CN101941205B - Flexible part and slider type parallel coupled under-actuation robot finger device - Google Patents

Flexible part and slider type parallel coupled under-actuation robot finger device Download PDF

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Publication number
CN101941205B
CN101941205B CN 201010124965 CN201010124965A CN101941205B CN 101941205 B CN101941205 B CN 101941205B CN 201010124965 CN201010124965 CN 201010124965 CN 201010124965 A CN201010124965 A CN 201010124965A CN 101941205 B CN101941205 B CN 101941205B
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China
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slide block
section
flexible piece
refers
finger
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CN101941205A (en
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张文增
孙杰
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Tsinghua University
Wuxi Research Institute of Applied Technologies of Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A flexible part and slider type parallel robot finger device integrating coupling and under-actuation belongs to the technical field of humanoid robot hands. The device comprises a base, a near joint bearing, a first finger segment, a far joint bearing, a second finger segment, a motor, two flexible parts and spring parts. The device realizes the transmission effect of close integration of coupling transmission and under-actuated transmission, can couple humanoid grabbing and has the function of under-actuated adaptation. The whole finger has concise structure and low manufacturing cost. Coupling transmission and under-actuated transmission are organically integrated. Natural decoupling is realized by flexible contact of the slider, which does not consume motor power and is high in energy utilization rate. The device has appearance similar to that of the human finger, can be used as one finger or a part of the fingers of the robot hand and can combine a plurality of fingers to form the robot hand to achieve the excellent effects of high degree of freedom of joints and high adaptability of the humanoid robot hand.

Description

Flexible piece 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 flexible piece 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 101633171A; 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 in order to overcome the weak point of prior art, a kind of flexible piece slide block type parallel coupling under-driving robot finger device is provided, 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 flexible piece slide block type parallel coupling under-driving robot finger device of the present invention; Comprise that pedestal, nearly joint shaft, first refer to that section, joint shaft far away, second refer to section and motor; 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 flexible piece slide block type parallel coupling under-driving robot finger device also comprises first drive, second drive, first slide block, second slide block, the first spring spare, the second spring spare, first flexible piece and second flexible piece; Described first refers to that section is fixed on the nearly joint shaft; Described first driving wheel tube is located on the nearly joint shaft, and first drive and pedestal are affixed; Described second drive is fixed on the joint shaft far away, and second drive and second refers to that section is affixed; Described second flexible piece, one end and second refers to the terminal affixed of section, and the second flexible piece other end passes with the middle part or the bottom of the first finger section affixed from the first finger section top, and second flexible piece and second slide block contact; Described first flexible piece, one end and pedestal are affixed, and it is affixed that the first flexible piece other end refers to that from first pars infrasegmentalis passes with the middle part or the top of the first finger section, and first flexible piece and first slide block contact; Described first slide block is embedded in first and refers in first groove of section, and contacts with described first flexible piece, and during grasping objects slide perpendicular to the first flexible piece direction in the edge; Second slide block is embedded in first and refers in second groove of section, and contacts with described second flexible piece, and during grasping objects slide perpendicular to the second flexible piece direction in the edge; Described first groove is parallel with second groove, and first slide block and the second slide block loose joint are touched; On described first slide block, be provided with first chute or the through hole parallel with first flexible piece, through hole or groove that described first flexible piece passes on first slide block contact with first slide block; On described second slide block, be provided with second chute or the through hole parallel with second flexible piece, through hole or groove that described second flexible piece passes on second slide block contact with second slide block; The described first spring spare is arranged on first and refers in the section, and an end of the first spring spare and first refers to that section links to each other, and the other end links to each other with first slide block; The described second spring spare is arranged on first and refers in the section and the two ends of the second spring spare refer to that with first section and second refers to section link to each other 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 flexible piece slide block type parallel coupling under-driving robot finger device of the present invention; Comprise that pedestal, nearly joint shaft, first refer to that section, joint shaft far away, second refer to section and motor; 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 flexible piece slide block type parallel coupling under-driving robot finger device also comprises first drive, second drive, first slide block, second slide block, the first spring spare, the first spring spare, the 3rd spring spare, first flexible piece and second 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 first driving wheel tube is located on the nearly joint shaft, and first drive and pedestal are affixed; Described second drive is fixed on the joint shaft far away, and second drive and second refers to that section is affixed; Described second flexible piece, one end and second refers to the terminal affixed of section, and the second flexible piece other end passes with the middle part or the bottom of the first finger section affixed from the first finger section top, and second flexible piece and second slide block contact; Described first flexible piece, one end and pedestal are affixed, and it is affixed that the first flexible piece other end refers to that from first pars infrasegmentalis passes with the middle part or the top of the first finger section, and first flexible piece and first slide block contact; Described first slide block is embedded in first and refers in first groove of section, and contacts with described first flexible piece, and during grasping objects slide perpendicular to the first flexible piece direction in the edge; Second slide block is embedded in first and refers in second groove of section, and contacts with described second flexible piece, and during grasping objects slide perpendicular to the second flexible piece direction in the edge; Described first groove is parallel with second groove, and first slide block and the second slide block loose joint are touched; On described first slide block, be provided with first chute or the through hole parallel with first flexible piece, through hole or groove that described first flexible piece passes on first slide block contact with first slide block; On described second slide block, be provided with second chute or the through hole parallel with second flexible piece, through hole or groove that described second flexible piece passes on second slide block contact with second slide block; The described first spring spare is arranged on first and refers in the section, and an end of the first spring spare and first refers to that section links to each other, and the other end links to each other with first slide block; The described second spring spare is arranged on first and refers in the section and the two ends of the second spring spare refer to that with first section and second refers to section link to each other 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.
Flexible piece slide block type parallel coupling under-driving robot finger device of the present invention; Described first flexible piece and second flexible piece adopt flat rubber belting, cog belt, tendon rope or chain; First flexible piece and first drive form drive connection, and second flexible piece and second drive form drive connection.
Flexible piece slide block type parallel coupling under-driving robot finger device of the present invention, the described first spring spare adopts the extension spring elastic threads, and the described second spring spare adopts torsion spring.
Flexible piece slide block type parallel coupling under-driving robot finger device of the present invention also comprises transmission mechanism, and described transmission mechanism comprises decelerator, first gear and second gear; The output shaft of described motor links to each other with input shaft of speed reducer, and described first gear is fixed on the output shaft of decelerator, and described second gear is fixed on the nearly joint shaft, described first gear and second gears engaged.
Flexible piece 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.
Flexible piece 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 the described nearly joint shaft and first drive.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention are utilized double-flexibility spare, double-slider 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 flexible piece slide block type parallel coupling under-driving robot finger device provided by the invention.
Fig. 2 is a positive view (also being the cut away left side view of Fig. 1) embodiment illustrated in fig. 1.
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 outward appearance embodiment illustrated in fig. 1.
Fig. 6 is the front view of outward appearance embodiment illustrated in fig. 1.
Fig. 7 is the stereogram of outward appearance embodiment illustrated in fig. 1.
Fig. 8 is the stereogram of part embodiment illustrated in fig. 1.
Fig. 9 is the front view of part embodiment illustrated in fig. 1.
Figure 10 is a three-dimensional explosive view embodiment illustrated in fig. 1.
Figure 11,12,13, the 14th, the middle side schematic appearance that realizes coupling extracting process embodiment illustrated in fig. 1.
Figure 15,16,17, the 18th, middle coupling extracting and the under-driven adaptive realized embodiment illustrated in fig. 1 grasps the side schematic appearance of process.
Figure 19,20,21, the 22nd, 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 22:
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 drive, and 72-the 3rd chute,
73-first slide block, 74-first chute, 751-slider table panel,
75-second slide block, 76-second chute, 77-the 4th chute,
78-second drive, the 81-first spring spare, the 82-second spring spare,
83-the 3rd spring spare, the 91-decelerator, 92-first gear,
93-second gear, the 94-sleeve, the 95-pin,
96-first flexible piece, 97-second flexible piece, the 98-rope,
The 99-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 flexible piece 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 like Fig. 8, shown in 9; Three-dimensional explosive view is shown in figure 10, and operating principle is like Figure 11,12,13,14,15,16,17,18,19,20,21, shown in 22.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 flexible piece slide block type parallel coupling under-driving robot finger device also comprises first drive 71, second drive 78, first slide block 73, second slide block 75, the first spring spare 81, the second spring spare 82, first flexible piece 96 and second flexible piece 97; Described first refers to that section 4 is fixed on the nearly joint shaft 3; Described first drive 71 is set on the nearly joint shaft 3, and first drive 71 is affixed with pedestal 1; Described second drive 78 is fixed on the joint shaft 5 far away, and second drive 78 and second refers to that section 6 is affixed; Described second flexible piece, 97 1 ends and second refer to the terminal affixed of section 6, and second flexible piece, 97 other ends pass with the middle part or the bottom of the first finger section 4 affixed from the first finger section, 4 tops, and second flexible piece 97 and second slide block 75 contact; Described first flexible piece, 96 1 ends and pedestal 1 are affixed, and first flexible piece, 96 other ends pass with the middle part or the top of the first finger section 4 affixed from the first finger section, 4 bottoms, and first flexible piece 96 and first slide block 73 contact; Described first slide block 73 is embedded in first and refers in first groove of section 4, and contacts with described first flexible piece 96, and during grasping objects slide perpendicular to first flexible piece, 96 directions in the edge; Second slide block 75 is embedded in first and refers in second groove of section 4, and contacts with described second flexible piece 97, and during grasping objects slide perpendicular to second flexible piece, 97 directions in the edge; Described first groove is parallel with second groove, and first slide block 73 and 75 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 an end of the first spring spare 81 and first refers to that section 4 links to each other, and the other end links to each other with first slide block 73; The 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 refer to that with first section 4 and second refers to that sections 6 link to each other respectively.
In the present embodiment, on described first slide block 73, be provided with first chute 74 or the through hole parallel with first flexible piece 96, through hole or groove that described first flexible piece 96 passes on first slide block 73 contact with first slide block 73; On described second slide block 75, be provided with second chute 76 or the through hole parallel with second flexible piece 97, through hole or groove that described second flexible piece 97 passes on second slide block 75 contact with second slide block 75.
In the present embodiment; Described first flexible piece 96 and second flexible piece 97 adopt flat rubber belting, cog belt, tendon rope or chain; Described first drive 71 adopts belt wheel, gear, rope sheave or sprocket wheel; Described second drive 78 adopts belt wheel, gear, rope sheave or sprocket wheel, and second flexible piece 97 and second drive 78 form drive connection.
In the present embodiment, described first slide block 73 touches mode with the loose joint of second slide block 75 and adopts first slide block 73 to contact with second slide block, 75 single faces, and when first slide block 73 moved in finger, first slide block 73 promoted the slippage in finger of second slide block 75.Run into object when the first finger section 4, when second slide block 75 moved in finger, second slide block 75 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, also can adopt elastic threads, and the two ends of the described first spring spare 81 connect first slide block 73 and first respectively and refer to section 4, and the described second spring spare 82 adopts torsion spring.
In the present embodiment, also comprise transmission mechanism; Described transmission mechanism comprises decelerator 91, first gear 92 and second gear 93; The output shaft of described motor 2 links to each other with the power shaft of decelerator 91, and described first gear 92 is fixed on the output shaft of decelerator 91, and described second gear 93 is fixed on the nearly joint shaft 3, described first gear 92 and 93 engagements of second gear.
In the present embodiment, described second slide block, 75 surface coverage have the second slider table panel 751.Slider table panel 751 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 the described nearly joint shaft 3 and first drive 71.
But the embodiment of the flexible piece 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 flexible piece slide block type parallel coupling under-driving robot finger device also comprises first drive 71, second drive 78, first slide block 73, second slide block 75, the first spring spare 81, the first spring spare 82, the 3rd spring spare 83, first flexible piece 96 and second flexible piece 97; 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 first drive 71 is set on the nearly joint shaft 3, and first drive 71 is affixed with pedestal 1; Described second drive 78 is fixed on the joint shaft 5 far away, and second drive 78 and second refers to that section 6 is affixed; Described second flexible piece, 97 1 ends and second refer to the terminal affixed of section 6, and second flexible piece, 97 other ends pass with the middle part or the bottom of the first finger section 4 affixed from the first finger section, 4 tops, and second flexible piece 97 and second slide block 75 contact; Described first flexible piece, 96 1 ends and pedestal 1 are affixed, and first flexible piece, 96 other ends pass with the middle part or the top of the first finger section 4 affixed from the first finger section, 4 bottoms, and first flexible piece 96 and first slide block 73 contact; Described first slide block 73 is embedded in first and refers in first groove of section 4, and contacts with described first flexible piece 96, and during grasping objects slide perpendicular to first flexible piece, 96 directions in the edge; Second slide block 75 is embedded in first and refers in second groove of section 4, and contacts with described second flexible piece 97, and during grasping objects slide perpendicular to second flexible piece, 97 directions in the edge; Described first groove is parallel with second groove, and first slide block 73 and 75 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 an end of the first spring spare 81 and first refers to that section 4 links to each other, and the other end links to each other with first slide block 73; The 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 refer to that with first section 4 and second refers to that sections 6 link to each other 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 flexible piece 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 75 and adopts rope 98 to be connected, when first slide block 73 moves in finger, and first slide block 73 pullings, second slide block 75 slippage in finger.Run into object when the first finger section 4, when second slide block 75 moved in finger, 75 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 flexible piece 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 first 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 torsion spring, and this torsion spring 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 99; Motor 2 is just changeing; Driving first gear 92 through decelerator 91 rotates; Drive second 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 first drive 71 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 first flexible piece 96 in the finger simultaneously so be embedded in first.Because second slide block 75 contacts with first slide block, 73 single faces; First slide block 73 can drive second slide block 75 and refer to 4 li slippages of section to first; Second slide block 75 is pressed to second flexible piece 97 in the finger; 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.
First drive 71 of present embodiment refers to that with second second drive, 78 reference diameters of section 6 equate with affixed; So 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, has promptly realized 1: 1 coupled drive.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 11,12,13, shown in 14.
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 99 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 75 under other finger or the external force effect in finger, the slippage in finger of second slide block 75 is because second slide block 75 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 75 is pressed to second flexible piece 97 in the finger; 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 15,16,17, shown in 18.
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 99 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 second flexible piece 97 be pressed towards finger interior; Refer to bigger angle θ of section rotation thereby drive 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 first drive 1, can know that through following calculating θ can be greater than a, 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 19,20,21, shown in 22 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 double-flexibility spare, double-slider 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 (7)

1. flexible piece 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 flexible piece slide block type parallel coupling under-driving robot finger device also comprises first drive (71), second drive (78), first slide block (73), second slide block (75), the first spring spare (81), the second spring spare (82), first flexible piece (96) and second flexible piece (97); Described first refers to that section (4) is fixed on the nearly joint shaft (3); Described first drive (71) is set on the nearly joint shaft (3), and first drive (71) is affixed with pedestal (1); Described second drive (78) is fixed on the joint shaft far away (5), and second drive (78) and second refers to that section (6) is affixed; Described second flexible piece (97) one ends and second refer to the terminal affixed of section (6); Walking around the second transmission wheel (78) then passes from first finger section (4) top; The other end and first refers to that the middle part or the bottom of section (4) are affixed; Second flexible piece (97) and second slide block (75) contact, and second flexible piece (97) and second drive (78) form drive connection; Described first flexible piece (96) one ends and pedestal (1) are affixed, walk around first drive (71) 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, and first flexible piece (96) and first slide block (73) contact; Described first slide block (73) is embedded in first and refers in first groove of section (4), and contacts with described first flexible piece (96), and during grasping objects slide perpendicular to first flexible piece (96) direction in the edge; Second slide block (75) is embedded in first and refers in second groove of section (4), and contacts with described second flexible piece (97), and during grasping objects slide perpendicular to second flexible piece (97) direction in the edge; Described first groove is parallel with second groove, and first slide block (73) touches with second slide block (75) loose joint; On described first slide block (73), be provided with first chute (74) or the through hole parallel with first flexible piece (96), through hole or groove that described first flexible piece (96) passes on first slide block (73) contact with first slide block (73); On described second slide block (75), be provided with second chute (76) or the through hole parallel with second flexible piece (97), through hole or groove that described second flexible piece (97) passes on second slide block (75) contact with second slide block (75); The described first spring spare (81) is arranged on first and refers in the section (4), and an end of the first spring spare (81) and first refers to that section (4) links to each other, and the other end links to each other with first slide block (73); 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 first section (4) and second refers to that section (6) link to each other respectively; Described first slide block (73) touches mode with the loose joint of second slide block (75) and adopts first slide block (73) to contact with second slide block (75) single face, and first slide block (73) promotes second slide block (75) slippage in finger; Or first slide block (73) touch mode with the loose joint of second slide block (75) and adopt rope (97) to be connected, described first slide block (73) pulling second slide block (75) slippage in finger; Run into object when the first finger section (4), when second slide block (75) moved in finger, second slide block (75) can not exert an influence to first slide block (73), has realized natural decoupling zero.
2. flexible piece 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 flexible piece slide block type parallel coupling under-driving robot finger device also comprises first drive (71), second drive (78), first slide block (73), second slide block (75), the first spring spare (81), the first spring spare (82), the 3rd spring spare (83), first flexible piece (96) and second flexible piece (97); 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 first drive (71) is set on the nearly joint shaft (3), and first drive (71) is affixed with pedestal (1); Described second drive (78) is fixed on the joint shaft far away (5), and second drive (78) and second refers to that section (6) is affixed; Described second flexible piece (97) one ends and second refer to the terminal affixed of section (6); Walking around second drive (78) then passes from first finger section (4) top; The other end and first refers to that the middle part or the bottom of section (4) are affixed; Second flexible piece (97) and second slide block (75) contact, and second flexible piece (97) and second drive (78) form drive connection; Described first flexible piece (96) one ends and pedestal (1) are affixed, walk around first drive (71) 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, and first flexible piece (96) and first slide block (73) contact; Described first slide block (73) is embedded in first and refers in first groove of section (4), and contacts with described first flexible piece (96), and during grasping objects slide perpendicular to first flexible piece (96) direction in the edge; Second slide block (75) is embedded in first and refers in second groove of section (4), and contacts with described second flexible piece (97), and during grasping objects slide perpendicular to second flexible piece (97) direction in the edge; Described first groove is parallel with second groove, and first slide block (73) touches with second slide block (75) loose joint; On described first slide block (73), be provided with first chute (74) or the through hole parallel with first flexible piece (96), through hole or groove that described first flexible piece (96) passes on first slide block (73) contact with first slide block (73); On described second slide block (75), be provided with second chute (76) or the through hole parallel with second flexible piece (97), through hole or groove that described second flexible piece (97) passes on second slide block (75) contact with second slide block (75); The described first spring spare (81) is arranged on first and refers in the section (4), and an end of the first spring spare (81) and first refers to that section (4) links to each other, and the other end links to each other with first slide block (73); 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 first section (4) and second refers to that section (6) link to each other respectively; Described first slide block (73) touches mode with the loose joint of second slide block (75) and adopts first slide block (73) to contact with second slide block (75) single face, and first slide block (73) promotes second slide block (75) slippage in finger; Or first slide block (73) touch mode with the loose joint of second slide block (75) and adopt rope (97) to be connected, described first slide block (73) pulling second slide block (75) slippage in finger; Run into object when the first finger section (4), when second slide block (75) moved in finger, second slide block (75) can not exert an influence to first slide block (73), has realized natural decoupling zero.
3. according to claim 1 or claim 2 flexible piece slide block type parallel coupling under-driving robot finger device; It is characterized in that: described first flexible piece (96) and second flexible piece (97) adopt flat rubber belting, cog belt, tendon rope or chain, and described first drive (71) adopts belt wheel, gear, rope sheave or sprocket wheel.
4. according to claim 1 or claim 2 flexible piece slide block type parallel coupling under-driving robot finger device, it is characterized in that: the described first spring spare (81) adopts extension spring or elastic threads, and the described second spring spare (82) adopts torsion spring.
5. according to claim 1 or claim 2 flexible piece slide block type parallel coupling under-driving robot finger device, it is characterized in that: also comprise transmission mechanism, described transmission mechanism comprises decelerator (91), first gear (92) and second gear (93); The output shaft of described motor (2) links to each other with the power shaft of decelerator (91); Described first gear (92) is fixed on the output shaft of decelerator (91); Described second gear (93) is fixed on the nearly joint shaft (3), described first gear (92) and second gear (93) engagement.
6. according to claim 1 or claim 2 flexible piece slide block type parallel coupling under-driving robot finger device, it is characterized in that: described second slide block (75) surface coverage has the second slider table panel (751).
7. according to claim 1 or claim 2 flexible piece 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 first drive (71).
CN 201010124965 2010-03-12 2010-03-12 Flexible part and slider type parallel coupled under-actuation robot finger device Expired - Fee Related CN101941205B (en)

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CN105583846A (en) * 2016-03-17 2016-05-18 清华大学 Racing fluid type indirect-linkage self-adaptive robot finger device
CN105583847A (en) * 2016-03-17 2016-05-18 清华大学 Racing fluid type direct linkage self-adaptive robot finger device
CN105583838A (en) * 2016-03-17 2016-05-18 清华大学 Fluid type contact grabbing linkage self-adaptive robot finger device
CN105773608B (en) * 2016-03-17 2018-01-12 清华大学 The flat folder adaptive robot finger apparatus of gear fluids
CN105643646B (en) * 2016-03-17 2018-06-29 清华大学 Flexible piece fluid puts down folder adaptive robot finger apparatus
CN111015646A (en) * 2019-12-25 2020-04-17 中国科学院沈阳自动化研究所 Rope-driven under-actuated self-adaptive flexible manipulator
CN113618761A (en) * 2021-08-10 2021-11-09 程少如 Flexible part transmission displacement self-adaptive robot finger device

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AU2002368239A1 (en) * 2002-09-02 2004-04-08 Gilles Lopez Automatic anthropomorphous gripper
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

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