CN101214649B - Belt wheel multi-joint high under-driven robot finger device - Google Patents

Belt wheel multi-joint high under-driven robot finger device Download PDF

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Publication number
CN101214649B
CN101214649B CN2008100556110A CN200810055611A CN101214649B CN 101214649 B CN101214649 B CN 101214649B CN 2008100556110 A CN2008100556110 A CN 2008100556110A CN 200810055611 A CN200810055611 A CN 200810055611A CN 101214649 B CN101214649 B CN 101214649B
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China
Prior art keywords
finger
joint shaft
joint
driving
spring
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CN2008100556110A
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Chinese (zh)
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CN101214649A (en
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张文增
邱敏
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清华大学
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Publication of CN101214649B publication Critical patent/CN101214649B/en

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Abstract

Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with belt wheels mainly comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, at least two middle finger sections, at least one middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises at least two driving wheels, at least two transmission parts, at least two driven wheels and at least two spring parts, and both ends of each spring part are respectively connected with neighboring finger sections. The device utilizes multiple pairs of belt wheel mechanisms, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect of that the multi-joint super underactuated fingers are bent to grasp an object; the structure is simple and reliable, the cost is low, and the fingers are similar to the fingers of a human hand; the device can be used as the fingers of a robot in order to realize that a robot hand can apply less actuators to drive more multi-joint degrees of freedom, and moreover, the device can be self-adapted to the shape of the grasped object.

Description

The belt wheel multi-joint high under-driven robot finger device

Technical field

The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of belt wheel multi-joint high under-driven robot finger device.

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.Robot humanoid provided by the invention finger owes that drive unit can better be realized 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 arm device as U.S. patent of invention US5762390A, comprises that first refers to that section, second refers to that section, the 3rd refers to section, motor, belt wheel transmission mechanism, lead screw transmission mechanism, base, linkage, spring.First knuckle, second knuckle, third knuckle are connected hinged with base, and are provided with spring between any two and link to each other with connecting rod, form a plurality of quadric chains, and motor, belt wheel transmission mechanism, lead screw transmission mechanism are in series and are arranged in the base.This device is converted into the rotation of motor by belt wheel transmission mechanism, lead screw transmission mechanism the motion of linkage by self-contained motor-driven.Because the effect of spring, first, second, third dactylus initially keeps straight configuration.Its operation principle is: motor rotates, and by the motion of belt wheel transmission mechanism and lead screw transmission mechanism, promotes first parallel motion, rotates simultaneously thereby promote first, second, third dactylus.When first knuckle touched object, first knuckle no longer rotated, and motor is rotated further, and the spring that is arranged between first and second dactylus begins distortion, and simultaneously, first quadric chain amoeboid movement is rotated further thereby promote second and third dactylus.When second knuckle also touches object, second knuckle no longer rotates, and motor is rotated further, the spring that is arranged between second and third dactylus begins distortion, promote second quadric chain amoeboid movement simultaneously, be rotated further thereby promote third knuckle, till third knuckle also contacts object.

The weak point of this device is: a plurality of linkage device complexity, volume is big, manufacturing cost is high, and finger outward appearance and finger have than big-difference.

Summary of the invention

The objective of the invention is weak point at prior art, a kind of belt wheel under-actuated robot finger device is provided, simple in structure, reliable, cost is low, profile is similar to people's finger, and the finger that can be used as anthropomorphic robot's hand uses, to realize that robot adopts the more finger of less driver drives cradle head, need lower control system requirement, and have the adaptivity of the object that grasps difformity, size.

The present invention adopts following technical scheme:

A kind of belt wheel multi-joint high under-driven robot finger device comprises pedestal, motor, decelerator, first gear, second gear, nearly joint shaft, a n middle part section of finger, a n-1 middle joint shaft, joint shaft far away, the end section of finger; Said motor and decelerator and pedestal are affixed, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and said first gear are affixed, first gear and said second gears engaged, second gear and said nearly joint shaft are affixed, and nearly joint shaft is set in the pedestal, and said i middle joint shaft is set in i the middle part section of finger, said joint shaft far away is set in n the middle part section of finger, and the said end section of finger is fixed on the joint shaft far away; It is characterized in that: this device comprises n driving wheel, a n driving member, a n driven pulley, a n spring spare; The 1st the middle part section of finger is socketed on the nearly joint shaft, and i+1 the middle part section of finger is socketed on i the middle joint shaft; Said the 1st driving wheel is fixed on the nearly joint shaft, and said i+1 driving wheel is fixed on i the middle joint shaft; I driven pulley is fixed on i the middle joint shaft, and n driven pulley is fixed on the joint shaft far away; I driving member connects i driving wheel and i driven pulley, and n driving member connects n driving wheel and n driven pulley; The two ends of an i spring spare connect i the middle part section of finger and i+1 the middle part section of finger respectively; The two ends of a n spring spare connect n middle part section of finger and the end section of finger respectively; Wherein, n is at least 2, and i is any number in 1 to n-1.

Belt wheel multi-joint high under-driven robot finger device of the present invention, it is characterized in that: said driving member adopts flat rubber belting, cog belt, tendon rope or chain, said driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, said driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between said driving member, driving wheel and the driven pulley three.

Belt wheel multi-joint high under-driven robot finger device of the present invention is characterized in that: said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, rubber band or elastic threads.

Belt wheel multi-joint high under-driven robot finger device of the present invention, it is characterized in that: the elastic force restriction of a j spring spare is better than the elastic force restriction of a j-1 spring spare, and j is 2 any numbers to the section of the finger number of middle part.

The present invention has the following advantages and the high-lighting effect:

Apparatus of the present invention utilize many to belt wheel mechanism, socket activity a plurality of middle part sections of finger and the decoupling zero effect that a plurality of spring spare had comprehensively realized the crooked special-effect that grasps object of the high under-actuated finger of multi-joint, and simple in structure, reliable, cost is low, be convenient to installation and maintenance, similar to people's finger, volume is little, in light weight, can be used as the finger of anthropomorphic robot's hand, to realize that robot is with the more cradle head of less driver drives, only need lower control system requirement, and have the very strong adaptivity that grasps difformity, big wisp.

Description of drawings

Fig. 1 is the front appearance figure of a kind of embodiment of belt wheel under-actuated robot finger device provided by the invention.

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

Fig. 3 is the cutaway view of Fig. 1.

Fig. 4 is the cutaway view of Fig. 2.

Fig. 5 is the cutaway view of Fig. 2, the position and the annexation of joint shaft, second driving wheel, second driving member, second driven pulley, joint shaft far away in main the demonstration.

Fig. 6 is the present embodiment first spring spare and the position of the first middle part section of finger, the second middle part section of finger, middle joint shaft concerns schematic diagram.

Fig. 7 be present embodiment the second spring spare and the second middle part section of finger, the end section of finger, far the position of joint shaft concerns schematic diagram.

Fig. 8, Figure 10, Figure 12, Figure 14, Figure 16, Figure 17, Figure 18 are the schematic diagrames of present embodiment grasping object process.

Fig. 9, Figure 11, Figure 13, Figure 15 are present embodiment grasping object process schematic diagrames, also are the cutaway views of Fig. 8, Figure 10, Figure 12, Figure 14.

In Fig. 1 to Figure 14:

The 1-pedestal, the 2-motor, the nearly joint shaft of 3-,

The 4-first middle part section of finger, joint shaft among the 5-, the 6-second middle part section of finger,

7-joint shaft far away, the 8-end section of finger, 9-first driving wheel,

10-first driving member, 11-first driven pulley, the 12-first spring spare,

13-second driving wheel, 14-second driving member, 15-second driven pulley,

The 16-second spring spare, the 17-decelerator, 18-first gear,

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

22-second pin, 23-the 3rd pin, 24-the 4th pin,

25-the 5th pin.

The specific embodiment

Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.

A kind of belt wheel multi-joint high under-driven robot finger device comprises pedestal, motor, decelerator, first gear, second gear, nearly joint shaft, a n middle part section of finger, a n-1 middle joint shaft, joint shaft far away, the end section of finger; Said motor and decelerator and pedestal are affixed, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and said first gear are affixed, first gear and said second gears engaged, second gear and said nearly joint shaft are affixed, and nearly joint shaft is set in the pedestal, and said i middle joint shaft is set in i the middle part section of finger, said joint shaft far away is set in n the middle part section of finger, and the said end section of finger is fixed on the joint shaft far away; It is characterized in that: this device comprises n driving wheel, a n driving member, a n driven pulley, a n spring spare; The 1st the middle part section of finger is socketed on the nearly joint shaft, and i+1 the middle part section of finger is socketed on i the middle joint shaft; Said the 1st driving wheel is fixed on the nearly joint shaft, and said i+1 driving wheel is fixed on i the middle joint shaft; I driven pulley is fixed on i the middle joint shaft, and n driven pulley is fixed on the joint shaft far away; I driving member connects i driving wheel and i driven pulley, and n driving member connects n driving wheel and n driven pulley; The two ends of an i spring spare connect i the middle part section of finger and i+1 the middle part section of finger respectively; The two ends of a n spring spare connect n middle part section of finger and the end section of finger respectively; Wherein, n is at least 2, and i is any number in 1 to n-1.

With n is 2 to illustrate.

The embodiment of a kind of belt wheel multi-joint high under-driven robot finger device of the present invention's design, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, shown in Figure 7, comprise pedestal 1, motor 2, decelerator 17, first gear 18, second gear 19, nearly 3,2 middle part sections of finger of joint shaft: i.e. the first middle part section of finger 4 and 6,1 middle joint shaft of the second middle part section of finger: promptly middle joint shaft 5, far joint shaft 7, the end section of finger 8; Said motor 2 and decelerator 17 are affixed with pedestal 1, the output shaft of motor 2 links to each other with the power shaft of decelerator 17, the output shaft of decelerator 17 and said first gear 18 are affixed, first gear 18 and 19 engagements of said second gear, second gear 19 and said nearly joint shaft 3 are affixed, nearly joint shaft 3 is set in the pedestal 1, joint shaft 5 is set in the first middle part section of finger 4 in said, said joint shaft far away 7 is set in the second middle part section of finger 6, and the said end section of finger 8 is fixed on the joint shaft 7 far away by the 5th pin 25; This device comprises 2 driving wheels: i.e. first driving wheel 9 and 13,2 driving members of second driving wheel: i.e. first driving member 10 and 14,2 driven pulleys of second driving member: i.e. first driven pulley 11 and 15,2 spring spares of second driven pulley: i.e. the first spring spare 12 and the second spring spare 16; The first middle part section of finger 4 is socketed on the nearly joint shaft 3, and the second middle part section of finger 6 is socketed in first on the joint shaft 5; Said first driving wheel 9 is fixed on the nearly joint shaft 3 by first pin 21, and said second driving wheel 13 is fixed on the middle joint shaft 5 by the 3rd pin 23; First driven pulley 11 is fixed in first on the joint shaft 5 by second pin 22, and second driven pulley is fixed on the joint shaft 7 far away by the 4th pin 24; First driving member 10 connects first driving wheel 9 and first driven pulley, 11, the second driving members 14 connect second driving wheel 13 and second driven pulley 15; The end that the two ends of the first spring spare 12 connect the first middle part section of finger 4 and the second middle part section of finger, 6, the first spring spares 12 respectively inserts in the first middle part section of finger 4, and the other end inserts in the second middle part section of finger 6, as shown in Figure 6; The end that the two ends of the second spring spare 16 connect the second middle part section of finger 6 and the end section of finger 8, the second spring spares 16 respectively inserts in the second middle part section of finger 6, and the other end inserts in the end section of finger 8, as shown in Figure 7.

In the belt wheel multi-joint high under-driven robot finger device of the present invention, said driving member adopts flat rubber belting, cog belt, tendon rope or chain, said driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, said driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between said driving member, driving wheel and the driven pulley three.

In the present embodiment, said driving member adopts flat rubber belting, and said driving wheel adopts belt wheel, and said driven pulley adopts belt wheel.

Belt wheel multi-joint high under-driven robot finger device of the present invention, said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, rubber band or elastic threads.

In the present embodiment, said spring spare: promptly the first spring spare 12 and the second spring spare 16 adopt torsion spring.

Belt wheel multi-joint high under-driven robot finger device of the present invention, the elastic force restriction of a j spring spare is better than the elastic force restriction of a j-1 spring spare, and j is 2 any numbers to the section of the finger number of middle part.

The elastic force restriction of the said second spring spare is better than the elastic force restriction of the first spring spare.

The operation principle of present embodiment as Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, is described below:

The original state of present embodiment such as Fig. 8, shown in Figure 9, similar people's finger straight configuration.

When present embodiment grasped object, motor 2 rotated, and drove decelerator 17 and rotated, and drove second gear 19 that is engaged with by first gear 18 and rotated, and the nearly joint shaft 3 affixed with second gear rotates, and drove first driving wheel 9 affixed with it and rotated.Because the common restriction of the first spring spare 12, the second spring spare 16, the first middle part section of finger 4, the second middle part section of finger 6 and the end section of finger 8 be one " rigid body " seemingly, and therefore the rotation of first driving wheel 9 will be done as a whole axis rotation around nearly joint shaft 3 by first driving member, 10 pullings, the first middle part section of finger 4, the second middle part section of finger 6 and the terminal section of finger 8.Can run into three kinds of situations this moment:

(a) the end section of finger 8 is run into object, as shown in figure 18, grasps and finishes.

(b) the second middle part section of finger 6 is run into object, as shown in figure 16, this moment, first driving wheel 9 was rotated further, successively by first driving member 10, first driven pulley 11, middle joint shaft 5, second driving wheel 13, second driving member 14, second driven pulley 15, joint shaft 7 far away, the go the long way round axis of joint shaft 7 of the distortion elastic force that the terminal section of finger 8 of pulling is overcome the second spring spare 16 rotates, and the second spring spare 16 deforms at this moment, touches object up to the end section of finger 8, as shown in figure 17, grasp end.

(c) the first middle part section of finger 4 is run into object, as Figure 10, shown in Figure 11, because the elastic force restriction of the second spring spare 16 is better than the elastic force restriction of the first spring spare 12, this moment, first driving wheel 9 was rotated further, successively by first driving member 10, first driven pulley 11, middle joint shaft 5, second driving wheel 13, second driving member 14, spur the second middle part section of finger 6, the end section of finger 8 is done the as a whole axis rotation that overcomes the distortion elastic force of the first spring spare 12 around middle joint shaft 5.If the end section of finger 8 is run into object, then grasp and finish; Otherwise if the second middle part section of finger 6 is run into object, as shown in Figure 12 and Figure 13, this moment, first driving wheel 9 was rotated further, successively by first driving member 10, first driven pulley 11, middle joint shaft 5, second driving wheel 13, second driving member 14, second driven pulley 15, joint shaft 7 far away, the go the long way round axis rotation of joint shaft 7 of the distortion elastic force that the terminal section of finger 8 of pulling is overcome the second spring spare 16, this moment, the second spring spare 16 deformed, touch object up to the end section of finger 8, as Figure 14, shown in Figure 15, grasp and finish.

When decontroling object, motor 2 counter-rotatings drive decelerator 17 counter-rotatings, and 18 counter-rotatings of first gear drive second gear 19, nearly joint shaft 3 and 9 counter-rotatings of first driving wheel.By first driving member, 10 pullings, first driven pulley 11, middle joint shaft 5,13 counter-rotatings of second driving wheel, by second driving member, 14 pullings, second driven pulley 15, joint shaft 7 far away, 8 counter-rotatings of the end section of finger, the distortion of the second spring spare 16 simultaneously reduces thereupon gradually, this moment the terminal section of finger 8 be inverted to its with respect to the second middle part section of finger 6 initially stretch the position, shown in Figure 12,13.Owing to above the back of the second middle part section of finger 6 boss is arranged, this boss surpasses the position that finger stretches when the confinement end section of finger 8 is reversed, and plays a position-limiting action, and the therefore terminal section of finger 8 is subjected to the backward rotation again that stops of the second middle part section of finger 6.Second driving member 14 will spur the second middle part section of finger 6 of having stretched and the end section of finger 8 and do as a wholely to reverse around the axis of middle joint shaft 5 together this moment, the distortion of the first spring spare 12 simultaneously reduces thereupon gradually, this moment the second middle part section of finger 6 backward rotation to its with respect to the first middle part section of finger 4 initially stretch the position, as Figure 10, shown in Figure 11.Owing to above the back of the first middle part section of finger 4 boss is arranged, this boss surpasses the position that finger stretches in the time of will limiting 6 counter-rotatings of the second middle part section of finger, plays a position-limiting action, and therefore the second middle part section of finger 6 is subjected to the backward rotation again that stops of the first middle part section of finger 4.First driving member 10 will spur the first middle part section of finger 4, the second middle part section of finger 6, the end section of finger 8 of having stretched and do as a whole together around the axis backward rotation of nearly joint shaft 3 this moment, return to the position of stretching that begins most fully up to device, as Fig. 8, shown in Figure 9.

The present invention utilize many to belt wheel mechanism, socket activity a plurality of middle part sections of finger and the decoupling zero effect that a plurality of spring spare had comprehensively realized the crooked special-effect that grasps object of the high under-actuated finger of multi-joint.

Claims (3)

1. a belt wheel multi-joint high under-driven robot finger device comprises pedestal, motor, decelerator, first gear, second gear, nearly joint shaft, a n middle part section of finger, a n-1 middle joint shaft, joint shaft far away, the end section of finger; Said motor and decelerator and pedestal are affixed, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and said first gear are affixed, first gear and said second gears engaged, second gear and said nearly joint shaft are affixed, and nearly joint shaft is set in the pedestal, and said i middle joint shaft is set in i the middle part section of finger, said joint shaft far away is set in n the middle part section of finger, and the said end section of finger is fixed on the joint shaft far away; It is characterized in that: this device also comprises n driving wheel, a n driving member, a n driven pulley, a n spring spare; The 1st the middle part section of finger is socketed on the nearly joint shaft, and i+1 the middle part section of finger is socketed on i the middle joint shaft; Said the 1st driving wheel is fixed on the nearly joint shaft, and said i+1 driving wheel is fixed on i the middle joint shaft; I driven pulley is fixed on i the middle joint shaft, and n driven pulley is fixed on the joint shaft far away; I driving member connects i driving wheel and i driven pulley, and n driving member connects n driving wheel and n driven pulley; The two ends of an i spring spare connect i the middle part section of finger and i+1 the middle part section of finger respectively; The two ends of a n spring spare connect n middle part section of finger and the end section of finger respectively; Wherein, n is at least 2, and i is any number in 1 to n-1; Said driving member adopts flat rubber belting, cog belt, tendon rope or chain, said driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, said driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between said driving member, driving wheel and the driven pulley three.
2. belt wheel multi-joint high under-driven robot finger device as claimed in claim 1 is characterized in that: said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, rubber band or elastic threads.
3. belt wheel multi-joint high under-driven robot finger device as claimed in claim 1 or 2, it is characterized in that: the elastic force restriction of a j spring spare is better than the elastic force restriction of a j-1 spring spare, and j is 2 any numbers to the section of the finger number of middle part.
CN2008100556110A 2008-01-04 2008-01-04 Belt wheel multi-joint high under-driven robot finger device CN101214649B (en)

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Application Number Priority Date Filing Date Title
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CN101214649B true CN101214649B (en) 2010-06-16

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Families Citing this family (12)

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CN101486191B (en) * 2009-02-26 2012-11-21 清华大学 Displacement under-actuated robot hand apparatus
CN102729255A (en) * 2012-06-19 2012-10-17 西北农林科技大学 Finger structure of skillful hand of fruit picking robot
CN103341856B (en) * 2013-07-11 2016-08-10 东莞市亚世工业设备有限公司 A kind of two-way expanding, taking and placing device of improvement
FR3016543A1 (en) * 2014-01-22 2015-07-24 Aldebaran Robotics Hand intended to equip a humanide robot with improved fingers
CN104924303B (en) * 2015-07-12 2017-08-29 北京理工大学 A kind of multi-joint manipulator device of common power
CN105773608B (en) * 2016-03-17 2018-01-12 清华大学 The flat folder adaptive robot finger apparatus of gear fluids
CN105619438B (en) * 2016-03-17 2017-12-29 清华大学 The flat folder adaptive robot finger apparatus of connecting rod fluid
CN105583837A (en) * 2016-03-17 2016-05-18 清华大学 Gear type self-adaptive robot finger device with rope and springs assisting in grabbing
CN106041918B (en) * 2016-07-01 2018-08-07 苏州塞默机械有限公司 A kind of catching robot and working method equipped with Friction Type Belt Drive joint
CN106142068B (en) * 2016-08-30 2019-01-22 广州智创知识产权运营有限公司 The cutter that deflecting is bent and can be driven over long distances
CN210436151U (en) * 2019-06-28 2020-05-01 北京海益同展信息科技有限公司 Bionic thumb
CN110640774A (en) * 2019-10-22 2020-01-03 上海理工大学 Six-degree-of-freedom five-finger manipulator

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CN1557268A (en) * 2004-02-11 2004-12-29 哈尔滨工业大学 Self-adapting artificial hand lack of actuating

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CN2652609Y (en) * 2003-07-10 2004-11-03 战强 Multiple joint interactive multiple finger flexible holder
CN1557268A (en) * 2004-02-11 2004-12-29 哈尔滨工业大学 Self-adapting artificial hand lack of actuating

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