CN101234489A - Belt wheel under-driven robot finger device - Google Patents
Belt wheel under-driven robot finger device Download PDFInfo
- Publication number
- CN101234489A CN101234489A CN 200810055614 CN200810055614A CN101234489A CN 101234489 A CN101234489 A CN 101234489A CN 200810055614 CN200810055614 CN 200810055614 CN 200810055614 A CN200810055614 A CN 200810055614A CN 101234489 A CN101234489 A CN 101234489A
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- Prior art keywords
- finger
- joint shaft
- gear
- belt wheel
- wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 210000002435 tendon Anatomy 0.000 claims description 3
- 210000003811 finger Anatomy 0.000 abstract description 81
- 230000007246 mechanism Effects 0.000 abstract description 11
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 210000003813 thumb Anatomy 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000005167 amoeboid movement Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
-
- 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
The invention provides a wheel driving robot finger device, belonging to a robot technical field which comprises a base, a motor, a reducer, a first gear, a second gear, a close joint shaft, a middle part finger, a far joint shaft and a terminal finger section as well as a driver, a transmission part, a driven wheel, a spring part. The middle part finger is sleeved on the close joint shaft. Two terminals of the spring part are respectively connected with the middle and the terminal finger sections. The device uses a pair of wheel mechanisms to sleeve a plurality of active middle part fingers with the decoupling effect of the spring part comprehensively to realize the special effect that the double joints drive the finger to bend so as to catch the objects. With simple structure, reliability, low cost, convenient installation and maintenance, small volume and light weight, the wheel driving robot finger device similar to human fingers is especially suitable for being used as a thumb of the hand of the humanoid robot or a part of other fingers that uses fewer drivers to drive more rotation joints to automatically adjust to catch the objects of different shapes and sizes.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of belt wheel under-actuated 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.
Technical scheme of the present invention is as follows:
Belt wheel under-actuated robot finger device of the present invention mainly comprises pedestal, motor, decelerator, first gear, second gear, nearly joint shaft, the middle part section of finger, joint shaft far away, the end section of finger; Said motor and decelerator are all affixed with pedestal, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and first gear are affixed, first gear is meshed with second gear, second gear is fixed in nearly joint shaft, said nearly joint shaft is set in the pedestal, and said joint shaft far away is set in the section of finger of middle part, and the said end section of finger is fixed on the joint shaft far away; It is characterized in that: this belt wheel under-actuated robot finger device also comprises driving wheel, driving member, driven pulley, spring spare; The said middle part section of finger is socketed on the nearly joint shaft; Said driving wheel is fixed on the nearly joint shaft, and said driven pulley is fixed on the joint shaft far away, and said driving member connects driving wheel and driven pulley, and the two ends of said spring spare connect middle part section of finger and the end section of finger respectively.
Belt wheel under-actuated 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 under-actuated robot finger device of the present invention is characterized in that: said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, rubber band or elastic threads.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention utilize a plurality of middle part sections of finger of a pair of belt wheel mechanism, socket activity and decoupling zero effect that spring spare had comprehensively to realize the crooked special-effect that grasps object of doublejointed under-actuated finger, simple in structure, reliable, cost is low, be convenient to installation and maintenance, similar to people's finger, volume is little, in light weight, be particularly suitable as the part of thumb or other fingers of anthropomorphic robot's hand, 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 the 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 scheme of installation of the spring spare of present embodiment.
Fig. 6, Fig. 8, Fig. 9, Figure 11, Figure 12 are that present embodiment is illustrated with the middle part section of finger, the end section of finger grasping object process.
Fig. 7, Figure 10, Figure 13 are the schematic diagram of present embodiment with the middle part section of finger, the end section of finger grasping object process, are respectively the cutaway views of corresponding diagram 6, Fig. 9, Figure 12.
Figure 11, Figure 12 are the schematic diagram of present embodiment with the terminal section of finger grasping object process
In Fig. 1 to Figure 10:
The 1-pedestal, the 2-motor,
The nearly joint shaft of 3-, the 4-middle part section of finger,
5-joint shaft far away, the 6-end section of finger,
The 7-driving wheel, the 8-driving member, the 9-driven pulley,
10-spring spare, 11-first gear, 12-second gear,
The 13-object, the 21-decelerator.
The specific embodiment
The embodiment of a kind of belt wheel under-actuated robot finger device of the present invention's design, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, mainly comprise pedestal 1, motor 2, decelerator 21, first gear 11, second gear 12, nearly joint shaft 3, the middle part section of finger 4, joint shaft 5 far away, the end section of finger 6; Said motor 2 and decelerator 21 are all affixed with pedestal 1, the output shaft of motor 2 links to each other with the power shaft of decelerator 21, the output shaft of decelerator 21 and first gear 11 are affixed, first gear 11 is meshed with second gear 12, second gear 12 is fixed in nearly joint shaft 3, and said nearly joint shaft 3 is set in the pedestal 1; Said joint shaft far away 5 is set in the section of finger 4 of middle part, and the said end section of finger 6 is fixed on the joint shaft 5 far away.This device comprises driving wheel 7, driving member 8, driven pulley 9, spring spare 10; The said middle part section of finger 4 is socketed on the nearly joint shaft 3, said driving wheel 7 is fixed on the nearly joint shaft 3, said driven pulley 9 is fixed on the joint shaft 5 far away, and said driving member 8 connects driving wheel 7 and driven pulley 9, and the two ends of said spring spare 10 connect middle part section of finger 4 and the end section of finger 6 respectively.
In the belt wheel under-actuated 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 8 adopts flat rubber belting, and said driving wheel 7 adopts belt wheel, and said driven pulley 9 adopts belt wheel, can cooperate between said driving wheel, driving member and the driven pulley to form the band drive connection.
In the belt wheel under-actuated robot finger device of the present invention, said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, rubber band or elastic threads.
In the present embodiment, said spring spare 10 adopts torsion spring.
The operation principle of present embodiment as Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, is described below:
The initial position of this device such as Fig. 6, shown in Figure 11, this moment middle part section of finger 4 and the end section of finger 6 and pedestal 1 are a straight line, promptly are equivalent to the state that people's finger stretches.When the robot extracting object 13 of belt wheel under-actuated robot finger device provided by the invention was equipped with in use, the output shaft of motor 2 rotated, and drove the nearly joint shaft 3 that is connected with second gear 12 by first gear 11 and rotated, and driving wheel 7 is rotated.Because the effect of contraction of spring spare 10, the middle part section of finger 4 is fixed together seemingly with the end section of finger 6, so the rotation of driving wheel 7 will be by driving member 8 and driven pulley 9, and preferential middle part section of finger 4 and the end section of finger 6 of making rotated around nearly joint shaft 3 together, as shown in Figure 7.This process is run into object 13 up to the middle part section of finger 4, and this moment is shown in Fig. 8,12.
Run into that object 13 is blocked and can't continue to rotate the time, driving wheel 7 will spur driving member 8 this moment when the middle part section of finger 4, allow driven pulley 9 rotations, make joint shaft 5 far away rotate, thereby make the end section of finger 6 overcome the elastic force of spring spare 10 and rotate, spring spare 10 deflections increase simultaneously, as shown in Figure 9.This process is also run into object 13 up to the end section of finger 6, as Figure 10, shown in Figure 13.So far, the present embodiment device has been firmly grasped object 13.
Even body form varies in size, if this device is when also this device of envelope object middle part section of finger 4 and the end section of finger 6 are rotated simultaneously smoothly, the end section of finger 6 has precedence over the middle part section of finger 4 and touches object 13 surfaces, the process signal is shown in Figure 14,15, be difficult to reverse owing to the terminal section of finger 6 is subjected to stopping of the middle part section of finger 4, so this device will no longer move and firmly firmly grasp object with the end section of finger.
When decontroling object 13, motor 2 backward rotation, drive nearly joint shaft 3 counter-rotatings, drive driving wheel 7 counter-rotatings, thereby by driving member 8 pulling driven pulleys 7 backward rotation, this moment, the deflection of spring spare 10 reduced gradually, and the go the long way round axis of joint shaft 5 of the end section of finger 6 reverses and leaves object 13 surfaces, as shown in Figure 9.Arrived straight configuration up to the end section of finger 6, shown in Fig. 8,12.Because being stopped by the middle part section of finger 4, the end section of finger 6 can not continue counter-rotating again, motor 2 continues backward rotation at this moment, to drive the whole middle section of finger 4, joint shaft 5 far away, driven pulley 9 and the terminal section of finger 6 together around the near axis backward rotation of joint shaft 3, the middle part section of finger 4 is left object 13 surfaces, as shown in Figure 7.Up to returning to the position that initial finger stretches, shown in Fig. 6,11.
The present invention utilizes a plurality of middle part sections of finger of a pair of belt wheel mechanism socket activity and decoupling zero effect that spring spare had comprehensively to realize the crooked special-effect that grasps object of doublejointed under-actuated finger.
Claims (3)
1. a belt wheel under-actuated robot finger device comprises pedestal (1), motor (2), decelerator (21), first gear (11), second gear (12), nearly joint shaft (3), the middle part section of finger (4), joint shaft (5) far away, the end section of finger (6); Said motor and decelerator are all affixed with pedestal, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and first gear are affixed, first gear is meshed with second gear, second gear is fixed in nearly joint shaft, said nearly joint shaft is set in the pedestal, and said joint shaft far away is set in the section of finger of middle part, and the said end section of finger is fixed on the joint shaft far away; It is characterized in that: this belt wheel under-actuated robot finger device also comprises driving wheel (7), driving member (8), driven pulley (9), spring spare (10); The said middle part section of finger is socketed on the nearly joint shaft; Said driving wheel is fixed on the nearly joint shaft, and said driven pulley is fixed on the joint shaft far away, and said driving member connects driving wheel and driven pulley, and the two ends of said spring spare connect middle part section of finger and the end section of finger respectively.
2. belt wheel under-actuated robot finger device as claimed in claim 1, 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.
3. belt wheel under-actuated robot finger device as claimed in claim 1 is characterized in that: said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, rubber band or elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810055614 CN101234489B (en) | 2008-01-04 | 2008-01-04 | Belt wheel under-driven robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810055614 CN101234489B (en) | 2008-01-04 | 2008-01-04 | Belt wheel under-driven robot finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101234489A true CN101234489A (en) | 2008-08-06 |
| CN101234489B CN101234489B (en) | 2010-07-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200810055614 Expired - Fee Related CN101234489B (en) | 2008-01-04 | 2008-01-04 | Belt wheel under-driven robot finger device |
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| CN (1) | CN101234489B (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829995A (en) * | 2010-04-30 | 2010-09-15 | 清华大学 | Crank block type flexible piece parallel coupled under-actuated finger device |
| CN101633171B (en) * | 2009-07-31 | 2011-01-05 | 清华大学 | Finger device of double-joint parallel under-actuated robot |
| CN101767337B (en) * | 2010-01-21 | 2011-09-14 | 清华大学 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| CN102248539A (en) * | 2011-07-21 | 2011-11-23 | 清华大学 | Finger device for double-joint three-axis-wheel combined underactuated robot |
| CN102267137A (en) * | 2011-07-12 | 2011-12-07 | 清华大学 | Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device |
| CN102794772A (en) * | 2012-08-08 | 2012-11-28 | 清华大学 | Motor-centered compound under-actuated gripping robot finger device |
| CN104015193A (en) * | 2014-06-03 | 2014-09-03 | 清华大学 | Grabbing-locking self-adaptive robot finger device |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| CN106041918A (en) * | 2016-07-01 | 2016-10-26 | 苏州塞默机械有限公司 | Both-way grabbing mechanical arm with friction type belt drive joints and work method of both-way grabbing mechanical arm |
| CN106041989A (en) * | 2016-07-01 | 2016-10-26 | 苏州塞默机械有限公司 | Mechanical joint used for both-way grabbing mechanical arm |
| CN109176566A (en) * | 2018-09-21 | 2019-01-11 | 清华大学 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
| CN109227583A (en) * | 2018-09-30 | 2019-01-18 | 清华大学 | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| WO2021136003A1 (en) * | 2019-12-30 | 2021-07-08 | 北京术锐技术有限公司 | Torque balance device, self-balancing joint, and surgical robot |
| CN114945449A (en) * | 2019-12-30 | 2022-08-26 | 北京术锐技术有限公司 | Torque balancing device, self-balancing joint and surgical robot |
| CN115194809A (en) * | 2022-06-27 | 2022-10-18 | 北京控制工程研究所 | Film-coated under-actuated gripping paw and method for climbing outside space cabin |
-
2008
- 2008-01-04 CN CN 200810055614 patent/CN101234489B/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633171B (en) * | 2009-07-31 | 2011-01-05 | 清华大学 | Finger device of double-joint parallel under-actuated robot |
| CN101767337B (en) * | 2010-01-21 | 2011-09-14 | 清华大学 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
| CN101829995A (en) * | 2010-04-30 | 2010-09-15 | 清华大学 | Crank block type flexible piece parallel coupled under-actuated finger device |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| CN102267137A (en) * | 2011-07-12 | 2011-12-07 | 清华大学 | Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device |
| CN102248539A (en) * | 2011-07-21 | 2011-11-23 | 清华大学 | Finger device for double-joint three-axis-wheel combined underactuated robot |
| CN102794772A (en) * | 2012-08-08 | 2012-11-28 | 清华大学 | Motor-centered compound under-actuated gripping robot finger device |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| CN104015193A (en) * | 2014-06-03 | 2014-09-03 | 清华大学 | Grabbing-locking self-adaptive robot finger device |
| CN104015193B (en) * | 2014-06-03 | 2016-05-18 | 清华大学 | Capture locking adaptive robot finger apparatus |
| CN106041918A (en) * | 2016-07-01 | 2016-10-26 | 苏州塞默机械有限公司 | Both-way grabbing mechanical arm with friction type belt drive joints and work method of both-way grabbing mechanical arm |
| CN106041989A (en) * | 2016-07-01 | 2016-10-26 | 苏州塞默机械有限公司 | Mechanical joint used for both-way grabbing mechanical arm |
| 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 |
| CN106041989B (en) * | 2016-07-01 | 2019-03-08 | 苏州塞默机械有限公司 | A kind of mechanical joint for two-way catching robot |
| CN109176566A (en) * | 2018-09-21 | 2019-01-11 | 清华大学 | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
| CN109176566B (en) * | 2018-09-21 | 2023-12-08 | 清华大学 | Self-adaptive robot finger device with gear chute and connecting rod linearly clamped in parallel |
| CN109227583A (en) * | 2018-09-30 | 2019-01-18 | 清华大学 | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line |
| CN109227583B (en) * | 2018-09-30 | 2023-12-22 | 清华大学 | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute |
| WO2021136003A1 (en) * | 2019-12-30 | 2021-07-08 | 北京术锐技术有限公司 | Torque balance device, self-balancing joint, and surgical robot |
| CN114945449A (en) * | 2019-12-30 | 2022-08-26 | 北京术锐技术有限公司 | Torque balancing device, self-balancing joint and surgical robot |
| CN114945449B (en) * | 2019-12-30 | 2023-12-05 | 北京术锐机器人股份有限公司 | Torque balancing device, self-balancing joint, and surgical robot |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN115194809A (en) * | 2022-06-27 | 2022-10-18 | 北京控制工程研究所 | Film-coated under-actuated gripping paw and method for climbing outside space cabin |
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| CN101234489B (en) | 2010-07-28 |
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