CN103213137B - The quick grabbed under-actuated robot hand of cam-type - Google Patents
The quick grabbed under-actuated robot hand of cam-type Download PDFInfo
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- CN103213137B CN103213137B CN201310130745.5A CN201310130745A CN103213137B CN 103213137 B CN103213137 B CN 103213137B CN 201310130745 A CN201310130745 A CN 201310130745A CN 103213137 B CN103213137 B CN 103213137B
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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 quick grabbed under-actuated robot hand of cam-type, belong to robot technical field, mainly comprise palm, at least two fingers, main shaft, motor, decelerator, the first bevel gear, the second bevel gear, not exclusively grooved cam, portable plate, finger open put in place the sensor, the object that detect put in place the sensor and the control module etc. that detect. Finger is tendon rope-torsion spring type multi-joint finger. Apparatus of the present invention have the function that automatically fast captures object, and crawl process comprises that finger energy storage opens, point and open detections that put in place, object put in place detection and instantaneous relase crawl Four processes; This device can be realized fast and capturing; Detecting after object can automatic capturing; There is self-adapting grasping difformity and size objects; Compact conformation, palm volume is little, captures space large; Stable drive is accurate, and transmission efficiency is high; Only adopt a motor to drive multiple joints of multiple fingers, outward appearance and action imitation staff; Can be used on anthropomorphic robot.
Description
Technical field
The invention belongs to robot technical field, particularly the knot of the quick grabbed under-actuated robot hand of a kind of cam-typeStructure design.
Background technology
Humanoid robot hand is mainly divided into Dextrous Hand and owes to drive two types, hand. Dextrous Hand has many actives joint, has multipleAssorted driving and control system, can complete a lot of operations. In recent decades, the research of Dextrous Hand has obtained great successes,Such as Utah/MIT hand, Robonaut hand, DLR/HITII hand etc. But because the Dextrous Hand free degree is many, and finger existsWhile capturing difform object, there is no adaptivity, driving power, sensing, information processing, control algolithm etc. have been proposed veryHigh requirement, device is complicated, cost costliness.
What is called owes to drive hand just to refer to the joint freedom degrees more by a small amount of Electric Machine Control. Owe to drive hand to there is automatic adaptation objectThe self-adapting grasping function of shape and size. For the robot of high-freedom degree, the quantity that reduces motor is highly beneficial, can greatly reduce the demand to space and the demand to dynamic Control, and following maintenance also greatly reducing, cost is alsoGreatly reduce.
Have the implementation of a class robot to adopt tendon rope to realize, taking the simple joint of a finger as example, tendon rope successivelyThrough multiple segments and the joint of finger, one end of tendon rope is fixed in the end segment of finger, as long as the other end that pulls tendon rope justCan realize the forward bending in finger tips joint, if front and back adopt end joint that two tendon ropes just can realize finger justTo rotating (capturing bending) and rotating backward (recovery is stretched). When the quantity of the joint freedom degrees on finger is p, the number of tendon ropeAmount is 2p+1, and this finger is the finger driving completely; If tendon rope quantity is 2p or still less time, this finger is exactly to owe to drive handRefer to, if Chinese invention patent CN102029610A is exactly the under-actuated finger that an example adopts 2p root tendon rope.
In addition, the under-actuated finger that adopts in addition tendon rope and torsion spring to realize, has multiple joints on finger, only draws with a tendon ropeMovable joint rotates, and each joint is equipped with torsion spring, has two category: (1) utilizes tendon rope to pull the bending of finger forward, and utilizesWhen torsion spring is realized tendon rope and loosened, the recovery of finger is stretched, as Chinese invention patent CN101073520A; (2) utilize tendon rope to drawStart to refer to recover to stretch, and the forward bending of finger while utilizing torsion spring to realize tendon rope to loosen, as U.S.'s patent of inventionUS2006/0129248A1。
Existing a kind of artificial hand device for disabled persons, as U.S. patent of invention US2006/0129248A1, its finger has adopted tendonRope pulls finger to recover to stretch, and utilizes the forward of finger when being arranged on torsion spring on each finger-joint axle and realizing tendon rope and loosen curvedSong, has a hinged lever in its palm, one end of the tendon rope of all fingers all with direct or indirect being connected of this lever, profitThe head movement of employment pulls rope, and by rope pull lever, lever pulls finger tendons rope, thereby reaches the effect of opening fingerReally, recycling people relaxes one's shoulders to realize the lax of rope, realizes the lax of finger tendons rope by lever, and finger is at torsion springEffect is lower closed, thereby relies on torsion spring elastic force to catch object. The weak point of this device is:
(1) this hand lacks the mechanism of quick payout of moment, is difficult to use in robot and realizes and capture fast object. Moment is fastSpeed payout is conducive to improve and captures efficiency, for the crawl of the object of the rapid movement function that is very important. In this schemeThe pulling and loosen the External Force Acting that relies on people's head movement such of rope, people's head movement has one to be loosened relatively fastSpecial-effect, this special-effect of having left people this device does not reach the object of quick crawl, iff simplyPeople's external force is replaced by the power of motor, and motor also can only be realized and pulling gradually and the object of payout gradually, does not reach winkBetween the quick function of payout, therefore, this device is not suitable for use in robot and realizes crawl rapidly and efficiently.
(2) this hand lacks and detects near the whether function within the scope of crawl or palm of object, has affected rapid movement objectThe assurance on crawl opportunity, is difficult to automatic capturing rapid movement object. This hand relies on people's eyes or other sense organ to go judgement to capture thingThe opportunity of body, and carry out payout by the motion of head movement or other parts again by people's brain, therefore, this hand is difficult to useIn robot, realize rapid movement object was captured on appropriate opportunity.
(3) the crawl limited space of this hand, under same crawl space, palm volume is excessive. This device is owing to adopting palmIn hinged lever pull, lever rotates needs larger palm space; When palm space hour, lever scope of activities is little,Finger opening angle is little, is difficult to obtain larger crawl space, and the palm space especially needing in the time that finger-joint number increases moreGreatly.
The quick grabbed under-actuated robot hand of existing a kind of cam-type, as Chinese invention patent CN102357884A, its handRefer to adopt tendon rope and torsion spring to realize and owe to drive, in its palm, have a main shaft, one to there is the first gear of incomplete tooth and oneHave the second gear of complete tooth, first gear with incomplete tooth is fixed on main shaft, and one end of the tendon rope of all fingers is equalFixedly be wrapped on the rope sheave affixed with main shaft, utilize driven by motor the second gear, there is incomplete tooth by the second gear drivenThe first gear, by the first gear driven main shaft, drives rope sheave by main shaft, reaches thereby take up tendon rope the effect of opening finger, thenRemove engagement by gear train, make tendon rope lax, finger is closed under the effect of torsion spring, thereby relies on torsion spring elastic force to catch object.The weak point of this device is:
1. there is rigid shock in driven pulley in the time that motion starts and stop, and is unfavorable for the stability of robot. In engaged transmission,First tooth enters engagement and last tooth exits while engagement, and the gear teeth not engage on actual line of action, can not ensure to determine during this period transmissionCompare transmission. When rotating beginning at every turn and stop due to driven pulley, angular speed has sudden change, therefore there is rigid shock, gear is easy to wear,Be unfavorable for the long-term operation of robot.
2. incomplete gear mechanism is generally only applicable to the condition of work of low speed, underloading, and application has certain limitation in practiceProperty.
No matter be industrial production or community service, all require robot to stablize to capture object and can be fast heightEffect ground captures object, especially implements capture or need to increase work efficiency for rapid movement object, and fast and stable capturesFunction is very important.
Summary of the invention
The object of the invention is the weak point for prior art, provide a kind of cam-type to capture fast under-actuated robot hand dressPut, this device is applicable to automatically capturing fast object; Finger is closed fast, captures efficiency high, can realize quick crawl; There is thingDetecting functions can be realized automatically and capturing fast in the time finding within the scope of near the crawl of object palm; There is automatic adaptationThe feature of different objects shape and size; Palm volume is little, captures space large; Stable drive is accurate, controls simply, and cost is low;Only drive multiple joints of multiple fingers with a motor; Outward appearance and action imitation staff, can be used on anthropomorphic robot.
The present invention adopts following technical scheme:
The quick grabbed under-actuated robot hand of a kind of cam-type provided by the invention, comprises motor, decelerator, palmAt least two fingers, the frame structure that described palm is hollow form; Described motor is fixed in palm, the output of motorAxle is connected with the power shaft of decelerator; Described each finger comprises a tendon rope, a n segment, a n joint shaft, a n ropeWheel and n torsion spring, wherein, n is at least 2, and the segment quantity of each finger is identical or different; In each finger, allJoint shaft is parallel to each other between two, and the 1st joint shaft is movably set in palm, and the 1st segment is actively socketed on the 1stOn joint shaft, i joint shaft is movably set in i-1 segment, and i segment is actively socketed on i jointOn axle, wherein, i is the integer in 2 to n, it is characterized in that: the quick grabbed under-actuated robot hand of this cam-typeAlso comprise the first bevel gear, the second bevel gear, incomplete grooved cam, camshaft, lower draw-bar and portable plate; DescribedOne bevel gear is fixedly sleeved on the output shaft of decelerator, and described the second bevel gear is fixedly sleeved on camshaft, the first coneGear is meshed with the second bevel gear; Described camshaft is movably set in palm; Described incomplete grooved cam fixed coverBe connected on camshaft; Match with the groove of incomplete grooved cam in one end of described lower draw-bar, the other end of lower draw-bar is solidDingan County is contained on portable plate; In each finger, j rope sheave is actively socketed on j joint shaft, and wherein, j is 1To the integer in n; In each finger, the 1st torsion spring set is on the 1st joint shaft, and the two ends of the 1st torsion spring are dividedDo not connect palm and the 1st segment, k torsion spring set is on k joint shaft, and the two ends of k torsion spring connect respectivelyK-1 segment and k segment, wherein, k is the integer in 2 to n; In the time that torsion spring is lax, finger is bending and grabsTight state; In each finger, one end of described tendon rope and portable plate are directly affixed or through portable plate and the 1st fingerSection is affixed, and described tendon rope is wound around successively through the 1st rope sheave, through the 1st segment, is wound around successively through the 2nd ropeTake turns, pass the 2nd segment ..., be wound around successively through m rope sheave, through m segment ..., be wound around successivelyThrough n rope sheave, through n segment, the other end of tendon rope and n segment are affixed, and wherein, m is from 1To the integer of n.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that, also comprises q activityHook, a q finger hook on plate; Described upper hook is fixedly mounted on portable plate respectively; Described finger is linked up with respectivelyBe fixedly mounted in the 1st segment of finger; One end of described tendon rope and the 1st segment hook are affixed, successively through the 1stOn individual portable plate, link up with, link up with through the 2nd finger ... through linking up with, pass p finger on p-1 portable plateHook ... through linking up with on q portable plate, passing the 1st segment, be wound around successively through the 2nd rope sheave, passThe 2nd segment ..., be wound around successively through m rope sheave, through m segment ..., be wound around successively through nIndividual rope sheave, through n segment, the other end of tendon rope and n segment are affixed; Wherein, n is the segment quantity of finger,M is the integer from 1 to n, and q is positive integer, and p is the integer from 1 to q.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that, also comprises control system, shouldControl system comprises motor drive module, control module, first sensor and the second sensor; Described first sensor and secondInstallation of sensors is in palm or finger, and first sensor and the second sensor are respectively by holding wire and control module input phaseConnect, first sensor detects finger open mode and feeds back to control module; The second sensor detects the object state that puts in place and also feeds backGive control module; The output of described control module is connected with motor with motor drive module by holding wire.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that: described first sensor adoptsThe combination of one or more in angular displacement sensor, linear displacement transducer, pressure sensor and proximity transducer.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that: described the second sensor adoptsThe combination of one or both in angular displacement sensor, linear displacement transducer, pressure sensor and proximity transducer.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that: described control module adoptsPLC, single-chip microcomputer, DSP or computer.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that: also comprise and capture button and openDrive button; Described crawl button with open button and be connected with the input of control module respectively.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that: also comprise encoder, described inEncoder is connected with control module.
The quick grabbed under-actuated robot hand of cam-type of the present invention, is characterized in that: described finger has 5,Comprise thumb, forefinger, middle finger, the third finger and little finger of toe, described thumb comprises 2 segments and 2 joint shafts; Described forefinger,Middle finger, the third finger are identical with little finger of toe structure, include 3 segments and 3 joint shafts.
The present invention has the following advantages and high-lighting effect:
Apparatus of the present invention are utilized motor, decelerator, bevel gear, not exclusively grooved cam transmission mechanism, tendon rope-torsion spring type finger passActuation mechanism, multisensor and control module have comprehensively realized the effect that automatically captures fast object, and crawl process is divided into finger energy storageOpen, point and open the detection that puts in place, object and put in place and detect and instantaneous relase captures Four processes; This device finger is closed fast, grabsGet efficiency high, can realize quick crawl; There is object detection function, in the time finding within the scope of near the crawl of object palmCan realize automatically and capturing fast; The feature with automatic adaptation different objects shape and size, grasp stability is good; Structure is tightGather, palm volume is little, captures space large; Stable drive is accurate, and transmission efficiency is high, and mechanism is simple, controls simply, lightweight,Cost is low; Adopt a motor to drive multiple joints of multiple fingers, outward appearance and action imitation staff, and to control system requirementLow; Can be used on anthropomorphic robot.
Brief description of the drawings
Fig. 1 be the quick grabbed under-actuated robot hand of cam-type provided by the invention a kind of embodiment stereo appearance figure (whereinPalm header board does not draw).
Fig. 2 Fig. 3, Fig. 4, Fig. 5 are outside drawings embodiment illustrated in fig. 1.
Fig. 6 is palm cut-away view embodiment illustrated in fig. 1.
Fig. 7 is the mated condition signal of incomplete grooved cam and portable plate.
Fig. 8 is thumb and palm cut-away view embodiment illustrated in fig. 1.
Fig. 9 is tendon of thumb rope canoe Local map embodiment illustrated in fig. 1.
Figure 10 is tendon of index finger rope canoe Local map embodiment illustrated in fig. 1.
Figure 11 is that forefinger embodiment illustrated in fig. 1 is faced outside drawing.
Figure 12 is forefinger side elevational schematic view embodiment illustrated in fig. 1.
Figure 13 is that forefinger embodiment illustrated in fig. 1 is the state of holding with a firm grip, and now the each torsion spring on forefinger is relaxed state, and torsion spring makesObtain forefinger and be the state of holding with a firm grip.
Figure 14 is forefinger embodiment illustrated in fig. 1 situation signal while opening.
Figure 15 is the process signal that forefinger embodiment illustrated in fig. 1 captures object.
Figure 16 is the result figure that forefinger embodiment illustrated in fig. 1 captures object.
Figure 17 is the desirable line drawing of cam embodiment illustrated in fig. 1.
Figure 18 is the theory diagram of control system.
Figure 19 is control module Program FB(flow block).
At Fig. 1 to Figure 13:
1-palm,
101-palm skeleton, 102-main shaft, 103-palm rope sheave,
104-motor, 105-decelerator, 106-the first bevel gear,
107-the second bevel gear, the incomplete grooved cam of 108-, 109-portable plate,
110-proximity transducer, 111-encoder, 112-palm hook,
The upper hook of 113-, 114-lower draw-bar, 115-camshaft,
2-thumb,
201-thumb the first joint shaft, 202-thumb the first segment, 203-thumb second joint axle,
204-thumb the second segment, 205-thumb the first rope sheave, 206-thumb the second rope sheave,
207-thumb the first torsion spring, 208-thumb the second torsion spring, 209-tendon of thumb rope,
3-forefinger,
301-forefinger the first joint shaft, 302-forefinger the first segment, 303-forefinger second joint axle,
304-forefinger the second segment, 305-forefinger the 3rd joint shaft, 306-forefinger the 3rd segment,
307-forefinger the first rope sheave, 308-forefinger the second rope sheave, 309-forefinger the 3rd rope sheave,
310-forefinger the first torsion spring, 311-forefinger the second torsion spring, 312-forefinger the 3rd torsion spring,
313-tendon of index finger rope, the connection end point of 314-tendon rope and the first segment,
4-middle finger, the 5-third finger, 6-little finger of toe.
Detailed description of the invention
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the quick grabbed under-actuated robot hand of cam-type of the present invention, as shown in Figure 1, Figure 2, figure3, shown in Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 17. ComprisePalm 1 and five fingers: thumb 2, forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6. Described palm 1 is hollow formFrame structure.
Described thumb 2 comprises a tendon rope, 2 segments, 2 joint shafts, 2 rope sheaves and 2 torsion springs. Described thumb2 comprise thumb the first segment 202, thumb the second segment 204, thumb the first joint shaft 201, thumb second joint axle 203,Thumb the first rope sheave 205, thumb the second rope sheave 206, thumb the first torsion spring 207, thumb the second torsion spring 208 and tendon of thumbRope 209;
Described forefinger 3, middle finger 4, nameless 5 identical with little finger of toe 6 structures, below only taking forefinger 3 as representative explanation.
Described forefinger 3 comprises a tendon rope, 3 segments, 3 joint shafts, 3 rope sheaves and 3 torsion springs. Described forefinger3 comprise forefinger the first segment 302, forefinger the second segment 304, forefinger the 3rd segment 306, forefinger the first joint shaft 301,Forefinger second joint axle 303, forefinger the 3rd joint shaft 305, forefinger the first rope sheave 307, forefinger the second rope sheave 308, foodRefer to the 3rd rope sheave 309, forefinger the first torsion spring 310, forefinger the second torsion spring 311, forefinger the 3rd torsion spring 312, tendon of index finger rope313 and the connection end point 314 of tendon rope and the first segment.
In each finger, all joint shafts are parallel to each other between two. Thumb the first joint shaft 201 and thumb second joint axle203 are parallel to each other; Forefinger the first joint shaft 301, forefinger second joint axle 303 and forefinger the 3rd close joint shaft 305 between twoBe parallel to each other.
In thumb, described the 1st joint shaft is movably set in palm, and the 1st segment is actively socketed on the 1st passOn nodal axisn, described the 2nd joint shaft is movably set in the 1st segment, and described the 2nd segment is actively socketed on the 2ndOn individual joint shaft.
Specifically, described thumb the first joint shaft 201 is movably set in palm 1, thumb the first segment 202 activitiesBe socketed on thumb the first joint shaft 201; Described thumb second joint axle 203 is movably set in thumb the first segment 202In, described thumb the second segment 204 is actively socketed on thumb second joint axle 203.
In forefinger, middle finger, the third finger and little finger of toe, described the 1st joint shaft is movably set in palm, the 1st fingerSection is actively socketed on the 1st joint shaft, and described the 2nd joint shaft is movably set in the 1st segment, and the described the 2ndIndividual segment is actively socketed on the 2nd joint shaft, and described the 3rd joint shaft is movably set in the 2nd segment, described inThe 3rd segment is actively socketed on the 3rd joint shaft.
Specifically, described forefinger the first joint shaft 301 is movably set in palm 1, forefinger the first segment 302 activitiesBe socketed on forefinger the first joint shaft 301; Described forefinger second joint axle 303 is movably set in forefinger the first segment 302In, described forefinger the second segment 304 is actively socketed on forefinger second joint axle 303; Described forefinger the 3rd joint shaft 305Be movably set in forefinger the second segment 304, described forefinger the 3rd segment 306 is actively socketed on forefinger the 3rd joint shaft 305On.
The quick grabbed under-actuated robot hand embodiment of this cam-type, also comprises main shaft 102, motor 104, decelerator105, palm 1 and at least two fingers, the frame structure that described palm 1 is hollow form; Described motor is fixed in palm 1In, the output shaft of motor 104 is connected with the power shaft of decelerator 105; Also comprise the first bevel gear 106, the second bevel gear107, incomplete grooved cam 108, camshaft 115, lower draw-bar 114 and portable plate 109; Described the first bevel gear 106Fixedly sleeved on the output shaft of decelerator 105, described the second bevel gear 107 is fixedly sleeved on camshaft 115, theOne bevel gear 108 is meshed with the second bevel gear 109; Described camshaft 115 is movably set in palm 1; DescribedGrooved cam 108 is fixedly sleeved on camshaft 115 completely; One end of described lower draw-bar 114 and incomplete grooved cam108 groove matches, and the other end of lower draw-bar is fixedly mounted on portable plate 109.
The 1st joint shaft of described main shaft and forefinger, middle finger, the third finger and little finger of toe is directly affixed. In the present embodiment, instituteState main shaft 102 and adopt same axis with forefinger the first joint shaft 301.
Described main shaft is connected by transmission mechanism with the 1st joint shaft of thumb. Described transmission mechanism comprises palm rope sheave103 and tendon of thumb rope 209; Described palm rope sheave 103 is fixed on palm skeleton 101; Described tendon of thumb rope 209One end and palm skeleton 101 are affixed, are wound around through upper hook 113, palm hook 112, palm rope sheave 103, thumb theOne rope sheave 205, thumb the second rope sheave 206, the other end of tendon rope and thumb the second finger tip 204 are affixed.
In thumb, described the 1st rope sheave is fixed on the 1st joint shaft, and described the 2nd rope sheave is actively socketed on the 2ndOn individual joint shaft; In thumb, described the 1st torsion spring set is on the 1st joint shaft, and the two ends of the 1st torsion spring respectivelyConnect palm and the 1st segment, described the 2nd torsion spring set is on the 2nd joint shaft, and the two ends of the 2nd torsion spring respectivelyConnect the 1st segment and the 2nd segment; When described torsion spring relaxes, thumb is bending promptly state; In thumb, instituteOne end and the palm skeleton of stating tendon rope are affixed, described tendon rope be wound around successively through upper hook, palm hook, palm rope sheave,The 1st rope sheave, through the 1st segment, be wound around through the 2nd rope sheave, through the 2nd segment, the other end of tendon ropeAffixed with the 2nd segment.
Specifically, described thumb the first rope sheave 205 is fixed on thumb the first joint shaft 201, and described thumb second is restrictedWheel 206 is actively socketed on thumb second joint axle 203; Described thumb the first torsion spring 207 is enclosed within thumb the first joint shaftUpper, the two ends of thumb the first torsion spring connect respectively palm 1 and thumb the first segment 202, described thumb the second torsion spring 208Be enclosed within on thumb second joint axle, the two ends of thumb the second torsion spring connect respectively thumb the first segment 202 and thumb the second fingerSection 204; When described thumb the first torsion spring 207 and thumb the second torsion spring 208 all relax, thumb 2 is bending promptly state;One end of described tendon rope and palm skeleton are affixed, and described tendon rope is wrapped in upper hook, the palm skeleton of portable plate 109 successively101 lower draw-bar palm rope sheave 103, thumb the first rope sheave 205, through thumb the first segment 202, be wound around through thumbThe second rope sheave 206, through thumb the second segment 204, the other end of tendon of thumb rope 209 and thumb the second segment 204 are affixed.
The quick grabbed under-actuated robot hand embodiment of cam-type of the present invention, is characterized in that, except thumbThe each finger of four fingers also comprise and on 2 portable plates, link up with 113,2 finger hooks; Described upper hook 113 is solid respectivelyDingan County is contained on portable plate 109; Described finger hook is fixedly mounted in the 1st segment of finger respectively; Described tendonOne end of rope and the 1st segment hook are affixed, successively through linking up with 113 on the 1st portable plate, hanging through the 2nd fingerHook, through hook on the 2nd portable plate, through the 1st segment, be wound around successively through the 2nd rope sheave, through the 2ndIndividual segment, is wound around successively through the 3rd rope sheave, through the 3rd segment, and the other end of tendon rope and the 3rd segment are affixed.
In forefinger, described the 1st rope sheave is fixed on the 1st joint shaft, and described the 2nd rope sheave is actively socketed on the 2ndOn individual joint shaft, described the 3rd rope sheave is actively socketed on the 3rd joint shaft; In forefinger, described the 1st torsion springBe enclosed within on the 1st joint shaft, the two ends of the 1st torsion spring connect respectively palm and the 1st segment, described the 2nd torsion springBe enclosed within on the 2nd joint shaft, the two ends of the 2nd torsion spring connect respectively the 1st segment and the 2nd segment, the described the 3rdIndividual torsion spring set is on the 3rd joint shaft, and the two ends of the 3rd torsion spring connect respectively the 2nd segment and the 3rd segment; InstituteState torsion spring when lax, forefinger is bending promptly state; In forefinger, one end of described tendon rope and the 1st segment hook are solidConnect, successively through hook on the 1st portable plate, through the 2nd finger hook, through hook on the 2nd portable plate,Through the 1st segment, be wound around successively through the 2nd rope sheave, through the 2nd segment, be wound around successively through the 3rd ropeTake turns, pass the 3rd segment, the other end of tendon rope and the 3rd segment are affixed.
Specifically, described forefinger the first rope sheave 307 is fixed on forefinger the first joint shaft 301, and described forefinger second is restrictedWheel 308 is actively socketed on forefinger second joint axle 303, and described forefinger the 3rd rope sheave 309 is fixed in forefinger the 3rd jointOn axle 305; Described forefinger the first torsion spring 310 is enclosed within on forefinger the first joint shaft, and the two ends of forefinger the first torsion spring 310 are dividedDo not connect palm 1 and forefinger the first segment 302, described forefinger the second torsion spring 311 is enclosed within on forefinger second joint axle 303,The two ends of forefinger the second torsion spring 311 connect respectively forefinger the first segment 302 and forefinger the second segment 304, described forefinger the 3rdTorsion spring 312 is enclosed within on forefinger the 3rd joint shaft 305, and the two ends of forefinger the 3rd torsion spring 312 connect respectively forefinger the second segment304 and forefinger the 3rd segment 306; Described forefinger the first torsion spring 310, forefinger the second torsion spring 311 and forefinger the 3rd torsion spring 312While all relaxing, forefinger 3 is bending promptly state; One end of described tendon of index finger rope 313 and forefinger the first segment 302 are linked up withAffixed, described tendon of index finger rope 313 is successively through linking up with 113, the 2nd finger hooks, the 2nd work on first portable plateHook, forefinger the first segment 302 on moving plate, be wound around successively through forefinger the second rope sheave 308, through forefinger the second segment 304,Be wound around through forefinger the 3rd rope sheave 309, through forefinger the 3rd segment 306, the other end of tendon of index finger rope 313 and forefinger the 3rdSegment 306 is affixed. In forefinger, the position relationship of tendon rope and each segment, joint shaft is as shown in Figure 11, Figure 12, Figure 11,In Figure 12, forefinger left side is the back side, and right side is positive, and right side is the direction that grasps object place.
Described incomplete grooved cam 108 adopts cosine acceleration motion rule, and its rise characteristics of motion equation is
The displacement that wherein s is driven member, the stroke that h is driven member, θ is cam angle, β1For motion angle for actuating travel, and θ ∈ [0, β1]，s∈[0，h]。
Its return motion program equation is
Wherein β ' is far angle of repose, β2For motion angle for return travel, and θ ∈ [0, β2]，s∈[0，h]，θ1＝θ-β1-β′。
Described incomplete grooved cam 108 is by counterclockwise rotation, and establishing cam base circle center of circle O is the origin of coordinates, by analytic methodCalculate to such an extent that cam pitch curve is
Wherein xCFor the abscissa of cam pitch curve, yCFor the ordinate of cam pitch curve.
The pressure angle of described incomplete grooved cam is α,
Wherein s ' is (θ) partial derivative of s about θ, and e is offset distance, RbFor base radius.
In the present embodiment, described incomplete grooved cam 108 motion angle for actuating travel β1=60 °, far angle of repose β '=10 °, backhaul fortuneMoving angle β2=50 °, near angle of repose β=240 °. In the present embodiment, described incomplete grooved cam base radius Rb＝8mm，Offset distance e=0mm, radius of roller Rr=2mm, stroke h=2mm. Figure 17 is the cam contour figure of the present embodiment. This enforcementIn example, maximum pressure angle αmLocate maximum pressure angle α in cam profile θ=97 °mThe condition of≤30 ° is rotating speedTurn/min of r≤13.6993.
The present embodiment, also comprises control system. Figure 18 is the theory diagram of control system. This control system comprises that motor drives mouldPiece, control module, first sensor and the second sensor; Described first sensor and the second installation of sensors are at palm or fingerIn, first sensor is connected with control module input by holding wire respectively with the second sensor, and first sensor detects fingerOpen mode also feeds back to control module; The second sensor detects put in place state feed back to control module of object; Described control mouldThe output of piece is connected with motor 104 with motor drive module by holding wire.
Described first sensor adopts one in angular displacement sensor, linear displacement transducer, pressure sensor and proximity transducerPlant or multiple combination. In the present embodiment, adopted proximity transducer 110 as first sensor, this proximity transducer is installedNear incomplete grooved cam 108, not exclusively on grooved cam 108, there is a fan-shaped long arc groove through hole (as shown in Figure 7), proximity transducer can detect the position that incomplete grooved cam rotates, thus whether indirectly obtain pointing has openedSignal, by this signal feedback to control module.
Described the second sensor adopts one in angular displacement sensor, linear displacement transducer, pressure sensor and proximity transducerKind or the combination of two kinds. In the present embodiment, post one deck resistive pressure sensor on the surface of palm header board, work as object contactDuring to the sensor of palm surface, sensor obtains signal, by this signal feedback to control module. Also can install and approach sensingDevice is at palm surface, and when object proximity palm is during to certain distance, sensor just obtains signal, thus notice control module objectPut in place, can implement to capture the action of object.
Figure 19 is the program flow chart of control module. First sensor detects that finger does not open and puts in place, and motor continues forward and turnsMoving, drive the first bevel gear, the second bevel gear, not exclusively grooved cam rotation by decelerator, drive portable plate to move downward,Drive finger to continue to open. In the local time that incomplete grooved cam forwards that through hole finishes to, first sensor detects that fingerOpen and put in place, this signal feedback, to control module, stops operating motor by motor drive module, and finger keeps open configuration.Now, if press exit button, will quit a program. When crawl button is pressed or makes to go smoothly near object moves to palmSecond sensor on palm surface detects the object signal that puts in place, and now, control module continues by motor drive module control motorStall after default low-angle of forward rotation, the rotation of motor can drive incomplete grooved cam to rotate, not exclusively ditch geosynclinal convexThe opening portion of wheel reaches with the lower draw-bar of portable plate and coordinates part, and not exclusively grooved cam no longer coordinates with portable plate, tendon rope winkShi Fangsong, now, because each segment is withdrawn into fast again the state that initial bending is firmly grasped by the back stretch effect of the each spring of forefinger,Thereby finger is caught object fast. Afterwards, if press exit button, will quit a program. Manually pressed when opening button,Motor continues forward rotation, and not exclusively grooved cam is rotated further, until not exclusively the edge part of grooved cam again with activityPlate matches, thereby pulls portable plate to move downward, and finger is opened gradually, and object is decontroled, until first sensor detectsOpen up into the signal of position to finger ... all the other processes are the same.
In the present invention, described control module adopts PLC, single-chip microcomputer, DSP or computer. In the present embodiment, described control mouldPiece adopts PLC.
The present embodiment also comprises crawl button, opens button; Described crawl button, open button and be connected with control module respectively.
Another embodiment of the present invention, also comprises encoder 111, and described encoder is connected with control module.
Another embodiment of the present invention, described tendon rope adopts rope, band or chain.
The decelerator of the present embodiment has larger speed reducing ratio and reaches the effect of " soft self-locking ", or certain one-level therein adopts toolThere are the Worm and worm-wheel gearing, thread transmission of reverse self-locking feature or other to there is the transmission mechanism of reverse self-locking feature.Soft self-locking or the self-locking of decelerator, be in order to ensure to put in place when finger opens, after motor stalling, and finger still can remain onThe position of opening, because the elastic force of torsion spring is not bending.
The operation principle of this device is described as an example of forefinger 3 example below:
In the present embodiment, the original state of forefinger 3 is as Figure 13, the state that similar staff is held with a firm grip. Forefinger 3 forefinger the first torsion spring 310,Under the effect of forefinger the second torsion spring 311 and forefinger the 3rd torsion spring 312, be bending promptly state.
First sensor (proximity transducer 110) detects that finger does not open and puts in place, and motor 104 forward rotation, by slowing downDevice 105 drives the first bevel gear 106 second bevel gears 107, not exclusively grooved cam 108 rotates, drive portable plate 109 toLower motion, makes tendon of index finger rope 313 strain and make forefinger 3 to open gradually. Now, when incomplete grooved cam 108 forwards to logicalHole finish local time, proximity transducer 110 detects that finger opens and puts in place, this signal feedback, to control module, is passed throughMotor drive module stops operating motor 104, because incomplete grooved cam still has a bit of edge in mated condition, byLarger in decelerator speed reducing ratio, be the soft self-locking state of one, or decelerator have self-locking feature, therefore remaining on, opens on forefinger 3State, as shown in figure 16. Now, if press exit button, will quit a program.
When capturing, button is manually pressed or make the second sensor of palm surface thing be detected near object moves to palmThe body signal that puts in place, now, control module continues default little angle of forward rotation by motor drive module control motor 104Stall after degree, the rotation of motor can drive incomplete grooved cam 108 to rotate, not exclusively the opening portion of grooved cam reach withThe cooperation part of the lower draw-bar of portable plate, not exclusively grooved cam and portable plate no longer coordinate, and tendon rope 312 is instantaneous to be loosened, now,Because each forefinger 3 segment is withdrawn into fast again the state that initial bending is firmly grasped by the back stretch effect of the each torsion spring of forefinger, thus handRefer to object to catch fast, spring force provides the grasping force that captures object, and this crawl is for the object of difformity, sizeThere is self adaptation effect. Capture pilot process as shown in Figure 18 and Figure 19. Afterwards, if press exit button, will exit journeyOrder.
Manually pressed when opening button, motor 104 continues forward rotation, and not exclusively grooved cam 108 is rotated further, untilNot exclusively match with the lower draw-bar of portable plate 109 again in the marginal portion of grooved cam, thereby tendon of index finger rope 313 is strained and madeForefinger opens gradually, and object is decontroled, and opens the signal putting in place ... all the other processes are the same until first sensor detects finger.
Thumb 2 has reduced a joint and a segment than forefinger 3. Motor 104 forward rotation, drive by decelerator 105When the first bevel gear 106, the second bevel gear 107, incomplete grooved cam 108 rotate, drive portable plate 109 to move downward,Thereby pull thumb the first rope sheave on thumb the first joint shaft to rotate, all the other processes are identical with forefinger.
The structure of middle finger 4, the third finger 5, little finger of toe 6 is all identical with forefinger 3 with crawl principle, repeats no more.
In above-mentioned various situation, this embodiment device proposed by the invention can normally be worked.
Apparatus of the present invention are utilized motor, decelerator, bevel gear, not exclusively grooved cam transmission mechanism, tendon rope-torsion spring type finger passActuation mechanism, multisensor and control module have comprehensively realized the effect that automatically captures fast object, and crawl process is divided into finger energy storageOpen, point and open the detection that puts in place, object and put in place and detect and instantaneous relase captures Four processes; This device finger is closed fast, grabsGet efficiency high, can realize quick crawl; There is object detection function, in the time finding within the scope of near the crawl of object palmCan realize automatically and capturing fast; The feature with automatic adaptation different objects shape and size, grasp stability is good; Structure is tightGather, palm volume is little, captures space large; Stable drive is accurate, and transmission efficiency is high, and mechanism is simple, controls simply, lightweight,Cost is low; Adopt a motor to drive multiple joints of multiple fingers, outward appearance and action imitation staff, and to control system requirementLow; Can be used on anthropomorphic robot.
Claims (8)
1. the quick grabbed under-actuated robot hand of cam-type, comprises motor, decelerator, palm and at least two fingers,Described palm is the frame structure of hollow form; Described motor is fixed in palm, the power shaft phase of the output shaft of motor and deceleratorConnect; Described each finger comprises a tendon rope, a n segment, a n joint shaft, a n rope sheave and n torsion spring, and wherein, n extremelyBe 2 less, the segment quantity of each finger is identical or different; In each finger, all joint shafts are parallel to each other between two, the 1stJoint shaft is movably set in palm, and the 1st segment is actively socketed on the 1st joint shaft, and i joint shaft is slidingly connectedIn i-1 segment, i segment is actively socketed on i joint shaft, and wherein, i is the integer in 2 to n; ItsBe characterised in that: the quick grabbed under-actuated robot hand of this cam-type also comprises the first bevel gear, the second bevel gear, incompleteHook and q finger hook on grooved cam, camshaft, lower draw-bar and portable plate, a q portable plate; Described the first bevel gearFixedly sleeved on the output shaft of decelerator, described the second bevel gear is fixedly sleeved on camshaft, the first bevel gear and the second coneGear is meshed; Described camshaft is movably set in palm; Described incomplete grooved cam is fixedly sleeved on camshaft; InstituteState one end of lower draw-bar and match with the groove of incomplete grooved cam, the other end of lower draw-bar is fixedly mounted on portable plate; ?In each finger, j rope sheave is actively socketed on j joint shaft, and wherein, j is the integer in 1 to n; At each handIn finger, the 1st torsion spring set is on the 1st joint shaft, and the two ends of the 1st torsion spring connect respectively palm and the 1st segment, theK torsion spring set is on k joint shaft, and the two ends of k torsion spring connect respectively k-1 segment and k segment, wherein,K is the integer in 2 to n; In the time that torsion spring is lax, finger is bending promptly state; In each finger, one of described tendon ropeEnd is directly affixed or affixed through portable plate and the 1st segment with portable plate, described tendon rope be wound around successively through the 1st rope sheave,Through the 1st segment, be wound around successively through the 2nd rope sheave, through the 2nd segment ..., be wound around successively through m ropeWheel, through m segment ..., be wound around successively through n rope sheave, pass n segment, the other end of tendon rope and theN segment is affixed, and wherein, m is the integer from 1 to n;
On a described q portable plate, hook is fixedly mounted on portable plate respectively; Described finger hook is fixedly mounted on hand respectivelyIn the 1st segment referring to; One end of described tendon rope and the 1st segment hook are affixed, successively through hook on the 1st portable plate,Link up with through the 2nd finger ... through linking up with on p-1 portable plate, linking up with through p finger ... individual through qOn portable plate, link up with, pass the 1st segment, be wound around successively through the 2nd rope sheave, through the 2nd segment ..., twine successivelyPile warp is crossed m rope sheave, is passed m segment ..., be wound around successively through n rope sheave, through n segment, tendonThe other end and n the segment of rope are affixed; Wherein, n is the segment quantity of finger, and m is the integer from 1 to n, and q is for just wholeNumber, p is the integer from 1 to q.
2. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 1, is characterized in that, also comprises controlSystem, this control system comprises motor drive module, control module, first sensor and the second sensor; Described the first sensingDevice and the second installation of sensors are in palm or finger, and first sensor and the second sensor are respectively by holding wire and control moduleInput is connected, and first sensor detects finger open mode and feeds back to control module; The second sensor detects the object shape that puts in placeState also feeds back to control module; The output of described control module is connected with motor with motor drive module by holding wire.
3. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 2, is characterized in that: described first passesThe combination of one or more in sensor employing angular displacement sensor, linear displacement transducer, pressure sensor and proximity transducer.
4. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 2, is characterized in that: described second passesThe combination of one or both in sensor employing angular displacement sensor, linear displacement transducer, pressure sensor and proximity transducer.
5. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 2, is characterized in that: described control mouldPiece adopts PLC, single-chip microcomputer, DSP or computer.
6. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 2, is characterized in that: also comprise crawlButton and open button; Described crawl button with open button and be connected with the input of control module respectively.
7. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 2, is characterized in that: also comprise codingDevice, described encoder is connected with control module.
8. the quick grabbed under-actuated robot hand of cam-type as claimed in claim 1 or 2, is characterized in that: describedFinger has 5, comprises thumb, forefinger, middle finger, the third finger and little finger of toe, and described thumb comprises 2 segments and 2 joint shafts;Described forefinger, middle finger, the third finger are identical with little finger of toe structure, include 3 segments and 3 joint shafts.
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