Connecting rod cooperatively driven linear flat clamp adaptive robot finger device

Abstract

The connecting rod cooperatively drives the linear flat clamping adaptive robot finger device, which belongs to the field of robot hand technology, and includes a base, a motor, a transmission mechanism, two finger segments, eleven axes, eight connecting rods, springs and limit blocks. The device can realize linear flat clamping and adaptive grasping modes. In the initial stage, the device is in a linear parallel clamping mode: the far finger segment moves horizontally and the trajectory is a straight line, which is suitable for clamping objects on the plane; when the near finger segment is blocked from contacting the object, the device enters an adaptive grasping mode: the far finger segment rotates around the third axis until both the near finger segment and the far finger segment contact the object. The device is adaptive to objects of different shapes and sizes, and uses one motor to drive two finger segments, with stable grasping, simple control, and 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 a connecting rod cooperatively driven linear flat clamping adaptive robot finger device. Background Art

[0002] The development and application of robotics technology is a current research hotspot. The research results of researchers on industrial robots play a huge role in industrial production. By controlling robots to perform repetitive and dangerous operations, it promotes the formation of smart factories and unmanned factories, greatly improving production efficiency. Similar to industrial robots, service robots that enter thousands of households and various occasions will become the next standardized product category. They need robot hands to assist in grasping operations. Therefore, the research on robot hands has become a research hotspot.

[0003] Human hands have many degrees of freedom, high flexibility, and high output. Until now, no robot hand can completely imitate the functions of human hands. In order to imitate the high flexibility, reliability, and wide applicability of human hands as much as possible, researchers have developed high-degree-of-freedom dexterous hands, such as Gifu hand II, DLR-HIT hand, NAIST hand, Robonaut 2 hand, and KIST hand. Dexterous hands generally have 3 to 5 fingers, each with 2 to 4 degrees of freedom in joints, and most of their joints are active joints driven by motors, cylinders, or hydraulic cylinders. The joint degrees of freedom (DOF) of a dexterous hand are the same as the number of motors (DOA), and each joint can be independently controlled, with high grasping accuracy. Take the Robonaut hand developed by NASA as an example. It has 5 fingers and 14 degrees of freedom in joints. It realizes the drive control function through 14 motors and 12 independent control circuit boards. It has been used in dangerous environments in low-Earth orbit and planetary exploration missions. Dexterous hands have the advantage of flexibility, but during the grasping process they need to prejudge the position of the grasped object, perform path planning, and be controlled by a real-time control system consisting of multiple motors, which is difficult to control and costly.

[0004] The researchers further developed an underactuated robot hand. The underactuated hand reduces the number of motors used, which allows the robot hand to maintain anthropomorphic movements while greatly reducing the requirements for real-time control and sensing systems of the hand. Existing underactuated fingers include flat clamp fingers, coupled fingers, and adaptive fingers. The end of the flat clamp finger maintains an unchanged posture relative to the base during the grasping process, which is suitable for grasping objects on the table; when the proximal segment of the coupled finger rotates, the distal segment will rotate simultaneously with the proximal segment, making the grasping action more anthropomorphic and the grasping faster; the proximal joint of the adaptive finger rotates first, and the next joint joint is triggered to rotate after the proximal segment contacts the object, and so on, until the end finger segment contacts the object, achieving an envelope grasping effect in which multiple finger segments contact the object, adapting to objects of different shapes and sizes. This adaptive grasping feature cannot be achieved in traditional flat clamp fingers or coupled fingers.

[0005] The flat clamp adaptive finger is a composite gripping finger that combines the parallel clamping and adaptive gripping functions in two phases. The coupled adaptive finger is another composite gripping finger that combines the coupled gripping and adaptive gripping.

[0006] The traditional flat-clamp adaptive finger is a flat-clamp adaptive finger with an arc trajectory at the end, and cannot achieve a flat-clamp adaptive compound grasping mode with a straight trajectory at the end. When grasping objects on the desktop, the robotic arm needs to cooperate with the control to achieve more accurate object grasping, which brings trouble to the control of the robotic arm. At the same time, when grasping objects of different sizes, the device needs to operate at different heights, otherwise there is a risk of the end finger of the device colliding with the desktop. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a connecting rod cooperatively driven linear flat clamping adaptive robot finger device. The device has three joints, has a terminal finger segment linear trajectory parallel clamping function, can realize the dual-finger segment adaptive grasping mode of the middle finger segment and the distal finger segment, and is adaptive to objects of different shapes and sizes.

[0008] The technical solution of the present invention is as follows:

[0009] The connecting rod cooperatively driven straight-line flat clamping adaptive robot finger device designed by the present invention comprises a base, a motor and a transmission mechanism; the motor is fixedly connected to the base, and the motor is connected to the input end of the transmission mechanism; it is characterized in that the connecting rod cooperatively driven straight-line flat clamping adaptive robot finger device also comprises a near finger segment, a far finger segment, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a first axis, a second axis, a third axis, a fourth axis, a fifth axis, a sixth axis, a seventh axis, an eighth axis, a ninth axis, a tenth axis, an eleventh axis, a limit block and a spring member; the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis, the ninth axis, the tenth axis, the eleventh axis, a limit block and a spring member; the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis, the ninth axis, the tenth axis, the eleventh axis, a limit block and a spring member The center lines of the first axis, the sixth axis, the seventh axis, the eighth axis, the ninth axis, the tenth axis and the eleventh axis are parallel to each other; the first axis is sleeved in the base, the first connecting rod is sleeved on the first axis, and the second axis is sleeved in the first connecting rod; the proximal finger section is sleeved on the second axis, the third axis is sleeved in the proximal finger section, and the distal finger section is sleeved on the third axis; the fourth axis is sleeved in the base, the second connecting rod is sleeved on the fourth axis; the fifth axis is sleeved in the second connecting rod, and the third connecting rod is sleeved on the fifth axis; the fourth connecting rod is sleeved on the fourth axis, the sixth axis is sleeved in the fourth connecting rod, and the proximal finger section is sleeved on the sixth axis; the fifth connecting rod is sleeved on the On the sixth shaft, the seventh shaft is sleeved in the third connecting rod, and the fifth connecting rod is sleeved on the seventh shaft; the eighth shaft is sleeved in the fifth connecting rod, and the eighth shaft is sleeved in the fifth connecting rod; the sixth connecting rod is sleeved on the eighth shaft, the ninth shaft is sleeved in the sixth connecting rod, and the distal finger section is sleeved on the ninth shaft; the tenth shaft is sleeved in the base, the seventh connecting rod is sleeved on the tenth shaft, and the output end of the transmission mechanism is connected to the seventh connecting rod; the eleventh shaft is sleeved in the seventh connecting rod; one end of the eighth connecting rod is connected to the ninth shaft, and the other end of the eighth connecting rod is sleeved on the eleventh shaft; the limit block is fixedly connected to the base; the two ends of the spring member are respectively connected Connect the limit block and the second connecting rod; in the initial state, the second connecting rod is in contact with the limit block; let the center points of the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis and the ninth axis be A, B, C, D, E, F, G, H, I; the length of line segment DE is equal to the length of line segment FG; the length of line segment DF is equal to the length of line segment EG; the length of line segment CF is equal to the length of line segment HI; the length of line segment FH is equal to the length of line segment CI; the length relationship of line segment AB, line segment BF, line segment CF, line segment DF and line segment AD satisfies: AB:BF:CF:DF:AD=13:7:12:5:17.

[0010] The connecting rod cooperatively driven linear flat clamp adaptive robot finger device described in the present invention is characterized in that: the transmission mechanism includes a reducer, a worm, and a worm wheel; the output shaft of the motor is connected to the input shaft of the reducer; the worm is fixed on the output shaft of the reducer; the worm wheel is fixed on the tenth shaft, and the worm is meshed with the worm wheel.

[0011] The connecting rod cooperatively driven linear flat clamping adaptive robot finger device described in the present invention is characterized in that the spring element is a tension spring, a compression spring or a torsion spring.

[0012] Compared with the prior art, the present invention has the following advantages and outstanding effects:

[0013] The device uses a base, a motor, a transmission mechanism, two finger segments, eleven axes, eight connecting rods, springs and limit blocks, etc., to comprehensively realize the linear flat clamping and adaptive grasping modes. In the initial stage, the device is in a linear parallel clamping mode: the far finger segment moves horizontally and the trajectory is a straight line, which is suitable for clamping objects on the plane; when the near finger segment is blocked from contacting the object, the device enters the adaptive grasping mode: the far finger segment rotates around the third axis until both the near finger segment and the far finger segment contact the object. The device is adaptive to objects of different shapes and sizes, and uses one motor to drive two finger segments, with stable grasping, simple control, and low manufacturing and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional appearance diagram of an embodiment of the connecting rod cooperatively driven straight-line flat clamping adaptive robot finger device designed by the present invention.

[0015] Figure 2-3 yes Figure 1 A perspective view of the illustrated embodiment (some parts are not shown).

[0016] Figure 4 yes Figure 1 Left side view of the illustrated embodiment.

[0017] Figure 5 yes Figure 1 A left side view of the illustrated embodiment (some parts are not shown).

[0018] Figure 6 yes Figure 1 A right side view of the illustrated embodiment (some parts are not shown).

[0019] Figure 7 yes Figure 1 Front view of the illustrated embodiment.

[0020] Figure 8 yes Figure 1 Rear view of the illustrated embodiment (parts not shown).

[0021] Fig. 9 yes Figure 1 A schematic diagram of the principles of some mechanisms in the illustrated embodiment.

[0022] Fig.10 yes Figure 1 A schematic diagram of the mechanism principle of the illustrated embodiment.

[0023] Fig.11 yes Figure 1 The illustrated embodiment shows a linear parallel clamping action process.

[0024] Fig.12 yes Figure 1 The illustrated embodiment shows the dual-finger segment adaptive action process.

[0025] exist Figures 1 to 12 middle:

[0026] 10-base, 11-motor, 12-reducer, 13-worm,

[0027] 14-worm gear, 21-proximal finger segment, 211-proximal finger segment surface plate, 22-distal finger segment,

[0028] 301 - first axis 302 - second axis, 303 - third axis, 304 - fourth axis,

[0029] 305 - fifth axis, 306 - sixth axis, 307 - seventh axis, 308 - eighth axis,

[0030] 309 - 9th axis, 310 - 10th axis, 311 - 11th axis, 401 - 1st connecting rod,

[0031] 402 - second connecting rod, 403 - third connecting rod, 404 - fourth connecting rod, 405 - fifth connecting rod,

[0032] 406 - sixth connecting rod, 407 - seventh connecting rod, 408 - eighth connecting rod, 5 - limit block,

[0033] 6-spring, 7-object. DETAILED DESCRIPTION

[0034] The specific structure and working principle of the present invention are further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] An embodiment of the connecting rod cooperatively driven straight-line flat clamping adaptive robot finger device designed by the present invention is as follows: Figures 1 to 10As shown, it includes a base 10, a motor 11 and a transmission mechanism; the motor 11 is fixedly connected to the base 10, and the motor 11 is connected to the input end of the transmission mechanism; it is characterized in that: the connecting rod cooperatively drives the linear flat clamp adaptive robot finger device also includes a near finger segment 21, a far finger segment 22, a first connecting rod 401, a second connecting rod 402, a third connecting rod 403, a fourth connecting rod 404, a fifth connecting rod 405, a sixth connecting rod 406, a seventh connecting rod 407, an eighth connecting rod 408, a first axis 301, a second axis 302, a third axis 303, a fourth axis 304, a fifth axis 305, a sixth axis 306, a seventh axis 307, an eighth axis 308, a ninth axis 309, a tenth axis 310, an eleventh axis 311, a limit block 5 and a spring member 6; the first The center lines of the shaft 301, the second shaft 302, the third shaft 303, the fourth shaft 304, the fifth shaft 305, the sixth shaft 306, the seventh shaft 307, the eighth shaft 308, the ninth shaft 309, the tenth shaft 310 and the eleventh shaft 311 are parallel to each other; the first shaft 301 is sleeved in the base, the first connecting rod is sleeved on the first shaft 301, and the second shaft 302 is sleeved in the first connecting rod; the proximal finger section 21 is sleeved on the second shaft 302, the third shaft 303 is sleeved in the proximal finger section 21, and the distal finger section 22 is sleeved on the third shaft 303; the fourth shaft 304 is sleeved in the base, the second connecting rod 402 is sleeved on the fourth shaft 304; the fifth shaft 305 is sleeved in the second connecting rod 402, the third connecting rod 403 is sleeved in the distal finger section 22 03 is sleeved on the fifth shaft 305; the fourth connecting rod 404 is sleeved on the fourth shaft 304, the sixth shaft 306 is sleeved in the fourth connecting rod 404, and the near finger section 21 is sleeved on the sixth shaft 306; the fifth connecting rod 405 is sleeved on the sixth shaft 306, the seventh shaft 307 is sleeved in the third connecting rod 403, and the fifth connecting rod 405 is sleeved on the seventh shaft 307; the eighth shaft 308 is sleeved in the fifth connecting rod 405, and the eighth shaft 308 is sleeved in the fifth connecting rod 405; the sixth connecting rod 406 is sleeved on the eighth shaft 308, the ninth shaft 309 is sleeved in the sixth connecting rod 406, and the far finger section 22 is sleeved on the ninth shaft 309; the tenth shaft 310 is sleeved in the base, and the seventh connecting rod The rod 407 is sleeved on the tenth shaft 310, and the output end of the transmission mechanism is connected to the seventh connecting rod 407; the eleventh shaft 311 is sleeved in the seventh connecting rod 407; one end of the eighth connecting rod 408 is connected to the ninth shaft 309, and the other end of the eighth connecting rod 408 is sleeved on the eleventh shaft 311; the limit block 5 is fixed to the base; the two ends of the spring member 6 are respectively connected to the limit block 5 and the second connecting rod 402; in the initial state, the second connecting rod 402 is in contact with the limit block 5; the center points of the first shaft 301, the second shaft 302, the third shaft 303, the fourth shaft 304, the fifth shaft 305, the sixth shaft 306, the seventh shaft 307, the eighth shaft 308 and the ninth shaft 309 are A, B, C, D, E, F, G, H, I;The length of line segment DE is equal to the length of line segment FG; the length of line segment DF is equal to the length of line segment EG; the length of line segment CF is equal to the length of line segment HI; the length of line segment FH is equal to the length of line segment CI; the length relationship of line segment AB, line segment BF, line segment CF, line segment DF and line segment AD satisfies: AB:BF:CF:DF:AD=13:7:12:5:17. ;

[0036] In this embodiment, the transmission mechanism includes a reducer, a worm, and a worm wheel; the output shaft of the motor is connected to the input shaft of the reducer; the worm is fixed on the output shaft of the reducer; the worm wheel is fixed on the tenth shaft 310, and the worm is meshed with the worm wheel.

[0037] The connecting rod cooperatively driven linear flat clamping adaptive robot finger device of the present invention is characterized in that the spring member 6 is a tension spring, a compression spring or a torsion spring. In this embodiment, the spring member 6 is a tension spring.

[0038] In this embodiment, the proximal finger segment 21 further includes a proximal finger segment surface plate 211 , and the proximal finger segment surface plate 211 is fixedly connected to the proximal finger segment 21 .

[0039] The working principle of this embodiment is described as follows in conjunction with the accompanying drawings:

[0040] The initial state of this embodiment is as follows Figure 1 shown.

[0041] The principle of the base 10, the proximal finger section 21, the first connecting rod 401, the fourth connecting rod 404, the first shaft 301, the second shaft 302, the third shaft 303, the fourth shaft 304, the sixth shaft 306 and other parts in this embodiment making the point C move along the straight line trajectory is as follows Fig. 9 When line segment DE rotates with D as the center, line segment AB can be driven to rotate around point A, and point C moves along the trajectory of straight line S. The center point C of the third axis 303 moves between C1 and C3 to present a trajectory that is approximately a straight line.

[0042] In the initial state of this embodiment, under the action of the spring member 6 , the second connecting rod 402 contacts the limiting block 5 .

[0043] In the present embodiment, there are two grabbing modes when performing the grabbing operation: a straight-line flat clamping mode and an adaptive envelope grabbing mode. The working principle is described as follows.

[0044] (1) Straight line flat clamp grabbing mode

[0045] The motor 11 rotates, driving the seventh connecting rod 407 to rotate through the reducer 12, the worm 13, the worm wheel 14 and the tenth shaft 310, and pushing the distal finger section 22 to move through the eighth connecting rod 408. Since the end of the mechanism formed by the base 10, the proximal finger section 21, the first connecting rod 401 and the fourth connecting rod 404 moves along an approximately straight line, the third shaft 303 will move along a straight line relative to the base 10; since the proximal finger section 21, the distal finger section 22, the fifth connecting rod 405 and the sixth connecting rod 406 form a parallel four-bar linkage, Fig.10 The line segment CI in is parallel to the line segment FG; the second link 402, the third link 403, the fourth link 404 and the fifth link 405 also form a parallel four-bar linkage, so Fig.10 The line segment DE in the figure is parallel to the line segment FG, and the line segment DE is parallel to the line segment CI. During the movement from the initial state, the second connecting rod 402 keeps in contact with the stop block 5 under the action of the spring member 6, so the second connecting rod 402 remains fixed relative to the base 10, so that the distal finger segment 22 maintains a constant posture relative to the base 10 during this process, so the distal finger segment 22 moves along an approximately straight line trajectory during the movement.

[0046] The above process is called a linear parallel clamping motion process. In this process, when the distal finger section 22 contacts the object 7, the gripping is completed, thereby achieving the function of linear parallel clamping of the object. Fig.11 shown.

[0047] (2) Adaptive crawling mode

[0048] During the above-mentioned linear parallel clamping movement, when the near finger segment 21 first contacts the object 7, the near finger segment 21 is blocked and cannot rotate further, and the adaptive grasping mode is executed at this time. The motor 11 continues to rotate, driving the seventh connecting rod 407 to rotate, and pushing the far finger segment 22 to rotate around the third axis 303 through the eighth connecting rod 408. The near finger segment 21, the far finger segment 22, the fifth connecting rod 405 and the sixth connecting rod 406 constitute a parallel four-bar linkage mechanism, and the fifth connecting rod 405 will rotate a corresponding angle around the sixth axis 306; the second connecting rod 402, the third connecting rod 403, the fourth connecting rod 404 and the fifth connecting rod 405 also constitute a parallel four-bar linkage mechanism, and the second connecting rod 402 will rotate a corresponding angle around the fourth axis 304, and the second connecting rod 402 leaves the limit block 5, and the spring member 6 is stretched. This process continues until the far finger segment 22 contacts the object 7, the far finger segment is fixed, and the adaptive grasping mode is realized.

[0049] The above process realizes an adaptive grasping mode, which is adaptive to objects of different shapes and sizes, such as Fig.12 shown.

[0050] The process of releasing the object 7 is opposite to the above process and will not be described in detail.

[0051] The device uses a base, a motor, a transmission mechanism, two finger segments, eleven axes, eight connecting rods, springs and limit blocks, etc., to comprehensively realize the linear flat clamping and adaptive grasping modes. In the initial stage, the device is in a linear parallel clamping mode: the far finger segment moves horizontally and the trajectory is a straight line, which is suitable for clamping objects on the plane; when the near finger segment is blocked from contacting the object, the device enters the adaptive grasping mode: the far finger segment rotates around the third axis until both the near finger segment and the far finger segment contact the object. The device is adaptive to objects of different shapes and sizes, and uses one motor to drive two finger segments, with stable grasping, simple control, and low manufacturing and maintenance costs.

Claims

1. A connecting rod cooperatively driven linear flat clamping adaptive robot finger device, comprising a base, a motor and a transmission mechanism; the motor is fixedly connected to the base, and the motor is connected to the input end of the transmission mechanism; characterized in that: The connecting rod cooperatively driven linear flat clamping adaptive robot finger device also includes a near finger segment, a far finger segment, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a first axis, a second axis, a third axis, a fourth axis, a fifth axis, a sixth axis, a seventh axis, an eighth axis, a ninth axis, a tenth axis, an eleventh axis, a limit block and a spring member; the center lines of the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis, the ninth axis, the tenth axis and the eleventh axis are parallel to each other; the first shaft sleeve is arranged in the base, the first The connecting rod is sleeved on the first shaft, and the second shaft is sleeved in the first connecting rod; the proximal finger section is sleeved on the second shaft, the third shaft is sleeved in the proximal finger section, and the distal finger section is sleeved on the third shaft; the fourth shaft is sleeved in the base, and the second connecting rod is sleeved on the fourth shaft; the fifth shaft is sleeved in the second connecting rod, and the third connecting rod is sleeved on the fifth shaft; the fourth connecting rod is sleeved on the fourth shaft, the sixth shaft is sleeved in the fourth connecting rod, and the proximal finger section is sleeved on the sixth shaft; the fifth connecting rod is sleeved on the sixth shaft, the seventh shaft is sleeved in the third connecting rod, and the fifth connecting rod is sleeved on the The seventh shaft; the eighth shaft is sleeved in the fifth connecting rod, the sixth connecting rod is sleeved on the eighth shaft, the ninth shaft is sleeved in the sixth connecting rod, and the distal finger section is sleeved on the ninth shaft; the tenth shaft is sleeved in the base, the seventh connecting rod is sleeved on the tenth shaft, and the output end of the transmission mechanism is connected to the seventh connecting rod; the eleventh shaft is sleeved in the seventh connecting rod; one end of the eighth connecting rod is connected to the ninth shaft, and the other end of the eighth connecting rod is sleeved on the eleventh shaft; the limit block is fixedly connected to the base; the two ends of the spring member are respectively connected to the limit block and the second connecting rod; in the initial state, the second The connecting rod is in contact with the limit block; let the center points of the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis and the ninth axis be A, B, C, D, E, F, G, H, I; the length of line segment DE is equal to the length of line segment FG; the length of line segment DF is equal to the length of line segment EG; the length of line segment CF is equal to the length of line segment HI; the length relationship of line segment AB, line segment BF, line segment CF, line segment DF and line segment AD satisfies: AB:BF:CF:DF:AD=13:7:12:5:

17.

2. The connecting rod cooperatively driven linear flat clamping adaptive robot finger device according to claim 1, characterized in that: The transmission mechanism includes a reducer, a worm and a worm wheel; the output shaft of the motor is connected to the input shaft of the reducer; the worm is sleeved on the output shaft of the reducer; the worm wheel is sleeved on the tenth shaft, and the worm is meshed with the worm wheel.

3. The connecting rod cooperatively driven linear flat clamping adaptive robot finger device according to claim 1, characterized in that: The spring element is a tension spring, a compression spring or a torsion spring.

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