CN102267137B - Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device - Google Patents

Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device Download PDF

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Publication number
CN102267137B
CN102267137B CN 201110194228 CN201110194228A CN102267137B CN 102267137 B CN102267137 B CN 102267137B CN 201110194228 CN201110194228 CN 201110194228 CN 201110194228 A CN201110194228 A CN 201110194228A CN 102267137 B CN102267137 B CN 102267137B
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China
Prior art keywords
drive
driving
finger
shaft
pedestal
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CN 201110194228
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CN102267137A (en
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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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    • 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 double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device and belongs to the technical field of humanoid robotic hands. The device comprises a base, a motor, a speed reducer, a base shaft, a near joint shaft, a middle finger section, a far joint shaft, a multi-path transmission mechanism and a spring member. By using the device disclosed by the invention, a hybrid under-actuated grasping effect can be comprehensively achieved through using the single motor, the multi-shaft and multi-path transmission mechanism with a dissimilar transmission ratio, the spring member, and the like; and the effect is as follows: fingers grasp objects by way of coupled rotation firstly and then adaptively grasp the objects; the grasping process is impersonated, the grasping action is flexible, and the object grasping is stable, meanwhile, the device can automatically adaptively grasp objects in different sizes and shapes, has a low demand on a control system, and can be operated and controlled easily; simultaneously, the device is simple and compact in structure, small in energy consumption, high in transmission efficiency, low in cost and convenient to assemble and maintain; and the appearance of the device is similar to that of fingers of people, therefore, the device disclosed by the invention is suitable for humanoid robotic hands.

Description

The three-shaft wheeled compound under-actuated robot finger device of doublejointed
Technical field
The invention belongs to anthropomorphic robot workmanship art field, particularly a kind of structural design of doublejointed under-actuated robot finger device.
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 by increase joint number, driving number, but can make mechanism's complexity 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 force.Still exist many technical barriers in this field at present.
The lack of driven structure refers to 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 the requirement for hand control in real time and sensor-based system widely, 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 object.
2) Grasp Modes of owing to drive hand is mainly the gripping mode, and difficulty realizes that end grips the extracting effect 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.
Need first to refer to that section apply enough power to object when 3) owing to drive hand extracting 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.Similar when the multi-joint interlock BENDING PROCESS of coupling hand grasps object with staff, 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: do not possess when grasping object the adaptivity to 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 produce: 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 very anthropomorphic; And after finger is run into object, can adapt to object surface shape again automatically, complete envelope object, and only by the robot finger apparatus in a plurality of joints of driver drives, good extracting performance can be arranged.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 that existing coupling is rotated, 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 class 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 owe to drive hand and will have very large market potential by what compound under-actuated finger constituted, maybe will become following very human simulating manipulator technological trend and the direction of main flow.
Existing a kind of energy is realized the compound machine driven finger device of owing, as Chinese invention patent CN101664929, mainly by pedestal, motor, decelerator, nearly joint shaft, the middle part section of finger, far joint shaft, the end section of finger, coupled transmission mechanism, owe drive transmission device and a plurality of spring spare constitutes.
This device can realize that compound owing drives extracting, and shortcoming is mechanism's complexity, 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 at the deficiencies in the prior art part, provides a kind of doublejointed three-shaft wheeled compound under-actuated robot finger device.This device can be realized that coupling and self adaptation are compound and owe to drive grasping movement, namely not only have the multi-joint coupled characteristic of grasp motion personification, 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 as follows:
The three-shaft wheeled compound under-actuated robot finger device of a kind of doublejointed comprises motor, decelerator, pedestal, nearly joint shaft, joint shaft far away, the middle part section of finger and the end section of finger; Described 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; Described nearly joint shaft is movably set in the pedestal, and described joint shaft far away is movably set in the section of finger of middle part, and the described middle part section of finger is fixed on the nearly joint shaft; The described end section of finger is fixed on the joint shaft far away;
It is characterized in that:
The three-shaft wheeled compound under-actuated robot finger device of this doublejointed also comprises pedestal axle, first transmission mechanism, second transmission mechanism, the 3rd transmission mechanism, the first spring spare and the second spring spare; Described pedestal axle is movably set in the pedestal, and the output shaft of described decelerator links to each other with the pedestal axle;
Described first transmission mechanism comprises first drive, second drive, first driving member and second driving member; Described first driving wheel tube is fixed on the pedestal axle; Described second drive is actively socketed on the nearly joint shaft; Described 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 and second drive respectively; Described 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 and second drive respectively; First driving member and second driving member are crossed as the figure of eight; Described first drive and second drive adopt belt wheel, rope sheave or sprocket wheel; Described first driving member and second driving member adopt driving-belt, key rope or chain; Described first driving member, second driving member, first drive and second drive can cooperate the formation drive connection;
Described second transmission mechanism comprises the 3rd drive, the 4th drive and the 3rd driving member; Described the 3rd driving wheel tube is fixed on the pedestal axle, and described the 4th drive is actively socketed on the nearly joint shaft; Described the 3rd drive and the 4th drive adopt belt wheel, rope sheave or sprocket wheel; Described 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;
Described the 3rd transmission mechanism comprises the 5th drive, the 6th drive and the 4th driving member; Described the 5th drive is actively socketed on the nearly joint shaft, and described the 5th drive and the 4th drive are affixed; Described the 6th drive is fixed on the joint shaft far away; Described 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 and the 6th drive respectively, feasible the 4th driving member tensioning when the middle part section of finger is crooked towards extracting object direction of the canoe of the 4th driving member; Described the 5th drive and the 6th drive adopt belt wheel, rope sheave or sprocket wheel; Described 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 described first spring spare connect second drive and nearly joint shaft respectively, and the two ends of the described second spring spare connect the middle part respectively and refer to the Duan Yuyuan joint shaft.
The three-shaft wheeled compound under-actuated robot finger device of doublejointed of the present invention is characterized in that: also comprise the pedestal transmission mechanism, the output shaft of described decelerator links to each other with the pedestal axle by described pedestal transmission mechanism.
The three-shaft wheeled compound under-actuated robot finger device of doublejointed of the present invention is characterized in that: described 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 three-shaft wheeled compound under-actuated robot finger device of doublejointed of the present invention is characterized in that: the described 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 extracting effect of owing to drive: finger is coupled earlier to rotate and grabs to object and then self-adapting grasping object; The personification of extracting process, action is dexterous, and it is stable to grasp object, can adapt to the object that grasps different size, shape automatically, control system is required low, controls easily; Simultaneously simple in structure, compact, energy loss is little, and the transmission efficiency height 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 three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention.
Fig. 2 is the outside drawing of a kind of embodiment of the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention.
Fig. 3 is the positive surface parts key diagram of a kind of embodiment of the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention.
Fig. 4 is the left view of a kind of embodiment of the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention.
Fig. 5 is that the gearratio of first transmission mechanism in the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention is bigger than the gearratio of second transmission mechanism, i.e. the crooked schematic diagram of finger during a>b;
Fig. 6 is that the gearratio of first transmission mechanism in the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention equates with the gearratio of second transmission mechanism, and namely the crooked schematic diagram of the finger during a=b also is the scheme that present embodiment adopts;
Fig. 7 is that the gearratio of first transmission mechanism in the three-shaft wheeled compound under-actuated robot finger device of doublejointed provided by the invention is littler than the gearratio of second transmission mechanism, i.e. the crooked schematic diagram of finger during a<b;
Fig. 8, Fig. 9, Figure 10 are that present embodiment is illustrated with the middle part section of finger, the end section of finger coupling grasping object process.
Figure 11, Figure 12, Figure 13, Figure 14 are the schematic diagrames of self adaptation grasping object process after present embodiment is coupled earlier with the middle part section of finger, the end section of finger.Wherein Figure 11, Figure 12 are finger coupling BENDING PROCESS, and Figure 13, Figure 14 are the end section of finger self adaptation grasping object processes.
In Fig. 1 to Figure 14:
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 part section of finger,
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
Be described in further detail concrete structure of the present invention and operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the three-shaft wheeled compound under-actuated robot finger device of doublejointed of the present invention as shown in Figures 1 to 4, comprises motor 1, decelerator 2, pedestal 3, nearly joint shaft 42, joint shaft 43 far away, the middle part section of finger 51 and the end section of finger 52; Described 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; Described nearly joint shaft 42 is movably set in the pedestal 3, and described joint shaft 43 far away is movably set in the section of finger 51 of middle part, and the described middle part section of finger 51 is fixed on the nearly joint shaft 42; The described 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; Described pedestal axle 41 is movably set in the pedestal 3, and the output shaft of described decelerator 2 links to each other with pedestal axle 41.
Described first transmission mechanism of present embodiment comprises first drive 61, second drive 62, first driving member 71 and second driving member 72; Described first drive, 61 covers are fixed on the pedestal axle 41; Described second drive 62 is actively socketed on the nearly joint shaft 42; Described 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 and second drive 62 respectively; Described 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 and second drive 62 respectively; First driving member 71 and second driving member 72 are crossed as the figure of eight; Described first drive 61 and second drive 62 adopt belt wheel, rope sheave or sprocket wheel; Described first driving member 71 and second driving member 72 adopt driving-belt, key rope or chain; Described 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, described first drive 61, second drive 62 adopt belt wheel; The flat rubber belting that described first driving member 71, second driving member 72 adopt in the driving-belt.
Described second transmission mechanism of present embodiment comprises the 3rd drive 63, the 4th drive 64 and the 3rd driving member 73; Described the 3rd drive 63 covers are fixed on the pedestal axle 41, and described the 4th drive 64 is actively socketed on the nearly joint shaft 42; Described the 3rd drive 63 and the 4th drive 64 adopt belt wheel, rope sheave or sprocket wheel; Described 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, described the 3rd drive 63, the 4th drive 64 adopt belt wheel; The flat rubber belting that described the 3rd driving member 73 adopts in the driving-belt.
Described the 3rd transmission mechanism of present embodiment comprises the 5th drive 65, the 6th drive 66 and the 4th driving member 74; Described the 5th drive 65 is actively socketed on the nearly joint shaft 42, and described the 5th drive 65 and the 4th drive 64 are affixed; Described the 6th drive 66 is fixed on the joint shaft 43 far away; Described 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 and the 6th drive 66 respectively, feasible the 4th driving member 74 tensionings when the middle part section of finger 51 is crooked towards extracting object direction of the canoe of the 4th driving member 74; Described the 5th drive 65 and the 6th drive 66 adopt belt wheel, rope sheave or sprocket wheel; Described 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, described the 5th drive 65, the 6th drive 66 adopt belt wheel; The flat rubber belting that described the 4th driving member 74 adopts in the driving-belt.
The two ends of the described first spring spare 91 of present embodiment connect second drive 62 and nearly joint shaft 42 respectively, and the two ends of the described second spring spare 92 connect the middle part section of finger 51 and joint shaft 43 far away respectively.
Present embodiment also comprises the pedestal transmission mechanism, and the output shaft of described decelerator 2 links to each other with pedestal axle 41 by described pedestal transmission mechanism.
Pedestal transmission mechanism of the present invention, present embodiment adopt bevel gear or worm and gear all can reach same effect.In, described 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 of the present 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, so, point before touching object when flexing one's fingers and have following coupling rotating effect:
A) when a>b, 2 times of the angle that the angle that the terminal finger tip of apparatus of the present invention turns over turns over less than the middle part section of finger, as Fig. 5, α>β among the figure.
B) when a=b, the angle that the terminal finger tip of apparatus of the present invention turns over equals 2 times of angle that the middle part section of finger turns over, as 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 a<b, 2 times of the angle that the angle that the terminal finger tip of apparatus of the present invention turns over turns over greater than the middle part section of finger, as Fig. 7, α<β among the figure.
In the present embodiment, the gearratio of the 3rd transmission mechanism is 1: 1.
The position of the first spring spare of the present invention can also be arranged on a place in following three places or many places and reach identical effect:
A) nearly joint shaft 42 and the middle part section of finger 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 second drive 62 and nearly joint shaft 42 respectively in the present embodiment, and nearly joint shaft 42 is affixed with the middle part section of finger 51, and first drive 61 is affixed with pedestal axle 41.As Fig. 1, shown in Figure 3.
The concrete operation principle of present embodiment as Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, shown in Figure 14, is described below:
The initial position of this device is in vertical position as shown in Figure 8, and this moment, the middle part section of finger 51 and the end section of finger 52 all were in straight configuration.When the robot finger in the present embodiment moves, motor 2 output shafts rotate, drive the pedestal axle 41 that is connected with first drive 61 and the 3rd drive 63 through decelerator 3 by first drive 61 and rotate, first drive 61 drives 62 rotations of second drive again by first driving member 71 and second driving member 72 simultaneously.
When not having the object blocks finger, because second drive 62 links to each other with nearly joint shaft 42 by the first spring spare 91, be fixed in seemingly on the nearly joint shaft 42.Therefore when second drive 62 turns over angle [alpha] under first drive 61 drives, turn over angle [alpha] jointly with the nearly joint shaft 42 of drive and with the affixed middle part section of the finger 51 relative initial positions of nearly joint shaft.At this moment, the 4th driving-belt 74 also rotates together along with the middle part section of finger 51, and its effect is equivalent to the 5th drive 65 and drives the 6th drive 66 and rotate, thus make the 6th drive 66 also relatively initial position turn over α.Simultaneously, because the gearratio of first transmission mechanism is identical with the gearratio of second transmission mechanism, when second drive 62 turned over angle [alpha], the 4th drive 64 turned over reciprocal angle [alpha] with relative initial position.Because the 4th drive 64 and the 5th drive 65 are affixed, and the gearratio of the 3rd transmission mechanism is 1: 1, therefore the 6th drive 66 will be relative self axis turn over angle and on the basis that turns over α, change α again, namely turn over 2 α altogether.The 5th 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 initial positions far away turns over 2 α, and namely the relative middle part of the end section of the finger section of finger turns over angle [alpha] more.This process namely realizes two joints: 1: 1 coupled motions mode, and as Figure 16, Figure 18 and shown in Figure 19.
When object was grasped in coupling, finger was pressed coupled modes shown in the preamble and is rotated, until finger middle part, the end section of finger inclusion complex surface, as Fig. 9, shown in Figure 10.
When the self-adapting grasping object, finger by previously described two joint coupled motions mode bendings, contacts object until the middle part section of finger, as Figure 11, shown in Figure 12 before the contact object.When the middle part section of finger 51 contact objects, the middle part section of finger 51 will be subjected to stopping and stop operating.But because the existence of spring spare 91, second drive 62 still can be rotated further, and makes nearly joint shaft 42 produce the moment of torsion that continues rotation by spring spare 91, and this moment of torsion will make cover be fixed in the middle part section of finger generation on the nearly joint shaft 42 to the pressure of object, i.e. grip.Because second drive 62 is still rotatable, so object do not stop the rotation of first drive 61 to the obstruction of the middle part section of finger 51, namely turns with affixed pedestal axle 41 and the 3rd drive 63 of first drive 61 yet.Therefore, under the drive of the 3rd drive 63, the 4th drive 64 is rotated further, and rotation passed to the 5th affixed with it drive 65, then pass to the 6th drive 66 by the 4th driving-belt 74, drive the end section of finger 52 and be rotated further around self axis, also fasten object until the end section of finger, as Figure 13, shown in Figure 14.This process namely realizes the self-adapting grasping to the object of difformity size.
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 extracting effect of owing to drive: finger is coupled earlier to rotate and grabs to object and then self-adapting grasping object; The personification of extracting process, action is dexterous, and it is stable to grasp object, can adapt to the object that grasps different size, shape automatically, control system is required low, controls easily; Simultaneously simple in structure, compact, energy loss is little, and the transmission efficiency height is with low cost, and assembling is safeguarded convenient, and profile is close with finger, is applicable to human simulating manipulator.

Claims (4)

1. the three-shaft wheeled compound under-actuated robot finger device of doublejointed comprises motor (1), decelerator (2), pedestal (3), nearly joint shaft (42), joint shaft (43) far away, the middle part section of finger (51) and the end section of finger (52); Described 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; Described nearly joint shaft (42) is movably set in the pedestal (3), and described joint shaft far away (43) is movably set in the middle part section of finger (51); The described middle part section of finger (51) is fixed on the nearly joint shaft (42); The described end section of finger (52) is fixed on the joint shaft far away (43);
It is characterized in that:
The three-shaft wheeled compound under-actuated robot finger device of this doublejointed 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); Described pedestal axle (41) is movably set in the pedestal (3), and the output shaft of described decelerator (2) links to each other with pedestal axle (41);
Described first transmission mechanism comprises first drive (61), second drive (62), first driving member (71) and second driving member (72); Described first drive (61) cover is fixed on the pedestal axle (41); Described second drive (62) is actively socketed on the nearly joint shaft (42); Described 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) and second drive (62) respectively; Described 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) and second drive (62) respectively; First driving member (71) and second driving member (72) are crossed as the figure of eight; Described first drive (61) and second drive (62) adopt belt wheel, rope sheave or sprocket wheel; Described first driving member (71) and second driving member (72) adopt driving-belt, key rope or chain; Described first driving member (71), second driving member (72), first drive (61) and second drive (62) four can cooperate the formation drive connection;
Described second transmission mechanism comprises the 3rd drive (63), the 4th drive (64) and the 3rd driving member (73); Described the 3rd drive (63) cover is fixed on the pedestal axle (41), and described the 4th drive (64) is actively socketed on the nearly joint shaft (42); Described the 3rd drive (63) and the 4th drive (64) adopt belt wheel, rope sheave or sprocket wheel; Described 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;
Described the 3rd transmission mechanism comprises the 5th drive (65), the 6th drive (66) and the 4th driving member (74); Described the 5th drive (65) is actively socketed on the nearly joint shaft (42), and described the 5th drive (65) is affixed with the 4th drive (64); Described the 6th drive (66) is fixed on the joint shaft far away (43); Described 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) and the 6th drive (66) respectively, feasible the 4th driving member (74) tensioning when the middle part section of finger (51) is crooked towards extracting object direction of the canoe of the 4th driving member (74); Described the 5th drive (65) and the 6th drive (66) adopt belt wheel, rope sheave or sprocket wheel; Described 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 described first spring spare (91) connect second drive (62) and nearly joint shaft (42) respectively, and the two ends of the described second spring spare (92) connect the middle part section of finger (51) and joint shaft (43) far away respectively.
2. the three-shaft wheeled compound under-actuated robot finger device of doublejointed as claimed in claim 1 is characterized in that: also comprise the pedestal transmission mechanism, the output shaft of described decelerator (2) links to each other with pedestal axle (41) by described pedestal transmission mechanism.
3. the three-shaft wheeled compound under-actuated robot finger device of doublejointed as claimed in claim 2, it is characterized in that: described 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 three-shaft wheeled compound under-actuated robot finger device of doublejointed as claimed in claim 1 is characterized in that: the described first spring spare (91) and the second spring spare (92) employing extension spring, torsion spring, stage clip, sheet spring or elastic threads.
CN 201110194228 2011-07-12 2011-07-12 Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device Expired - Fee Related CN102267137B (en)

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CN108908392B (en) * 2018-08-10 2021-07-27 山东省科学院自动化研究所 Cooperative multi-finger manipulator and robot system

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CN101774175B (en) * 2010-01-26 2012-05-30 清华大学 Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device
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