CN101693372B - Connecting rod slider-type under-actuated robot finger device with changeable grasping force - Google Patents

Connecting rod slider-type under-actuated robot finger device with changeable grasping force Download PDF

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Publication number
CN101693372B
CN101693372B CN 200910172950 CN200910172950A CN101693372B CN 101693372 B CN101693372 B CN 101693372B CN 200910172950 CN200910172950 CN 200910172950 CN 200910172950 A CN200910172950 A CN 200910172950A CN 101693372 B CN101693372 B CN 101693372B
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CN
China
Prior art keywords
rod
slide block
joint shaft
finger
spring
Prior art date
Application number
CN 200910172950
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Chinese (zh)
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CN101693372A (en
Inventor
张文增
赵得洋
Original Assignee
清华大学
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Priority to CN200910087990 priority Critical
Priority to CN200910087990.6 priority
Application filed by 清华大学 filed Critical 清华大学
Priority to CN 200910172950 priority patent/CN101693372B/en
Publication of CN101693372A publication Critical patent/CN101693372A/en
Application granted granted Critical
Publication of CN101693372B publication Critical patent/CN101693372B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

The invention relates to a connecting rod slider-type under-actuated robot finger device with changeable grasping force, belonging to the technical field of humanoid robot hand and comprising a base, three fingers, three joint shafts, a motor, six connecting rods, three sliders, three spring parts, and the like. In the invention, a four-link mechanism, a moving pair, a sheathed finger and the spring part are adopted to integrally realize the special effects of under-actuated self adaption and changeable grasping force of three joint fingers, and the finger device has the grasping function with changeable grasping force so as to grasp stably and widely, has the effect of multi-joint under-actuated self-adaption grasping, uses only one driver to drive three joint freedom degrees and adapts the size and shape of the grasped object automatically, thereby reducing the control requirement for a control system, having large force, simple and reliable structure and low cost, and being suitable for long-term use, similar to the finger and adapted to humanoid robot hand.

Description

A kind of connecting rod slider-type under-actuated robot finger device of changeable grasping force
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, particularly a kind of structural design of connecting rod slider-type under-actuated robot finger device of changeable grasping force.
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, there is contradiction in the two, simultaneously, in order in the destructuring environment, to grasp object better, be starved of finger and when grasping object, have very strong adaptivity.Under-actuated finger mechanism can be realized these targets preferably.
In addition, robot grasps object three kinds of modes: a kind of is to adopt the geometry envelop-type to grasp, the space enforcement envelope that this Grasp Modes need form the crooked back of a plurality of fingers of robot a netted sealing grasps, have self-locking or soft auto-lock function after the motor stall, the gravity of object can not remain on the finger back-flexing in the hand.Second kind is to adopt the drive source with the characteristics of holding of trying hard to keep, for example hydraulic cylinder, cylinder and can continue the special motor of stall, after finger touches object, drive source ceaselessly allows finger that object is applied grasp force, grasp force is held, and this moment, each finger was realized grasping to the gravity that the balance of power of object has overcome object.The third is that the special mechanism of employing realizes pointing the grasp force to object cleverly, this finger can adopt common motor, touch object and produce the grasp force rear motor at finger and promptly quit work, because the effect of special entity has realized the maintenance of grasp force, device can also be realized the accurate control of grasp force preferably.Above-mentioned first kind of envelope Grasp Modes only is satisfied with less grasping body, for this robot of bigger a little object with powerless, thereby the extracting scope is quite limited, even and the object that has grasped also fail accurately to be fixed in the hand, influenced the control of hand to object.Though above-mentioned second kind continues scope that afterburning Grasp Modes grasps object greater than first kind of mode,, hydraulic cylinder and cylinder are bulky and mechanism is complicated, and very costliness, life-span are lower for the special torque type motor cost used of stall for a long time.But the Grasp Modes of above-mentioned the third special entity changeable grasping force is the most promising Grasp Modes, has the extracting of object in a big way of being fit to, and structure is simple relatively simultaneously, low, suitable long-term use of cost.
The multi-joint finger play that under-driven adaptive is grasped can form robot finger and the robot hand device with wide market application foreground with ingenious combination of changeable grasping force Grasp Modes.Present existing under-actuated finger is not generally considered changeable grasping force function (as Chinese invention patent CN1283429C), majority has considered that the finger of changeable grasping force function adopts is that the tendon rope drives and causes the too small and mechanism of grasping force too complicated (as U.S. patent of invention US4946380), the finger with changeable grasping force effect is also arranged but is not lack of driven structure (as Chinese invention patent CN1215925C).There is not a kind of finger mechanism of robot both to have the changeable grasping force function at present, owe again and drive the self-adapting grasping effect, extracting is stable and the extracting scope is wide, it is big, simple and reliable for structure to exert oneself, cost is low, is fit to long-term use, is specially adapted to the anthropomorphic robot on hand.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of connecting rod slider-type under-actuated robot finger device of changeable grasping force is proposed, both had changeable grasping force and grasped function, thereby extracting is stable and the extracting scope is wide, has the multi-joint under-driven adaptive to grasp effect again.
The present invention adopts following technical scheme:
A kind of connecting rod slider-type under-actuated robot finger device of changeable grasping force comprises that pedestal, first refers to that section, second refers to section, the end section of finger, nearly joint shaft, middle joint shaft, joint shaft far away and motor; Said motor and pedestal are affixed, and the output shaft of motor links to each other with said nearly joint shaft by transmission mechanism, and nearly joint shaft is set in the pedestal, and said middle joint shaft is set in first and refers in the section, and said joint shaft far away is set in second and refers in the section; Said first refers to that section is socketed on the nearly joint shaft, and said second refers to that section is socketed on the middle joint shaft, and the said end section of finger is socketed on the joint shaft far away;
It is characterized in that:
The connecting rod slider-type under-actuated robot finger device of this changeable grasping force comprises first connecting rod, first, second connecting rod, second jointed shaft, first slide block, second slide block, the 3rd, third connecting rod, the 4th, the 4th connecting rod, the 5th, the 5th connecting rod, the 6th, the 3rd slide block, the 6th connecting rod, the 7th, the first spring spare, the second spring spare and the 3rd spring spare;
One end of said first connecting rod is fixed on the nearly joint shaft, said second connecting rod one end by said first with first connecting rod hinged, the other end of second connecting rod by said second with said first slide block hinged; Said third connecting rod one end by said the 3rd with second slide block hinged, one end of said the 4th connecting rod is socketed on the middle joint shaft, the third connecting rod other end by said the 4th hinged with the middle part of the 4th connecting rod, the other end of the 4th connecting rod by said the 5th with said the 5th connecting rod one end hinged, the 5th connecting rod other end by said the 6th with said the 3rd slide block hinged, said the 6th connecting rod one end is hinged with the 3rd slide block by the 6th, and the end section of finger is hinged by said the 7th and the 6th connecting rod other end;
Said first slide block and second slide block are embedded in first and refer in the section, and the 3rd slide block is embedded in second and refers to that first slide block is identical with the glide direction of second slide block in the section;
The two ends of the said first spring spare connect first slide block and first respectively and refer to section, and the two ends of the said second spring spare connect the 3rd slide block and second respectively and refer to section, and the two ends of said the 3rd spring spare connect first slide block and second slide block respectively;
Said nearly joint shaft, middle joint shaft, joint shaft far away, first, second, the 3rd, the 4th, the 5th, the 6th and the 7th be parallel to each other.
The connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention is characterized in that: said nearly joint shaft, middle joint shaft, joint shaft far away, first, second, the 3rd, the 4th, the 5th, the 6th, first slide block, second slide block and the 3rd slide block meet following relation: establish nearly joint shaft axis and plane, middle joint shaft axis place is P 1, then first axis, second axis and the 3rd axis are in plane P 1Homonymy; If middle joint shaft axis is P with plane, joint shaft axis place far away 2, then the 4th axis, the 5th axis and the 6th axis are in plane P 2Homonymy; The glide direction of said first slide block and second slide block is parallel to said P 1, the glide direction of said the 3rd slide block is parallel to said P 2
The connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention is characterized in that: the said first spring spare, the second spring spare and the 3rd spring spare adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
The connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention is characterized in that: be provided with decelerator between said motor and transmission mechanism, the output shaft of said decelerator links to each other with transmission mechanism.
The connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention is characterized in that: said transmission mechanism adopts gear drive.
The connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention is characterized in that: be provided with encoder on said motor.
The present invention has the following advantages and the high-lighting effect:
The present invention utilizes quadric chain, moving sets, but socket section of finger and spring spare have comprehensively been realized the special-effect of three joints finger under-driven adaptive and changeable grasping force, this finger apparatus had both had changeable grasping force and had grasped function, thereby extracting is stable and the extracting scope is wide, there is the multi-joint under-driven adaptive to grasp effect again, only adopt three joint freedom degrees of a driver drives, automatically the size and the shape that adapt to the object of grabbing, reduced control requirement to control system, and it is big to exert oneself, simple and reliable for structure, cost is low, be fit to long-term the use, similar to the finger of staff, be applicable to that the anthropomorphic robot is on hand.
Description of drawings
Fig. 1 is the front appearance figure of a kind of embodiment of the connecting rod slider-type under-actuated robot finger device of changeable grasping force provided by the invention.
Fig. 2 is the left side view of Fig. 1.
Fig. 3 is a stereo appearance figure embodiment illustrated in fig. 1.
Fig. 4 is the cutaway view of Fig. 1.
Fig. 5 is the cutaway view of Fig. 2.
Fig. 6 is the right side cross-sectional view of Fig. 1
Fig. 7 is an explosive view embodiment illustrated in fig. 1.
Fig. 8 is the stereo appearance figure of gripping object embodiment illustrated in fig. 1.
Fig. 9 is a cut away left side view (when this moment first, the finger section was by grabbing object blocks, the second finger section and end referred to Duan Chengyi whole result around middle joint shaft rotation) embodiment illustrated in fig. 1.
Figure 10 is a cut away left side view (when referring to that section and second refers to Duan Jun by grabbing object blocks this moment first, the result that the end section of finger is rotated around joint shaft far away) embodiment illustrated in fig. 1.
Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16 and Figure 17 embodiment illustrated in fig. 1ly refer to that with three section gripping modes fully grasp object process schematic diagram (first refers to that section, second refers to that section and the terminal section of finger are respectively successively around the rotation of the center of nearly joint shaft, middle joint shaft, joint shaft far away).
Figure 18, Figure 19 and Figure 20 embodiment illustrated in fig. 1ly refer to that with second section and the end section of finger gripping mode grasp object process schematic diagram (second refers to that section and the terminal section of finger are respectively successively around the rotation of the center of middle joint shaft, joint shaft far away).
Figure 21 is present embodiment touches object with the end section of finger a schematic diagram.
Figure 22 is the robot hand device schematic diagram that has comprised present embodiment.
Figure 23 is a robot hand device grabbing object schematic diagram shown in Figure 22.
In Fig. 1 to Figure 21:
The 1-pedestal, 2-first refers to section, 3-second refers to section, the 4-end section of finger,
The nearly joint shaft of 5-, joint shaft among the 6-, 7-joint shaft far away,
The 8-first connecting rod, first of 9-, the 10-second connecting rod, second of 11-,
12-first slide block, the 3rd of 13-, the 14-third connecting rod, the 4th of 15-,
16-the 4th connecting rod, the 5th of 17-, 18-the 5th connecting rod, the 6th of 19-,
20-the 3rd slide block, 21-the 6th connecting rod,
22--spring spare, the 23-second spring spare,
The 24-motor, the 25-decelerator, the 26-encoder, the 7th of 27-,
The 28-gear drive, the 29-object, 30-the 3rd spring spare,
31-second slide block.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and shown in Figure 10, comprise that pedestal 1, first refers to that section 2, second refers to section 3, the end section of finger 4, nearly joint shaft 5, middle joint shaft 6, joint shaft 7 far away and motor 24; Said motor 24 is affixed with pedestal 1, the output shaft of motor 24 links to each other with said nearly joint shaft 5 by transmission mechanism, nearly joint shaft 5 is set in the pedestal 1, and said middle joint shaft 6 is set in first and refers in the section 2, and said joint shaft 7 far away is set in second and refers in the section 3; Said first refers to that section 2 is socketed on the nearly joint shaft 5, and said second refers to that section 3 is socketed on the middle joint shaft 6, and the said end section of finger 4 is socketed on the joint shaft 7 far away;
This embodiment comprises first connecting rod 8, first spool 9, second connecting rod 10, second spool 11, first slide block 12, second slide block 31, the 3rd spool 13, third connecting rod 14, the 4th spool the 15, the 4th connecting rod 16, the 5th spool the 17, the 5th connecting rod 18, the 6th spool the 19, the 3rd slide block 20, the 6th connecting rod 21, the 7th 27, the first spring spare 22, the second spring spare 23 and the 3rd spring spare 30; One end of said first connecting rod 8 is fixed on the nearly joint shaft 5, said second connecting rod 10 1 ends by said first 9 with first connecting rod 8 hinged, the other end of second connecting rod 10 by said second 11 with said first slide block 12 hinged; Said third connecting rod 14 1 ends are hinged by said the 3rd 13 and second slide block 31, one end of said the 4th connecting rod 16 is socketed on the middle joint shaft 6, third connecting rod 14 other ends are hinged by the middle part of said the 4th the 15 and the 4th connecting rod 16, the other end of the 4th connecting rod 16 by said the 5th 17 with said the 5th connecting rod 18 1 ends hinged, the 5th connecting rod 18 other ends by said the 6th 19 with said the 3rd slide block 20 hinged, said the 6th connecting rod 21 1 ends are hinged by the 6th the 19 and the 3rd slide block 20, and the end section of finger 4 is hinged by said the 7th the 27 and the 6th connecting rod 21 other ends;
First slide block 12 and second slide block 31 are embedded in first and refer in the section 2, and the 3rd slide block 20 is embedded in second and refers to that first slide block 12 is identical with the glide direction of second slide block 31 in the section 3;
The two ends of the said first spring spare 22 connect first slide block 12 and first respectively and refer to section 2, and the two ends of the said second spring spare 23 connect the 3rd slide block 20 and second respectively and refer to section 3, and the two ends of said the 3rd spring spare 30 connect first slide block 12 and second slide block 31 respectively;
Said nearly joint shaft 5, middle joint shaft 6, joint shaft far away 7, be parallel to each other for first 9, second 11, the 3rd 13, the 4th 15, the 5th 17, the 6th 19 and the 7th 27.
In the present embodiment, said nearly joint shaft 5, middle joint shaft 6, joint shaft far away 7, first 9, second 11, the 3rd 13, the 4th 15, the 5th 17, the 6th 19, first slide blocks 12, second slide block 31 and the 3rd slide blocks 20 meet following relation: establish nearly joint shaft 5 axis and plane, middle joint shaft 6 axis place is P 1, then first 9 axis, second 11 axis and the 3rd 13 axis are in plane P 1Homonymy; If middle joint shaft 6 axis are P with plane, joint shaft 7 axis place far away 2, then the 4th 15 axis, the 5th 17 axis and the 6th 19 axis are in plane P 2Homonymy; The glide direction of said first slide block 12 and second slide block 31 is parallel to said P 1, the glide direction of said the 3rd slide block 20 is parallel to said P 2
The connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of the present invention is characterized in that: the said first spring spare, the second spring spare and the 3rd spring spare adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
In the present embodiment, the said first spring spare 22 and the second spring spare 23 adopt extension spring, and said the 3rd spring spare 30 adopts stage clip.
In the present embodiment, be provided with decelerator 25 between said motor 24 and transmission mechanism, the output shaft of said decelerator 25 links to each other with transmission mechanism.
In the present embodiment, said transmission mechanism adopts gear drive (28).
In the present embodiment, on said motor 24, be provided with encoder 26.
The operation principle of present embodiment as Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20, Figure 21, is described below:
The original state of present embodiment such as Figure 11, shown in Figure 180, similar people's finger straight configuration.
When present embodiment grasps object, motor 2 rotates, by decelerator 25, gear drive 28 drives nearly joint shaft 5 and rotates, nearly joint shaft 5 drives affixed with it first connecting rod 8 and rotates, because the first spring spare 22, the common restriction of the second spring spare 23 and the 3rd spring spare 30, first slide block 12, second slide block 31, the 3rd slide block 20 does not slide, first connecting rod 8, second connecting rod 10, third connecting rod 14, the 4th connecting rod 16, the 5th connecting rod 18, the 6th connecting rod 21 relative position relations are constant, first refers to section 2, second refers to section 3 and the end section of finger 4 one " rigid body " seemingly, and the rotation of therefore nearly joint shaft 5 will drive first by first connecting rod 8 and refer to section 2, the second finger section 3 and the terminal section of finger 4 are made as a whole axis around nearly joint shaft 5 and are rotated.Can run into following three kinds of situations this moment:
(a) the end section of finger 4 is run into object, the end section of finger 4 restricted can't moving, this moment, first connecting rod 8 was rotated further under the drive of nearly joint shaft 5, successively by first 9, second connecting rod 10, drive the distortion elastic force that first slide block 12 overcomes the first spring spare 22 and the 3rd spring spare 30 and refer to slip in the section 2 for second spool 11 first, second slide block 31 does not slide, along with 30 of the 3rd spring spare distortion increases, grasp force on the end section of finger 4 increases gradually, till the 3rd spring spare 30 no longer is out of shape, grasp and finish, as shown in figure 21.
(b) the second finger section 3 is run into object, as shown in figure 19, second refers to section 3 restricted can't moving, this moment, first connecting rod 8 was rotated further under the drive of nearly joint shaft 5, successively by first 9, second connecting rod 10, drive distortion elastic force slip in the first finger section 2 that first slide block 12 overcomes the first spring spare 22 for second 11, this moment, the first spring spare 22 deformed, the 3rd spring spare 30 does not deform, then first slide block 12 drives the slip in the first finger section 2 of second slide block 31 by the 3rd spring spare 30, second slide block 31 is by the 3rd 13, third connecting rod 14, the 4th 15, the 4th connecting rod 16, the 5th 17, the 5th connecting rod 18, drive distortion elastic force slip in the second finger section 3 that the 3rd slide block 20 overcomes the second spring spare 23 for the 6th 19, this moment, the second spring spare 23 deformed, the 3rd slide block 20 is by the 6th 19, the 6th connecting rod 21, promote the end section of the finger 4 joint shaft 7 axis rotation of going the long way round for the 7th 27, touch object up to the end section of finger 4, this moment, first connecting rod 8 was rotated further under the drive of nearly joint shaft 5, successively by first 9, second connecting rod 10, continue to drive distortion elastic force slip in the first finger section 2 that first slide block 12 overcomes the first spring spare 22 and the 3rd spring spare 30 for second 11, second slide block 31 does not slide, along with 30 of the 3rd spring spare distortion increases, second refers to that the grasp force on section 3 and the terminal section of finger 4 increases gradually, till the 3rd spring spare 30 no longer is out of shape, grasp and finish, as shown in figure 20.
(c) the first finger section 2 is run into object, as shown in figure 13, first refers to section 2 restricted can't moving, this moment, first connecting rod 8 was rotated further under the drive of nearly joint shaft 5, successively by first 9, second connecting rod 10, drive distortion elastic force slip in the first finger section 2 that first slide block 12 overcomes the first spring spare 22 for second 11, this moment, the first spring spare 22 deformed, the 3rd spring spare 30 does not deform, then first slide block 12 drives the slip in the first finger section 2 of second slide block 31 by the 3rd spring spare 30, second slide block 31 is by the 3rd 13, third connecting rod 14, driving the 4th connecting rod 16 for the 4th 15 rotates, because the restriction of the second spring spare 23, the 3rd slide block 20 does not slide, the 4th connecting rod 16, the 5th connecting rod 18, the 6th connecting rod 21 relative position relations are constant, second refers to section 3 and the end section of finger 4 one " rigid body " seemingly, so the rotation of the 4th connecting rod 16 will drive the second finger section 3 and the terminal section of finger 4 is done as a whole axis rotation around middle joint shaft 6, refer to that up to second section 3 touches object, as shown in figure 15, second refers to section 3 restricted can't moving, this moment, the 4th connecting rod 16 was rotated further, by the 5th 17, the 5th connecting rod 18, drive distortion elastic force slip in the second finger section 3 that the 3rd slide block 20 overcomes the second spring spare 23 for the 6th 19, this moment, the second spring spare 23 deformed, the 3rd slide block 20 is by the 6th 19, the 6th connecting rod 21, promote the end section of the finger 4 joint shaft 7 axis rotation of going the long way round for the 7th 27, touch object up to the end section of finger 4, this moment, first connecting rod 8 was rotated further under the drive of nearly joint shaft 5, successively by first 9, second connecting rod 10, continue to drive distortion elastic force slip in the first finger section 2 that first slide block 12 overcomes the first spring spare 22 and the 3rd spring spare 30 for second 11, second slide block 31 does not slide, along with 30 of the 3rd spring spare distortion increases, first refers to section 2, second refers to that the grasp force on section 3 and the terminal section of finger 4 increases gradually, till the 3rd spring spare 30 no longer is out of shape, grasp and finish, as shown in figure 17.
When decontroling object, motor 24 counter-rotatings, by decelerator 25, moving gear transmission mechanism 28 drives nearly joint shaft 5 counter-rotatings, first connecting rod 8 counter-rotating under nearly joint shaft 5 drives, first connecting rod 8 is successively by first 9, second connecting rod 10,12 motions of second 11 pulling first slide block, this moment, the distortion of the first spring spare 22 and the 3rd spring spare 30 reduced gradually, second slide block 31 does not slide, first refers to section 2, second refers to section 3, grasp force on the end section of finger 4 reduces gradually, return to not deformation state fully up to the 3rd spring spare 30, then first slide block 12 is by 31 motions of the 3rd spring spare 30 pullings second slide block, the 3rd spring spare 30 no longer deforms, second slide block 31 is by the 3rd 13, third connecting rod 14, the 4th 15, the 4th connecting rod 16, the 5th 17, the 5th connecting rod 18,20 motions of the 6th 19 pulling the 3rd slide block, this moment, the distortion of the second spring spare 23 reduced gradually, and the 3rd slide block 20 is again by the 6th 19, the 6th connecting rod 21, the 7th 27 pulling end section of finger 4 joint shaft 7 axis of going the long way round reverse.Owing to above the back of the second finger section 3, boss is arranged, this boss surpass during with the confinement end section of finger 4 counter-rotating its with respect to second refer to section 3 initially stretch the position, play position-limiting action, the therefore terminal section of finger 4 will be subjected to the backward rotation again that stops of the second finger section 3, this moment, the terminal section of finger 4 was inverted to the position that finger stretches, as shown in figure 15.Simultaneously, the 4th connecting rod 16 will continue counter-rotating, pulling is in the second finger section 3 and the end section of finger 4 of straight configuration and does as a whole together around middle joint shaft 6 axis counter-rotating, owing to above the back of the first finger section 2, boss is arranged, this boss will limit second surpass when referring to section 3 counter-rotatings its with respect to first refer to section 2 initially stretch the position, play position-limiting action, therefore second refers to that section 3 will be subjected to the backward rotation again that stops of the first finger section 2, refer to that section 3 has been inverted to the position that finger stretches this moment second, as shown in figure 13.Simultaneously, first connecting rod 8 will continue counter-rotating, pulling is in first of straight configuration and refers to that section 2, second refers to that section 3, the end section of finger 4 do as a wholely to reverse around nearly joint shaft 5 axis together, returns to the position of stretching that begins most fully up to finger apparatus, as shown in figure 11.
The present invention utilizes quadric chain, moving sets, but socket section of finger and spring spare have comprehensively been realized the special-effect of three joints finger under-driven adaptive and changeable grasping force, this finger apparatus had both had changeable grasping force and had grasped function, thereby extracting is stable and the extracting scope is wide, there is the multi-joint under-driven adaptive to grasp effect again, only adopt three joint freedom degrees of a driver drives, automatically the size and the shape that adapt to the object of grabbing, reduced control requirement to control system, and it is big to exert oneself, simple and reliable for structure, cost is low, be fit to long-term the use, similar to the finger of staff, be applicable to that the anthropomorphic robot is on hand.

Claims (5)

1. the connecting rod slider-type under-actuated robot finger device of a changeable grasping force comprises that pedestal (1), first refers to that section (2), second refers to section (3), the end section of finger (4), nearly joint shaft (5), middle joint shaft (6), joint shaft (7) far away and motor (24); Said motor (24) is affixed with pedestal (1), the output shaft of motor (24) links to each other with said nearly joint shaft (5) by transmission mechanism, nearly joint shaft (5) is set in the pedestal (1), joint shaft (6) is set in the first finger section (2) in said, and said joint shaft far away (7) is set in second and refers in the section (3); Said first refers to that section (2) is socketed on the nearly joint shaft (5), and said second refers to that section (3) is socketed on the middle joint shaft (6), and the said end section of finger (4) is socketed on the joint shaft far away (7);
It is characterized in that:
The connecting rod slider-type under-actuated robot finger device of this changeable grasping force comprises first connecting rod (8), first (9), second connecting rod (10), second (11), first slide block (12), second slide block (31), the 3rd (13), third connecting rod (14), the 4th (15), the 4th connecting rod (16), the 5th (17), the 5th connecting rod (18), the 6th (19), the 3rd slide block (20), the 6th connecting rod (21), the 7th (27), the first spring spare (22), second spring spare (23) and the 3rd spring spare (30);
One end of said first connecting rod (8) is fixed on the nearly joint shaft (5), said second connecting rod (10) one ends are hinged by said first (9) and first connecting rod (8), and the other end of second connecting rod (10) is hinged by said second (11) and said first slide block (12); Said third connecting rod (14) one ends are hinged by said the 3rd (13) and second slide block (31), one end of said the 4th connecting rod (16) is socketed on the middle joint shaft (6), third connecting rod (14) other end is hinged with the middle part of the 4th connecting rod (16) by said the 4th (15), the other end of the 4th connecting rod (16) is hinged by said the 5th (17) and said the 5th connecting rod (18) one ends, the 5th connecting rod (18) other end is hinged by said the 6th (19) and said the 3rd slide block (20), said the 6th connecting rod (21) one ends are hinged by the 6th (19) and the 3rd slide block (20), and the end section of finger (4) is hinged by said the 7th (27) and the 6th connecting rod (21) other end;
First slide block (12) and second slide block (31) are embedded in first and refer in the section (2), and the 3rd slide block (20) is embedded in second and refers to that first slide block (12) is identical with the glide direction of second slide block (31) in the section (3);
The two ends of the said first spring spare (22) connect first slide block (12) and first respectively and refer to section (2), the two ends of the said second spring spare (23) connect the 3rd slide block (20) and second respectively and refer to section (3), and the two ends of said the 3rd spring spare (30) connect first slide block (12) and second slide block (31) respectively;
Said nearly joint shaft (5), middle joint shaft (6), joint shaft (7) far away, first (9), second (11), the 3rd (13), the 4th (15), the 5th (17), the 6th (19) and the 7th (27) are parallel to each other;
Said nearly joint shaft (5), middle joint shaft (6), joint shaft (7) far away, first (9), second (11), the 3rd (13), the 4th (15), the 5th (17), the 6th (19), first slide block (12), second slide block (31) and the 3rd slide block (20) meet following relation: establishing the axis of nearly joint shaft (5) and the plane, axis place of middle joint shaft (6) is P 1, then the axis of the axis of the axis of first (9), second (11) and the 3rd (13) is in plane P 1Homonymy; If the axis of middle joint shaft (6) is P with the plane, axis place of joint shaft (7) far away 2, then the axis of the axis of the axis of the 4th (15), the 5th (17) and the 6th (19) is in plane P 2Homonymy; The glide direction of said first slide block (12) and second slide block (31) all is parallel to said P 1, the glide direction of said the 3rd slide block (20) is parallel to said P 2
2. as the connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of claim 1, it is characterized in that: the said first spring spare (22), the second spring spare (23) and the 3rd spring spare (30) adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
3. as the connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of claim 1, it is characterized in that: be provided with decelerator (25) between said motor (24) and transmission mechanism, the output shaft of said decelerator (25) links to each other with transmission mechanism.
4. as the connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of claim 1, it is characterized in that: said transmission mechanism adopts gear drive (28).
5. as the connecting rod slider-type under-actuated robot finger device of the said changeable grasping force of claim 1, it is characterized in that: on said motor (24), be provided with encoder (26).
CN 200910172950 2009-07-06 2009-09-11 Connecting rod slider-type under-actuated robot finger device with changeable grasping force CN101693372B (en)

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CN 200910172950 CN101693372B (en) 2009-07-06 2009-09-11 Connecting rod slider-type under-actuated robot finger device with changeable grasping force

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TWI426985B (en) * 2010-11-02 2014-02-21
CN102039598B (en) * 2010-11-04 2012-05-02 清华大学 Dual-connecting rod slider type coupling adaptive under-actuated robot finger device
TWI483819B (en) 2012-12-25 2015-05-11 Ind Tech Res Inst Gripper appararus and method for controlling the same
CN105291139B (en) * 2014-06-03 2017-04-19 赵德朝 Finger movement detection device based on Hall effect
CN104537944B (en) * 2014-12-30 2017-09-26 浙江钱江机器人有限公司 A kind of six-bar linkage teaching apparatus of six-joint robot
CN104842363B (en) * 2015-06-12 2017-02-01 浙江大学 Under-actuated three-joint finger with gear and rack transmission
CN105345826A (en) * 2015-12-10 2016-02-24 先驱智能机械(深圳)有限公司 Mechanical hand, mechanical arm and robot
CN105643644B (en) * 2016-04-08 2017-11-14 哈尔滨工业大学 The high artificial finger of drive lacking that coupling is had both with adaptive motion pattern
CN106113024B (en) * 2016-06-30 2018-12-14 北京空间飞行器总体设计部 A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to and control method
CN109877868B (en) * 2019-04-25 2021-03-23 北京邮电大学 Coupling self-adaptive under-actuated human-simulated dexterous finger

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