CN101518903A - Crank block type under-actuated robot finger device - Google Patents
Crank block type under-actuated robot finger device Download PDFInfo
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- CN101518903A CN101518903A CN 200910131924 CN200910131924A CN101518903A CN 101518903 A CN101518903 A CN 101518903A CN 200910131924 CN200910131924 CN 200910131924 CN 200910131924 A CN200910131924 A CN 200910131924A CN 101518903 A CN101518903 A CN 101518903A
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- joint
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- finger
- drive
- sliding block
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- 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
Abstract
The invention relates to a crank block type under-actuated robot finger device belonging to the technical field of humanoid robot fingers and comprising a first finger part, a second finger part and an under-actuated joint. The under-actuated joint comprises a driving block, a joint shaft, a spring, a first shaft, a connecting rod, a second shaft and a drive plate; the spring is connected with the first finger part and the driving block; the connecting rod is respectively articulated with the driving block and the drive plate which is fixedly sleeved on the joint shaft; and the driving block is embedded in the first finger part. The device adopts the crank block mechanism to realize the rotation function of the second finger part, and the very short movement distance of the driving block can bring the large-angle rotation of the second finger part through reasonable dimension design; the device can coordinate with other driving fingers or driving joints to capture an object, has self adaptability, few driving parts, a short driving chain and low cost and is similar to human fingers, can be connected in series to form highly under-actuated multi-joint fingers and is applied to humanoid robot fingers.
Description
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, particularly a kind of structural design of crank block type 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.The design under-actuated robot finger device can realize more joint freedom degrees, less driver number better, have these three targets of stronger adaptivity when grasping the object of difformity and size.
The activation lacking mechanical finger device of existing a kind of rack-and-pinion as Chinese invention patent CN1410223A, comprises the first finger section, owes to drive the joint and the second finger section, owes to drive the joint and contains active sliding block, joint shaft and pinion and rack.External force drives active sliding block and refers to slide on the section first, and the tooth bar that is fixed in simultaneously on the active sliding block refers to motion in the section to first, drives with the tooth bar meshed gears and rotates around joint shaft, realizes that second refers to that section rotates an also fastening object.
The weak point of this device is: this device adopts the rack-and-pinion transmission, the device more complicated, and the quality of finger is bigger, and energy consumption is higher.In order to realize that good owing drives effect, realize that promptly second refers to the rotation of section than wide-angle, the tooth radius that is adopted must be very little, and difficulty of processing is big, cost is high.And pinion and rack needs good lubricated and sealing, and use cost is higher.
Existing a kind of connecting rod activation lacking mechanical finger device, as Chinese invention patent CN100450732C, contain first refer to section, second refer to section and be arranged between the two owe to drive the joint.Owe to drive the joint and comprise joint shaft, active sliding block, linkage, torsion spring; Linkage comprises driving lever, follower lever, and driving lever one end and first refers to that section is hinged, and the other end and follower lever one end are hinged, and the other end of follower lever and second refers to that section is hinged; Active sliding block is embedded in first and refers in the section, and contacts with driving lever; Torsion spring set is located on the joint shaft, and an end and first refers to that section is affixed, and the other end and second refers to that section is affixed.External force drives active sliding block and refers to slip in the section first, and active sliding block promotes drive connecting rod, by follower link, drives second and refers to that section is around joint shaft rotation and fastening object.
The weak point of this device is: this device adopts a plurality of connecting rod transmissions, and driving member is many, the transmission chain length, the device more complicated, and between active sliding block and the drive connecting rod for line contacts, mechanical shock is big, contact stress is big, and is easy to wear, poor reliability.
Summary of the invention
The objective of the invention is to propose a kind of crank block type under-actuated robot finger device in order to overcome the weak point of prior art.This device can cooperate the finger of other active drive or other active drive joints on the finger to realize grasping object, and has a adaptation function to the shape size of grabbing object, this device driving member is few, driving-chain is short, simple in structure, volume is little, thereby further reduces difficulty of processing and maintenance cost, makes the profile of mechanical finger more similar to people's hand finger.
The present invention adopts following technical scheme:
A kind of crank block type under-actuated device people simple joint finger apparatus of the present invention, comprise first refer to section, second refer to section and be arranged between the two owe to drive the joint, describedly owe to drive the joint and comprise active sliding block, joint shaft and spring; Described joint shaft is set in first and refers in the section, and described second refers to that section is fixed on the joint shaft, and described spring is arranged on first and refers in the section that the two ends of spring connect first respectively and refer to section and active sliding block; It is characterized in that: describedly owe to drive the joint and also comprise first, connecting rod, second and dial; One end of described connecting rod and active sliding block are hinged by first, and the other end and dial are hinged by second; Dial is fixed on the joint shaft; First center line, second center line are parallel with the center line of joint shaft; Described active sliding block is embedded in first and refers in the section.
Crank block type under-actuated device people simple joint finger apparatus of the present invention, it is characterized in that: the described structural parameters of owing to drive the each several part in joint meet following relation: establishing length of connecting rod is L, the distance of the center line of the center line to the second of joint shaft spool is R, then: L: R=2.5～3.5: 1.
Crank block type under-actuated device people simple joint finger apparatus of the present invention, it is characterized in that: described joint shaft is made up of left joint semiaxis and right joint semiaxis, and described left joint semiaxis and right joint semiaxis are coaxial to be set in the first finger section.
The present invention also provides a kind of crank block type under-actuated device people multi-joint finger apparatus that adopts described crank block type under-actuated device people simple joint finger apparatus, it is characterized in that: comprise that n refers to section and the individual described joint of owing to drive of n-1, wherein n is the integer greater than 2.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention adopt slider-crank mechanism to realize that second refers to the section rotating function, and through rational size design, the very short move distance of active sliding block can bring the rotation of the second finger section wide-angle; Apparatus of the present invention can cooperate the finger of other active drive or other active drive joints on the finger to realize grasping object, and have the adaptation function to the shape size of grabbing object, have reduced the control system requirement; This device only adopts a connecting rod transmission, and driving member is few, and driving-chain is short, and simple and reliable for structure, volume is little, and processing cost is low, is easy to safeguard that profile is similar to people's hand finger.This device can be used as a finger of anthropomorphic robot's hand or a part of pointing, also can be together in series and constitute high form adaptive and height is owed fingers driven, can also constitute anthropomorphic robot's hand that height is owed to drive with a plurality of so high under-actuated fingers, in order to reach the excellent results of the high joint freedom degrees of anthropomorphic robot's hand, high adaptivity.
Description of drawings
Fig. 1 is the front view of a kind of embodiment of crank block type under-actuated device people simple joint finger apparatus provided by the invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the right cutaway view of Fig. 1, i.e. the B-B cutaway view of Fig. 4.
Fig. 4 is the cutaway view of Fig. 1, i.e. the A-A cutaway view of Fig. 3.
Fig. 5 is left support plate outside drawing.
Fig. 6 is the active sliding block outside drawing.
Fig. 7 is dial and joint shaft outside drawing.
Fig. 8 is the right cutaway view (this moment, active sliding block was in the centre position of stroke, and the second finger section has been rotated an angle) of Fig. 1.
Fig. 9 is the right cutaway view (this moment, active sliding block moved near its extreme limit of travel position, and the second finger section has been rotated than wide-angle) of Fig. 1.
Figure 10,11,12,13 is schematic diagrames that the first finger section is fixed in the present embodiment finger grip object on the palm.
Figure 14,15,16,17 is schematic diagrames of the present embodiment finger grip object after the first finger section and active joint are connected.
Figure 18 is a front view of having used crank block type under-actuated device people multi-joint finger apparatus embodiment (adopted two and owed to drive the joint) embodiment illustrated in fig. 1.
Figure 19 is the left view of the doublejointed finger of Figure 18.
Figure 20 is that the doublejointed of Figure 18 embodiment is pointed the schematic diagrames of owing to drive grasping large sized object under the rotation of joint at two, and its root section of finger is connected with the active joint.
Figure 21 is three finger grip object schematic diagrames of having used three doublejointed finger embodiment shown in Figure 180.
Figure 22 is the left view of Figure 21.
In Fig. 1 to Figure 22:
1. first refers to section, 11. bearings, and 12. left support plates,
121. first refers to the projection on the section, 13. right support plates, and 14. backplates,
2. second refers to section, 3. owes to drive the joint, 4. active sliding block,
41. cover plate, the groove on 42. active sliding block, 5. connecting rod,
6. dial, 7. joint shaft, 71. left joint semiaxis,
72. right joint semiaxis, 8. spring, 91. first,
92. second, the 93. middle sections of finger.
The specific embodiment
Further describe concrete structure of the present invention, operation principle and the course of work below in conjunction with drawings and Examples.
The embodiment of a kind of crank block type under-actuated device people simple joint finger apparatus of the present invention's design, outward appearance as shown in Figure 1, 2, cutaway view is shown in Fig. 3,4, and part is shown in Fig. 5,6,7, and operating principle is shown in Fig. 8,9,10,11,12,13,14,15,16,17.Present embodiment comprise first refer to section 1, second refer to section 2 and be arranged between the two owe to drive joint 3, describedly owe to drive the joint and comprise active sliding block 4, joint shaft 7 and spring 8; Described joint shaft 7 is set in first and refers in the section 1, and described second refers to that section 2 is fixed on the joint shaft 7, and described spring 8 is arranged on first and refers in the section 1 that the two ends of spring 8 connect first respectively and refer to section 1 and active sliding block 4; It is characterized in that: describedly owe to drive that joint 3 also comprises first 91, connecting rod 5, second spool 92 and dial 6; One end of described connecting rod 5 and active sliding block 4 are hinged by first 91, and the other end and dial 6 are hinged by second 82; Dial 6 is fixed on the joint shaft 4; First 91 center line, second spool 92 center line are parallel with the center line of joint shaft 7; Described active sliding block 4 is embedded in first and refers in the section 1.
In the present embodiment, described joint shaft 7 is made up of left joint semiaxis 71 and right joint semiaxis 72, described left joint semiaxis 71 and right joint semiaxis 72 coaxial being set in the first finger section 1.
In the present embodiment, for realize better slip by active sliding block 4 little displacements cause second refer to section 2 wide-angles rotation this owe to drive function, the described structural parameters of owing to drive the each several part in joint 3 meet following relation: establish connecting rod 5 length and be L (promptly the distance of the center line of first 91 center line to the second spools 92 is the length of connecting rod 5), the distance of the center line of the center line to the second of joint shaft 7 spools 92 is R, then: L:R=2.5～3.5:1.
The present invention also provides a kind of crank block type under-actuated device people multi-joint finger apparatus that adopts described crank block type under-actuated device people simple joint finger apparatus, it is characterized in that: comprise that n refers to section and the individual described joint of owing to drive of n-1, wherein n is the integer greater than 2.
In the present embodiment, described first refers to that section 1 comprises bearing 11, left support plate 12, right support plate 13 and backplate 14.First refers to that section 1 forms the container-like of hollow, and projection 121 (as shown in Figure 5) is arranged on left support plate 12, active sliding block 4 is provided with the groove 42 (as shown in Figure 6) on the active sliding block that does not connect, in the groove 42 that this projection 121 inserts on the active sliding block, this part structure plays restriction active sliding block 4 glide directions and prevents that active sliding block 4 breaks away from the effect of the first finger section 1, promptly playing the effect of location and guiding, is direction along the active sliding block chute with the direction of motion that guarantees active sliding block 4.Dial 6 can constitute for two wheel discs of part hollow as shown in Figure 7, and two wheel discs are that the edge is affixed, and middle nothing axle is convenient to connecting rod 5 and is passed through in dial 6 in motion process.
First and second can be adopted rivet.
The surface of described active sliding block 4 also is coated with cover plate 41. lid surface can also be coated with suitable flexible industrial rubber material.Like this when grasping object, will form soft finger face between finger surface and the object and contact, increased the degree of restraint of finger on the one hand to object, also can increase frictional force on the other hand, thus the stability of increase extracting object.
The function of described spring 8 is: under the nature and when decontroling object, spring 8 is pushed active sliding block 4 to armrest and is referred to the outside, promotes second and refer to that section 2 is in vertically, promptly keeps the finger straight configuration under the effect of connecting rod 5 and dial 6; When grasping object, spring 8 will be out of shape under the promotion of foreign object.
A kind of doublejointed finger embodiment of crank block type under-actuated device people multi-joint finger apparatus comprises that 3 refer to that section and 2 are described and owe to drive the joint, shown in Figure 18,19.
Introduce the operation principle of simple joint finger apparatus embodiment shown in Figure 1 below in conjunction with accompanying drawing.
(a) if. first of present embodiment is referred to that section 1 is fixed on the palm of anthropomorphic robot's hand, and the operation principle of present embodiment shown in Figure 10,11,12,13, is described below:
When robot did not contact object, finger was in free state, and this moment, spring 8 made second to refer to that section 2 does not rotate, and finger keeps straight configuration.
When robot grasps object, other fingers rotate back compressing object, object extruding active sliding block 4, active sliding block refers to 1 li displacement d that translation is certain of section along the direction of vertical finger surface to first, transmission by connecting rod 5 and dial 6, drive second and refer to that section 2 makes wide-angle rotational angle α around joint shaft 7 center lines, up to second refer to section 2 contact objects till, thereby this robot will have the automatic adaptability to object size, shape.This makes second to refer to that section has driver drives such as motor general seemingly when rotating, and can fasten object fast, has realized that finger self without driver, but can have the purpose of a plurality of joint freedom degrees.
When robot is decontroled object, other fingers leave object under motor rotates, object is also just no longer oppressed active sliding block 4, and spring 8 will promote active sliding block to relying on the finger outside, by the transmission of connecting rod 5 and dial 6, drive second and refer to that section 2 goes back to initial position around joint shaft 7 center lines.
(b) if. first of present embodiment (embodiment illustrated in fig. 1) is referred to that section 1 root is socketed on the active joint by driver drives, and the operation principle of present embodiment shown in Figure 14,15,16,17, is described below:
When robot grasps object, rotate under driving moment m effect in the active joint that is with the first finger section 1, make whole under-actuated finger rotate around the active joint of root, up to active sliding block 4 contact objects, because object can not leave under the effect of other fingers, so, when the active joint is rotated further, active sliding block 4 refers to 1 li translation of section in the direction that stops extruding lower edge vertical finger surface of object towards first, and the process that grasps thereafter is with (a) similar.
Use embodiment illustrated in fig. 1 owing and drive doublejointed finger embodiment shown in Figure 18,19.This is owed to drive the doublejointed finger and is owed to drive joint 3 and formed by the first finger section 1, the centre section of finger 93, second 2 and two of the finger sections.This owe to drive the doublejointed finger with two owe to drive rotate the extracting object in the joint principle as shown in figure 20.When robot grasps object, owe to drive for two and close the festival-gathering sequentially-operating, finally adapt to shape, the size of object automatically.This finger has the motor active drive general owing to drive joint seemingly.Use three finger robots embodiment illustrated in fig. 1 shown in Figure 21,22.
Claims (4)
1. crank block type under-actuated device people simple joint finger apparatus, comprise first refer to section (1), second refer to section (2) and be arranged between the two owe to drive joint (3), describedly owe to drive the joint and comprise active sliding block (4), joint shaft (7) and spring (8); Described joint shaft is set in first and refers in the section, and described second refers to that section is fixed on the joint shaft, and described spring is arranged on first and refers in the section that the two ends of spring connect first respectively and refer to section and active sliding block; It is characterized in that: describedly owe to drive the joint and also comprise first (91), connecting rod (5), second (92) and dial (6); One end of described connecting rod and active sliding block are hinged by first, and the other end and dial are hinged by second; Dial is fixed on the joint shaft; First center line, second center line are parallel with the center line of joint shaft; Described active sliding block is embedded in first and refers in the section.
2. crank block type under-actuated device people simple joint finger apparatus as claimed in claim 1, it is characterized in that: the described structural parameters of owing to drive the each several part in joint meet following relation: establishing length of connecting rod is L, the distance of the center line of the center line to the second of joint shaft spool is R, then: L:R=2.5～3.5:1.
3. crank block type under-actuated device people simple joint finger apparatus as claimed in claim 1 or 2, it is characterized in that: described joint shaft (7) is made up of left joint semiaxis (71) and right joint semiaxis (72), and described left joint semiaxis and right joint semiaxis are coaxial to be set in the first finger section.
4, the crank block type under-actuated device people multi-joint finger apparatus that installs according to claim 1 of a kind of employing is characterized in that: comprise that n refers to section and the individual described joint of owing to drive of n-1, wherein n is the integer greater than 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910131924 CN101518903B (en) | 2009-03-27 | 2009-03-27 | Crank block type under-actuated robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910131924 CN101518903B (en) | 2009-03-27 | 2009-03-27 | Crank block type under-actuated robot finger device |
Publications (2)
| Publication Number | Publication Date |
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| CN101518903A true CN101518903A (en) | 2009-09-02 |
| CN101518903B CN101518903B (en) | 2011-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910131924 Expired - Fee Related CN101518903B (en) | 2009-03-27 | 2009-03-27 | Crank block type under-actuated robot finger device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829993A (en) * | 2010-04-30 | 2010-09-15 | 清华大学 | Rack crank slide block type parallel coupling under-driving robot finger device |
| CN102039598A (en) * | 2010-11-04 | 2011-05-04 | 清华大学 | Dual-connecting rod slider type coupling adaptive under-actuated robot finger device |
| CN102528814A (en) * | 2012-02-15 | 2012-07-04 | 清华大学 | Deflector rod chute-type indirect under-driven robot finger device |
| CN103786161A (en) * | 2014-02-10 | 2014-05-14 | 上海交通大学 | Underactuated mechanical finger with self-adaption to shapes |
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| WO2019236580A1 (en) * | 2018-06-08 | 2019-12-12 | Phd, Inc. | Autonomously encapsulating gripper tooling |
| WO2023155504A1 (en) * | 2022-02-17 | 2023-08-24 | 江苏科技大学 | Self-locking underactuated gripper and structure optimization method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101829994B (en) * | 2010-04-30 | 2011-12-28 | 清华大学 | Flexible part crank block type parallel coupling underactuated robot finger device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1215926C (en) * | 2002-11-29 | 2005-08-24 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
| JP4053906B2 (en) * | 2003-03-14 | 2008-02-27 | 株式会社豊電子工業 | Hand device for work robot |
| JP2005131719A (en) * | 2003-10-29 | 2005-05-26 | Kawada Kogyo Kk | Walking type robot |
| CN100450732C (en) * | 2007-05-18 | 2009-01-14 | 清华大学 | Under drive mechanical finger device of connecting rod |
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2009
- 2009-03-27 CN CN 200910131924 patent/CN101518903B/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829993A (en) * | 2010-04-30 | 2010-09-15 | 清华大学 | Rack crank slide block type parallel coupling under-driving robot finger device |
| CN102039598A (en) * | 2010-11-04 | 2011-05-04 | 清华大学 | Dual-connecting rod slider type coupling adaptive under-actuated robot finger device |
| CN102039598B (en) * | 2010-11-04 | 2012-05-02 | 清华大学 | Dual-connecting rod slider type coupling adaptive under-actuated robot finger device |
| CN102528814A (en) * | 2012-02-15 | 2012-07-04 | 清华大学 | Deflector rod chute-type indirect under-driven robot finger device |
| CN103786161A (en) * | 2014-02-10 | 2014-05-14 | 上海交通大学 | Underactuated mechanical finger with self-adaption to shapes |
| CN103786161B (en) * | 2014-02-10 | 2015-09-09 | 上海交通大学 | There is the activation lacking mechanical finger of form adaptive |
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| WO2019236580A1 (en) * | 2018-06-08 | 2019-12-12 | Phd, Inc. | Autonomously encapsulating gripper tooling |
| US11312022B2 (en) | 2018-06-08 | 2022-04-26 | Phd, Inc. | Autonomously encapsulating gripper tooling |
| US11685056B2 (en) | 2018-06-08 | 2023-06-27 | Phd, Inc. | Autonomously encapsulating gripper tooling |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN109397317B (en) * | 2018-11-26 | 2023-10-10 | 内蒙古工业大学 | Under-actuated manipulator and operation method thereof |
| WO2023155504A1 (en) * | 2022-02-17 | 2023-08-24 | 江苏科技大学 | Self-locking underactuated gripper and structure optimization method thereof |
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