CN101422906B - Displaced under-actuated two-articulated robot finger device based on flexible piece - Google Patents

Displaced under-actuated two-articulated robot finger device based on flexible piece Download PDF

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Publication number
CN101422906B
CN101422906B CN200810239815XA CN200810239815A CN101422906B CN 101422906 B CN101422906 B CN 101422906B CN 200810239815X A CN200810239815X A CN 200810239815XA CN 200810239815 A CN200810239815 A CN 200810239815A CN 101422906 B CN101422906 B CN 101422906B
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China
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described
finger
flexible piece
transmission mechanism
joint shaft
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CN200810239815XA
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Chinese (zh)
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CN101422906A (en
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张文增
车德梦
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清华大学
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Publication of CN101422906B publication Critical patent/CN101422906B/en

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Abstract

The invention discloses a displacement shift underactuated two-joint robot finger device based on a flexible piece, which pertains to the technical field of anthropomorphic robots and comprises a base, a first motor, a near joint shaft, a middle finger section, a far joint shaft, an end finger section, a first transmission mechanism and a first spring piece, as well as a second motor, the flexible piece and a second spring piece. The second motor is fixedly connected with the middle finger section, two ends of the flexible piece are respectively connected with the output shaft of the second motor and the end finger section, and the second spring piece is connected to a driving chain from the near joint shaft to the far joint shaft in series. The device uses the motors, the transmission mechanism, the flexible piece and the spring pieces to comprehensively realize the special effect of variable original configuration and self-adapting grabbing of fingers. The device leads the middle joint to bend so as to achieve good grabbing preparation posture before grabbing, and grabs the object in the self-adapting underactuated manner during grabbing. The device has the grabbing action which more approaches to the hands of human, and can stably grab and automatically adapt to objects of various shapes and sizes, thus being applicable to robot hands.

Description

Displacement under-actuated two-articulated robot finger device based on flexible piece

Technical field

The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of the displacement under-actuated two-articulated robot finger device based on flexible piece.

Background technology

People in research to intelligent robot, the tidemark of anthropomorphic robot as robot research, also always the behavior that realizes the class people as the target of dreaming of.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.

Over nearly 30 years, Dextrous Hand research has obtained great successes.Dextrous Hand has 3~5 fingers, and each points 2~4 joint freedom degrees, and most joints are the active joint that motor, air muscle, hydraulic pressure etc. drive.Dextrous Hand can be made the exercises of staff, comprises grasping and operate two kinds of actions.The Hitachi hand of for example abroad developing, Utah/MIT hand, Stanford/JPL hand, the C5 of Shadow company hand, DLR hand and Robonaut hand, the HIT Dextrous Hand of domestic Harbin Institute of Technology research and development and the BH Dextrous Hand of Beijing Institute of Aeronautics research and development.The major advantage of Dextrous Hand be can be flexibly initiatively extracting object, and good grasp stability arranged, its deficiency is that the shape and size to object adapt to (self-adapting grasping) automatically can not realize grasping object the time, cause sensing and control system to be required high, system complex, cost height, reliability are low.

Activation lacking mechanical finger can overcome the some shortcomings of the pure active drive multi-joint finger of Dextrous Hand, owes the machine driven staff as main design realization height and is more and more being paid attention to over past ten years.For example, with the under-actuated finger with a motor, two cradle heads is example, this finger apparatus comprises pedestal, nearly joint, the centre section of finger, joint far away, the end section of finger, initial time is pointed and is straight configuration, and this moment, motor rotated, whole finger rotates around its nearly joint, when the centre section of finger touch object be blocked motionless after, motor continue to drive joint far away and the end section of finger is rotated, thereby realizes that a motor drives the driving purposes of owing of two joints rotations successively.The advantage of activation lacking mechanical finger is the size that can adapt to body form and size automatically, reaches the purpose of self-adapting grasping, has reduced the requirement to sensing and control system.But the deficiency of activation lacking mechanical finger is: its finger initial configuration is fixing (stretches or be certain angle of bend), and this and staff Grasp Modes have more different, personalize inadequately, are not easy to the object of some size, shape is stablized extracting.During people's hand grip different size object, finger just need not bend to certain angle in advance before also touching object, only in this way just can better grasp.For example, before staff was gripping small-size object, four referred to that (being forefinger, middle finger, the third finger and little finger of toe) middle joint is crooked in advance than wide-angle, refer to that up to four end and thumb end are close, and grasp afterwards again.And finger crooked angle be to need to regulate for the object of different size.And traditional under-actuated finger cannot be implemented in the rotation of touching joint in the middle of this before the object, thereby be difficult to realize personalizing more grasping movement and grabbing object effect more stably.In addition, do not grab object when having and carry out simple clenching fist during action, whole finger can only be straight configuration and rotate around nearly joint shaft, and can moving around clenching fist of middle arthrogryposis of this and staff be thought very far, influenced the action effect that personalizes of robot.

Existing a kind of belt wheel under-actuated robot finger device, as Chinese invention patent CN101234489A, comprise pedestal, motor, decelerator, nearly joint shaft, gear drive, belt wheel transmission mechanism, the middle part section of finger, joint shaft far away, the end section of finger and spring spare.Motor rotates the end section of finger by decelerator, gear and belt wheel transmission mechanism thereupon.Because the effect of contraction of spring is maintained fixed middle part section of finger and the terminal section of finger before not touching object straight configuration (angle between middle part section of finger and the terminal section of finger is the straight angle), have only when the middle part section of finger contact object is blocked, the end section of finger is just rotated with joint shaft far away, realizes finger object that crooked envelope grasps.The weak point of this device is that middle part section of finger and the end section of finger can only be straight configuration, rotate around nearly joint shaft with an integral body, have influenced the extracting effect before the contact object.

Traditional robot device with rigidity finger is also arranged, finger configuration with stationary curved, the most common finger gesture when they have imitated human extracting object, but the finger case of bending of this class device is to fix to change angle of bend, and the joint freedom degrees number is very few, can not adapt to the extracting demand of different size object.

Summary of the invention

The objective of the invention is weak point at prior art, a kind of displacement under-actuated two-articulated robot finger device based on flexible piece is provided, it can free adjustment the original state in joint in the middle of the finger, have the extracting effect of automatic adaptation body form, size when guaranteeing to grasp object simultaneously.This device utilizes motor to regulate owing to drive the hand initial position, improve mechanical finger and grasped the stability of different size, shaped objects and the action effect that personalizes, realize the flexible self-adapting grasping of robot finger under low control system requires, the device profile is similar to people's finger, and the finger that can be used as anthropomorphic robot's hand uses.

Technical scheme of the present invention is as follows:

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention comprises pedestal, first motor, nearly joint shaft, the middle part section of finger, joint shaft far away, the end section of finger, first transmission mechanism and the first spring spare; Described first motor and pedestal are affixed, and the output shaft of first motor links to each other with nearly joint shaft; Described nearly joint shaft is set in the pedestal, and joint shaft far away is set in the section of finger of middle part, and nearly joint shaft and joint shaft far away are parallel to each other; The described middle part section of finger is socketed on the nearly joint shaft, and described end refers to that the Duan Yuyuan joint shaft is affixed; The power shaft of described first transmission mechanism links to each other with nearly joint shaft, and the output shaft of first transmission mechanism links to each other with joint shaft far away, and nearly joint shaft is identical with the rotation direction of joint shaft far away, and the two ends of the described first spring spare connect middle part section of finger and the end section of finger respectively; It is characterized in that: should also comprise second motor, flexible piece and the second spring spare based on the displacement under-actuated two-articulated robot finger device of flexible piece; Described second motor and the middle part section of finger are affixed, the two ends of described flexible piece connect the output shaft and the end section of finger of second motor respectively, and the described second spring spare is installed in series from nearly joint shaft to first transmission mechanism again to the driving-chain of joint shaft far away as connector.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: the combination of one or more in described first transmission mechanism employing flat tyre wheel transmission mechanism, cog belt wheel drive mechanism, rope sheave transmission mechanism, chain drive, rack and pinion drive mechanism, gear drive or the jointed gear unit.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: described first transmission mechanism comprises driving wheel, driving member and driven pulley; Described driving wheel links to each other with nearly joint shaft, driven pulley links to each other with joint shaft far away, driving member connects driving wheel and driven pulley, described driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain, described driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, described driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described driving member, driving wheel and the driven pulley three.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: one or more combination in described first spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads or the rubber band.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: one or more combination in described second spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads or the rubber band.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: one or more combination in described flexible piece employing rope, band, muscle, silk or the chain.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, it is characterized in that: also comprise second transmission mechanism, the input of described second transmission mechanism links to each other with the output shaft of second motor, and the output of second transmission mechanism links to each other with an end of flexible piece.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, it is characterized in that: described second transmission mechanism comprises screw mandrel and nut, described screw mandrel links to each other with the output shaft of second motor, described nut and screw mandrel form the screw thread drive connection, nut links to each other with an end of flexible piece, and nut is embedded in the section of finger of middle part.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: described second transmission mechanism comprises first gear, second gear, breast wheel and jackshaft; Described first gear links to each other with the output shaft of second motor, described second gear formative gear drive connection that is meshed with first gear, described second gear links to each other with jackshaft, described jackshaft is set in the section of finger of middle part, described breast wheel is fixed on the jackshaft, and breast wheel links to each other with an end of flexible piece.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention is characterized in that: also comprise the 3rd transmission mechanism; The input of described the 3rd transmission mechanism links to each other with the output shaft of first motor, and the output of the 3rd transmission mechanism links to each other with nearly joint shaft.

The present invention compared with prior art has the following advantages and the high-lighting effect:

Apparatus of the present invention utilize bi-motor, transmission mechanism, flexible piece and spring spare comprehensively to realize the special-effect of finger variable initial configuration self-adapting grasping.This device grasps attitude to reach good preparation in the joint in the middle of grasping front curve, owe type of drive according to self adaptation and grasp object when grasping.This device can be regulated different finger original configuration, has better improved the stability that grasps, and has reduced the requirement to sensing and control system.This device is owed to drive on the basis of hand self-adapting grasping effect actively utilizing, to being greatly improved on the flexibility grasped and the stability.This apparatus structure compactness, volume are little, form and action more levels off to staff, can stablize the object that grasps and adapt to different shape, size automatically, and the finger or the finger part that are suitable as anthropomorphic robot's hand are used.

Description of drawings

Fig. 1 is the front section view of first kind of embodiment of the displacement under-actuated two-articulated robot finger device based on flexible piece provided by the invention.

Fig. 2 is a cut away left side view embodiment illustrated in fig. 1.

Fig. 3 is an outside drawing embodiment illustrated in fig. 1.

Fig. 4 is the outside drawing of Fig. 2.

Fig. 5 is the scheme of installation of the joint far away spring spare of embodiment embodiment illustrated in fig. 1.

Fig. 6 is the scheme of installation of nearly joint spring spare embodiment illustrated in fig. 1.

Fig. 7 is the cutaway view (do not draw pedestal whole) of Fig. 1 at the A-A place.

Fig. 8, Fig. 9, Figure 10, Figure 11 are that the section of finger endways embodiment illustrated in fig. 1 is to grasp the process schematic diagram of big object under the initial attitude with the middle part section of finger to stretch attitude, and this moment, overall process was first machine operation.

Figure 12, Figure 13, Figure 14, Figure 15 are section of finger endways embodiment illustrated in fig. 1 and the process schematic diagram of the middle part section of finger with extracting wisp under the attitude of crooked certain angle, this moment, wisp touched middle part section of finger and the end section of finger, belong to the gripping state, first second machine operation, first machine operation again in this overall process.

Figure 16, Figure 17, Figure 18 are section of finger endways embodiment illustrated in fig. 1 and the process schematic diagram of the middle part section of finger with extracting wisp under the attitude of crooked certain angle, this moment, wisp touched the end section of finger, belong to the state of gripping, first second machine operation, first machine operation again in this overall process.

Figure 19, Figure 20, Figure 21 are the process schematic diagrames that grasps object during second machine operation that only allows embodiment illustrated in fig. 1.

Figure 22 is the front section view of second kind of embodiment of the displacement under-actuated two-articulated robot finger device based on flexible piece provided by the invention.

Figure 23 is the scheme of installation of joint far away spring spare embodiment illustrated in fig. 22.

In Fig. 1 to Figure 22:

The 1-pedestal, 2-first 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, 7-the 3rd gear, 8-the 4th gear, the 9-second spring spare, the 10-driving wheel, 11-driving member, 12-driven pulley, the 13-screw mandrel, 14-nut, the 15-first spring spare, 16-flexible piece (rope), 17-first decelerator, 18-second motor, 19-second decelerator, 20-flexible piece (band), 21-first gear, 22-second gear, 23-breast wheel, 24-jackshaft, 30,31, the object that the 32-finger will be grabbed, 40-second transmission mechanism, other fingers of 41-, 42-the 3rd transmission mechanism, 43-first transmission mechanism.

The specific embodiment

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

First kind of embodiment based on the displacement under-actuated two-articulated robot finger device of flexible piece of the present invention design, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, shown in Figure 7, comprise pedestal 1, first motor 2, nearly joint shaft 3, the middle part section of finger 4, joint shaft 5 far away, the end section of finger 6, first transmission mechanism 43 and the first spring spare 15; Described first motor 2 is affixed with pedestal 1, and the output shaft of first motor 2 links to each other with nearly joint shaft 3; Described nearly joint shaft 3 is set in the pedestal 1, and joint shaft 5 far away is set in the section of finger 4 of middle part, and nearly joint shaft 3 and joint shaft 5 far away are parallel to each other; The described middle part section of finger 4 is socketed on the nearly joint shaft 3, and the described end section of finger 6 is affixed with joint shaft 5 far away; The power shaft of described first transmission mechanism 43 links to each other with nearly joint shaft 3, the output shaft of first transmission mechanism 43 links to each other with joint shaft 5 far away, nearly joint shaft 3 is identical with the rotation direction of joint shaft 5 far away, and the two ends of the described first spring spare 15 connect middle part section of finger 4 and the end section of finger 6 respectively; Should also comprise second motor 18, flexible piece 16 and the second spring spare 9 based on the displacement under-actuated two-articulated robot finger device of flexible piece; Described second motor 18 is affixed with the middle part section of finger 4, the two ends of described flexible piece 16 connect the output shaft and the end section of finger 6 of second motor 18 respectively, the described second spring spare 9 is installed in series from nearly joint shaft 3 to first transmission mechanisms 43 again to the driving-chain of joint shaft 5 far away as connector, in the present embodiment, the two ends of the second spring spare 9 connect the input of the nearly joint shaft 3 and first transmission mechanism 43 respectively.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, the combination of one or more in described first transmission mechanism employing flat tyre wheel transmission mechanism, cog belt wheel drive mechanism, rope sheave transmission mechanism, chain drive, rack and pinion drive mechanism, gear drive or the jointed gear unit.

In the present embodiment, described first transmission mechanism 43 adopts the flat tyre wheel transmission mechanism.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, described first transmission mechanism comprises driving wheel, driving member and driven pulley; Described driving wheel links to each other with nearly joint shaft, driven pulley links to each other with joint shaft far away, driving member connects driving wheel and driven pulley, described driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain, described driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, described driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described driving member, driving wheel and the driven pulley three.

In the present embodiment, described first transmission mechanism 43 comprises driving wheel 10, driving member 11 and driven pulley 12; Described driving wheel 10 links to each other with nearly joint shaft 3 by the second spring spare 9, driven pulley 12 links to each other with joint shaft 5 far away, driving member 11 connects driving wheel 10 and driven pulley 12, described driving member 11 adopts flat rubber belting, described driving wheel 10 adopts belt wheel, described driven pulley 12 adopts belt wheel, can cooperate between described driving member 11, driving wheel 10 and driven pulley 12 threes to form the flat tyre wheel drive connection.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, one or more combination in described first spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads or the rubber band.

In the present embodiment, the described first spring spare 15 adopts torsion spring.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, one or more combination in described second spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads or the rubber band.

In the present embodiment, the described second spring spare 9 adopts torsion spring.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, described flexible piece adopt rope 16, one or more the combination with 20, in muscle, silk or the chain.

In the present embodiment, described flexible piece 16 adopts rope.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, also comprise second transmission mechanism, the input of described second transmission mechanism links to each other with the output shaft of second motor, and the output of second transmission mechanism links to each other with an end of flexible piece.

Present embodiment also comprises second transmission mechanism 40, and the input of described second transmission mechanism 40 links to each other with the output shaft of second motor 18, and the output of second transmission mechanism 40 links to each other with an end of flexible piece 16; Described second transmission mechanism 40 adopts feed screw nut's transmission mechanism.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention, described second transmission mechanism comprises screw mandrel and nut, described screw mandrel links to each other with the output shaft of second motor, described nut and screw mandrel form the screw thread drive connection, nut links to each other with an end of flexible piece, and nut is embedded in the section of finger of middle part.

In the present embodiment, described second transmission mechanism comprises screw mandrel 13 and nut 14, and described screw mandrel 13 links to each other with the output shaft of second motor 18, and described nut 14 forms the screw thread drive connection with screw mandrel 13, nut 14 links to each other with an end of flexible piece 16, and nut 14 is embedded in the section of finger 4 of middle part.

Second kind of embodiment based on the displacement under-actuated two-articulated robot finger device of flexible piece of the present invention design, as Figure 22, shown in Figure 23, its second transmission mechanism 40 is different with first kind of embodiment, comprises first gear 21, second gear 22, breast wheel 23 and jackshaft 24; Described first gear 21 links to each other with the output shaft of second motor 18, the described second gear 22 formative gear drive connection that is meshed with first gear 21, described second gear 22 links to each other with jackshaft 24, described jackshaft 24 is set in the section of finger 4 of middle part, described breast wheel 23 is fixed on the jackshaft 24, and breast wheel 23 links to each other with an end of flexible piece 20.Among this embodiment, described flexible piece 20 adopts band.

Displacement under-actuated two-articulated robot finger device based on flexible piece of the present invention also comprises the 3rd transmission mechanism; The input of described the 3rd transmission mechanism links to each other with the output shaft of first motor, and the output of the 3rd transmission mechanism links to each other with nearly joint shaft.

First kind of embodiment and second kind of embodiment also comprise the 3rd transmission mechanism 42; The input of described the 3rd transmission mechanism 42 links to each other with the output shaft of first motor 2, and the output of the 3rd transmission mechanism 42 links to each other with nearly joint shaft 3.

In first kind of embodiment and second kind of embodiment, described the 3rd transmission mechanism 42 adopts gear drives, comprises the 3rd gear 7 and the 4th gear 8; Described the 3rd gear 7 links to each other with the output shaft of first motor 2, the 4th gear 8 formative gear drive connection that is meshed with the 3rd gear 7, and the 4th gear 8 links to each other with nearly joint shaft 3.

First kind of embodiment and second kind of embodiment also comprise first decelerator 17, described first decelerator 17 and first motor 2 are affixed, the power shaft of first decelerator 17 links to each other with the output shaft of first motor 2, the output shaft of first decelerator 17 links to each other with the input of the 3rd transmission mechanism 42, and the output shaft of first decelerator 17 links to each other with the 3rd gear 7.

First kind of embodiment and second kind of embodiment also comprise second decelerator 19, described second decelerator 19 and second motor 18 are affixed, the power shaft of second decelerator 19 links to each other with the output shaft of second motor 18, and the output shaft of second decelerator 19 links to each other with the input of second transmission mechanism 40.In first kind of embodiment, the output shaft of second decelerator 19 links to each other with screw mandrel 13.In second kind of embodiment, the output shaft of second decelerator 19 links to each other with first gear 21.

Be that example is introduced operation principle with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, first kind of embodiment shown in Figure 7 below.The operation principle of this 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 initial position of this device such as Fig. 8, Figure 12, Figure 16 and Figure 19, this moment, middle part section of finger 4 and the end section of finger 6 were straight line with pedestal 1, promptly be equivalent to the state that people's finger stretches fully, this moment, nearly joint and joint far away were straight configuration, and this is the initial conditions of whole device.Divide several situations to be illustrated.

(a), at this moment, point joint far away to stretch the attitude when being about to grasp object if first machine operation only

Second motor 18 need not be worked, 2 work of first motor, its process and principle that grasps object is: the output shaft of first motor 2 rotates, driving the nearly joint shaft 3 that is connected with the 4th gear 8 by the 3rd gear 7 rotates, an end that spurs the second spring spare 9 rotates around the axis of nearly joint shaft 3, and the driving wheel 10 that spurs the other end of the second spring spare 9 rotates.Because the effect of contraction of the first spring spare 15, the middle part section of finger 4 seems that with the end section of finger 6 affixed is a rigid unitary, therefore the rotation of driving wheel 10 will be by driving member 11 and driven pulley 12, and preferential middle part section of finger 4 and the end section of finger 6 of making rotated around nearly joint shaft 3 together.This process is till the middle part section of finger 4 touches the object 30 that finger will grasp, and this moment as shown in Figure 9.When the middle part section of finger 4 is stopped by object 30 and can't be rotated further, this moment, driving wheel 10 continuation spurred driving members 11, driven pulley 12 is rotated, make joint shaft 5 far away rotate, thereby make the end section of finger 6 overcome the elastic force of the first spring spare 15 and rotate, the deformation quantity of the first spring spare 15 increases simultaneously, as shown in figure 10, also runs into object 30 up to the end section of finger 6 and can not rotate again.First motor 2 is rotated further, and spurs the corresponding elastic force of the second spring spare, 9 distortion generations and is applied on the object, and first motor 2 stall is again finished extracting, as shown in figure 11.So far, the present embodiment device has been firmly grasped object 30.

When decontroling object 30, first motor, 2 backward rotation, drive nearly joint shaft 3 counter-rotatings, drive 9 counter-rotatings of the second spring spare, thereby drive driving wheel 10 counter-rotatings, thereby by driving member 11 pulling driven pulleys 12 backward rotation, this moment, the deformation quantity of the first spring spare 15 reduced gradually, the end section of finger 6 go the long way round joint shaft 5 axis counter-rotating and leave object 30 surfaces, as shown in figure 10.Arrived straight configuration up to the end section of finger 6, as shown in Figure 9.Because being stopped by the middle part section of finger 4, the end section of finger 6 can not continue counter-rotating again, this moment first, motor 2 continued backward rotation, 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 axis backward rotation of nearly joint shaft 3, the middle part section of finger 4 is left object 30 surfaces.Up to returning to the position that initial finger stretches, as shown in Figure 8.

(b) if the work earlier of second motor, first motor is worked again afterwards, at this moment, points joint far away with crooked attitude when being about to grasp object

Second motor 18 and first motor 2 will successively use successively.At first only allow second motor 18 work, its output shaft rotates, drive 40 work of second transmission mechanism, be specially herein and drive screw mandrel 13 rotations, drive nut 14 and move down, nut 14 pulls ends of flexible pieces 16 (herein for restricting) downwards, flexible piece (rope) the 16 pulling end sections of finger 6 rotate, this moment, the first spring spare 15 deformed, because the end section of finger 6 rotates by joint shaft 5 far away, driven pulley 12 and driving member 11 pulling driving wheels 10, the second spring spare 9 deforms simultaneously.At this moment, second motor 18 quits work and no longer rotates, and the end section of finger 6 has been rotated an angle at this moment.Can be crooked because flexible piece (rope) 16 cannot be pulled, thereby it has played the unilateral constrain effect to the slewing area of the end section of finger, be that flexible piece 16 has limited the terminal section of finger 6 and can not past get back to the initial position that stretches, but the end section of finger can continue to rotate forward (this moment, flexible piece was in lax case of bending) under other mechanism's effects, therefore, this moment this finger arthrogryposis far away state be determined as the follow-up initial position of owing to drive grasping movement.The doublejointed of realizing during first motor, 2 work is afterwards owed to drive the extracting process and still can normally be carried out.Aforementioned process can the free adjustment end section of finger 6 rotational angles, in case adjusting is finished second motor 18 and is just quit work, after this transferring first motor 2 to starts working again, the subsequent rotation extracting object process of finger is identical with aforementioned (a) process during first motor, 2 work afterwards, and just the initial attitude of finger has become crooked state.

After this extracting object situation can be subdivided into two states again: (b1) a kind of is after running into object earlier and be blocked as Figure 12, Figure 13, Figure 14 and the middle part section of finger 4 shown in Figure 15, first motor 2 is rotated further the terminal section of finger 6 of pulling is rotated further up to running into object on original crooked basis, belongs to the gripping object.(b2) another kind is to run into the object extracting that just is through with earlier as Figure 16, Figure 17 and the end section of finger 6 shown in Figure 180, belongs to grip object.

For (b1) situation, when decontroling object 31, first motor, 2 backward rotation drive nearly joint shaft 3 counter-rotatings, drive 9 counter-rotatings of the second spring spare, thereby drive driving wheel 10 counter-rotatings, thereby by driving member 11 pulling driven pulleys 12 backward rotation, this moment, the deformation quantity of the first spring spare 15 reduced gradually, and the go the long way round axis of joint shaft 5 of the end section of finger 6 reverses, arrived the crooked posture position that flexible piece 16 retrains up to the end section of finger 6, as shown in figure 14.Because being stopped by the middle part section of finger 4, the end section of finger 6 can not continue counter-rotating again, this moment first, motor 2 continued backward rotation, 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 axis backward rotation of nearly joint shaft 3, the middle part section of finger 4 is left object 31 surfaces.Up to returning to state as shown in figure 13, first motor, 2 stalls this moment, second motor, 18 beginning backward rotation, driving nut 14 moves upward, flexible piece 16 is oppositely no longer strained the end section of finger 6, so the terminal section of finger 6 recovers to stretch starting position under the effect of the first spring spare 15, as shown in figure 12.

For (b2) situation, when the process of decontroling object and (b1) similar process, just the counter-rotating direct pull whole middle section of finger, the end section of finger of first motor 2 are inverted to position shown in Figure 17, first motor, 2 stalls afterwards, 18 counter-rotatings of second motor drive nut 14 and move upward, and flexible piece 16 is oppositely no longer strained the end section of finger 6, so the terminal section of finger 6 recovers to stretch starting position under the effect of the first spring spare 15, as shown in figure 16.

(c) if second machine operation only, at this moment, finger removes to contact object with the active of the end section of finger

Allow finger grasp object 31 if only be to use second motor 18 to rotate.The output shaft of second motor 18 rotates, and drives screw mandrel 13 and rotates, and drives nut 14 and moves down, and nut 14 pulls down flexible piece (rope) 16, drives the end section of finger 6 and rotates.Because the end section of finger 6 is affixed with joint shaft 5 far away, terminal finger tip 6 rotations can drive joint shaft 5 far away and rotate, by driven pulley 12 driving wheel 10 is passed in rotation, because first motor 2 does not have rotation work, the second spring spare 9 produces distortion, this process is till the end section of finger 6 is run into object 31, as shown in figure 20.At this moment, under the help of other constraintss (finger, palm or object place desktop etc.), the present embodiment device has been firmly grasped object 31.Perhaps, when the end section of finger 6 was rotated further, the end section of finger 6 might promote object to its direction of rotation, and object 31 contacts with the middle part section of finger, as shown in figure 20.Under the help of other constraintss (finger, palm or object place desktop etc.), the present embodiment device has been firmly grasped object 31.

When decontroling object, 18 counter-rotatings of second motor drive screw mandrel 13 counter-rotatings, and nut 14 rises, and flexible piece (rope) 16 is not dragged the end section of finger 6, the first spring spares 15 drive end sections of finger 6 and reversed and leave object 31 grabbing.After this, second motor 18 continues counter-rotating, returns to the position of initially stretching up to finger, as shown in figure 19.

Under the above-mentioned various situation, this embodiment device proposed by the invention can operate as normal.

Operation principle and the preceding a kind of embodiment of Figure 22, second kind of embodiment shown in Figure 23 are basic identical.

Device of the present invention utilizes bi-motor, transmission mechanism, flexible piece and spring spare comprehensively to realize the special-effect of finger variable initial configuration self-adapting grasping.For the object of different sizes, to point and when being about to grasp this object, need in advance different bending preparations, device of the present invention has been realized this extremely important function, makes the action of robot personalize more, grasps object more flexibly with stable.

Claims (10)

1. based on the displacement under-actuated two-articulated robot finger device of flexible piece, comprise pedestal (1), first motor (2), nearly joint shaft (3), the middle part section of finger (4), joint shaft (5) far away, the end section of finger (6), first transmission mechanism (43) and the first spring spare (15); Described first motor and pedestal are affixed, and the output shaft of first motor links to each other with nearly joint shaft; Described nearly joint shaft is set in the pedestal, and joint shaft far away is set in the section of finger of middle part, and nearly joint shaft and joint shaft far away are parallel to each other; The described middle part section of finger is socketed on the nearly joint shaft, and described end refers to that the Duan Yuyuan joint shaft is affixed; The power shaft of described first transmission mechanism links to each other with nearly joint shaft, and the output shaft of first transmission mechanism links to each other with joint shaft far away, and nearly joint shaft is identical with the rotation direction of joint shaft far away, and the two ends of the described first spring spare connect middle part section of finger and the end section of finger respectively; It is characterized in that: should also comprise second motor (18), flexible piece (16) and the second spring spare (9) based on the displacement under-actuated two-articulated robot finger device of flexible piece; Described second motor and the middle part section of finger are affixed, the two ends of described flexible piece connect the output shaft and the end section of finger of second motor respectively, and the described second spring spare is installed in series from nearly joint shaft to first transmission mechanism again to the driving-chain of joint shaft far away as connector.
2. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1 is characterized in that: the combination of one or more in described first transmission mechanism employing flat tyre wheel transmission mechanism, cog belt wheel drive mechanism, rope sheave transmission mechanism, chain drive, rack and pinion drive mechanism, gear drive or the jointed gear unit.
3. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1 is characterized in that: described first transmission mechanism comprises driving wheel (10), driving member (11) and driven pulley (12); Described driving wheel links to each other with nearly joint shaft, driven pulley links to each other with joint shaft far away, driving member connects driving wheel and driven pulley, described driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain, described driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, described driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described driving member, driving wheel and the driven pulley three.
4. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1 is characterized in that: one or more combination in described first spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or the elastic threads.
5. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1 is characterized in that: one or more combination in described second spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or the elastic threads.
6. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1 is characterized in that: one or more combination in described flexible piece employing rope (16), band (20), silk or the chain.
7. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1, it is characterized in that: also comprise second transmission mechanism (40), the input of described second transmission mechanism links to each other with the output shaft of second motor, and the output of second transmission mechanism links to each other with an end of flexible piece.
8. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 7, it is characterized in that: described second transmission mechanism comprises screw mandrel (13) and nut (14), described screw mandrel links to each other with the output shaft of second motor, described nut and screw mandrel form the screw thread drive connection, nut links to each other with an end of flexible piece, and nut is embedded in the section of finger of middle part.
9. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 7 is characterized in that: described second transmission mechanism comprises first gear (21), second gear (22), breast wheel (23) and jackshaft (24); Described first gear links to each other with the output shaft of second motor, described second gear formative gear drive connection that is meshed with first gear, described second gear links to each other with jackshaft, described jackshaft is set in the section of finger of middle part, described breast wheel is fixed on the jackshaft, and breast wheel links to each other with an end of flexible piece.
10. the displacement under-actuated two-articulated robot finger device based on flexible piece as claimed in claim 1 is characterized in that: also comprise the 3rd transmission mechanism (42); The input of described the 3rd transmission mechanism links to each other with the output shaft of first motor, and the output of the 3rd transmission mechanism links to each other with nearly joint shaft.
CN200810239815XA 2008-12-12 2008-12-12 Displaced under-actuated two-articulated robot finger device based on flexible piece CN101422906B (en)

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Application Number Priority Date Filing Date Title
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CN101422906B true CN101422906B (en) 2011-01-26

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Publication number Priority date Publication date Assignee Title
CN102514016B (en) * 2011-12-23 2014-09-24 清华大学 Soft piece coupling type handyman finger device
CN102514012B (en) * 2011-12-23 2014-09-24 清华大学 Rack coupling type dexterous robot finger device
CN102642210A (en) * 2012-04-25 2012-08-22 清华大学 Composite under-actuated grasping robot finger device with inverted dual joint motor
CN102699926A (en) * 2012-06-07 2012-10-03 清华大学 Under-actuated robot finger device with multiple switchable grab modes
CN102806561A (en) * 2012-08-27 2012-12-05 清华大学 Split shaft type dual-motor cooperative composite grabbing robot finger device
CN102922532B (en) * 2012-10-30 2015-07-22 清华大学 Connecting rod type synergy drive robot finger
CN104015193B (en) * 2014-06-03 2016-05-18 清华大学 Capture locking adaptive robot finger apparatus
CN105835076A (en) * 2016-03-17 2016-08-10 清华大学 Closed flexible piece parallel clamping dexterous robot finger device
CN106078781B (en) * 2016-08-05 2018-11-30 广州市轻工职业学校 The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line
CN107378920B (en) * 2017-09-07 2018-09-07 吉林大学 A kind of outer skeleton precision data gloves
CN108436952B (en) * 2018-02-27 2019-07-23 江南大学 A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger
CN108673541A (en) * 2018-05-04 2018-10-19 江南大学 A kind of electrical composite drive thickness Abnormal plate spring skeleton flexible manipulator

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