CN100469540C - Underactuated drive finger device of imitating cascaded connection of hand of robot - Google Patents
Underactuated drive finger device of imitating cascaded connection of hand of robot Download PDFInfo
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- CN100469540C CN100469540C CNB200710098787XA CN200710098787A CN100469540C CN 100469540 C CN100469540 C CN 100469540C CN B200710098787X A CNB200710098787X A CN B200710098787XA CN 200710098787 A CN200710098787 A CN 200710098787A CN 100469540 C CN100469540 C CN 100469540C
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Abstract
A cascaded under-driven artificial finger of robot for simulating human finger has an active slide block inlaid in the first finger segment, a middle joint with the gear axle between the first and second finger segments and fixed to the second finger segment and the gear engaged with rack bar, the small and big gears on a single axle which along with two gear axles of middle joint are on the first finger segment, a synchronizing belt with lower gear fixed to small gear axle and upper gear fixed to the final joint axle on the second finger segment, and the third finger segment on the final joint axle.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of underactuated drive finger device of imitating cascaded connection of hand of robot 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.The activation lacking mechanical finger device that design has a form adaptive can better realize more joint freedom degrees, less driver number, these three targets of stronger adaptivity when grasping the object of difformity, size.
Existing a kind of under-driven adaptive mechanical finger device, as Chinese invention patent CN 1365875A,, comprise that first refers to that section, active plate, second refer to section, owe 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 refers to section rotation back fastening object significantly.
Existing a kind of under-driven adaptive mechanical finger device as Chinese invention patent CN 1410223A, comprises the first finger section, owes to drive the joint and the second finger section.External force drives active sliding block and refers to slide on the section first, and the tooth bar that is fixed in simultaneously on the active sliding block moves to base plate, and drive is rotated around joint shaft with the tooth bar meshed gears, realizes that second refers to section rotation and fastening object.
These device weak points are: though two kinds of devices all can adopt the mode of direct series connection to realize the driving of owing of a plurality of dactylus, but because its realization principle is limit, terminal joint must refer to that section could drive the 3rd finger section after stressed second, second refers to that section is stressed if body form is less than, the 3rd refers to that section can not realize rotating, limited with the adaptive capacity of the object of size to difformity.Simultaneously, consider the actual conditions of finger, terminal joint usually and the joint, middle part rotate synchronously, the two rotational angle has certain synergy, two kinds of devices all can't satisfy this effect.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of underactuated drive finger device of imitating cascaded connection of hand of robot is provided, and this installs self not tape drive, and profile and implementation result thereof are similar to the finger of staff, reliable in structure only needs lower control system requirement.This device can be used as a finger of simulating human hand for robot, in order to the more finger-joint free degree of the realization less driver drives of simulating human hand for robot, and has the adaptivity of the object that grasps difformity, size.
Technical scheme of the present invention is as follows:
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention, comprise that first refers to that section, second refers to that section, the 3rd refers to section, active sliding block, be fixed in the tooth bar on the active sliding block, and be arranged on first stage clip that refers between section and the active sliding block, it is characterized in that: this device comprises that also being set in first refers to that section and second refers to that the cascade in the section owes to drive the joint, described cascade owe to drive the joint comprise middle part joint gear axle, double crosslinking gear shaft, pinion shaft, terminal joint shaft, synchronously be with lower whorl, be with wheel and synchronous being with synchronously; Described active sliding block is embedded in first and refers to can do seesawing in the horizontal direction in the section; Described middle part joint gear axle be arranged on first refer to that section and second refers between the section and with second refer to that section is affixed, the gear on the joint gear axle of middle part meshes with described tooth bar; Described middle part joint gear axle, pinion shaft respectively with the pinion of double crosslinking gear shaft, gear wheel engagement, these three gear shafts all are set in described first and refer on the section; Described synchronous band lower whorl and pinion shaft are fixed, and described wheel and the terminal joint shaft be with synchronously is fixed; The described the 3rd refers to that section is socketed on the terminal joint shaft; Described terminal joint shaft is arranged on described second and refers on the section.
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention, it is characterized in that: spring spare of socket on described terminal joint shaft, the two ends of described spring spare are connected to terminal joint shaft and the 3rd and refer on the section, and described spring spare adopts torsion spring, rubber band or band elastic force rope.
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention is characterized in that: described first refers to that section comprises that first refers to that section skeleton, first refers to that section left bearing plate, first refers to section right bearing plate, and the three is fixed together.
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention is characterized in that: described active sliding block comprises slide body, be fixed in the lip-deep slider table face shield of slide body and be fixed in slider table panel on the slider table face shield.
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention is characterized in that: described second refers to that section comprises that second refers to that section skeleton, second refers to that section left bearing plate, second refers to that section right bearing plate, second refers to that section front panel and second refers to the segment table panel; This second finger section skeleton and second refers to that section left bearing plate and second refers to that section right bearing plate is affixed; This second finger section front panel is fixed in second and refers to that section left bearing plate and second refers on section surface of right bearing plate; This second finger segment table panel is cemented in second and refers on the section front panel.
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention is characterized in that: described slider table panel adopts resilient industrial rubber material.
Underactuated drive finger device of imitating cascaded connection of hand of robot of the present invention is characterized in that: described second refers to that the segment table panel adopts resilient industrial rubber material.
Another technical scheme provided by the invention: a kind of underactuated drive finger device of imitating cascaded connection of hand of robot, comprise that first refers to that section, second refers to that section, the 3rd refers to section, active sliding block and be fixed in tooth bar on the active sliding block, it is characterized in that: this device comprises that also being set in first refers to that section and second refers to that the cascade in the section owes to drive the joint, described cascade owe to drive the joint comprise middle part joint gear axle, double crosslinking gear shaft, pinion shaft, terminal joint shaft, synchronously be with lower whorl, be with wheel and synchronous being with synchronously; Twine second torsion spring on the joint gear axle of described middle part, described torsion spring one end and second refers to that section is terminal affixed, and the other end and first refers to that section is affixed; Described active sliding block is embedded in first and refers to can do seesawing in the horizontal direction in the section; Described middle part joint gear axle be arranged on first refer to that section and second refers between the section and with second refer to that section is affixed, the gear on the joint gear axle of middle part meshes with described tooth bar; Described middle part joint gear axle, pinion shaft respectively with the pinion of double crosslinking gear shaft, gear wheel engagement, these three gear shafts all are set in described first and refer on the section; Described synchronous band lower whorl and pinion shaft are fixed, and described wheel and the terminal joint shaft be with synchronously is fixed; The described the 3rd refers to that section is socketed on the terminal joint shaft; Described terminal joint shaft is arranged on described second and refers on the section.
The present invention compared with prior art, have the following advantages and the high-lighting effect: underactuated drive finger device of imitating cascaded connection of hand of robot provided by the invention self is tape drive not, other fingers of indirect utilization hand, the active drive power (moment) in other joints is as drive source, and utilize the rack-and-pinion transmission to realize that finger second refers to the section rotation, utilize gear drive and band transmission to realize that the 3rd refers to that section and second refers to the synergic rotation of section simultaneously, to grabbing body form, size has very strong self adaptation, reduced the control accuracy that needs when grasping object, reduced the requirement of device control system.This device profile is similar to the finger of staff to implementation feature, simple in structure, reliable, can be used as a finger of simulating human hand for robot, in order to realizing simulating human hand for robot, and has the very strong adaptivity that grasps difformity, big wisp with the more finger-joint free degree of less driver drives.
Description of drawings
Fig. 1 is the front view of a kind of embodiment of underactuated drive finger device of imitating cascaded connection of hand of robot provided by the invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the front section view (for the C-C cutaway view among Fig. 4) of Fig. 1.
Fig. 4 is the A-A cutaway view of Fig. 3.
Fig. 5 is the B-B cutaway view of Fig. 3.
Fig. 6 is that the cascade of the embodiment of the invention owes to drive joint component transmission schematic diagram.
Fig. 7 is the explosive view of the embodiment of the invention.
Fig. 8, Fig. 9, Figure 10 are that the present embodiment that is fixed in palm is pointed the grasping object schematic diagram that first and second section of finger contacts the object situation in succession.
Figure 11, Figure 12, Figure 13, Figure 14 are that the present embodiment finger first and third that is fixed in palm refers to that section contacts object in succession, and the 3rd refers to that section produces after the self adaptation effect second a grasping object schematic diagram that refers to section contact object situation.
Figure 15 is a side outside drawing of having used the multi-finger hand simulating human hand for robot of present embodiment, and this moment, thumb turned to the right opposite of palm.
Figure 16 is the front appearance figure that has used the multi-finger hand simulating human hand for robot of present embodiment, and this moment, thumb turned to the side of palm.
Figure 17 be used present embodiment multi-finger hand simulating human hand for robot overlook outside drawing, this moment, thumb turned to the side of palm, two-dot chain line is the situation that turns to the palm front.
Figure 18 is a schematic diagram of having used the multi-finger hand simulating human hand for robot grasping object of present embodiment.
In Fig. 1 to Figure 18:
1-the first refers to section,
11-the first refers to the section skeleton, and 12-the first refers to section left bearing plate, and 13-the first refers to section right bearing plate,
2-the second refers to section,
21-the second refers to the section skeleton, and 22-the second refers to section left bearing plate, and 23-the second refers to section right bearing plate,
24-the second refers to the section front panel, and 25-the second refers to the segment table panel,
3-the three refers to section,
Drive unit is owed in 4-cascade,
41-tooth bar, 42-stage clip, 43-middle part joint gear axle,
44-double crosslinking gear shaft, 45-pinion shaft, 46-terminal joint shaft,
47-synchronously are with lower whorl, and 48-synchronously are with wheel, 49-synchronously bands,
410-the first torsion spring,
5-active sliding block,
51-slide body, 52-slider table face shield, 53-slider table panel.
The specific embodiment
Below in conjunction with accompanying drawing principle of the present invention, the specific embodiment are done detailed description:
Fig. 1～7th, the structural representation of an embodiment of underactuated drive finger device of imitating cascaded connection of hand of robot provided by the invention.Comprise that mainly first refers to that section 1, second refers to that section the 2 and the 3rd refers to section 3, be set in first and refer to that section 1, second refers to that section the 2, the 3rd refers to that the cascade in the section 3 owes to drive joint 4, cascade owe to drive the joint comprise active sliding block 5, tooth bar 41, stage clip 42, middle part joint gear axle 43, double crosslinking gear shaft 44, pinion shaft 45, terminal joint shaft 46, synchronously be with lower whorl 47, be with wheel 48 synchronously, be with 49, the first torsion springs 410 synchronously; Described active sliding block 5 is embedded in first and refers in the section 1, described stage clip 42 is arranged on first and refers between section 1 and the active sliding block 5, described middle part joint gear axle 43 be arranged on first refer to that section 1 and second refers between the section 2 and with second refer to that section is affixed, described tooth bar 41 be fixed on the active sliding block 5 and with middle part joint gear axle 43 on gears engaged, described middle part joint gear axle 43, pinion shaft 45 respectively with pinion, the gear wheel engagement (referring to Fig. 6) of double crosslinking gear shaft 44; These three gear shafts all are set in described first and refer on the section; Described synchronous band lower whorl 47 is fixed with pinion shaft 45, is with wheel 48 and terminal joint shaft 46 fixed synchronously; The described the 3rd refers to that section 3 is socketed on the terminal joint shaft 46, and the two ends of described first torsion spring 410 are connected to terminal joint shaft 46 and the 3rd and refer on the section 3; Described terminal joint shaft 46 is arranged on described second and refers on the section 2.Described active sliding block 5 comprises slide body 41, be fixed in slide body 41 lip-deep slider table face shields 52 and be fixed in slider table panel 53 (referring to Fig. 7) on the slider table face shield 52.The slider table panel adopts resilient industrial rubber material.Described first refers to that section 1 comprises that first refers to that section skeleton 11, first refers to that section left bearing plate 12, first refers to section right bearing plate 13, and the three is fixed together.Described second refers to that section 2 comprises that second refers to that section skeleton 21, second refers to that section left bearing plate 22, second refers to that section right bearing plate 23, second refers to that section front panel 24 and second refers to segment table panel 25; This second finger section skeleton 21 and second refers to that section left bearing plate 22 and second refers to that section right bearing plate 23 is affixed; This second finger section front panel 24 is fixed in second and refers to that section left bearing plate 22 and second refers on section surface of right bearing plate 23; This second finger segment table panel 25 is cemented in second and refers on the section front panel 24.Second refers to that the segment table panel should adopt suitable flexible industrial rubber material.
The course of work below in conjunction with Fig. 6～8 and Fig. 9～12 explanation the above embodiment of the present invention:
Shown in Fig. 8～10, when simulating human hand for robot grasps object, its finger rotates back compressing object, object extruding active sliding block 5, active sliding block 5 refers to 1 li translation d of section along vertical finger surface to first, affixed tooth bar 41 drives middle part joint gear axle 43 with bigger amplitude rotation on it, with middle part joint gear axle 43 affixed second refer to that section 2 also corresponding wide-angles rotate α, the pinion of joint gear axle 43 and double crosslinking gear shaft 44 simultaneously, drive double crosslinking gear shaft 44 and rotate β, the gears engaged of the gear wheel of double crosslinking gear shaft 44 and pinion shaft 45, drive pinion shaft 45 and rotate γ, the synchronous band lower whorl 47 corresponding rotation γs affixed with pinion shaft 45, be with wheel 48 also corresponding rotation γ synchronously, like this, first torsion spring 410 drives the 3rd finger section 3 that two ends are connected on terminal joint shaft 46 and the 3rd finger section 3 is rotated γ-α relative to the second finger section 2, so till second finger section 2 contact objects.Shown in Figure 11～14, if before the second finger section, 2 contact objects, the 3rd refers to that section 3 contact with object earlier, and then two ends are connected to terminal joint shaft 46 and the 3rd and refer to that first torsion spring 410 on sections 3 will produce distortion, thereby realizes changeable grasping force on the 3rd finger section; Second refers to that section 2 is rotated further till the contact object, and first torsion spring 410 is out of shape continuous the increase in this process, and the 3rd refers to that the relative ground of section angle no longer changes.Thereby this robot humanoid finger will have the automatic adaptability to object size, shape.When simulating human hand for robot was decontroled object, it was pointed under motor rotates and leaves object, and object is also just no longer oppressed active sliding block 5, the first and referred to that the stage clip 42 between section 1 and the active sliding block 5 bounces back into the initial position away from the first finger section with active sliding block 5; Simultaneously, by the engaged transmission that tooth bar on the active sliding block 5 41 and middle part joint gear axle 43 cog, drive second and refer to that section 2 returns to the position that initial finger stretches; Simultaneously, the engaged transmission by middle part joint gear axle, pinion shaft and double crosslinking gear shaft and be with transmission synchronously drives the 3rd and refers to that section 3 also returns to the position that initial finger stretches.
Second kind of technical scheme of the present invention and first kind of technical scheme are structurally basic identical, just twine second torsion spring on the joint gear axle of middle part, and an end of this torsion spring and second refers to that section is terminal affixed, and the other end and first refers to that section is affixed.The difference of the course of work of simulating human hand for robot extracting object and the above-mentioned first kind course of work is: when simulating human hand for robot is decontroled object, its finger leaves object under motor rotates, object is also just no longer oppressed active sliding block 5, the torsion spring that is wrapped on the joint gear axle of middle part will drive middle part joint shaft revolution, thereby drive second and refer to that section returns to the position that initial finger stretches, simultaneously, by the engaged transmission that tooth bar on the active sliding block 5 41 and middle part joint gear axle 43 cog, make active sliding block 5 bounce back into initial position away from the first finger section; Simultaneously, by the engaged transmission of middle part joint gear axle, pinion shaft and double crosslinking gear shaft and band transmission synchronously, drive the 3rd and refer to that section 3 also returns to the position that initial finger stretches.
This installs self not tape drive, the active drive power (moment) in other fingers of indirect utilization hand, other joints is as drive source, and utilize the rack-and-pinion transmission to realize that finger second refers to the section rotation, utilize gear drive and band transmission to realize that the 3rd refers to that section and second refers to the synergic rotation of section simultaneously, grabbing body form, size had very strong self adaptation, reduced the control accuracy that needs when grasping object, reduced the requirement of device control system.This device profile is similar to the finger of staff to implementation feature, simple in structure, reliable, can be used as a finger of simulating human hand for robot, in order to realizing simulating human hand for robot, and has the very strong adaptivity that grasps difformity, big wisp with the more finger-joint free degree of less driver drives.Because critical piece is all around the joint shaft setting, and whole device is easy to encapsulate, and prevents that dust from entering, and is also attractive in appearance.
Claims (7)
1. underactuated drive finger device of imitating cascaded connection of hand of robot, comprise that first refers to section (1), second refers to section (2), the 3rd refers to section (3), active sliding block (5), be fixed in the tooth bar (41) on the active sliding block, and be arranged on first stage clip (42) that refers between section and the active sliding block, it is characterized in that: this device comprises that also being set in first refers to that section and second refers to that the cascade in the section owes to drive joint (4), described cascade owe to drive the joint comprise in the middle part of joint gear axle (43), double crosslinking gear shaft (44), pinion shaft (45), terminal joint shaft (46), be with lower whorl (47) synchronously, be with wheel (48) synchronously and be with (49) synchronously; Described active sliding block is embedded in first and refers to can do seesawing in the horizontal direction in the section; Described middle part joint gear axle be arranged on first refer to that section and second refers between the section and with second refer to that section is affixed, the gear on the joint gear axle of middle part meshes with described tooth bar; Described middle part joint gear axle, pinion shaft respectively with the pinion of double crosslinking gear shaft, gear wheel engagement, these three gear shafts all are set in described first and refer on the section; Described synchronous band lower whorl and pinion shaft are fixed, and described wheel and the terminal joint shaft be with synchronously is fixed; The described the 3rd refers to that section is socketed on the terminal joint shaft; Described terminal joint shaft is arranged on described second and refers on the section; Spring spare of socket on described terminal joint shaft, the two ends of described spring spare are connected to terminal joint shaft and the 3rd and refer on the section, and described spring spare adopts torsion spring, rubber band or band elastic force rope.
2. underactuated drive finger device of imitating cascaded connection of hand of robot as claimed in claim 1, it is characterized in that: described first refers to that section comprises that first refers to that section skeleton (11), first refers to that section left bearing plate (12), first refers to section right bearing plate (13), and the three is fixed together.
3. underactuated drive finger device of imitating cascaded connection of hand of robot as claimed in claim 1 is characterized in that: described active sliding block comprises slide body (51), be fixed in the lip-deep slider table face shield of slide body (52) and be fixed in slider table panel (53) on the slider table face shield.
4. underactuated drive finger device of imitating cascaded connection of hand of robot as claimed in claim 1 is characterized in that: described second refers to that section comprises that second refers to that section skeleton (21), second refers to that section left bearing plate (22), second refers to that section right bearing plate (23), second refers to that section front panel (24) and second refers to segment table panel (25); This second finger section skeleton and second refers to that section left bearing plate and second refers to that section right bearing plate is affixed; This second finger section front panel is fixed in second and refers to that section left bearing plate and second refers on section surface of right bearing plate; This second finger segment table panel is cemented in second and refers on the section front panel.
5. underactuated drive finger device of imitating cascaded connection of hand of robot as claimed in claim 3 is characterized in that: described slider table panel adopts resilient industrial rubber material.
6. underactuated drive finger device of imitating cascaded connection of hand of robot as claimed in claim 4 is characterized in that: described second refers to that the segment table panel adopts resilient industrial rubber material.
7. underactuated drive finger device of imitating cascaded connection of hand of robot, comprise that first refers to that section (1), second refers to that section (2), the 3rd refers to section (3), active sliding block (5) and be fixed in tooth bar (41) on the active sliding block, it is characterized in that: this device comprises that also being set in first refers to that section and second refers to that the cascade in the section owes to drive joint (4), described cascade owe to drive the joint comprise middle part joint gear axle (43), double crosslinking gear shaft (44), pinion shaft (45), terminal joint shaft (46), synchronously be with lower whorl (47), be with wheel (48) and synchronous be with (49) synchronously; Twine a torsion spring on the joint gear axle of described middle part, described torsion spring one end and second refers to that section is terminal affixed, and the other end and first refers to that section is affixed; Described active sliding block is embedded in first and refers to can do seesawing in the horizontal direction in the section; Described middle part joint gear axle be arranged on first refer to that section and second refers between the section and with second refer to that section is affixed, the gear on the joint gear axle of middle part meshes with described tooth bar; Described middle part joint gear axle, pinion shaft respectively with the pinion of double crosslinking gear shaft, gear wheel engagement, these three gear shafts all are set in described first and refer on the section; Described synchronous band lower whorl and pinion shaft are fixed, and described wheel and the terminal joint shaft be with synchronously is fixed; The described the 3rd refers to that section is socketed on the terminal joint shaft; Described terminal joint shaft is arranged on described second and refers on the section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710098787XA CN100469540C (en) | 2007-04-27 | 2007-04-27 | Underactuated drive finger device of imitating cascaded connection of hand of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710098787XA CN100469540C (en) | 2007-04-27 | 2007-04-27 | Underactuated drive finger device of imitating cascaded connection of hand of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101049695A CN101049695A (en) | 2007-10-10 |
| CN100469540C true CN100469540C (en) | 2009-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200710098787XA Expired - Fee Related CN100469540C (en) | 2007-04-27 | 2007-04-27 | Underactuated drive finger device of imitating cascaded connection of hand of robot |
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| CN (1) | CN100469540C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214652B (en) * | 2008-01-04 | 2010-06-02 | 清华大学 | Transition under-driven robot finger device |
| CN101633171B (en) * | 2009-07-31 | 2011-01-05 | 清华大学 | Finger device of double-joint parallel under-actuated robot |
| CN101829992A (en) * | 2010-04-23 | 2010-09-15 | 清华大学 | Three-rack slider coupling adaptive underactuated robot finger device |
| CN101829993B (en) * | 2010-04-30 | 2012-05-02 | 清华大学 | Rack crank slide block type parallel coupling under-driving robot finger device |
| CN103786161B (en) * | 2014-02-10 | 2015-09-09 | 上海交通大学 | There is the activation lacking mechanical finger of form adaptive |
| CN105460101B (en) * | 2015-12-17 | 2017-10-20 | 常州大学 | Anthropomorphic robot two-freedom series connection high frequency machinery foot |
| CN105479454B (en) * | 2015-12-22 | 2017-03-29 | 东莞市鸿泰自动化设备有限公司 | A kind of Multi-freedom-degreemanipulator manipulator based on toothed belt transmission |
| CN107053220B (en) * | 2016-10-12 | 2020-04-03 | 清华大学 | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack |
| CN110539318A (en) * | 2019-09-10 | 2019-12-06 | 佛山科学技术学院 | Self-adaptive under-actuated gripper driven by master-slave power |
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2007
- 2007-04-27 CN CNB200710098787XA patent/CN100469540C/en not_active Expired - Fee Related
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| CN101049695A (en) | 2007-10-10 |
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