CN101214649A - Multi-joint Highly Underactuated Robotic Finger Device with Wheels - Google Patents

Abstract

The multi-joint high-under-actuated robot finger device with wheels belongs to the technical field of anthropomorphic robots, and mainly includes a base, a motor, a reducer, a first gear, a second gear, a proximal joint shaft, at least 2 middle finger segments, and at least 1 middle finger. Joint axis, distal joint axis, terminal segment. The device also includes at least 2 driving wheels, at least 2 transmission parts, at least 2 driven wheels, and at least 2 spring parts, and the two ends of the spring parts are respectively connected to adjacent finger segments. The device uses multiple pairs of pulley mechanisms, multiple middle finger segments that are socketed and movable, and the decoupling effect of multiple springs to comprehensively realize the special effect of multi-joint high-under-driven fingers bending and grabbing objects. The structure is simple and reliable. , low cost, similar to human fingers, can be used as robot fingers to realize robot hands using fewer drivers to drive more joint degrees of freedom, and has the ability to adapt to the shape of the grasped object.

Description

Multi-joint Highly Underactuated Robotic Finger Device with Wheels

technical field

The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a pulley multi-joint high under-actuation robot finger device.

Background technique

Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed for the hand. However, in order to reduce the control difficulty of the anthropomorphic robot hand, as well as reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. Certain contradictions, in addition, in order to better grasp the object, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. The robot anthropomorphic finger underactuated device provided by the present invention can better realize the three goals of more joint degrees of freedom, less number of drivers, and stronger adaptability when grasping objects of different shapes and sizes.

An existing self-adaptive underactuated manipulator device, such as the US patent US5762390A, includes a first finger segment, a second finger segment, a third finger segment, a motor, a pulley drive mechanism, a screw drive mechanism, a base, and a connecting rod mechanism, spring. The first phalanx, the second phalanx, and the third phalanx are hinged together with the base in series, and there are springs and connecting rods between the two to form a plurality of four-bar linkages. The motor, the pulley transmission mechanism, the wire The rod transmission mechanism is arranged in series in the base. The device is driven by a motor carried by itself, and the rotation of the motor is converted into the motion of the link mechanism by a pulley transmission mechanism and a screw transmission mechanism. Due to the action of the spring, the first, second, and third knuckles are initially kept straight. Its working principle is: the motor rotates, and the movement of the pulley transmission mechanism and the screw transmission mechanism drives the first four-bar linkage mechanism to move, thereby pushing the first, second and third knuckles to rotate simultaneously. When the first knuckle touches the object, the first knuckle no longer rotates, the motor continues to rotate, and the spring arranged between the first and second knuckles begins to deform. At the same time, the first four-bar linkage deforms and moves, thereby Push the second and third knuckles to continue turning. When the second knuckle also touches the object, the second knuckle does not rotate any more, the motor continues to rotate, the spring arranged between the second and third knuckles starts to deform, and at the same time pushes the second four-bar linkage mechanism to deform and move, thereby Push the third knuckle to continue turning until the third knuckle also touches the object.

The disadvantages of the device are: multiple link mechanism devices are complex, bulky, high in manufacturing cost, and the appearance of the fingers is quite different from that of human fingers.

Contents of the invention

The purpose of the present invention is to address the deficiencies in the prior art, to provide a pulley underactuated robot finger device, which is simple in structure, reliable, low in cost, similar in appearance to human fingers, and can be used as a finger of anthropomorphic robot hands to Realizing that the robot hand uses fewer drivers to drive more finger rotation joints requires lower control system requirements and has the adaptability to grab objects of different shapes and sizes.

The present invention adopts following technical scheme:

A wheeled multi-joint high-under-drive robot finger device, including a base, a motor, a reducer, a first gear, a second gear, a proximal joint shaft, n middle finger segments, n-1 middle joint shafts, and a distal joint Shaft and end finger section; said motor and reducer are fixedly connected to the base, the output shaft of the motor is connected to the input shaft of the reducer, the output shaft of the reducer is connected to the first gear, and the first gear is connected to the first gear. The said second gear meshes, the second gear is fixedly connected with the said proximal joint shaft, the proximal joint shaft is sleeved in the base, and said i-th middle joint shaft is sleeved in the i-th middle finger section , said distal joint shaft is sleeved in the nth middle finger segment, and said end finger segment is sleeved on the distal joint shaft; it is characterized in that: the device includes n driving wheels, n transmission parts, n driven wheels and n springs; the first middle finger segment is socketed on the proximal joint shaft, and the i+1th middle finger segment is socketed on the i middle joint shaft; the first driving wheel The said i+1 driving wheel is fixed on the i-th middle joint shaft; the i-th driven wheel is fixed on the ith middle joint shaft, and the n-th driven wheel It is fixed on the distal joint shaft; the i-th transmission member connects the i-th driving wheel and the i-th driven wheel, and the n-th transmission member connects the n-th driving wheel and the n-th driven wheel; the i-th spring member The two ends are respectively connected to the i-th middle finger segment and the i+1th middle finger segment; the two ends of the n-th spring are respectively connected to the n-th middle finger segment and the end finger segment; wherein, n is at least 2, and i is Any number from 1 to n-1.

The pulley multi-joint high-under-drive robot finger device of the present invention is characterized in that: said transmission part adopts flat belt, toothed belt, tendon rope or chain, and said driving wheel adopts pulley, gear, rope Wheel or sprocket wheel, said driven wheel adopts belt pulley, gear, rope wheel or sprocket wheel, can cooperate to form transmission relationship between said transmission member, driving wheel and driven wheel three.

The multi-joint high-under-drive robot finger device with pulleys of the present invention is characterized in that said spring parts are torsion springs, extension springs, compression springs, leaf springs, plate springs, springs, rubber bands or elastic ropes.

The multi-joint high-under-drive robot finger device with pulleys of the present invention is characterized in that: the elastic force limiting effect of the j-th spring element is stronger than that of the j-1-th spring element, and j is 2 to the number of middle finger segments any number of .

The present invention has the following advantages and outstanding effects:

The device of the present invention utilizes the decoupling effect of multiple pairs of pulley mechanisms, multiple middle finger segments and multiple spring parts to comprehensively realize the special effect of multi-joint high and low drive fingers bending and grabbing objects, and the structure is simple , Reliable, low cost, easy to install and maintain, similar to human fingers, small in size and light in weight, can be used as fingers of anthropomorphic robot hands to realize robot hands driving more rotating joints with less drivers, requiring only a low It is required by the control system and has a strong adaptability to grab objects of different shapes and sizes.

Description of drawings

Fig. 1 is a front appearance view of an embodiment of a pulley underactuated robot finger device provided by the present invention.

Fig. 2 is a left side view of Fig. 1 .

FIG. 3 is a sectional view of FIG. 1 .

FIG. 4 is a sectional view of FIG. 2 .

Fig. 5 is a cross-sectional view of Fig. 2, mainly showing the position and connection relationship of the middle joint shaft, the second driving wheel, the second transmission member, the second driven wheel, and the distal joint shaft.

Fig. 6 is a schematic diagram of the positional relationship between the first spring element, the first middle finger segment, the second middle finger segment, and the middle joint axis in this embodiment.

Fig. 7 is a schematic diagram of the positional relationship between the second spring element, the second middle finger segment, the terminal finger segment and the distal joint axis in this embodiment.

Fig. 8, Fig. 10, Fig. 12, Fig. 14, Fig. 16, Fig. 17 and Fig. 18 are schematic diagrams of the process of grasping an object in this embodiment.

Fig. 9, Fig. 11, Fig. 13 and Fig. 15 are schematic diagrams of the process of grasping objects in this embodiment, and are also cross-sectional views of Fig. 8, Fig. 10, Fig. 12 and Fig. 14.

In Figures 1 to 14:

1-base, 2-motor, 3-proximal joint shaft,

4-first middle finger segment, 5-middle joint axis, 6-second middle finger segment,

7-distal joint shaft, 8-end finger segment, 9-first driving wheel,

10-the first transmission member, 11-the first driven wheel, 12-the first spring member,

13-the second driving wheel, 14-the second transmission member, 15-the second driven wheel,

16-second spring, 17-reducer, 18-first gear,

19-second gear, 20-object, 21-first pin,

22-second pin, 23-third pin, 24-fourth pin,

25 - Fifth pin.

Detailed ways

The content of 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.

A wheeled multi-joint high-under-drive robot finger device, including a base, a motor, a reducer, a first gear, a second gear, a proximal joint shaft, n middle finger segments, n-1 middle joint shafts, and a distal joint Shaft and end finger section; said motor and reducer are fixedly connected to the base, the output shaft of the motor is connected to the input shaft of the reducer, the output shaft of the reducer is connected to the first gear, and the first gear is connected to the first gear. The said second gear meshes, the second gear is fixedly connected with the said proximal joint shaft, the proximal joint shaft is sleeved in the base, and said i-th middle joint shaft is sleeved in the i-th middle finger section , said distal joint shaft is sleeved in the nth middle finger segment, and said end finger segment is sleeved on the distal joint shaft; it is characterized in that: the device includes n driving wheels, n transmission parts, n driven wheels and n springs; the first middle finger segment is socketed on the proximal joint axis, and the i+1th middle finger segment is socketed on the i middle joint axis; the first driving wheel The said i+1 driving wheel is fixed on the i-th middle joint shaft; the i-th driven wheel is fixed on the ith middle joint shaft, and the n-th driven wheel It is fixed on the distal joint shaft; the i-th transmission member connects the i-th driving wheel and the i-th driven wheel, and the n-th transmission member connects the n-th driving wheel and the n-th driven wheel; the i-th spring member The two ends are respectively connected to the i-th middle finger segment and the i+1th middle finger segment; the two ends of the n-th spring are respectively connected to the n-th middle finger segment and the end finger segment; wherein, n is at least 2, and i is Any number from 1 to n-1.

Take n as 2 for example.

An embodiment of a wheeled multi-joint high underdrive robot finger device designed by the present invention, as shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, and Fig. 2. Reducer 17, first gear 18, second gear 19, proximal joint shaft 3, 2 middle finger segments: first middle finger segment 4 and second middle finger segment 6, 1 middle joint shaft: middle Joint shaft 5, distal joint shaft 7, terminal finger section 8; said motor 2 and reducer 17 are fixedly connected to base 1, the output shaft of motor 2 is connected with the input shaft of reducer 17, and the output shaft of reducer 17 It is affixed to the first gear 18, the first gear 18 meshes with the second gear 19, the second gear 19 is affixed to the proximal joint shaft 3, and the proximal joint shaft 3 is sleeved on the base 1 Among them, the said middle joint shaft 5 is sleeved in the first middle finger section 4, the said distal joint shaft 7 is sleeved in the second middle finger section 6, and the said end finger section 8 passes through the fifth pin 25 Set on the distal joint shaft 7; the device includes 2 driving wheels: the first driving wheel 9 and the second driving wheel 13, 2 transmission parts: the first transmission part 10 and the second transmission part 14, 2 Driven wheel: the first driven wheel 11 and the second driven wheel 15, 2 springs: the first spring 12 and the second spring 16; the first middle finger segment 4 is sleeved on the proximal joint shaft 3, the second The two middle finger sections 6 are sleeved on the first middle joint shaft 5; the first driving wheel 9 is fixed on the proximal joint shaft 3 through the first pin 21, and the second driving wheel 13 is passed through the third joint shaft. The pin 23 is fixed on the middle joint shaft 5; the first driven wheel 11 is fixed on the first middle joint shaft 5 through the second pin 22, and the second driven wheel is fixed on the distal joint shaft 7 through the fourth pin 24; The first transmission part 10 is connected with the first driving wheel 9 and the first driven wheel 11, and the second transmission part 14 is connected with the second driving wheel 13 and the second driven wheel 15; the two ends of the first spring part 12 are respectively connected with the first middle finger Section 4 and the second middle finger segment 6, one end of the first spring member 12 is inserted in the first middle finger segment 4, and the other end is inserted in the second middle finger segment 6, as shown in Figure 6; the two of the second spring member 16 One end of the second spring member 16 is inserted into the second middle finger segment 6, and the other end is inserted into the end finger segment 8, as shown in FIG. 7 .

In the pulley multi-joint high underdrive robot finger device of the present invention, said transmission part adopts flat belt, toothed belt, tendon rope or chain, and said driving wheel adopts pulley, gear, sheave or chain Wheel, said driven wheel adopts belt pulley, gear, sheave or sprocket wheel, can cooperate to form transmission relationship between said transmission member, driving wheel and driven wheel three.

In this embodiment, the transmission part is a flat belt, the driving wheel is a pulley, and the driven wheel is a pulley.

In the present invention, the pulley multi-joint high-under-drive robot finger device uses torsion springs, extension springs, compression springs, leaf springs, plate springs, springs, rubber bands or elastic ropes as the spring parts.

In this embodiment, the said springs: that is, the first spring 12 and the second spring 16 are torsion springs.

In the pulley multi-joint high-under-drive robot finger device of the present invention, the elastic limiting effect of the j-th spring element is stronger than that of the j-1-th spring element, and j is any number from 2 to the number of middle finger segments.

The elastic limiting effect of the second spring element is stronger than that of the first spring element.

The working principle of the present embodiment, as shown in Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17, Fig. 18, is described as follows:

The initial state of this embodiment is shown in Fig. 8 and Fig. 9, which is similar to the straight state of human fingers.

When the present embodiment grabs an object, the motor 2 rotates, drives the reducer 17 to rotate, and drives the second gear 19 meshed with it to rotate through the first gear 18, and the proximal joint shaft 3 fixedly connected with the second gear rotates to drive it The affixed first driving wheel 9 rotates. Due to the joint restriction of the first spring 12 and the second spring 16, the first middle finger section 4, the second middle finger section 6 and the end finger section 8 are as if a "rigid body", so the rotation of the first driving wheel 9 will The first middle finger section 4 , the second middle finger section 6 and the end finger section 8 are pulled by the first transmission member 10 to rotate around the axis of the proximal joint shaft 3 as a whole. At this point there will be three situations:

(a) The end finger segment 8 hits the object, as shown in Figure 18, and the grasping ends.

(b) The second middle finger segment 6 hits an object, as shown in Figure 16, at this moment the first driving wheel 9 continues to rotate, passing through the first transmission member 10, the first driven wheel 11, the middle joint shaft 5, the second The driving wheel 13, the second transmission member 14, the second driven wheel 15, and the distal joint shaft 7 will pull the end finger section 8 to overcome the deformation elastic force of the second spring part 16 and rotate around the axis of the distal joint shaft 7. At this time, the second spring part 16 is deformed until the end finger section 8 touches the object, as shown in Figure 17, the grasping ends.

(c) The first middle finger section 4 hits an object, as shown in Figure 10 and Figure 11, because the elastic force limiting effect of the second spring element 16 is stronger than the elastic force limiting effect of the first spring element 12, the first driving wheel 9. Continue to rotate, pass the first transmission member 10, the first driven wheel 11, the middle joint shaft 5, the second driving wheel 13, and the second transmission member 14 in sequence, and pull the second middle finger section 6 and the end finger section 8 as a whole Overcome the deformation elastic force of the first spring member 12 to rotate around the axis of the joint shaft 5 . If the end finger section 8 touches the object, the grasping ends; otherwise, if the second middle finger section 6 touches the object, as shown in Figure 12 and Figure 13, the first driving wheel 9 continues to rotate at this time, and passes through the first driving wheel successively. Part 10, the first driven wheel 11, the middle joint shaft 5, the second driving wheel 13, the second transmission member 14, the second driven wheel 15, and the far joint shaft 7 will pull the end finger section 8 to overcome the second spring part 16 The deformation elastic force rotates around the axis of the distal joint shaft 7, and at this moment, the second spring member 16 is deformed until the end finger section 8 touches the object, as shown in Fig. 14 and Fig. 15, and the grasping ends.

When the object is released, the motor 2 reverses to drive the speed reducer 17 to reverse, and the first gear 18 reverses to drive the second gear 19, the proximal joint shaft 3 and the first driving wheel 9 to reverse. The first driven wheel 11, the middle joint shaft 5, and the second driving wheel 13 are pulled by the first transmission member 10 to reverse, and the second driven wheel 15, the distal joint shaft 7, and the end finger segment 8 are reversed by the second transmission member 14 At the same time, the deformation of the second spring member 16 gradually decreases, and at this time, the end finger section 8 has reversed to its initial straight position relative to the second middle finger section 6, as shown in FIGS. 12 and 13 . Because there is a boss above the back of the second middle finger section 6, this boss will limit the position of the end finger section 8 when it reverses and surpass the straight position of the finger, and play a position-limiting effect, so the end finger section 8 is subjected to the second The blocking of the middle finger section 6 can no longer reverse rotation. At this time, the second transmission member 14 will pull the straightened second middle finger section 6 and the end finger section 8 as a whole to reverse around the axis of the middle joint shaft 5, and the deformation of the first spring member 12 will gradually decrease thereupon. Small, at this time the second middle finger segment 6 has reversely rotated to its initial straight position relative to the first middle finger segment 4, as shown in Fig. 10 and Fig. 11 . Since there is a boss above the back of the first middle finger section 4, this boss will limit the position of the second middle finger section 6 when it reverses and exceeds the straight position of the finger, which plays a position-limiting role, so the second middle finger section 6 is blocked by the first middle finger segment 4 and can no longer rotate in reverse. At this time, the first transmission member 10 will pull the straightened first middle finger section 4, second middle finger section 6, and end finger section 8 to rotate in reverse around the axis of the proximal joint shaft 3 as a whole until the device is fully recovered. To the initial straight position, as shown in Figure 8 and Figure 9.

The invention utilizes the decoupling effect of multiple pairs of pulley mechanisms, multiple middle finger sections that are socketed and movable, and multiple spring parts to comprehensively realize the special effect of multi-joint high-under-driven fingers bending and grabbing objects.

Claims (4)

1. A wheeled multi-joint high underdrive robot finger device, comprising a base, a motor, a reducer, a first gear, a second gear, a proximal joint shaft, n middle finger segments, n-1 middle joint shafts, The distal joint shaft and the end finger segment; the motor and the reducer are fixedly connected to the base, the output shaft of the motor is connected to the input shaft of the reducer, the output shaft of the reducer is fixedly connected to the first gear, and the first The gear meshes with the second gear, the second gear is fixedly connected to the joint-proximal shaft, the joint-proximal shaft is sleeved in the base, and the i-th middle joint shaft is sleeved in the i-th middle finger In the section, the said distal joint shaft is sleeved in the n middle finger segment, and the said end finger segment is sleeved on the distal joint shaft; it is characterized in that: the device also includes n drive wheels, n transmission pieces, n driven wheels, and n springs; the first middle finger segment is socketed on the proximal joint axis, and the i+1th middle finger segment is socketed on the ith middle joint axis; the first The first driving wheel is fixed on the proximal joint shaft, the i+1th driving wheel is fixed on the ith middle joint shaft; the ith driven wheel is fixed on the ith middle joint shaft, and the nth The first driven wheel is fixed on the distal joint shaft; the i-th transmission part connects the i-th driving wheel and the i-th driven wheel, and the n-th transmission part connects the n-th driving wheel and the n-th driven wheel; the i-th The two ends of the spring part are respectively connected to the i-th middle finger segment and the i+1th middle finger segment; the two ends of the n-th spring part are respectively connected to the n-th middle finger segment and the end finger segment; wherein, n is at least 2 , i is any number from 1 to n-1. 2. The pulley multi-joint high underdrive robot finger device as claimed in claim 1 is characterized in that: said transmission part adopts flat belt, toothed belt, tendon rope or chain, and said driving wheel adopts pulley , gear, rope wheel or sprocket wheel, said driven wheel adopts pulley, gear, rope wheel or sprocket wheel, can cooperate to form transmission relationship between said transmission member, driving wheel and driven wheel three. 3. The multi-joint high-under-drive robot finger device with pulleys as claimed in claim 1, characterized in that: said spring parts adopt torsion springs, extension springs, compression springs, leaf springs, leaf springs, springs, rubber bands or Elastic cord. 4. The multi-joint high-under-drive robot finger device with pulleys as claimed in claim 1 or 3, characterized in that: the elastic limiting effect of the j spring element is stronger than the elastic limiting effect of the j-1 spring element, j It is any number from 2 to the number of middle finger segments.

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