CN102328316A - Double-joint inclined belt type transmission compound underactuated robot finger device - Google Patents
Double-joint inclined belt type transmission compound underactuated robot finger device Download PDFInfo
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- CN102328316A CN102328316A CN201110252699A CN201110252699A CN102328316A CN 102328316 A CN102328316 A CN 102328316A CN 201110252699 A CN201110252699 A CN 201110252699A CN 201110252699 A CN201110252699 A CN 201110252699A CN 102328316 A CN102328316 A CN 102328316A
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- joint shaft
- pedestal
- shaft
- finger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention relates to a double-joint inclined belt type transmission compound underactuated robot finger device and belongs to the technical field of humanoid robot hands. The double-joint inclined belt type transmission compound underactuated robot finger device comprises a motor, a speed reducer, a base, a middle finger section, a tail-end finger section, a base shaft, a proximal joint shaft, a distal joint shaft, a plurality of gears, a driving wheel, a driven wheel, a transmission part, two shaft spring parts and a proximal joint shaft transmission device. In the device, the base shaft and the proximal joint shaft are movably sheathed in the base, the second gear is movably sheathed on the proximal joint shaft, and the spring part is connected between the second gear and the proximal joint shaft. The middle finger section is sheathed and fixed on the proximal joint shaft and the distal joint shaft is sheathed and fixed on the middle finger section. The driving wheel is movably sheathed on the base shaft, the driven wheel is sheathed on the distal joint shaft, and the spring part is connected between the driven wheel and the distal joint shaft. The device utilizes the decoupling comprehensive function of a reverse transmission mechanism between the driving wheel and the driven wheel, and the spring parts to realize the situation of enabling fingers to grab objects in a self-adaptive manner; and furthermore, all finger sections can be bent in a coupling manner during a grabbing process, the actions are anthropomorphic, the mechanism is simple, and the device is suitable for being used as anthropomorphic robot fingers.
Description
Technical field
The invention belongs to the human simulating manipulator technical field, the structural design of the compound under-actuated robot finger device of the oblique belt drive of particularly a kind of doublejointed.
Background technology
Hand is very important organ concerning the people, and in the anthropomorphic robot field, the function that strengthens robot is significant naturally.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.
So-called compound under-actuated robot finger device; Being meant that this finger can be realized being coupled grasping to owe to drive with self adaptation grasps combine compound and owes to drive extracting; Be robot finger apparatus in crooked grasping object process, run into and respectively refer to that section is in the bending simultaneously of certain angle ratio before the object; And after finger is run into object, can adapt to object surface shape again automatically, complete envelope object, and the robot finger apparatus through a plurality of joints of driver drives only.Existing a kind of robot finger apparatus; 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, and the design of the compound under-actuated robot finger device of the oblique belt drive of a kind of doublejointed is provided.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; Simple in structure, energy loss is little, transmission efficiency is high.
Technical scheme of the present invention is following:
The compound under-actuated robot finger device of the oblique belt drive of a kind of doublejointed of the present invention comprises motor, decelerator, pedestal, middle finger section, the end section of finger, nearly joint shaft and joint shaft far away; Said motor and said decelerator all are fixed on the said pedestal, and motor output shaft links to each other with reducer input shaft, and reducer output shaft and said first gear are affixed; Said nearly joint shaft is movably set in the pedestal, and said middle finger section pivot bush unit is on nearly joint shaft, and said joint shaft far away is movably set in the middle finger section, and the said end section of finger cover is fixed on the joint shaft far away; Said pedestal axle, nearly joint shaft and joint shaft three space parallel far away are arranged;
It is characterized in that:
This device also comprises pedestal axle, pedestal transmission mechanism, first gear, second gear, driving wheel, driven pulley, driving member, the first spring spare, the second spring spare and transition wheel; Said pedestal axle is movably set in the pedestal, and said pedestal axle, nearly joint shaft and joint shaft far away are arranged in parallel; Said reducer output shaft links to each other with the pedestal axle through the pedestal transmission mechanism; Said first gear and driving wheel all overlap and are fixed on the pedestal axle; Said second geared sleeve is fixed on the nearly joint shaft, and with said first gears engaged; The two ends of the said first spring spare connect nearly joint shaft and middle finger section respectively; The said second spring spare two ends connect middle finger section and joint shaft far away respectively; Said transition wheel is actively socketed on the nearly joint shaft; Said driven pulley is fixed on the joint shaft far away; One end and the said driving wheel of said driving member are affixed, and the other end walks around transition wheel and said driven pulley is affixed, and driving member becomes serpentine.
The compound under-actuated robot finger device of the oblique belt drive 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 second bevel gear is fixed on the pedestal axle, and first bevel gear is meshed with second bevel gear.
The compound under-actuated robot finger device of the oblique belt drive of doublejointed of the present invention; It is characterized in that: described driving wheel and driven pulley adopt belt wheel, rope sheave or sprocket wheel; Said driving member adopts flat rubber belting, cog belt, tendon rope, steel wire or chain, and driving wheel, driven pulley, transition wheel cooperate the formation drive connection with driving member.
The compound under-actuated robot finger device of the oblique belt drive of doublejointed of the present invention is characterized in that: the said first spring spare and the second spring spare adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.
The present invention compares with prior art, has the following advantages and the high-lighting effect:
Apparatus of the present invention adopt motor, tiltedly belt drive mechanism and two spring spares etc., comprehensively realized finger earlier the coupling grasping objects then self-adapting grasping different objects compound owe to drive grip; Each refers to that Duan Jun has considerable grasp force, and grasping objects is firmly stable more; Finger only needs to possess a plurality of flexible finger sections again through a small amount of motor, controls easily.This apparatus structure is simple and reliable, and energy loss is little, and transmission efficiency is high, and is with low cost, and assembling is safeguarded convenient, and profile and staff are similar, is suitable as anthropomorphic robot's finger part.
Description of drawings
Fig. 1 is the part key diagram of the embodiment of the compound under-actuated robot finger device of the oblique belt drive of doublejointed provided by the invention.
Fig. 2 is the outside drawing of the embodiment of the compound under-actuated robot finger device of the oblique belt drive of doublejointed provided by the invention.
Fig. 3 is the positive surface parts key diagram of the embodiment of the compound under-actuated robot finger device of the oblique belt drive of doublejointed provided by the invention.
Fig. 4 is the left view of the embodiment of the compound under-actuated robot finger device of the oblique belt drive of doublejointed provided by the invention.
Fig. 5 is the scheme of installation of the first spring spare of present embodiment.
Fig. 6 is the scheme of installation of the second spring spare of present embodiment.
Fig. 7 is the scheme of installation of driving wheel, driven pulley, transition wheel and the driving member of present embodiment.
Fig. 8 is the crooked key diagram of coupling of the embodiment of the compound under-actuated robot finger device of the oblique belt drive of doublejointed provided by the invention.
Fig. 9, Figure 10, be present embodiment with middle finger section, the signal of the end section of finger coupling grasping object process.
Figure 11, Figure 12, Figure 13 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 Figure 11, Figure 12 are finger coupling BENDING PROCESS, and Figure 13 is the end section of a finger self adaptation grasping object process.
In Fig. 1 to Figure 13:
The 1-motor, the 2-decelerator, the 3-pedestal,
The 41-middle finger section, the 42-end section of finger, 51-pedestal axle,
The nearly joint shaft of 52-, 53-joint shaft far away, 6-pedestal transmission mechanism,
601-first bevel gear, 602-second bevel gear, 61-first gear,
62-second gear, the 71-driving wheel, the 72-driven pulley,
The 8-driving member, the 91-first spring spare, the 92-second spring spare,
The 10-transition wheel.
The specific embodiment
The compound under-actuated robot finger device of the oblique belt drive of doublejointed of the present invention comprises motor 1, decelerator 2, pedestal 3, middle finger section 41, the end section of finger 42, nearly joint shaft 52 and joint shaft 53 far away; Said motor 1 all is fixed on the said pedestal 3 with said decelerator 2, and motor output shaft links to each other with reducer input shaft, and reducer output shaft and said first gear 61 are affixed; Said nearly joint shaft 52 is movably set in the pedestal 3, and said middle finger section 41 pivot bush units are on nearly joint shaft 52, and said joint shaft 53 far away is movably set in the middle finger section 41, and the said end section of finger 42 covers are fixed on the joint shaft 53 far away; Said pedestal axle 51, nearly joint shaft 52 and joint shaft 53 three's space parallels far away are arranged;
This device also comprises pedestal axle 51, pedestal transmission mechanism 6, the first gears 61, second gear 62, driving wheel 71, driven pulley 72, driving member 8, the first spring spare 91, the second spring spare 92 and transition wheel 10; Said pedestal axle 51 is movably set in the pedestal 3, and said pedestal axle 51, nearly joint shaft 52 and joint shaft 53 far away are arranged in parallel; Said reducer output shaft links to each other with the pedestal axle through pedestal transmission mechanism 6; Said first gear 61 all overlaps with driving wheel 71 and is fixed on the pedestal axle 51; Said second gear, 62 covers are fixed on the nearly joint shaft 52, and mesh with said first gear 61; The two ends of the said first spring spare 91 connect nearly joint shaft 52 and middle finger section 42 respectively; The said second spring spare 92 two ends connect middle finger section 42 and joint shaft 53 far away respectively; Said transition wheel 10 is actively socketed on the nearly joint shaft 52; Said driven pulley 72 is fixed on the joint shaft 53 far away; One end and the said driving wheel 71 of said driving member 8 are affixed, and the other end walks around transition wheel 10 and said driven pulley 72 is affixed, and driving member becomes serpentine.
The compound under-actuated robot finger device of the oblique belt drive of doublejointed of the present invention, described pedestal transmission mechanism 6 comprise first bevel gear 601 and second bevel gear 602; First bevel gear 601 is fixed on the output shaft of decelerator 2, and second bevel gear 602 is fixed on the pedestal axle 51, and first bevel gear 601 is meshed with second bevel gear 602.
Described driving wheel 71, driven pulley 72 and transition wheel 10 adopt belt wheel, rope sheave or sprocket wheels, and said driving member 8 adopts flat rubber beltings, cog belt, tendon rope, steel wire or chain, and driving wheel, driven pulley, transition wheel cooperate the formation drive connection with driving member.
In the present embodiment, said driving wheel 71, driven pulley 72 all adopt rope sheave with transition wheel 10, and said driving member 8 adopts steel wires.The said first spring spare 91 and the second spring spare 92 adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.
In the present embodiment, the said first spring spare 91 and the second spring spare 92 all adopt torsion spring.
The operation principle of present embodiment, as shown in the figure, be described in detail as follows:
The initial position of this device is shown in 4 figure, and respectively the finger section is in and stretches the position, and promptly middle finger section 41, the end section of finger 42 and pedestal 3 are in line.When using the compound under-driving robot finger of the oblique belt drive of doublejointed provided by the invention mechanism grasping objects, the output shaft of motor 1 rotates, and after decelerator 2 slows down, drives first bevel gear 601 and rotates. Second bevel gear 602 and 601 engagements of first bevel gear; And it is affixed with pedestal axle 51; Intrinsic first gear 61 of cover and driving wheel 71 are arranged on the pedestal axle 51, and therefore under the drive of first bevel gear, second bevel gear 602 will be rotated together with pedestal axle 51, first gear 61, driving wheel 71. Second gear 62 and 61 engagements of first gear, therefore second gear 62 also will begin to rotate under the drive of first gear 61.Because the existence of the first spring spare 91, middle finger section 41 is affixed with nearly joint shaft 52 seemingly before the contact object, and therefore second gear 62 will drive nearly joint shaft 52 and together rotate, and 41 rotations of drive middle finger section.Simultaneously, driven pulley 72 will begin to rotate under the transmission of the rotation of driving wheel 71 and driving member 8, drive 42 rotations of the affixed with it end section of finger, and the continuous tensioning second spring spare 92.In the finger bend process; When middle finger section 41 turns over angle [alpha]; The axis of the end section of finger 42 relative middle finger section 41 turns over angle beta more, and this β is wrapped on the transition wheel 10 owing to driving member 8 in the finger bend process and driving wheel 71, transition wheel 10 and the variation of driven pulley 72 three's relative positions cause.Respectively refer to the process of section during the similar staff grasping objects of this BENDING PROCESS, promptly be called the coupling BENDING PROCESS of finger by the bending of certain angle ratio.As shown in Figure 8.Be R if set the radius of driving wheel 71 and transition wheel 10, the radius of driven pulley 72 is 2R, and first gear is identical with second tooth radius, can realize that then angle ratio that relative respectively self axis of end section of finger and middle finger section turns over is 1: 1 a gearratio.
When the crooked grasping objects of finger coupling, refer to that respectively section is crooked by above-mentioned coupling process, until complete inclusion complex surface.Like Fig. 9, shown in Figure 10.
When finger self-adapting grasping object, refer to that respectively section is crooked by above-mentioned coupling process, shown in figure 11 earlier.Behind middle finger section 41 contact objects, stop the rotation; But because the existence of the first spring spare 91, the rotation of nearly joint shaft 51 is not stopped that therefore first gear 61 with 62 engagements of second gear still can rotate; Therefore the driving wheel 71 that is fixed on the pedestal axle 51 will rotate with angular speed with first gear 61; And rotation is passed to driven pulley 72 through driving member 8, drive the end section of finger 42 and continue bendings, until the inclusion complex surface.Touch object in middle finger section 41, in the process of the only terminal section of finger 42 bendings, middle finger section 41 produces the grip to object by the moment of torsion of the first spring spare 91 simultaneously.This process realizes that promptly finger respectively refers to section self adaptation inclusion complex surface and firmly grasps object, like Figure 12, shown in Figure 13.
Apparatus of the present invention adopt motor, tiltedly belt drive mechanism and two spring spares etc., comprehensively realized finger earlier the crooked self-adapting grasping different objects then of coupling compound owe to drive grip; Each refers to that Duan Jun has considerable grasp force, and grasping objects is firmly stable; Finger only needs to possess a plurality of flexible finger sections again through a small amount of motor, controls easily.This equipment mechanism is simple and reliable, and energy loss is little, and transmission efficiency is high, and is with low cost, and assembling is safeguarded convenient, and profile and staff are similar, is suitable as anthropomorphic robot's finger part.
Claims (4)
1. the compound under-actuated robot finger device of the oblique belt drive of doublejointed comprises motor (1), decelerator (2), pedestal (3), middle finger section (41), the end section of finger (42), nearly joint shaft (52) and joint shaft (53) far away; Said motor (1) all is fixed on the said pedestal (3) with decelerator (2), and motor output shaft links to each other with reducer input shaft; Said nearly joint shaft (52) is movably set in the pedestal (3), and said middle finger section (41) is actively socketed on the nearly joint shaft (52), and said joint shaft far away (53) is movably set in the middle finger section (41), and the said end section of finger (42) is fixed on the joint shaft far away (53);
It is characterized in that:
This device also comprises pedestal axle (51), pedestal transmission mechanism (6), first gear (61), second gear (62), driving wheel (71), driven pulley (72), driving member (8), the first spring spare (91), the second spring spare (92) and transition wheel (10); Said pedestal axle (51) is movably set in the pedestal (3), and said pedestal axle (51), nearly joint shaft (52) and joint shaft (53) space parallel far away are arranged; Said reducer output shaft links to each other with the pedestal axle through pedestal transmission mechanism (6); Said first gear (61) and driving wheel (71) all overlap and are fixed on the pedestal axle (51); Said second gear (62) cover is fixed on the nearly joint shaft (52), and meshes with said first gear (61); The two ends of the said first spring spare (91) connect nearly joint shaft (52) and middle finger section (42) respectively; The said second spring spare (92) two ends connect middle finger section (42) and joint shaft (53) far away respectively; Said transition wheel (10) is actively socketed on the nearly joint shaft (52); Said driven pulley (72) is fixed on the joint shaft far away (53); One end of said driving member (8) and said driving wheel (71) are affixed, and it is affixed with said driven pulley (72) that the other end is walked around transition wheel (10), and driving member becomes serpentine.
2. the compound under-actuated robot finger device of the oblique belt drive of doublejointed as claimed in claim 1 is characterized in that: described pedestal transmission mechanism (6) comprises first bevel gear (601) and second bevel gear (602); First bevel gear (601) is fixed on the output shaft of decelerator (2), and second bevel gear (602) is fixed on the pedestal axle (51), and first bevel gear (601) is meshed with second bevel gear (602).
3. the compound under-actuated robot finger device of the oblique belt drive of doublejointed as claimed in claim 1; It is characterized in that: described driving wheel (71), driven pulley (72) and transition wheel (10) adopt belt wheel, rope sheave or sprocket wheel; Said driving member (8) adopts flat rubber belting, cog belt, tendon rope, steel wire or chain, and driving wheel, driven pulley, transition wheel cooperate the formation drive connection with driving member.
4. the compound under-actuated robot finger device of the oblique belt drive of doublejointed as claimed in claim 1 is characterized in that: said first spring spare (91) and the second spring spare (92) adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110252699 CN102328316B (en) | 2011-08-30 | 2011-08-30 | Double-joint inclined belt type transmission compound underactuated robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110252699 CN102328316B (en) | 2011-08-30 | 2011-08-30 | Double-joint inclined belt type transmission compound underactuated robot finger device |
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| Publication Number | Publication Date |
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| CN102328316A true CN102328316A (en) | 2012-01-25 |
| CN102328316B CN102328316B (en) | 2013-08-14 |
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| CN 201110252699 Expired - Fee Related CN102328316B (en) | 2011-08-30 | 2011-08-30 | Double-joint inclined belt type transmission compound underactuated robot finger device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102794772A (en) * | 2012-08-08 | 2012-11-28 | 清华大学 | Motor-centered compound under-actuated gripping robot finger device |
| CN103612264A (en) * | 2013-11-28 | 2014-03-05 | 北京智能佳科技有限公司 | Mechanical finger and mechanical arm |
| CN105150235A (en) * | 2015-09-18 | 2015-12-16 | 山东科技大学 | Novel cable-driven three-fingered dexterous hand |
| CN105150225A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel |
| WO2023197761A1 (en) * | 2022-04-14 | 2023-10-19 | 中国华能集团清洁能源技术研究院有限公司 | Robotic hand device for combined operation of electrical cabinet in offshore booster station |
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| WO1990002030A1 (en) * | 1988-08-31 | 1990-03-08 | The Trustees Of The University Of Pennsylvania | Methods and apparatus for mechanically intelligent grasping |
| CN101214652A (en) * | 2008-01-04 | 2008-07-09 | 清华大学 | Gear belt wheel transition under-driven robot finger device |
| CN101664929A (en) * | 2009-09-11 | 2010-03-10 | 清华大学 | Rack type parallel coupling underactuated robot finger device |
| CN101774175A (en) * | 2010-01-26 | 2010-07-14 | 清华大学 | Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device |
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2011
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| WO1990002030A1 (en) * | 1988-08-31 | 1990-03-08 | The Trustees Of The University Of Pennsylvania | Methods and apparatus for mechanically intelligent grasping |
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Non-Patent Citations (1)
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102794772A (en) * | 2012-08-08 | 2012-11-28 | 清华大学 | Motor-centered compound under-actuated gripping robot finger device |
| CN103612264A (en) * | 2013-11-28 | 2014-03-05 | 北京智能佳科技有限公司 | Mechanical finger and mechanical arm |
| CN103612264B (en) * | 2013-11-28 | 2016-02-24 | 北京智能佳科技有限公司 | A kind of mechanical finger and manipulator |
| CN105150225A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel |
| CN105150235A (en) * | 2015-09-18 | 2015-12-16 | 山东科技大学 | Novel cable-driven three-fingered dexterous hand |
| WO2023197761A1 (en) * | 2022-04-14 | 2023-10-19 | 中国华能集团清洁能源技术研究院有限公司 | Robotic hand device for combined operation of electrical cabinet in offshore booster station |
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