CN102717394B - Bevel-gear-coupling neat robot finger device - Google Patents
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- CN102717394B CN102717394B CN201210180450.4A CN201210180450A CN102717394B CN 102717394 B CN102717394 B CN 102717394B CN 201210180450 A CN201210180450 A CN 201210180450A CN 102717394 B CN102717394 B CN 102717394B
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- bevel gear
- decelerator
- coupling
- bevel
- joint shaft
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- 238000010168 coupling process Methods 0.000 title claims abstract description 55
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 55
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- 230000007246 mechanism Effects 0.000 claims description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 9
- 230000001808 coupling effect Effects 0.000 abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 abstract description 3
- 230000009977 dual effect Effects 0.000 abstract 4
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 13
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- 238000005452 bending Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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Abstract
The invention relates to a bevel-gear-coupling neat robot finger device, belonging to the technical field of anthropopathic robot hands. The bevel-gear-coupling neat robot finger device comprises a base, a middle finger segment, a tail end finger segment, a juxta-knuckle shaft, a distal-knuckle shaft, two motors, two speed reducers and a plurality of bevel gears. The device realizes the following four two-degree-of-freedom gripping modes: (1) a gripping mode of coupling rotation of dual knuckles; (2) a gripping mode of independent rotations of the dual knuckles; (3) a gripping mode of coupling rotation preliminary and independent rotations secondary of the dual knuckles; and (4) a gripping mode of independent rotations preliminary and coupling rotation secondary of the dual knuckles. The bevel-gear-coupling neat robot finger device not only can realize the coupling effect of the conventional coupling finger that a plurality of knuckles are driven by a single motor to rotate simultaneously, but also has the decoupling gripping effect that the conventional coupling finger does not have, i.e. a single knuckle can be driven independently, and the bevel-gear-coupling neat robot finger device is easy to control when an article is gripped. All motors and speed reducers are hidden in the base, and rotation parts of the fingers are small in size and light in weight.
Description
Technical field
The invention belongs to humanoid robot hand technical field, particularly a kind of structural design of bevel gear coupling type dexterous robot finger device.
Background technology
Along with the swift and violent development of process of industrialization, increasing production and application robot or part are used robot.One of most important function of anthropomorphic robot is to capture object, is the focus of studying at present.Staff has 20 above frees degree, is mainly distributed on multiple joints of 5 fingers, if all adopt motor to drive control, the requirement of controlling in fact time is very high, also needs complicated sensing and control even if capture a simple object.In order to alleviate the difficulty of control, a kind of method is to reduce the quantity that simultaneously controls motor, the real-time that captures like this object can more easily ensure, but bring a problem: how to allow less motor drive more joint (owe to drive and capture), and course of action personalizes effective, capture object still reliable and stable.
Conventionally have two kinds of modes to realize and owe to drive crawl, one is self adaptation under-actuated finger mechanism, and often referred to as self adaptation finger or under-actuated finger, another kind is coupling under-actuated finger mechanism, often referred to as coupling finger.Although, there is a kind of unstable crawl phenomenon in the shape and size of automatic adaptation object that self adaptation has been pointed passive realization: can occur to squeeze near the segment of root and run object or destroy object; Also there is another kind of wild effect: after self-adapting grasping reaches, also can further cause object to be open if grasping force is excessive; In addition, the crawl process of this finger is not anthropomorphic, cannot realize from gestures such as bending (clenching fist) yet.Although coupling finger crawl process relatively personalizes, can be certainly bending, and crawl is comparatively stable, does not have adaptivity, realizes and gripping better, and most objects are difficult to realize good grip effect.
Existing a kind of double bevel wheel under-driven robot finger, as Chinese invention patent CN101633172A, comprise pedestal, nearly joint shaft, middle part segment, joint shaft far away, end segment, motor, decelerator, the first bevel gear, double bevel wheel, the second bevel gear.Motor drives middle part segment to rotate around nearly joint shaft by decelerator, and end segment can be rotated an angle simultaneously, reaches the coupling rotating effect that nearly joint shaft and joint shaft far away rotate simultaneously.The weak point of this device is: in the process of crawl object, the rotation of nearly joint shaft and joint shaft far away is simultaneously, when middle part segment contact object is blocked can not be rotated further time again, end segment also cannot further be rotated even without contact object again, therefore captures effect bad.Grasp Modes should be that middle part segment and end segment can touch object and apply grasping force preferably.
Summary of the invention
The object of the invention is the weak point for prior art, a kind of bevel gear coupling type dexterous robot finger device is provided.This device has two frees degree, can realize multiple grasp mode, comprising: 1) grasp mode is rotated in doublejointed coupling; 2) doublejointed independent rotation grasp mode; 3) the doublejointed rotation that is first coupled, the afterwards grasp mode of independent rotation again; 4) the first independent rotation of doublejointed, the grasp mode that coupling is rotated again afterwards.
The present invention adopts following technical scheme:
A kind of bevel gear coupling type dexterous robot finger device, comprises pedestal, middle part segment, end segment, nearly joint shaft, joint shaft far away; Described nearly joint shaft is set in pedestal, and described joint shaft far away is set in the segment of middle part, and nearly joint shaft is parallel with joint shaft far away, and described middle part segment is fixed on nearly joint shaft, and described end segment is fixed on joint shaft far away;
It is characterized in that:
This bevel gear coupling type dexterous robot finger device also comprises the first motor, the first decelerator, the second motor, the second decelerator, the first bevel gear, double bevel wheel and the second bevel gear;
The first described motor and the first decelerator are all affixed with pedestal, and the output shaft of the first motor is connected with the power shaft of the first decelerator, and the output shaft of the first decelerator is connected with nearly joint shaft;
The second described motor and the second decelerator are all affixed with pedestal, and the output shaft of the second motor is connected with the power shaft of the second decelerator, and the output shaft of the second decelerator is connected with the first bevel gear;
Described double bevel wheel comprises lower end bevel gear, double bevel wheel axle and upper end bevel gear, and described lower end bevel gear and upper end bevel gear are fixed in respectively the two ends of double bevel wheel axle;
The first described bevel gear is socketed on nearly joint shaft, and the second described bevel gear is fixed on joint shaft far away and is affixed with end segment; Described double bevel wheel axle sleeve is located in the segment of middle part, and described lower end bevel gear engages with the first bevel gear; Described upper end bevel gear engages with the second bevel gear;
The meshing point that makes lower end bevel gear and the first bevel gear is A, and the meshing point of upper end bevel gear and the second bevel gear is B, and the central point of lower end bevel gear is O
1, the central point of upper end bevel gear is O
2, line segment O
1a, AB, BO
2and O
2o
1form rectangle or trapezoidal.
Bevel gear coupling type dexterous robot finger device of the present invention, is characterized in that: the output shaft of the first decelerator is connected with nearly joint shaft by the first transmission mechanism.
Bevel gear coupling type dexterous robot finger device of the present invention, is characterized in that: the output shaft of the second decelerator is connected with the first gear by the second transmission mechanism.
Bevel gear coupling type dexterous robot finger device of the present invention, is characterized in that: the first described transmission mechanism comprises third hand tap gear and the 4th bevel gear; Described triconodont wheel is fixed on the output shaft of the first decelerator, and the 4th bevel gear is fixed on nearly joint shaft, and third hand tap gear engages with the 4th bevel gear.
Bevel gear coupling type dexterous robot finger device of the present invention, is characterized in that: the second described transmission mechanism comprises the 5th bevel gear; The 5th described bevel gear is fixed on the output shaft of the second decelerator, and the 5th bevel gear engages with the first bevel gear.
Bevel gear coupling type dexterous robot finger device of the present invention, is characterized in that: the speed reducing ratio of the second described decelerator is at least 100.
Bevel gear coupling type dexterous robot finger device of the present invention, is characterized in that: the second described decelerator adopts the reduction gearing mechanism with latching characteristics.
The present invention compared with the prior art, has the following advantages and high-lighting effect:
The robot finger that apparatus of the present invention adopt bevel gear transmission, two cover motors and decelerator comprehensively to realize 2DOF, this device has four kinds of grasp modes, comprising: 1) grasp mode is rotated in doublejointed coupling; 2) doublejointed independent rotation grasp mode; 3) the doublejointed rotation that is first coupled, the afterwards grasp mode of independent rotation again; 4) the first independent rotation of doublejointed, the grasp mode that coupling is rotated again afterwards.This device can reach the coupling effect that single motor that tradition coupling finger realizes drives multiple joints to rotate simultaneously, and the decoupling zero again with the single joint of independent rotation that tradition coupling finger do not have captures effect, controls easily while capturing object; All motors, decelerator are all hidden in pedestal, and finger rotating part volume is little, lightweight.
Brief description of the drawings
Fig. 1 is the front appearance figure of a kind of embodiment of bevel gear coupling type dexterous robot finger device provided by the invention
Fig. 2 is the side view of the present embodiment, is also the right view of Fig. 1.
Fig. 3 is the front section view of the present embodiment, is also the cutaway view of Fig. 1.
Fig. 4 is the C-C cutaway view in Fig. 3
Fig. 5 is A, B, the O corresponding with Fig. 3
1and O
2the line graph of these four points.
Fig. 6 is the three-dimensional appearance figure of the present embodiment.
Fig. 7 is the three-dimensional explosive view of the present embodiment.
Fig. 8, Fig. 9, Figure 10, Figure 11 and Figure 12 are several key positions side schematic appearance that the present embodiment grasps object process.
Figure 13 and Figure 14 are the situation schematic diagrames that the present embodiment grips object.
In Fig. 1 to Figure 14:
1-pedestal, 2-middle part segment, 3-end segment
4-nearly joint shaft, 5-joint shaft far away,
The 61-the first motor, the 62-the first decelerator, 65-third hand tap gear,
The 66-the four bevel gear,
The 71-the second motor, the 72-the second decelerator, the 75-the five bevel gear,
76-the first bevel gear 77-lower end bevel gear, 78-upper end bevel gear,
79-double bevel wheel axle, the 8-the second bevel gear.
Detailed description of the invention
Further introduce concrete structure of the present invention, operation principle below in conjunction with accompanying drawing and example.
The embodiment of a kind of bevel gear coupling type dexterous robot finger device of the present invention design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, comprise pedestal 1, middle part segment 2, end segment 3, nearly joint shaft 4, joint shaft 5 far away; Described nearly joint shaft 4 is set in pedestal 1, and described joint shaft far away 5 is set in the segment 2 of middle part, and nearly joint shaft 4 is parallel with joint shaft 5 far away, and described middle part segment 2 is fixed on nearly joint shaft 4, and described end segment 3 is fixed on joint shaft 5 far away;
It is characterized in that:
This bevel gear coupling type dexterous robot finger device also comprises the first motor 61, the first decelerator 62, the second motor 71, the second decelerator 72, the first bevel gear 76, double bevel wheel and the second bevel gear 8;
Described the first motor 61 and the first decelerator 62 are all affixed with pedestal 1, and the output shaft of the first motor 61 is connected with the power shaft of the first decelerator 62, and the output shaft of the first decelerator 62 is connected with nearly joint shaft 4;
Described the second motor 71 and the second decelerator 72 are all affixed with pedestal 1, and the output shaft of the second motor 71 is connected with the power shaft of the second decelerator 72, and the output shaft of the second decelerator 72 is connected with the first bevel gear 76;
Described double bevel wheel comprises lower end bevel gear 77, double bevel wheel axle 79 and upper end bevel gear 78, and described lower end bevel gear 77 and upper end bevel gear 78 are fixed in respectively the two ends of double bevel wheel axle 79;
The first described bevel gear 76 is socketed on nearly joint shaft 4, and the second described bevel gear 8 is fixed on joint shaft 5 far away and is affixed with end segment 3; Described double bevel wheel axle 79 is set in the segment 2 of middle part, and described lower end bevel gear 77 engages with the first bevel gear 76; Described upper end bevel gear 78 engages with the second bevel gear 8;
The meshing point that makes lower end bevel gear 77 and the first bevel gear 76 is A, and the meshing point of upper end bevel gear 78 and the second bevel gear 8 is B, and the central point of lower end bevel gear 77 is O
1, the central point of upper end bevel gear 78 is O
2, line segment O
1a, AB, BO
2and O
2o
1form rectangle or trapezoidal.
Bevel gear coupling type dexterous robot finger device described in the present embodiment, is characterized in that: the output shaft of the first decelerator 62 is connected with nearly joint 4 axles by the first transmission mechanism.
Bevel gear coupling type dexterous robot finger device described in the present embodiment, is characterized in that: the output shaft of the second decelerator 72 is connected with the first bevel gear 76 by the second transmission mechanism.
Bevel gear coupling type dexterous robot finger device described in the present embodiment, is characterized in that: the first described transmission mechanism comprises third hand tap gear 65 and the 4th bevel gear 66; Described third hand tap gear 65 is fixed on the output shaft of the first decelerator 62, and the 4th bevel gear 66 is fixed on nearly joint shaft 4, and third hand tap gear 65 engages with the 4th bevel gear 66.
Bevel gear coupling type dexterous robot finger device described in the present embodiment, is characterized in that: the second described transmission mechanism comprises the 5th bevel gear 75; The 5th described bevel gear 75 is fixed on the output shaft of the second decelerator 72, and the 5th bevel gear 75 engages with the first bevel gear 76.
In apparatus of the present invention, the speed reducing ratio of the second described decelerator is at least 100.The second decelerator in the present embodiment adopts planetary reducer, and its speed reducing ratio is 275.
In apparatus of the present invention, the second described decelerator can adopt the reduction gearing mechanism with latching characteristics.In another kind of embodiment, the second decelerator adopts screw nut driving mechanism or the Worm and worm-wheel gearing with latching characteristics.
The operation principle of the present embodiment, as shown in Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, is described below:
The robot finger that the present embodiment adopts bevel gear transmission, two cover motors and decelerator comprehensively to realize 2DOF, this device has four kinds of grasp modes, comprising:
1) grasp mode is rotated in doublejointed coupling: now only allow the first motor 61 rotate, the second motor 71 does not use;
2) doublejointed independent rotation grasp mode: now two motors can rotate simultaneously, the first motor 61 can make finger produce coupling linkage, and the second motor 71 can change arbitrarily the angle of end segment on this basis;
3) the doublejointed rotation that is first coupled, the afterwards grasp mode of independent rotation again: now first rotate the first motor 61, after middle part segment is touched object, stop the first motor 61, then rotate the second motor 71;
4) the first independent rotation of doublejointed, the grasp mode that coupling is rotated again afterwards: now first start two motors simultaneously, according to circumstances stop the second motor 71 after a period of time, then rotate the first motor 61.
Below to conventional its operating principle of the further illustration of the second grasp mode.The process that this device adopts the second grasp mode to capture object is divided into two stages: coupling stage of gripping and dexterous stage of gripping.
As shown in Figure 8, now middle part segment 2 and end segment 3 are finger straight configuration with pedestal 1 to the initial position of this device.In the time using the robot finger of the present embodiment to capture object, the output shaft rotation of the first motor 61, drive the 4th bevel gear 66 through the first decelerator 62 by third hand tap gear 65, thereby middle part segment 2 is rotated an angle around the center line of nearly joint shaft 4, as shown in Figure 9, Figure 10.
In this process, the second motor 71 does not rotate, and due to very large (275:1) of the speed reducing ratio of the second decelerator 72, presents " soft self-locking " state (decelerator that employing has a latching characteristics also can), and the first bevel gear 76 will not rotate.Therefore, middle part segment 2 rotation can make double bevel wheel drive the second bevel gear 8 go the long way round joint shaft 5 center line rotate, also just make end segment 3 go the long way round joint shaft 5 center line rotate equal angular, thereby rotate when having realized 5 two joints of nearly joint shaft 4 and joint shaft far away, the i.e. coupling of the first stage of gripping is rotated, as shown in Figure 9, Figure 10.In the time that the reference diameter of the first bevel gear 76 and the second bevel gear 8 is identical, the rotational angle in two joints is identical, i.e. 1:1 coupling is rotated.The large I that changes the first bevel gear 76 and the second bevel gear 8 obtains the coupling effect of different angles ratio.
If in coupling crawl process, if end segment 3 contacts object, and middle part segment 2 does not contact object, captures and finishes so, in this crawl situation, only there is a coupling crawl process, realize the effect that grips object, as shown in Figure 13, Figure 14.
If in coupling crawl process, middle part segment 2 first touches object, as shown in figure 10, stops the first motor 61, restarts the second motor 71, this subsequent process is a dexterous stage of gripping, as described below:
If the second motor 71 rotates, drive the 5th bevel gear 75 to rotate by the second decelerator 72, thereby drive the first bevel gear 76 to rotate, realize end segment 3 by double bevel wheel and be rotated further to angle ψ, as shown in figure 11, this corner ψ is not subject to the restriction of middle part segment 2 corner β.End segment 3 finally turns to contact object, and now to turn over angle be θ to end segment 3, and as shown in figure 12, the dexterity that reaches the second stage of gripping captures object.
The process of decontroling object is: the first motor 61 and the second motor 71 reverse respectively, and object process is contrary with capturing, and repeats no more.
Therefore, the present embodiment can reach the coupling effect that single motor that tradition coupling finger realizes drives multiple joints to rotate simultaneously, and the decoupling zero again with the single joint of independent rotation that tradition coupling finger do not have captures effect, controls easily while capturing object; All motors, decelerator are all hidden in pedestal, and finger rotating part volume is little, lightweight.
Claims (5)
1. a bevel gear coupling type dexterous robot finger device, comprises pedestal, middle part segment, end segment, nearly joint shaft, joint shaft far away; Described nearly joint shaft is set in pedestal, and described joint shaft far away is set in the segment of middle part, and nearly joint shaft is parallel with joint shaft far away, and described middle part segment is fixed on nearly joint shaft, and described end segment is fixed on joint shaft far away; It is characterized in that: this bevel gear coupling type dexterous robot finger device also comprises the first motor, the first decelerator, the second motor, the second decelerator, the first bevel gear, double bevel wheel and the second bevel gear; The first described motor and the first decelerator are all affixed with pedestal, and the output shaft of the first motor is connected with the power shaft of the first decelerator, and the output shaft of the first decelerator is connected with nearly joint shaft; The second described motor and the second decelerator are all affixed with pedestal, and the output shaft of the second motor is connected with the power shaft of the second decelerator, and the output shaft of the second decelerator is connected with the first bevel gear; Described double bevel wheel comprises lower end bevel gear, double bevel wheel axle and upper end bevel gear, and described lower end bevel gear and upper end bevel gear are fixed in respectively the two ends of double bevel wheel axle; The first described bevel gear is socketed on nearly joint shaft, and the second described bevel gear is fixed on joint shaft far away and is affixed with end segment; Described double bevel wheel axle sleeve is located in the segment of middle part, and described lower end bevel gear engages with the first bevel gear; Described upper end bevel gear engages with the second bevel gear; The meshing point that makes lower end bevel gear and the first bevel gear is A, and the meshing point of upper end bevel gear and the second bevel gear is B, and the central point of lower end bevel gear is O
1, the central point of upper end bevel gear is O
2, line segment O
1a, AB, BO
2and O
2o
1form rectangle or trapezoidal; The speed reducing ratio of the second described decelerator is at least 100, or adopts the reduction gearing mechanism with latching characteristics.
2. bevel gear coupling type dexterous robot finger device as claimed in claim 1, is characterized in that: the output shaft of the first decelerator is connected with nearly joint shaft by the first transmission mechanism.
3. bevel gear coupling type dexterous robot finger device as claimed in claim 1, is characterized in that: the output shaft of the second decelerator is connected with the first bevel gear by the second transmission mechanism.
4. bevel gear coupling type dexterous robot finger device as claimed in claim 2, is characterized in that: the first described transmission mechanism comprises third hand tap gear and the 4th bevel gear; Described triconodont wheel is fixed on the output shaft of the first decelerator, and the 4th bevel gear is fixed on nearly joint shaft, and third hand tap gear engages with the 4th bevel gear.
5. bevel gear coupling type dexterous robot finger device as claimed in claim 3, is characterized in that: the second described transmission mechanism comprises the 5th bevel gear; The 5th described bevel gear is fixed on the output shaft of the second decelerator, and the 5th bevel gear engages with the first bevel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210180450.4A CN102717394B (en) | 2012-06-01 | 2012-06-01 | Bevel-gear-coupling neat robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210180450.4A CN102717394B (en) | 2012-06-01 | 2012-06-01 | Bevel-gear-coupling neat robot finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102717394A CN102717394A (en) | 2012-10-10 |
| CN102717394B true CN102717394B (en) | 2014-11-26 |
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| CN201210180450.4A Expired - Fee Related CN102717394B (en) | 2012-06-01 | 2012-06-01 | Bevel-gear-coupling neat robot finger device |
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| CN (1) | CN102717394B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105345816B (en) * | 2015-12-22 | 2017-03-22 | 金华知产婺源信息技术有限公司 | MDOF (multi-degree of freedom) manipulator based on gear transmission |
| CN109605406B (en) * | 2018-12-11 | 2021-05-14 | 安阳工学院 | Bionic finger |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288954A (en) * | 2008-06-13 | 2008-10-22 | 清华大学 | Double bevel wheel under-driven robot finger |
| CN101508115A (en) * | 2009-03-27 | 2009-08-19 | 清华大学 | Variable sequence under-actuated two-articulated robot finger device |
| CN101633172A (en) * | 2009-07-31 | 2010-01-27 | 清华大学 | Finger device of duplex bevel gear coupling robot |
| CN101797753A (en) * | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| CN102179818A (en) * | 2011-05-20 | 2011-09-14 | 清华大学 | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006026807A (en) * | 2004-07-16 | 2006-02-02 | Harmonic Drive Syst Ind Co Ltd | Joint mechanism of robot hand or the like |
-
2012
- 2012-06-01 CN CN201210180450.4A patent/CN102717394B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288954A (en) * | 2008-06-13 | 2008-10-22 | 清华大学 | Double bevel wheel under-driven robot finger |
| CN101508115A (en) * | 2009-03-27 | 2009-08-19 | 清华大学 | Variable sequence under-actuated two-articulated robot finger device |
| CN101633172A (en) * | 2009-07-31 | 2010-01-27 | 清华大学 | Finger device of duplex bevel gear coupling robot |
| CN101797753A (en) * | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| CN102179818A (en) * | 2011-05-20 | 2011-09-14 | 清华大学 | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system |
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| CN102717394A (en) | 2012-10-10 |
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