projection, 82 - second dial, 821 - second projection, 91 - first spring member, 92 - second spring member, 93 - limiting spring member, 100 - object. DETAILED DESCRIPTION

[0037] The specific structure and working principle of the present invention are further described in detail below in conjunction with the accompanying drawings and embodiments.

[0038] An embodiment of the free-range dual-drive flat clamp coupling adaptive robot finger device designed by the present invention is as follows: Figures 1 to 8As shown, it includes a base 1, a first finger segment 21, a second finger segment 22, a proximal joint shaft 31, a distal joint shaft 32, a first motor 4, a first transmission mechanism, a first dial 71, a first dial 81, a first gear 61, a second gear 62, a transmission gear set, a first spring member 91, a limit spring member 93 and a base limit block 11; the proximal joint shaft 31 is movably sleeved in the base 1; the first finger segment 21 is movably sleeved on the proximal joint shaft 31; the distal joint shaft 32 is movably sleeved in the first finger segment 21; the center lines of the proximal joint shaft 31 and the distal joint shaft 32 are parallel to each other; the first motor 4 is fixedly connected to the base 1; the first transmission mechanism is arranged in the base 1; the transmission of the first motor 4 The output shaft is connected to the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected to the first paddle wheel 71; the first paddle wheel 71 is movably sleeved on the proximal joint shaft 31; the two ends of the first spring member 91 are respectively connected to the first paddle wheel 71 and the first finger segment 21; the first gear 61 is sleeved on the proximal joint shaft 31; the second gear 62 is movably sleeved on the distal joint shaft 32; the transmission gear set is arranged in the first finger segment 21, the input end of the transmission gear set is meshed with the first gear 61, and the output end of the transmission gear set is meshed with the second gear 62; through the transmission of the transmission gear set, the transmission from the first gear 61 to the second gear 62 is in the same direction and the transmission ratio is equal to 1; the first paddle wheel 71 is movably ... The disk 81 is sleeved on the proximal joint shaft 31; the first dial 81 is fixedly connected to the first gear 61; the first dial 81 includes a fixed limiting protrusion 812 and a fixed first protrusion 811; the base limiting block 11 is fixedly connected to the base 1; the limiting protrusion 812 is in contact with or away from the base limiting block 11 for a distance; the rotation direction of the first finger segment 21 toward the grasped object 100 is assumed to be the proximal joint positive direction, and the rotation direction of the first finger segment 21 away from the grasped object 100 is assumed to be the proximal joint reverse direction; when the idle dual-drive flat clamp coupling adaptive robot finger device is in the initial state, the limiting protrusion 812 is in contact with the base limiting block 11; at this time, the first dial 81 is relative to the base 1 The rotation angle is 0 degrees. Starting from the position of the initial state, the rotation angle of the first dial 81 when it rotates in the positive direction of the proximal joint is positive, and the rotation angle of the first dial 81 when it rotates in the reverse direction of the proximal joint is negative; the base limit block 11 limits the rotation angle of the limit protrusion 812 to be only positive; the first dial 71 includes a fixed first transmission block 711; the first transmission block 711 is in contact with or away from the first protrusion 811 for a distance; when the free-range dual-drive flat clamp coupled adaptive robot finger device is in the initial state, the first transmission block 711 is away from the first protrusion 811 for a distance; the two ends of the limit spring member 93 are respectively connected to the first dial 81 and the base 1.

[0039] In this embodiment, the first transmission mechanism includes a first reducer 41, a first bevel gear 42, a second bevel gear 43, a first transition shaft 44, a first transmission wheel 45 and a first transmission member 46; the output shaft of the first motor 4 is connected to the input shaft of the first reducer 41, the first bevel gear 42 is sleeved on the output shaft of the first reducer 41, the first bevel gear 42 is meshed with the second bevel gear 43, the second bevel gear 43 is sleeved on the first transition shaft 44, the first transition shaft 44 is movably sleeved in the base 1, the first transmission wheel 45 is sleeved on the first transition shaft 44, and the first transmission member 46 is respectively connected to the first transmission wheel 45 and the first dial 71.

[0040] In this embodiment, the second transmission mechanism includes a second reducer 51, a third bevel gear 52, a fourth bevel gear 53, a second transition shaft 54, a second transmission wheel 55, and a second transmission member 56; the output shaft of the second motor 5 is connected to the input shaft of the second reducer 51, the third bevel gear 52 is sleeved on the output shaft of the second reducer 51, the third bevel gear 52 is meshed with the fourth bevel gear 53, the fourth bevel gear 53 is sleeved on the second transition shaft 54, the second transition shaft 54 ​​is movably sleeved in the base 1, the second transmission wheel 55 is sleeved on the second transition shaft 54, and the second transmission member 56 is respectively connected to the second transmission wheel 55 and the second dial 72.

[0041] The free-range dual-drive flat-clamp coupling adaptive robot finger device also includes a second motor 5, a second transmission mechanism, a second dial 72 and a second dial 82; the second finger segment 22 is movably sleeved on the distal joint shaft 32; the second gear 62 is connected to the second finger segment 22; the second motor 5 is fixedly connected to the base 1; the second transmission mechanism is arranged in the base 1; the output shaft of the second motor 5 is connected to the input end of the second transmission mechanism; the output end of the second transmission mechanism is connected to the second dial 72; the second dial 72 is movably sleeved on the proximal joint shaft 31; the second dial 72 includes a fixed second transmission dial block 721; the second dial 82 is sleeved on the proximal joint shaft 31; the second dial 82 is fixedly connected to the first gear 61; the second dial 82 includes a fixed second protrusion 821; the second transmission dial block 721 is in contact with or away from the second protrusion 821 for a distance.

[0042] In this embodiment, when the free-range dual-drive flat-clamp coupling adaptive robot finger device is in an initial state, the second transmission shift block 721 contacts the second protrusion 821 .

[0043] The free-motion dual-drive flat clamp coupling adaptive robot finger device of the present invention is characterized in that the first spring member is a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the first spring member 91 is a torsion spring.

[0044] The free-motion dual-drive flat clamp coupling adaptive robot finger device of the present invention is characterized in that the limit spring member is a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the limit spring member 93 is a tension spring.

[0045] In this embodiment, the transmission gear set includes a first intermediate gear 631, a second intermediate gear 632, a third intermediate gear 633, a first intermediate shaft 641, a second intermediate shaft 642 and a third intermediate shaft 643; the first intermediate shaft 641, the second intermediate shaft 642 and the third intermediate shaft 643 are respectively sleeved in the first finger segment 21, the first intermediate gear 631 is meshed with the first gear 61, the first intermediate gear 631 is meshed with the second intermediate gear 632, the second intermediate gear 632 is meshed with the third intermediate gear 633, and the third intermediate gear 633 is meshed with the second gear 62, the first intermediate gear 631 is sleeved on the first intermediate shaft 641, the second intermediate gear 632 is sleeved on the second intermediate shaft 642, and the third intermediate gear 633 is sleeved on the third intermediate shaft 643; the center lines of the first intermediate shaft 641, the second intermediate shaft 642 and the third intermediate shaft 643 are parallel to each other; the first intermediate shaft 641 and the center line of the proximal joint shaft 31 are parallel to each other.

[0046] Assume that the speed of the first motor 4 is m, the speed of the second motor 5 is n, the transmission ratio of the first transmission mechanism is k, and the transmission ratio of the second transmission mechanism is q; in one embodiment: n / q>m / k. In this embodiment, n / q=2m / k.

[0047] This embodiment further includes a second spring member 92 , and two ends of the second spring member 92 are respectively connected to the second gear 62 and the second finger segment 22 .

[0048] The free-motion dual-drive flat clamp coupling adaptive robot finger device of the present invention is characterized in that the second spring member is a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the second spring member 92 is a torsion spring.

[0049] The working principle of this embodiment is described as follows in conjunction with the accompanying drawings:

[0050] (a) Parallel gripping and adaptive gripping

[0051] When parallel clamping mode is required, the initial state is as follows Fig. 9 , Fig.17As shown, the first motor 4 is started, and the first bevel gear 42 is driven to rotate through the first reducer 41, and the second bevel gear 43 is driven to rotate, and the first transmission wheel 45 is driven to rotate through the first transition shaft 44, and the first dial wheel 71 is driven to rotate through the first transmission member 46, and the first dial wheel 71 drives the first finger segment 21 to rotate through the first spring member 91. At this time, the first dial block 711 of the first dial wheel 71 has not yet contacted the first protrusion 811 on the first dial 81. Due to the constraint of the limiting spring member 93, the limiting protrusion 812 on the first dial 81 contacts the base limiting block 11 on the base 1. The first dial 81 does not move relative to the base 1, and the first gear 61 remains stationary relative to the base 1. Through the transmission of the transmission gear group (the first intermediate gear 631, the second intermediate gear 632 and the third intermediate gear 633), when the first finger segment 21 rotates an angle, the second gear 62 will rotate in the opposite direction by the same angle (because the first gear 631 and the second gear 632 are in the same direction and at the same speed). The second gear 62 pulls the second finger segment 22 through the second spring member 92, and the second finger segment 22 reverses by the same angle relative to the first finger segment 21. Therefore, the posture of the second finger segment 22 relative to the base 1 does not change, and the parallel clamping action is realized. When the second finger segment 22 contacts the end object 100, the grasping ends, and the parallel clamping grasping mode is realized.

[0052] The parallel clamping and grasping process of the device is as follows: Fig.17 , Fig.18 , Fig.19 shown.

[0053] During the above process, the object 100 first contacts the first finger segment 21, and the second finger segment 22 has not yet contacted the object 100, then the first motor 4 continues to rotate, at this time the first finger segment 21 is blocked by the object 100 and cannot rotate, the first spring member 91 is deformed, and the first dial 71 continues to rotate an angle under the action of the first motor 4, and the first dial block 711 of the first dial 71 contacts the first protrusion 811 on the first dial 81 after rotating an angle, and then the first dial block 711 dials the first protrusion 811, so that the first dial 81 rotates forward, and the first dial 81 rotates forward. A dial 81 rotates relative to the base 1, the deformation of the limit spring member 93 increases, and the limit protrusion 811 leaves the base limit block 11. At this time, the first gear 61 fixed to the first dial 81 rotates forward, and the second gear 62 is driven to rotate forward through the transmission gear set, and the second finger segment 22 is driven to rotate forward through the second spring member 92 until the second finger segment 22 also contacts the object 100. The grasping is completed, and the first finger segment 21 and the second finger segment 22 both contact the object 100, reaching an adaptive grasping mode. This process is adaptable to objects of different shapes and sizes.

[0054] The process of parallel gripping and adaptive grasping of objects is as follows Figures 9 to 13 As shown. Figures 9 to 11It is a parallel clamping process. Figure 12 to Figure 13 This is the adaptive grasping process after parallel clamping. In this process, the second motor 5 is not started, the second dial wheel 72 does not rotate, and the second dial block 721 does not affect the rotation process of the second protrusion 821 and the second dial 82.

[0055] The above two processes complete the parallel clamping and adaptive composite grasping action process. When releasing the object 100, the second motor 5 is reversed, which is exactly opposite to the above process and will not be repeated.

[0056] (b) Coupling and adaptive grasping

[0057] When you need to grab an object using coupling, the initial state is as follows Fig.14 As shown, the first motor 4 and the second motor 5 are started at the same time.

[0058] The first motor 4 is started, and drives the first dial wheel 71 to rotate through the first transmission mechanism, and drives the first finger segment 21 to rotate forward through the first spring member 91 .

[0059] At this time, the second motor 5 is also started, driving the third bevel gear 52 to rotate through the second reducer 51, the fourth bevel gear 53 to rotate, and the second transmission wheel 55 to rotate through the second transition shaft 54. The second transmission wheel 55 rotates, and the second dial 72 is driven to rotate through the second transmission member 56, and the second protrusion 821 and the second dial 82 are rotated through the second dial block 721. The first gear rotates, the limit spring member 93 is deformed and increased, and the limit protrusion 812 leaves the base limit block 11. The rotation of the first gear 61 will drive the second gear 62 to rotate through the transmission gear set, and drive the second finger segment 22 to rotate forward through the second spring member 92. Therefore, the first finger segment 21 and the second finger segment 22 rotate forward around the center of the proximal joint axis 31 and the distal joint axis 32 respectively, thereby realizing a coupled grasping action.

[0060] Afterwards, if the object contacts the second finger segment 22, the grasping is completed and coupled grasping is achieved; if the object 100 contacts the first finger segment 21 first and the second finger segment 22 has not yet contacted the object 100, the first finger segment 21 is blocked and cannot rotate, the first spring member 91 is deformed, the second motor 5 continues to drive the second dial 72 to rotate, the second dial 82 and the first gear 61 continue to rotate, and then the second gear 62 and the second finger segment 22 continue to rotate forward until the second finger segment 22 also contacts the object 100, thereby achieving an adaptive grasping effect.

[0061] The coupling and adaptive grasping process of the object is as follows Figures 14 to 16 As shown. Figure 14 to Figure 15 It is a coupled capture process. Fig.16 This is the adaptive capture result diagram after coupling.

[0062] During the release process after coupling and adaptively grasping the object 100 , the first motor 4 and the second motor 5 are reversed at the same time, and the subsequent process is opposite to the above process and will not be described in detail.

[0063] (c) Hook

[0064] Stop the first motor 4, start the second motor 5, drive the third bevel gear 53 through the second reducer 52, drive the second transmission wheel 55 to rotate through the second transition shaft 54, drive the second dial wheel 72 to rotate through the second transmission member 56, and the second dial block 721 dials the second protrusion 821, so that the first gear 61 rotates, the limit spring 93 deforms and increases, and the limit protrusion 812 leaves the base limit block 11. The rotation of the first gear 61 will drive the second gear 62 to rotate through the transmission gear set, and drive the second finger segment 22 to rotate forward through the second spring member 92, so that only the second finger segment 22 is rotated, while the first finger segment 21 remains stationary, and the angle of the second finger segment 22 relative to the first finger segment 21 can be flexibly adjusted, so as to achieve the hooking grabbing mode. The hooking method can be used to hook objects in places where space is limited, and the hooking mode can also be used to carry suitcases, etc.

[0065] During the release process after hooking the object 100, the second motor 5 rotates in reverse, and the subsequent process is opposite to the above process, which will not be described in detail.

[0066] The device of the present invention uses two motors, two transmission mechanisms, multiple gears, multiple springs, two thumbwheels and two dials to realize a double-jointed finger with four grasping modes: flat clamping, self-adaptation, coupling and hooking. The device has two joints and is used in a robot hand. The device cooperates with the palm, or more than two devices are connected to the palm to complete the function of grasping objects. The device has the following four main grasping modes:

[0067] 1) Parallel clamping: The device can realize parallel clamping grasping mode, that is, during the grasping process, the two joints are linked, the proximal joint rotates forward, and the distal joint rotates in the opposite direction by the same angle, and the second finger segment at the end is always kept fixed relative to the base, so that the second finger segment can be used to parallel clamp the object;

[0068] 2) Coupled grasping: The device can achieve simultaneous forward movement of two joints, so that the process of grasping objects is highly anthropomorphic, the grasping is fast, and the grasping efficiency is high;

[0069] 3) Adaptive grasping: During parallel gripping or coupled grasping, if the object contacts the first finger segment before contacting the second finger segment, the device can automatically enter the adaptive grasping stage. After the first finger segment is blocked, the second finger segment will continue to rotate until it also contacts the object, thereby achieving adaptive grasping of objects of different shapes and sizes;

[0070] 4) Hooking: The device can independently rotate the second finger segment forward in any action position to achieve the hooking mode.

[0071] The device has a large grasping range, does not require complex sensing and control systems, has a simple structure, and has low manufacturing and maintenance costs.

Claims

1. A free-range dual-drive flat-clamp coupling adaptive robot finger device, comprising a base, a first finger segment, a second finger segment, a proximal joint shaft, a distal joint shaft, a first motor, a first transmission mechanism, a first dial, a first gear, a second gear, a transmission gear set, a first spring, a limit spring and a base limit block; the proximal joint shaft is movably sleeved in the base; the first finger segment is movably sleeved on the proximal joint shaft; the distal joint shaft is movably sleeved in the first finger segment; the center lines of the proximal joint shaft and the distal joint shaft are parallel to each other; the first motor is fixedly connected to the base; the first transmission mechanism is arranged in the base; The output shaft of the first motor is connected to the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected to the first thumbwheel; the first thumbwheel is movably sleeved on the proximal joint shaft; the two ends of the first spring member are respectively connected to the first thumbwheel and the first finger segment; the first gear is sleeved on the proximal joint shaft; the second gear is movably sleeved on the distal joint shaft; the transmission gear set is arranged in the first finger segment, the input end of the transmission gear set is meshed with the first gear, and the output end of the transmission gear set is meshed with the second gear; through the transmission of the transmission gear set, the transmission from the first gear to the second gear is in the same direction and the transmission ratio is equal In 1; the first dial is sleeved on the proximal joint shaft; the first dial is fixedly connected to the first gear; the first dial includes a fixed limiting protrusion and a fixed first protrusion; the base limiting block is fixedly connected to the base; the limiting protrusion is in contact with or away from the base limiting block for a distance; the rotation direction of the first finger segment toward the grasped object is assumed to be the proximal joint positive direction, and the rotation direction of the first finger segment away from the grasped object is assumed to be the proximal joint reverse direction; when the idle dual-drive flat clamp coupling adaptive robot finger device is in the initial state, the limiting protrusion is in contact with the base limiting block; the rotation angle of the first dial relative to the base at this time is assumed to be 0 degrees, starting from the position of the initial state, the rotation angle of the first dial when it rotates in the positive direction of the proximal joint is positive, and the rotation angle of the first dial when it rotates in the reverse direction of the proximal joint is negative; the base limit block limits the rotation angle of the limit protrusion to be positive; the first dial includes a fixed first transmission block; the first transmission block contacts or leaves a distance from the first protrusion; when the free-range dual-drive flat clamp coupling adaptive robot finger device is in the initial state, the first transmission block leaves a distance from the first protrusion; the two ends of the limit spring are respectively connected to the first dial and the base; it is characterized in that: The free-range dual-drive flat-clamp coupling adaptive robot finger device also includes a second motor, a second transmission mechanism, a second dial and a second dial; the second finger segment is movably sleeved on the distal joint shaft; the second gear is connected to the second finger segment; the second motor is fixedly connected to the base; the second transmission mechanism is arranged in the base; 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 second dial; the second dial is movably sleeved on the proximal joint shaft; the second dial includes a fixed second transmission dial block; the second dial is sleeved on the proximal joint shaft; the second dial is fixedly connected to the first gear; the second The second dial includes a fixed second protrusion; the second transmission dial is in contact with or away from the second protrusion for a distance; the first transmission mechanism includes a first reducer, a first bevel gear, a second bevel gear, a first transition shaft, a first transmission wheel and a first transmission member; the output shaft of the first motor is connected to the input shaft of the first reducer, the first bevel gear is fixed on the output shaft of the first reducer, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixed on the first transition shaft, the first transition shaft is movably sleeved in the base, the first transmission wheel is fixed on the first transition shaft, and the first transmission member is respectively connected to the first transmission wheel, the first dial ; The second transmission mechanism includes a second reducer, a third bevel gear, a fourth bevel gear, a second transition shaft, a second transmission wheel, and a second transmission member; the output shaft of the second motor is connected to the input shaft of the second reducer, the third bevel gear is sleeved on the output shaft of the second reducer, the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is sleeved on the second transition shaft, the second transition shaft is movably sleeved in the base, the second transmission wheel is sleeved on the second transition shaft, and the second transmission member is respectively connected to the second transmission wheel and the second paddle wheel; the transmission gear set includes a first intermediate gear, a second intermediate gear, a third intermediate gear, a first intermediate shaft , a second intermediate shaft and a third intermediate shaft; the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved in the first finger section, the first intermediate gear is meshed with the first gear, the first intermediate gear is meshed with the second intermediate gear, the second intermediate gear is meshed with the third intermediate gear, and the third intermediate gear is meshed with the second gear, the first intermediate gear is sleeved on the first intermediate shaft, the second intermediate gear is sleeved on the second intermediate shaft, and the third intermediate gear is sleeved on the third intermediate shaft; the center lines of the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are parallel to each other; the center lines of the first intermediate shaft and the proximal joint shaft are parallel to each other.

2. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 1, characterized in that: When the free-range dual-drive flat-clamp coupling adaptive robot finger device is in an initial state, the second transmission shift block contacts the second protrusion.

3. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 1, characterized in that: The first spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

4. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 1, characterized in that: The limit spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

5. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 1, characterized in that: It also includes a second spring member, two ends of which are respectively connected to the second gear and the second finger segment.

6. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 1, characterized in that: Assume that the rotation speed of the first motor is m, the rotation speed of the second motor is n, the transmission ratio of the first transmission mechanism is k, and the transmission ratio of the second transmission mechanism is q; n / q>m / k.

7. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 5, characterized in that: The second spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

8. The free-range dual-drive flat-grip coupling adaptive robot finger device according to claim 1, characterized in that: Assume that the rotation speed of the first motor is m, the rotation speed of the second motor is n, the transmission ratio of the first transmission mechanism is k, and the transmission ratio of the second transmission mechanism is q; n / q=2m / k.

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