CN101288954A - Double bevel wheel under-driven robot finger - Google Patents
Double bevel wheel under-driven robot finger Download PDFInfo
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- CN101288954A CN101288954A CNA200810114873XA CN200810114873A CN101288954A CN 101288954 A CN101288954 A CN 101288954A CN A200810114873X A CNA200810114873X A CN A200810114873XA CN 200810114873 A CN200810114873 A CN 200810114873A CN 101288954 A CN101288954 A CN 101288954A
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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
- 210000003811 finger Anatomy 0.000 abstract description 78
- 230000007246 mechanism Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 210000003813 thumb Anatomy 0.000 abstract description 2
- 210000004247 hand Anatomy 0.000 abstract 1
- 230000009916 joint effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000005167 amoeboid movement Effects 0.000 description 2
- 238000010586 diagram Methods 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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Abstract
A duplex bevel gear under-actuated robot finger device pertains to the technical field of personification robots, which comprises a base, a motor, a reducer, a first gear, a drive bevel gear, a near articular shaft, a middle finger section, a far articular shaft and an end finger section. The device also comprises a duplex bevel gear, a driven bevel gear and a spring part; the middle finger section is sheathed on the near articular shaft; the two ends of the spring part are respectively connected with the middle finger section and the end finger section. The device utilizes a group of duplex bevel gear mechanisms, the middle finger section in the sleeve joint activity and the decoupling effect of the spring part to comprehensively achieve the special effect that the biarticular under-actuated finger can bend to grasp objects. The robot finger device of the invention has the advantages of simple and reliable structure, low cost, convenient installation and maintenance, small volume and being similar to human fingers, which is especially and suitably taken as the thumb or a part of other fingers of the personification robot hands, has fewer drivers to drive more rotating joints and can grasp the objects with different shapes and sizes by autoadaptation.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of double bevel wheel 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 double bevel wheel under-driven 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:
Double bevel wheel under-driven robot finger device of the present invention comprises pedestal, motor, decelerator, first gear, drive bevel gear, nearly joint shaft, the middle part section of finger, joint shaft far away and the end section of finger; Said motor and decelerator are all affixed with pedestal, the output shaft of motor links to each other with reducer input shaft, the output shaft of decelerator and first gear are affixed, first gear is meshed with drive bevel gear, drive bevel gear is fixed in nearly joint shaft, said nearly joint shaft is set in the pedestal, said joint shaft far away is set in the section of finger of middle part, the said end section of finger is fixed on the joint shaft far away, it is characterized in that: this double bevel wheel under-driven robot finger device also comprises double bevel wheel, driven wheel of differential and spring spare; The said middle part section of finger is socketed on the nearly joint shaft; Said drive bevel gear is fixed on the nearly joint shaft, said driven wheel of differential is fixed on the joint shaft far away, said double bevel wheel comprises lower end bevel gear, upper end bevel gear and gear shaft, said lower end bevel gear, upper end bevel gear and gear shaft three are affixed, said gear bush is connected in the section of finger of middle part, said lower end gear and driving gear engagement, said upper end bevel gear and driven wheel of differential engagement, the two ends of said spring spare connect middle part section of finger and the end section of finger respectively.
The said double bevel wheel 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, 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 are utilized one group of double bevel wheel mechanism, the middle part section of finger of socket activity and the decoupling zero effect that spring spare had have realized that comprehensively doublejointed drives the crooked special-effect that grasps object of finger, simple in structure, reliable, cost is lower, be convenient to installation and maintenance, similar to staff, volume is little, 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 double bevel wheel under-driven robot finger device provided by the invention.
Fig. 2 is the side view of present embodiment, also is the left view of Fig. 1.
Fig. 3 is the front section view of present embodiment, also is the cutaway view of Fig. 1.
Fig. 4 is the side sectional view of present embodiment, also is the cutaway view of Fig. 2.
Fig. 5 is the installation site schematic diagram of the spring spare of present embodiment, also is the partial view of the right side view of Fig. 1.
Fig. 9, Figure 10, Figure 11, Figure 12 are several key positions side schematic appearance of present embodiment grasping object process.
Fig. 6, Fig. 7, Fig. 8 are several key position side sectional views of present embodiment grasping object process, respectively the cutaway view of corresponding diagram 9, Figure 10, Figure 11.
Figure 13 is the front appearance figure of the complete palm that is assembled into double bevel wheel under-driven robot finger.
Figure 14 is the side outside drawing of the complete palm that is assembled into double bevel wheel under-driven robot finger.
In Fig. 1 to Figure 12:
The 1-pedestal, the 2-motor, the 3-decelerator,
4-first gear, the nearly joint shaft of 5-, the 6-drive bevel gear,
The 7-middle part section of finger, the 8-double bevel wheel, 81-lower end bevel gear,
The 82-gear shaft, 83-upper end bevel gear, the 9-driven wheel of differential,
10-joint shaft far away, 11-spring spare, the 12-end section of finger,
The 101-pin.
The specific embodiment
Be described in further detail concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
The embodiment of a kind of double bevel wheel under-driven robot finger device of the present invention's design, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, comprise pedestal 1, motor 2, decelerator 3, first gear 4, nearly joint shaft 5, the middle part section of finger 7, joint shaft 10 far away and the end section of finger 12; Said motor 2 and decelerator 3 are all affixed with pedestal 1, the output shaft of motor 2 links to each other with the power shaft of decelerator 3, the output shaft of decelerator 3 and first gear 4 are affixed, first gear 4 is meshed with drive bevel gear 6, drive bevel gear is fixed in nearly joint shaft 5, and said nearly joint shaft 5 is set in the pedestal 1; Said joint shaft far away 10 is set on the section of finger 7 of middle part, and the said end section of finger 12 is fixed on the joint shaft 10 far away.This device comprises double bevel wheel 8.Driven wheel of differential 9 and spring spare 11; The said middle part section of finger 7 is socketed on the nearly joint shaft 5, said double bevel wheel 8 comprises lower end bevel gear 81, upper end bevel gear 83 and gear shaft 82, said lower end bevel gear 81, upper end bevel gear 83 and gear shaft 82 threes are affixed, said double bevel wheel 8 is set in the section of finger of middle part, said driven wheel of differential 9 is fixed on the joint shaft 10 far away, said drive bevel gear 6 is meshed with double bevel wheel lower end gear 81, said driven wheel of differential 9 is meshed with double bevel wheel upper end bevel gear 83, and the two ends of said spring spare 11 connect middle part section of finger 7 and the end section of finger 12 respectively.For easy for installation, double bevel wheel can be divided into two parts, wherein upper end bevel gear and gear shaft are processed as one, and the lower end bevel gear is processed separately, and be affixed with gear shaft again after the installation.
In the double bevel wheel under-driven 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 11 adopts torsion spring.
The operation principle of present embodiment as Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, is described below:
The initial position of this device such as Fig. 6, shown in Figure 9, this moment middle part section of finger 7 and the end section of finger 12 and pedestal 1 are straight line, promptly are equivalent to the state that people's finger stretches.When the robot extracting object of present embodiment was equipped with in use, the output shaft of motor 2 rotated, and drove the nearly joint shaft 5 that is connected with drive bevel gear 6 by first gear 4 and rotated.Because the effect of contraction of spring spare 11, the middle part section of finger 7 is fixed together seemingly with the end section of finger 12, therefore the rotation of drive bevel gear 6 will be by double bevel wheel 8 and driven wheel of differential 9, preferential middle part section of finger 7 and the end section of finger 12 of making rotated around nearly joint shaft 5 together, this process is run into object up to the middle part section of finger 7, shown in Fig. 7,10.
Running into object when the middle part section of finger 7 is blocked can't continue to rotate the time, being rotated further of drive bevel gear 6 will make double bevel wheel 8 rotate, and allow driven wheel of differential 9 rotate, and make joint shaft 10 far away rotate, thereby make the end section of finger 12 overcome the elastic force of spring spare 11 and rotate, spring spare 11 deflections increase simultaneously.This process is also run into object up to the end section of finger 12, as Fig. 8, shown in Figure 11.So far, the present embodiment device has been firmly grasped object.
Even body form varies in size, this installs also envelope object smoothly.When if this device middle part section of finger 7 and the end section of finger 12 are rotated simultaneously, the end section of finger 12 has precedence over the middle part section of finger 7 and touches body surface, owing to being subjected to stopping of the middle part section of finger 7, the terminal section of finger 12 is difficult to counter-rotating, therefore this device will no longer move and firmly firmly grasp object with the end section of finger, as shown in figure 12.
When decontroling object, motor 2 backward rotation, drive nearly joint shaft 5 counter-rotatings, drive drive bevel gear 6 counter-rotatings, thereby make driven wheel of differential 9 backward rotation by driving double bevel wheel 8 counter-rotatings, this moment, the deflection of spring spare 11 reduced gradually, and the go the long way round axis of joint shaft 10 of the end section of finger 12 reverses and leaves body surface, arrived straight configuration up to the end section of finger 12, as Fig. 7, shown in Figure 10 with respect to the middle part section of finger 7.Because being stopped by the middle part section of finger 7, the end section of finger 12 can not continue counter-rotating again, motor 2 continues backward rotation at this moment, to drive the whole middle section of finger 7, joint shaft 10 far away, driven wheel of differential 9 and the terminal section of finger 12 together around the near axis backward rotation of joint shaft 5, the middle part section of finger 7 is left body surface, up to returning to the position that initial finger stretches, as Fig. 6, shown in Figure 9.
Can be assembled into the activation lacking mechanical hand by the present invention, the manipulator front appearance of assembling as shown in figure 13, the side outward appearance is as shown in figure 14.The activation lacking mechanical hand that is assembled into by the present invention can reach with less driver drives than multi-joint, object is had the effect of shape self-adapting grasping envelope ability.
The present invention utilizes the middle part section of finger of one group of double bevel 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 (2)
1, a kind of double bevel wheel under-driven robot finger device comprises pedestal (1), motor (2), decelerator (3), first gear (4), drive bevel gear (6), nearly joint shaft (5), the middle part section of finger (7), joint shaft (10) far away and the end section of finger (12); 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 and drive bevel gear engagement, drive bevel gear is fixed in nearly joint shaft, and 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, the said end section of finger is fixed on the joint shaft far away, and the said middle part section of finger is socketed on the nearly joint shaft; Said drive bevel gear is fixed on the nearly joint shaft, it is characterized in that: this double bevel wheel under-driven robot finger device also comprises double bevel wheel (8), driven wheel of differential (9) and spring spare (11); Said double bevel wheel (8) comprises lower end bevel gear (81), upper end bevel gear (83) and gear shaft (82), and said lower end bevel gear, upper end bevel gear and gear shaft three are affixed; Said driven wheel of differential is fixed on the joint shaft far away, said gear bush is connected in the section of finger of middle part, said lower end gear and drive bevel gear engagement, said upper end bevel gear and driven wheel of differential engagement, said spring spare two ends connect middle part section of finger and the end section of finger respectively.
2, double bevel wheel 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, rubber band or elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810114873A CN100581756C (en) | 2008-06-13 | 2008-06-13 | Double bevel wheel under-driven robot finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810114873A CN100581756C (en) | 2008-06-13 | 2008-06-13 | Double bevel wheel under-driven robot finger |
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| Publication Number | Publication Date |
|---|---|
| CN101288954A true CN101288954A (en) | 2008-10-22 |
| CN100581756C CN100581756C (en) | 2010-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810114873A Expired - Fee Related CN100581756C (en) | 2008-06-13 | 2008-06-13 | Double bevel wheel under-driven robot finger |
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| CN (1) | CN100581756C (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166753A (en) * | 2011-05-20 | 2011-08-31 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN101767337B (en) * | 2010-01-21 | 2011-09-14 | 清华大学 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
| CN102179818A (en) * | 2011-05-20 | 2011-09-14 | 清华大学 | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system |
| CN102717394A (en) * | 2012-06-01 | 2012-10-10 | 清华大学 | Bevel-gear-coupling neat robot finger device |
| CN103009398A (en) * | 2012-12-18 | 2013-04-03 | 北京理工大学 | Humanoid hand in underactuation exquisite transmission structure |
| CN105773647A (en) * | 2015-12-01 | 2016-07-20 | 清华大学 | Rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force |
| CN108953889A (en) * | 2018-07-24 | 2018-12-07 | 合肥爱玩动漫有限公司 | A kind of projection arrangement for cartoon design |
| CN109481104A (en) * | 2018-12-11 | 2019-03-19 | 安阳工学院 | A kind of three sections gearing artificial limb finger |
| CN111421567A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Gear differential type under-actuated three-joint mechanical finger structure and operation method thereof |
-
2008
- 2008-06-13 CN CN200810114873A patent/CN100581756C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767337B (en) * | 2010-01-21 | 2011-09-14 | 清华大学 | Bevel gear-band wheel coupled under-actuated two-joint robot finger device |
| CN102166753A (en) * | 2011-05-20 | 2011-08-31 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN102179818A (en) * | 2011-05-20 | 2011-09-14 | 清华大学 | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system |
| CN102166753B (en) * | 2011-05-20 | 2012-07-25 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN102717394B (en) * | 2012-06-01 | 2014-11-26 | 清华大学 | Bevel-gear-coupling neat robot finger device |
| CN102717394A (en) * | 2012-06-01 | 2012-10-10 | 清华大学 | Bevel-gear-coupling neat robot finger device |
| CN103009398A (en) * | 2012-12-18 | 2013-04-03 | 北京理工大学 | Humanoid hand in underactuation exquisite transmission structure |
| CN103009398B (en) * | 2012-12-18 | 2015-02-11 | 北京理工大学 | Humanoid hand of underactuated exquisite transmission structure |
| CN105773647A (en) * | 2015-12-01 | 2016-07-20 | 清华大学 | Rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force |
| CN105773647B (en) * | 2015-12-01 | 2018-07-06 | 清华大学 | Rack-and-pinion becomes grip elasticity linkage adaptive robot finger apparatus |
| CN108953889A (en) * | 2018-07-24 | 2018-12-07 | 合肥爱玩动漫有限公司 | A kind of projection arrangement for cartoon design |
| CN109481104A (en) * | 2018-12-11 | 2019-03-19 | 安阳工学院 | A kind of three sections gearing artificial limb finger |
| CN111421567A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Gear differential type under-actuated three-joint mechanical finger structure and operation method thereof |
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| Publication number | Publication date |
|---|---|
| CN100581756C (en) | 2010-01-20 |
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Granted publication date: 20100120 Termination date: 20130613 |