CN102328316B - 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 PDF

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Publication number
CN102328316B
CN102328316B CN 201110252699 CN201110252699A CN102328316B CN 102328316 B CN102328316 B CN 102328316B CN 201110252699 CN201110252699 CN 201110252699 CN 201110252699 A CN201110252699 A CN 201110252699A CN 102328316 B CN102328316 B CN 102328316B
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CN
China
Prior art keywords
finger
joint shaft
pedestal
shaft
gear
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Expired - Fee Related
Application number
CN 201110252699
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Chinese (zh)
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CN102328316A (en
Inventor
张文增
张驰
陈强
都东
孙振国
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WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY
Tsinghua University
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Tsinghua University
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Publication of CN102328316A publication Critical patent/CN102328316A/en
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Publication of CN102328316B publication Critical patent/CN102328316B/en
Expired - Fee Related legal-status Critical Current
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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 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

The compound under-actuated robot finger device of the oblique belt drive of doublejointed
Technical field
The invention belongs to the human simulating manipulator technical field, particularly the structural design of the compound under-actuated robot finger device of the oblique belt drive of 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 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.
So-called compound under-actuated robot finger device, referring to 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 by a plurality of joints of driver drives only.Existing a kind of robot finger apparatus, 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, 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, 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; Simple in structure, energy loss is little, transmission efficiency is high.
Technical scheme of the present invention is as follows:
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, the middle part section of finger, the end section of finger, nearly joint shaft and joint shaft far away; Described motor and described decelerator all are fixed on the described pedestal, and motor output shaft links to each other with reducer input shaft, and reducer output shaft and described first gear are affixed; Described nearly joint shaft is movably set in the pedestal, and the described middle part section of finger pivot bush unit is on nearly joint shaft, and described joint shaft far away is movably set in the section of finger of middle part, and the described end section of finger cover is fixed on the joint shaft far away; Described 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; Described pedestal axle is movably set in the pedestal, and described pedestal axle, nearly joint shaft and joint shaft far away are arranged in parallel; Described reducer output shaft links to each other with the pedestal axle by the pedestal transmission mechanism; Described first gear and driving wheel all overlap and are fixed on the pedestal axle; Described second geared sleeve is fixed on the nearly joint shaft, and meshes with described first gear; The two ends of the described first spring spare connect nearly joint shaft and the middle part section of finger respectively; The described second spring spare two ends connect the middle part section of finger and joint shaft far away respectively; Described transition wheel is actively socketed on the nearly joint shaft; Described driven pulley is fixed on the joint shaft far away; One end and the described driving wheel of described driving member are affixed, and the other end walks around transition wheel and described 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, described 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 described 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, oblique belt drive mechanism and two spring spares etc., have comprehensively realized pointing coupling earlier and have grasped the object compound driving extracting effect of owing of self-adapting grasping different objects then; Each refers to that Duan Jun has considerable grasp force, and it is firmly stable more to grasp object; Finger only needs to possess a plurality of flexible finger sections again by a small amount of motor, and operation control easily.This apparatus structure is simple and reliable, and energy loss is little, and the transmission efficiency height 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 the middle part section of finger, the signal of the end section of finger coupling grasping object process.
Figure 11, Figure 12, Figure 13 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 is the end section of finger self adaptation grasping object process.
In Fig. 1 to Figure 13:
The 1-motor, the 2-decelerator, the 3-pedestal,
The 41-middle part section of finger, 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, the middle part section of finger 41, the end section of finger 42, nearly joint shaft 52 and joint shaft 53 far away; Described motor 1 all is fixed on the described pedestal 3 with described decelerator 2, and motor output shaft links to each other with reducer input shaft, and reducer output shaft and described first gear 61 are affixed; Described nearly joint shaft 52 is movably set in the pedestal 3, and the described middle part section of finger 41 pivot bush units are on nearly joint shaft 52, and described joint shaft 53 far away is movably set in the section of finger 41 of middle part, and the described end section of finger 42 covers are fixed on the joint shaft 53 far away; Described 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; Described pedestal axle 51 is movably set in the pedestal 3, and described pedestal axle 51, nearly joint shaft 52 and joint shaft 53 far away are arranged in parallel; Described reducer output shaft links to each other with the pedestal axle by pedestal transmission mechanism 6; Described first gear 61 and driving wheel 71 all overlap and are fixed on the pedestal axle 51; Described second gear, 62 covers are fixed on the nearly joint shaft 52, and mesh with described first gear 61; The two ends of the described first spring spare 91 connect nearly joint shaft 52 and the middle part section of finger 42 respectively; The described second spring spare 92 two ends connect the middle part section of finger 42 and joint shaft 53 far away respectively; Described transition wheel 10 is actively socketed on the nearly joint shaft 52; Described driven pulley 72 is fixed on the joint shaft 53 far away; One end and the described driving wheel 71 of described driving member 8 are affixed, and the other end walks around transition wheel 10 and described 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 described 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, described driving wheel 71, driven pulley 72 all adopt rope sheave with transition wheel 10, and described driving member 8 adopts steel wire.The described 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 described 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, is 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 namely the middle part section of finger 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 to grasp object, the output shaft of motor 1 rotates, and drives first bevel gear 601 and rotate after decelerator 2 slows down.Second bevel gear 602 and 601 engagements of first bevel gear, and it is affixed with pedestal axle 51, intrinsic first gear 61 and driving wheel 71 of cover 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, the middle part section of finger 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 the section of finger 41 rotations in the middle part of the drive.Simultaneously, driven pulley 72 will begin to rotate under the transmission of the rotation of driving wheel 71 and driving member 8, and drive the affixed with it end section of finger 42 and rotate, and the continuous tensioning second spring spare 92.In the finger BENDING PROCESS, when the middle part section of finger 41 turns over angle [alpha], the end section of finger 42 axis of the middle part section of finger 41 relatively turns over angle beta more, and this β is wrapped on the transition wheel 10 owing to driving member 8 in the finger BENDING PROCESS and driving wheel 71, transition wheel 10 and the variation of driven pulley 72 three's relative positions cause.When grasping object, the similar staff of this BENDING PROCESS refers to respectively that section in the process of certain angle ratio bending, namely is called the coupling BENDING PROCESS of finger.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, then can realize the end section of finger and the middle part section of finger respectively the angle ratio that turns over of relative self axis be 1: 1 gearratio.
When the crooked extracting of finger coupling object, refer to that respectively section is by above-mentioned coupling process bending, until complete inclusion complex surface.As Fig. 9, shown in Figure 10.
When finger self-adapting grasping object, refer to that respectively section is earlier by above-mentioned coupling process bending, as shown in figure 11.Behind the middle part section of finger 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 blocked, 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 through driving member 8 rotation is passed to driven pulley 72, drive the end section of finger 42 and continue bendings, until the inclusion complex surface.Touch object in the middle part section of finger 41, only in the process of the terminal section of finger 42 bendings, the middle part section of finger 41 is by the moment of torsion generation of the first spring spare 91 grip to object simultaneously.This process realizes that namely finger respectively refers to section self adaptation inclusion complex surface and firmly grasps object, as shown in Figure 12 and Figure 13.
Apparatus of the present invention adopt motor, oblique belt drive mechanism and two spring spares etc., have comprehensively realized pointing the compound driving extracting effect of owing of the crooked self-adapting grasping different objects then of coupling earlier; Each refers to that Duan Jun has considerable grasp force, and it is firmly stable to grasp object; Finger only needs to possess a plurality of flexible finger sections again by a small amount of motor, and operation control easily.This equipment mechanism is simple and reliable, and energy loss is little, and the transmission efficiency height 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), the middle part section of finger (41), the end section of finger (42), nearly joint shaft (52) and joint shaft (53) far away; Described motor (1) all is fixed on the described pedestal (3) with decelerator (2), and motor output shaft links to each other with reducer input shaft; Described nearly joint shaft (52) is movably set in the pedestal (3), the described middle part section of finger (41) is actively socketed on the nearly joint shaft (52), described joint shaft far away (53) is movably set in the middle part section of finger (41), and the described 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); Described pedestal axle (51) is movably set in the pedestal (3), and described pedestal axle (51), nearly joint shaft (52) and joint shaft (53) space parallel far away are arranged; The output shaft of described decelerator links to each other with the pedestal axle by pedestal transmission mechanism (6); Described first gear (61) and driving wheel (71) all overlap and are fixed on the pedestal axle (51); Described second gear (62) cover is fixed on the nearly joint shaft (52), and meshes with described first gear (61); The two ends of the described first spring spare (91) connect nearly joint shaft (52) and the middle part section of finger (42) respectively; The described second spring spare (92) two ends connect the middle part section of finger (42) and joint shaft (53) far away respectively; Described transition wheel (10) is actively socketed on the nearly joint shaft (52); Described driven pulley (72) is fixed on the joint shaft far away (53); One end of described driving member (8) and described driving wheel (71) are affixed, and it is affixed with described 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, it 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, described driving member (8) adopts cog belt, tendon rope 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: the described first spring spare (91) and the second spring spare (92) employing torsion spring, extension spring, stage clip, sheet spring or elastic threads.
CN 201110252699 2011-08-30 2011-08-30 Double-joint inclined belt type transmission compound underactuated robot finger device Expired - Fee Related CN102328316B (en)

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Application Number Priority Date Filing Date Title
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CN102328316B true CN102328316B (en) 2013-08-14

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
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
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
CN105150225B (en) * 2015-09-08 2021-03-16 清华大学 Finger device of composite pinching and holding self-adaptive robot with rod wheels in parallel connection
CN105150235B (en) * 2015-09-18 2017-03-01 山东科技大学 A kind of rope drives ternary sequential circuit

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4957320A (en) * 1988-08-31 1990-09-18 Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
CN101214652B (en) * 2008-01-04 2010-06-02 清华大学 Transition under-driven robot finger device
CN101664929B (en) * 2009-09-11 2011-01-05 清华大学 Rack type parallel coupling underactuated robot finger device
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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