CN108994864B - Double-tendon rope series connection type coupling self-adaptive finger device - Google Patents
Double-tendon rope series connection type coupling self-adaptive finger device Download PDFInfo
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- CN108994864B CN108994864B CN201810929922.9A CN201810929922A CN108994864B CN 108994864 B CN108994864 B CN 108994864B CN 201810929922 A CN201810929922 A CN 201810929922A CN 108994864 B CN108994864 B CN 108994864B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
A double-tendon rope series-connection type coupling self-adaptive finger device belongs to the technical field of robot claws and comprises a base, two knuckles, two joint shafts, a driver, a plurality of driving wheels, a transmission mechanism, two spring pieces and the like. The device realizes the functions of rapid folding and self-adaptive grabbing of the coupling motion of the fingers of the robot. The device can rapidly rotate the second knuckle to clamp the object according to the difference of the shape and the position of the object, and can automatically rotate the second knuckle to contact the object after the first knuckle contacts the object, thereby achieving the purpose of self-adaptively enveloping the objects with different shapes and sizes; the grabbing range is large, and grabbing is stable and reliable; driving the two knuckles with one driver; the device has simple structure and low processing, assembling and maintaining cost, and is suitable for robot hands.
Description
Technical Field
The invention belongs to the technical field of robot claws, and particularly relates to a structural design of a double-tendon rope series-connection type coupling self-adaptive finger device.
Background
With the development of intelligent technology, robot technology becomes a research hotspot at present, and a robot hand, as an end effector of a robot, also draws more and more attention of researchers. To assist robots in performing more tasks in special situations, a wide variety of robotic hands have been developed, such as dexterous hands, under-actuated hands, grippers, and the like. The development of the robot hand has the advantages of high flexibility, various sensing capabilities, compact structure and large holding force, and can grasp various objects with different shapes and properties, so that the robot hand for completing various tasks is a common target for the research of the robot hand. The prior robot has complicated control of a dexterous hand, small holding force and high cost, so that the application of the dexterous hand is greatly limited.
The fingers are adaptive to the surface of an object to be grabbed, and the surfaces of the fingers are mainly used for forming multi-point contact on the surface of the object, the acting force of each point and the external force applied to the object reach mechanical balance, and then the object reaches a static balance state, so that the object is grabbed. The configuration of the fingers forms geometric constraint on the object, and because a process of balancing a larger friction force with an external force applied to the object is not needed, the acting force of the surfaces of the fingers on the surface of the object is far smaller than the acting force of the constraint object on the surface of the object by means of friction, and the object surface grabbing is adapted to be also called powerful grabbing.
The hand is required to restrict six degrees of freedom of the object to stably hold the object while holding the object. In order to assist the robot to complete more tasks, the robot hand needs to be capable of maximally accommodating to grab objects with various shapes and sizes.
The adaptive grabbing mode is a grabbing mode in which the fingers of the robot can make relative motion according to the surface of an object when grabbing the object by adopting parts such as flexible joints or springs, so as to achieve the effect of grabbing the object by enveloping the surface of the adaptive object, for example, the SARAH hand and the Southampton hand adopt the adaptive grabbing mode.
The existing dexterous hand and the under-actuated hand can realize the grabbing mode suitable for the surface of an object. The dexterous hand has high anthropomorphic degree in the action process and can finish the grabbing of the surface of an adaptive object, but the dexterous hand has higher cost and complex control and needs to be maintained frequently. The existing dexterous hand joint drivers (such as a motor, air muscles and the like) generate small driving force, and the motion of each knuckle of the dexterous hand is directly driven by the dexterous hand joint drivers, so that the loading capacity of the dexterous hand is weak, and the dexterous hand cannot be widely put into production practice and daily life.
Therefore, the under-actuated anthropomorphic robot hand is produced, the number of actuators of the under-actuated robot hand is less than the number of joint degrees of freedom, and the theory of the under-actuated robot hand and the under-actuated robot hand with a classic four-bar-spring structure are provided earlier by Laval university in Canada. Theories and practices prove that the under-actuated robot hand has the advantages of less drivers, simple control, large grasping force, compact structure and high application value. Since then, a large amount of research results on underactuated hands, which are also equipped in large numbers in service robots, industrial robots, space robots, and the like, have emerged.
Operation tasks such as service in orbit towards the space, catching inefficacy upset satellite need that the space robot can accomplish stable snatching in order to realize the connection of great intensity, and this process need not manual operation, and the environment that extravehicular operation is located is very complicated in the space environment moreover, and great difference in temperature and ray can cause great damage to accurate mechanical equipment and sensor, therefore dexterous hand receives very big restriction in the application of this kind of task. The design of a gripper with large gripping force, high adaptability, high reliability and light weight becomes one of the key points of space gripping research.
Traditional industry holder simple structure, it is big to grasp power, but traditional two finger flat clamp formula industry holder is catching the in-process of satellite, and the degree of freedom of restriction is less, need apply huge clamping-force, because the satellite body structure is mostly thin wall structure, huge holding power can cause the destruction of satellite body. Therefore, the under-actuated hand is suitable for the task of grabbing under severe working conditions and high load such as space application due to the advantages of self-adaptability, simple sensing control system, large grabbing force, good reliability and the like.
An existing under-actuated two-joint robot finger device (Chinese invention patent CN101234489A) comprises a base, a motor, a middle knuckle, a tail knuckle, a parallel belt wheel type transmission mechanism and the like. The device realizes the special effect that the double-joint under-actuated fingers grasp objects in a bending way, and has self-adaptability. The under-actuated mechanical finger device has the following defects: the belt wheel transmission needs a complex tensioning device, the assembly difficulty is high, the belt transmission is used as small-load transmission, the generated gripping force is small, and the transmission belt has large elasticity. With the development of science and technology, tendon ropes with high tensile strength and ductility close to 0 have been developed, and the underactuated hand driven by the tendon ropes has obvious advantages.
An under-actuated hand with a grip mode of flat-grip adaptation has been developed, and an under-actuated finger such as US8973958B2 includes five links, springs, mechanical constraints, and actuators. The device realizes the circular arc parallel clamping and self-adaptive grabbing mode. During operation, the posture of the tail end knuckle is kept relative to the base at the beginning stage to perform the proximal joint bending action, and then the parallel clamping or the self-adaptive envelope holding function can be realized according to the position of an object. The device has the disadvantages that (1) the knuckles at the tail end of the device move in parallel, the finger convergence speed is slow, and the moving object in the space is easy to escape in the grabbing process; (2) the device adopts many link mechanism, and the motion has great dead zone, and it is little to snatch the scope.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a double-tendon rope series connection type coupling self-adaptive finger device; the coupling and self-adaptive composite grabbing mode can couple and rotate two knuckles to clamp an object, and can also automatically rotate the second knuckle to wrap and hold the object under the condition that the first knuckle is rotated to touch the object, so that the self-adaptive holding effect on the objects with different shapes and sizes is achieved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a double-tendon rope series connection type coupling self-adaptive finger device comprises a base, a first knuckle, a second knuckle, a first joint shaft, a second grooved wheel, a transmission mechanism, a driver, a first spring piece, at least one first grooved wheel and at least one third grooved wheel; the first joint shaft is rotatably arranged in the base, the first knuckle is fixedly connected to the first joint shaft, the second joint shaft is rotatably arranged in the first knuckle, the second knuckle is fixedly connected to the second joint shaft, and the center line of the first joint shaft is parallel to the center line of the second joint shaft; the first grooved wheel and the third grooved wheel are respectively and rotatably connected to a first joint shaft, the outer circular surface of the second grooved wheel is provided with at least two grooves, and the second grooved wheel is rotatably connected to a second joint shaft; the driver is fixedly connected to the base, and the output end of the driver is connected with the input end of the transmission mechanism; two ends of the first spring piece are respectively connected to the first knuckle and the base; the method is characterized in that: the double-tendon rope series-connection type coupling self-adaptive finger device further comprises a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, an adjusting nut, a second spring piece, a sliding block, an adjusting screw rod, at least one fourth grooved wheel, at least one first tendon rope and at least one second tendon rope; the first shaft is rotationally connected into the base, and the fourth grooved wheel is rotationally connected onto the first shaft; the second shaft is rotatably connected in the base, the third shaft is rotatably connected in the first knuckle, the fourth shaft is rotatably connected in the second knuckle, and the fifth shaft is fixedly connected in the second knuckle; one end of the first tendon rope is connected with the second knuckle, the other end of the first tendon rope sequentially rounds a fourth shaft of the second knuckle, a corresponding groove of the second sheave, the first sheave and the second shaft and then is connected with the sliding block, and the first tendon rope is wound in an S shape in the groove of the first sheave and the groove of the second sheave; through the transmission of the first tendon rope, the first grooved wheel and the second grooved wheel form a transmission relation, and the transmission ratio is less than 0; one end of the second tendon rope is connected with the second knuckle, and the other end of the second tendon rope sequentially bypasses a fourth shaft of the second knuckle, a corresponding groove in the second sheave, a third shaft, a third sheave and a fourth sheave and then is connected with the output end of the transmission mechanism; through the transmission of the second tendon rope, the second grooved wheel and the third grooved wheel form a transmission relation, and the transmission ratio is greater than 0; the adjusting nut is embedded in the base in a sliding mode, and the sliding block is embedded in the adjusting screw rod in a sliding mode; the adjusting screw rod is sleeved in the through hole of the base; the adjusting nut is in threaded connection with the adjusting screw rod, and the adjusting nut and the adjusting screw rod form a spiral transmission relation; one end of the second spring piece is connected with the sliding block, and the other end of the second spring piece is connected with the adjusting nut.
Furthermore, the number of the first tendon ropes and the number of the second tendon ropes are two, the number of the first grooved wheels and the number of the third grooved wheels are two, the two first grooved wheels are arranged in the middle of the first joint shaft in parallel in a rotating manner, the two third grooved wheels are arranged on the first joint shaft in a rotating manner and located at two ends of the first grooved wheels, four grooves are formed in the outer circumferential surface of the second grooved wheel, the number of the fourth grooved wheels is two, one end of each of the two first tendon ropes is fixed in the middle of the fifth shaft of the second knuckle in parallel, the other end of each of the two first tendon ropes sequentially bypasses the fourth shaft of the second knuckle, the two grooves in the middle of the second grooved wheel, the two first grooved wheels and the second shaft in parallel and then is fixedly connected with the sliding block, one end of each of the two second tendon ropes is fixed on the fifth shaft of the second knuckle and located at two sides of the first tendon ropes, and the other end of each of the two second tendon ropes sequentially bypasses the fourth shaft of the second knuckle, The grooves at the two ends of the second grooved wheel, the third shaft, the two third grooved wheels and the two fourth grooved wheels are fixedly connected with the output end of the transmission mechanism.
Further, the first tendon rope is one or a combination of a plurality of steel wires, chains, flexible ropes and transmission belts; the second tendon rope is one or more of a combination of a steel wire, a chain, a flexible rope and a transmission belt.
Further, the first sheave adopts one or more of a pulley, a belt wheel and a chain wheel; the second sheave adopts one or more of a pulley, a belt wheel and a chain wheel; the third sheave adopts one or more of a pulley, a belt wheel and a chain wheel, and the fourth sheave adopts one or more of a pulley, a belt wheel and a chain wheel.
Furthermore, the transmission mechanism adopts one or a combination of a plurality of gear transmission mechanisms, connecting rod transmission mechanisms, belt transmission mechanisms, chain transmission mechanisms, lead screw transmission mechanisms and gear rack transmission mechanisms.
Further, the driver adopts a motor, an air cylinder or a hydraulic cylinder.
Further, the first spring element is a torsion spring, a leaf spring or a flat spiral spring.
Further, the second spring element is a pressure spring.
Compared with the prior art, the invention has the beneficial effects that:
the device comprehensively realizes the functions of coupling and self-adaptive composite grabbing of the fingers of the robot by utilizing two tendon ropes, a plurality of grooved wheels, two knuckles, two joint shafts, an adjusting screw, a sliding block, an adjusting nut, a transmission mechanism, a driver, two spring pieces and the like, can couple and rotate the two knuckles to quickly clamp and lock an object, and can automatically rotate the second knuckle to wrap and hold the object under the condition that the first knuckle is rotated to touch the object, thereby achieving the self-adaptive holding effect on the objects with different shapes and sizes. The pre-tightening mechanism is composed of an adjusting nut, a second spring piece, a sliding block, an adjusting screw rod and the like, and the matching relation of all parts in the base is combined to realize that the second knuckle is automatically rotated to contact the object after the first knuckle is blocked from contacting the object, and simultaneously, the adjustment of the initial configuration of the finger and the pre-tightening of the tendon rope are realized; the reverse transmission relation between the first sheave and the second sheave is formed by winding the first tendon rope in an S shape between the first sheave and the second sheave, so that the coupling rotation of the second knuckle relative to the first knuckle is realized; the second tendon rope is wound on the second sheave and the third sheave to form a same-direction transmission relation between the second sheave and the third sheave, so that the power source drives the first knuckle and the second knuckle to rotate; the first spring piece is adopted to realize automatic finger opening. The device can couple and rotate two knuckles to quickly clamp an object according to the difference of the shape and the position of the object, and can automatically rotate a second knuckle to contact the object after a first knuckle contacts the object, thereby achieving the purpose of self-adaptively enveloping the objects with different shapes and sizes; the coupling transmission ratio can be changed by changing the transmission radius of the first sheave and the second sheave; the grabbing range is large, the tolerance and the grabbing force are large, and the grabbing is stable and reliable; driving the two knuckles with one driver; the device has the advantages of simple structure, light weight, good reliability and low processing, assembling and maintaining cost, and is suitable for a large-load holding task.
Drawings
Fig. 1 is a perspective view of an embodiment of a two-tendon string tandem coupling adaptive finger device designed according to the present invention.
Fig. 2 is a front view of the embodiment shown in fig. 1.
Fig. 3 is a schematic diagram of the mechanism of the embodiment shown in fig. 1 (parts not shown).
FIG. 4 is an elevation view of the embodiment of FIG. 1 (with portions broken away and portions not shown).
Fig. 5 is an exploded view of the embodiment shown in fig. 1.
Fig. 6 is a schematic diagram of the second knuckle coupled and rotated with respect to the first knuckle during the fast coupling grabbing stage of the embodiment shown in fig. 1, and two-dot chain lines represent two states during the movement.
Fig. 7 to 10 are operation diagrams of the adaptive grabbing process of the embodiment shown in fig. 1, in which after the first knuckle is blocked from contacting the object, the second knuckle is automatically rotated to contact the object.
Fig. 11 to 13 show the positional relationship (cross-sectional view of the base) of the slider and the second spring member during the grasping operation of the embodiment shown in fig. 1.
In fig. 1 to 13:
1-a base, 2-a first knuckle, 3-a second knuckle, 4-a transmission mechanism,
5-driver, 6-first spring element, 11-first joint axis, 12-second joint axis,
13-first axis, 14-second axis, 15-third axis, 16-fourth axis,
17-fifth shaft, 81-first sheave, 82-second sheave, 83-third sheave,
84-fourth sheave, 51-first tendon rope, 52-second tendon rope, 71-adjusting nut,
72-second spring, 73-slider, 74-adjusting screw, 300-object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
Example 1
The invention relates to a double-tendon rope series connection type coupling self-adaptive finger device which comprises a base 1, a first knuckle 2, a second knuckle 3, a first joint shaft 11, a second joint shaft 12, a second grooved wheel 82, a transmission mechanism 4, a driver 5, a first spring piece 6, at least one first grooved wheel 81 and at least one third grooved wheel 83; the first joint shaft 11 is rotatably arranged in the base 1, the first knuckle 2 is fixedly connected to the first joint shaft 11, the second joint shaft 12 is rotatably arranged in the first knuckle 2, the second knuckle 3 is fixedly connected to the second joint shaft 12, and the center line of the first joint shaft 11 is parallel to the center line of the second joint shaft 12; the first grooved wheel 81 and the third grooved wheel 83 are respectively connected to the first joint shaft 11 in a rotating manner, the outer circumferential surface of the second grooved wheel 82 is provided with at least two grooves, and the second grooved wheel 82 is connected to the second joint shaft 12 in a rotating manner; the driver 5 is fixedly connected to the base 1, and the output end of the driver 5 is connected with the input end of the transmission mechanism 4; two ends of the first spring piece 6 are respectively connected to the first knuckle 2 and the base 1; the method is characterized in that: the double-tendon rope series-connection coupling self-adaptive finger device further comprises a first shaft 13, a second shaft 14, a third shaft 15, a fourth shaft 16, a fifth shaft 17, an adjusting nut 71, a second spring element 72, a sliding block 73, an adjusting screw 74, at least one fourth grooved pulley 84, at least one first tendon rope 51 and at least one second tendon rope 52; the first shaft 13 is rotationally connected in the base 1, and the fourth sheave 84 is rotationally connected on the first shaft 13; the second shaft 14 is rotatably connected in the base 1, the third shaft 15 is rotatably connected in the first knuckle 2, the fourth shaft 16 is rotatably connected in the second knuckle 3, and the fifth shaft 17 is fixedly connected in the second knuckle 3; one end of the first tendon rope 51 is connected with the second knuckle 3, the other end of the first tendon rope 51 is connected with the sliding block 73 after passing through the fourth shaft 16 of the second knuckle 3, the corresponding groove of the second sheave 82, the first sheave 81 and the second shaft 14 in sequence, and the first tendon rope 51 is wound in an 'S' shape in the groove of the first sheave 81 and the groove of the second sheave 82; through the transmission of the first tendon rope 51, the first sheave 81 and the second sheave 82 form a transmission relationship and the transmission ratio is less than 0; one end of the second tendon rope 52 is connected with the second knuckle 3, and the other end of the second tendon rope 52 is connected with the output end of the transmission mechanism 4 after sequentially passing through the fourth shaft 16 of the second knuckle 3, the corresponding groove in the second sheave 82, the third shaft 15, the third sheave 83 and the fourth sheave 84; through the transmission of the second tendon rope 52, the second sheave 82 and the third sheave 83 form a transmission relationship, and the transmission ratio is greater than 0; the adjusting nut 71 is slidably embedded in the base 1, and the sliding block 73 is slidably embedded on the adjusting screw 74; the adjusting screw 74 is sleeved in the through hole of the base 1; the adjusting nut 71 is in threaded connection with the adjusting screw 74, and the adjusting nut 71 and the adjusting screw 74 form a screw transmission relationship; one end of the second spring member 72 is connected with the slider 73, and the other end is connected with the adjusting nut 71.
Further, the first tendon rope 51 adopts one or more of steel wire, chain, flexible rope and transmission belt; the second tendon rope 52 is one or more of a combination of a steel wire, a chain, a flexible rope and a transmission belt;
further, the first sheave 81 adopts one or more of a combination of a pulley, a belt pulley and a chain wheel; the second grooved wheel 82 adopts one or more of a pulley, a belt wheel and a chain wheel; the third sheave 83 is one or more of a pulley, and a sprocket, and the fourth sheave 84 is one or more of a pulley, and a sprocket.
In this embodiment, the first tendon rope 51 and the second tendon rope 52 are both flexible ropes, and the first sheave 81, the second sheave 82, the third sheave 83, and the fourth sheave 84 are both pulleys.
Further, the transmission mechanism 4 is one or a combination of a gear transmission mechanism, a connecting rod transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a lead screw transmission mechanism and a gear rack transmission mechanism. In this embodiment, the transmission mechanism 4 is a combined transmission mechanism of a gear transmission mechanism and a screw transmission mechanism.
Further, the driver 5 adopts a motor, an air cylinder or a hydraulic cylinder. In this embodiment, the driver 5 is a motor.
Further, the first spring element 6 is a torsion spring, a leaf spring or a flat spiral spring. In the present embodiment, the first spring member 6 is a torsion spring.
Further, the second spring element 72 is a compression spring.
The working principle of the embodiment is described as follows in combination with the attached drawings:
in order to ensure the rigidity of the tendon rope transmission, arrange the tendon rope line reasonably and increase the finger motion range, the first shaft 13, the second shaft 14, the third shaft 15, the fourth shaft 16, the fifth shaft 17 and the fourth sheave 84 are added as the guiding and connecting devices of the tendon rope in the embodiment. The first shaft 13 is rotationally connected in the base 1, and the fourth grooved pulley 84 is rotationally connected on the first shaft 13; the second shaft 14 is rotatably connected in the base 1; the third shaft 15 is rotatably connected in the first knuckle 2; the fourth shaft 16 is rotatably connected in the second finger joint 3; the fifth shaft 17 is fixedly connected in the second knuckle 3.
In the initial state of the present embodiment, the first knuckle 2 is pressed by the spring force of the first spring element 6 to contact with the mechanical limit structure provided on the base 1, the slider 73 moves downward by the spring force of the second spring element 72 to pull one end of the first tendon rope 51 to move downward (where the downward direction is the downward direction shown in fig. 3, the same applies below), and through the first tendon rope 51, since the other end of the first tendon rope 51 is connected to the second knuckle 3, the other end of the second tendon rope 52 pulls the second knuckle 3. Due to the reverse transmission relationship of the first tendon rope 51, the first sheave 81 and the second sheave 82, the other end of the second tendon rope 52 pulls the second knuckle 3 to rotate counterclockwise relative to the first knuckle 2 (where counterclockwise is counterclockwise as shown in fig. 3) until the mechanical limit structure on the second knuckle 3 contacts the mechanical limit structure of the first knuckle 2, and the finger is completely opened.
The driver 5 pulls one end of the second tendon string 52 to move downwards through the transmission mechanism 4, the pulling force of the second tendon string 52 generates a moment on the second knuckle 3 to rotate the second knuckle 3 around the second joint shaft 12, the second knuckle 3 rotates anticlockwise relative to the first knuckle 2, the second knuckle 3 pulls the connecting end of the first tendon string 51 and the second tendon string 52 to rotate anticlockwise around the second joint shaft 12, and the winding length of the first tendon string 51 on the second sheave 82 is increased. Due to the spring force of the second spring element 72, the sliding block 73 is kept relatively still relative to the base 1, and the connecting end of the first tendon rope 51 and the sliding block 73 is kept relatively still relative to the base 1, so that the winding length of the first tendon rope 51 and the first sheave 81 is reduced, and the first tendon rope 51 rolls counterclockwise relative to the first sheave 81. Since the combined force of the tension of the second tendon rope 52 and the tension of the first tendon rope 51 generates a moment in the counterclockwise direction at the second joint axis 12, the first knuckle 2 overcomes the spring force of the first spring 6 and rotates counterclockwise with respect to the base 1 about the first joint axis 11. Since the geometry of the portion of the first tendon rope 51 in the first knuckle 2 relative to the first knuckle 2 is unchanged, the first knuckle 2 remains relatively stationary with the portion of the first tendon rope 51 in the first knuckle 2 and rotates counterclockwise about the first joint axis 11, the first spring member 6 is twisted counterclockwise. That is, the second knuckle 3 is coupled to rotate with respect to the first knuckle 2 while the first knuckle 2 rotates counterclockwise with respect to the base 1. The process is a coupled grabbing process.
When the first knuckle 2 first contacts the object 300, the second knuckle 3 does not contact the object 300, the first knuckle 2 is blocked from further rotation, the driver 5 continues to drive the second tendon rope 52 and the connecting end of the output end of the transmission mechanism 4 to move downwards through the transmission mechanism 4, the second knuckle 3 continues to rotate anticlockwise around the second joint shaft 12 relative to the first knuckle 2, the length of the second tendon rope 52 wound on the second sheave 82 continues to be shortened, the length of the first tendon rope 51 wound on the second sheave continues to be lengthened, the connecting end of the first tendon rope 51 and the sliding block 73 moves upwards relative to the base 1 (wherein the upper direction is the upper direction shown in fig. 3, the same applies below), the sliding block 73 moves upwards, and the second spring 72 is further compressed until the second knuckle 3 stably contacts the object 300. This process is an adaptive gripping process, as shown in fig. 7 to 10, in which the second knuckle 3 is automatically rotated to contact the object 300 after the first knuckle 2 is blocked from contacting the object 300.
The relative position of the sliding block 73 in the base 1 can be adjusted by screwing the adjusting screw 74, so that the initial configuration of the finger is adjusted, and the pre-tightening of the first tendon rope 51 and the second tendon rope 52 is carried out. Since both the first tendon string 51 and the second tendon string 52 are connected to the second knuckle 3, the transmission chain of the finger is a serial type.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the functions of coupling and self-adaptive composite grabbing of the fingers of the robot by utilizing two tendon ropes, a plurality of grooved wheels, two knuckles, two joint shafts, an adjusting nut 71, a sliding block 73, an adjusting screw 74, a transmission mechanism 4, a driver 5, two spring pieces and the like, can couple and rotate the two knuckles to quickly clamp and lock an object 300, and can automatically rotate the second knuckle 3 to envelop and grab the object 300 under the condition of rotating the first knuckle 2 to touch the object, thereby achieving the self-adaptive grabbing effect on the objects with different shapes and sizes. By adopting a pre-tightening mechanism composed of an adjusting nut 71, a second spring element 72, a sliding block 73, an adjusting screw 74 and the like, the matching relationship of all the components in the base 1 is combined to realize that after the first knuckle 2 contacts the object 300 and is blocked, the second knuckle 3 is automatically rotated to contact the object 300, and meanwhile, the adjustment of the initial configuration of the finger and the pre-tightening of the tendon rope are realized; the direction transmission relationship of the first sheave 81 and the second sheave 82 is formed by the winding of the first tendon rope 51 in an's' shape between the first sheave 81 and the second sheave 82, so that the coupled rotation of the second knuckle 3 relative to the first knuckle 2 is realized; the second tendon rope 52 is wound on the second sheave 82 and the third sheave 83 to form a same-direction transmission relationship between the second sheave 82 and the third sheave 83, so that the power source drives the first knuckle 2 and the second knuckle 3 to rotate; the finger is automatically opened by the first spring element 6. The device can couple and rotate two knuckles to quickly clamp an object 300 according to different shapes and positions of the object, and can automatically rotate a second knuckle 3 to contact the object 300 after a first knuckle 2 contacts the object 300, so that the purpose of self-adaptively enveloping the objects with different shapes and sizes is achieved; changing the transmission radius of the first and second sheaves 81 and 82 can change the coupling transmission ratio; the grabbing range is large, the tolerance and the grabbing force are large, and the grabbing is stable and reliable; driving the two knuckles with one driver; the device has the advantages of simple structure, light weight, good reliability and low processing, assembling and maintaining cost, and is suitable for a large-load holding task.
Claims (8)
1. A double-tendon rope series connection type coupling self-adaptive finger device comprises a base (1), a first knuckle (2), a second knuckle (3), a first joint shaft (11), a second joint shaft (12), a second grooved wheel (82), a transmission mechanism (4), a driver (5), a first spring piece (6), at least one first grooved wheel (81) and at least one third grooved wheel (83); the first joint shaft (11) is rotatably arranged in the base (1), the first knuckle (2) is fixedly connected to the first joint shaft (11), the second joint shaft (12) is rotatably arranged in the first knuckle (2), the second knuckle (3) is fixedly connected to the second joint shaft (12), and the central line of the first joint shaft (11) is parallel to the central line of the second joint shaft (12); the first grooved wheel (81) and the third grooved wheel (83) are respectively connected to the first joint shaft (11) in a rotating manner, the second grooved wheel (82) is connected to the second joint shaft (12) in a rotating manner, and the outer circular surface of the second grooved wheel (82) is provided with at least two grooves; the driver (5) is fixedly connected to the base (1), and the output end of the driver (5) is connected with the input end of the transmission mechanism (4); two ends of the first spring piece (6) are respectively connected to the first knuckle (2) and the base (1); the method is characterized in that: the double-tendon rope series-connection type coupling self-adaptive finger device further comprises a first shaft (13), a second shaft (14), a third shaft (15), a fourth shaft (16), a fifth shaft (17), an adjusting nut (71), a second spring piece (72), a sliding block (73), an adjusting screw rod (74), at least one fourth grooved wheel (84), at least one first tendon rope (51) and at least one second tendon rope (52); the first shaft (13) is rotationally connected in the base (1), and the fourth grooved wheel (84) is rotationally connected on the first shaft (13); the second shaft (14) is rotatably connected in the base (1), the third shaft (15) is rotatably connected in the first knuckle (2), the fourth shaft (16) is rotatably connected in the second knuckle (3), and the fifth shaft (17) is connected in the second knuckle (3); one end of the first tendon rope (51) is connected with the second knuckle (3), the other end of the first tendon rope (51) is connected with the sliding block (73) after sequentially passing around the fourth shaft (16) of the second knuckle (3), the corresponding groove of the second sheave (82), the first sheave (81) and the second shaft (14), and the first tendon rope (51) is wound in an 'S' shape in the groove of the first sheave (81) and the groove of the second sheave (82); through the transmission of the first tendon rope (51), the first sheave (81) and the second sheave (82) form a transmission relation, and the transmission ratio is less than 0; one end of the second tendon rope (52) is connected with the second knuckle (3), and the other end of the second tendon rope (52) sequentially bypasses the fourth shaft (16) of the second knuckle (3), a corresponding groove in the second sheave (82), the third shaft (15), the third sheave (83) and the fourth sheave (84) and then is connected with the output end of the transmission mechanism (4); through the transmission of the second tendon rope (52), the second sheave (82) and the third sheave (83) form a transmission relation, and the transmission ratio is larger than 0; the adjusting nut (71) is embedded in the base (1) in a sliding mode, and the sliding block (73) is embedded in the adjusting screw rod (74) in a sliding mode; the adjusting screw rod (74) is sleeved in the through hole of the base (1); the adjusting nut (71) is in threaded connection with the adjusting screw rod (74), and the adjusting nut (71) and the adjusting screw rod (74) form a spiral transmission relation; one end of the second spring piece (72) is connected with the sliding block (73), and the other end of the second spring piece is connected with the adjusting nut (71).
2. The two-tendon rope series-coupling adaptive finger device according to claim 1, wherein: the first tendon rope (51) and the second tendon rope (52) are respectively two, the first grooved pulley (81) and the third grooved pulley (83) are respectively two, the two first grooved pulleys (81) are parallelly and rotatably arranged in the middle of the first joint shaft (11), the two third grooved pulleys (83) are respectively rotatably arranged on the first joint shaft (11) and positioned at two ends of the first grooved pulley (81), the outer circumferential surface of the second grooved pulley (82) is provided with four grooves, the four grooved pulleys (84) are two, one end of each first tendon rope (51) is parallelly fixed in the middle of the fifth shaft (17) of the second knuckle (3), and the other end of each first tendon rope (51) sequentially bypasses the fourth shaft (16) of the second knuckle (3), the two grooves in the middle of the second grooved pulley (82), the two first grooved pulleys (81) and the second shaft (14) in parallel and then is fixedly connected with the sliding block (73), one end of each of the two second tendon ropes (52) is respectively fixed on the fifth shaft (17) of the second knuckle (3) and positioned on two sides of the first tendon rope (51), and the other ends of the two second tendon ropes (52) are parallelly and sequentially wound around the fourth shaft (16) of the second knuckle (3), grooves at two ends of the second sheave (82), the third shaft (15), the two third sheaves (83) and the two fourth sheaves (84) and then fixedly connected with the output end of the transmission mechanism (4).
3. The two-tendon rope series-coupling adaptive finger device according to claim 2, wherein: the first tendon rope (51) adopts one or more of steel wires, chains, flexible ropes and transmission belts; the second tendon rope (52) adopts one or more of steel wire, chain, flexible rope and transmission belt.
4. The two-tendon rope series-coupling adaptive finger device according to claim 2, wherein: the first grooved wheel (81) adopts one or more of a pulley, a belt wheel and a chain wheel; the second grooved wheel (82) adopts one or more of a pulley, a belt wheel and a chain wheel; the third grooved wheel (83) adopts one or more of a pulley, a belt wheel and a chain wheel in combination, and the fourth grooved wheel (84) adopts one or more of a pulley, a belt wheel and a chain wheel in combination.
5. The two-tendon rope series-coupling adaptive finger device according to claim 1, wherein: the transmission mechanism (4) adopts one or more combinations of a gear transmission mechanism, a connecting rod transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a lead screw transmission mechanism and a gear rack transmission mechanism.
6. The two-tendon rope series-coupling adaptive finger device according to claim 1, wherein: the driver (5) adopts a motor, an air cylinder or a hydraulic cylinder.
7. The two-tendon rope series-coupling adaptive finger device according to claim 1, wherein: the first spring element (6) adopts a torsion spring, a leaf spring or a plane volute spring.
8. The two-tendon rope series-coupling adaptive finger device according to claim 1, wherein: the second spring piece (72) adopts a pressure spring.
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