CN108994864A - Double tendon rope tandem coupling adaptive finger apparatus - Google Patents

Abstract

The double tendon rope series coupling self-adaptive finger device belongs to the technical field of robot claws, and includes a base, two knuckles, two joint shafts, a driver, a plurality of transmission wheels, a transmission mechanism, two spring parts and the like. The device realizes the functions of rapid retraction and adaptive grasping of the coupled motion of the robot fingers. According to the shape and position of the object, the device can quickly rotate the second knuckle to clamp the object, and can automatically rotate the second knuckle to contact the object after the first knuckle touches the object, so as to achieve the adaptive envelope of different shapes , the purpose of large and small objects; the grasping range is large, the grasping is stable and reliable; two knuckles are driven by one driver; the device has a simple structure, low processing, assembly and maintenance costs, and is suitable for robot hands.

Description

Double tendon rope series coupling adaptive finger device

technical field

The invention belongs to the technical field of robot grippers, and in particular relates to the structural design of a double tendon rope series coupling self-adaptive finger device.

Background technique

With the development of intelligent technology, robotics has become a research hotspot today, and the robotic hand, as a kind of end effector of robots, has attracted more and more researchers' attention. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robot hands, such as dexterous hands, underactuated hands, grippers, etc. The development of a robot hand with high flexibility, multiple perception capabilities, compact structure, strong gripping force, and the ability to grasp objects of various shapes and properties and complete various tasks has always been a common goal of robotic hand research. The existing robotic dexterous hand is complex to control, has a small grasping force, and is expensive, which greatly limits the application of the dexterous hand.

Fingers adapt to the grasping of the object surface mainly adopts the multi-point contact between the surface of each finger and the surface of the object. The force of each point and the external force on the object reach a mechanical balance, and then the object reaches a static equilibrium state, thereby realizing the grasping of the object. The configuration of the fingers forms a geometric constraint on the object. Since there is no need for a large frictional force to balance the external force on the object, the force exerted by the surface of each finger on the surface of the object is much smaller than the force exerted by the friction-constrained object on the surface of the object. Object surface grasping is also known as brute force grasping.

When the hand grasps the object, it needs to restrict the six degrees of freedom of the object in order to grasp the object stably. In order to assist the robot to complete more tasks, the robot hand needs to be able to adapt to grasping objects of various shapes and sizes to the greatest extent.

Adaptive grasping mode refers to the grasping mode that uses flexible joints or springs to enable the knuckles of the robot fingers to move relative to the surface of the object when grasping the object, so as to achieve the effect of grasping the object by the envelope of the adaptive object surface, for example The SARAH hand and the Southampton hand use the adaptive grasping mode.

Existing dexterous and underactuated hands are able to achieve surface-adaptive grasping patterns. Although the dexterous hand has a high degree of anthropomorphism during the movement process and can complete the grasping of the surface of the object, its cost is high, the control is complicated, and frequent maintenance is required. The driving force generated by the existing dexterous hand joint drivers (such as motors, air muscles, etc.) is small, and the movement of each knuckle of the dexterous hand is directly driven by the dexterous hand joint drivers, which makes the load capacity of the dexterous hand weak, which makes the dexterous hand It cannot be widely put into production practice and daily life.

For this reason, the underactuated humanoid robot hand came into being. The underactuated hand is a robot hand whose number of drivers is less than the degree of freedom of the joints. The underactuated robot hand theory and a classic four-link-spring Structure of an underactuated robotic hand. Theory and practice have proved that the underactuated robot hand has high application value due to its simple control, large grasping force and compact structure due to fewer drives. Since then, a large number of research results on underactuated hands have emerged, and underactuated hands have also been widely equipped in service robots, industrial robots, and space robots.

Operational tasks such as space on-orbit service and capture of failed and flipped satellites require space robots to be able to complete stable grasping to achieve a strong connection. This process does not require hands-on operation, and the environment in which extravehicular operations are located in the space environment is very complex. , large temperature differences and rays will cause greater damage to precision mechanical equipment and sensors, so the application of dexterous hands in such tasks is greatly limited. Designing a gripper with high gripping force, high adaptability, high reliability, and light weight has become one of the key points in the research of space gripping.

The traditional industrial gripper has a simple structure and strong gripping force, but the traditional two-finger flat gripping industrial gripper has less restricted degrees of freedom in the process of capturing satellites and requires a huge gripping force. The structure of the satellite body is mostly a thin-walled structure, and the huge gripping force will cause damage to the satellite body. For this reason, the underactuated hand is suitable for grasping tasks with severe working conditions and high loads such as space applications due to its adaptability, simple sensor control system, large grasping force, and good reliability.

An existing underactuated two-joint robot finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle knuckle, an end knuckle and a parallel pulley transmission mechanism. The device realizes the special effect of double-joint underactuated fingers bending and grabbing objects, and is self-adaptive. The disadvantages of the underactuated mechanical finger device are that the pulley drive requires a complex tensioning device, which is difficult to assemble, and the belt drive is a small load drive, which produces less gripping force, and the drive belt has greater elasticity. With the development of science and technology, tendon ropes with high tensile strength and ductility close to 0 have been developed, and underactuated hands driven by tendon ropes have obvious advantages.

An underactuated hand with a gripping mode adaptive to flat clips has been developed. An existing underactuated finger, such as US Pat. The device realizes arc parallel clamping and adaptive grabbing mode. When working, at the beginning stage, the posture of the terminal phalanx is maintained relative to the base for proximal joint bending, and then the function of parallel clamping or adaptive envelope holding can be realized according to the position of the object. The disadvantages are: (1) the knuckles at the end of the device move in parallel, and the convergence speed of the fingers is slow, which may easily cause the moving object in the space to escape during the grasping process; (2) the device adopts a multi-link mechanism, and the movement has a large The dead zone, the grabbing range is small.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a double tendon rope series coupling adaptive finger device; coupling and adaptive composite grasping mode, which can couple and rotate two knuckles to clamp objects, It can also automatically rotate the second knuckle to hold the object in an envelope when the first knuckle is turned to touch the object, so as to achieve an adaptive grip effect on objects of different shapes and sizes.

In order to achieve the above object, the technical scheme that the present invention takes is as follows:

A double tendon rope series coupling adaptive finger device, including a base, a first knuckle, a second knuckle, a first joint shaft, a second joint shaft, a second sheave, a transmission mechanism, a driver, and a first spring Parts, at least one first sheave, at least one third sheave; the first joint shaft is rotatably arranged in the base, the first knuckle is fixedly connected to the first joint shaft, and the second joint shaft The rotation is arranged in the first knuckle, the second knuckle is fixedly connected on the second joint shaft, the center line of the first joint shaft is parallel to the center line of the second joint shaft; the first sheave and The third sheave is respectively rotatably connected to the first joint shaft, the outer circular surface of the second sheave is provided with at least two grooves, and the second sheave is rotatably connected to the second joint shaft; the driver Fixed on the base, the output end of the driver is connected to the input end of the transmission mechanism; the two ends of the first spring member are respectively connected to the first knuckle and the base; it is characterized in that: the double The tendon rope serial coupling adaptive finger device also includes a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, an adjustment nut, a second spring, a slider and an adjustment screw, and at least one fourth slot wheel, at least one first tendon cord, at least one second tendon cord; the first shaft is rotatably connected in the base, and the fourth sheave is rotatably connected to the first shaft; the second shaft is rotatably connected connected to the base, the third shaft is rotatably connected to the first knuckle, the fourth shaft is rotatably connected to the second knuckle, and the fifth shaft is fixedly connected to the second knuckle; One end of the first tendon rope is connected to the second phalanx, and the other end of the first tendon rope turns around the fourth axis of the second phalanx, the corresponding groove of the second sheave, and the first sheave And the second shaft is then connected with the slider, the first tendon rope is wound in the groove of the first sheave and the groove of the second sheave in an 'S' shape; through the transmission of the first tendon rope , the first sheave and the second sheave form a transmission relationship and the transmission ratio is less than 0; one end of the second tendon rope is connected to the second knuckle, and the other end of the second tendon rope goes around the second knuckle of the second knuckle in turn The corresponding grooves in the four axles, the second sheave, the third axle, the third sheave and the fourth sheave are connected with the output end of the transmission mechanism; through the transmission of the second tendon rope, the second sheave and the first sheave Three groove wheels form a transmission relationship and the transmission ratio is greater than 0; the adjusting nut is slidably embedded in the base, and the slider is slidably embedded on the adjusting screw; the adjusting screw is sleeved in the through hole of the base; the adjusting nut The thread is connected to the adjusting screw, and the adjusting nut and the adjusting screw form a screw transmission relationship; one end of the second spring is connected with the slider, and the other end is connected with the adjusting nut.

Further, there are two first tendon ropes and two second tendon ropes, two first sheave wheels and two third sheave wheels, and the two first sheave wheels are arranged in parallel to rotate on the first joint In the middle of the shaft, the two third sheaves are respectively rotated on the first joint shaft and located at both ends of the first sheave, and the outer surface of the second sheave is provided with four grooves, There are two fourth sheaves, one end of the two first tendon ropes is fixed in the middle of the fifth shaft of the second knuckle, and the other ends of the two first tendon ropes are paralleled and wound around the first The fourth shaft of the two knuckles, the middle two grooves of the second sheave, the two first sheaves and the second shaft are fixedly connected with the slider, and one end of the two second tendon ropes respectively fixed on the fifth axis of the second phalanx and located on both sides of the first tendon rope, the other ends of the two second tendon ropes are parallel and turn around the fourth axis of the second phalanx, The grooves at both ends of the second sheave, the third shaft, the two third sheaves and the two fourth sheaves are fixedly connected with the output end of the transmission mechanism.

Further, the first tendon rope adopts a combination of one or more of steel wire, chain, flexible rope, and transmission belt; the second tendon rope adopts one or more of steel wire, chain, flexible rope, and transmission belt The combination.

Further, the first sheave uses a combination of one or more of pulleys, pulleys, and sprockets; the second sheave uses a combination of one or more of pulleys, pulleys, and sprockets ; The third sheave uses a combination of one or more of pulleys, pulleys, and sprockets, and the fourth sheave uses a combination of one or more of pulleys, pulleys, and sprockets.

Further, the transmission mechanism 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 rack and pinion transmission mechanism.

Further, the driver adopts a motor, an air cylinder or a hydraulic cylinder.

Further, the first spring member is a torsion spring, a leaf spring or a planar scroll spring.

Further, the second spring member is a compression spring.

The beneficial effect of the present invention relative to prior art is:

The device of the present invention utilizes two tendon ropes, a plurality of sheaves, two knuckles, two joint shafts, an adjusting screw, a slider, an adjusting nut, a transmission mechanism, a driver, and two spring parts to comprehensively realize the coupling and coupling of the robot fingers. The self-adaptive composite grasping function can not only couple and rotate the two knuckles to quickly clamp and lock the object, but also automatically rotate the second knuckle to hold the object when the first knuckle touches the object. Adaptive gripping effect on objects of different shapes and sizes. The pre-tightening mechanism composed of adjusting nut, second spring piece, slider, adjusting screw, etc., combined with the cooperation relationship of each component in the base, realizes that the second knuckle is automatically rotated after the first knuckle is blocked from contacting the object. Touching the object, at the same time, the adjustment of the initial configuration of the finger and the pretension of the tendon rope are realized; the first sheave is formed by the 'S' type winding of the first tendon rope between the first sheave and the second sheave The reverse transmission relationship with the second sheave realizes the coupled rotation of the second phalanx relative to the first phalanx; the winding of the second tendon rope on the second sheave and the third sheave constitutes the second sheave and the third sheave. The transmission relationship of the sheaves in the same direction realizes the rotation of the first knuckle and the second knuckle driven by the power source; the automatic opening of the fingers is realized by using the first spring member. According to the shape and position of the object, the device can couple and rotate the two knuckles to quickly clamp the object, and can also automatically rotate the second knuckle to touch the object after the first knuckle touches the object, so as to achieve the adaptive envelope of different shapes , the purpose of the size of the object; changing the transmission radius of the first sheave and the second sheave can change the coupling transmission ratio; the grasping range is large, it has a large tolerance and gripping force, and the grasping is stable and reliable; it is driven by a driver Two knuckles; the device has a simple structure, light weight, good reliability, low processing, assembly and maintenance costs, and is suitable for large-load grasping tasks.

Description of drawings

Fig. 1 is a three-dimensional appearance view of an embodiment of a double tendon rope series coupling adaptive finger device designed by the present invention.

Figure 2 is a front view of the embodiment shown in Figure 1 .

Fig. 3 is a schematic diagram of the mechanism of the embodiment shown in Fig. 1 (some parts are not shown).

Fig. 4 is a front view of the embodiment shown in Fig. 1 (partial parts are cut away, some parts are not drawn).

Fig. 5 is an exploded view of the embodiment shown in Fig. 1 .

Fig. 6 is a schematic diagram of the coupling rotation of the second phalanx relative to the first phalanx in the fast-coupling grasping stage of the embodiment shown in Fig. 1 , and the double-dashed lines represent two states during the movement.

7 to 10 are action process diagrams of the adaptive grasping of the embodiment shown in FIG. 1 . During the grasping process, after the first knuckle is blocked from contacting the object, the second knuckle is automatically rotated to touch the object.

Fig. 11 to Fig. 13 show the positional relationship between the slider and the second spring member during the grabbing process of the embodiment shown in Fig. 1 (cross-sectional view of the base).

In Figures 1 to 13:

1-base, 2-first knuckle, 3-second knuckle, 4-transmission mechanism,

5-driver, 6-first spring member, 11-first joint shaft, 12-second joint shaft,

13 - first axis, 14 - second axis, 15 - third axis, 16 - fourth axis,

17-the fifth shaft, 81-the first sheave, 82-the second sheave, 83-the third sheave,

84-the fourth sheave, 51-the first tendon rope, 52-the second tendon rope, 71-adjusting nut,

72-second spring part, 73-slide block, 74-adjusting screw rod, 300-object.

Detailed ways

The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Example 1

A dual tendon rope series coupling self-adaptive finger device designed by the present invention includes a base 1, a first knuckle 2, a second knuckle 3, a first joint shaft 11, a second joint shaft 12, and a second sheave 82. Transmission mechanism 4, driver 5, first spring member 6, at least one first sheave 81, at least one third sheave 83; said first joint shaft 11 is rotatably arranged in base 1, said first The 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 second knuckle 3 is fixedly connected to the second joint shaft 12. The center line of a joint shaft 11 is parallel to the center line of the second joint shaft 12; the first sheave 81 and the third sheave 83 are respectively rotatably connected to the first joint shaft 11, and the second sheave 82 The outer circular surface is provided with at least two grooves, and the second sheave 82 is rotatably connected to the second joint shaft 12; the driver 5 is fixed on the base 1, and the output end of the driver 5 is connected to the The input end of the transmission mechanism 4 is connected; the two ends of the first spring member 6 are respectively connected on the first knuckle 2 and the base 1; it is characterized in that: the double tendon rope series coupling adaptive finger device also includes a second A shaft 13, a second shaft 14, a third shaft 15, a fourth shaft 16, a fifth shaft 17, an adjustment nut 71, a second spring 72, a slider 73 and an adjustment screw 74, at least one fourth sheave 84, At least one first tendon rope 51, at least one second tendon rope 52; the first shaft 13 is rotatably connected in the base 1, and the fourth sheave 84 is rotatably connected to the first shaft 13; the 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 Fixedly connected in the second knuckle 3; one end of the first tendon rope 51 is connected with the second knuckle 3, and the other end of the first tendon rope 51 goes around the fourth knuckle of the second knuckle 3 in turn. The shaft 16, the corresponding groove of the second sheave 82, the first sheave 81 and the second shaft 14 are then connected to the slider 73, and the first tendon rope 51 is in the groove of the first sheave 81. The groove and the groove of the second sheave 82 are wound in an 'S' shape; 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 to the second phalanx 3, and the other end of the second tendon rope 52 goes around the fourth shaft 16 of the second phalanx 3 and the corresponding groove in the second sheave 82 in turn. , the third shaft 15, the third sheave 83 and the fourth sheave 84 are 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 relationship And the transmission ratio is greater than 0; the adjusting nut 71 is slidingly embedded in the base 1, and the slider 73 is slidingly embedded in the adjusting screw 74; the adjusting screw 74 is sleeved in the through hole of the base 1; the adjusting nut 71 is threadedly connected on the adjusting screw rod 74, and the adjusting nut 71 and the adjusting screw rod 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 slider 73. The adjusting nut 71 is connected.

Further, the first tendon rope 51 adopts a combination of one or more of steel wire, chain, flexible rope, and transmission belt; the second tendon rope 52 adopts one or more of steel wire, chain, flexible rope, and transmission belt. various combinations;

Further, the first sheave 81 adopts a combination of one or more of pulleys, pulleys and sprockets; the second sheave 82 adopts one or more of pulleys, pulleys and sprockets combination; the third sheave 83 adopts a combination of one or more of a pulley, a pulley, and a sprocket, and the fourth sheave 84 adopts one or more of a pulley, a pulley, and a sprocket The combination.

In this embodiment, the first tendon rope 51 and the second tendon rope 52 are flexible ropes, and the first sheave 81 , the second sheave 82 , the third sheave 83 and the fourth sheave 84 are all pulleys.

Further, 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 rack and pinion transmission mechanism. In this embodiment, the transmission mechanism 4 adopts a combined transmission mechanism of a gear transmission mechanism and a lead 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 member 6 is a torsion spring, a leaf spring or a planar scroll spring. In this embodiment, the first spring member 6 is a torsion spring.

Further, the second spring member 72 is a compression spring.

The working principle of the present embodiment is described as follows in conjunction with the accompanying drawings:

In order to ensure the rigidity of the tendon rope transmission, reasonably arrange the tendon rope line and increase the range of motion of the fingers, the first axis 13, the second axis 14, the third axis 15, the fourth axis 16, and the fifth axis 17 are added in this embodiment. And the fourth sheave 84 is used as the guiding and connecting device of the tendon rope. The first shaft 13 is rotatably connected to the base 1, the fourth sheave 84 is rotatably connected to the first shaft 13; the second shaft 14 is rotatably connected to the base 1; the third shaft 15 is rotatably connected to In the first knuckle 2 ; the fourth shaft 16 is rotatably connected to the second knuckle 3 ; the fifth shaft 17 is fixedly connected to the second knuckle 3 .

When this embodiment is in the initial state, the first knuckle 2 is pressed under the spring force of the first spring member 6 to contact the mechanical limit structure provided on the base 1, and the slider 73 is in contact with the spring force of the second spring member 72. One end of the first tendon cord 51 moves downward under the action of force (wherein the downward direction is the downward direction shown in FIG. 3 , the same below), and passes through the first tendon cord 51. One end is connected with the second knuckle 3 , and the other end of the second tendon rope 52 pulls the second knuckle 3 . Due to the reverse transmission relationship formed by 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 (wherein Counterclockwise is the counterclockwise shown in Figure 3), until the mechanical limit structure on the second knuckle 3 contacts the mechanical limit structure of the first knuckle 2, and the fingers are fully opened.

The driver 5 pulls one end of the second tendon rope 52 to move downward through the transmission mechanism 4, and the pulling force of the second tendon rope 52 generates a moment on the second knuckle 3 that the second knuckle 3 rotates around the second joint axis 12. The knuckle 3 rotates counterclockwise relative to the first knuckle 2, and the second knuckle 3 pulls the connecting end of the first tendon cord 51 and the second tendon cord 52 to rotate counterclockwise around the second joint axis 12. The first tendon cord 51 The length of the wrap on the second sheave 82 increases. Due to the spring force of the second spring member 72, the slider 73 remains relatively stationary relative to the base 1, and the connecting end of the first tendon cord 51 and the slider 73 remains relatively stationary relative to the base 1, so the first tendon cord 51 The winding length with the first sheave 81 decreases, and the first tendon rope 51 involutes counterclockwise relative to the first sheave 81 . Because the resultant force of the pulling force of the second tendon rope 52 and the pulling force of the first tendon rope 51 produces a moment in the counterclockwise direction at the second joint axis 12, the first knuckle 2 overcomes the spring force of the first spring member 6 and rotates around the first knuckle 2 A joint shaft 11 rotates counterclockwise relative to the base 1 . Since the geometric relationship between the first phalanx 51 in the first phalanx 2 and the first phalanx 2 does not change, the first phalanx 2 and the first phalanx 51 in the first phalanx 2 remain the same. Relatively stationary and rotating counterclockwise around the first joint axis 11, the first spring member 6 is twisted counterclockwise. That is, when the first knuckle 2 rotates counterclockwise relative to the base 1 , the second knuckle 3 is coupled to rotate relative to the first knuckle 2 . This process is a coupled grabbing process.

When the first phalanx 2 first touches the object 300 in the above process, and the second phalanx 3 does not touch the object 300, the first phalanx 2 is blocked and cannot continue to rotate, and the driver 5 continues to drive the second tendon rope 52 and the transmission mechanism 4 through the transmission mechanism 4. The connecting end of the output end of the mechanism 4 continues to move downward, the second phalanx 3 continues to rotate counterclockwise around the second joint axis 12 relative to the first phalanx 2, and the length of the second tendon rope 52 winding on the second sheave 82 continues. shorten, the length of the first tendon rope 51 wound on the second reel continues to grow, and the connection end of the first tendon rope 51 and the slider 73 moves upward relative to the base 1 (wherein the upper direction is the upper direction shown in Figure 3 direction, the same below), the slider 73 moves upward, and the second spring member 72 is further compressed until the second knuckle 3 is in stable contact with the object 300 . This process is the adaptive grasping process, as shown in FIGS. 7 to 10 , in the grasping process, after the first knuckle 2 is blocked from contacting the object 300 , the second knuckle 3 is automatically rotated to touch the object 300 .

The relative position of the slider 73 in the base 1 can be adjusted by turning the adjusting screw 74 , so as to adjust the initial configuration of the finger and pre-tighten the first tendon cord 51 and the second tendon cord 52 . Since the first tendon rope 51 and the second tendon rope 52 are all connected to the second knuckle 3, the transmission chain of the fingers is a serial type.

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

The device of the present invention utilizes two tendon ropes, a plurality of sheaves, two knuckles, two joint shafts, an adjusting nut 71, a slider 73, an adjusting screw 74, a transmission mechanism 4, a driver 5, and two spring parts, etc. The robot finger coupling and self-adaptive compound grasping function are provided, which can not only couple and rotate the two knuckles to quickly clamp and lock the object 300, but also automatically rotate the second knuckle when the first knuckle 2 touches the object. 3 Envelope gripping the object 300 to achieve an adaptive gripping effect on objects of different shapes and sizes. The pre-tightening mechanism composed of the adjusting nut 71, the second spring member 72, the slider 73, the adjusting screw rod 74, etc. is adopted, and the cooperation relationship of each component in the base 1 is realized. After the first knuckle 2 is blocked from contacting the object 300, Automatically rotate the second knuckle 3 to touch the object 300, and at the same time realize the adjustment of the initial configuration of the finger and the pretensioning of the tendon rope; the first tendon rope 51 is used between the first sheave 81 and the second sheave 82 The 's' type winding between them constitutes the directional transmission relationship between the first sheave 81 and the second sheave 82 to realize the coupled rotation of the second knuckle 3 relative to the first knuckle 2; the second tendon rope 52 is used in the second groove The winding of the wheel 82 and the third sheave 83 constitutes the same-direction transmission relationship between the second sheave 82 and the third sheave 83 to realize the rotation of the first phalanx 2 and the second phalanx 3 driven by the power source; 6 Realize automatic finger opening. According to the shape and position of the object, the device can couple and rotate the two knuckles to quickly clamp the object 300, and can also automatically rotate the second knuckle 3 to contact the object 300 after the first knuckle 2 touches the object 300, so as to achieve automatic Adapt to the purpose of enveloping objects of different shapes and sizes; changing the transmission radius of the first sheave 81 and the second sheave 82 can change the coupling transmission ratio; the grasping range is large, and it has a large tolerance and grasping force. Stable and reliable; use one driver to drive two knuckles; the device has simple structure, light weight, good reliability, low processing, assembly and maintenance costs, and is suitable for large-load grasping tasks.

Claims (8)

1. A dual tendon rope series coupling adaptive finger device, comprising a base (1), a first knuckle (2), a second knuckle (3), a first joint axis (11), and a second joint axis (12), second sheave (82), transmission mechanism (4), driver (5), first spring member (6), at least one first sheave (81), at least one third sheave (83) ; The first joint shaft (11) is rotatably set in the base (1), the first knuckle (2) is fixedly connected to the first joint shaft (11), and the second joint shaft (12) The rotation is arranged in the first knuckle (2), the second knuckle (3) is fixedly connected on the second joint shaft (12), and the center line of the first joint shaft (11) is connected with the second joint shaft (12) are parallel to the center line; the first sheave (81) and the third sheave (83) are respectively rotatably connected to the first joint shaft (11), and the second sheave (82) is rotatably connected to On the second joint shaft (12), the outer circular surface of the second sheave (82) is provided with at least two grooves; the driver (5) is fixed on the base (1), and the The output end of the driver (5) is connected to the input end of the transmission mechanism (4); the two ends of the first spring member (6) are respectively connected to the first knuckle (2) and the base (1); its characteristics Because: the double tendon rope series coupling adaptive finger device also includes a first shaft (13), a second shaft (14), a third shaft (15), a fourth shaft (16), a fifth shaft (17), Adjusting nut (71), second spring member (72), slide block (73) and adjusting screw rod (74), at least one fourth sheave (84), at least one first tendon rope (51), at least one The second tendon cord (52); the first shaft (13) is rotatably connected in the base (1), and the fourth sheave (84) is rotatably connected to the first shaft (13); the second The shaft (14) is rotatably connected in the base (1), the third shaft (15) is rotatably connected in the first knuckle (2), and the fourth shaft (16) is rotatably connected in the second knuckle ( 3), 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), and the first tendon rope The other end of (51) goes 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 then connected with the slider (73), the first tendon rope (51) is in the groove of the first sheave (81) and the groove of the second sheave (82) and has an 'S 'type winding; 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) Connected with the second phalanx (3), the other end of the second tendon rope (52) turns around the fourth shaft (16) of the second phalanx (3), the corresponding phase in the second sheave (82) successively. After the corresponding groove, the third shaft (15), the third sheave (83) and the fourth sheave (84) are 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 relationship and the transmission ratio is greater than 0; the adjusting nut (71) is slidingly embedded in the base (1) Among them, the slider (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 threadedly connected to the adjusting screw ( 74), the adjusting nut (71) and the adjusting screw rod (74) form a screw transmission relationship; one end of the second spring (72) is connected with the slider (73), and the other end is connected with the adjusting nut (71). 2. The double tendon rope series coupling adaptive finger device according to claim 1, characterized in that: the first tendon rope (51) and the second tendon rope (52) are two respectively, and the first tendon rope There are two sheave wheels (81) and the third sheave wheels (83) respectively, and said two first sheave wheels (81) are arranged in the middle of the first joint shaft (11) for parallel rotation, and said two third sheave wheels The wheels (83) are respectively rotated on the first joint shaft (11) and located at both ends of the first sheave (81), and the outer surface of the second sheave (82) is provided with four grooves , the fourth sheave (84) is two, and one end of the two first tendon ropes (51) is fixed side by side in the middle of the fifth shaft (17) of the second phalanx (3), and the two The other end of the first tendon rope (51) is juxtaposed around the fourth shaft (16) of the second knuckle (3), the middle two grooves of the second sheave (82), the two first The sheave (81) and the second shaft (14) are fixedly connected to the slider (73) behind, and one end of the two second tendon ropes (52) is respectively fixed on the fifth joint of the second knuckle (3). On the shaft (17) and located on both sides of the first tendon rope (51), the other ends of the two second tendon ropes (52) are parallel and turn around the fourth knuckle of the second knuckle (3). The shaft (16), the grooves at both ends of the second sheave (82), the third shaft (15), the two third sheaves (83) and the two fourth sheaves (84) are connected with the transmission mechanism (4) The output terminal is fixedly connected. 3. The double tendon rope series coupling adaptive finger device according to claim 2, characterized in that: the first tendon rope (51) adopts one or more of steel wire, chain, flexible rope, and transmission belt. Combination; the second tendon rope (52) adopts a combination of one or more of steel wire, chain, flexible rope and transmission belt. 4. The double-tendon-rope serial coupling adaptive finger device according to claim 2, characterized in that: the first sheave (81) is a combination of one or more of a pulley, a pulley, and a sprocket ; The second sheave (82) adopts one or more combination of pulley, pulley, sprocket; the third sheave (83) adopts one or more of pulley, pulley, sprocket Various combinations, the fourth sheave (84) adopts one or more combinations of pulleys, pulleys, and sprockets. 5. The double tendon rope series coupling self-adaptive finger device according to claim 1, characterized in that: the transmission mechanism (4) adopts a gear transmission mechanism, a connecting rod transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a wire transmission mechanism, etc. One or more combinations of lever transmission mechanism and rack and pinion transmission mechanism. 6. The self-adaptive finger device with double tendon rope serial coupling according to claim 1, characterized in that: the driver (5) is a motor, an air cylinder or a hydraulic cylinder. 7. The self-adaptive finger device with double tendon rope series coupling according to claim 1, characterized in that: the first spring member (6) is a torsion spring, a leaf spring or a planar scroll spring. 8. The self-adaptive finger device with double tendon rope series coupling according to claim 1, characterized in that: the second spring member (72) is a compression spring.