CN101941204A - Double-slider-type parallel coupling under-actuated robot finger device - Google Patents

Double-slider-type parallel coupling under-actuated robot finger device Download PDF

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CN101941204A
CN101941204A CN 201010124953 CN201010124953A CN101941204A CN 101941204 A CN101941204 A CN 101941204A CN 201010124953 CN201010124953 CN 201010124953 CN 201010124953 A CN201010124953 A CN 201010124953A CN 101941204 A CN101941204 A CN 101941204A
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finger
robot
under
actuated
device
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CN 201010124953
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Chinese (zh)
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CN101941204B (en )
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孙杰
张文增
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清华大学
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Abstract

The invention relates to a double-slider-type parallel coupling under-actuated robot finger device belonging to the technical field of robot hands. The device comprises a base, a near joint shaft, a first finger segment, a far joint shaft, a second finger segment, a flexible piece, a gear, a rack and a spring, realizes the transmission effect by tightly integrating coupling rotation and under-actuated rotation and can couple anthropomorphic catch and has the under-actuated self-adaptive function. The whole finger has simple structure and low manufacture processing cost. The coupling transmission and under-actuated transmission are organically integrated to realize natural decoupling by utilizing the movable contact mode of the sliders, and the decoupling does not consume motor power and has high energy utilization rate. The device has the appearance resembling a person finger and can be used as a finger or a part of the finger of a robot hand or a plurality of fingers can be combined into a robot hand so as to reach the excellent effects of high joint degree of freedom and high self-adaption in simulating the robot hand.

Description

双滑块式并联耦合欠驱动机器人手指装置 Parallel dual slider coupled to robot finger means underactuated

技术领域 FIELD

[0001] 本发明属于拟人机器人手技术领域,特别涉及一种双滑块式并联耦合欠驱动机器人手指装置的结构设计。 [0001] The present invention belongs to the technical field humanoid robot hand, and particularly relates to a dual slider design underactuated Parallel robot finger coupled device.

背景技术 Background technique

[0002] 机器人手作为机器人不可或缺的一部分,相对于机器人的其它部分,机器人手具有关节自由度多、体积小,非常灵巧、控制复杂等特点与难点。 [0002] The robot hand as an integral part of the robot, relative to other portions of the robot, a robot hand having a degree of freedom joints, small size, ambidextrous, and complicated control characteristics and difficulties. 机器人手主要用于对物体的抓持和空间移动以及作手势等其它手部动作。 The main robot hand for grasping and moving space and the other hand gestures as the operation of the object. 目前现有的灵巧手虽然控制灵活,但是电机数量多,结构非常复杂,控制难度相当大,制造和维护成本非常高,这些因素阻碍了灵巧手型机器人手在现实生活中的广泛推广应用。 Although currently available dexterous hands and flexible control, but the number of motor structure is very complicated, difficult to control a large, manufacturing and maintenance costs are very high, these factors hindered the widespread application dexterous robot hand hand in real life. 近年来快速发展的耦合抓取型机器人手和欠驱动抓取型机器人手虽然不具备灵巧手的高灵活度,但是电机数量少,结构简单,控制容易, 大大降低了制造和使用成本,并且能较好抓取常见物体,成为发展和研究的热点。 In recent years, coupled crawling robot hand and the rapid development of under-driven robot hand grasping a high degree of flexibility, while not have dexterous hands, but a small number of motors, simple structure, easy to control, greatly reducing the cost of manufacture and use, and can better grab common objects become hot research and development.

[0003] 已有的一种双关节并联欠驱动机器人手指装置,如中国发明专利CN 101633178A, 包括基座、电机、近关节轴、远关节轴和末端指段,还包括分别实现耦合和欠驱动转动的传动机构以及多个簧件解耦装置等。 [0003] A two existing parallel underactuated robot finger joint means, such as a Chinese invention patent CN 101633178A, comprising a base, a motor, the shaft near the joint, the joint shaft and distal tip section refers, respectively, to achieve further comprising coupling and underactuated the rotation transmission mechanism and a plurality of spring members decoupling devices. 当手指碰触物体前实现多关节耦合转动的效果,当手指碰触物体后采用多关节欠驱动方式抓取物体。 When a finger touches the front body joints coupled multi-rotation effect, when the finger touches the object under driving method using multi-joint grip the object. 该装置的不足之处为:该装置由于采用了两套传动机构分别实现耦合和欠驱动抓取,使得整个手指结构复杂,制造加工成本高;该装置耦合传动机构和欠驱动传动机构相互影响,虽然采用了三个簧件来解耦,但内耗了电机的功率;该装置的两套传动机构平行排列,再加上多个簧件在关节轴上安装,致使手指过于粗大,增加了制造、安装和维护成本和难度。 Disadvantage of this device is as follows: Since the apparatus uses two sets of transmission means and coupling were achieved underactuated grab, so that the entire complex structure finger, producing a high processing costs; the coupling means and the under-drive transmission gear mechanism influence each other, Although the use of three to decouple the spring member, but the internal friction of the power of the motor; parallel arrangement of the two sets of transmission means, coupled with the plurality of spring members mounted on the shaft in the joint, so that the fingers are too thick, increasing the manufacturing, installation and maintenance costs and difficulty.

发明内容 SUMMARY

[0004] 本发明的目的是为了克服已有技术的不足之处,提供一种双滑块式并联耦合欠驱动机器人手指装置,该装置能实现耦合转动与欠驱动转动相结合的效果,能耦合拟人化抓取,且具备欠驱动自适应功能,结构紧凑,制造、维护成本低,外形与人手指相似,适用于拟人机器人手。 [0004] The object of the present invention is to overcome the shortcomings of the prior art, to provide a dual slide coupling underactuated Parallel robot finger means rotatable coupling can be realized and driven to rotate under the effect of the combination, can be coupled anthropomorphic crawl, and have underactuated adaptive function, compact structure, low maintenance costs, similar to the shape of human finger for anthropomorphic robot hand.

[0005] 本发明采用如下技术方案: [0005] The present invention adopts the following technical solution:

[0006] 本发明所述的一种双滑块式并联耦合欠驱动机器人手指装置,包括基座、近关节轴、第一指段、远关节轴、第二指段和电机,所述的电机设置在基座中,电机的输出轴与近关节轴相连;所述的近关节轴套设在所述的基座中,所述的远关节轴套设在第一指段中,所述的第二指段套固在所述的远关节轴上;其特征在于:该双滑块式并联耦合欠驱动机器人手指装置还包括第四传动轮、第一滑块、第二滑块、第一齿轮、齿条、第一簧件、第二簧件和柔性件;所述的第一指段套固在近关节轴上;所述的第四传动轮套设在近关节轴上,第四传动轮与基座固接;所述的柔性件一端与基座固接,另一端从第一指段下部穿过与第一指段中部或上部固接;所述的第一滑块镶嵌在第一指段的第一槽中,且与所述的柔性件接触,抓取物体时沿垂直于柔性件方向滑动;第 [0006] A double slider type coupled in parallel according to the present invention under robot finger drive means, comprising a base, near the joint axis, a first finger section, distal joint shaft, and a second finger motor section, the motor disposed in the base, the output shaft of the motor and connected to the shaft near the joint; near said joint bushing disposed in said base, said distal joint bushing means disposed in a first section, said second sleeve means fixed in said segment distal joint shaft; wherein: the double slider type coupled in parallel underactuated robot finger means further comprises a fourth gear wheel, the first slider, the second slider, the first a gear rack, a first spring member, the second spring member and the flexible member; refers to the segment of the first sleeve fixed near the joint shaft; said fourth transmission wheel set is provided near the joint axis, the fourth drive wheel fixed to the base; said flexible member fixed at one end to the base, the other end through the lower portion of the first finger from the first finger and the middle section or the upper fixed section; embedded in said first slider the first slot refers to a first segment, and in contact with said flexible member, the flexible member in a direction perpendicular to the sliding direction of grasping an object; first 二滑块镶嵌在第一指段的第滑槽中,所述的齿条与第二滑块固接,所述的第一齿轮套固在远关节轴上,第一齿轮与齿条啮合;所述的第一槽和第二槽平行,第一滑块与第二滑块活接触;所述的第一簧件设置在第一指段中并且第一簧件的两端分别与第一指段和第一滑块相连接;所述的第二簧件设置在第一指段和第二指段之间并且第二簧件的两端分别与第一指段和第二指段相连接,或者所述的第二簧件设置在第一指段中并且第二簧件的两端分别与第二滑块和第一指段相连接。 Two first slide means embedded in a first chute segment, and the second rack fixed to the slider, said first gear shaft sleeve fixed in distal joint, a first gear meshing with the rack; said parallel first and second slots, the first slider and the second slider contacting live; ends of the first spring member and the first spring member disposed in the first section with the first finger refers to the segment and is connected to the first slider; said second spring member disposed in the first finger and between the ends of the second spring member and the second finger sections with the first section and the second finger section refers to the segment phase connection, or a second spring member and disposed at both ends of the second spring member are respectively a first finger and a second slider connected to the segment in the first finger section.

[0007] 本发明所述的一种双滑块式并联耦合欠驱动机器人手指装置,包括基座、近关节轴、第一指段、远关节轴、第二指段和电机,所述的电机设置在基座中,电机的输出轴与近关节轴相连;所述的近关节轴套设在所述的基座中,所述的远关节轴套设在第一指段中,所述的第二指段套固在所述的远关节轴上;其特征在于:该双滑块式并联耦合欠驱动机器人手指装置还包括第四传动轮、第一滑块、第二滑块、第一齿轮、齿条、第一簧件、第二簧件、第三簧件和柔性件;所述的第一指段套接在近关节轴上;所述的第三簧件的两端分别连接第一指段和近关节轴;所述的第四传动轮套设在近关节轴上,第四传动轮与基座固接;所述的柔性件一端与基座固接,另一端从第一指段下部穿过与第一指段中部或上部固接;所述的第一滑块镶嵌在第一指段的第一槽中, [0007] A double slider type coupled in parallel according to the present invention under robot finger drive means, comprising a base, near the joint axis, a first finger section, distal joint shaft, and a second finger motor section, the motor disposed in the base, the output shaft of the motor and connected to the shaft near the joint; near said joint bushing disposed in said base, said distal joint bushing means disposed in a first section, said second sleeve means fixed in said segment distal joint shaft; wherein: the double slider type coupled in parallel underactuated robot finger means further comprises a fourth gear wheel, the first slider, the second slider, the first a gear rack, a first spring member, the second spring member, the third spring member and the flexible member; refers to the segment of the first shaft in the socket near the joint; both ends of said third spring member are connected and proximal the first finger joint axis; said fourth transmission wheel set is provided near the joint shaft, the fourth gear wheel fixed to the base; said flexible member fixed to the base end, from the other end refers to a lower section through the middle section or the upper portion of the first finger fixed; said first slider means embedded in the first groove of the first section, 且与所述的柔性件接触,抓取物体时沿垂直于柔性件方向滑动;第二滑块镶嵌在第一指段的第二槽中,所述的齿条与第二滑块固接,所述的第一齿轮套固在远关节轴上,第一齿轮与齿条啮合;所述的第一槽和第二槽平行,第一滑块与第二滑块活接触;所述的第一簧件设置在第一指段中并且第一簧件的两端分别与第一指段和第一滑块相连接;所述的第二簧件设置在第一指段和第二指段之间并且第二簧件的两端分别与第一指段和第二指段相连接,或者所述的第二簧件设置在第一指段中并且第二簧件的两端分别与第二滑块和第一指段相连接。 And said flexible member in contact with the object when gripping the flexible member in a direction perpendicular to the sliding direction; second slider finger embedded in the second groove of the first section, the second rack fixed to the slider, said first gear set fixed shaft at the distal joint, the first meshed with the rack; said first and second grooves in parallel, the first slider and the second slider contacting live; the first a spring member disposed in the first section and the finger ends of the first spring member with the first segment and the first slider finger is connected; said second spring member disposed in a first section and a second section refers finger and between the ends of the second spring member are respectively connected to the first finger and the second finger section segment or said second spring member disposed in the first section and the ends of the second spring means, respectively, and the second member a first slider finger and two segments are connected.

[0008] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:在所述的第一滑块上设有与柔性件平行的第一滑槽或通孔,所述的柔性件穿过第一滑块上的通孔或槽与第一滑块相接触; [0008] Parallel dual slider coupling according to the present invention under robot finger drive means, characterized in that: the flexible member is provided parallel to the first chute or through holes on said first slider, said a flexible member through the through-hole or slot in contact with the first slide on the first slider;

[0009] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:所述的柔性件采用平带、齿形带、腱绳或链条,所述的第四传动轮采用带轮、齿轮、绳轮或链轮。 [0009] Parallel dual slider coupling according to the present invention under robot finger drive means, characterized in that: said flexible member with flat belt, toothed belt, rope or chain tendon, using the fourth transmission wheel pulleys, gears, sheaves or sprockets. 柔性件和第四传动轮形成传动关系。 The flexible member and the fourth gear wheel transmission relationship is formed.

[0010] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:所述的第一滑块与第二滑块的活接触方式采用第一滑块与第二滑块单面接触,所述的第一滑块推动第二滑块向手指内滑移。 [0010] Parallel dual slider coupling according to the present invention under robot finger drive means, characterized in that: the first slider live contact manner said first and second slider using a slider and the second slider contacting one side of said first slider into the slip pushes the second slider finger.

[0011] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:所述的第一滑块与第二滑块的活接触方式采用绳连接,所述的第一滑块拉动第二滑块向手指里滑移。 [0011] Parallel dual slider coupling according to the present invention under robot finger drive means, characterized in that: the first slider live contact manner and a second rope connection using slider, said first slider pulling the second slider block to slip a finger inside.

[0012] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:所述的第一簧件采用拉簧、压簧或弹性绳;第二簧件采用压簧、扭簧、拉簧或弹性绳。 [0012] Parallel dual slider coupling according to the present invention under driving robot finger means, wherein: said first spring member using a tension spring, compression spring or elastic cord; a second spring member using the compression spring, torsion spring, tension spring or elastic cord.

[0013] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:还包括传动机构;所述的传动机构包括减速器、第二齿轮和第三齿轮;所述的电机的输出轴与减速器的输入轴相连,所述的第二齿轮套固在减速器的输出轴上,所述的第三齿轮套固在近关节轴上,所述的第二齿轮与第三齿轮啮合。 [0013] Parallel dual slider coupling according to the present invention under driving robot finger means, characterized by: further comprising a transmission mechanism; and said transmission mechanism comprises a reduction gear, a second gear and a third gear; the motor connected to the output shaft of the speed reducer input shaft, said second gear sleeve fixed on the output shaft of the reduction gear, said third gear set fixed shaft near the joint, said second and third gear gear.

[0014] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:所述的第二滑块表面覆盖有第二滑块表面板。 [0014] bis-type slider according to the present invention coupled in parallel underactuated robot finger means, wherein: said second surface is covered with a second slide surface of the slider plate.

[0015] 本发明所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于:所述的近关节轴与基座之间设置有轴承,所述的近关节轴与第四传动轮之间设置有轴承。 [0015] Parallel dual slider coupling according to the present invention under driving robot finger apparatus comprising: a bearing disposed between said joint shaft near the base, near the articulation axis of the fourth gear wheel set between the bearings.

[0016] 本发明与现有技术相比,具有以下优点和突出性效果: [0016] Compared with the prior art the present invention has the following advantages and effects projection of:

[0017] 本发明装置利用柔性件、齿轮、齿条和簧件综合实现了耦合转动与欠驱动转动紧密结合的传动效果,不仅能够耦合转动更拟人化地抓取物体,而且具备欠驱动功能,自适应抓取不同形状、大小的物体;该装置结构简洁紧凑,安装容易,制造加工成本低;该装置耦合传动机构和欠驱动传动机构有机融合,不相互影响,利用滑块活接触的多种方式实现了自然解耦,此解耦不消耗电机功率,能量利用率高;外形与人手手指相似,可以作为拟人机器人手的一个手指或手指的一部分,也可以用多个这样的基于柔性件的并联耦合欠驱动手指组合成为机器人手,用以达到拟人机器人手高关节自由度、高自适应性的优良效果。 Apparatus of the invention [0017] This use of the flexible member, a gear, a rack and a spring member coupled rotatably integrated to achieve the rotation of the drive and driven under the effect of tightly coupled rotatably coupled not only more anthropomorphic to grip the object, and includes a function driven under, adaptive gripping of different shapes and sizes of the object; the simple compact apparatus, easy to install, low cost manufacturing process; means coupling the drive mechanism and the drive transmission mechanism under the organic fusion, do not affect each other by a plurality of slide contact with the living decoupling natural way to achieve this decoupling the motor does not consume power, high energy efficiency; appearance is similar to a human hand finger, as part of a finger or anthropomorphic robot hand, may be based on a plurality of such flexible member coupled in parallel under combined into a driving finger robot hand for humanoid robot hand to achieve a high degree of freedom joint, an excellent effect of high adaptability.

附图说明 BRIEF DESCRIPTION

[0018] 图1是本发明提供的双滑块式并联耦合欠驱动机器人手指装置的一种实施例的侧剖视图。 [0018] FIG. 1 is a dual slider Parallel coupling of the present invention to provide one kind of driving under the finger of the robot apparatus side sectional view of an embodiment.

[0019] 图2是图所示实施例的正剖视图(也是图的左侧剖视图)。 [0019] FIG. 2 is a cross-sectional view of the embodiment shown in positive (the left side is a sectional view of FIG.).

[0020] 图3是本发明又一种实施例(第一滑块和第二滑块之间的活接触采用绳连接的实施例)的侧剖视图。 [0020] FIG. 3 is a side cross-sectional view of yet another embodiment of the present invention (live contact between the first slider and the second slider attached using ropes embodiment) of.

[0021] 图4是本发明又一种实施例(具有变抓取力效果实施例)的正剖视图。 [0021] FIG. 4 is a further embodiment of the present invention is a front sectional view (variant embodiment has the effect of gripping force).

[0022] 图5是图所示实施例外观的侧视图。 [0022] FIG. 5 is a side view of an embodiment of the appearance shown in FIG.

[0023] 图6是图所示实施例外观的正视图。 [0023] FIG. 6 is a front view of the appearance of the embodiment shown in FIG.

[0024] 图7是图所示实施例外观的立体图。 [0024] FIG. 7 is a perspective view of the embodiment shown in FIG appearance.

[0025] 图8是图所示实施例的部分零件的立体图。 [0025] FIG. 8 is a perspective view with parts shown embodiment.

[0026] 图9是图所示实施例的三维爆炸图。 [0026] FIG. 9 is a three-dimensional exploded view of the embodiment shown in FIG.

[0027] 图10、11、12、13是图所示实施例中实现耦合抓取过程的侧面外观示意图。 [0027] FIG 10,11,12,13 embodiment is implemented in a side coupling crawl embodiment shown in FIG schematic appearance.

[0028] 图14、15、16、17是图所示实施例中实现耦合抓取以及欠驱动自适应抓取过程的侧面外观示意图。 [0028] The embodiment shown in FIG. 14, 15 is coupled to fetch and FIG Underactuated adaptive crawl a side schematic diagram of the appearance achieved.

[0029] 图18、19、20、21是图1所示实施例中实现先耦合后自适应欠驱动的抓取方式过程的侧面外观示意图。 [0029] FIG 18,19,20,21 side is an adaptive embodiment underactuated after coupling the first embodiment implemented Fetch appearance schematic process shown in FIG.

[0030] 在图1至图21中: [0030] In Figures 1 to 21:

[0031] 1-基座, 11- -基座架, 12- -基座背板,[0032] 121-第一凸块, 13- -基座前板, 14- -基座右支承板,[0033] 15-基座连接板, 2- 电机, 3- 近关节轴,[0034] 4_第一指段, 41- -第— -指段架, 42- -第一指段背板,[0035] 421-第二凸块, 43- -第— -指段右支承板, 5- 远关节轴,[0036] 6_第二指段, 71- -第— •齿轮, 72- _齿条,[0037] 73-第一滑块, 74- -第二 .滑块, 74- -滑块表面板,[0038] 75-第一滑槽, 76- -第二 .滑槽, 77- -第三滑槽,[0039] 78-第四传动轮, 81- -第一 •簧件, 82- -第二簧件,[0040] 83-第三簧件, [0031] 1- base, 11--- base frame, 12--- backplane base, [0032] 121- first bump, 13--- front base plate, 14 - Right base supporting plate, [0033] The base web 15, 2 motor, 3 near the joint axis, [0034] 4 _ a first finger section, 41--- of - - refers to the segment frame and the 42 - a first section refers to the backplane, [0035] The second bump 421-, 43--- of - - refers to the right section of the support plate, 5-away joint axis, [0036] 6_ second finger section, 71--- of - • gear teeth _ 72- Article, [0037] 73- first slider, 74--- second slider, 74--- slider plate surface, [0038] a first chute 75, 76--- second chute, 77-. - third chute, [0039] 78- fourth gear wheel, 81--- • a first spring member and the 82 - second spring member, [0040] 83- The third spring member,

[0041] 93-第三齿轮, [0041] 93- third gear,

[0042] 96-柔性件, [0042] 96- flexible member,

91-减速器, 94-套筒, 97-绳, 91- reducer sleeve 94-, 97- rope,

92-第二齿轮, 95-销, 98-物体。 92- second gear pin 95-, 98- object.

具体实施方式 detailed description

[0043] 下面结合附图及实施例进一步详细说明本发明的具体结构、工作原理及工作过程。 [0043] The specific configuration of the present invention will be described below, the working principle and the work process in further detail in conjunction with drawings and embodiments.

[0044] 本发明设计的一种双滑块式并联耦合欠驱动机器人手指装置的实施例,剖视图如图1、2所示,外观如图5、6所示,立体外观如图7所示,部分零件如图8所示,三维爆炸图如图9所示,动作原理如图10、11、12、13、14、15、16、17、18、19、20、21所示。 [0044] The design of the present invention, a dual slider drive coupling under Example finger parallel robot apparatus, shown in cross-sectional view of FIG, 5 and 6 shown the appearance of the stereoscopic appearance of Figures 1 and 2 shown in FIG. 7, some parts 8, a three-dimensional exploded view shown in FIG. 9, the operation principle is shown in FIG 10,11,12,13,14,15,16,17,18,19,20,21. 本实施例包括基座1、近关节轴3、第一指段4、远关节轴5、第二指段6和电机2,所述的电机2设置在基座1中, 电机2的输出轴与近关节轴3相连;所述的近关节轴3套设在所述的基座1中,所述的远关节轴5套设在第一指段4中,所述的第二指段6套固在所述的远关节轴5上;其特征在于: 该双滑块式并联耦合欠驱动机器人手指装置还包括第四传动轮78、第一滑块73、第二滑块74、第一齿轮71、齿条72、第一簧件81、第二簧件82和柔性件96 ;所述的第一指段4套固在近关节轴3上;所述的第四传动轮78套设在近关节轴3上,第四传动轮78与基座1固接; 所述的柔性件96 —端与基座1固接,另一端从第一指段4下部穿过与第一指段4中部或上部固接;所述的第一滑块73镶嵌在第一指段4的第一槽中,且与所述的柔性件96接触,抓取物体时沿垂直于柔性件96方向滑动;第二滑块74镶嵌 This embodiment includes a base 1, a shaft 3 near the joint, a first finger section 4, distal joint shaft 5, a motor 6 and the second finger section 2, the motor 2 is provided in the base 1, the output shaft of the motor 2 3 is connected to the shaft near the joint; the sleeve 3 near the joint shaft disposed in said base 1, said distal shaft 5 is sleeved joint means 4 in the first section, said second section refers 6 a sleeve fixed in the distal joint axis 5; characterized in that: the double slider type coupled in parallel underactuated robot finger means further comprises a fourth gear wheel 78, the first slider 73, second slider 74, a first gear 71, rack 72, a first spring member 81, the second spring member 82 and the flexible member 96; 4 refers to the segment of the first set on the fixed shaft 3 near the joint; the fourth gear wheel 78 is sleeved 3 near the joint on the shaft, the fourth gear wheel 78 into contact with a solid base; said flexible member 96-- end fixed to the base 1, and the other end through the first finger section from a lower portion of the first finger section 4 4 the middle or upper fixed; the first slider 73 of the first finger section of the first insert slot 4, and in contact with the flexible member 96, in a direction perpendicular to the object when gripping the flexible member 96 slides in a direction ; second slider 74 damascene 第一指段4的第滑槽中,所述的齿条72与第二滑块74固接,所述的第一齿轮71套固在远关节轴5上,第一齿轮71与齿条72啮合;所述的第一槽和第二槽平行,第一滑块73与第二滑块74活接触;所述的第一簧件81设置在第一指段4中并且第一簧件81的两端分别与第一指段4和第一滑块73相连接; 所述的第二簧件82设置在第一指段4和第二指段6之间并且第二簧件82的两端分别与第一指段4和第二指段6相连接,或者所述的第二簧件82设置在第一指段4中并且第二簧件82的两端分别与第二滑块74和第一指段4相连接。 Chute means of a first section 4, the rack 72 is fixed to the second slider 74, the first gear 71 fixed on the distal joint sleeve shaft 5, the first gear 71 and the rack 72 engagement; said first and second grooves in parallel, the first slider 73 and second slider 74 contacting the living; said first spring member 81 and the first spring member 81 disposed in the first section of fingers 4 the two ends of the first finger section 4 and the first slider 73; said second spring member 82 disposed between the first finger and the second finger section 4 and the second section 6 of the two spring members 82 end of the section 4 with the first finger and the second finger section 6 is connected, or the second spring member 82 is provided and both ends of the second spring member 82 in the first section 4 refers to the second slider 74 respectively and the first finger section 4 is connected.

[0045] 本实施例中,在所述的第一滑块73上设有与柔性件96平行的第一滑槽75或通孔,所述的柔性件96穿过第一滑块73上的通孔或槽与第一滑块73相接触; [0045] In the present embodiment, is provided on the first slider 73 and the first chute 96 or through holes 75 parallel to the flexible member, said flexible member 96 passes through the first slider 73 a through hole or slot 73 in contact with the first slider;

[0046] 本实施例中,所述的柔性件96采用平带、齿形带、腱绳或链条,所述的第四传动轮78采用带轮、齿轮、绳轮或链轮,柔性件96和第四传动轮78形成传动关系。 [0046] In this embodiment, the flexible member 96 uses a flat belt, a toothed belt, chain or rope tendons, the wheel 78 using the fourth drive pulleys, gears, sheaves or sprockets, a flexible member 96 drive wheel 78 and the fourth transmission relationship is formed.

[0047] 本实施例中,所述的第一滑块73与第二滑块74的活接触方式采用第一滑块73与第二滑块74单面接触,当第一滑块73向手指里移动时,第一滑块73推动第二滑块74向手指里滑移。 [0047] In this embodiment, the first slider 73 and second slider contacting live way 74 using the first slider 74 and second slider 73 in contact with one side, when the first slider 73 to the finger when moving in the first slider 73 pushes the second slider 74 to slide in the finger. 当第一指段4碰到物体,第二滑块74向手指内移动时,第二滑块74不会对第一滑块73产生影响,实现了自然解耦。 When the first finger section 4 hits an object, the second slider 74 is moved into the finger, the second slider 74 does not affect the first slider 73, to achieve a natural decoupling.

[0048] 本实施例中,所述的第一簧件81采用拉簧、压簧或弹性绳;第二簧件82采用压簧、 扭簧、拉簧或弹性绳。 [0048] In this embodiment, the first spring member 81 using a tension spring, compression spring or elastic cord; a second spring member 82 using the compression spring, torsion spring, tension spring or elastic cord.

[0049] 本实施例中,还包括传动机构;所述的传动机构包括减速器91、第二齿轮92和第三齿轮93 ;所述的电机2的输出轴与减速器91的输入轴相连,所述的第二齿轮92套固在减速器91的输出轴上,所述的第三齿轮93套固在近关节轴3上,所述的第二齿轮92与第三齿轮93啮合。 [0049] In this embodiment, further comprising a transmission mechanism; and said transmission mechanism comprises a reduction gear 91, second gear 92 and third gear 93; the output shaft of the reduction motor 2 is connected to the input shaft 91, said second sleeve gear 92 fixed on the output shaft 91 of the reduction gear, the third gear set 93 near the joint on the fixed shaft 3, the second gear 92 meshed with the third gear 93. [0050] 本实施例中,所述的第二滑块74表面覆盖有第二滑块表面板741。 [0050] In this embodiment, the second surface 74 is covered with a second slide surface of the slide plate 741. 滑块表面板741 表面还可以覆盖有适当弹性的工业橡皮材料。 Surface of the slider plate 741 surface may also be covered with appropriate industrial rubber elastic material. 这样在抓取物体时,手指表面与物体之间将形成软指面接触,一方面增加了手指对物体的约束程度,另一方面也可以增加摩擦力,从而增加抓取物体的稳定性。 So that when gripping an object, refers to the surface of a soft contact between the finger and the surface of the object, on the one hand increases the degree of restraint finger object, it can also increase the friction, thereby increasing the stability of grasping an object.

[0051] 所述的近关节轴3和第一指段4采用销固接,远关节轴5和第二指段6采用销固接。 [0051] The near joint shaft 3 and the first finger section 4 using a pin fixed, distal joint section and the second finger shaft 5 using the pin 6 fixed.

[0052] 本实施例中,所述的近关节轴3与基座1之间设置有轴承,所述的近关节轴3与第四传动轮78之间设置有轴承。 [0052] In this embodiment, the joint axis is provided near the bearing between the base 1 and 3, a bearing is provided near the joint between the shaft 3 and the fourth gear wheel 78.

[0053] 本发明还提供的一种可变抓取力的双滑块式并联耦合欠驱动机器人手指装置的实施例,其剖视图如图4所示。 [0053] The present invention further provides a gripping force variable type twin slider is coupled in parallel under the driving apparatus for a robot finger embodiment, a sectional view shown in FIG. 本实施例包括基座1、近关节轴3、第一指段4、远关节轴5、 第二指段6和电机2,所述的电机2设置在基座1中,电机2的输出轴与近关节轴3相连; 所述的近关节轴3套设在所述的基座1中,所述的远关节轴5套设在第一指段4中,所述的第二指段6套固在所述的远关节轴5上;其特征在于:该双滑块式并联耦合欠驱动机器人手指装置还包括第四传动轮78、第一滑块73、第二滑块74、第一齿轮71、齿条72、第一簧件81、第二簧件82、第三簧件83和柔性件96 ;所述的第一指段4套接在近关节轴3上;所述的第三簧件83的两端分别连接第一指段4和近关节轴3 ;所述的第四传动轮78套设在近关节轴3上,第四传动轮78与基座1固接;所述的柔性件96 —端与基座1固接,另一端从第一指段4下部穿过与第一指段4中部或上部固接;所述的第一滑块73镶嵌在第一指段4 的第一槽中,且与所述的 This embodiment includes a base 1, a shaft 3 near the joint, a first finger section 4, distal joint shaft 5, a motor 6 and the second finger section 2, the motor 2 is provided in the base 1, the output shaft of the motor 2 3 is connected to the shaft near the joint; the sleeve 3 near the joint shaft disposed in said base 1, said distal shaft 5 is sleeved joint means 4 in the first section, said second section refers 6 a sleeve fixed in the distal joint axis 5; characterized in that: the double slider type coupled in parallel underactuated robot finger means further comprises a fourth gear wheel 78, the first slider 73, second slider 74, a first gear 71, rack 72, a first spring member 81, the second spring member 82, the third spring member 83 and the flexible member 96; the first finger section near the joint 4 is sleeved on the shaft 3; the first both ends of the three springs 83 are respectively connected to a first finger joint section near the shaft 3 and 4; said fourth gear wheel 78 is provided near the joint sleeve shaft 3, the fourth gear wheel 78 fixed to the base 1; the said flexible member 96 - terminal fixed to the base 1, and the other end through the middle or upper section 4 is fixed to the first finger from the first finger section of the lower portion 4; the first slider 73 is set in a first finger the first section of the groove 4, and with said 性件96接触,抓取物体时沿垂直于柔性件96方向滑动;第二滑块74镶嵌在第一指段4的第二槽中,所述的齿条72与第二滑块74固接,所述的第一齿轮71套固在远关节轴5上,第一齿轮71与齿条72啮合;所述的第一槽和第二槽平行,第一滑块73与第二滑块74活接触;所述的第一簧件81设置在第一指段4中并且第一簧件81的两端分别与第一指段4和第一滑块73相连接;所述的第二簧件82设置在第一指段4和第二指段6之间并且第二簧件82的两端分别与第一指段4和第二指段6相连接,或者所述的第二簧件82设置在第一指段4中并且第二簧件82的两端分别与第二滑块74和第一指段4相连接。 Of the contact member 96, in a direction perpendicular to the direction of the flexible member 96 slides to grip the object; second slider means 74 embedded in the first section of the second tank 4, the rack 72 and the second slider 74 is fixed to , the first gear 71 fixed on the distal joint sleeve shaft 5, a first gear 71 meshing with the rack 72; said first and second grooves in parallel, the first slider 73 and second slider 74 live contacts; said first spring member 81 disposed in the first section 4 and the finger ends of the first spring member 81, respectively, and the first finger section 4 is connected to the first slider 73; the second spring 4 refers to the segment between the first and second ends of the second finger portion 6 and the spring member 82 is provided with a first finger member 82 and the second finger section 4 are section 6 is connected, said second spring member or 82 is provided across the second spring member 82 and the second slider 74 respectively, and first finger section 4 is connected to the first finger section 4.

[0054] 所述的第三簧件83的功能是,当电机2带动近关节轴3转动时,套接在近关节轴3上的第三簧件83产生形变,可带动第一指段4转动 [0054] The third spring member 83 functions to, 2 driven by the motor when the rotation shaft 3 near the joint, the third spring member is sleeved on the shaft 3 near the joint 83 deforms, can drive the first finger section 4 turn

[0055] 本发明还提供的一种双滑块式并联耦合欠驱动机器人手指装置的实施例,其剖视图如图3所示。 [0055] A double slider type coupled in parallel to the present invention further provides an embodiment underactuated apparatus for a robot finger, a sectional view is shown in Fig. 第一滑块73与第二滑块74的活接触方式采用采用绳97连接,当第一滑块73向手指里移动时,第一滑块73拉动第二滑块74向手指内滑移。 The first slider 73 and second slider 74 live contact manner using using rope 97 is connected, when the slider 73 is moved to the first finger, the first slider 73 pulls the second slider 74 slide into the finger. 当第一指段4碰到物体, 第二滑块74向手指里移动时,第二滑块74对第一滑块73不会产生影响,实现了自然解耦。 When the first finger section 4 hits an object, the second slider 74 is moved inside of the finger, the second slider 74 first slider 73 does not affect, to achieve a natural decoupling.

[0056] 下面结合附图介绍图1所示的双滑块式并联耦合欠驱动机器人手指装置的实施例的工作原理。 [0056] Parallel dual slider reference to the drawings shown in FIG. 1 under the driving principle of coupling of the embodiment below with the finger means of the robot.

[0057] 机器人手指的初始状态如图10所示,电机2停转时,其内部的转动惯量较大,会发生软自锁,所以柔性件96不会在第一簧件81 (第一簧件81采用的是拉簧)的作用下向手指内部移动,此时第一指段4相对于基座1处于伸直状态(第一凸块121顶着第一指段4 使手指不致于反向弯曲);第二簧件82采用的是压簧,该压簧迫使第二指段6与第一指段4之间保持伸直的初始状态,即远关节轴5不发生转动(第二凸块421顶着第二指段6),此时整个手指保持伸直状态。 [0057] The initial state of the robot finger, the motor 2 is stopped, the larger the moment of inertia of the inside thereof in FIG. 10, a soft self-locking occurs, so that the flexible member 96 is not in the first spring member 81 (first spring moved to the inside of the finger member 81 at a tension spring is employed) action, while the first means relative to the base section 4 is in the straightened state 1 (the first protrusion 121 a first finger section 4 against the finger as not trans bending); a second spring member 82 is used in compression spring, the spring force of the second holding means 6 refers to the initial state of the first straight section 4 between, i.e., distal joint 5 does not rotate with the shaft section occurs (second 421 bumps against the second finger section 6), this time the entire finger kept straight.

[0058] 本实施例的抓取方式有两种,分别叙述如下: [0058] There are two ways to fetch the present embodiment, are described as follows:

[0059] (a)耦合抓取过程 [0059] (a) coupling crawl

[0060] 当机器人手指抓取物体98时,电机2正转,通过减速器91带动第二齿轮92转动, 驱动第三齿轮93转动,使近关节轴3正转,带动第一指段4绕近关节轴3的中心线正转(此正转方向是指第一指段4逐渐迎向需要抓取的物体)。 [0060] When the robot finger gripping an object 98, the motor 2 is transferred, through a reduction gear 92 rotatably drives the second gear 91, a third drive gear 93 is rotated, the near joint shaft 3 forward, the first drive means around the segment 4 near the center line of the joint shaft 3 forward (forward in this direction means that the first section 4 refers to the need to progressively Looking grasped object). 由于第四传动轮78套接在近关节轴3上且与基座1固接,于是镶嵌在第一指段4中的第一滑块73在拉簧的作用下,向手指内部平移运动,同时把柔性件96压向手指里。 Since the fourth transmission wheel 78 near the joint socket and the shaft 3 is fixed to the base 1, then the first set in a first finger in the slider section 473 under the action of the tension spring, the translational motion inside the finger, while the flexible member 96 is pressed against the fingers inside. 因为第二滑块74与第一滑块73单面接触,第一滑块73会带动第二滑块74向第一指段4里滑移,会使得第一齿轮71被齿条72反向拨动(齿条72向手指内部平移运动),带动远关节轴5正转,第二指段6正转迎向需要抓取的物体,直到手指接触物体。 Since the second slider 74 in contact with one surface of the first slider 73, the first slider 73 will drive the second slider 74 to slide in the first finger section 4, the first gear 71 causes the rack 72 is inverted toggle (rack 72 is translated inside the finger motion), the joint drive away forward rotation shaft 5, the second finger section 6 need Looking forward object gripped, until the finger in contact with the object.

[0061] 手指在抓取物体时,柔性件96向手指里移动的距离是齿条72向手指里移动距离的两倍,在本实施例中第一滑槽75和第二滑槽76之间,第二滑槽76和第三滑槽77之间的距离很小,可以忽略不计,本实施例中第四传动轮78和第一齿轮71分度圆直径之比为2 : 1,第一指段4相对于基座1转动的角度与第二指段6相对于第一指段4转动的角度相同,即实现1 : 1的耦合传动;当滑槽间的距离不可忽略,要实现1 : 1的耦合传动时,第四传动轮78和第一齿轮71分度圆直径之比根据实际情况作适当调整。 [0061] When the fingers gripping the object, the flexible member 96 to move twice the distance of the finger in the rack 72 is moved in the distance of the finger, between the first chute 75 and the chute 76 in the second embodiment, the present embodiment first 1,:, the second chute 76 and the distance between the third chute 77 is very small, negligible, the present embodiment 78 and the fourth gear wheel division ratio of the first gear 71 pitch diameter is 2 4 refers to the segment 1 with respect to the angle of rotation of the base and the second finger section 6 with the first finger section 4 is rotated by the same angle, i.e. to achieve 1: 1, the drive coupling; when the distance between the chute can not be ignored, to achieve a : when the drive coupling 1, the fourth gear 71 of the first transmission wheel 78 and the dividing ratio of the diameter to make appropriate adjustments according to the actual situation. 综上所述,本实施例在物体不动的情况下实现了耦合抓取的功能。 As described above, the present embodiment implements the function of gripping the coupling in case the object does not move. 具体运动过程如图10、11、12、13所示。 DETAILED movement 10,11,12,13 shown in FIG.

[0062] 放开物体的过程与上述抓取物体的过程相同,电机2反转,将带动第一指段4和第二指段6同时反向转动,实现放开物体,最终回复到手指初始的伸直状态。 [0062] The process object of the above-described release same procedure as grasping an object, the motor 2 is reversed, the first finger drives the second finger section 4 and the reverse rotation segment 6, while achieving the object is released, the final return to the initial finger the straight state.

[0063] (b)欠驱动抓取过程 [0063] (b) Underactuated crawl

[0064] 有两种欠驱动抓取过程: [0064] There are two underactuated crawl:

[0065] 1)第一种欠驱动抓取过程:其他手指和外力直接挤压物体,物体挤压第二滑块触发欠驱动抓取,最终第二指段快速扣住物体。 [0065] 1) a first underactuated crawl: direct extrusion fingers and external objects, pressed objects trigger underactuated gripping second slider, the second finger finally buckled Segment objects. 具体来说,当第一指段4上可滑动的第二滑块与物体98接触,第二指段6未与物体接触,物体在其它手指或外力作用下向手指内推动第二滑块74时,第二滑块74向手指里滑移,因为第二滑块74与第一滑块73单面接触,所以不会对第一滑块73产生影响,实现了自然解耦(图3所示实施例采用绳连接方式实现了自然解耦,原理与此相同,不再赘述)。 Specifically, when the first finger section 4 slidable on the second slider 98 in contact with an object, refers to the second segment 6 is not in contact with an object, the object is pushed under finger or other external force second finger slide 74 when the second slider 74 to slide in the finger, since the second slider 74 in contact with one surface of the first slider 73, so it will not affect the first slider 73, to achieve a natural decoupling (Figure 3 rope connector shown embodiment employs decoupling natural manner, and the same principle, omitted). 第二滑块74的滑移会带动齿条72向手指里滑动,带动远关节轴5正转,使第二指段6正转直到接触物体实现了抓取,且能够自动适应物体的大小形状,是一种无需电机工作的自适应欠驱动抓取方式。 The second slider 74 will lead to slip of the finger in the slider rack 72, drive away forward joint shaft 5, the second finger forward until the contact section 6 to achieve the object gripping, and can automatically adapt to the size and shape of the object , it is an adaptive motor work without having to crawl under-drive mode. 具体运动过程如图14、15、16、17所 DETAILED movement as in FIG. 14, 15,

7J\ ο 7J \ ο

[0066] 2)第二种欠驱动抓取过程:物体固定不动(被手掌或其他手指、外力约束),此时本实施例继续转动致使第二滑块因物体阻挡而被压入第一指段中从而触发了欠驱动抓取, 最终第二指段快速扣住物体。 [0066] 2) a second underactuated crawl: stationary objects (by the palm or finger, external constraint), then the present embodiment causes the second slider continues to rotate due to the blocking body is pressed into the first It refers to the paragraph in order to trigger the underactuated crawl, and finally the second paragraph refers to rapid fastened objects. 具体来说,当第一指段4上可滑动的第二滑块与物体98接触,第二指段6未与物体接触,此时由于物体被手掌或其他手指约束住固定不动,第二滑块被物体阻挡,此时第一指段还可以转动一个很小的角度δ,此转动将产生一个第二指段相对于第一指段1 : 1的耦合转动角度S (原因见前述的耦合抓取过程),而此时由于第二滑块已经相对于第一指段向手指内部滑动了一段较小的距离Δ d,因此该变化的距离将使得齿条72滑动,从而带动第一齿轮和第二指段转动一个较大的角度θ,由于物体与第二滑块表面的接触点到近关节轴中心线的距离h大于第四传动轮78的分度圆半径Γι,通过下面的计算可知,θ会大于α,从而实现第二指段转过的角度是一个较大的角度θ,不再是耦合转动的角度α0计算分析如下:此时第一滑块在第一指段的较小角度δ的转动过程中会移动一 Specifically, when the first finger section 4 slidable on the second slider 98 in contact with an object, refers to the second segment 6 is not in contact with the object, at this time since the live objects are fixed constraints palm or finger does not move, the second the slider is blocked by an object, this time period may also refer to a first rotation angle δ of a very small, this will result in a rotation of the second finger with respect to the first segment means segment 1: 1 coupling rotational angle S (see above reasons coupling crawl), while the second case since the slider has been slid relative to the first section refers to some small distance Δ d to the inside of the finger, so that the change in distance will make the slide rack 72, so as to drive the first It refers to the segment and a second gear rotated by a larger angle [theta], since the object is in contact with the second surface of the slider joint shaft to near the centerline of the distance h is larger than the fourth drive wheel circle radius Γι 78 by the following calculation shows, θ be greater than α, so as to achieve the second segment means is rotated a larger angle of the angle θ, the angle of rotation is no longer coupled α0 is calculated as follows: in the first case, the first slider finger section rotation of the small angle δ will move a 较小的距离屯,Cl1 = 1/2· δ ·Γι。 Tun smaller distance, Cl1 = 1/2 · δ · Γι. 而第二滑块在第一指段的较小角度δ的转动过程中会移动一个较大的距离d2,d2 = δ *h,由于h大于Γι,因此d2大于屯。 A first slider finger and a second smaller angle [delta] of the segment during the rotation moves a greater distance d2, d2 = δ * h, since h is larger than Γι, so d2 is greater than Tun. 此时第二滑块与第一滑块脱开,实现了自然解耦,第二滑块平移一个距离d2,导致第二指段快速扣向物体,此过程直到第二指段紧紧扣住物体,从而实现了欠驱动抓取过程。 At this time, the first slider and the second slider is disengaged to achieve a decoupling of natural, translation of the slider a second distance d2, causing the second means to buckle Segment objects, this procedure until the second finger section closely link objects, enabling underactuated crawling process. 此欠驱动抓取实现了对不同形状大小物体的抓取,具有自适应性,减轻了对控制系统的要求。 This achieved a gripping gripping underactuated different shapes and sizes of objects, having self-adaptability, reducing the demands on the control system. 第二种欠驱动抓取过程如图18、19、20、21所示。 The second driving crawl under 18,19,20,21 shown in FIG.

[0067] 综合(a)和(b)耦合和自适应抓取过程可知,本实施例实现了一种特殊的先耦合后自适应欠驱动的抓取方式,解耦方式自然,无需损耗电机功率。 [0067] Integrated (a) and (b) coupling and adaptive crawl seen, the present embodiment implements an adaptive underactuated after a special Fetch first coupling, decoupling natural way, without motor power loss .

[0068] 本发明装置利用柔性件、齿轮、齿条和簧件综合实现了耦合转动与欠驱动转动紧密结合的传动效果,不仅能够耦合转动更拟人化地抓取物体,而且具备欠驱动功能,自适应抓取不同形状、大小的物体;该装置结构简洁紧凑,安装容易,制造加工成本低;该装置耦合传动机构和欠驱动传动机构有机融合,不相互影响,利用滑块活接触的多种方式实现了自然解耦,此解耦不消耗电机功率,能量利用率高;外形与人手手指相似,可以作为拟人机器人手的一个手指或手指的一部分,也可以用多个这样的双齿条滑块式并联耦合欠驱动手指组合成为机器人手,用以达到拟人机器人手高关节自由度、高自适应性的优良效果。 [0068] The apparatus of the present invention using a flexible member, a gear, a rack and a spring member coupled rotatably integrated to achieve the rotation of the drive and driven under the effect of tightly coupled rotatably coupled not only more anthropomorphic to grip the object, and includes a function driven under, adaptive gripping of different shapes and sizes of the object; the simple compact apparatus, easy to install, low cost manufacturing process; means coupling the drive mechanism and the drive transmission mechanism under the organic fusion, do not affect each other by a plurality of slide contact with the living decoupling natural way to achieve this decoupling the motor does not consume power, high energy efficiency; appearance is similar to a human hand finger, as part of a finger or anthropomorphic robot hand may be a plurality of such dual rack sliding - block coupled in parallel under combined into a driving finger robot hand for humanoid robot hand to achieve a high degree of freedom joint, an excellent effect of high adaptability.

Claims (10)

  1. 一种双滑块式并联耦合欠驱动机器人手指装置,包括基座(1)、近关节轴(3)、第一指段(4)、远关节轴(5)、第二指段(6)和电机(2),所述的电机(2)设置在基座(1)中,电机(2)的输出轴与近关节轴(3)相连;所述的近关节轴(3)套设在所述的基座(1)中,所述的远关节轴(5)套设在第一指段(4)中,所述的第二指段(6)套固在所述的远关节轴(5)上;其特征在于:该双滑块式并联耦合欠驱动机器人手指装置还包括第四传动轮(78)、第一滑块(73)、第二滑块(74)、第一齿轮(71)、齿条(72)、第一簧件(81)、第二簧件(82)和柔性件(96);所述的第一指段(4)套固在近关节轴(3)上;所述的第四传动轮(78)套设在近关节轴(3)上,第四传动轮(78)与基座(1)固接;所述的柔性件(96)一端与基座(1)固接,另一端从第一指段(4)下部穿过与第一指段(4)中部或上部固接;所述的第一滑块(73)镶嵌在第一指段(4)的第一 A dual slide coupling type parallel robot finger underactuated apparatus comprising a base (1), near the joint shaft (3), first finger section (4), distal joint axis (5), the second finger section (6) and a motor (2), said motor (2) disposed in the base (1), the output shaft of the motor (2) near the joint axis (3) is connected; near the joint axis (3) sleeved said base (1), the distal joint axis (5) sleeved on the first finger section (4), said second finger sections (6) fixed in said sleeve distal joint axis (5); characterized in that: the double slider type coupled in parallel underactuated robot finger means further comprises a fourth gear wheel (78), a first slider (73), a second slider (74), a first gear (71), a rack (72), a first spring member (81), a second spring member (82) and a flexible member (96); a first finger section (4) sets a solid near the joint shaft (3 on); the fourth gear wheel (78) is sleeved on the shaft near the joint (3), the fourth gear wheel (78) with the base (1) fixed; said flexible member (96) is connected with the base (1) fixed to the other end through the first finger section (4) is fixed to the middle or upper section from the lower portion of the first means (4); said first slide (73) set in a first finger a first section (4) 中,且与所述的柔性件(96)接触,抓取物体时沿垂直于柔性件(96)方向滑动;第二滑块(74)镶嵌在第一指段(4)的第滑槽中,所述的齿条(72)与第二滑块(74)固接,所述的第一齿轮(71)套固在远关节轴(5)上,第一齿轮(71)与齿条(72)啮合;所述的第一槽和第二槽平行,第一滑块(73)与第二滑块(74)活接触;所述的第一簧件(81)设置在第一指段(4)中并且第一簧件(81)的两端分别与第一指段(4)和第一滑块(73)相连接;所述的第二簧件(82)设置在第一指段(4)和第二指段(6)之间并且第二簧件(82)的两端分别与第一指段(4)和第二指段(6)相连接,或者所述的第二簧件(82)设置在第一指段(4)中并且第二簧件(82)的两端分别与第二滑块(74)和第一指段(4)相连接。 , And the contact with the flexible member (96), perpendicular to the direction (96) when the sliding direction of the flexible member to grasp an object; a second slider (74) set in a first finger section of the chute (4), said rack (72) and a second slider (74) fixed to said first gear (71) fixed on the sleeve distal joint axis (5), a first gear (71) with the rack ( 72) engagement; said first and second grooves in parallel, a first slider (73) and a second slider (74) contacting live; said first spring member (81) disposed on a first segment means (4) and the ends of the first spring member (81) are respectively connected to the first finger section (4) and first slider (73); said second spring member (82) disposed on a first finger between the segments (4) and the second finger section (6) and the ends of the second spring member (82), respectively, and the second finger section (6) connected to the first finger section (4), or the first Erhuang member (82) disposed on a first finger section (4) and ends of the second spring member (82), respectively, and a second slider (74) and the first finger section (4) is connected.
  2. 2. 一种双滑块式并联耦合欠驱动机器人手指装置,包括基座(1)、近关节轴(3)、第一指段⑷、远关节轴(5)、第二指段(6)和电机(2),所述的电机⑵设置在基座⑴中,电机(2)的输出轴与近关节轴(3)相连;所述的近关节轴(3)套设在所述的基座(1)中,所述的远关节轴(5)套设在第一指段(4)中,所述的第二指段(6)套固在所述的远关节轴(5) 上;其特征在于:该双滑块式并联耦合欠驱动机器人手指装置还包括第四传动轮(78)、第一滑块(73)、第二滑块(74)、第一齿轮(71)、齿条(72)、第一簧件(81)、第二簧件(82)、第三簧件(83)和柔性件(96);所述的第一指段(4)套接在近关节轴(3)上;所述的第三簧件(83)的两端分别连接第一指段⑷和近关节轴(3);所述的第四传动轮(78)套设在近关节轴⑶上,第四传动轮(78)与基座⑴固接;所述的柔性件(96) — A double-slide type coupled in parallel underactuated robot finger means, comprising a base (1), near the joint shaft (3), the first finger section ⑷, distal joint axis (5), the second finger section (6) and a motor (2), the base ⑴, the output shaft of the motor (2) near the joint shaft (3) connected to said motor disposed ⑵; near the joint axis (3) disposed in said sleeve-yl Block (1), the distal joint axis (5) sleeved on the first finger section (4), the upper section of the second means (6) fixed in said sleeve distal joint axis (5) ; wherein: the double slider type coupled in parallel underactuated robot finger means further comprises a fourth gear wheel (78), a first slider (73), a second slider (74), a first gear (71), a rack (72), a first spring member (81), a second spring member (82), a third spring member (83) and a flexible member (96); a first finger section (4) near sleeved joint shaft (3); both ends of said third spring member (83) are connected and the first finger section near ⑷ joint axis (3); said fourth gear wheel (78) is provided near the joint sleeve shaft ⑶, the fourth gear wheel (78) fixed to the base ⑴; said flexible member (96) - 与基座⑴固接,另一端从第一指段(4)下部穿过与第一指段(4)中部或上部固接;所述的第一滑块(73)镶嵌在第一指段(4)的第一槽中,且与所述的柔性件(96)接触,抓取物体时沿垂直于柔性件(96)方向滑动;第二滑块(74)镶嵌在第一指段(4)的第二槽中,所述的齿条(72)与第二滑块(74)固接,所述的第一齿轮(71)套固在远关节轴(5)上,第一齿轮(71)与齿条(72) 啮合;所述的第一槽和第二槽平行,第一滑块(73)与第二滑块(74)活接触;所述的第一簧件(81)设置在第一指段(4)中并且第一簧件(81)的两端分别与第一指段(4)和第一滑块(73)相连接;所述的第二簧件(82)设置在第一指段⑷和第二指段(6)之间并且第二簧件(82)的两端分别与第一指段⑷和第二指段(6)相连接,或者所述的第二簧件(82)设置在第一指段(4)中并且第二簧件(82)的两端分别与第二 ⑴ fixed base, the other end through the first finger section (4) is fixed to the middle or upper section from the lower portion of the first means (4); said first slider (73) embedded in a first segment means (4) a first groove and in contact with said flexible member (96), perpendicular to the direction (96) when the sliding direction of the flexible member to grasp an object; a second slider (74) set in a first finger section ( 4) a second tank, said rack (72) and a second slider (74) fixed to said first gear (71) fixed on the sleeve distal joint axis (5), a first gear (71) the rack (72) engaged; said first and second grooves in parallel, a first slider (73) and a second slider (74) contacting live; said first spring member (81 ) provided on a first finger section 4) (and ends of the first spring member (81) are respectively connected to the first finger section (4) and first slider (73); said second spring member ( 82) provided at the first ends of the second spring member and means (82) with the first finger and the second finger section ⑷ section (6) connected between the segment and the second finger ⑷ section (6), or the the second spring member (82) disposed in said first segment means (4) and the ends of the second spring member (82), respectively, and a second 块(74)和第一指段(4)相连接。 Block (74) and the first finger section (4) is connected.
  3. 3.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 在所述的第一滑块(73)上设有与柔性件(96)平行的第一滑槽(75)或通孔,所述的柔性件(96)穿过第一滑块(73)上的通孔或槽与第一滑块(73)相接触; The dual slide type coupled in parallel under claim 1 or claim robot finger drive means, characterized in that: the flexible member is provided parallel to the (96) first on said first slider (73) a chute (75) or through holes, said flexible member (96) through the through-hole or slot in contact with the first slider (73) on a first slider (73);
  4. 4.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 所述的柔性件(96)采用平带、齿形带、腱绳或链条,所述的第四传动轮(78)采用带轮、齿轮、绳轮或链轮。 A twin slider type coupled in parallel under claim 1 or claim robot finger drive means, characterized in that: said flexible member (96) using the flat belt, toothed belt, chain or rope tendons, the a fourth gear wheel (78) using a pulley, a gear, a sprocket or sheave. 柔性件(96)和第四传动轮(78)形成传动关系。 The flexible member (96) and the fourth gear wheel (78) is formed transmission relationship.
  5. 5.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 所述的第一滑块(73)与第二滑块(74)的活接触方式采用第一滑块(73)与第二滑块(74) 单面接触,所述的第一滑块(73)推动第二滑块(74)向手指内滑移。 5. Double coupling under Parallel slider of claim 1 or claim robot finger drive means, characterized in that: said first slide (73) and a second slider (74) live contact manner using a first slider (73) and a second slider (74) in contact with one side of said first slider (73) pushes the second slider (74) slide into the finger.
  6. 6.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 所述的第一滑块(73)与第二滑块(74)的活接触方式采用绳(97)连接,所述的第一滑块(73)拉动第二滑块(74)向手指里滑移。 6. The dual type slider or less coupled in parallel according to claim 12 robot finger drive means, characterized in that: said first slide (73) and a second slider (74) live contact manner using rope (97) connected to said first slider (73) pulling the second slider (74) in the slip of the finger.
  7. 7.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 所述的第一簧件(81)采用拉簧、压簧或弹性绳;第二簧件(82)采用压簧、扭簧、拉簧或弹性绳。 The dual slide type coupled in parallel under claim 1 or claim robot finger drive means, characterized in that: said first spring member (81) using a tension spring, compression spring or elastic cord; a second spring member (82) using a compression spring, torsion spring, tension spring or elastic cord.
  8. 8.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 还包括传动机构;所述的传动机构包括减速器(91)、第二齿轮(92)和第三齿轮(93);所述的电机(2)的输出轴与减速器(91)的输入轴相连,所述的第二齿轮(92)套固在减速器(91)的输出轴上,所述的第三齿轮(93)套固在近关节轴(3)上,所述的第二齿轮(92)与第三齿轮(93)啮合。 8 coupled in parallel to drive robot fingers under the dual slider type apparatus as claimed in claim 1 or 2, characterized in that: further comprising a transmission mechanism; and said transmission mechanism comprises a reduction gear (91), a second gear (92) and a third gear (93); an output shaft connected to said motor (2) with a reduction gear (91) of the input shaft, said second gear (92) fixed in the sleeve reducer (91) of the output shaft said third gear (93) fixed in the sleeve near the joint shaft (3), said second gear (92) with the third gear (93) meshes.
  9. 9.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 所述的第二滑块(74)表面覆盖有第二滑块表面板(741)。 9 is coupled in parallel robot finger apparatus as claimed underactuated double slider type 1 or claim 2, wherein: said second slider (74) surface is covered with a second surface of the slider plate (741).
  10. 10.如权利要求1或2所述的双滑块式并联耦合欠驱动机器人手指装置,其特征在于: 所述的近关节轴(3)与基座(1)之间设置有轴承,所述的近关节轴(3)与第四传动轮(78) 之间设置有轴承。 Parallel dual slider coupling as claimed in claim 1 or 2 under the robot finger drive means, characterized in that: a bearing is provided between said shaft near the joint (3) and the base (1), the a bearing is provided near the joint between the shaft (3) and the fourth gear wheel (78).
CN 201010124953 2010-03-12 2010-03-12 Double-slider-type parallel coupling under-actuated robot finger device CN101941204B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102729256A (en) * 2012-06-28 2012-10-17 浙江理工大学 End effector device of under-actuated picking manipulator
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Publication number Priority date Publication date Assignee Title
CN102729256A (en) * 2012-06-28 2012-10-17 浙江理工大学 End effector device of under-actuated picking manipulator
CN102729256B (en) 2012-06-28 2014-07-23 浙江理工大学 End effector device of under-actuated picking manipulator
CN106109066A (en) * 2015-11-18 2016-11-16 杭州若比邻机器人科技有限公司 Mounting structure of artificial limb thumb
CN106109066B (en) * 2015-11-18 2018-01-16 杭州若比邻机器人科技有限公司 Thumb prosthesis mounting structure

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