CN102205542B - Multipath flexible piece two-joint compound robot finger device - Google Patents

Multipath flexible piece two-joint compound robot finger device Download PDF

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Publication number
CN102205542B
CN102205542B CN 201110140362 CN201110140362A CN102205542B CN 102205542 B CN102205542 B CN 102205542B CN 201110140362 CN201110140362 CN 201110140362 CN 201110140362 A CN201110140362 A CN 201110140362A CN 102205542 B CN102205542 B CN 102205542B
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CN
China
Prior art keywords
drive
driving
finger
transmission
pedestal
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CN 201110140362
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Chinese (zh)
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CN102205542A (en
Inventor
孙杰
张文增
彭智轩
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WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY
Tsinghua University
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Tsinghua University
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Priority to CN 201110140362 priority Critical patent/CN102205542B/en
Publication of CN102205542A publication Critical patent/CN102205542A/en
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Publication of CN102205542B publication Critical patent/CN102205542B/en
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Classifications

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

Abstract

The invention discloses a multipath flexible piece two-joint compound robot finger device and belongs to the technical field of human simulating manipulators. The multipath flexible piece two-joint compound robot finger device comprises a base, a motor, a speed reducer, a base shaft, a near joint shaft, a middle finger section, a remote joint shaft, a tail end finger section, a multipath transmission mechanism and a spring piece. In the device, by the single motor, the multi-shaft and multipath transmission mechanism with a different transmission ratio, the spring piece and the like, a compound underactuated catching effect is comprehensively achieved; the finger rotatably moves to an object in a coupled way and adaptively catches the object; the catching process stimulates the operation of a human, the action is flexible, and the object is caught stably; furthermore, the robot finger device can automatically and adaptively catch objects with different sizes and shapes, has low requirement on a control system, a simple and compact structure, high transmission efficiency, low cost, and an appearance similar to that of a human finger, and is easy to operate, and convenient to assemble and maintain, and is low in energy loss, and applicable to the human- manipulator at the same time.

Description

The compound robot finger apparatus in multichannel flexible piece two joints
Technical field
The invention belongs to the human simulating manipulator technical field, the structural design of the compound robot finger apparatus in particularly a kind of multichannel flexible piece two joints.
Background technology
Hand is very important organ concerning the people, and in the anthropomorphic robot field, the function that strengthens robot has very important significance.On the one hand, can make the mechanical hand action more various accurately through increase joint number, driving number, but can make mechanism's complicacy loaded down with trivial details so again simultaneously; On the other hand, if too pursue mechanism simple, then certainly will have a negative impact to the flexibility of mechanical hand and the accuracy of grasping movement.Simultaneously, robot requires to guarantee simultaneously small and exquisite flexible and enough grasp forces.Still exist many technical barriers in this field at present.
The lack of driven structure is meant that the driver number of this mechanism is less than the joint freedom degrees number.Many humanoid dextrous hands also can classify as and owe to drive hand, and the under-actuated finger of broad sense comprises coupling under-actuated finger and self adaptation under-actuated finger.The coupling under-actuated finger often is called the coupling finger, and the self adaptation under-actuated finger abbreviates self adaptation finger or under-actuated finger as.
The core advantage of lack of driven structure has been to introduce the pattern of self-adapting grasping.The introducing of this self-adapting grasping pattern; Make mechanical hand when assurance personalizes action; Reduced requirement widely for hand control in real time and sensor-based system, make mechanical hand have simple in structure, control is stablized, outward appearance is anthropomorphic and cheap etc. advantage.Because the advantage of self adaptation under-actuated robot hand has caused domestic and international researcher's extensive interest over past ten years, make the field develop rapidly of self adaptation under-actuated robot hand.
Self adaptation is owed to drive hand and is had following bigger deficiency:
1) this finger initial configuration is fixing (stretches or be certain angle of bend), and this and staff Grasp Modes have more different, personalize inadequately, are not easy to the object of some size, shape is stablized extracting.Staff generally can not adopt of this sort very awkward action when grasping objects.
The Grasp Modes of 2) owing to drive hand is mainly the mode of gripping, and difficulty realizes that end grips grip preferably; In the time of can not accomplishing not have grasping body, the action of clenching fist of similar staff; Be difficult to also accomplish that each joint is the natural torsion state when end section of finger grips object.
3) owe to drive to hold in hand when getting object and need first to refer to that section apply enough power to object; Could trigger second joint pulling spring spare bending; This instability that can cause this grasping force to squeeze and run object grasps the phenomenon generation; Even caught object, also may cause first to refer to that section is excessive and damage object to the grasping force of object.Staff can be extremely inconvenient if owe to drive the extracting pattern according to self adaptation.
The coupling under-actuated finger a plurality of joints by a driver drives and by a certain percentage (as 1: 1) rotate (interlock) simultaneously.The multi-joint interlock BENDING PROCESS of coupling hand is similar during with the staff grasping objects, and the coupling finger is fit to adopt finger tip to grip mode to grasp small-size object, can not take place in gripping closely to refer to that section squeezes the wild effect generation of race object, thereby the extracting process is more stable.
The coupling hand also is a human simulating manipulator common scheme for a long time.At present there has been more coupling mechanism to be developed.The weak point of coupling finger is: when not possessing grasping objects to the adaptivity of different objects.
In order to overcome traditional self adaptation finger and coupling finger deficiency separately, a kind ofly compoundly owe to drive the extracting pattern and be suggested: self-adapting grasping is again grasped then in first multi-joint coupling.This extracting pattern both had been different from simple coupling and had grasped process, also was different from simple self-adapting grasping process.
In order to realize this extracting pattern, a kind of new finger classification that coupling mechanism and adaptive mechanism are combined and produced: coupling and the compound under-actuated finger of self adaptation, be called for short compound under-actuated finger or compound finger.This " compound " is not simple parallel connection, more is not series connection.Robot finger apparatus is run into object and is referred to respectively that before section is crooked simultaneously in the certain angle ratio in crooked grasping object process, and course of action is personification very; And after finger is run into object, can adapt to object surface shape again automatically, complete envelope object, and, good extracting performance can be arranged only through the robot finger apparatus in a plurality of joints of driver drives.Compound under-actuated finger can either the self-adapting grasping object can possess the extracting characteristics that personalize of multi-joint interlock preferably again, and number of motors kept minimum, and simple in structure, control easily, cost is low.
Because finger is exactly the characteristics of existing coupled rotation; The characteristics that self-adapting grasping is also arranged simultaneously; Therefore, compound under-actuated finger classification is the novel finger classification of imitation human finger more, is a kind of the third-largest type of finger classification between traditional self adaptation finger, coupling finger.We can say that traditional coupling under-actuated finger and traditional self adaptation under-actuated finger only are two special cases of compound under-actuated finger.Compoundly by compound under-actuated finger constituted owe to drive hand and will have very large market potential, maybe will become following very the human simulating manipulator technological trend and the direction of main flow.
Existing a kind of ability realizes the compound machine driven finger device of owing; Like Chinese invention patent CN101664929, mainly by pedestal, motor, decelerator, nearly joint shaft, middle finger section, joint shaft, the end section of finger, coupled transmission mechanism far away, owe drive transmission device and a plurality of spring spare constitutes.
This device can be realized the compound extracting of owing to drive, and shortcoming is that mechanism is complicated, the installation and maintenance difficulty; Spring number of packages order is too much, utilizes the contradiction between spring spare decoupling zero mediation coupled transmission mechanism and the self adaptation transmission mechanism, usually makes that a plurality of spring spare deformation are bigger, causes excessive and unnecessary energy loss.
Summary of the invention
The present invention is intended to the weak point to prior art, provides a kind of multichannel flexible piece two joints compound robot finger apparatus.This device can be realized that coupling and self adaptation are compound and owe to drive grasping movement, promptly not only have the anthropomorphic multi-joint coupled characteristic of grasp motion, and have both the self-adapting grasping characteristic to difformity, big wisp; Only need single motor-driven when having more flexible joint, reduce and control difficulty and cost; While is simple in structure, energy loss is little, transmission efficiency is high.
Technical scheme of the present invention is following:
The compound robot finger apparatus in a kind of multichannel flexible piece two joints comprises motor, decelerator, pedestal, nearly joint shaft, joint shaft far away, middle finger section and the end section of finger; Said motor and decelerator all are fixed on the pedestal, and the output shaft of motor links to each other with input shaft of speed reducer; Said nearly joint shaft is movably set in the pedestal, and said joint shaft far away is movably set in the middle finger section, and said middle finger section is fixed on the nearly joint shaft; The said end section of finger is fixed on the joint shaft far away;
It is characterized in that:
This compound robot finger apparatus in multichannel flexible piece two joints also comprises pedestal axle, first transmission mechanism, second transmission mechanism, the 3rd transmission mechanism, the first spring spare and the second spring spare; Said pedestal axle is movably set in the pedestal, and the output shaft of said decelerator links to each other with the pedestal axle;
Said first transmission mechanism comprises first drive, second drive, first driving member and second driving member; Said first driving wheel tube is fixed on the pedestal axle; Said second drive is actively socketed on the nearly joint shaft; Said first driving member is wrapped on first drive and second drive and is serpentine, and the two ends of first driving member are affixed with first drive, second drive respectively; Said second driving member is wrapped on first drive and second drive and is " Z " shape, and the two ends of second driving member are affixed with first drive, second drive respectively; First driving member and second driving member are crossed as the figure of eight; Said first drive, second drive adopt belt wheel, rope sheave or sprocket wheel; Said first driving member, second driving member adopt driving-belt, key rope or chain; Said first driving member, second driving member, first drive and second drive can cooperate the formation drive connection;
Said second transmission mechanism comprises the 3rd drive, the 4th drive and the 3rd driving member; Said the 3rd driving wheel tube is fixed on the pedestal axle, and said the 4th drive is actively socketed on the nearly joint shaft; Said the 3rd drive, the 4th drive adopt belt wheel, rope sheave or sprocket wheel; Said the 3rd driving member adopts driving-belt, key rope or chain; Described the 3rd driving member, the 3rd drive and the 4th drive three can cooperate the formation drive connection;
Said the 3rd transmission mechanism comprises the 5th drive, the 6th drive and the 4th driving member; Said the 5th drive is actively socketed on the nearly joint shaft, and said the 5th drive and second drive are affixed; Said the 6th drive is fixed on the joint shaft far away; Said the 4th driving member is wrapped on the 5th drive and the 6th drive and is serpentine; The two ends of the 4th driving member are affixed with the 5th drive, the 6th drive respectively, and the canoe of the 4th driving member makes when middle finger section the 4th driving member tensioning during towards the bending of grasping objects direction; Said the 5th drive, the 6th drive adopt belt wheel, rope sheave or sprocket wheel; Said the 4th driving member adopts driving-belt, key rope or chain; Described the 4th driving member, the 5th drive and the 6th drive three can cooperate the formation drive connection;
The two ends of the said first spring spare connect the 4th drive and nearly joint shaft respectively, and the two ends of the said second spring spare connect middle finger section and joint shaft far away respectively.
The compound robot finger apparatus in multichannel flexible piece of the present invention two joints is characterized in that: also comprise the pedestal transmission mechanism, the output shaft of said decelerator links to each other with the pedestal axle through said pedestal transmission mechanism.
The compound robot finger apparatus in multichannel flexible piece of the present invention two joints is characterized in that: said pedestal transmission mechanism comprises first bevel gear and second bevel gear; First bevel gear is fixed on the output shaft of decelerator, and first bevel gear is meshed with second bevel gear, and second bevel gear is fixed on the pedestal axle.
The compound robot finger apparatus in multichannel flexible piece of the present invention two joints is characterized in that: described second drive and the 5th drive adopt integral structure.
The compound robot finger apparatus in multichannel flexible piece of the present invention two joints is characterized in that: the said first spring spare and the second spring spare adopt extension spring, torsion spring, stage clip, sheet spring or elastic threads.
The present invention compared with prior art has the following advantages and the high-lighting effect:
The transmission mechanism of apparatus of the present invention employing single motor, the different gearratio of multiaxis multichannel and spring spare etc. have comprehensively been realized the compound grip of owing to drive: point first coupled rotation and grab to object and then self-adapting grasping object; The extracting process is anthropomorphic, and action is dexterous, and grasping objects is stable, can adapt to the object that grasps different size, shape automatically, and is low to the control system requirements, controls easily; Simultaneously simple in structure, compact, energy loss is little, and transmission efficiency is high, and is with low cost, and assembling is safeguarded convenient, and profile is close with finger, is applicable to human simulating manipulator.
Description of drawings
Fig. 1 is the three-dimensional local signal of a kind of embodiment of the compound robot finger apparatus in multichannel flexible piece provided by the invention two joints.
Fig. 2 is the outside drawing of a kind of embodiment of the compound robot finger apparatus in multichannel flexible piece provided by the invention two joints.
Fig. 3 is the positive surface parts key diagram of a kind of embodiment of the compound robot finger apparatus in multichannel flexible piece provided by the invention two joints.
Fig. 4 is the left view of a kind of embodiment of the compound robot finger apparatus in multichannel flexible piece provided by the invention two joints.
Fig. 5 is the finger bend sketch map of the gearratio of three transmission mechanisms in the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention when satisfying ac+bc<b and concerning; Wherein, The gearratio of first transmission mechanism is 1: a; The gearratio of second transmission mechanism is 1: b, the gearratio of the 3rd transmission mechanism are 1: c;
Fig. 6 is the finger bend sketch map of the gearratio of three transmission mechanisms in the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention when satisfying ac+bc=b and concerning, also is the scheme that present embodiment adopts;
Fig. 7 is the finger bend sketch map that the gearratio of three transmission mechanisms in the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention satisfies ac+bc>b relation;
Fig. 8, Fig. 9, Figure 10, Figure 11 are the sketch mapes of self adaptation grasping object process after present embodiment is coupled earlier with middle finger section, the end section of finger.Wherein Fig. 8, Fig. 9 are finger coupling BENDING PROCESS, and Figure 10, Figure 11 are the end section of finger self adaptation grasping object processes.
In Fig. 1 to Figure 11:
The 1-motor, the 2-decelerator, the 3-pedestal, 41-pedestal axle,
The nearly joint shaft of 42-, 43-joint shaft far away, the 44-bearing, the 51-middle finger section,
The 52-end section of finger, 61-first drive, 62-second drive, 63-the 3rd drive,
64-the 4th drive, 66-the 6th drive, 65-the 5th drive, 71-first driving-belt,
72-second driving-belt, 73-the 3rd driving-belt, 74-the 4th driving-belt, 81-first bevel gear,
82-second bevel gear, the 91-first spring spare, the 92-second spring spare.
The specific embodiment
Further introduce concrete structure of the present invention and operation principle in detail below in conjunction with accompanying drawing and embodiment.
A kind of embodiment of the compound robot finger apparatus in multichannel flexible piece of the present invention two joints to shown in Figure 4, comprises motor 1, decelerator 2, pedestal 3, nearly joint shaft 42, joint shaft 43 far away, middle finger section 51 and the end section of finger 52 like Fig. 1; Said motor 1 all is fixed on the pedestal 3 with decelerator 2, and the output shaft of motor links to each other with input shaft of speed reducer; Said nearly joint shaft 42 is movably set in the pedestal 3, and said joint shaft 43 far away is movably set in the middle finger section 51, and said middle finger section 51 is fixed on the nearly joint shaft 42; The said end section of finger 52 is fixed on the joint shaft 43 far away.
Present embodiment also comprises pedestal axle 41, first transmission mechanism, second transmission mechanism, the 3rd transmission mechanism, the first spring spare 91 and the second spring spare 92; Said pedestal axle 41 is movably set in the pedestal 3, and the output shaft of said decelerator 2 links to each other with pedestal axle 41.
Said first transmission mechanism of present embodiment comprises first drive 61, second drive 62, first driving member 71 and second driving member 72; Said first drive, 61 covers are fixed on the pedestal axle 41; Said second drive 62 is actively socketed on the nearly joint shaft 42; Said first driving member 71 is wrapped on first drive 61 and second drive 62 and is serpentine, and the two ends of first driving member 71 are affixed with first drive 61, second drive 62 respectively; Said second driving member 72 is wrapped on first drive 61 and second drive 62 and is " Z " shape, and the two ends of second driving member 71 are affixed with first drive 61, second drive 62 respectively; First driving member 71 and second driving member 72 are crossed as the figure of eight; Said first drive 61, second drive 62 adopt belt wheel, rope sheave or sprocket wheels; Said first driving member 71, second driving member 72 adopt driving-belts, key rope or chain; Said first driving member 71, second driving member 72, first drive 61 and second drive 62 4 can cooperate the formation drive connection.In the present embodiment, said first drive 61, second drive 62 adopt belt wheels; The flat rubber belting that said first driving member 71, second driving member 72 adopt in the driving-belts.
Said second transmission mechanism of present embodiment comprises the 3rd drive 63, the 4th drive 64 and the 3rd driving member 73; Said the 3rd drive 63 covers are fixed on the pedestal axle 41, and said the 4th drive 64 is actively socketed on the nearly joint shaft 42; Said the 3rd drive 63, the 4th drive 64 adopt belt wheel, rope sheave or sprocket wheels; Said the 3rd driving member 73 adopts driving-belt, key rope or chain; Described the 3rd driving member 73, the 3rd drive 63 and the 4th drive 64 threes can cooperate the formation drive connection.In the present embodiment, said the 3rd drive 63, the 4th drive 64 adopt belt wheels; The flat rubber belting that said the 3rd driving member 73 adopts in the driving-belt.
Said the 3rd transmission mechanism of present embodiment comprises the 5th drive 65, the 6th drive 66 and the 4th driving member 74; Said the 5th drive 65 is actively socketed on the nearly joint shaft 42; The 5th drive 65 and second drive 62 are affixed, can adopt integral structure; Said the 6th drive 66 is fixed on the joint shaft 43 far away; Said the 4th driving member 74 is wrapped on the 5th drive 65 and the 6th drive 66 and is serpentine; The two ends of the 4th driving member 74 are affixed with the 5th drive 65, the 6th drive 66 respectively, and the canoe of the 4th driving member 74 makes when middle finger section 51 the 4th driving member 74 tensionings during towards the bending of grasping objects direction; Said the 5th drive 65, the 6th drive 66 adopt belt wheel, rope sheave or sprocket wheels; Said the 4th driving member 74 adopts driving-belt, key rope or chain; Described the 4th driving member 74, the 5th drive 65 and the 6th drive 66 threes can cooperate the formation drive connection.In the present embodiment, said the 5th drive 65, the 6th drive 66 adopt belt wheels; The flat rubber belting that said the 4th driving member 74 adopts in the driving-belt.
The two ends of the said first spring spare 91 of present embodiment connect the 4th drive 64 and nearly joint shaft 42 respectively, and the two ends of the said second spring spare 92 connect middle finger section 51 and joint shaft 43 far away respectively.
Present embodiment also comprises the pedestal transmission mechanism, and the output shaft of said decelerator 2 links to each other with pedestal axle 41 through said pedestal transmission mechanism.
Pedestal transmission mechanism of the present invention, present embodiment adopt bevel gear or worm and gear all can reach same effect.Wherein, said pedestal transmission mechanism comprises first bevel gear 81 and second bevel gear 82; First bevel gear 81 is fixed on the output shaft of decelerator, and first bevel gear 81 is meshed with second bevel gear 82, and second bevel gear 82 is fixed on the pedestal axle 41.
The first spring spare 91 according to the invention and the second spring spare 92 adopt extension spring, torsion spring, stage clip, sheet spring or elastic threads.In the present embodiment, the first spring spare 91 and the second spring spare 92 all adopt torsion spring.
Among the present invention, finger has coupling and self adaptation dual-use function.The gearratio that makes first transmission mechanism is 1: a, and the gearratio that makes second transmission mechanism is 1: b, the gearratio that makes the 3rd transmission mechanism is 1: c, so, point before touching object when flexing one's fingers and have following coupled rotation effect:
A) when ac+bc<b, 2 times of the angle that the angle that the relative vertical position of the terminal finger tip of apparatus of the present invention turns over turns over less than the relative vertical position of middle finger section, like Fig. 5, α>β among the figure.
B) when ac+bc=b, the angle that the relative vertical position of the terminal finger tip of apparatus of the present invention turns over equals 2 times of angle that the relative vertical position of middle finger section turns over, like Fig. 6, and α=β among the figure, the most approaching with staff in this case; Present embodiment is the situation that adopts a=b.
C) when ac+bc>b, 2 times of the angle that the angle that the relative vertical position of the terminal finger tip of apparatus of the present invention turns over turns over greater than the relative vertical position of middle finger section, like Fig. 7, α<β among the figure.
The position of the first spring spare of the present invention can also be arranged on a place or the many places in following three places and reach identical effect:
A) nearly joint shaft 42 and middle finger section 51;
B) first drive 61 and pedestal axle 41;
C) second drive 62 and nearly joint shaft 42.
More than in three place's annexations, have at least a place to adopt spring spare to connect two parts; The affixed mode of then employing that does not adopt spring spare to connect in above-mentioned three place's annexations connects.The two ends of spring spare connect the 4th drive 64 and nearly joint shaft 42 respectively in the present embodiment, and nearly joint shaft 42 is affixed with middle finger section 51, and first drive 61 is affixed with pedestal axle 41.Like Fig. 1, shown in Figure 3.
The concrete operation principle of present embodiment, like Fig. 8, Fig. 9, Figure 10, shown in Figure 11, narrate as follows:
The initial position of this device vertical position that is in as shown in Figure 8, this moment, middle finger section 51 all was in straight configuration with the end section of finger 52.When the robot finger in the present embodiment moves; Motor 2 output shafts rotate; Drive the pedestal axle 41 that is connected with the 3rd drive 63 and first drive 61 through decelerator 3 through the 3rd drive 63 and rotate, the 3rd drive 63 rotates through the 3rd driving member 73 drives the 4th drive 64 simultaneously.
When not having the object blocks finger,, be fixed in seemingly on the nearly joint shaft 42 because the 4th drive 64 links to each other with nearly joint shaft 42 through the first spring spare 91.Therefore when the 3rd drive 63 turned over α, the 4th drive 64 turned over angle b α under the 3rd drive 63 drives, and will drive nearly joint shaft 42 and turn over angle b α jointly with the affixed middle finger section 51 relative initial positions that stretch of pointing of nearly joint shaft.At this moment, the 4th driving-belt 74 also rotates along with middle finger section 51 together, and its effect is equivalent to the 5th drive 65 and drives 66 rotations of the 6th drive, thereby makes the also relative middle finger section of the 6th drive 66 turn over bc α.Simultaneously, because first drive 61 and the 3rd drive 63 all are connected on the pedestal axle 41, when the 4th drive 64 turned over angle b α, second drive 62 turned over reciprocal angle b α with relative initial position.Because second drive 62 and the 5th drive 65 are affixed, and the gearratio of the 3rd transmission mechanism is 1: c, therefore the 6th drive 66 changes ac α again with relative middle finger section on the basis that turns over bc α, promptly turns over (ac+bc) α altogether.The 6th drive 66 is affixed with the joint shaft far away 43 that is connected with the end section of finger 52, and therefore will drive joint shaft 43 relative middle finger section far away turns over (ac+bc) α, and promptly the relative middle finger section of the end section of finger turns over angle (ac+bc) α.If can satisfy the condition of ac+bc=b, then can realize 1: the 1 coupled motions mode in two joints.For example, a=2, b=2, c=0.5 then satisfies the condition of ac+bc=a, can realize 1: the 1 coupled motions mode in two joints.
The preceding extracting process of object that do not contact of present embodiment such as Fig. 8, Fig. 9 and shown in Figure 10, this is a doublejointed coupled rotation process.
When middle finger section 51 touches object, shown in figure 10, middle finger section 51 will receive and stop and stop operating.But because the existence of spring spare 91, the 4th drive 64 still can be rotated further, and makes nearly joint shaft 42 produce the moment of torsion that continues rotation through spring spare 91, and the middle finger section that this moment of torsion will make cover be fixed on the nearly joint shaft 42 produces the pressure to object, i.e. grip.Because the 4th drive 64 is still rotatable, so object do not stop the rotation of the 3rd drive 63 to the obstruction of middle finger section 51, and is promptly rotatable with the affixed pedestal axle 41 and first drives 61 of the 3rd drive 63 yet.Therefore; Under the drive of first drive 61, second drive 62 is rotated further, and rotation is passed to the 5th affixed with it drive 65; Then pass to the 6th drive 66 through the 4th driving-belt 74; Drive the end section of finger 52 and be rotated further, also fasten object until the end section of finger around self axis, shown in figure 11.This process promptly realizes the self-adapting grasping to the object of difformity size.
Apparatus of the present invention adopt single motor, multiaxis multichannel transmission mechanism and spring spare etc. comprehensively to realize the compound grip of owing to drive: point first coupled rotation and grab to object and then self-adapting grasping object; The extracting process is anthropomorphic, and action is dexterous, and grasping objects is stable, can adapt to the object that grasps different size, shape automatically, and is low to the control system requirements, controls easily; Simultaneously simple in structure, compact, energy loss is little, and transmission efficiency is high, and is with low cost, and assembling is safeguarded convenient, and profile is close with finger, is applicable to human simulating manipulator.

Claims (5)

1. the compound robot finger apparatus in multichannel flexible piece two joints comprises motor (1), decelerator (2), pedestal (3), nearly joint shaft (42), joint shaft (43) far away, middle finger section (51) and the end section of finger (52); Said motor (1) and decelerator (2) all are fixed on the pedestal (3), and the output shaft of motor links to each other with input shaft of speed reducer; Said nearly joint shaft (42) is movably set in the pedestal (3), and said joint shaft far away (43) is movably set in the middle finger section (51); Said middle finger section (51) is fixed on the nearly joint shaft (42); The said end section of finger (52) is fixed on the joint shaft far away (43);
It is characterized in that:
This compound robot finger apparatus in multichannel flexible piece two joints also comprises pedestal axle (41), first transmission mechanism, second transmission mechanism, the 3rd transmission mechanism, the first spring spare (91) and the second spring spare (92); Said pedestal axle (41) is movably set in the pedestal (3), and the output shaft of said decelerator (2) links to each other with pedestal axle (41);
Said first transmission mechanism comprises first drive (61), second drive (62), first driving member (71) and second driving member (72); Said first drive (61) cover is fixed on the pedestal axle (41); Said second drive (62) is actively socketed on the nearly joint shaft (42); Said first driving member (71) is wrapped in first drive (61) and second drive (62) and goes up and be serpentine, and the two ends of first driving member (71) are affixed with first drive (61), second drive (62) respectively; Said second driving member (72) is wrapped in first drive (61) and second drive (62) and goes up and be " Z " shape, and the two ends of second driving member (72) are affixed with first drive (61), second drive (62) respectively; First driving member (71) and second driving member (72) are crossed as the figure of eight; Said first drive (61), second drive (62) adopt belt wheel, rope sheave or sprocket wheel; Said first driving member (71), second driving member (72) adopt driving-belt, key rope or chain; Said first driving member (71), second driving member (72), first drive (61) and second drive (62) four can cooperate the formation drive connection;
Said second transmission mechanism comprises the 3rd drive (63), the 4th drive (64) and the 3rd driving member (73); Said the 3rd drive (63) cover is fixed on the pedestal axle (41), and said the 4th drive (64) is actively socketed on the nearly joint shaft (42); Said the 3rd drive (63), the 4th drive (64) adopt belt wheel, rope sheave or sprocket wheel; Said the 3rd driving member (73) adopts driving-belt, key rope or chain; Described the 3rd driving member (73), the 3rd drive (63) and the 4th drive (64) three can cooperate the formation drive connection;
Said the 3rd transmission mechanism comprises the 5th drive (65), the 6th drive (66) and the 4th driving member (74); Said the 5th drive (65) is actively socketed on the nearly joint shaft (42), and said the 5th drive (65) is affixed with second drive (62); Said the 6th drive (66) is fixed on the joint shaft far away (43); Said the 4th driving member (74) is wrapped on the 5th drive (65) and the 6th drive (66) and is serpentine; The two ends of the 4th driving member (74) are affixed with the 5th drive (65), the 6th drive (66) respectively, and the canoe of the 4th driving member (74) makes when middle finger section (51) the 4th driving member (74) tensioning during towards the bending of grasping objects direction; Said the 5th drive (65), the 6th drive (66) adopt belt wheel, rope sheave or sprocket wheel; Said the 4th driving member (74) adopts driving-belt, key rope or chain; Described the 4th driving member (74), the 5th drive (65) and the 6th drive (66) three can cooperate the formation drive connection;
The two ends of the said first spring spare (91) connect the 4th drive (64) and nearly joint shaft (42) respectively, and the two ends of the said second spring spare (92) connect middle finger section (51) and joint shaft (43) far away respectively.
2. the compound robot finger apparatus in multichannel flexible piece as claimed in claim 1 two joints; It is characterized in that: described compound robot finger apparatus also comprises the pedestal transmission mechanism, and the output shaft of said decelerator (2) links to each other with pedestal axle (41) through said pedestal transmission mechanism.
3. the compound robot finger apparatus in multichannel flexible piece as claimed in claim 2 two joints is characterized in that: said pedestal transmission mechanism comprises first bevel gear (81) and second bevel gear (82); First bevel gear (81) is fixed on the output shaft of decelerator, and first bevel gear (81) is meshed with second bevel gear (82), and second bevel gear (82) is fixed on the pedestal axle (41).
4. the compound robot finger apparatus in multichannel flexible piece as claimed in claim 1 two joints is characterized in that: described second drive (62) and the 5th drive (65) adopt integral structure.
5. the compound robot finger apparatus in multichannel flexible piece as claimed in claim 1 two joints is characterized in that: said first spring spare (91) and the second spring spare (92) adopt extension spring, torsion spring, stage clip, sheet spring or elastic threads.
CN 201110140362 2011-05-27 2011-05-27 Multipath flexible piece two-joint compound robot finger device Expired - Fee Related CN102205542B (en)

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