Variable-attitude rotary coupling under-actuated grabbing mechanism

Abstract

The invention discloses a variable-posture rotary coupling under-actuated grabbing mechanism, and relates to the technical field of grabbing mechanisms. The variable-posture rotary coupling under-actuated grabbing mechanism comprises a rack, and a finger structure, a driving assembly and an adjusting assembly which are mounted on the rack, the rack is provided with a plurality of rotary gripper discs which are arranged from top to bottom and are rotationally connected together in sequence; each rotary gripper disc is provided with a finger structure. Each finger structure comprises a gripper base fixedly installed on the corresponding rotary gripper disc. The driving sliding block is installed on the gripper base in a sliding mode. The driving rod is installed on the gripper base in a sliding mode and fixedly connected with the driving sliding block. The connecting wrist is rotationally mounted on the gripper base; two ends of the gripper connecting rod are rotationally connected with the driving rod and the connecting wrist respectively; the knuckle plate is provided with three sections; the driving assembly drives the driving sliding block to slide relative to the gripper base. The adjusting assembly drives each rotary gripper disc to rotate; the position of the finger structure can be freely adjusted to adapt to objects of different shapes and sizes, and the finger structure can passively conform to the shape of a target object.

Description

Technical Field

[0001] The invention relates to the technical field of grasping mechanisms, and in particular to a variable-attitude rotary-coupled under-actuated grasping mechanism. Background Art

[0002] The grasping mechanism is a typical robot end effector, which is mainly used to perform grasping, handling, placing, releasing and other operations. It is widely used in product sorting and assembly, agricultural picking, micro-nano operation and other fields. In recent years, as the robot working environment has evolved from a structured environment to an unstructured environment with uncertain operation objects and complex operation tasks, the adaptive grasping mechanism has attracted extensive attention from researchers at home and abroad. Among them, good adaptive ability, fast response and large load are the key to the adaptive grasping mechanism to achieve safe and reliable robot dexterous operation.

[0003] In current research, adaptive grasping mechanisms are mainly divided into: rigid under-actuated grasping mechanisms, soft grasping mechanisms and compliant grasping mechanisms.

[0004] The number of driving units in a rigid underactuated grasping mechanism is less than the number of degrees of freedom, and it can passively adapt to the shape of the grasped object by using the joint degrees of freedom that are not driven and controlled. However, there is a rigid contact relationship between the rigid underactuated grasping mechanism and the grasped object, and the rigid underactuated grasping mechanism can directly transmit the rigid impact of the driving unit, which is easy to damage the fragile and deformable operation object.

[0005] Soft grasping mechanisms have good shape adaptability, but they are generally driven by pneumatic or dielectric elastomers with low motion resolution and slow response speed, which makes it very difficult to accurately and real-time control of posture and load.

[0006] Compliant mechanisms use the elastic deformation of materials to achieve the transmission or conversion of force or motion. They have the advantages of integrated molding and assembly-free, and have been widely used in micro-nano operations and other robot operations that require high motion accuracy. The millimeter-level large-stroke compliant grasping mechanism proposed in recent years uses materials with low elastic modulus, fully combining the compliance characteristics of the compliant mechanism and the flexible material, has high shape adaptability, and can better protect the operation object. However, the viscoelastic characteristics of flexible materials lead to slow response speed of the grasping mechanism. At the same time, the low elastic modulus characteristics of flexible materials lead to low stiffness outside the grasping plane of the mechanism, affecting the load capacity.

[0007] In order to solve the rigid contact and rigid impact problems of rigid underactuated grasping mechanisms and overcome the shortcomings of slow response speed and low load capacity of soft grasping mechanisms and compliant grasping mechanisms, the design concept of combining rigidity and flexibility can be adopted. However, the rigid-flexible underactuated grasping mechanisms currently under research still have the following deficiencies: 1. The structure size is too large, the human hand simulation function is not strong, and the applicable grasping execution environment is relatively single; 2. The flexibility and passive compliance are insufficient, and it is impossible to ensure the non-destructive grasping of fragile, vulnerable, and easily deformable objects; 3. The ability of variable posture grasping and variable size grasping is insufficient, and it cannot meet the adaptive grasping requirements of targets of multiple shapes and different sizes. Summary of the invention

[0008] In view of the above problems, the present invention proposes a variable-attitude rotary coupling underactuated grasping mechanism, and the technical solution used is: A variable-attitude rotary coupling underactuated grasping mechanism comprises a frame, and a finger structure, a driving component and an adjusting component mounted on the frame; The frame includes a top connecting frame, a top mounting plate, a top mounting frame, a rotating gripper plate, a bottom mounting plate and a bottom cover; the top connecting frame and the top mounting frame are both fixedly mounted on the top mounting plate; the rotating gripper plates are provided with a plurality of plates, which are arranged from top to bottom and are rotatably connected together in sequence, and the rotating gripper plate at the top is rotatably mounted on the top mounting plate; the bottom mounting plate is fixedly mounted on the rotating gripper plate at the bottom; the bottom cover is rotatably mounted on the bottom mounting plate; the bottom cover is connected to the top mounting frame via a mounting shaft; Each of the rotating gripper disks is provided with a finger structure; the finger structure comprises a gripper base, a driving slider, a driving rod, a gripper connecting rod, a connecting wrist, a knuckle plate 1, a knuckle plate 2, a finger connecting rod group 1 and a proximity switch 1; the gripper base is fixedly mounted on the corresponding rotating gripper disk; the driving slider is slidably mounted on the gripper base; the driving rod is slidably mounted on the gripper base and is fixedly connected to the driving slider; the connecting wrist is rotatably mounted on the gripper base; the two ends of the gripper connecting rod are respectively rotatably connected to the driving rod and the connecting wrist; the knuckle plate 1 rotates and is elastically mounted on the connecting wrist; the knuckle plate 2 rotates and is elastically mounted on the knuckle plate 1; the connecting wrist, the knuckle plate 1 and the knuckle plate 2 are linked by a finger connecting rod group 1; the proximity switch 1 is mounted on the gripper base; The driving assembly is used to drive the driving slider to slide relative to the hand grip base; The adjusting assembly is used to drive each rotating gripper disc to rotate.

[0009] Furthermore, the finger link group 1 includes finger link 1, finger link 2 and finger link 3; one end of finger link 1 is rotatably mounted on the connecting wrist, and the other end is rotatably connected to the end sides of finger link 2 and finger link 3; the other end of finger link 2 is rotatably mounted on knuckle plate 1; the other end of finger link 3 is rotatably mounted on knuckle plate 2.

[0010] Furthermore, the finger structure also includes a knuckle plate three and a finger connecting rod group two; the knuckle plate three is rotatably connected to the knuckle plate two; the connecting wrist, knuckle plate one, knuckle plate two and knuckle plate three are linked through the finger connecting rod group two.

[0011] Furthermore, the finger link group two includes finger link four, finger link five, finger link six, finger link seven and a finger telescopic rod; the two ends of the finger link four are respectively rotatably connected to the connecting wrist and the finger link five; the finger link five is rotatably installed on the knuckle plate one; the two ends of the finger link six are respectively rotatably connected to the finger link five and the finger link seven; the finger link seven is rotatably installed on the knuckle plate three; the finger telescopic rod is respectively rotatably connected to the finger link seven and the knuckle plate three.

[0012] Furthermore, the frame also includes a bottom mounting frame fixedly mounted on the bottom cover; the driving assembly includes a screw rod, a screw rod nut, a driving motor, a transmission mechanism 1, a driving disk, a proximity switch 2 and a positioning switch; the two ends of the screw rod are rotatably mounted on the top mounting frame and the bottom mounting frame respectively; a screw rod nut is co-installed on the screw rod, and the screw rod nut is fixedly mounted on the driving disk; a scriber is provided on the driving slider; a scriber limiting groove corresponding to the scriber is provided on the driving disk, and the scriber slides in the scriber limiting groove; the driving motor is fixedly mounted on the top mounting frame, and its output end is synchronously connected with the screw rod through a transmission mechanism 1.

[0013] Furthermore, a limiting protrusion is fixedly provided on the bottom cover; an embedding opening corresponding to the limiting protrusion is provided on the driving disk; and the limiting protrusion intermittently enters the embedding opening.

[0014] Furthermore, an inner gear ring is fixedly installed in the rotating gripper plate; a fixing column is fixedly installed on the bottom cover; both ends of the mounting shaft are rotatably installed on the bottom cover and the top mounting frame respectively; a transition shaft is rotatably installed on the fixing column; The adjustment assembly includes a supporting main shaft, an adjustment motor, an input bevel gear, an output bevel gear, a worm, a worm wheel, a toggle mechanism and an encoder; the supporting main shaft is rotatably installed between the top mounting frame and the bottom cover; each inner gear ring corresponds to a group of input bevel gears, output bevel gears, worms, worm wheels and a group of fixed columns and mounting shafts; the input bevel gear is coaxially fixedly installed on the supporting main shaft; the output bevel gear is slidably installed on the transition shaft and intermittently meshes with the input bevel gear; the worm is coaxially fixedly installed on the transition shaft; the worm wheel is coaxially fixedly installed on the mounting shaft, and the worm wheel is meshed with the worm and the inner gear ring at the same time; the encoder is installed on the mounting shaft; the toggle mechanism is used to drive the output bevel gear to slide on the transition shaft, so that the output bevel gear is meshed or disengaged with the input bevel gear.

[0015] The camshaft is an axially movable part of the upper and lower wheels, and the camshaft is an axially movable part of the lower wheel, and the camshaft is an axially movable part of the lower wheel.

[0016] Furthermore, the intermittent linkage mechanism includes a linkage belt, a linkage wheel, a connecting wheel, a linkage motor, a cam, a connecting rod 1, a moving shaft, a transition wheel, a connecting rod 2 and a fork frame; the linkage wheel is synchronously connected with the upper transmission wheel and the lower transmission wheel through the transmission mechanism 2; the connecting wheel is coaxially fixedly mounted on the supporting main shaft; the linkage motor is fixedly mounted on the top mounting frame; the cam is fixedly mounted on the output end of the linkage motor; The transition wheel is slidably mounted on the top mounting frame through a movable shaft and rotatably mounted on the corresponding movable shaft, and the movable shaft where the transition wheel is located is connected to the protruding part of the cam through a connecting rod 1; the forked frame is slidably mounted on the top mounting frame, and a movable shaft slidably mounted on the top mounting frame is rotatably mounted on its fork point; the two movable shafts are connected by a connecting rod 2; the linkage wheel is located between the two forks of the forked frame; the linkage belt is tensioned on the connecting wheel, the transition wheel and the two forked ends of the forked frame, and is intermittently tensioned on the linkage wheel.

[0017] Furthermore, it also includes a camera device; the camera device is fixedly installed on the bottom cover and is used to collect image information during the grabbing process.

[0018] Since the present invention adopts the above technical solution, the present invention has the following advantages: 1. The structure of the present invention is small in size and can freely adjust the position of the finger structure. Each group of finger structures includes three movable knuckle plates, which are more flexible and efficient and can adapt to objects of different shapes and sizes. The finger structure can passively conform to the shape of the target object, ensuring non-destructive grasping of fragile, fragile, and easily deformed targets.

[0019] 2. The structure of the present invention is simple and compact, and the number of motors used for driving is small, so that the overall mass of the under-driven grasping mechanism is light, the occupied space is small, and it is easy to install and transport; the structure of the present invention is stable, and it can give the object a greater grasping force when grasping the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1-Figure 3 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of the present invention without the finger structure.

[0022] Figure 5 It is a schematic diagram of the exploded structure of the frame of the present invention.

[0023] Figure 6 It is a cross-sectional schematic diagram of the AA section in the frame of the present invention.

[0024] Figure 7-Figure 8 The figure is a schematic diagram of the assembly structure of the driving assembly, the adjusting assembly and the camera device of the present invention.

[0025] Fig. 9 It is a schematic diagram of the assembly structure of the adjustment component of the present invention.

[0026] Figure 10-Figure 14 It is a partial structural schematic diagram of the regulating assembly of the present invention.

[0027] Figure 15-16 It is a schematic diagram of the structure of the driving assembly of the present invention.

[0028] Figure 17-Figure 18 It is a schematic diagram of the assembly structure of the top of the drive assembly of the present invention.

[0029] Fig.19 It is a schematic diagram of the internal structure of the top mounting frame in the rack of the present invention.

[0030] Fig. 20 It is a schematic diagram of the top cover structure of the top mounting frame of the present invention from above.

[0031] Fig.21 It is a schematic diagram of the structure of the upper cover of the top mounting frame of the present invention when viewed from the bottom.

[0032] Fig. 22 It is a structural schematic diagram of the intermittent linkage mechanism in the adjustment assembly of the present invention.

[0033] Fig.23 It is a structural schematic diagram of the bifurcated frame in the intermittent linkage mechanism of the present invention.

[0034] Figure 24-25 It is a partial structural schematic diagram of the regulating assembly of the present invention.

[0035] Fig.26 It is a schematic diagram of the assembly structure of the finger structure and the driving disk of the present invention.

[0036] Figure 27-Figure 28 It is a structural schematic diagram of the finger structure of the present invention.

[0037] Figure 29-Figure 30 It is a partial structural schematic diagram of the finger structure of the present invention.

[0038] Figure Number: 1-frame; 101-top connecting frame; 102-top mounting plate; 103-top mounting frame (1031-top cover; 1032-lower cover; 1033-upper cover; 1034-fixing seat; 1035-protective cover; 1036-mounting cover); 104-rotating gripper plate 1 (1041-inner gear ring 1); 105-rotating gripper plate 2 (1051-inner gear ring 2); 106-rotating gripper plate 3 (1061-inner gear ring 3); 107-bottom mounting plate; 108-bottom cover (1081-limiting protrusion; 1082-fixing column; 1083-fixing frame; 1084-mounting shaft); 109-bottom mounting frame; 2-finger structure; 201-hand grip base; 202-driving slider (2021-slicing); 203-driving rod; 204-gripper connecting rod; 205-connecting wrist; 206-knuckle plate one; 207-knuckle plate two; 208-knuckle plate three; 209-finger connecting rod one; 210-finger connecting rod two; 211-finger connecting rod three; 212-finger connecting rod four; 213-finger connecting rod five; 214-finger connecting rod six; 215-finger connecting rod seven; 216-finger telescopic rod; 217-proximity switch one; 3-driving assembly; 301-screw; 302-screw nut; 303-driving motor; 304-transmission mechanism 1; 305-driving disk (3051-slicing limit groove; 3052-embedded opening); 306-proximity switch 2 (reset); 307-positioning switch; 4-adjustment assembly; 401-support main shaft; 402-adjustment motor; 403-input bevel gear; 404-output bevel gear; 405-worm; 406-worm wheel; 407-upper toggle wheel (4071-upper limit slide; 4072-outer slide; 4073-fixed ball groove); 408-telescopic spring rod (4081-fixed ball); 409-proximity switch three; 410-lower toggle wheel (4101-lower limit slide) ; 411-intermittent linkage mechanism (4111-linkage wheel; 4112-connection wheel; 4113-linkage motor; 4114-cam; 4115-connection rod 1; 4116-moving shaft; 4117-transition wheel; 4118-connection rod 2; 4119-fork frame); 412-transmission mechanism 2 (4121-upper transmission wheel; 4122-lower transmission wheel; 4123-connection shaft); 413-encoder; 414-toggle lever; 5- Camera device. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further specifically described below by way of embodiments and in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0040] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "up", "down", "in", "out", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. Example

[0041] This embodiment needs to be installed at the end of a robotic arm for pick-and-place operations, such as Figure 1-Figure 3 and Figure 7-Figure 8 As shown, a variable posture rotary coupling under-actuated grasping mechanism includes a frame 1, and a finger structure 2, a driving component 3, an adjusting component 4 and a camera device 5 installed on the frame 1.

[0042] like Figure 2-Figure 9 and Figure 17-Figure 21As shown, the frame 1 includes a top connecting frame 101, a top mounting plate 102, a top mounting frame 103, a rotating gripper plate 104, a rotating gripper plate 2 105, a rotating gripper plate 3 106, a bottom mounting plate 107, a bottom cover 108 and a bottom mounting frame 109; the top connecting frame 101 is fixedly mounted on the top mounting plate 102 for connection with the end of the robot arm; the rotating gripper plate 104 is rotatably mounted on the top mounting plate 102, an inner gear ring 1041 is coaxially fixedly mounted inside the rotating gripper plate 104, and a group of finger structures 2 are fixedly arranged on the periphery; The second rotating gripper plate 105 is rotatably mounted on the first rotating gripper plate 104, and a second inner gear ring 1051 is coaxially fixedly disposed inside the second rotating gripper plate 105, and a group of finger structures 2 are fixedly disposed on the periphery thereof; the third rotating gripper plate 106 is rotatably mounted on the second rotating gripper plate 105, and a third inner gear ring 1061 is coaxially fixedly disposed inside the second rotating gripper plate 105, and a group of finger structures 2 are fixedly disposed on the periphery thereof; the bottom mounting plate 107 is fixedly mounted on the bottom end of the third rotating gripper plate 106; the bottom cover 108 is rotatably mounted on the bottom mounting plate 107; and the bottom mounting frame 109 is fixedly mounted on the bottom cover 108; The top mounting frame 103 includes a top cover 1031, an upper cover 1033 and a lower cover 1032 which are fixedly mounted together from top to bottom, a fixing seat 1034 which is arranged in the top cover 1031 and fixedly mounted on the upper cover 1033, and a protective cover 1035 and a mounting cover 1036 which are fixedly mounted on the upper cover 1033; the mounting cover 1036 is located at the center of the upper cover 1033; the lower cover 1032 is fixedly mounted on the top mounting plate 102; A limiting protrusion 1081 is fixedly provided at the bottom end of the bottom cover 108, and the bottom mounting frame 109 is fixedly installed on the limiting protrusion 1081; three groups of fixing columns 1082 and mounting shafts 1084 are provided on the bottom cover 108, and the three groups of fixing columns 1082 and mounting shafts 1084 correspond to the rotating gripper plate 1 104, the rotating gripper plate 2 105 and the rotating gripper plate 3 106 respectively; the fixing columns 1082 are fixedly installed on the bottom cover 108, and the top ends of the three fixing columns 1082 are fixedly installed with fixing frames 1083; the shaft body of the mounting shaft 1084 is rotatably installed on the fixing frame 1083, and the upper and lower ends are rotatably connected to the lower cover 1032 and the bottom cover 108 respectively.

[0043] like Figure 1-Figure 3 and Figure 26-Figure 30 As shown, the finger structure 2 includes a hand grip base 201, a driving slider 202, a driving rod 203, a gripper link 204, a connecting wrist 205, a knuckle plate 1 206, a knuckle plate 207, a knuckle plate 3 208, a finger link 1 209, a finger link 2 210, a finger link 3 211, a finger link 4 212, a finger link 5 213, a finger link 6 214, a finger link 7 215, a finger telescopic rod 216 and a proximity switch 1 217; The top of the grip base 201 is fixedly mounted on the outer periphery of the corresponding rotating gripper disk; the driving slider 202 is slidably mounted on the grip base 201, and a scriber 2021 is fixedly mounted on the driving slider 202; the driving rod 203 is slidably mounted on the grip base 201, and the top is fixedly connected to the driving slider 202; the connecting wrist 205 is rotatably mounted on the bottom end of the grip base 201, one end of the grip connecting rod 204 is rotatably connected to the driving rod 203, and the other end is rotatably connected to the connecting wrist 205; the knuckle plate 1 206, the knuckle plate 207 and the knuckle plate 3 208 are rotatably connected head to tail from top to bottom, the top of the knuckle plate 1 206 is rotatably mounted on the connecting wrist 205, and the knuckle plate 1 206 and the connecting wrist 205, and the knuckle plate 1 206 and the knuckle plate 2 207 are elastically connected by coil springs; The finger link 1 209, the finger link 3 211, the finger link 4 212, the finger link 6 214 and the finger link 7 215 are all in a straight line shape, the finger link 2 210 is in an arc shape, and the finger link 5 213 is in an isosceles triangle shape; the top end of the finger link 1 209 is rotatably mounted on the connecting wrist 205, and the bottom end is rotatably connected to one end of the finger link 210, and the end of the finger link 210 is rotatably connected to the top end of the finger link 3 211, and the other end of the finger link 210 is rotatably mounted on the knuckle plate 1 206; the bottom end of the finger link 3 211 is rotatably mounted on the connecting wrist 205. The top corner of the finger link 5 213 is rotatably mounted on the finger link 1 206, and the two bottom corners are rotatably connected to the bottom end of the finger link 4 212 and the top end of the finger link 6 214 respectively; the top end of the finger link 4 212 is rotatably mounted on the connecting wrist 205; the bottom end of the finger link 6 214 is rotatably connected to one end of the finger link 7 215, and the other end of the finger link 7 215 is rotatably mounted on the finger link 3 208; one end of the finger telescopic rod 216 is rotatably mounted on the finger link 7 215, and the other end is rotatably mounted on the finger link 3 208; The rotation connection and installation in the finger structure 2 are both connected by pins; The proximity switch 217 adopts the MISUMI C-C05-N01 micro proximity sensor; the proximity switch 217 is set on the grip base 201, and is used to detect the distance between the finger structure 2 where it is located and another group of finger structures 2 to prevent collision between the finger structures 2.

[0044] like Figure 7-Figure 8 and Figure 15-18As shown, the drive assembly 3 includes a screw rod 301, a screw rod nut 302, a drive motor 303, a transmission mechanism 1 304, a drive disk 305, a proximity switch 2 306 and a positioning switch 307; there are three screw rods 301, the top of which is rotatably mounted on the fixed seat 1034, the rod body passes through the upper cover 1033, the lower cover 1032 and the bottom cover 108, and the bottom end is rotatably mounted on the bottom mounting frame 109; each screw rod 301 is equipped with a screw rod nut 302, and the screw rod nut 302 is fixedly mounted On the driving disk 305, the driving disk 305 is driven to move; three circles of scribe limiting grooves 3051 are arranged from the inside to the outside on the driving disk 305, respectively corresponding to the scribes 2021 on the driving slider 202 in the three groups of finger structures 2, so that the driving slider 202 can move around the periphery of the driving disk 305; an embedding opening 3052 corresponding to the limiting protrusion 1081 is arranged at the center of the driving disk 305, and the limiting protrusion 1081 intermittently enters the embedding opening 3052, so that the driving disk 305 and the bottom cover 108 are relatively fixed; The driving motor 303 adopts a MISUMI C-57STM02 stepper motor; the driving motor 303 is fixedly mounted on a fixed seat 1034, and its output end drives three screw rods 301 to rotate synchronously through a transmission mechanism 1 304; the transmission mechanism 1 adopts a belt drive transmission mode, a driving pulley is coaxially fixedly mounted on the output end of the driving motor 303, a driven pulley is coaxially fixedly mounted on the top of the screw rod 301, two transition pulleys are rotatably mounted on the fixed seat 1034, and the transmission belt is tensioned on the driving pulley, the transition pulley and the driven pulley; The proximity switch 306 adopts the MISUMI C-C05-N01 micro proximity sensor; three proximity switches 306 are provided, all of which are fixedly mounted on the driving disk 305, and are used to detect whether the driving disk 305 is reset; the positioning switch 307 adopts the MISUMI MSTTNA-A-NC flat high-precision positioning switch; there are two positioning switches 307, which are respectively mounted on the bottom cover 108 and the bottom mounting frame 109, and the detection points are respectively located on the upper and lower sides of the driving disk 305, which are used to limit the movement stroke of the driving disk 305 to prevent the driving disk 305 from overtravel and collision.

[0045] like Figure 9-Figure 14 and Figure 20-Figure 25 As shown, the adjustment assembly 4 includes a supporting main shaft 401, an adjustment motor 402, an input bevel gear 403, an output bevel gear 404, a worm 405, a worm wheel 406, an upper toggle wheel 407, a telescopic spring rod 408, a proximity switch 3 409, a lower toggle wheel 410, an intermittent linkage mechanism 411, a transmission mechanism 2 412, an encoder 413 and a toggle rod 414; The top of the support main shaft 401 is rotatably mounted on the mounting cover 1036 of the top mounting frame 103, and the bottom is rotatably mounted on the lower dial wheel 410, and the lower dial wheel 410 is rotatably mounted on the bottom cover 108; the adjustment motor 402 adopts Siemens 1FL6024-2AF21-1LG1 servo motor; the adjustment motor 402 is fixedly mounted on the bottom cover 108, and its output end is synchronously connected with the support main shaft 401 through a belt drive method; The rotating gripper plate 104, the rotating gripper plate 2 105 and the rotating gripper plate 3 106 each correspond to a set of input bevel gear 403, output bevel gear 404, worm 405 and worm wheel 406; the input bevel gear 403 is connected to the supporting main shaft 401 through a spline; each fixed column 1082 is rotatably mounted with a transition shaft perpendicular to the fixed column 1082, and the output bevel gear 404 and worm 405 of the same group are coaxially mounted on the same transition shaft, and the output bevel gear 404 ... The worm 405 is coaxially fixedly mounted on the transition shaft and is splined to the transition shaft and can move along the axis of the transition shaft; the worm wheel 406 is splined to the mounting shaft 1084, the worm wheel 406 is meshed with the worm 405 of the same group, and the worm wheel 406 is also meshed with the inner gear ring (inner gear ring 1041, inner gear ring 2 1051 or inner gear ring 3 1061) on the corresponding rotating gripper plate (rotating gripper plate 1 104, rotating gripper plate 2 105 or rotating gripper plate 3 106); The upper toggle wheel 407 is located inside the lower plate 1032 and is coaxially rotatably mounted on the supporting main shaft 401; three toggle rods 414 corresponding to the output bevel gear 404 are arranged between the upper toggle wheel 407 and the lower toggle wheel 410; an upper limit slide groove 4071 is arranged on the bottom surface of the upper toggle wheel 407, and a lower limit slide groove 4101 is arranged on the top surface of the lower toggle wheel 410; the upper and lower ends of the toggle rod 414 are respectively provided with slides mounted on the upper limit slide groove 4071 and the lower limit slide groove 4101. The bearing follower in the limit slide groove 4101; the toggle rod 414 is fixedly connected to the corresponding output bevel gear 404; when the upper toggle wheel 407 and the lower toggle wheel 410 rotate synchronously, the bearing follower slides in the upper limit slide groove 4071 or the lower limit slide groove 4101, driving the toggle rod 414 to move, and the toggle rod 414 drives the corresponding output bevel gear 404 to move, so that the output bevel gear 404 is engaged or disengaged with the corresponding input bevel gear 403; The second transmission mechanism 412 includes an upper transmission wheel 4121, a lower transmission wheel 4122 and a connecting shaft 4123; the upper transmission wheel 4121 and the lower transmission wheel 4122 are coaxially fixedly connected through the connecting shaft 4123, the top end of the connecting shaft 4123 is rotatably mounted on the upper cover 1033, and the bottom end is rotatably mounted on the bottom cover 108; the upper transmission wheel 4121 is synchronously connected to the upper dial wheel 407 through a belt transmission method, and the lower transmission wheel 4122 is synchronously connected to the lower dial wheel 4122 through a belt transmission method; The intermittent linkage mechanism 411 includes a linkage belt, a linkage wheel 4111, a connecting wheel 4112, a linkage motor 4113, a cam 4114, a connecting rod 1 4115, a moving shaft 4116, a transition wheel 4117, a connecting rod 2 4118 and a fork frame 4119; the linkage wheel 4111 is coaxially fixedly mounted on the connecting shaft 4123; the connecting wheel 4112 is coaxially fixedly mounted on the supporting main shaft 401; the linkage motor 4113 adopts a steering gear and is fixedly mounted on the upper cover 1033; the cam 4114 is fixedly mounted on the output end of the linkage motor 4113; there are two moving shafts 4116, both of which are slidably mounted on the upper cover 1033, and three connecting rods 2 4118 are arranged between the two moving shafts 4116; the connecting rod 2 4118 is linear, and its two ends are respectively rotatably connected to the two moving shafts 4116; Wheel 4117 is rotatably mounted on a moving shaft 4116 close to cam 4114, and the bifurcation point of fork frame 4119 is rotatably mounted on another moving shaft 4116; one end of connecting rod 1 4115 is rotatably mounted on a protruding portion of cam 4114, and the other end is rotatably connected to the moving shaft 4116 where transition wheel 4117 is located; both bifurcated ends of fork frame 4119 are slidably mounted on upper cover 1033, and the sliding direction is parallel to the sliding direction of moving shaft 4116 where fork frame 4119 is located; linkage wheel 4114 is located between the two forks of fork frame 4119; linkage belt is tensioned on connecting wheel 4112, transition wheel 4117 and two bifurcated ends of fork frame 4119, and is intermittently tensioned on linkage wheel 4111; connecting rod 1 4115 and connecting rod 2 4118 are both located in protective cover 1035; An outer sliding groove 4072 is provided on the outer periphery of the upper toggle wheel 407, and three fixed ball grooves 4073 are provided on the outer sliding groove 4072; each fixed ball groove 4073 corresponds to a telescopic spring rod 408, and the telescopic spring rod 408 is installed on the lower cover 1032 and extends radially along the upper toggle wheel 407, and a fixed ball 4081 is provided on the radial inner end of the telescopic spring rod 408, and the fixed ball 4081 is placed in the outer sliding groove 4072; when the upper toggle wheel 407 rotates, the fixed ball 4081 slides along the outer sliding groove 4072, and can enter the fixed ball groove 4073 or move out of the fixed ball groove 4073; The proximity switch 3 409 adopts a MISUMI C-Q10-N11 flat proximity sensor; there are four proximity switches 3 409, all of which are fixedly mounted on the lower cover 1032, and a position detection baffle that cooperates with the proximity switch 3 409 is fixedly mounted on the upper toggle wheel 407, and the proximity switch 3 409 is used to detect the rotation of the upper toggle wheel 407; An encoder 413 is installed at the top of each mounting shaft 1084 for measuring the rotation parameters of the mounting shaft 1084 and the worm gear 406 thereon, so as to achieve precise control over the rotation of the worm gear 406 .

[0046] like Figure 3 and Figure 8-Figure 9 As shown, the camera device 5 is fixedly mounted on the bottom end of the bottom cover 108 and is used to collect image information during the capture process.

[0047] The working principle of this embodiment is as follows: Since the top mounting plate 102, the top mounting frame 103 and the bottom cover 108 are relatively fixed, and the rotating gripper plate 1 104 and the top mounting plate 102, the rotating gripper plate 2 105 and the rotating gripper plate 1 104, the rotating gripper plate 3 106 and the rotating gripper plate 2 105, and the bottom cover 108 and the bottom mounting plate 107 can all rotate relative to each other, the finger structure 2 can rotate and move with the rotating gripper plate (rotating gripper plate 1 104, rotating gripper plate 2 105 or rotating gripper plate 3 106) in which it is located (in this process, the scriber 2021 on the finger structure 2 slides along the driving plate 305), thereby adjusting the relative positions of the three groups of finger structures 2.

[0048] The adjusting motor 402 can drive the supporting main shaft 401 to rotate, and the input bevel gear 403 on the supporting main shaft 401 rotates along with the supporting main shaft 401, and the input bevel gear 403 can drive the output bevel gear 404 meshing therewith to rotate, and the rotating output bevel gear 404 drives the corresponding worm 405 to rotate synchronously through the transition shaft, and the worm 405 drives the inner gear ring (inner gear ring 1 1041, inner gear ring 2 1051 or inner gear ring 3 1061) meshing therewith to rotate, so as to make the rotating gripper plate (rotating gripper plate 1 104, rotating gripper plate 2 105 or rotating gripper plate 3 106) where the inner gear ring is located rotate, so as to complete the position adjustment of the finger structure 2.

[0049] The linkage motor 4113 drives the cam 4114 to rotate, and the cam 4114 drives the connecting rod 1 4115 to move, and the connecting rod 1 4115 drives the moving shaft 4116 where the transition wheel 4117 is located to move on the upper cover 1033, and the connecting rod 2 4118 moves accordingly and drives the moving shaft 4116 where the fork frame 4119 is located to move on the upper cover 1033, and the fork frame 4119 moves accordingly; when the fork frame 4119 moves outward, its forked end can prop up the linkage belt outward to make it separate from the linkage wheel 4111, and when the connecting wheel 4112 rotates with the supporting main shaft 401, it will not drive the linkage wheel 4111 to rotate through the linkage belt, and the linkage wheel 4111 will not drive the upper dial wheel 407 and the lower dial wheel 410 to rotate through the transmission mechanism 2 412, that is, the upper dial wheel 407 and the lower dial wheel 410 will not rotate with the rotation of the support main shaft 401; on the contrary, when the fork frame 4119 moves inward, its forked end moves inward, so that the linkage belt is tensioned on the linkage wheel 4111, and when the connecting wheel 4112 rotates with the support main shaft 401, it can drive the linkage wheel 4111 to rotate through the linkage belt, and the linkage wheel 4111 drives the upper transmission wheel 4121 and the lower transmission wheel 4122 to rotate, thereby driving the upper dial wheel 407 and the lower dial wheel 410 to rotate with the rotation of the support main shaft 401.

[0050] When the upper toggle wheel 407 and the lower toggle wheel 410 rotate, the toggle rod 414 can move, and the toggle rod 414 drives the output bevel gear 404 thereon to move, so that the output bevel gear 404 engages or disengages with the corresponding input bevel gear 403. After the fixed ball 4081 slides along the outer groove 4072 and enters the fixed ball groove 4073, the upper toggle wheel 407 is temporarily fixed, thereby selecting the rotating gripper disk that needs to be rotated (rotating gripper disk 1 104, rotating gripper disk 2 105 or rotating gripper disk 3 106).

[0051] The driving motor 303 drives the three screw rods 301 to rotate synchronously through the transmission mechanism 1 304, and the screw nuts 302 on the three screw rods 301 move up and down synchronously, driving the driving disk 305 to move.

[0052] When the driving disk 305 moves upward, the driving slider 202 moves upward along the hand grip base 201 with the driving disk 305, driving the driving rod 203 to move upward, and the gripper connecting rod 204 moves accordingly, driving the connecting wrist 205 to rotate, and the knuckle plate 1 206, the knuckle plate 207 and the knuckle plate 3 208 rotate inwardly with the connecting wrist 205; when the connecting wrist 205 rotates inwardly and the knuckle plate 207 contacts the object to be grasped, the knuckle plate 1 206 and the connecting wrist 205 and the knuckle plate 207 and the knuckle plate 1 206 will rotate relative to each other, and under the action of the finger connecting rod and the coil spring, the knuckle plate 1 206 and the knuckle plate 207 will be close to the object to be grasped, and the driving disk 305 moves upward until the limiting protrusion 1081 enters the embedding opening 3052, and the driving slider 202 no longer moves, and the three groups of finger structures 2 work together to grasp the object; conversely, when the driving slider 202 moves downward, the connecting wrist 205 rotates outward, the knuckle plate 1 206 and the knuckle plate 207 are separated from the object, and rotate to the initial state under the resetting action of the coil spring.

[0053] When it is necessary to grab the stacked thin sheet items, the robotic arm tilts the grabbing mechanism as a whole, one of the knuckle plates 208 fits against the top item, the finger telescopic rod 216 contracts, and then the grabbing mechanism moves. The knuckle plate 208 drives the fitted item to move a certain distance and protrude outward under the action of friction, and the robotic arm drives the grabbing mechanism to move and uses the protruding part of the item to grab the item.

Claims

1. A variable attitude rotary coupling underactuated grasping mechanism, characterized in that: It comprises a frame (1), and a finger structure (2), a driving component (3) and an adjusting component (4) mounted on the frame (1); The frame (1) comprises a top connecting frame (101), a top mounting plate (102), a top mounting frame (103), a rotating gripper plate, a bottom mounting plate (107) and a bottom cover (108); the top connecting frame (101) and the top mounting frame (103) are both fixedly mounted on the top mounting plate (102); a plurality of rotating gripper plates are provided, which are arranged from top to bottom and are rotatably connected together in sequence, and the rotating gripper plate at the top is rotatably mounted on the top mounting plate (102); the bottom mounting plate (107) is fixedly mounted on the rotating gripper plate at the bottom; the bottom cover (108) is rotatably mounted on the bottom mounting plate (107); the bottom cover (108) is connected to the top mounting frame (103) via a mounting shaft (1084); Each of the rotating gripper disks is provided with a finger structure (2); the finger structure (2) comprises a gripper base (201), a driving slider (202), a driving rod (203), a gripper connecting rod (204), a connecting wrist (205), a first knuckle plate (206), a second knuckle plate (207), a first finger connecting rod group and a first proximity switch (217); the gripper base (201) is fixedly mounted on the corresponding rotating gripper disk; the driving slider (202) is slidably mounted on the gripper base (201); the driving rod (203) is slidably mounted on the gripper base (201) and is connected to the driving slider. The connecting wrist (205) is rotatably mounted on the gripping base (201); the two ends of the gripping connecting rod (204) are rotatably connected to the driving rod (203) and the connecting wrist (205) respectively; the knuckle plate 1 (206) is rotatably mounted on the connecting wrist (205); the knuckle plate 2 (207) is rotatably mounted on the connecting wrist (206); the connecting wrist (205), the knuckle plate 1 (206) and the knuckle plate 2 (207) are linked via a finger connecting rod group 1; the proximity switch 1 (217) is mounted on the gripping base (201); The driving assembly (3) is used to drive the driving slider (202) to slide relative to the gripping base (201); The adjustment assembly (4) is used to drive each rotating gripper disc to rotate.

2. According to claim 1, a variable attitude rotary coupling underactuated grasping mechanism is characterized in that: The finger link group 1 comprises a finger link 1 (209), a finger link 2 (210) and a finger link 3 (211); one end of the finger link 1 (209) is rotatably mounted on the connecting wrist (205), and the other end is rotatably connected to the end sides of the finger link 2 (210) and the finger link 3 (211); the other end of the finger link 2 (210) is rotatably mounted on the finger joint plate 1 (206); and the other end of the finger link 3 (211) is rotatably mounted on the finger joint plate 2 (207).

3. The variable attitude rotary coupling underactuated grasping mechanism according to claim 1, characterized in that: The finger structure (2) further comprises a third knuckle plate (208) and a second finger link group; the third knuckle plate (208) is rotatably connected to the second knuckle plate (207); and the connecting wrist (205), the first knuckle plate (206), the second knuckle plate (207) and the third knuckle plate (208) are linked via the second finger link group.

4. The variable attitude rotary coupling underactuated grasping mechanism according to claim 3, characterized in that: The finger link group 2 comprises a finger link 4 (212), a finger link 5 (213), a finger link 6 (214), a finger link 7 (215) and a finger telescopic rod (216); two ends of the finger link 4 (212) are rotatably connected to the connecting wrist (205) and the finger link 5 (213) respectively; the finger link 5 (213) is rotatably mounted on the knuckle plate 1 (206); two ends of the finger link 6 (214) are rotatably connected to the finger link 5 (213) and the finger link 7 (215) respectively; the finger link 7 (215) is rotatably mounted on the knuckle plate 3 (208); and the finger telescopic rod (216) is rotatably connected to the finger link 7 (215) and the knuckle plate 3 (208) respectively.

5. The variable attitude rotary coupling underactuated grasping mechanism according to claim 1, characterized in that: The frame (1) further comprises a bottom mounting frame (109) fixedly mounted on the bottom cover (108); the drive assembly (3) comprises a screw rod (301), a screw rod nut (302), a drive motor (303), a transmission mechanism 1 (304), a drive disk (305), a proximity switch 2 (306) and a positioning switch (307); the two ends of the screw rod (301) are rotatably mounted on the top mounting frame (103) and the bottom mounting frame (109) respectively; the screw rod (301) is equipped with a screw rod nut (302). The screw nut (302) is fixedly mounted on the driving disk (305); the driving slider (202) is provided with a scriber (2021); the driving disk (305) is provided with a scriber limiting groove (3051) corresponding to the scriber (2021), and the scriber (2021) slides in the scriber limiting groove (3051); the driving motor (303) is fixedly mounted on the top mounting frame (103), and the output end thereof is synchronously connected with the screw (301) through a transmission mechanism 1 (304).

6. The variable attitude rotary coupling underactuated grasping mechanism according to claim 5, characterized in that: A limiting protrusion (1081) is fixedly provided on the bottom cover (108); an embedding opening (3052) corresponding to the limiting protrusion (1081) is provided on the driving disk (305); and the limiting protrusion (1081) intermittently enters the embedding opening (3052).

7. The variable attitude rotary coupling underactuated grasping mechanism according to claim 1, characterized in that: An inner gear ring is fixedly installed in the rotating gripper plate; a fixing column (1082) is fixedly provided on the bottom cover (108); two ends of the mounting shaft (1084) are rotatably mounted on the bottom cover (108) and the top mounting frame (103) respectively; a transition shaft is rotatably mounted on the fixing column (1082); The adjustment assembly (4) comprises a supporting main shaft (401), an adjustment motor (402), an input bevel gear (403), an output bevel gear (404), a worm (405), a worm wheel (406), a toggle mechanism and an encoder (413); the supporting main shaft (401) is rotatably mounted between a top mounting frame (103) and a bottom cover (108); each inner gear ring corresponds to a set of input bevel gears (403), output bevel gears (404), a worm (405), a worm wheel (406) and a set of fixing columns (1082) and a mounting shaft (1084); the input bevel gear (403) is coaxially fixedly mounted The output bevel gear (404) is mounted on the transition shaft in a sliding manner and intermittently meshes with the input bevel gear (403). The worm (405) is coaxially fixedly mounted on the transition shaft. The worm wheel (406) is coaxially fixedly mounted on the mounting shaft 1084, and the worm wheel (406) is meshed with the worm (405) and the inner gear ring at the same time. The encoder (413) is mounted on the mounting shaft (1084). The toggle mechanism is used to drive the output bevel gear (404) to slide on the transition shaft, so that the output bevel gear (404) meshes with or disengages from the input bevel gear (403).

8. The variable attitude rotary coupling underactuated grasping mechanism according to claim 7, characterized in that: The toggle mechanism comprises an upper toggle wheel (407), a telescopic spring rod (408), a proximity switch three (409), a lower toggle wheel (410), an intermittent linkage mechanism (411), a transmission mechanism two (412) and a toggle rod (414); the upper toggle wheel (407) and the lower toggle wheel (410) are rotatably mounted on the upper and lower ends of the supporting main shaft (401) respectively; an upper limit sliding groove (4071) is provided on the upper toggle wheel (407), and a lower limit sliding groove (4101) is provided on the lower toggle wheel (410); each input bevel gear (403) corresponds to a toggle rod (414), and the two ends of the toggle rod (414) are slidably mounted in the upper limit sliding groove (4071) and the lower limit sliding groove (4101) respectively; the upper toggle wheel (407) and the lower toggle wheel (410) are rotatably mounted in the upper limit sliding groove (4071) and the lower limit sliding groove (4101) respectively; An outer sliding groove (4072) is provided on the outer periphery of the driving wheel (407), and a fixed ball groove (4073) is provided on the outer sliding groove (4072); the telescopic spring rod (408) is mounted on the top mounting frame (103), and a fixed ball (4081) corresponding to the fixed ball groove (4073) is fixedly mounted on the inner end of the telescopic spring rod (408); the proximity switch (409) is mounted on the top mounting frame (103), and a position detection baffle configured to cooperate with the proximity switch (409) is fixedly mounted on the upper toggle wheel (407); the intermittent linkage mechanism (411) is used to intermittently connect the support main shaft (401) with the upper toggle wheel (407) and the lower toggle wheel (410) synchronously through the transmission mechanism (412).

9. The variable attitude rotary coupling underactuated grasping mechanism according to claim 8, characterized in that: The intermittent linkage mechanism (411) comprises a linkage belt, a linkage wheel (4111), a connecting wheel (4112), a linkage motor (4113), a cam (4114), a connecting rod 1 (4115), a movable shaft (4116), a transition wheel (4117), a connecting rod 2 (4118) and a forked frame (4119); the linkage wheel (4111) is synchronously connected to an upper transmission wheel (4121) and a lower transmission wheel (4122) via a transmission mechanism 2 (412); the connecting wheel (4112) is coaxially fixedly mounted on the supporting main shaft (401); the linkage motor (4113) is fixedly mounted on the top mounting frame (103); and the cam (4114) is fixedly mounted on the output end of the linkage motor (4113); The transition wheel (4117) is slidably mounted on the top mounting frame (103) via a movable shaft (4116) and is rotatably mounted on the corresponding movable shaft (4116), and the movable shaft (4116) on which the transition wheel (4117) is located is connected to the protruding portion of the cam (4114) via a connecting rod 1 (4115); the forked frame (4119) is slidably mounted on the top mounting frame (103), and a movable shaft (4116) slidably mounted on the top mounting frame (103) is rotatably mounted on its fork point; the two movable shafts (4116) are connected via a connecting rod 2 (4118); the linkage wheel (4114) is located between the two forks of the forked frame (4119); the linkage belt is tensioned on the two forked ends of the connecting wheel (4112), the transition wheel (4117) and the forked frame (4119), and is intermittently tensioned on the linkage wheel (4111).

10. The variable attitude rotary coupling underactuated grasping mechanism according to claim 1, characterized in that: It also includes a camera device (5); the camera device (5) is fixedly mounted on the bottom cover (108) and is used to collect image information during the grasping process.

Images