New! View global litigation for patent families

CN102717393B - Connecting rod coupling-type finger device for neat robot - Google Patents

Connecting rod coupling-type finger device for neat robot Download PDF

Info

Publication number
CN102717393B
CN102717393B CN 201210179816 CN201210179816A CN102717393B CN 102717393 B CN102717393 B CN 102717393B CN 201210179816 CN201210179816 CN 201210179816 CN 201210179816 A CN201210179816 A CN 201210179816A CN 102717393 B CN102717393 B CN 102717393B
Authority
CN
Grant status
Grant
Patent type
Prior art keywords
device
rod
robot
coupling
neat
Prior art date
Application number
CN 201210179816
Other languages
Chinese (zh)
Other versions
CN102717393A (en )
Inventor
杨雷
张文增
孙振国
陈强
Original Assignee
清华大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Grant date

Links

Abstract

连杆耦合式灵巧机器人手指装置,属于拟人机器人手技术领域,包括基座、中部指段、末端指段、近关节轴、远关节轴、连杆传动机构、两套电机和减速器。 Link means coupled robot finger dexterity, belonging BACKGROUND humanoid robot hand, comprising a base, a middle finger section, the end section means, near the joint shaft, the joint axis far, link drive mechanism, the motor and gear sets. 该装置实现了两自由度的四种抓取模式:1)双关节耦合转动抓取模式;2)双关节独立转动抓取模式;3)双关节先耦合转动,之后再独立转动的抓取模式;4)双关节先独立转动,之后再耦合转动的抓取模式。 The device implements two degrees of freedom gripping four modes: 1) double joint rotatably coupled crawl mode; 2) two independently rotatable joint crawl mode; 3) rotatably coupled to the first double-jointed, then again rotate independently crawl mode ; 4) double joint to rotate independently, crawl mode re-coupling after rotation. 该装置既能达到传统耦合手指所实现的单个电机驱动多个关节同时转动的耦合效果,又具有传统耦合手指没有的独立转动单个关节的解耦抓取效果,抓取物体时控制容易;所有电机、减速器均藏入基座中,手指转动部分体积小、重量轻。 The conventional apparatus can achieve a single motor coupled to drive a plurality of finger joints to achieve simultaneous rotation of the coupling effect, and also having a coupling finger is not the conventional independent rotation of a single joint decoupling gripping effect, when the control is easy to grasp an object; all motors reducer are hidden into the base, the finger is rotated a small partial volume, light weight.

Description

连杆耦合式灵巧机器人手指装置 Link means coupled robot finger dexterity

技术领域 FIELD

[0001] 本发明属于拟人机器人手技术领域,特别涉及一种连杆耦合式灵巧机器人手指装置的结构设计。 [0001] The present invention belongs to the technical field humanoid robot hand, and particularly relates to a structural design of the finger means rod coupled smart robots.

背景技术 Background technique

[0002] 随着科学技术日新月异的发展,人们越来越渴望从单一反复的机械劳动中解脱出来,在传统劳动密集型生产工作中使用机器人或者部分使用机器人的需求也水涨船高。 [0002] With the rapid development of science and technology, people are increasingly eager to extricate themselves from a single repeated mechanical labor, the robot needs or partially the use of robots in traditional labor-intensive production work have gone up. 在拟人机器人研究领域,一个重要的研究方向是抓取物体,是目前研究的热点。 In the field of humanoid robotics research, an important research direction is to grasp an object, is a hot topic at present. 人手上分布着多达20个以上的自由度,如果全部采用电机驱动的方式控制,不但成本昂贵,其实时控制的要求很高,即使抓取一个简单的物体也需要复杂的传感和控制。 Distribution of the hands up to 20 or more degrees of freedom, if the entire motor-driven is controlled, not only expensive, in fact, a high control demands, even a simple grab objects can require complex sensing and control. 为了减小控制的难度,一种方法是减少同时工作的电机数量,这样抓取物体的实时性能够更容易保证,同时又带来一个问题:如何用较少的电机驱动较多的关节(即欠驱动抓取),并且动作过程拟人化效果好,抓取物体仍然稳定可靠。 In order to reduce the difficulty of control, a method of reducing the number of simultaneously operating the motor, so that gripping of the object can be easier to ensure real-time, but also poses a problem: How many fewer joints motor drive (i.e. underactuated crawl), and the course of action anthropomorphic good effect, grasping the object is still stable and reliable.

[0003] 通常有两种方式可以实现欠驱动抓取,一种是自适应欠驱动手指机构,经常简称为自适应手指或欠驱动手指,另一种是耦合欠驱动手指机构,经常简称为耦合手指。 [0003] There are generally two ways to implement underactuated gripping a finger underactuated adaptive mechanism, often referred to as an adaptive drive fingers under the finger or the other is coupled underactuated finger mechanism, often referred to as coupling finger. 自适应手指虽然被动的实现了自动适应物体的形状和尺寸,但是存在一种不稳定抓取现象:靠近根部的指段会发生挤跑物体或破坏物体;还存在另一种不稳定现象:在自适应抓取达到之后,如果抓持力过大也会进一步导致物体被推开;此外,该手指的抓取过程不拟人,也无法实现自弯曲(握拳)等手势。 A passive adaptive fingers is achieved automatically adapt the shape and size of the object, but the presence of an unstable phenomenon crawl: close to the root object or squeezed back section refers to destroy the object occurs; there is another instability: the after the adaptive crawling reached, if the gripping force is too large will cause the object to be pushed further; in addition, crawl the finger is not anthropomorphic, can not be achieved from bending (fist) and other gestures. 耦合手指虽然抓取过程比较拟人化,能够自弯曲,且抓取较为稳定,但是不具有自适应性,实现捏持较好,对多数物体难以实现较好的握持效果。 Although finger gripping coupling process is anthropomorphic, capable of self-bending, and more stable gripping, but does not have adaptability to achieve a better grip, the object is difficult to achieve for most better grip effect.

[0004] 已有的一种双联锥齿轮耦合欠驱动机器人手指,如中国发明专利CN101633172A,包括基座、近关节轴、中部指段、远关节轴、末端指段、电机、减速器、第一锥齿轮、双联锥齿轮、第二锥齿轮。 [0004] have a double bevel gear coupled underactuated robot finger, such as Chinese invention patent CN101633172A, comprising a base, near the joint shaft, the middle finger section, the joint shaft distal end section refers to, motor, reducer, the first a bevel gear, a double bevel gear, the second bevel gear. 电机通过减速器带动中部指段绕近关节轴转动,末端指段会同时转动一个角度,达到近关节轴和远关节轴同时转动的耦合转动效果。 Driven by the motor reducer rotates the middle section near the joint means about the axis, the end sections will also refers to a rotation angle, and the joint axis nearly simultaneously rotated away joint shaft rotatably coupling effect. 该装置的不足之处是:在抓取物体的过程中,近关节轴和远关节轴的转动是同时的,当中部指段接触物体被阻挡不能再继续转动时,末端指段即使没有接触物体也无法再进一步转动,因此抓取效果不好。 Disadvantage of this device is that: in the process of grasping an object, the rotation axis of the joint near and far simultaneous joint axis, which refers to section portion contacting the object to be blocked can not continue to rotate, even without contact with the end section refers to the object We can not further rotate, so not fetch results. 较好的抓取方式应该是中部指段和末端指段都能接触到物体并施加抓持力。 Fetch should preferably refers to the central section and end sections can refer to an object and the contact force applied to the grip.

发明内容 SUMMARY

[0005] 本发明的目的是针对已有技术的不足之处,提供一种连杆耦合式灵巧机器人手指装置。 Objective [0005] The present invention is for the deficiencies of the prior art, there is provided a link means coupled robot finger dexterity. 该装置具有两个自由度,能实现多种抓取模式,包括:1)双关节耦合转动抓取模式; The device has two degrees of freedom, to achieve a variety of crawl mode, comprising: 1) double joint rotatably coupled crawl mode;

2)双关节独立转动抓取模式;3)双关节先耦合转动,之后再独立转动的抓取模式;4)双关节先独立转动,之后再耦合转动的抓取模式。 2) double joint to rotate independently crawl mode; 3) rotatably coupled to the double joint, and then after the independent rotation of the crawl mode; 4) is rotated to separate double joint, after re-coupling of the rotation capture mode.

[0006] 本发明采用如下技术方案: [0006] The present invention adopts the following technical solution:

[0007] —种连杆耦合式灵巧机器人手指装置,包括基座、中部指段、末端指段、近关节轴和远关节轴;所述的近关节轴套设在基座中,所述的远关节轴套设在中部指段中,近关节轴与远关节轴平行,所述的中部指段套固在近关节轴上,所述的末端指段套固在远关节轴上;其特征在于:该连杆耦合式灵巧机器人手指装置还包括第一电机、第一减速器、第二电机、第二减速器、第一连杆、第二连杆、第三连杆、第一销轴和第二销轴;所述的第一电机和第一减速器均与基座固接,第一电机的输出轴与第一减速器的输入轴相连,第一减速器的输出轴与近关节轴相连;所述的第二电机和第二减速器均与基座固接,第二电机的输出轴与第二减速器的输入轴相连,第二减速器的输出轴与第一连杆相连;所述的第一连杆套接在近关节轴上,所述的第二连杆套固在远关 [0007] - seed rod coupled robot finger dexterity apparatus comprising a base, middle finger section, the end section means, near the joint shaft and a distal joint axis; said sleeve is provided near the joint in the base, according to distal joint bushing means disposed in the middle section, and distal joint near the joint shaft parallel to the axis of the middle section of the bushing securing means near a joint axis, the end section refers to the joint shaft of the sleeve in the distal solid; wherein wherein: the linkage coupled smart robot finger means further comprises a first motor, a first speed reducer, a second motor, a second reduction gear, a first link, second link, third link, a first pin and a second pin; said first motor and the first reduction gear are fixed to the base, the output shaft is connected to the input shaft of the first motor and the first speed reducer, the output shaft of the first reduction gear and near the joint connected to the shaft; said second motor and a second reduction gear are fixed to the base, the output shaft is connected to the second input shaft and a second motor reducer, the output shaft of the second reduction gear is connected to the first link ; sleeved on the first link shaft near the joint, the second link fixed at the distal sheath off 轴上并与末端指段固接;所述的第三连杆的一端通过第一销轴与第一连杆铰接,第三连杆的另一端通过第二销轴与第二连杆铰接;令近关节轴的中心线与远关节轴的中心线构成的平面为平面K,第一销轴和第二销轴分别位于平面K的两侧。 Shaft and fixedly connected with the end section means; end of said third link by a first pin and a first link hinge, the other end of the third link by a second pin and a second link hinge; the centerline plane of the joint shaft distal joint axis so nearly planar configuration of K, a first pin and a second pin on each side of the plane K.

[0008] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:第一减速器的输出轴通过第一传动机构与近关节轴相连。 [0008] The link-coupled robot finger dexterity apparatus according to the present invention, wherein: the output shaft of the first reduction gear mechanism connected via a first gear shaft near the joint.

[0009] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:第二减速器的输出轴通过第二传动机构与第一传动轮相连。 [0009] Smart robot finger link coupled device according to the present invention, wherein: the output shaft of the second reduction gear mechanism connected to the second transmission by the first transmission wheel.

[0010] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第一传动机构包括第一齿轮和第二齿轮;所述的第一齿轮套固在第一减速器的输出轴上,第二齿轮套固在近关节轴上,第一齿轮与第二齿轮啮合。 [0010] Smart robot finger link coupled device according to the present invention, wherein: said first transmission mechanism includes a first gear and a second gear; said first gear fixed on a first reduction gear set the output shaft of the second gear shaft sleeve fixed near the joint, the first and second gears engaged.

[0011] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二传动机构包括第三齿轮和第四齿轮;所述的第三齿轮套固在第二减速器的输出轴上,所述的第四齿轮套接在近关节轴上,所述的第三齿轮与第四齿轮啮合,所述的第四齿轮与第一传动轮固接。 [0011] Smart robot finger link coupled device according to the present invention, wherein: said second transmission mechanism includes a third gear and a fourth gear; said third gear fixed on the second reduction gear set an output shaft, said fourth gear is sleeved on the shaft near the joint, engaging the third gear and the fourth gear, the fourth gear wheel fixedly connected with the first transmission.

[0012] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二减速器的减速比至少为100。 Link-coupled device according to robot finger dexterity [0012] The present invention is characterized in that: said second reduction gear reduction ratio of at least 100.

[0013] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二减速器采用具有自锁特性的减速传动机构。 [0013] Smart robot finger link coupled device according to the present invention, wherein: said second gear mechanism having a reduction gear unit using self-locking properties.

[0014] 本发明与现有技术比较,具有以下优点和突出性效果: [0014] Comparison of the prior art and the present invention has the following advantages and effects projection of:

[0015] 本发明装置采用连杆传动机构、两套电机和减速器综合实现了2自由度的机器人手指,该装置具有四种抓取模式,包括:1)双关节耦合转动抓取模式;2)双关节独立转动抓取模式;3)双关节先耦合转动,之后再独立转动的抓取模式;4)双关节先独立转动,之后再耦合转动的抓取模式。 [0015] The apparatus of the present invention uses link drive mechanism, the motor and gear sets to achieve a comprehensive two degrees of freedom robot finger, the gripping device has four modes, comprising: 1) double joint rotatably coupled crawl mode; 2 ) double joint to rotate independently crawl mode; 3) rotatably coupled to the double joint, and then after the independent rotation of the crawl mode; 4) is rotated to separate double joint, after re-coupling of the rotation capture mode. 该装置既能达到传统耦合手指所实现的单个电机驱动多个关节同时转动的耦合效果,又具有传统耦合手指没有的独立转动单个关节的解耦抓取效果,抓取物体时控制容易;所有电机、减速器均藏入基座中,手指转动部分体积小、重量轻。 The conventional apparatus can achieve a single motor coupled to drive a plurality of finger joints to achieve simultaneous rotation of the coupling effect, and also having a coupling finger is not the conventional independent rotation of a single joint decoupling gripping effect, when the control is easy to grasp an object; all motors reducer are hidden into the base, the finger is rotated a small partial volume, light weight.

附图说明 BRIEF DESCRIPTION

[0016] 图1是本发明提供的连杆耦合式灵巧机器人手指装置的一种实施例的正面外观图 [0016] FIG. 1 is a front exterior view of a link device coupled finger dexterity robot of the present embodiment of the invention provides

[0017] 图2是本实施例的侧视图,也是图1的右视图。 [0017] FIG. 2 is a side view of the embodiment according to the present embodiment, is a right side view of FIG. 1.

[0018] 图3是本实施例的正面剖视图,也是图1的剖视图。 [0018] FIG. 3 is a front cross-sectional view of the embodiment according to the present embodiment, is a cross-sectional view of FIG.

[0019] 图4是图3中的C一C剖视图[0020] 图5、图6、图7和图8是本实施例抓握物体过程的几个关键位置侧面外观示意图。 [0019] FIG. 3 FIG. 4 is the C-C cross-sectional view [0020] FIG. 5, FIG. 6, FIG. 7 and FIG. 8 is an external side schematic view of the position of several key embodiments of the present embodiment during the gripping of the object.

[0021] 图9和图10是本实施例捏持物体的情况示意图。 [0021] FIGS. 9 and FIG. 10 is a schematic diagram of the present embodiment where the grip object.

[0022] 图11是本实施例中,由近关节轴的中心线O1与远关节轴的中心线O2构成的平面K与第一销轴的中心线A、第二销轴的中心线B相互位置示意图。 [0022] FIG. 11 is an embodiment of the present embodiment, the centerline plane K consisting of the center line O1 O2 distal joint axis of the first joint axis near the center line of the pin A, the center line B of the second pin each position of FIG.

[0023] 图12是本实施例采用耦合抓取模式弯曲近关节和远关节的情况示意。 [0023] FIG. 12 is a coupling according to the present embodiment employs the curved crawl mode where near and far joints joint schematically.

[0024] 在图1至图12中: [0024] In Figures 1 to 12:

[0025] I一基座, 2—中部指段, 3—末端指段 [0025] I a base, a 2-finger middle section, the end section refers to 3-

[0026] 4 一近关节轴, 5—远关节轴, [0026] a proximal joint shaft 4, 5-away joint axis,

[0027] 61一第一电机,62—第一减速器, [0027] a first motor 61, 62- first reduction gear,

[0028] 71—第二电机,72—第二减速器, [0028] 71- second motor, a second reduction gear 72-,

[0029] 91 一第一连杆,92—第二连杆, 93—第三连杆, [0029] a first link 91, second link 92-, 93- third link,

[0030] 94 一第一销轴,95—第二销轴, [0030] 94 a first pin, a second pin 95-,

[0031] 85一第一齿轮,86—第二齿轮, 87—第二齿轮, [0031] a first gear 85, second gear 86-, 87- second gear,

[0032] 88一第四齿轮。 [0032] a fourth gear 88.

具体实施方式 detailed description

[0033] 下面结合附图及实例进一步介绍本发明的具体结构、工作原理。 [0033] The following further describes the particular structure of the present invention, the working principle of the accompanying drawings and examples.

[0034] 本发明设计的一种连杆耦合式灵巧机器人手指装置的实施例,如图1、图2、图3、图4、图5、图6和图7所示,包括基座1、中部指段2、末端指段3、近关节轴4、远关节轴5 ;所述的近关节轴4套设在基座I中,所述的远关节轴5套设在中部指段2中,近关节轴4和远关节轴5平行,所述的中部指段2套固在近关节轴4上,所说的末端指段3套固在远关节轴5上;该连杆稱合式灵巧机器人手指装置还包括第一电机61、第一减速器62、第二电机71、第二减速器72、第一连杆91、第二连杆92、第三连杆93、第一销轴94和第二销轴95 ;所述的第一电机61和第一减速器62均与基座I固接,第一电机61的输出轴与第一减速器62的输入轴相连,第一减速器62的输出轴与近关节轴4相连;所述的第二电机71和第二减速器72均与基座I固接,第二电机71的输出轴与第二减速器72的输入轴相连,第二减速器 1, FIG. 2, FIG. 3, FIG. 4, 5, 6 and 7 [0034] An embodiment of a link device coupled finger dexterity robot of the present invention is designed, as shown, comprises a base 1, 2 refers to the middle section, the end section means 3, the shaft 4 near the joint, the joint shaft 5 away; near the joint shaft 4 provided in the sleeve base I, the distal joint shaft 5 located in the central sets of finger sections 2 , near the joint and a distal joint shaft 4 parallel to shaft 5, the middle finger on the fixed sleeve segment 2 near the joint shaft 4, paragraph 3 refers to the end of said sleeve fixed in the distal joint axis 5; smart fit the said connecting rod a first robot finger means further comprises a motor 61, a first reduction gear 62, a second motor 71, the second reduction gear 72, the first link 91, second link 92, third link 93, the first pin 94 and a second pin 95; the first motor 61 and the first reduction gear 62 is fixed to the base I, the output shaft of the first motor 61 and the reduction gear is connected to the first input shaft 62, a first reduction gear and an output shaft 62 connected to the shaft 4 near the joint; the second motor 71 and the second reduction gear 72 are fixed to the base I, the second motor 71 is connected to the output shaft of the second gear unit input shaft 72, The second reduction gear 72的输出轴与第一连杆91相连;所述的第一连杆91套接在近关节轴4上,所述的第二连杆92套固在远关节轴5上并与末端指段3固接;所述的第三连杆93的一端通过第一销轴94与第一连杆91铰接,第三连杆93的另一端通过第二销轴95与第二连杆92铰接;令近关节轴4的中心线与远关节轴5的中心线构成的平面为平面K,第一销轴94和第二销轴95分别位于平面K的两侧,如图11所示。 An output shaft 72 connected to the first link 91; the first link 91 is sleeved on the shaft 4 near the joint, the second link 92 and the sleeve fixed in the distal end of the finger joint shaft segment 5 3 fixed; end of the third link 93 by a first pin 94 and first link 91 is hinged, the other end of the third link 93 by a second pin hinge 95 and the second link 92; near the joint plane so that the centerline axis of the distal joint shaft 4 constituting the center line 5 of the K plane, the first pin 94 and second pin 95 are located on both sides of the plane K, as shown in FIG.

[0035] 本实施例中,第一减速器62的输出轴通过第一传动机构与近关节轴4相连。 [0035] In this embodiment, the output shaft of the first reduction gear 62 is connected via a first gear mechanism 4 and the shaft near the joint.

[0036] 本实施例中,第二减速器72的输出轴通过第二传动机构与第一传动轮相连。 [0036] In this embodiment, the second reduction gear output shaft 72 is connected by a second transmission mechanism with the first transmission gear.

[0037] 本实施例中,所述的第一传动机构包括第一齿轮85和第二齿轮86 ;所述的第一齿轮85套固在第一减速器62的输出轴上,第二齿轮86套固在近关节轴4上,第一齿轮85与第二齿轮86啮合。 [0037] In this embodiment, the first gear mechanism comprises a first gear 85 and second gear 86; 85 of the first sleeve gear reducer output shaft fixed at a first 62, a second gear 86 sleeve fixed on the shaft 4 near the joint, a first gear 85 meshed with the second gear 86.

[0038] 本实施例中,所述的第二传动机构包括第三齿轮87和第四齿轮88 ;所述的第三齿轮87套固在第二减速器72的输出轴上,所述的第四齿轮88套接在近关节轴4上,所述的第三齿轮87与第四齿轮88啮合,所述的第四齿轮88与第一传动轮固接。 A first set of said third gear 87 fixed on the second output shaft 72 of the speed reducer, according to; [0038] In this embodiment, the second transmission mechanism 87 includes a third gear and the fourth gear 88 four gear 88 is sleeved on the shaft 4 near the joint, the third gear 87 and fourth gear 88, the fourth gear 88 fixed to the first drive wheel. [0039] 本发明装置中,所述的第二减速器的减速比至少为100。 Apparatus of the invention [0039] present, the second reduction gear reduction ratio of at least 100. 本实施例中的第二减速器72采用行星齿轮减速器,其减速比为275。 A second speed reducer 72 of the present embodiment using a planetary gear reducer, reduction ratio of 275.

[0040] 本发明装置中,所述的第二减速器可以采用具有自锁特性的减速传动机构。 [0040] The apparatus of the present invention, the second reduction gear may be employed a reduction gear mechanism having self-locking properties. 另一种实施例中,第二减速器采用具有自锁特性的丝杆螺母传动机构或蜗轮蜗杆传动机构。 In another embodiment, the second reduction gear transmission using a nut screw or worm gear having a self-locking properties.

[0041] 本发明的工作原理结合图5、图6、图7、图8、图9和图10,叙述如下: [0041] The working principle of the invention in conjunction with FIGS. 5, 6, 7, 8, 9, and 10, described as follows:

[0042] 本实施例采用连杆传动机构、两套电机和减速器综合实现了2自由度的机器人手指,该装置具有四种抓取模式,包括: [0042] The present embodiment employs a link drive mechanism, the motor and gear sets to achieve a comprehensive two degrees of freedom robot finger, the gripping device has four modes, comprising:

[0043] I)双关节耦合转动抓取模式:此时只让第一电机61转动,第二电机71不使用,转动后如图12所示; [0043] I) bis joint rotatably coupled crawl mode: In this case only the first motor 61 so that rotation of the second motor 71 is not used, after the rotation shown in Figure 12;

[0044] 2)双关节独立转动抓取模式:此时两个电机可以同时转动,第一电机61会使得手指产生耦合联动,第二电机71可以在此基础上任意改变末端指段的转动角度; [0044] 2) two independently rotatable joint crawl mode: while the two motors can be rotated simultaneously, the first motor 61 causes the finger a coupling linkage, the second motor 71 can be changed to refer to the end section of the turning angle on the basis of ;

[0045] 3)双关节先耦合转动,之后再独立转动的抓取模式:此时先转动第一电机61,当中部指段碰触物体之后,停止第一电机61,再转动第二电机71 ; [0045] 3) double joint rotatably coupling first, and then after the independent rotation of the crawl mode: In this case the first rotation of the first motor 61, which means after the segment portion touching the object, stop the first motor 61, second motor 71 is rotated again ;

[0046] 4)双关节先独立转动,之后再耦合转动的抓取模式:此时先同时启动两个电机,根据情况一段时间之后停止第二电机71,再转动第一电机61。 [0046] 4) double joint to rotate independently, after re-coupling of the rotation crawl mode: In this case simultaneously two first start the motor, the motor is stopped according to a second period of time after the case 71, and then the first motor 61 is rotated.

[0047] 下面对常用的第二种抓取模式进一步举例解释其动作原理。 [0047] Next, the second conventional example is further explained crawl mode operation principle thereof. 该装置采用第二种抓取模式抓取物体的过程分为两个阶段:耦合抓取阶段和灵巧抓取阶段。 The device uses the second crawl mode process object in two stages: fetch stage coupled fetch stage and dexterity.

[0048] 该装置的初始位置如图5所示,此时中部指段2和末端指段3与基座I呈手指伸直状态。 [0048] The initial position of the apparatus shown in FIG. 5, when the middle finger section 2 and the tip section 3 and refers to the base I was finger straightened state. 当使用本实施例的机器人手指抓取物体时,第一电机61的输出轴转动,经第一减速器62通过第一齿轮85带动第二齿轮86,从而中部指段2和近关节轴4绕着近关节轴4的轴线转动一个角度α,如图6所示。 When using the embodiment of the robot finger gripping objects embodiment, the output shaft of the first motor 61 rotates, via the first reduction gear 62 via the first gear 85 drives the second gear 86, so that the middle finger joint section 2 and the shaft 4 about the near near the joint shaft axis 4 is rotated by an angle α, as shown in FIG.

[0049] 在此过程中,第二电机71并未转动,由于第二减速器72的减速比很大(275:1),呈现“软自锁”状态(采用具有自锁特性的减速器也可以),第一连杆91将不发生转动。 [0049] In this process, the second motor 71 is not rotated, since the second large gear reducer 72 ratio (275: 1), exhibits a "soft latching" state (using the speed reducer having a self-locking property also may be), the first link 91 is rotated will not occur. 因此,中部指段2的正向转动会使得通过第三连杆93带动第二连杆92绕远关节轴5的中心线正向转动,也就使得末端指段3绕远关节轴5的中心线正向转动相同角度,从而实现了近关节轴4与远关节轴5两个关节的同时正向转动,此即第一抓取阶段的耦合转动,如图6、图7所示。 Thus, the central section 2 refers to the forward rotation of the third link 93 will be such that the second drive link centerline 92 detour joint shaft 5 is rotated through the positive, it means that the center line of the end section 5 of the joint shaft 3 positive detour rotated to the same angle, in order to achieve nearly the same time the joint shaft 4 and the distal joint of the two joints shaft 5 rotates forward coupled rotation of the gripping namely a first stage, 6, 7 shown in FIG.

[0050] 如果耦合抓取过程中,如果末端指段3接触物体,而中部指段2没有接触物体,那么抓取结束,在这种抓取情况下仅有一个耦合抓取过程,即实现了捏持物体的效果,如图9、图10所示。 [0050] If the coupling crawl, if the section refers to the end in contact with the object 3, while the central section 2 refers to an object without contact, the gripping end, in which case only one gripping crawl coupling, i.e., to achieve a grip the object effect, 9, 10 as shown in FIG.

[0051] 如果耦合抓取过程中,中部指段2先接触到物体,如图7所示,则停止第一电机61,再启动第二电机71,这个后续过程为一个灵巧抓取阶段,如下所述: [0051] If the coupling crawling process, the central section 2 refers to the first contact with an object 7, the first motor 61 is stopped, and then activate the second motor 71, the subsequent process stage is a smart crawler follows the:

[0052] 第二电机71转动,通过第二减速器72带动第三齿轮87转动,从而带动第四齿轮88、第一连杆91转动,通过第三连杆93、第二连杆92实现末端指段3继续正向转动直到接触物体,此时的转角为Y,如图10所示,这个转角Y不受中部指段2转角β的限制,如图8所示,达到第二抓取阶段的灵巧抓取目的。 [0052] The second motor 71 rotates, the second reduction gear 72 driven by a third gear 87 is rotated, so as to drive the fourth gear 88, rotation of the first link 91, third link 93 by the second link end 92 to achieve 3 refers to the segment to continue the forward rotation until the contact object, in this case angle is Y, shown in Figure 10, the angle Y is not restricted section 2 refers to the middle of the angle β, shown in Figure 8, the second gripping stage reached dexterity crawl purposes.

[0053] 放开物体的过程为:第一电机和第二电机分别反转,与抓取物体过程相反,不再赘述。 [0053] The process object is released: the first and second motors are reversed, with the object gripping process is reversed, will not be repeated.

[0054] 因此,本实施例既能达到传统耦合手指所实现的单个电机驱动多个关节同时转动的耦合效果,又具有传统耦合手指没有的独立转动单个关节的解耦抓取效果,抓取物体时控制容易;所有电机、减速器均藏入基座中,手指转动部分体积小、重量轻。 [0054] Accordingly, the present embodiment can achieve the effect of a single motor coupled to a conventional drive coupling a plurality of finger joints to achieve simultaneous rotation, but also coupling with a conventional independent rotation decoupling finger is not a single joint gripping effect, gripping the object when the control is easy; all motors, reducers are hidden into the base, the finger is rotated a small partial volume, light weight.

Claims (6)

1.一种连杆耦合式灵巧机器人手指装置,包括基座、中部指段、末端指段、近关节轴和远关节轴;所述的近关节轴套设在基座中,所述的远关节轴套设在中部指段中,近关节轴与远关节轴平行,所述的中部指段套固在近关节轴上,所述的末端指段套固在远关节轴上;其特征在于:该连杆耦合式灵巧机器人手指装置还包括第一电机、第一减速器、第二电机、第二减速器、第一连杆、第二连杆、第三连杆、第一销轴和第二销轴;所述的第一电机和第一减速器均与基座固接,第一电机的输出轴与第一减速器的输入轴相连,第一减速器的输出轴与近关节轴相连;所述的第二电机和第二减速器均与基座固接,第二电机的输出轴与第二减速器的输入轴相连,第二减速器的输出轴与第一连杆相连;所述的第一连杆套接在近关节轴上,所述的第二连杆套固在远关节轴 A smart link coupled robot finger means comprises a base, a middle finger section, the end section means, near the joint shaft and a distal joint axis; said sleeve is provided near the joint in the base, the distal joint bushing means provided in the middle section, near the distal joint shaft parallel to the joint axis, the middle finger on the bushing securing section near the joint axis, said distal tip section refers to the joint axis in a solid sleeve; characterized in that : the smart link coupled robot finger means further comprises a first motor, a first speed reducer, a second motor, a second reduction gear, a first link, second link, third link, and a first pin a second pin; said first motor and the first reduction gear are fixed to the base, the output shaft is connected to the input shaft of the first motor and the first speed reducer, the output shaft of the reduction gear and near the first joint axis connected; said second motor and a second reduction gear are fixed to the base, connected to the input shaft of the second motor output shaft of the second reduction gear, the output shaft of the second reduction gear is connected to the first link; the first link in the juxta-articular socket axis, said second link fixed at the distal sleeve joint axis 并与末端指段固接;所述的第三连杆的一端通过第一销轴与第一连杆铰接,第三连杆的另一端通过第二销轴与第二连杆铰接;令近关节轴的中心线与远关节轴的中心线构成的平面为平面K,第一销轴和第二销轴分别位于平面K的两侧;所述的第二减速器采用具有自锁特性的减速传动机构。 And fixedly connected with the end section means; end of said third link by a first pin and a first link hinge, the other end of the third link by a second pin and a second link hinge; nearly so the centerline plane of the joint shaft distal joint axis plane composed of K, a first pin and a second pin on each side of the plane K; using the second reduction gear unit having a self-locking characteristics transmission mechanism.
2.如权利要求1所述的连杆耦合式灵巧机器人手指装置,其特征在于:第一减速器的输出轴通过第一传动机构与近关节轴相连。 Link robot finger dexterity coupled device as claimed in claim 1, wherein: the output shaft of the first reduction gear mechanism connected via a first gear shaft near the joint.
3.如权利要求1所述的连杆耦合式灵巧机器人手指装置,其特征在于:第二减速器的输出轴通过第二传动机构与第一传动轮相连。 Link robot finger dexterity coupled device according to claim 1, wherein: the output shaft of the second reduction gear mechanism connected to the second transmission by the first transmission wheel.
4.如权利要求2所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第一传动机构包括第一齿轮和第二齿轮;所述的第一齿轮套固在第一减速器的输出轴上,第二齿轮套固在近关节轴上,第一齿轮与第二齿轮啮合。 4. The link-coupled robot finger dexterity apparatus according to claim 2, wherein: said first transmission mechanism includes a first gear and a second gear; said first gear fixed on a first set of deceleration an output shaft of the second gear set near joints in the solid shaft, a second gear meshed with the first gear.
5.如权利要求3所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二传动机构包括第三齿轮和第四齿轮;所述的第三齿轮套固在第二减速器的输出轴上,所述的第四齿轮套接在近关节轴上,所述的第三齿轮与第四齿轮啮合,所述的第四齿轮与第一传动轮固接。 5. A robot finger dexterity link coupled device according to claim 3, wherein: said second transmission mechanism includes a third gear and a fourth gear; said third set of fixed gear in the second deceleration 's output shaft, said fourth gear is sleeved on the shaft near the joint, said third gear meshing with the fourth gear, the fourth gear wheel fixedly connected with the first transmission.
6.如权利要求1所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二减速器的减速比至少为100。 Link robot finger dexterity coupled device as claimed in claim 1, wherein: said second reduction gear reduction ratio of at least 100.
CN 201210179816 2012-06-01 2012-06-01 Connecting rod coupling-type finger device for neat robot CN102717393B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201210179816 CN102717393B (en) 2012-06-01 2012-06-01 Connecting rod coupling-type finger device for neat robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201210179816 CN102717393B (en) 2012-06-01 2012-06-01 Connecting rod coupling-type finger device for neat robot

Publications (2)

Publication Number Publication Date
CN102717393A true CN102717393A (en) 2012-10-10
CN102717393B true CN102717393B (en) 2014-08-13

Family

ID=46943332

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201210179816 CN102717393B (en) 2012-06-01 2012-06-01 Connecting rod coupling-type finger device for neat robot

Country Status (1)

Country Link
CN (1) CN102717393B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2964199A1 (en) * 2014-09-12 2016-03-17 Polyvalor, Limited Partnership Mechanical finger for grasping apparatus
CN105364937B (en) * 2015-12-01 2017-06-16 清华大学 Link type variable gripping force synergistic adaptive finger means
CN105583830A (en) * 2016-03-17 2016-05-18 清华大学 Self-adaptive robot finger device capable of achieving parallel clamping through connecting rods and gears
CN105583839A (en) * 2016-03-17 2016-05-18 清华大学 Self-reset open loop and flexible piece coupled flexible robot finger device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5062673A (en) 1988-12-28 1991-11-05 Kabushiki Kaisha Toyota Chuo Kenkyusho Articulated hand
CN101049696A (en) 2007-05-18 2007-10-10 清华大学 Under drive mechanical finger device of connecting rod
CN101797753A (en) 2010-04-06 2010-08-11 清华大学 Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
CN101829995A (en) 2010-04-30 2010-09-15 清华大学 Crank block type flexible piece parallel coupled under-actuated finger device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006000992A (en) * 2004-06-18 2006-01-05 Toyota Motor Corp Robot hand
JP2006026807A (en) * 2004-07-16 2006-02-02 Harmonic Drive Syst Ind Co Ltd Joint mechanism of robot hand or the like

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5062673A (en) 1988-12-28 1991-11-05 Kabushiki Kaisha Toyota Chuo Kenkyusho Articulated hand
CN101049696A (en) 2007-05-18 2007-10-10 清华大学 Under drive mechanical finger device of connecting rod
CN101797753A (en) 2010-04-06 2010-08-11 清华大学 Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
CN101829995A (en) 2010-04-30 2010-09-15 清华大学 Crank block type flexible piece parallel coupled under-actuated finger device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JP特开2006-992A 2006.01.05

Also Published As

Publication number Publication date Type
CN102717393A (en) 2012-10-10 application

Similar Documents

Publication Publication Date Title
CN105150225A (en) Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel
CN101190528A (en) Under-actuated coupling transmission type imitation human finger mechanism
CN1803413A (en) Thumb mechanism of underactuated self-adaptive hand prosthesis
CN102357884A (en) Quickly-grabbed under-actuated robot hand device
CN103465272A (en) Six-degree-of-freedom humanoid robot arm
CN101058184A (en) Simulative mechanical hand with under-driven adaptive mechanism
CN202580477U (en) Spiral pipe robot
CN201734803U (en) Joint traction type human-simulated robot hand
CN203485202U (en) Robot arm and four axis robot
CN101797753A (en) Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
CN203293191U (en) Six-shaft-joint coordinate industrial robot
CN101234489A (en) Belt wheel under-driven robot finger device
CN103284821A (en) Thumb structure of prosthetic hand
CN101508115A (en) Variable sequence under-actuated two-articulated robot finger device
CN103830025A (en) Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function
CN101024287A (en) Tendon-channel under-driven mechanical finger device
CN101214649A (en) Belt wheel multi-joint high under-driven robot finger device
CN101664929A (en) Rack type parallel coupling underactuated robot finger device
CN202568538U (en) Practical bionic artificial hand
CN104889998A (en) Under-actuated robot finger device with covering and clamping functions
CN103128744A (en) Humanoid flexible mechanical arm device
CN105364937A (en) Connecting rod type variable grasping force cooperative self-adaptive finger device
CN102205542A (en) Multipath flexible piece two-joint compound robot finger device
CN203236487U (en) Cam type quickly-grabbing underactuated robot hand device
CN101422906A (en) Displacement under-actuated two-articulated robot finger device based on flexible piece

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C14 Granted