CN100439048C - Under-actuated multi-finger device of robot humanoid finger - Google Patents
Under-actuated multi-finger device of robot humanoid finger Download PDFInfo
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- CN100439048C CN100439048C CNB2007100630701A CN200710063070A CN100439048C CN 100439048 C CN100439048 C CN 100439048C CN B2007100630701 A CNB2007100630701 A CN B2007100630701A CN 200710063070 A CN200710063070 A CN 200710063070A CN 100439048 C CN100439048 C CN 100439048C
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- finger
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- 230000005540 biological transmission Effects 0.000 claims description 32
- 210000002435 tendon Anatomy 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 244000060701 Kaempferia pandurata Species 0.000 abstract description 7
- 235000016390 Uvaria chamae Nutrition 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 85
- 210000005224 forefinger Anatomy 0.000 description 12
- 210000004932 little finger Anatomy 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Robot simulating hand less power multi-finger device belongs to the humanoid robot technology field. It includes palm, at least two fingers, joint axle and drive device, it is characterized by: the device also includes at least one spring piece, the spring piece is jacketted on the joint axle, each finger is jacketted on the joint axle, the spring piece matches with finger, the finger matched spring piece is connected with joint axle through spring piece, the two ends of said spring piece are connected with the joint axle and corresponding finger, the rest fingers are connected with joint axle firmly; said joint axle is installed on the palm, the input of the joint axle is connected with the output axle of drive device. The device can be used as finger root joint of robot simulating hand, it realizes the rotation of many fingers when robot catches object with simulating hand through less motor drive, it can adapt objects with different shapes and sizes and generate different catching force simultaneously; the device has compact structure, it is simple, reliable, attractive, easy to closed and dust-proof, it only needs lower control system requirements.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of under-actuated multi-finger device of robot humanoid finger structural design.
Background technology
With the mankind seemingly, most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.In order to increase personalizing of hand, hand will design more joint freedom degrees, yet, in order to alleviate the control difficulty of anthropomorphic robot's hand, and the volume, the weight that reduce hand, need to reduce the driver number, the two has certain contradiction, in addition, in order to grasp object better, also need to point and when grasping object, have certain adaptivity.Design is owed to drive many finger devices and can better be realized with the more joint freedom degrees of less driver drives, takes into account simultaneously to have the adaptivity that grasps difformity, size object.In addition, simulating human hand for robot also needs stronger anthropomorphic characteristics, and promptly outward appearance should so just require near staff, and simulating human hand for robot should have a plurality of fingers.Thereby the anthropomorphic hand of design robot is owed to drive many finger devices and is had extremely important meaning.
Existing a kind of activation lacking mechanical finger device as U.S. patent of invention US5762390, comprises first knuckle, second knuckle, third knuckle, motor, belt wheel transmission mechanism, lead-screw drive mechanism, base, linkage, spring.First knuckle, second knuckle, third knuckle and the hinge joint of base polyphone and are provided with spring between any two and link to each other with connecting rod together, form 3 quadric chains, and motor, belt wheel transmission mechanism, lead-screw drive mechanism are contacted mutually and be arranged in the base.This device is converted into the rotation of motor by belt wheel transmission mechanism, lead-screw drive mechanism the motion of linkage by self-contained motor-driven.Its operation principle is: motor rotates, and by the motion of belt wheel transmission mechanism and lead-screw drive mechanism, promotes first parallel motion, rotates simultaneously thereby promote first, second and third dactylus.When first knuckle touched object, first knuckle no longer rotated, and motor is rotated further, and promoted first and second 2 parallel motions, was rotated further thereby promote second and third dactylus.When second knuckle also touches object, second knuckle no longer rotates, and motor is rotated further, and promotes first, second and third 3 parallel motions, is rotated further thereby promote third knuckle, till third knuckle also contacts object.
Existing a kind of activation lacking mechanical finger device as Chinese invention patent CN02103731.0, comprises first knuckle, active plate, second knuckle, owes to drive the joint.External force makes active plate rotate around owing to drive joint shaft, realizes that by the multi-stage gear speed increasing mechanism second knuckle rotates back fastening object significantly.
Existing a kind of activation lacking mechanical finger device as Chinese invention patent CN02153489.6, comprises first knuckle, owes to drive joint and second knuckle.This is owed to drive the joint and contains the active sliding block of a band tooth bar, gear shaft etc.External force is slided the active slide plate in first knuckle, by fastening object after the rotation significantly of rack and pinion mechanism realization second knuckle.
Above-mentioned weak point of owing drive unit is: these devices are all considered be how to utilize that less driver realizes driving more joint freedom degrees on the single finger owe to drive function, less driver realizes driving a plurality of fingers owes to drive function and fail to consider how to utilize.Thereby these devices are than a plurality of joints that are more suitable on the finger, and are not suitable for the root joint of palm and a plurality of fingers.
Existing a kind of multi-finger hand simulating human hand for robot device as Chinese invention patent CN02153490.X, comprises that palm, thumb, forefinger, middle finger, the third finger, little finger of toe, thumb root joint, four refer to root joint.Forefinger, middle finger, the third finger and little finger of toe are socketed in same four respectively and refer to link to each other with palm on the root joint.Its four fingers root joint comprises motor, decelerator, transmission mechanism, joint shaft, forefinger sheet spring, middle finger sheet spring, nameless sheet spring, little finger of toe sheet spring.Joint shaft is sheathed between the root dactylus of palm and forefinger, middle finger, the third finger, little finger of toe, motor, decelerator and transmission mechanism are arranged in the palm, one end of forefinger sheet spring, middle finger sheet spring, nameless sheet spring, little finger of toe sheet spring is affixed with joint shaft respectively, and its other end inserts the root dactylus of forefinger, middle finger, the third finger and little finger of toe respectively.
This device is formed by being fixed in the unsettled sheet spring of shifting block one end with an affixed shifting block of axle and an end, its weak point is: this sheet spring must insert the longer distance of each finger root dactylus, point the contact object to satisfy when this joint rotation makes, after being rotated further motor and making the bending of sheet spring, the unsettled end of sheet spring is unlikely to break away from finger root, the necessary hollow and thicker of each finger root, thus there is bigger space to satisfy the bending of sheet spring.Thereby this device is unfavorable for finger root internal memory let go articulations digitorum manus drive motors or miscellaneous part, also is unfavorable for the closed dust of root joint and attractive in appearance.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of under-actuated multi-finger device of robot humanoid finger is provided, this device can be used as the finger root joint of simulating human hand for robot, the rotation of a plurality of fingers (as forefinger, middle finger, the third finger, little finger of toe) when being used for realizing that with less drive unit simulating human hand for robot grasps object, be adaptive to the object of difformity and size, produce different grasp forces simultaneously.
Another object of the present invention is to make this apparatus structure compactness, simple, reliable, only needs lower control system requirement, exceeds to take each finger interior space, also helps the joint is encapsulated dustproof and attractive in appearance.
Technical scheme of the present invention is as follows:
The under-actuated multi-finger device of robot humanoid finger of the present invention's design, comprise palm, at least 2 fingers, joint shaft and drive unit is characterized in that: this device also comprises at least 1 spring spare, spring sleeve is connected on the joint shaft, each finger is socketed on the joint shaft side by side, and spring spare is connected with joint shaft by spring spare with the supporting use of finger, the finger of being furnished with spring spare, the two ends of described spring spare are connected on joint shaft and the corresponding finger, and remaining finger is connected with joint shaft; Described joint shaft is arranged on the palm, and the input of this joint shaft is connected with the output shaft of drive unit; Said spring spare adopts the rope of torsion spring, rubber band or band elastic force.
The number of spring spare of the present invention is corresponding one by one with the number of finger.
Finger of the present invention is made up of a plurality of dactylus, joint component.
Palm of the present invention is a hollow structure, and described drive unit is positioned in the palm; Described drive unit adopts motor, and motor output shaft is connected with joint shaft by transmission mechanism.Described transmission mechanism can adopt gear drive, the transmission of tendon network, belt wheel transmission, chain gear transmission, connecting rod transmission, worm and gear transmission or rack-and-pinion transmission.
Drive unit of the present invention is arranged on the outside of palm; Described drive unit adopts motor, and motor output shaft directly is connected with joint shaft by decelerator.
The output shaft of drive unit of the present invention is provided with encoder or tachometer generator, with the closed loop feedback control of realization speed, position.
Finger of the present invention can adopt sliding bearing or rolling bearing to be socketed on the joint shaft.
The present invention compared with prior art, have the following advantages and the high-lighting effect: the rotation of a plurality of fingers (as forefinger, middle finger, the third finger, little finger of toe) when under-actuated multi-finger device of robot humanoid finger provided by the invention realizes that with single driver simulating human hand for robot grasps object, be adaptive to the object of difformity and size, produce different grasp forces simultaneously; This device can be used as the finger root joint of simulating human hand for robot, and the critical piece of apparatus structure is all around the joint shaft setting, compact conformation, simple, reliable, attractive in appearance, be easy to closed dust, only need lower control system requirement.
Description of drawings
Fig. 1 is the front appearance figure (the A-A profile of Fig. 2) of a kind of embodiment of under-actuated multi-finger device of robot humanoid finger provided by the invention.
Fig. 2 is the side outside drawing of Fig. 1.
Fig. 3 is a under-actuated multi-finger device of robot humanoid finger provided by the invention schematic diagram when grasping cylindrical object.
Fig. 4 is a under-actuated multi-finger device of robot humanoid finger provided by the invention schematic diagram when grasping the circular cone object.
Fig. 5 is the front appearance figure of the another kind of embodiment of under-actuated multi-finger device of robot humanoid finger provided by the invention.
Fig. 6 is the front appearance figure of another embodiment of under-actuated multi-finger device of robot humanoid finger provided by the invention.
In Fig. 1 to Fig. 6:
The 1-palm,
11-palm skeleton, 12-palm gripper shoe, 13-gear-box cover plate,
14-first sliding bearing;
The 2-finger,
The 21-forefinger, 22-middle finger, the 23-third finger, 24-little finger of toe;
3-refers to owe to drive the joint more,
The 31-encoder, the 32-motor, the 33-decelerator, the 34-pinion, the 35-holding screw,
The 36-joint shaft, 371-spring spare, 372-circular cone pin
The 38-potentiometer, 39-sleeve, 310-second sliding bearing, 311-axle shelves;
The 4-thumb;
The object that 5-grasped;
The specific embodiment
Below in conjunction with accompanying drawing principle of the present invention, the specific embodiment are done detailed description:
Fig. 1 is the structural representation of an embodiment of under-actuated multi-finger device of robot humanoid finger provided by the invention.Mainly comprise palm 1, motor 32,36,4 fingers of joint shaft (forefinger 21, middle finger 22, the third finger 23, little finger of toe 24) and 4 spring spares 371, the number of spring spare is corresponding one by one with the number of finger.Spring spare adopts torsion spring, also can adopt rubber band or band elastic force rope.Torsion spring set is connected on the joint shaft 36, and an end of torsion spring is connected on the joint shaft 36, and the other end is connected on the pairing finger; 4 fingers are socketed on the joint shaft 36 side by side; 4 fingers (forefinger 21, middle finger 22, nameless 23, little finger of toe 24) are connected with joint shaft 36 by second sliding bearing 310 respectively, so that reduce sliding-frictional resistance, each finger is carried out axial limiting by sleeve 39 and spools grades 311 respectively on joint shaft 36.
The two ends of described joint shaft are arranged on the palm 1 by first sliding bearing 14.Palm 1 is a hollow structure, and drive unit is positioned in the palm; Described drive unit adopts motor 32, and motor output shaft is connected with joint shaft by transmission mechanism.Transmission mechanism can adopt gear drive, the transmission of tendon network, belt wheel transmission, chain gear transmission, connecting rod transmission, worm and gear transmission or rack-and-pinion transmission.The transmission mechanism of present embodiment is made up of decelerator 33, pinion 34 and holding screw 35.Motor 32 is connected to decelerator 33, and the output shaft of decelerator 33 is affixed by holding screw 35 and pinion 34.The meshed transmission gear of pinion 34 and joint shaft 36 1 ends.Motor also can be arranged on the outside of palm, and the output shaft of motor can directly be connected with joint shaft by decelerator.
The output shaft of drive unit of the present invention is provided with encoder 31 or tachometer generator, with the closed loop feedback control of realization speed, position.Also be provided with potentiometer 38 at the joint the tip of the axis.
Fig. 5 is the structural representation of another embodiment of under-actuated multi-finger device of robot humanoid finger provided by the invention, and the number of spring spare is less than the number of finger in the present embodiment.Spring spare and the supporting use of finger, the finger (forefinger 21, the third finger 23, little finger of toe 24) of being furnished with spring spare is connected with joint shaft 36 by spring spare 371, the two ends of spring spare are connected on joint shaft 36 and the corresponding finger, and remaining finger (middle finger 22) is connected by circular cone pin 375 and joint shaft 36.All the other syndetons are identical with embodiment 1.
Fig. 6 is the structural representation of another embodiment of under-actuated multi-finger device of robot humanoid finger provided by the invention, 4 fingers that connect side by side (forefinger 21, middle finger 22, the third finger 23, little finger of toe 24) are made of thumb 4 drive a plurality of dactylus, joint component in the present embodiment.All the other syndetons are identical with embodiment 1.
Below in conjunction with Fig. 3 and Fig. 4 the course of work of the present invention is described:
As shown in Figure 3, when simulating human hand for robot grasps object, output shaft by motor 32 rotates, and drives joint shaft 36 and rotates, and a plurality of torsion springs that an end is connected to joint shaft also rotate, thereby drive the finger rotation that its other end connects, all contact object up to each finger, joint shaft 36 is rotated further a low-angle then, and each torsion spring suitably is out of shape, stop motor this moment, the distortion elastic force of these torsion springs makes finger keep certain grasp force to object.
As shown in Figure 4, if in joint shaft 36 rotates, certain finger stops operating behind the contact object earlier, at this moment, the corresponding torsion spring of this finger begins flexural deformation, and other fingers still are rotated further, up to second finger contact object,, so continue, realize that finally a plurality of fingers all contact object.
Owing to only adopt 1 motor, just driven the rotation of a plurality of fingers, owe to drive function so better realized many fingers, and the difformity and the size of object had self adaptation effect preferably.Root joint owing to each finger seems independent on the one hand, has increased and has grasped difformity, the adaptability of big wisp and the personification of hand outward appearance, on the other hand, because grasp force increases with the increase that spring spare is out of shape, can realize the control of grasp force.
Because critical piece is all around the joint shaft setting, do not take the space of each finger interior, deposit the motor or the vitals in other joints for each finger interior space and striven for bigger space, and whole joint arrangement is easy to encapsulation, prevent that dust from entering, also attractive in appearance.
Claims (9)
1. under-actuated multi-finger device of robot humanoid finger, comprise palm, at least 2 fingers, joint shaft and drive units, it is characterized in that: this under-actuated multi-finger device of robot humanoid finger also comprises at least 1 spring spare, spring sleeve is connected on the joint shaft, each finger is socketed on the joint shaft side by side, and spring spare is connected with joint shaft by spring spare with the supporting use of finger, the finger of being furnished with spring spare, the two ends of described spring spare are connected on joint shaft and the corresponding finger, and remaining finger is connected with joint shaft; Described joint shaft is arranged on the palm, and the input of this joint shaft is connected with the output shaft of drive unit; Described spring spare adopts torsion spring, rubber band or band elastic force rope.
2. under-actuated multi-finger device of robot humanoid finger as claimed in claim 1 is characterized in that: the number of described spring spare is corresponding one by one with the number of finger.
3. under-actuated multi-finger device of robot humanoid finger as claimed in claim 1 or 2 is characterized in that: described finger is made up of a plurality of dactylus and a plurality of joint component.
4. under-actuated multi-finger device of robot humanoid finger as claimed in claim 3 is characterized in that: described palm is a hollow structure, and described drive unit is positioned in the palm.
5. under-actuated multi-finger device of robot humanoid finger as claimed in claim 3 is characterized in that: described drive unit is arranged on the outside of palm.
6. under-actuated multi-finger device of robot humanoid finger as claimed in claim 5 is characterized in that: described drive unit adopts motor, and motor output shaft directly is connected with joint shaft by decelerator.
7. under-actuated multi-finger device of robot humanoid finger as claimed in claim 4 is characterized in that: described drive unit adopts motor, and motor output shaft is connected with joint shaft by transmission mechanism.
8. under-actuated multi-finger device of robot humanoid finger as claimed in claim 7 is characterized in that: described transmission mechanism adopts gear drive, the transmission of tendon network, belt wheel transmission, chain gear transmission, connecting rod transmission, worm and gear transmission or rack-and-pinion transmission.
9. under-actuated multi-finger device of robot humanoid finger as claimed in claim 1 is characterized in that: described finger is socketed on the joint shaft with sliding bearing or rolling bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100630701A CN100439048C (en) | 2007-01-26 | 2007-01-26 | Under-actuated multi-finger device of robot humanoid finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100630701A CN100439048C (en) | 2007-01-26 | 2007-01-26 | Under-actuated multi-finger device of robot humanoid finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101007405A CN101007405A (en) | 2007-08-01 |
| CN100439048C true CN100439048C (en) | 2008-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100630701A Expired - Fee Related CN100439048C (en) | 2007-01-26 | 2007-01-26 | Under-actuated multi-finger device of robot humanoid finger |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
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| US8364314B2 (en) * | 2009-04-30 | 2013-01-29 | GM Global Technology Operations LLC | Method and apparatus for automatic control of a humanoid robot |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN104942818B (en) * | 2015-06-08 | 2017-01-11 | 清华大学 | Seven-freedom-degree five-finger mechanical arm |
| CN106142119A (en) * | 2016-07-28 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of clamp-type mechanical hand |
| IT201600120646A1 (en) * | 2016-11-29 | 2018-05-29 | Giovanni Antonio Zappatore | UNUSED ROBOTIC HAND |
| CN108214520B (en) * | 2016-12-13 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Under-actuated light human-simulated five-finger dexterous hand |
| CN106695853B (en) * | 2017-02-21 | 2019-03-22 | 深圳诺欧博智能科技有限公司 | A kind of single driving anthropomorphic manipulator |
| CN107891438B (en) * | 2017-12-26 | 2024-01-26 | 上海哲谦应用科技有限公司 | Driving built-in multi-finger smart hand |
| CN108818585A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot palm structure |
| CN111045513B (en) * | 2019-11-19 | 2021-04-16 | 南京航空航天大学 | Wearable finger tip force feedback device |
| CN113927611B (en) * | 2021-07-29 | 2022-12-13 | 深圳墨影科技有限公司 | Terminal tongs of robot |
| CN114259383B (en) * | 2021-12-23 | 2023-02-10 | 华中科技大学 | Hand exoskeleton device with under-actuated traction function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| US5898943A (en) * | 1996-12-02 | 1999-05-04 | Jong Bok Kim | Golf glove |
| CN1169656C (en) * | 2002-03-15 | 2004-10-06 | 清华大学 | Multi-finger hand simulating human hand for robot |
| CN1231332C (en) * | 2002-11-29 | 2005-12-14 | 清华大学 | Robot anthropomorphic multi finger band device |
-
2007
- 2007-01-26 CN CNB2007100630701A patent/CN100439048C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| US5898943A (en) * | 1996-12-02 | 1999-05-04 | Jong Bok Kim | Golf glove |
| CN1169656C (en) * | 2002-03-15 | 2004-10-06 | 清华大学 | Multi-finger hand simulating human hand for robot |
| CN1231332C (en) * | 2002-11-29 | 2005-12-14 | 清华大学 | Robot anthropomorphic multi finger band device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| CN103213137B (en) * | 2013-04-16 | 2016-05-25 | 清华大学 | The quick grabbed under-actuated robot hand of cam-type |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101007405A (en) | 2007-08-01 |
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