CN101941204B - Double-slider-type parallel coupling under-actuated robot finger device - Google Patents

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

Info

Publication number
CN101941204B
CN101941204B CN2010101249530A CN201010124953A CN101941204B CN 101941204 B CN101941204 B CN 101941204B CN 2010101249530 A CN2010101249530 A CN 2010101249530A CN 201010124953 A CN201010124953 A CN 201010124953A CN 101941204 B CN101941204 B CN 101941204B
Authority
CN
China
Prior art keywords
slide block
section
finger
joint shaft
refers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2010101249530A
Other languages
Chinese (zh)
Other versions
CN101941204A (en
Inventor
张文增
孙杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Wuxi Research Institute of Applied Technologies of Tsinghua University
Original Assignee
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN2010101249530A priority Critical patent/CN101941204B/en
Publication of CN101941204A publication Critical patent/CN101941204A/en
Application granted granted Critical
Publication of CN101941204B publication Critical patent/CN101941204B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)

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

The double-slide block type parallel coupling under-driving robot finger device
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, particularly a kind of structural design of double-slide block type parallel coupling under-driving robot finger device.
Background technology
Robot is as the indispensable part of robot, and with respect to other part of robot, robot has that joint freedom degrees is many, volume is little, characteristics and difficult points such as very dexterous, control complicacy.Robot is mainly used in grasping with spatial movement and make a sign with the hand and wait other hand motion object.Though present existing Dextrous Hand control flexibly, number of motors is many, and structure is very complicated, and the control difficulty is quite big, and manufacturing and maintenance cost are very high, and these factors have hindered Dextrous Hand humanoid robot hand in real-life wide popularization and application.Though fast-developing in recent years coupling is grasped the humanoid robot hand and is owed to drive the high flexibility ratio that extracting humanoid robot hand does not possess Dextrous Hand; But number of motors is few; Simple in structure, control greatly reduces manufacturing cost and use cost easily; And can better grasp familiar object, become the focus of development and research.
The parallel under-actuated device finger of existing a kind of doublejointed device; Like Chinese invention patent CN 101633178A; Comprise pedestal, motor, nearly joint shaft, joint shaft far away and the end section of finger, also comprise transmission mechanism and a plurality of spring spare decoupling zero devices etc. realizing coupling respectively and owe to drive rotation.Before finger touches object, realize the effect of multi-joint coupled rotation, after finger touches object, adopt multi-joint to owe the type of drive grasping objects.The weak point of this device is: this device makes whole finger structure complicated owing to adopted two sets of transmission mechanism to realize coupling respectively and owe driving extracting, and it is high to make processing cost; This device coupled transmission mechanism with owe drive transmission device and influence each other, though adopted three spring spares to come decoupling zero, in-fighting the power of motor; Two sets of transmission mechanism of this device are arranged in parallel, and add a plurality of spring spares and on joint shaft, install, and cause finger too thick, have increased manufacturing, installation and maintenance cost and difficulty.
Summary of the invention
The objective of the invention is provides a kind of double-slide block type parallel coupling under-driving robot finger device in order to overcome the weak point of prior art, and this device can be realized coupled rotation and owe to drive the effect that rotation combines; The extracting that personalizes can be coupled; And possess the under-driven adaptive function, compact conformation is made, maintenance cost is low; Profile is similar with finger, is applicable to anthropomorphic robot's hand.
The present invention adopts following technical scheme:
A kind of double-slide block type parallel coupling under-driving robot finger device of the present invention comprises that pedestal, nearly joint shaft, first refer to that section, joint shaft far away, second refer to section and motor, and described motor is arranged in the pedestal, and the output shaft of motor links to each other with nearly joint shaft; Described nearly joint shaft is set in the described pedestal, and described joint shaft far away is set in first and refers in the section, and described second refers to that section is fixed on the described joint shaft far away; This double-slide block type parallel coupling under-driving robot finger device also comprises the 4th drive, first slide block, second slide block, first gear, tooth bar, the first spring spare, the second spring spare and flexible piece; Described first refers to that section is fixed on the nearly joint shaft; Described the 4th driving wheel tube is located on the nearly joint shaft, and the 4th drive and pedestal are affixed; Described flexible piece one end and pedestal are affixed, and it is affixed that the other end refers to that from first pars infrasegmentalis passes with the first finger section middle part or top; Described first slide block is provided with second chute or the through hole parallel with flexible piece, and through hole or groove that described flexible piece passes on first slide block contact with first slide block; Described first slide block is embedded in first and refers in first groove of section, and contacts with described flexible piece, and during grasping objects slide perpendicular to the flexible piece direction in the edge; Second slide block is embedded in first and refers to that the described tooth bar and second slide block are affixed in second groove of section, and described first gear is fixed on the joint shaft far away, the engagement of first wheel and rack; Described first groove is parallel with second groove, and first slide block and the second slide block loose joint are touched; The described first spring spare is arranged in the first finger section and the two ends of the first spring spare refer to that with first section is connected with first slide block respectively; The described second spring spare is arranged on first and refers to that section and second refers between the section and the two ends of the second spring spare refer to that with first section and second refers to that section is connected respectively, and the perhaps described second spring spare is arranged on first and refers in the section and the two ends of the second spring spare refer to section be connected with second slide block and first respectively.Described first slide block touches mode with the loose joint of second slide block and adopts first slide block to contact with the second slide block single face, and first slide block promotes the slippage in finger of second slide block; Or first slide block and the loose joint of second slide block touch mode and adopt rope to be connected, described first slide block spurs the slippage in pointing of second slide block.
A kind of double-slide block type parallel coupling under-driving robot finger device of the present invention comprises that pedestal, nearly joint shaft, first refer to that section, joint shaft far away, second refer to section and motor, and described motor is arranged in the pedestal, and the output shaft of motor links to each other with nearly joint shaft; Described nearly joint shaft is set in the described pedestal, and described joint shaft far away is set in first and refers in the section, and described second refers to that section is fixed on the described joint shaft far away; This double-slide block type parallel coupling under-driving robot finger device also comprises the 4th drive, first slide block, second slide block, first gear, tooth bar, the first spring spare, the second spring spare, the 3rd spring spare and flexible piece; Described first refers to that section is socketed on the nearly joint shaft; The two ends of described the 3rd spring spare connect first respectively and refer to section and nearly joint shaft; Described the 4th driving wheel tube is located on the nearly joint shaft, and the 4th drive and pedestal are affixed; Described flexible piece one end and pedestal are affixed, and it is affixed that the other end refers to that from first pars infrasegmentalis passes with the first finger section middle part or top; Described first slide block is provided with second chute or the through hole parallel with flexible piece, and through hole or groove that described flexible piece passes on first slide block contact with first slide block; Described first slide block is embedded in first and refers in first groove of section, and contacts with described flexible piece, and during grasping objects slide perpendicular to the flexible piece direction in the edge; Second slide block is embedded in first and refers to that the described tooth bar and second slide block are affixed in second groove of section, and described first gear is fixed on the joint shaft far away, the engagement of first wheel and rack; Described first groove is parallel with second groove, and first slide block and the second slide block loose joint are touched; The described first spring spare is arranged in the first finger section and the two ends of the first spring spare refer to that with first section is connected with first slide block respectively; The described second spring spare is arranged on first and refers to that section and second refers between the section and the two ends of the second spring spare refer to that with first section and second refers to that section is connected respectively, and the perhaps described second spring spare is arranged on first and refers in the section and the two ends of the second spring spare refer to section be connected with second slide block and first respectively.Described first slide block touches mode with the loose joint of second slide block and adopts first slide block to contact with the second slide block single face, and first slide block promotes the slippage in finger of second slide block; Or first slide block and the loose joint of second slide block touch mode and adopt rope to be connected, described first slide block spurs the slippage in pointing of second slide block.
Double-slide block type parallel coupling under-driving robot finger device of the present invention, described flexible piece adopt flat rubber belting, cog belt, tendon rope or chain, and described the 4th drive adopts belt wheel, gear, rope sheave or sprocket wheel.
Double-slide block type parallel coupling under-driving robot finger device of the present invention, the described first spring spare adopts extension spring; The second spring spare adopts stage clip.
Double-slide block type parallel coupling under-driving robot finger device of the present invention also comprises transmission mechanism; Described transmission mechanism comprises decelerator, second gear and the 3rd gear; The output shaft of described motor links to each other with input shaft of speed reducer, and described second gear is fixed on the output shaft of decelerator, and described the 3rd gear is fixed on the nearly joint shaft, described second gear and the 3rd gears engaged.
Double-slide block type parallel coupling under-driving robot finger device of the present invention, described second shoe surface is coated with the second slider table panel.
Double-slide block type parallel coupling under-driving robot finger device of the present invention is provided with bearing between described nearly joint shaft and the pedestal, is provided with bearing between described nearly joint shaft and the 4th drive.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention are utilized flexible piece, gear, tooth bar and spring spare comprehensively to realize coupled rotation and are owed to drive the transmission effect that rotation is combined closely; The ground grasping objects not only can coupled rotation more personalizes; And possess and owe to drive function, the object of self-adapting grasping difformity, size; This apparatus structure concision and compact is installed easily, and it is low to make processing cost; This device coupled transmission mechanism with owe drive transmission device and organically blend, do not influence each other, the multiple mode of utilizing the slide block loose joint to touch has realized natural decoupling zero, this decoupling zero does not consume power of motor, capacity usage ratio is high; Profile is similar with people's hand finger; Can be used as a finger of anthropomorphic robot's hand or a part of pointing; Also can be combined into robot, in order to reach the excellent results of the high joint freedom degrees of anthropomorphic robot's hand, high adaptivity with a plurality of such parallel coupled under-actuated fingers based on flexible piece.
Description of drawings
Fig. 1 is the sectional view of a kind of embodiment of double-slide block type parallel coupling under-driving robot finger device provided by the invention.
Fig. 2 is the positive view (also being the cut away left side view of figure) of figure illustrated embodiment.
Fig. 3 is the sectional view of another embodiment of the present invention (embodiment that adopts rope to connect is touched in the loose joint between first slide block and second slide block).
Fig. 4 is the positive view of another embodiment of the present invention (having changeable grasping force effect embodiment).
Fig. 5 is the side view of figure illustrated embodiment outward appearance.
Fig. 6 is the front view of figure illustrated embodiment outward appearance.
Fig. 7 is the stereogram of figure illustrated embodiment outward appearance.
Fig. 8 is the stereogram of the part of figure illustrated embodiment.
Fig. 9 is the three-dimensional explosive view of figure illustrated embodiment.
Figure 10,11,12, the 13rd, the side schematic appearance of realization coupling extracting process in the figure illustrated embodiment.
Figure 14,15,16, the 17th realizes in the figure illustrated embodiment that coupling is grasped and the side schematic appearance of under-driven adaptive extracting process.
Figure 18,19,20, the 21st, the middle side schematic appearance that realizes the Grasp Modes process that elder generation's coupling back self adaptation owes to drive embodiment illustrated in fig. 1.
In Fig. 1 to Figure 21:
The 1-pedestal, the 11-abase frame, 12-pedestal backboard,
121-first projection, 13-pedestal header board, the right support plate of 14-pedestal,
15-pedestal connecting plate, the 2-motor, the nearly joint shaft of 3-,
4-first refers to section, and 41-first refers to the section frame, and 42-first refers to the section backboard,
421-second projection, 43-first refers to the right support plate of section, 5-joint shaft far away,
6-second refers to section, 71-first gear, and the 72-tooth bar,
73-first slide block, 74-second slide block, 74-slider table panel,
75-first chute, 76-second chute, 77-the 3rd chute,
78-the 4th drive, the 81-first spring spare, the 82-second spring spare,
83-the 3rd spring spare, the 91-decelerator, 92-second gear,
93-the 3rd gear, the 94-sleeve, the 95-pin,
The 96-flexible piece, 97-rope, 98-object.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment further explain concrete structure of the present invention, operation principle and the course of work.
The embodiment of a kind of double-slide block type parallel coupling under-driving robot finger device of the present invention's design; Cutaway view is like Fig. 1, shown in 2; Outward appearance is like Fig. 5, shown in 6, and three-dimensional appearance is as shown in Figure 7, and part is as shown in Figure 8; Three-dimensional explosive view is as shown in Figure 9, and operating principle is like Figure 10,11,12,13,14,15,16,17,18,19,20, shown in 21.Present embodiment comprises that pedestal 1, nearly joint shaft 3, first refer to that section 4, joint shaft far away 5, second refer to section 6 and motor 2, and described motor 2 is arranged in the pedestal 1, and the output shaft of motor 2 links to each other with nearly joint shaft 3; Described nearly joint shaft 3 is set in the described pedestal 1, and described joint shaft 5 far away is set in first and refers in the section 4, and described second refers to that section 6 is fixed on the described joint shaft far away 5; This double-slide block type parallel coupling under-driving robot finger device also comprises the 4th drive 78, first slide block 73, second slide block 74, first gear 71, tooth bar 72, the first spring spare 81, the second spring spare 82 and flexible piece 96; Described first refers to that section 4 is fixed on the nearly joint shaft 3; Described the 4th drive 78 is set on the nearly joint shaft 3, and the 4th drive 78 is affixed with pedestal 1; Described flexible piece 96 1 ends and pedestal 1 are affixed, and the other end passes with first finger section 4 middle parts or top affixed from the first finger section, 4 bottoms; Described first slide block 73 is embedded in first and refers in first groove of section 4, and contacts with described flexible piece 96, and during grasping objects slide perpendicular to flexible piece 96 directions in the edge; Second slide block 74 is embedded in first and refers to that the described tooth bar 72 and second slide block 74 are affixed in second groove of section 4, and described first gear 71 is fixed on the joint shaft 5 far away, first gear 71 and tooth bar 72 engagements; Described first groove is parallel with second groove, and first slide block 73 and 74 loose joints of second slide block are touched; The described first spring spare 81 is arranged on first and refers in the section 4 and the two ends of the first spring spare 81 refer to that with first section 4 is connected with first slide block 73 respectively; The described second spring spare 82 is arranged on first and refers to that section 4 and second refers between the section 6 and the two ends of the second spring spare 82 refer to that with first section 4 and second refers to that section 6 is connected respectively, and the perhaps described second spring spare 82 is arranged on first and refers in the section 4 and the two ends of the second spring spare 82 are connected with second slide block 74 and first finger sections 4 respectively.
In the present embodiment, on described first slide block 73, be provided with second chute 76 or the through hole parallel with flexible piece 96, through hole or groove that described flexible piece 96 passes on first slide block 73 contact with first slide block 73;
In the present embodiment, described flexible piece 96 adopts flat rubber belting, cog belt, tendon rope or chain, and described the 4th drive 78 adopts belt wheel, gear, rope sheave or sprocket wheel.
In the present embodiment, described first slide block 73 touches mode with the loose joint of second slide block 74 and adopts first slide block 73 to contact with second slide block, 74 single faces, and when first slide block 73 moved in finger, first slide block 73 promoted the slippage in finger of second slide block 74.Run into object when the first finger section 4, when second slide block 74 moved in finger, second slide block 74 can not exert an influence to first slide block 73, has realized natural decoupling zero.
In the present embodiment, the described first spring spare 81 adopts extension spring; The second spring spare 82 adopts stage clip.
In the present embodiment, also comprise transmission mechanism; Described transmission mechanism comprises decelerator 91, second gear 92 and the 3rd gear 93; The output shaft of described motor 2 links to each other with the power shaft of decelerator 91, and described second gear 92 is fixed on the output shaft of decelerator 91, and described the 3rd gear 93 is fixed on the nearly joint shaft 3, described second gear 92 and 93 engagements of the 3rd gear.
In the present embodiment, described second slide block, 74 surface coverage have the second slider table panel 741.Slider table panel 741 surfaces can also be coated with suitable flexible industrial rubber material.Like this when grasping objects, will form soft finger face between finger surface and the object and contact, increased the degree of restraint of finger on the one hand to object, also can increase frictional force on the other hand, thereby increase the stability of grasping objects.
Described nearly joint shaft 3 and first refers to that section 4 adopts pin affixed, and joint shaft 5 far away and second refers to that section 6 adopts pin affixed.
In the present embodiment, be provided with bearing between described nearly joint shaft 3 and the pedestal 1, be provided with bearing between described nearly joint shaft 3 and the 4th drive 78.
But the embodiment of the double-slide block type parallel coupling under-driving robot finger device of a kind of changeable grasping force that the present invention also provides, its cutaway view is as shown in Figure 4.Present embodiment comprises that pedestal 1, nearly joint shaft 3, first refer to that section 4, joint shaft far away 5, second refer to section 6 and motor 2, and described motor 2 is arranged in the pedestal 1, and the output shaft of motor 2 links to each other with nearly joint shaft 3; Described nearly joint shaft 3 is set in the described pedestal 1, and described joint shaft 5 far away is set in first and refers in the section 4, and described second refers to that section 6 is fixed on the described joint shaft far away 5; This double-slide block type parallel coupling under-driving robot finger device also comprises the 4th drive 78, first slide block 73, second slide block 74, first gear 71, tooth bar 72, the first spring spare 81, the second spring spare 82, the 3rd spring spare 83 and flexible piece 96; Described first refers to that section 4 is socketed on the nearly joint shaft 3; The two ends of described the 3rd spring spare 83 connect first respectively and refer to section 4 and nearly joint shaft 3; Described the 4th drive 78 is set on the nearly joint shaft 3, and the 4th drive 78 is affixed with pedestal 1; Described flexible piece 96 1 ends and pedestal 1 are affixed, and the other end passes with first finger section 4 middle parts or top affixed from the first finger section, 4 bottoms; Described first slide block 73 is embedded in first and refers in first groove of section 4, and contacts with described flexible piece 96, and during grasping objects slide perpendicular to flexible piece 96 directions in the edge; Second slide block 74 is embedded in first and refers to that the described tooth bar 72 and second slide block 74 are affixed in second groove of section 4, and described first gear 71 is fixed on the joint shaft 5 far away, first gear 71 and tooth bar 72 engagements; Described first groove is parallel with second groove, and first slide block 73 and 74 loose joints of second slide block are touched; The described first spring spare 81 is arranged on first and refers in the section 4 and the two ends of the first spring spare 81 refer to that with first section 4 is connected with first slide block 73 respectively; The described second spring spare 82 is arranged on first and refers to that section 4 and second refers between the section 6 and the two ends of the second spring spare 82 refer to that with first section 4 and second refers to that section 6 is connected respectively, and the perhaps described second spring spare 82 is arranged on first and refers in the section 4 and the two ends of the second spring spare 82 are connected with second slide block 74 and first finger sections 4 respectively.
The function of described the 3rd spring spare 83 is that when the nearly joint shaft 3 of motor 2 drives rotated, the 3rd spring spare 83 that is socketed on the nearly joint shaft 3 produced deformation, can drive first and refer to section 4 rotations.
The embodiment of a kind of double-slide block type parallel coupling under-driving robot finger device that the present invention also provides, its cutaway view is as shown in Figure 3.First slide block 73 touches mode with the loose joint of second slide block 74 and adopts rope 97 to be connected, when first slide block 73 moves in finger, and first slide block 73 pullings, second slide block 74 slippage in finger.Run into object when the first finger section 4, when second slide block 74 moved in finger, 74 pairs first slide blocks 73 of second slide block can not exert an influence, and have realized natural decoupling zero.
Introduce the operation principle of the embodiment of double-slide block type parallel coupling under-driving robot finger device shown in Figure 1 below in conjunction with accompanying drawing.
Robot finger's original state is shown in figure 10; During motor 2 stalls; Its inner rotary inertia is bigger; Soft self-locking can take place, so flexible piece 96 can not move to finger interior under the effect of the first spring spare 81 (the first spring spare 81 adopt be extension spring), refers to that section 4 is in straight configuration (first projection 121 heads on first and refers to that section 4 makes finger be unlikely back-flexing) with respect to pedestal 1 this moment first; What the second spring spare 82 adopted is stage clip, and this stage clip forces second to refer to that section 6 and first refers to keep between the section 4 original state of stretching, and joint shaft 5 promptly far away does not rotate (second projection 421 heads on second and refers to section 6), whole finger maintenance this moment straight configuration.
The Grasp Modes of present embodiment has two kinds, and narration is as follows respectively:
(a) coupling extracting process
When robot finger's grasping objects 98; Motor 2 is just changeing; Driving second gear 92 through decelerator 91 rotates; Drive the 3rd gear 93 and rotate, nearly joint shaft 3 is just being changeed, drive first refers to that section 4 center lines around nearly joint shaft 3 just change (this positive veer is meant the object that the first finger section 4 is met to the needs extracting gradually).Because the 4th drive 78 is socketed on the nearly joint shaft 3 and is affixed with pedestal 1, refer to that first slide block 73 in the section 4 under the effect of extension spring, to the finger interior translational motion, presses to flexible piece 96 in the finger simultaneously so be embedded in first.Because second slide block 74 contacts with first slide block, 73 single faces; First slide block 73 can drive second slide block 74 and refer to 4 li slippages of section to first; Can make the gear 71 of winning oppositely stirred (tooth bar 72 is to the finger interior translational motion) by tooth bar 72; Driving joint shaft 5 far away is just changeing, and the second finger section 6 is just being changeed the object of meeting to the needs extracting, up to finger contact object.
Finger is when grasping objects; Flexible piece 96 is the twice of tooth bar 72 displacement in finger to the distance that moves in the finger; In the present embodiment between first chute 75 and second chute 76; Distance between second chute 76 and the 3rd chute 77 is very little, can ignore, and the ratio of the 4th drive 78 and first gear, 71 reference diameters is 2: 1 in the present embodiment; First refers to that section 4 refers to that with respect to the angle and second of pedestal 1 rotation section 6 refers to that with respect to first the angle of section 4 rotations is identical, promptly realizes 1: 1 coupled drive; Distance when between chute can not ignore, and in the time of realizing 1: 1 coupled drive, the beguine of the 4th drive 78 and first gear, 71 reference diameters border situation is factually done suitably adjustment.In sum, present embodiment has been realized the function that coupling is grasped under the motionless situation of object.Concrete motion process is like Figure 10,11,12, shown in 13.
The process of decontroling object is identical with the process of above-mentioned grasping objects, and motor 2 counter-rotatings will drive first and refer to that section 4 and second refers to section 6 backward rotation simultaneously, realize decontroling object, finally be returned to the initial straight configuration of finger.
(b) owe to drive the extracting process
Have two kinds to owe to drive the extracting process:
1) owe to drive the extracting process for first kind: other fingers and external force are directly pushed object, and object pushes the triggering of second slide block and owes to drive extracting, and final second refers to that section fastens object fast.Specifically, slidably second slide block contacts with object 98 on the first finger section 4, and second refers to that section 6 does not contact with object; Object is when promoting second slide block 74 under other finger or the external force effect in finger, the slippage in finger of second slide block 74 is because second slide block 74 contacts with first slide block, 73 single faces; So can not exert an influence to first slide block 73; Realized natural decoupling zero (employing rope connected mode embodiment illustrated in fig. 3 has realized natural decoupling zero, and principle is identical therewith, repeats no more).The slippage meeting of second slide block 74 drives tooth bar 72 and in finger, slides; Driving joint shaft 5 far away is just changeing; The second finger section 6 just being changeed up to the contact object realized extracting, and can adapt to the size shape of object automatically, is that a kind of self adaptation that need not machine operation owes to drive Grasp Modes.Concrete motion process is like Figure 14,15,16, shown in 17.
2) owe to drive the extracting process for second kind: object fixed (by palm or other fingers, external force constraint); Thereby present embodiment was rotated further and caused second slide block to refer to have triggered in the section owe to drive and grasp because of object blocks is pressed into first this moment, and final second refers to that section fastens object fast.Specifically; Slidably second slide block contacts with object 98 on the first finger section 4; Second refers to that section 6 does not contact with object, and this moment, second slide block was by object blocks because object is firmly fixed by palm or other finger constraints; This moment first, the finger section can also be rotated a very little angle δ; This rotation will produce one second and refer to that section refers to 1: 1 coupled rotation angle δ of section (reason see aforesaid coupling grasp process) with respect to first, and this moment because second slide block has referred to section to the finger interior one section less distance, delta d that slided with respect to first, therefore the distance of this variation will make tooth bar 72 slips; Refer to bigger angle θ of section rotation thereby drive first gear and second, because the contact point of the object and second shoe surface arrives the reference radius r of the distance h of nearly joint shaft center line greater than the 4th drive 78 1, can know that through following calculating θ can be greater than α, thereby realize that second refers to that the angle that section turns over is a bigger angle θ, no longer be the angle [alpha] of coupled rotation.Computational analysis is following: this moment first slide block first refer to can to move in the rotation process of smaller angle δ of section one less apart from d 1, d 1=1/2 δ r 1And second slide block first refer to can to move in the rotation process of smaller angle δ of section one bigger apart from d 2, d 2=δ h is because h is greater than r 1, so d 2Greater than d 1This moment, the disengagement of second slide block and first slide block realized natural decoupling zero, and one of the second slide block translation is apart from d 2, cause second to refer to the quick button of section to object, this process refers to that up to second section tightly fastens object, thereby has realized owing to drive the extracting process.This owes to drive to grasp and has realized that the extracting of the big wisp of difformity is had adaptivity, has alleviated the requirement to the control system.Owe to drive the extracting process like Figure 18,19,20, shown in 21 for second kind.
Comprehensively (a) and (b) coupling can know that present embodiment has been realized the Grasp Modes that a kind of special back of coupling earlier self adaptation owes to drive with the self-adapting grasping process, the decoupling zero mode is natural, need not the loss power of motor.
Apparatus of the present invention are utilized flexible piece, gear, tooth bar and spring spare comprehensively to realize coupled rotation and are owed to drive the transmission effect that rotation is combined closely; The ground grasping objects not only can coupled rotation more personalizes; And possess and owe to drive function, the object of self-adapting grasping difformity, size; This apparatus structure concision and compact is installed easily, and it is low to make processing cost; This device coupled transmission mechanism with owe drive transmission device and organically blend, do not influence each other, the multiple mode of utilizing the slide block loose joint to touch has realized natural decoupling zero, this decoupling zero does not consume power of motor, capacity usage ratio is high; Profile is similar with people's hand finger; Can be used as a finger of anthropomorphic robot's hand or a part of pointing; Also can be combined into robot, in order to reach the excellent results of the high joint freedom degrees of anthropomorphic robot's hand, high adaptivity with a plurality of such double rack slide block type parallel coupled under-actuated fingers.

Claims (6)

1. double-slide block type parallel coupling under-driving robot finger device; Comprise that pedestal (1), nearly joint shaft (3), first refer to that section (4), joint shaft (5) far away, second refer to section (6) and motor (2); Described motor (2) is arranged in the pedestal (1), and the output shaft of motor (2) links to each other with nearly joint shaft (3); Described nearly joint shaft (3) is set in the described pedestal (1), and described joint shaft far away (5) is set in first and refers in the section (4), and described second refers to that section (6) is fixed on the described joint shaft far away (5); It is characterized in that: this double-slide block type parallel coupling under-driving robot finger device also comprises the 4th drive (78), first slide block (73), second slide block (74), first gear (71), tooth bar (72), the first spring spare (81), the second spring spare (82) and flexible piece (96); Described first refers to that section (4) is fixed on the nearly joint shaft (3); Described the 4th drive (78) is set on the nearly joint shaft (3), and the 4th drive (78) is affixed with pedestal (1); Described flexible piece (96) one ends and pedestal (1) are affixed, walk around the 4th transmission wheel (78) then and pass from first finger section (a 4) bottom, and the other end and first refers to that the middle part or the top of section (4) are affixed; Described first slide block (73) is embedded in first and refers in first groove of section (4), and contacts with described flexible piece (96), and during grasping objects slide perpendicular to flexible piece (96) direction in the edge; Described first slide block (73) is provided with second chute (76) or the through hole parallel with flexible piece (96), and through hole or groove that described flexible piece (96) passes on first slide block (73) contact with first slide block (73); Second slide block (74) is embedded in first and refers to that in second groove of section (4), described tooth bar (72) is affixed with second slide block (74), and described first gear (71) is fixed on the joint shaft far away (5), first gear (71) and tooth bar (72) engagement; Described first groove is parallel with second groove, and first slide block (73) touches with second slide block (74) loose joint; The described first spring spare (81) is arranged in the first finger section (4) and the two ends of the first spring spare (81) refer to that with first section (4) is connected with first slide block (73) respectively, and the described first spring spare (81) adopts extension spring; The described second spring spare (82) is arranged in the first finger section (4) and the two ends of the second spring spare (82) refer to that with second slide block (74) and first section (4) is connected respectively, and the described second spring spare (82) adopts stage clip; Described first slide block (73) touches mode with the loose joint of second slide block (74) and adopts first slide block (73) to contact with second slide block (74) single face, and first slide block (73) promotes second slide block (74) slippage in finger; Or first slide block (73) touch mode with the loose joint of second slide block (74) and adopt rope (97) to be connected, described first slide block (73) pulling second slide block (74) slippage in finger; Run into object when the first finger section (4), when second slide block (74) moved in finger, second slide block (74) can not exert an influence to first slide block (73), has realized natural decoupling zero.
2. double-slide block type parallel coupling under-driving robot finger device; Comprise that pedestal (1), nearly joint shaft (3), first refer to that section (4), joint shaft (5) far away, second refer to section (6) and motor (2); Described motor (2) is arranged in the pedestal (1), and the output shaft of motor (2) links to each other with nearly joint shaft (3); Described nearly joint shaft (3) is set in the described pedestal (1), and described joint shaft far away (5) is set in first and refers in the section (4), and described second refers to that section (6) is fixed on the described joint shaft far away (5); It is characterized in that: this double-slide block type parallel coupling under-driving robot finger device also comprises the 4th drive (78), first slide block (73), second slide block (74), first gear (71), tooth bar (72), the first spring spare (81), the second spring spare (82), the 3rd spring spare (83) and flexible piece (96); Described first refers to that section (4) is socketed on the nearly joint shaft (3); The two ends of described the 3rd spring spare (83) connect first respectively and refer to section (4) and nearly joint shaft (3); Described the 4th drive (78) is set on the nearly joint shaft (3), and the 4th drive (78) is affixed with pedestal (1); Described flexible piece (96) one ends and pedestal (1) are affixed, walk around the 4th drive (78) then and pass from first finger section (a 4) bottom, and the other end and first refers to that the middle part or the top of section (4) are affixed; Described first slide block (73) is provided with second chute (76) or the through hole parallel with flexible piece (96), and through hole or groove that described flexible piece (96) passes on first slide block (73) contact with first slide block (73); Described first slide block (73) is embedded in first and refers in first groove of section (4), and contacts with described flexible piece (96), and during grasping objects slide perpendicular to flexible piece (96) direction in the edge; Second slide block (74) is embedded in first and refers to that in second groove of section (4), described tooth bar (72) is affixed with second slide block (74), and described first gear (71) is fixed on the joint shaft far away (5), first gear (71) and tooth bar (72) engagement; Described first groove is parallel with second groove, and first slide block (73) touches with second slide block (74) loose joint; The described first spring spare (81) is arranged in the first finger section (4) and the two ends of the first spring spare (81) refer to that with first section (4) is connected with first slide block (73) respectively, and the described first spring spare (81) adopts extension spring; The described second spring spare (82) is arranged in the first finger section (4) and the two ends of the second spring spare (82) refer to that with second slide block (74) and first section (4) is connected respectively, and the described second spring spare (82) adopts stage clip; Described first slide block (73) touches mode with the loose joint of second slide block (74) and adopts first slide block (73) to contact with second slide block (74) single face, and first slide block (73) promotes second slide block (74) slippage in finger; Or first slide block (73) touch mode with the loose joint of second slide block (74) and adopt rope (97) to be connected, described first slide block (73) pulling second slide block (74) slippage in finger; Run into object when the first finger section (4), when second slide block (74) moved in finger, second slide block (74) can not exert an influence to first slide block (73), has realized natural decoupling zero.
3. according to claim 1 or claim 2 double-slide block type parallel coupling under-driving robot finger device; It is characterized in that: described flexible piece (96) adopts flat rubber belting, cog belt, tendon rope or chain, and described the 4th drive (78) adopts belt wheel, gear, rope sheave or sprocket wheel.
4. according to claim 1 or claim 2 double-slide block type parallel coupling under-driving robot finger device is characterized in that: also comprise transmission mechanism; Described transmission mechanism comprises decelerator (91), second gear (92) and the 3rd gear (93); The output shaft of described motor (2) links to each other with the power shaft of decelerator (91); Described second gear (92) is fixed on the output shaft of decelerator (91); Described the 3rd gear (93) is fixed on the nearly joint shaft (3), described second gear (92) and the 3rd gear (93) engagement.
5. according to claim 1 or claim 2 double-slide block type parallel coupling under-driving robot finger device, it is characterized in that: described second slide block (74) surface coverage has the second slider table panel (741).
6. according to claim 1 or claim 2 double-slide block type parallel coupling under-driving robot finger device; It is characterized in that: be provided with bearing between described nearly joint shaft (3) and the pedestal (1), be provided with bearing between described nearly joint shaft (3) and the 4th drive (78).
CN2010101249530A 2010-03-12 2010-03-12 Double-slider-type parallel coupling under-actuated robot finger device Expired - Fee Related CN101941204B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010101249530A CN101941204B (en) 2010-03-12 2010-03-12 Double-slider-type parallel coupling under-actuated robot finger device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010101249530A CN101941204B (en) 2010-03-12 2010-03-12 Double-slider-type parallel coupling under-actuated robot finger device

Publications (2)

Publication Number Publication Date
CN101941204A CN101941204A (en) 2011-01-12
CN101941204B true CN101941204B (en) 2012-05-30

Family

ID=43433503

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010101249530A Expired - Fee Related CN101941204B (en) 2010-03-12 2010-03-12 Double-slider-type parallel coupling under-actuated robot finger device

Country Status (1)

Country Link
CN (1) CN101941204B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102729256B (en) * 2012-06-28 2014-07-23 浙江理工大学 End effector device of under-actuated picking manipulator
CN106109066B (en) * 2015-11-18 2018-01-16 杭州若比邻机器人科技有限公司 The mounting structure of artificial limb thumb
CN111645096A (en) * 2020-06-13 2020-09-11 南通大学 Slider promotes type robot finger structure

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2002368239A1 (en) * 2002-09-02 2004-04-08 Gilles Lopez Automatic anthropomorphous gripper
CN1215926C (en) * 2002-11-29 2005-08-24 清华大学 Under driving mechanical finger device capable of shape self adaptation
CN1231332C (en) * 2002-11-29 2005-12-14 清华大学 Robot anthropomorphic multi finger band device
JP4246052B2 (en) * 2003-12-15 2009-04-02 Thk株式会社 Robot joint structure
CN100450731C (en) * 2007-04-06 2009-01-14 清华大学 Tendon-channel under-driven mechanical finger device

Also Published As

Publication number Publication date
CN101941204A (en) 2011-01-12

Similar Documents

Publication Publication Date Title
CN101941205B (en) Flexible part and slider type parallel coupled under-actuation robot finger device
CN101486191B (en) Displacement under-actuated robot hand apparatus
CN101829994B (en) Flexible part crank block type parallel coupling underactuated robot finger device
CN102922532B (en) Connecting rod type synergy drive robot finger
CN101829992A (en) Three-rack slider coupling adaptive underactuated robot finger device
CN101508115B (en) Variable sequence under-actuated two-articulated robot finger device
CN100450731C (en) Tendon-channel under-driven mechanical finger device
CN101797753A (en) Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
CN102161204B (en) Double joint and equidirectional drive hybrid under-actuated robot finger device
CN101444918B (en) Under-actuated bionic finger device with function of pre-bending grasping
CN101829995B (en) Crank block type flexible piece parallel coupled under-actuated finger device
CN204610543U (en) Gear communicate-type double hinge 360 linkage structure
CN101518903B (en) Crank block type under-actuated robot finger device
CN101829993B (en) Rack crank slide block type parallel coupling under-driving robot finger device
CN101422906A (en) Displacement under-actuated two-articulated robot finger device based on flexible piece
CN101941204B (en) Double-slider-type parallel coupling under-actuated robot finger device
CN102284957A (en) Differential bevel gear rack type combination underactuated robot finger device
CN101653941A (en) Sliding block type direct under-actuated bionic hand device with changeable holding power
CN102310411A (en) Three-axis gear and rack composite underactuated dual-joint robot finger device
CN101941206B (en) Flexible part and rack type parallel finger device integrating coupling and under-actuation
CN101444917A (en) Mechanical finger device with functions of bionic displacement and self-adapting grasping
CN102814819A (en) Finger device of bevel gear motor inverted type composite under-actuated robot
CN101941207B (en) Double-rack slider type parallel finger device integrating coupling and under-actuation
CN102039598B (en) Dual-connecting rod slider type coupling adaptive under-actuated robot finger device
CN102233583A (en) Rack connecting rod type two-degree-of-freedom thumb root joint device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
ASS Succession or assignment of patent right

Owner name: WUXI APPLICATION TECHNOLOGY RESEARCH INSTITUTE OF

Free format text: FORMER OWNER: TSINGHUA UNIVERSITY

Effective date: 20131209

Owner name: TSINGHUA UNIVERSITY

Effective date: 20131209

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 100084 HAIDIAN, BEIJING TO: 214072 WUXI, JIANGSU PROVINCE

TR01 Transfer of patent right

Effective date of registration: 20131209

Address after: 214072 Jiangsu Province Road DiCui Binhu District of Wuxi City No. 100, No. 1 building, 530 floor 12

Patentee after: WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY

Patentee after: Tsinghua University

Address before: 100084 Beijing box office,,, Tsinghua University

Patentee before: Tsinghua University

DD01 Delivery of document by public notice

Addressee: WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY

Document name: Notification to Pay the Fees

DD01 Delivery of document by public notice

Addressee: WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY

Document name: Notification of Termination of Patent Right

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120530

Termination date: 20150312

EXPY Termination of patent right or utility model