CN101722514B - Coupling under-actuated integrated three-joint robot finger device - Google Patents
Coupling under-actuated integrated three-joint robot finger device Download PDFInfo
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- CN101722514B CN101722514B CN2009102412560A CN200910241256A CN101722514B CN 101722514 B CN101722514 B CN 101722514B CN 2009102412560 A CN2009102412560 A CN 2009102412560A CN 200910241256 A CN200910241256 A CN 200910241256A CN 101722514 B CN101722514 B CN 101722514B
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Abstract
The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as to realize grabbing in a holding way. The finger device has the advantages of great force, low requirement on control systems, simple reliable structure, low cost, suitability for long-term use, similarity to the appearance and motion of fingers of human hands and applicability to anthropomorphic robot hands.
Description
Technical field
The invention belongs to the robot technical field, particularly a kind of structural design of coupling under-actuated integrated three-joint robot finger device.
Background technology
Robot hand device becomes the hot topic and the emphasis of Robotics area research in recent years as the pith of robot.But in present research, there are some technological difficulties.As in order to realize the multiple degrees of freedom Dextrous Hand, need more motor that power is provided.But the increase of number of motors not only can cause the control system complexity, can make that more whole finger apparatus mechanism is huge, destroys its personification.Owing actuation techniques is can better solve one of scheme of this contradiction at present.By utilizing the lack of driven structure, can be by the more joint freedom degrees of less motor-driven, thus reduced requirement to control system.Especially, a class adopts the robot finger apparatus of under-driven adaptive mechanism to arise at the historic moment.Is the working method of example explanation under-driven adaptive finger apparatus with the three-joint robot finger: the whole finger of motor-driven (comprising that first refers to that section, second refers to section and the end section of finger) is similar to a rigid body and is straight configuration and rotates around nearly joint shaft, restricted can't moving after the first finger section is touched object, this moment, the second finger section was rotated around middle joint shaft under the effect of motor, restricted can't moving after the second finger section is touched object, the end section of finger is rotated further, until touching object, realized that three refer to section rotation in order successively.Such finger apparatus has the special-effect of automatic adaptation object size, and it is wide to adapt to the extracting object range, and what help grasping is stable.
A kind of activation lacking mechanical finger device such as U.S. patent of invention US5762390A, this device belongs to the under-driven adaptive device, owing to adopt many cover quadric chains that the transmission of power of drive source is arrived a plurality of joints, has the stability of adaptivity and extracting.
Another kind of under-actuated three-joint finger apparatus, see the finger apparatus shown in the Chinese invention patent CN1557268A, comprise pedestal, motor, three joints and connecting rod and gear drive etc., realized the crooked special-effect that grasps objects of three joint under-actuated fingers equally, have adaptivity.
But, such under-driven adaptive mechanical finger device with functions also has certain deficiency: finger is straight configuration all the time and rotates before not touching object, so not only have than big-difference with the staff action, lack personification, and behind the first finger section contact object, refer to that second section turns to before object contact, object might be open under first effect that refers to section, leaves the extracting scope of finger; Finger can only grasp object in the gripping mode, and can not realize that end grips preferably; When finger tips is touched object, can not realize the natural torsion in each joint, thereby difficult object is allocated in the hand held; Can not accomplish the action etc. of similar staff empty-handed " clenching fist ".
The another kind of technology of extensively using the robot field is a coupling technique.By adopting coupling mechanism, when robot finger apparatus rotates, can realize referring to the multiarticulate rotation simultaneously of section, the natural torsion of finger when the similar staff of course of action grips more.Still be the working method of example explanation manifold type finger apparatus: when the motor-driven finger rotates with the three-joint robot finger, not only point first and refer to that section is around nearly joint shaft rotation, the second finger section is gone the long way round joint shaft with respect to the first finger section rotation in the first finger section motion, the angle that both rotate has a fixing proportionate relationship, this proportionate relationship is by the design decision of concrete coupling mechanism, and remaining constantly, this is coupling extracting pattern.Multiarticulate finger still can be driven by less drive source, so the manifold type robot finger has inherited and has owed the drive-type finger and have less drive source, the control characteristic of simple, and some shortcomings of under-driven adaptive finger apparatus have been overcome, its grasping movement has good personification, can realize that gripping mode grasps, the robot that adopts the manifold type finger apparatus can also avoid under-driven adaptive to point the shortcoming that object might be pushed open simultaneously to make the action of clenching fist.
Existing a kind of manifold type articulated robot finger apparatus (Japanese patent of invention JP2004-130405A) comprises that pedestal, first refers to that section, second refers to that section, the 3rd refers to section, motor, first gear drive, the first belt wheel transmission mechanism, second gear drive and the second belt wheel transmission mechanism etc.This device adopts gear and belt wheel transmission mechanism to realize the effect of being rotated by motor-driven a plurality of joints coupling.
But the manifold type finger apparatus does not have the self-adapting grasping function of under-driven adaptive finger because each joint rotational angle ratio remains unchanged.When rotate with the fixed angle ratio in each joint, can't grasp in the gripping mode of lucky adaptation body surface size dimension, do not possess the automatic adaptability to object, it is bad to grasp effect, grasps unstable.
By above-mentioned situation as can be known, under-driven adaptive formula finger and each tool quality of manifold type finger mechanism if both combinations can be learnt from other's strong points to offset one's weaknesses, will become the trend of future robot finger development.At present existing a kind of robot finger apparatus has the effect of coupling and under-driven adaptive, but for the tandem coupling adds under-driven adaptive finger (Chinese invention patent CN101190528A), this device belongs to three joints finger, its middle finger joint and finger tip adopt the coupled drive mode, realized the coupled motions of diarticular 1: 1 angle, nearly dactylus and middle finger joint employing under-driven adaptive mode realize the self-adapting grasping to object.But the coupling extracting of this device and under-driven adaptive grasp and separate, only realize the coupling extracting with finger the first half, realizing that with finger the latter half under-driven adaptive grasps, is the simple synthetic of two kinds of extractings in fact, two kinds of Grasp Modes is not really merged.
In sum, successively implement extracting in the mode of coupling and under-driven adaptive successively if can adopt the coupling mechanism that is integrated and under-driven adaptive mechanism to be implemented in the same extracting process, with real advantage in conjunction with two kinds of Grasp Modes, realize having complementary advantages, can obtain practical robot finger apparatus powerful, that the extracting scope is wide, grasp stability is good, become the outstanding person in the various robot finger apparatus.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of coupling under-actuated integrated three-joint robot finger device is proposed, realize that three joints finger coupling extracting process and under-driven adaptive extracting process are melted into a whole, the while is simple in structure, cost is low, requires low to control system.
The present invention adopts following technical scheme:
A kind of coupling under-actuated integrated three-joint robot finger device comprises that pedestal, first refers to that section, second refers to section, the end section of finger, nearly joint shaft, joint shaft far away, decelerator and motor; Said motor and pedestal are affixed, the output shaft of motor links to each other with said input shaft of speed reducer, the output shaft of decelerator links to each other with said nearly joint shaft, nearly joint shaft is set in the pedestal, said first refers to that section is socketed on the nearly joint shaft, said joint shaft far away is set in said second and refers to that the said end section of finger is socketed on the joint shaft far away in the section;
It is characterized in that:
This coupling under-actuated integrated three-joint robot finger device also comprises in first joint shaft in the joint shaft and second, joint shaft coaxial line in the joint shaft and second in first; In said first in the joint shaft and second joint shaft be set in said first and refer in the section, second refers to that section is socketed in first in the joint shaft and second on the joint shaft, in the said nearly joint shaft, first in the joint shaft, second axis of joint shaft and joint shaft far away be parallel to each other;
This coupling under-actuated integrated three-joint robot finger device also comprises first connecting rod, first, second connecting rod, second, third connecting rod, the 3rd, the 4th connecting rod, the 4th, the 5th connecting rod, the 5th, the 6th connecting rod, seven-link assembly, the 8th connecting rod, the first spring spare, the second spring spare, the 3rd spring spare and the 4th spring spare;
One end of said first connecting rod is fixed on the nearly joint shaft, the other end of first connecting rod by said first with said second connecting rod one end hinged, the other end of second connecting rod is hinged by said second end with said the 5th connecting rod, and the other end of the 5th connecting rod is socketed in said second on the joint shaft; One end of said third connecting rod is socketed on the nearly joint shaft, and the other end of third connecting rod is hinged by said the 3rd end with said the 4th connecting rod, and the other end of the 4th connecting rod is socketed on second; One end of said the 6th connecting rod is socketed on second, the other end of the 6th connecting rod by said the 4th with the end section of finger hinged; One end of said seven-link assembly is socketed in said first on the joint shaft, and the other end of seven-link assembly is hinged by said the 5th end with the 8th connecting rod, and the other end of the 8th connecting rod is socketed on the 4th; The two ends of the said first spring spare connect first connecting rod and first respectively and refer to section, the two ends of the said second spring spare connect third connecting rod and pedestal respectively, the two ends of said the 3rd spring spare connect the 5th connecting rod and second respectively and refer to section, and the two ends of said the 4th spring spare connect seven-link assembly and first respectively and refer to section; The axis of said first, second, the 3rd, the 4th, the 5th and nearly joint shaft is parallel to each other.
The said coupling under-actuated integrated three-joint robot finger device of the present invention, joint shaft in the said nearly joint shaft, first, first, second and the 3rd meet following relation: the plane, axis place of establishing joint shaft in the axis and first of nearly joint shaft is P
1The plane, the plane, axis place of joint shaft is P in first the axis and first
2The plane; Then first axis and the 3rd axis is at P
1The both sides on plane, second axis and the 3rd axis is at P
2The both sides on plane.
The said coupling under-actuated integrated three-joint robot finger device of the present invention, joint shaft in said first, joint shaft far away, second, the 4th and the 5th meet following relation: the axis of establishing joint shaft in first is P with the plane, axis place of joint shaft far away
3The plane, second axis is P with the plane, axis place of joint shaft far away
4The plane; Then second axis and the 5th axis is at P
3The both sides on plane, the 4th axis and the 5th axis is at P
4The both sides on plane.
The said coupling under-actuated integrated three-joint robot finger device of the present invention, the said first spring spare, the second spring spare, the 3rd spring spare and the 4th spring spare adopt torsion spring, extension spring, stage clip, sheet spring or leaf spring.
The said coupling under-actuated integrated three-joint robot finger device of the present invention, the elastic force restriction of the said second spring spare is better than the elastic force restriction of the first spring spare; The elastic force restriction of said the 4th spring spare is better than the elastic force restriction of the 3rd spring spare.
The said coupling under-actuated integrated three-joint robot finger device of the present invention is provided with transmission mechanism between said decelerator and nearly joint shaft, the output shaft of decelerator links to each other with nearly joint shaft by said transmission mechanism.
The said coupling under-actuated integrated three-joint robot finger device of the present invention is provided with encoder on said motor.
The present invention has the following advantages and the high-lighting effect:
The present invention utilizes a plurality of connecting rods and spring spare to constitute the coupled transmission mechanism of one and owes drive transmission device, three of sockets refer to section, realized that comprehensively three joints finger coupling extracting process and under-driven adaptive extracting process are blended in the special-effect of one, this finger apparatus adopts coupled modes to rotate before touching object, altitude measurement personalizes, help envelope simultaneously to object, and can realize that gripping mode grasps object, after touching object, can adopt the under-driven adaptive mode to rotate the extracting object again, automatically the size and the shape that adapt to the object of grabbing realize that the gripping mode grasps, and grasp stable.When not grasping object, can make the action of " clenching fist " of similar staff.This finger apparatus is exerted oneself greatly, to control system require low, simple and reliable for structure, volume is little, cost is low, is fit to long-term the use, to the finger outward appearance of staff with move similarly, is applicable to that the anthropomorphic robot on hand.
Description of drawings
Fig. 1 is the front appearance figure of a kind of embodiment of coupling under-actuated integrated three-joint robot finger device provided by the invention.
Fig. 2 is the left side view of Fig. 1.
Fig. 3 is a three-dimensional appearance view embodiment illustrated in fig. 1.
Fig. 4 is a front view (pedestal bottom plate that do not draw, first refers to that section base plate and second refers to the section base plate) embodiment illustrated in fig. 1.
Fig. 5 is the location diagram of nearly joint shaft 5, third connecting rod 15 and the second spring spare 25.
Fig. 6 is the location diagram of joint shaft 6, seven-link assembly 21 and the 4th spring spare 27 in first.
Fig. 7 is the cut away left side view of Fig. 1.
Fig. 8 is the right side cross-sectional view of Fig. 1.
Fig. 9 is an explosive view embodiment illustrated in fig. 1.
Figure 10 embodiment illustrated in fig. 1 first refers to that section, second refers to section and the terminal section of the finger cut away left side view with the coupled modes rotation.
Figure 11 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 10.
Figure 12 embodiment illustrated in fig. 1 second refers to the cut away left side view that section and the terminal section of finger rotate with coupled modes (refer to this moment first section by grabbing object blocks).
Figure 13 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 12.
Figure 14 is the cut away left side view (referring to that section and second refers to that section is by grabbing object blocks this moment first) that the end section of finger embodiment illustrated in fig. 1 is rotated to owe type of drive.
Figure 15 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 14.
Figure 16, Figure 17, Figure 18, Figure 19, Figure 20, Figure 21 and Figure 22 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 joint shaft and the joint shaft axis rotation far away in nearly joint shaft, first respectively of section and the end section of finger).
Figure 23, Figure 24, Figure 25 and Figure 26 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 joint shaft and the far joint shaft axis rotation in first respectively of section and the end section of finger).
Figure 27 is that present embodiment refers to that with second section and the end section of finger grip mode and grasp the object schematic diagram.
Figure 28 is that three of present embodiments refer to that section turns to extreme position with coupled modes and makes " clenching fist " action schematic diagram.
Figure 29 is present embodiment touches object with the end section of finger a schematic diagram.
In Fig. 1 to Figure 29:
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-first, joint shaft among the 7-second, 8-joint shaft far away,
The 9-decelerator, the 10-motor,
The 11-first connecting rod, first of 12-, the 13-second connecting rod, second of 14-,
The 15-third connecting rod, the 3rd of 16-, 17-the 4th connecting rod, 18-the 5th connecting rod,
19-the 6th connecting rod, the 4th of 20-, the 21-seven-link assembly, the 5th of 22-,
23-the 8th connecting rod, the 24-first spring spare, the 25-second spring spare, 26-the 3rd spring spare,
27-the 4th spring spare, 28-transmission mechanism, 29-encoder, 30-object.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.The embodiment of coupling under-actuated integrated three-joint robot finger device provided by the invention such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and shown in Figure 9, this three-joint robot finger device comprise that pedestal 1, first refers to that section 2, second refers in the section 3, the end section of finger 4, nearly joint shaft 5, first joint shaft 7 in the joint shaft 6, second, far joint shaft 8, decelerator 9 and motor 10; Said motor 10 is affixed with pedestal 1, the output shaft of motor 10 links to each other with the power shaft of said decelerator 9, the output shaft of decelerator 9 links to each other with said nearly joint shaft 5, nearly joint shaft 5 is set in the pedestal 1, in said first in the joint shaft 6 and second joint shaft 7 be set in said first and refer in the section 2 that said joint shaft 8 far away is set in said second and refers in the section 3; First refers to that section 2 is socketed on the nearly joint shaft 5, and second refers to that section 3 is socketed in first in the joint shaft 6 and second on the joint shaft 7, and the said end section of finger is set on the joint shaft 8 far away; In the said nearly joint shaft 5, first in the joint shaft 6, second axis of joint shaft 7 and joint shaft 8 far away be parallel to each other; Joint shaft 7 coaxial lines in the joint shaft 6 and second in first; This embodiment also comprises first connecting rod 11, first spool 12, second connecting rod 13, second spool 14, third connecting rod 15, the 3rd spool the 16, the 4th connecting rod 17, the 5th connecting rod 18, the 6th connecting rod 19, the 4th spool 20, seven-link assembly 21, the 5th the 22, the 8th connecting rod 23, the first spring spare 24, the second spring spare 25, the 3rd spring spare 26 and the 4th spring spare 27; As Fig. 4, Fig. 7 and shown in Figure 8;
One end of said first connecting rod 11 is fixed on the nearly joint shaft 5, the other end of first connecting rod 11 by said first 12 with said second connecting rod 13 1 ends hinged, the other end of second connecting rod 13 is hinged by said second 14 end with said the 5th connecting rod 18, and the other end of the 5th connecting rod 18 is socketed in said second on the joint shaft 7; One end of said third connecting rod 15 is socketed on the nearly joint shaft 5, and the other end of third connecting rod 15 is hinged by said the 3rd 16 end with said the 4th connecting rod 17, and the other end of the 4th connecting rod 17 is socketed on second 14; One end of said the 6th connecting rod 19 is socketed on second 14, the other end of the 6th connecting rod 19 by said the 4th 20 with the end section of finger 4 hinged; One end of said seven-link assembly 21 is socketed in said first on the joint shaft 6, and the other end of seven-link assembly 21 is hinged by an end of said the 5th the 22 and the 8th connecting rod 23, and the other end of the 8th connecting rod 23 is socketed on the 4th 20; The two ends of the said first spring spare 24 connect first connecting rod 11 and first respectively and refer to section 2, the two ends of the said second spring spare 25 connect third connecting rod 15 and pedestal 1 respectively, as shown in Figure 5, the two ends of said the 3rd spring spare 26 connect the 5th connecting rod 18 and second respectively and refer to section 3, the two ends of said the 4th spring spare 27 connect seven-link assembly 21 and first respectively and refer to section 2, as shown in Figure 6; The axis of said first 12, second 14, the 3rd 16, the 4th 20, the 5th 22 and nearly joint shaft 5 is parallel to each other.
In the present embodiment, joint shaft 6 in the said nearly joint shaft 5, first, meet following relation for first 12, second 14 and the 3rd 16: the plane, axis place of establishing joint shaft 6 in the axis and first of nearly joint shaft 5 is P
1The plane, the plane, axis place of joint shaft 6 is P in first 12 the axis and first
2The plane; Then first 12 axis and the 3rd 16 axis is at P
1The both sides on plane, second 14 axis and the 3rd 16 axis is at P
2The both sides on plane.
In the present embodiment, joint shaft 6 in said first, joint shaft far away 8, meet following relation for second 14, the 4th 20 and the 5th 22: the axis of establishing joint shaft 6 in first is P with the plane, axis place of joint shaft 8 far away
3The plane, second 14 axis is P with the plane, axis place of joint shaft 8 far away
4The plane; Then second 14 axis and the 5th 22 axis is at P
3The both sides on plane, the 4th 20 axis and the 5th 22 axis is at P
4The both sides on plane.
The said coupling under-actuated integrated three-joint robot finger device of the present invention, the said first spring spare 24, the second spring spare 25, the 3rd spring spare 26 and the 4th spring spare 27 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 24, the second spring spare 25, the 3rd spring spare 26 and the 4th spring spare 27 adopt torsion spring.
The said coupling under-actuated integrated three-joint robot finger device of the present invention, the elastic force restriction of the said second spring spare 25 is better than the elastic force restriction of the first spring spare 24; The elastic force restriction of said the 4th spring spare 27 is better than the elastic force restriction of the 3rd spring spare 26.
In the present embodiment, the diameter of the elastic force restriction of said spring spare and the first spring spare 24, the second spring spare 25, the 3rd spring spare 26 and the 4th spring spare 27, the number of turns and first refer to that section 2, second refers to stressed relevant in section 3 and the terminal section of finger 4 rotation processes.Be better than the elastic force restriction of the first spring spare 24 when the elastic force restriction of the second spring spare 25, when the elastic force restriction of the 4th spring spare 27 is better than the elastic force restriction of the 3rd spring spare 26, can comprehensively be achieved as follows effect: refer to that section 2 is when straight configuration begins to rotate when first, before first refers to that section 2 is not touched object, finger rotates with coupled modes, promptly the second finger section 3 refers to section 2 rotations with respect to first simultaneously, the end section of finger 4 refers to section 3 rotations with respect to second simultaneously, this moment, third connecting rod 15 was maintained fixed with respect to pedestal 1 under the effect of the second spring spare 25, the first spring spare 24 deforms, seven-link assembly 21 refers to that with respect to first section 2 is maintained fixed under the effect of the 4th spring spare 27, the 3rd spring spare 26 deforms.After the first finger section 2 is touched object, motor 10 is rotated further, then point to owe type of drive and rotate, second refers to that section 3 refers to that with respect to first section 2 joint shaft 5 of going the long way round rotates, the end section of finger 4 still refers to section 3 rotations with coupled modes with respect to second simultaneously, the first spring spare 24, the second spring spare 25 and the 3rd spring spare 26 all deform at this moment, the 4th spring spare 27 does not deform, touch object up to the second finger section 3, the end section of finger 4 refers to section 3 rotations to owe type of drive with respect to second, and the first spring spare 24, the second spring spare 25, the 3rd spring spare 26 and the 4th spring spare 27 all deform at this moment.If change between the first spring spare 24 and the second spring spare 25, the relation between the elastic force restriction of the 3rd spring spare 26 and the 4th spring spare 27, then can obtain to point when rotating coupled modes and owe the type of drive effect of different order successively.
The said coupling under-actuated integrated three-joint robot finger device of the present invention is provided with transmission mechanism 28 between said decelerator 9 and nearly joint shaft 5, the output shaft of decelerator 9 links to each other with nearly joint shaft 5 by said transmission mechanism 28.
In the present embodiment, said transmission mechanism 28 adopts gear drive.
In the present embodiment, on said motor 10, be provided with encoder 29.
The operation principle of present embodiment as Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20, Figure 21, Figure 22, Figure 23, Figure 24, Figure 25, Figure 26, Figure 27, Figure 28, Figure 29, is described below:
The original state of present embodiment as shown in figure 16, similar people's finger straight configuration.
When present embodiment grasped object, motor 10 rotated, and drove nearly joint shaft 5 by decelerator 9, transmission mechanism 28 and rotated, and nearly joint shaft 5 drives affixed with it first connecting rod 11 and rotates; Because the elastic force restriction of the first spring spare 24, first connecting rod 11 drives the first finger section 2 by the first spring spare 24 and rotates around nearly joint shaft 5; Second refers to that section 3 and the end section of finger 4 refer to section 2 motions with first; Because the elastic force restriction of the second spring spare 25, third connecting rod 15 does not rotate, its position immobilizes with respect to pedestal 1, but move with respect to nearly joint shaft 5 with second connecting rod 13 owing to second 14, the 4th connecting rod 17 changes with respect to the position of joint shaft 7 in second, joint shaft 7 in second rotates thereby the 4th connecting rod 17 promotes the 5th connecting rod 18, and this moment, the first spring spare 24 deformed, and the second spring spare 25 does not deform; Because the elastic force restriction of the 3rd spring spare 26, the 5th connecting rod 18 drive second by the 3rd spring spare 26 and refer to that section 3 joint shaft 7 in second rotates; Because the elastic force restriction of the 4th spring spare 27, joint shaft 6 rotations in first do not take place in seven-link assembly 21, its position refers to that with respect to first section 2 immobilizes, but move with respect to joint shaft 6 in first with the 6th connecting rod 19 for the 4th 20, the 8th connecting rod 23 changes with respect to the position of joint shaft 8 far away, joint shaft 8 rotates thereby the 8th connecting rod 23 promotion end sections of finger 4 are gone the long way round, this moment, the first spring spare 24 and the 3rd spring spare 26 deformed, the second spring spare 25 and the 4th spring spare 27 do not deform, this adopts the coupled modes rotating process for three on finger refers to section, promptly the first finger section 2 is rotated with respect to pedestal 1 around nearly joint shaft 5, simultaneously second refers to that section 3 joint shaft 6 (or in second joint shaft 7) in first refers to that with respect to first section 2 rotates, the end section of finger 4 is gone the long way round joint shaft 8 with respect to 3 rotations of the second finger section, as shown in figure 17.By adjusting the length of first connecting rod 11, second connecting rod 13, third connecting rod 15, the 4th connecting rod 17, the 5th connecting rod 18, the 6th connecting rod 19, seven-link assembly 21 and the 8th connecting rod 23, and the length of the first finger section, the 2 and second finger section 3, can obtain different coupling effects, first referred to that angles, second that section 2 is rotated around nearly joint shaft 5 refer to that section 3 angle that joint shaft 6 (or in second joint shaft 7) rotates with respect to first finger tip 2 in first and the terminal section of finger 4 go the long way round joint shaft 8 with respect to the second triangular different proportions of angle that refer to section 3 rotations when promptly coupling was rotated.Can run into following several situation afterwards:
(a) the end section of finger 4 is run into object, the end section of finger 4 restricted can't moving, and rotate by the 4th the 20, the 6th connecting rod 19, second spool 14, second connecting rod 13, first spool 12 and the nearly joint shaft 5 of first connecting rod 11 restrictions successively, grasp and finish, as shown in figure 29.
(b) refer to that respectively Duan Jun does not contact with object, turn to extreme position, be equivalent to make " clenching fist " action, as shown in figure 28 according to aforementioned coupled modes.
(c) second refers to that section 3 and the end section of finger 4 run into object simultaneously, and second refers to section 3 and the end section of finger 4 is all restricted can't move, and two refer to that section grasps object to grip mode, the extracting end, as shown in figure 27.
(d) the second finger section 3 is run into object, as shown in figure 25, second refers to section 3 restricted can't moving, the distortion elastic force that this moment, first connecting rod 11 overcame the first spring spare 24 under the drive of nearly joint shaft 5 is rotated further, and promote distortion elastic force joint shaft 7 in second that the 5th connecting rod 18 overcomes the 3rd spring spare 26 by first 12, second connecting rod 13 and second 14 successively and rotate, pass through the 4th connecting rod 17 and the 3rd 16 pulling third connecting rod 15 at this moment for second 14 around nearly joint shaft 5 rotations, the second spring spare 25 deforms; The 5th connecting rod 18 promotes the end section of finger 4 joint shaft 8 rotations of going the long way round by second 14, the 6th connecting rod 19 and the 4th 20, pass through the 8th connecting rod 23 and the 5th 22 pulling seven-link assembly 21 joint shaft 6 rotations in first at this moment for the 4th 20, the 4th spring spare 27 deforms, this is 4 employings of the end section of finger and owes the type of drive rotating process, run into object up to the end section of finger 4, second refers to section 3 and the end section of finger 4 is all restricted can't move, and grasps end, as shown in figure 26.
(e) the first finger section 2 is run into object, as shown in figure 18, first refers to section 2 restricted can't moving, the distortion elastic force that this moment, first connecting rod 11 overcame the first spring spare 24 under the drive of nearly joint shaft 5 is rotated further, and promote the 5th connecting rod 18 joint shaft 7 in second by first 12, second connecting rod 13 and second 14 successively and rotate, pass through the 4th connecting rod 17 and the 3rd 16 pulling third connecting rod 15 at this moment for second 14 around nearly joint shaft 5 rotations, the second spring spare 25 deforms; Because the elastic force restriction of the 3rd spring spare 26, the 5th connecting rod 18 drive second by the 3rd spring spare 26 and refer to that section 3 joint shaft 7 in second rotates; Because the elastic force restriction of the 4th spring spare 27, joint shaft 6 rotations in first do not take place in seven-link assembly 21, its position refers to that with respect to first section 2 immobilizes, but move with respect to joint shaft 6 in first with the 6th connecting rod 19 for the 4th 20, the 8th connecting rod 23 changes with respect to the position of joint shaft 8 far away, joint shaft 8 rotates thereby the 8th connecting rod 23 promotion end sections of finger 4 are gone the long way round, and the first spring spare 24, the second spring spare 25 and the 3rd spring spare 26 deform at this moment, and the 4th spring spare 27 does not deform; This promptly points simultaneously and rotates to owe type of drive and coupled modes, second refers to that section 3 joint shaft 6 (or in second joint shaft 7) in first refers to that with respect to first the rotation of section 2 is for owing to drive rotation, the tool adaptivity, the end section of finger 4 joint shaft 8 of going the long way round refers to that with respect to second the rotation of section 3 rotates for coupling, as shown in figure 19; Second refers to that section 3 and the end section of finger 4 are rotated until second refers to that section 3 touches object, as shown in figure 20, the same process of rotation process (d) afterwards, final three refer to that section grasps object in the gripping mode, grasps end, as shown in figure 22.
When decontroling object, motor 10 counter-rotatings, drive nearly joint shaft 5 counter-rotatings by decelerator 9, transmission mechanism 28, first connecting rod 11 counter-rotating under nearly joint shaft 5 drives, first connecting rod 11 is successively by first 12, second connecting rod 13 and second 14 pulling the 5th connecting rod 18 joint shaft 6 counter-rotatings in first, pass through the 4th connecting rod 17 and the 3rd 16 promotion third connecting rod 15 counter-rotatings simultaneously for second 14, this moment, the distortion of the first spring spare 24 and the second spring spare 25 reduced; During 18 counter-rotatings of the 5th connecting rod, reverse by second 14, the 6th connecting rod 19 and the 4th 20 pulling end section of finger 4 joint shaft 8 of going the long way round successively, pass through the 8th connecting rod 23 and the 5th 22 promotion seven-link assembly 21 counter-rotatings simultaneously for the 4th 20, this moment, the distortion of the 3rd spring spare 26 and the 4th spring spare 27 reduced, return to not deformation state fully up to the 4th spring spare 27, as shown in figure 20; The 5th connecting rod 18 continues counter-rotating, by second 14, the 6th connecting rod 19 and the 4th 20 pulling end section of finger 4 joint shaft 8 that continues to go the long way round reverses, because the elastic force restriction of the 4th spring spare 27, seven-link assembly 21 no longer rotates, so the 8th connecting rod 23 changes with respect to the position of joint shaft 8 far away, the 8th connecting rod 23 is by the 4th 20, end section of finger 4 and joint shaft far away 8 pullings second refer to section 3 joint shaft 6 (or in second joint shaft 7) counter-rotating in first, this moment the first spring spare 24, the second spring spare 25 and 26 distortion of the 3rd spring spare reduce, return to not deformation state fully up to the second spring spare 25, as shown in figure 18; First connecting rod 11 continues counter-rotating, by first 12, second connecting rod 13 and 18 counter-rotatings of second 14 pulling the 5th connecting rod, as previously mentioned, the 5th connecting rod 18 will drive second refer to sections 3 and the end section of finger 4 rotate simultaneously; Because the elastic force restriction of the second spring spare 25, third connecting rod 15 no longer rotates, so the 4th connecting rod 17 changes with respect to the position of joint shaft 6 in first, the 4th connecting rod 17 refers to that by joint shaft 7 pullings first among second 14, the 5th connecting rod 18 and second section 2 is around nearly joint shaft 5 counter-rotatings, as shown in figure 17; This moment, the distortion of the first spring spare 24 and the 3rd spring spare 26 reduced, refer to that up to first section 2, second refers to that section 3 and the terminal section of finger 4 are inverted to initial finger straight configuration simultaneously, refer to above section 2 back boss is arranged all at pedestal 1 and first, this boss surpasses it in the time of will limiting the finger counter-rotating and initially stretches the position, play position-limiting action, counter-rotating finishes, as shown in figure 16.
The present invention utilizes a plurality of connecting rods and spring spare to constitute the coupled transmission mechanism of one and owes drive transmission device, and three of sockets refer to section, has realized that comprehensively three joints finger coupling extracting process and under-driven adaptive extracting process are blended in the special-effect of one.Constitute coupled transmission mechanism by two connecting rods and a spring spare; Constitute the under-driven adaptive transmission mechanism by two other connecting rod and a spring spare, two cover mechanisms are combined as a whole, and work simultaneously; Refer to that from first section refers to section and refers to section to the end section of finger totally two groups of transmission mechanisms from second to second, transmission successively can realize that finger coupling rotation and automatic decoupling zero rotate in the under-driven adaptive mode.This finger apparatus adopts coupled modes to rotate before touching object, altitude measurement personalizes, help envelope simultaneously to object, prevent that object from leaving finger extracting scope, and can realize that gripping mode grasps object, can also make the action that similar staff " is clenched fist ", after touching object, can adopt the under-driven adaptive mode to rotate the extracting object again, automatically the size and the shape that adapt to the object of grabbing, realize that the gripping mode grasps, grasp and stablize, integrate the advantage of coupling Grasp Modes and under-driven adaptive Grasp Modes.This finger apparatus only adopts connecting rod to constitute transmission mechanism, thereby textural anomaly is simple, and volume is little, and working stability is reliable, it is big, with low cost to exert oneself, and requires low to control system, be fit to long-term the use, similar to the finger outward appearance of staff with action, be applicable to that the anthropomorphic robot is on hand.
Claims (4)
1. a coupling under-actuated integrated three-joint robot finger device 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), joint shaft (8) far away, decelerator (9) and motor (10); Said motor (10) is affixed with pedestal (1), the output shaft of motor (10) links to each other with the power shaft of said decelerator (9), the output shaft of decelerator (9) links to each other with said nearly joint shaft (5), nearly joint shaft (5) is set in the pedestal (1), said first refers to that section (2) is socketed on the nearly joint shaft (5), said joint shaft far away (8) is set in said second and refers to that the said end section of finger (4) is socketed on the joint shaft far away (8) in the section (3);
It is characterized in that:
This coupling under-actuated integrated three-joint robot finger device also comprises joint shaft (7) in joint shaft in first (6) and second, joint shaft (7) coaxial line in the joint shaft (6) and second in first; Joint shaft (7) is set in the said first finger section (2) in the joint shaft in said first (6) and second, second refers to that section (3) is socketed in joint shaft in first (6) and second on the joint shaft (7), in the said nearly joint shaft (5), first in the joint shaft (6), second joint shaft (7) and far the axis of joint shaft (8) be parallel to each other;
This coupling under-actuated integrated three-joint robot finger device also comprises first connecting rod (11), first (12), second connecting rod (13), second (14), third connecting rod (15), the 3rd (16), the 4th connecting rod (17), the 4th (20), the 5th connecting rod (18), the 5th (22), the 6th connecting rod (19), seven-link assembly (21), the 8th connecting rod (23), the first spring spare (24), the second spring spare (25), the 3rd spring spare (26) and the 4th spring spare (27);
One end of said first connecting rod (11) is fixed on the nearly joint shaft (5), the other end of first connecting rod (11) is hinged by said first (12) and said second connecting rod (13) one ends, the other end of second connecting rod (13) is hinged with an end of said the 5th connecting rod (18) by said second (14), and the other end of the 5th connecting rod (18) is socketed on the joint shaft in said second (7); One end of said third connecting rod (15) is socketed on the nearly joint shaft (5), the other end of third connecting rod (15) is hinged with an end of said the 4th connecting rod (17) by said the 3rd (16), and the other end of the 4th connecting rod (17) is socketed on second (14); One end of said the 6th connecting rod (19) is socketed on second (14), and the other end of the 6th connecting rod (19) is hinged by said the 4th (20) and the end section of finger (4); One end of said seven-link assembly (21) is socketed on the joint shaft in said first (6), the other end of seven-link assembly (21) is hinged with an end of the 8th connecting rod (23) by said the 5th (22), and the other end of the 8th connecting rod (23) is socketed on the 4th (20); The two ends of the said first spring spare (24) connect first connecting rod (11) and first respectively and refer to section (2), the two ends of the said second spring spare (25) connect third connecting rod (15) and pedestal (1) respectively, the two ends of said the 3rd spring spare (26) connect the 5th connecting rod (18) and second respectively and refer to section (3), and the two ends of said the 4th spring spare (27) connect seven-link assembly (21) and first respectively and refer to section (2); The axis of said first (12), second (14), the 3rd (16), the 4th (20), the 5th (22) and nearly joint shaft (5) is parallel to each other;
Joint shaft (6), first (12), second (14) and the 3rd (16) meet following relation in the said nearly joint shaft (5), first: the plane, axis place of establishing joint shaft (6) in the axis and first of nearly joint shaft (5) is P
1The plane, the plane, axis place of joint shaft in the axis of first (12) and first (6) is P
2The plane; Then the axis of the axis of first (12) and the 3rd (16) is at P
1The both sides on plane, the axis of the axis of second (14) and the 3rd (16) is at P
2The both sides on plane;
Joint shaft in said first (6), joint shaft (8) far away, second (14), the 4th (20) and the 5th (22) meet following relation: establishing the axis of joint shaft in first (6) and the plane, axis place of joint shaft (8) far away is P
3The plane, the axis of second (14) is P with the plane, axis place of joint shaft (8) far away
4The plane; Then the axis of the axis of second (14) and the 5th (22) is at P
3The both sides on plane, the axis of the axis of the 4th (20) and the 5th (22) is at P
4The both sides on plane;
The elastic force restriction of the said second spring spare (25) is better than the elastic force restriction of the first spring spare (24); The elastic force restriction of said the 4th spring spare (27) is better than the elastic force restriction of the 3rd spring spare (26).
2. as the said coupling under-actuated integrated three-joint robot finger device of claim 1, it is characterized in that: the said first spring spare (24), the second spring spare (25), the 3rd spring spare (26) and the 4th spring spare (27) adopt torsion spring, extension spring, stage clip, sheet spring or leaf spring.
3. as the said coupling under-actuated integrated three-joint robot finger device of claim 1, it is characterized in that: be provided with transmission mechanism (28) between said decelerator (9) and nearly joint shaft (5), the output shaft of decelerator (9) links to each other with nearly joint shaft (5) by said transmission mechanism (28).
4. as the said coupling under-actuated integrated three-joint robot finger device of claim 1, it is characterized in that: on said motor (10), be provided with encoder (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102412560A CN101722514B (en) | 2009-11-27 | 2009-11-27 | Coupling under-actuated integrated three-joint robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102412560A CN101722514B (en) | 2009-11-27 | 2009-11-27 | Coupling under-actuated integrated three-joint robot finger device |
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| Publication Number | Publication Date |
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| CN101722514A CN101722514A (en) | 2010-06-09 |
| CN101722514B true CN101722514B (en) | 2011-03-30 |
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| CN2009102412560A Expired - Fee Related CN101722514B (en) | 2009-11-27 | 2009-11-27 | Coupling under-actuated integrated three-joint robot finger device |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935642B (en) * | 2012-11-09 | 2015-02-18 | 清华大学 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
| CN103552086B (en) * | 2013-10-18 | 2016-01-27 | 北京航空航天大学 | A kind of self adaptation finger mechanism with one-way flexible dactylus |
| CN103786161B (en) * | 2014-02-10 | 2015-09-09 | 上海交通大学 | There is the activation lacking mechanical finger of form adaptive |
| CN104842363B (en) * | 2015-06-12 | 2017-02-01 | 浙江大学 | Under-actuated three-joint finger with gear and rack transmission |
| FR3053618B1 (en) | 2016-07-05 | 2020-02-21 | Softbank Robotics Europe | HAND FOR EQUIPPING A HUMANOID ROBOT |
| CN106426230B (en) * | 2016-08-05 | 2018-11-30 | 广州市轻工职业学校 | Bicyclic rotation refers to the flat adaptive under-actuated robot hand apparatus of folder more |
| CN106564066A (en) * | 2016-09-26 | 2017-04-19 | 清华大学 | Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand |
| CN109481104B (en) * | 2018-12-11 | 2020-07-31 | 安阳工学院 | Three-section linkage artificial limb finger |
| CN113561215B (en) * | 2021-09-26 | 2021-12-07 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN116000961A (en) * | 2023-02-17 | 2023-04-25 | 国网江苏省电力有限公司电力科学研究院 | Three-degree-of-freedom bionic finger |
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2009
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| CN101722514A (en) | 2010-06-09 |
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