CN104015193B - Capture locking adaptive robot finger apparatus - Google Patents
Capture locking adaptive robot finger apparatus Download PDFInfo
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- CN104015193B CN104015193B CN201410242304.9A CN201410242304A CN104015193B CN 104015193 B CN104015193 B CN 104015193B CN 201410242304 A CN201410242304 A CN 201410242304A CN 104015193 B CN104015193 B CN 104015193B
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- spring
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- joint shaft
- segment
- spring part
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 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 abstract description 13
- 238000000034 method Methods 0.000 abstract description 7
- 238000007789 sealing Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
- 238000005452 bending Methods 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000949477 Toona ciliata Species 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Capture locking adaptive robot finger apparatus, belong to robot technical field, comprise pedestal, motor, the first transmission mechanism, nearly joint shaft, middle part segment, driving pulley, Timing Belt, driven pulley, joint shaft far away, end segment and the first spring part. This device also comprises the second transmission mechanism, ratchet, pawl axis, ratchet, the second spring part, the 3rd spring part and the 4th spring part. This device can be installed on mechanical arm, the grasping body that reaction surface is withdrawn is implemented in the active movement of cooperative mechanical arm, there is the shape to grabbed object, the adaptive ability of size, capture object and reach shape sealing and force-closed stable crawl, prevent from causing because of vibration interference the unstable phenomenon of joint reply in crawl process, this apparatus structure is simple, volume is little, quality is little, and manufacture and maintenance cost are low, similar to the finger of staff.
Description
Technical field
The invention belongs to robot technical field, particularly a kind of structure that captures locking adaptive robot finger apparatus is establishedMeter.
Background technology
With the mankind seemingly, most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robotImportant component part, its design is one of key technology of anthropomorphic robot. In order to increase personalizing of hand, hand will be establishedHaggle over many joint freedom degrees, but, in order to alleviate the control difficulty of anthropomorphic robot's hand, and reduce hand volume,Weight, need to reduce driver number, and the two has certain contradiction, in addition, in order to capture better object, also needs handRefer in the time capturing object, to there is certain adaptivity. Under-actuated finger can better be realized more joint freedom degrees, less drivingMoving device number, these three targets of stronger adaptivity while capturing the object of difformity, size.
Existing a kind of belt wheel under-driven robot finger, as Chinese invention patent CN101234489B, comprises pedestal, electricityMachine, decelerator, the first gear, the second gear, nearly joint shaft, middle part segment, joint shaft far away, end segment, driving pulley,Timing Belt, driven pulley and spring part; Middle part segment is socketed on nearly joint shaft, and the two ends of spring part connect respectively middle part segment and endEnd segment. This device can be realized self adaptation and owe to drive function.
The weak point of this device is: this device does not push middle part when segment at object, the initial shape that end segment is stretched replyState, therefore this device cannot be implemented in the grasping body that in crawl process, reaction surface is cancelled. For example an object is placed on desktopUpper, when the finger being arranged on mechanical arm relies on object, motor drives the first joint to rotate, and object can stop and push middle part and refer toSection, thus synchronous belt mechanism can cause the second joint bending of finger, but in the time that mechanical arm leaves desktop, now object is no longerExtruding middle part segment, the original state that end segment is stretched reply, the bending of finger can not keep, so object comes off, grabsGet unsuccessfully. Although this device has reached a kind of self adaptation envelope effect in profile in the time capturing object on the other hand, does not haveProduce grasping force, thereby realizable force closed stablity does not capture, only have and there are shape sealing and force-closed two kinds of envelope ability simultaneouslyReach stable grasping. In the time only having shape sealing, if run into vibration interference, object is carved the extruding to middle part segment at a timePower reduces suddenly, will cause end segment to decontrol rapidly object, produces unstable phenomenon.
Summary of the invention
The object of the invention is the weak point for prior art, a kind of locking adaptive robot finger apparatus that captures is provided.This device can be installed on mechanical arm, and the grasping body that reaction surface is withdrawn is implemented in the active movement of cooperative mechanical arm, and it is right to haveThe shape of the object of grabbing, the adaptive ability of size, capture object and reach shape sealing and force-closed stable crawl, preventsIn crawl process, because vibration interference causes the unstable phenomenon of joint reply, this apparatus structure is simple, and volume is little, and quality is little, systemMake with maintenance cost low, similar to the finger of staff.
Technical scheme of the present invention is as follows:
The one of the present invention design captures locking adaptive robot finger apparatus, comprise pedestal, motor, the first transmission mechanism,Nearly joint shaft, middle part segment, driving pulley, Timing Belt, driven pulley, joint shaft far away, end segment and the first spring part; InstituteState motor and pedestal is affixed, the output shaft of motor is connected with the power shaft of the first transmission mechanism, the output shaft of the first transmission mechanism withNearly joint shaft is connected, and described nearly joint shaft is movably set in pedestal, and described joint shaft far away is movably set in the segment of middle part, instituteState middle part segment and be actively socketed on nearly joint shaft, described end segment is fixed on joint shaft far away; The both sides of described Timing Belt are dividedDo not connect driving pulley, driven pulley, described Timing Belt, driving pulley and driven pulley three form toothed belt transmission relation;The two ends of described the first spring part connect respectively middle part segment and end segment; It is characterized in that: this device also comprises the second driverStructure, ratchet, pawl axis, ratchet, the second spring part, the 3rd spring part and the 4th spring part; Described driving pulley is actively socketed on nearly passOn nodal axisn; Described driven pulley is actively socketed on joint shaft far away, and described nearly joint shaft is connected with the input of the second transmission mechanism,The output of the second transmission mechanism is connected with ratchet, and described ratchet is actively socketed on pawl axis, and pawl axis fixed cover is located at middle partIn segment, described ratchet is actively socketed on joint shaft far away, and described ratchet and driven pulley are affixed, and the two ends of the second spring part respectivelyConnect middle part segment and ratchet, the two ends of described the 3rd spring part connect respectively ratchet and end segment, the two ends of described the 4th spring partConnect respectively nearly joint shaft and driving pulley.
Crawl locking adaptive robot finger apparatus of the present invention, is characterized in that: described the second transmission mechanism comprises coverCylinder and flexible piece; Described sleeve is fixed on nearly joint shaft; One end of described flexible piece is connected on sleeve, and the other end is connected toOn ratchet.
Crawl locking adaptive robot finger apparatus of the present invention, is characterized in that: described the first spring part employing torsion spring,Extension spring, stage clip, sheet spring or elastic threads; Described the second spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; DescribedThree spring parts adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 4th spring part adopts torsion spring, extension spring, stage clip, sheet springOr elastic threads.
Crawl of the present invention locking adaptive robot finger apparatus, is characterized in that: described the first transmission mechanism comprises and subtractingSpeed device, the first gear and the second gear.
The present invention compared with prior art, has the following advantages and high-lighting effect:
This device is applicable to being installed on the part of mechanical arm tail end as humanoid robot hand or hand, the active movement of cooperative mechanical armImplement the grasping body that reaction surface is withdrawn; There is the shape to grabbed object, the adaptive ability of size, capture object and reachShape sealing and force-closed stable crawl, prevent in crawl process because the unstable phenomenon that vibration interference causes joint to be replied;This device utilizes reaction surface to push middle part segment to the active force of object, then coordinates the realization fingers second such as synchronous belt mechanism to closeThe bending of joint, adopts click to realize finger second joint and only allows forward bending and can not oppositely stretch, and prevents at mechanical armWhile withdrawing reaction surface, object comes off; Adopt the distortion generation end segment of the 3rd spring part to apply stable grasping force to object; AdoptRealize with motor the unilateral constrain effect of ratchet to ratchet of removing in the time need to discharging object, realize and discharge object; This apparatus structureSimply, volume is little, and quality is little, and manufacture and maintenance cost are low, similar to the finger of staff.
Brief description of the drawings
Fig. 1 is the stereo appearance figure of the embodiment of crawl locking adaptive robot finger apparatus provided by the invention.
Fig. 2 is the front section view of the present embodiment.
Fig. 3 is the explosive view of the present embodiment.
Fig. 4 is the side outward appearance of the present embodiment.
Fig. 5 is the left side view (not drawing part) of Fig. 2.
In Fig. 1 to Fig. 5:
1-pedestal, 11-motor,
121-decelerator, 122-the first gear, 123-the second gear,
The nearly joint shaft of 2-,
3-middle part segment, 31-driving pulley, 32-Timing Belt,
33-driven pulley,
4-joint shaft far away, 5-end segment, 6-the first spring part,
71-the 4th spring part, 722-sleeve,
723-tendon rope, 73-ratchet,
74-pawl axis, 75-ratchet, 76-the second spring part,
8-the 3rd spring part, the object that 10-captures.
Detailed description of the invention
Be described in further detail the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment that captures locking adaptive robot finger apparatus of the present invention design, as shown in Figure 1, Figure 2, Fig. 3, Fig. 4Shown in Fig. 5, comprise pedestal 1, motor 11, the first transmission mechanism, nearly joint shaft 2, middle part segment 3, driving pulley 31,Timing Belt 32, driven pulley 33, joint shaft 4 far away, end segment 5 and the first spring part 6; Described motor 11 is affixed with pedestal 1,The output shaft of motor 11 is connected with the power shaft of the first transmission mechanism, and the output shaft of the first transmission mechanism is connected with nearly joint shaft 2,Described nearly joint shaft 2 is movably set in pedestal 1, and described joint shaft 4 far away is movably set in the segment 3 of middle part, described middle partSegment 3 is actively socketed on nearly joint shaft 2, and described end segment 5 is fixed on joint shaft 4 far away; Two of described Timing Belt 32Side connects respectively driving pulley 31, driven pulley 33, described Timing Belt 32, driving pulley 31 and driven pulley 33 three's shapesBecome toothed belt transmission relation; The two ends of described the first spring part 6 connect respectively middle part segment 3 and end segment 5; This device also wrapsDraw together the second transmission mechanism, ratchet 73, pawl axis 74, ratchet 75, the second spring part 76, the 3rd spring part 8 and the 4th spring part 71;Described driving pulley 31 is actively socketed on nearly joint shaft 2; Described driven pulley 33 is actively socketed on joint shaft 4 far away, instituteState nearly joint shaft 2 and be connected with the input of the second transmission mechanism, the output of the second transmission mechanism is connected with ratchet 73, described sour jujubePawl 73 is actively socketed on pawl axis 74, and pawl axis 74 fixed covers are located in the segment 3 of middle part, described ratchet 75 pivot bush unitsOn joint shaft 4 far away, described ratchet 75 is affixed with driven pulley 33, and the two ends of the second spring part 76 connect respectively middle part segment 3With ratchet 73, the two ends of described the 3rd spring part 8 connect respectively ratchet 75 and end segment 5, the two ends of described the 4th spring part 71Connect respectively nearly joint shaft 2 and driving pulley 31.
In the present embodiment, described the second transmission mechanism comprises sleeve 722 and flexible piece; Described sleeve 722 is fixed in nearly joint shaftOn; One end of described flexible piece is connected on sleeve 722, and the other end is connected on ratchet 73; Described flexible piece is tendon rope 723.
Crawl of the present invention locking adaptive robot finger apparatus, described the first spring part 6 adopt torsion spring, extension spring, stage clip,Sheet spring or elastic threads; Described the second spring part 76 adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 3rd spring part 8 is adoptedBy torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 4th spring part 71 adopts torsion spring, extension spring, stage clip, sheet spring or elasticityRope.
In the present embodiment, described the first spring part 6 adopts torsion spring, and described the second spring part 76 adopts torsion spring, and described the 3rd spring part 8 is adoptedWith torsion spring, described the 4th spring part 71 adopts torsion spring.
Crawl of the present invention locking adaptive robot finger apparatus, described the first transmission mechanism comprises decelerator 121, theOne gear 122 and the second gear 123.
The operation principle of the present embodiment, in conjunction with Fig. 1 to Fig. 5, is described below:
The initial position of this device, now middle part segment 3 and end segment 5 are a straight line with pedestal 1, are equivalent to people's handRefer to the state stretching. In the time that the robot crawl object 10 of the present embodiment is equipped with in use, the output shaft rotation of motor 11 is logicalCross decelerator 121, the first gear 122 drives the nearly joint shaft 2 that is connected with the second gear 123 to rotate, and driving pulley 31 is turnedMoving. Due to the effect of contraction of the first spring part 6, middle part segment 3 is fixed together seemingly with end segment 5, therefore driving pulley31 rotation will be by Timing Belt 32 and driven pulley 33, preferentially make middle part segment 3 together with end segment 5 around nearly passNodal axisn 2 rotates, and this process is until middle part segment 3 is encountered object 10.
In the time that middle part segment 3 is encountered object 10 and is blocked and cannot continues to rotate, now driving pulley 31 will be by Timing Belt 32Allow driven pulley 33 rotate, ratchet 75 is rotated, drive end segment 5 to overcome the bullet of the first spring part 6 by the 3rd spring partPower and rotating, the first spring part 6 deflections increase simultaneously. This process is until end segment 5 is also encountered object.
Now, motor 11 makes driving pulley 31 be rotated further an angle, thereby allows ratchet 75 follow the angles of rotating more,The 3rd spring part 8 deforms, and the elastic force that this deflection brings forms the grasping force that end segment 5 applies object 10.
Because ratchet 73 is under the effect of the second spring part 76, rely on all the time ratchet 75, and retrain ratchet 75, only allow ratchet 75Be rotated in the forward, can not rotate backward, in the time that object 10 no longer pushes middle part segment 3, point joint far away and can not reverse, keep stableCapture effect.
So far, the present embodiment device has been firmly grasped object.
Even if body form varies in size, also envelope object smoothly of this device. If this device middle part segment 3 and end segment 5While rotation, end segment 5 has precedence over middle part segment 3 and touches object 10 surfaces simultaneously, refers to because end segment 5 is subject to middle partStopping of section 3 and be difficult to reversion, therefore this device will no longer move and firmly with promptly object 10 of end segment 5.
In the time decontroling object, motor 11 rotates backward, and drives nearly joint shaft 2 to rotate backward by the first transmission mechanism; Nearly jointAxle 2, by the 4th spring part 71, drives driving pulley 31 to rotate, due to the constraint of ratchet 73 to ratchet 75, driven pulley 33Cannot reverse, now, two kinds of situations may occur:
I) if the frictional force of object and end segment 5 is larger, whole finger can not be reversed by the reversion of driving pulley 31, nearThe rotation of joint shaft 2 will make the 4th spring part 71 deform, and the rotation of nearly joint shaft 2 is also drawn by the second transmission mechanism simultaneouslyMoving ratchet 73, stirs ratchet 73 to leave ratchet 75 surfaces, and ratchet 75 and driven pulley 33 are then retrained by ratchet 73 no longerAnd rotate backward under the effect of the 3rd spring part 8, the 4th spring part 71, end segment 5 rotates backward with middle part segment 3 and stretchesPosition, motor 11 reverses, by drive middle part segment 3 and end segment 5 both integral inverted to rotating back into and stretch around nearly joint shaft 2Straight initial position.
II) if the frictional force of object and end segment 5 is less, whole finger is reversed by the reversion of driving pulley 31, thisTime end segment 5 be still bending, until middle part segment 3 has been stretched, can not reverse again, now, nearly joint shaft 2 continues anti-Turn, the 4th spring part 71 deforms, and the reversion of nearly joint shaft 2 pulls ratchet 73 by the second transmission mechanism, by 73 groups, ratchetMoving ratchet 75 surfaces of leaving, ratchet 75 and driven pulley 33 are retrained by ratchet 73 no longer and at the 3rd spring part 8, the 4th spring thenUnder the effect of part 71, rotate backward, end segment 5 rotates backward the position of stretching with middle part segment 3, so far, recovers completelyInitial straight configuration.
This device is applicable to being installed on the part of mechanical arm tail end as humanoid robot hand or hand, the active movement of cooperative mechanical armImplement the grasping body that reaction surface is withdrawn; There is the shape to grabbed object, the adaptive ability of size, capture object and reachShape sealing and force-closed stable crawl, prevent in crawl process because the unstable phenomenon that vibration interference causes joint to be replied;This device utilizes reaction surface to push middle part segment to the active force of object, then coordinates the realization fingers second such as synchronous belt mechanism to closeThe bending of joint, adopts click to realize finger second joint and only allows forward bending and can not oppositely stretch, and prevents at mechanical armWhile withdrawing reaction surface, object comes off; Adopt the distortion generation end segment of the 3rd spring part to apply stable grasping force to object; AdoptRealize with motor the unilateral constrain effect of ratchet to ratchet of removing in the time need to discharging object, realize and discharge object; This apparatus structureSimply, volume is little, and quality is little, and manufacture and maintenance cost are low, similar to the finger of staff.
Claims (4)
1. capture a locking adaptive robot finger apparatus, comprise pedestal (1), motor (11), the first transmission mechanism,Nearly joint shaft (2), middle part segment (3), driving pulley (31), Timing Belt (32), driven pulley (33), joint shaft far away(4), end segment (5) and the first spring part (6); Described motor (11) and pedestal (1) are affixed, motor (11) defeatedShaft is connected with the power shaft of the first transmission mechanism, and the output shaft of the first transmission mechanism is connected with nearly joint shaft (2), described nearJoint shaft (2) is movably set in pedestal (1), and described joint shaft far away (4) is movably set in middle part segment (3), instituteState middle part segment (3) and be actively socketed on nearly joint shaft (2) above, described end segment (5) is fixed on joint shaft far away (4);The both sides of described Timing Belt (32) connect respectively driving pulley (31), driven pulley (33), described Timing Belt (32), mainMovable belt pulley (31) and driven pulley (33) three form toothed belt transmission relation; The two ends of described the first spring part (6) respectivelyConnect middle part segment (3) and end segment (5); It is characterized in that: this device also comprise the second transmission mechanism, ratchet (73),Pawl axis (74), ratchet (75), the second spring part (76), the 3rd spring part (8) and the 4th spring part (71); Described active bandWheel (31) is actively socketed on nearly joint shaft (2); It is upper that described driven pulley (33) is actively socketed on joint shaft far away (4),Described nearly joint shaft (2) is connected with the input of the second transmission mechanism, the output of the second transmission mechanism and ratchet (73) phaseConnect, it is upper that described ratchet (73) is actively socketed on pawl axis (74), and pawl axis (74) fixed cover is located at middle part segment (3)In, it is upper that described ratchet (75) is actively socketed on joint shaft far away (4), and described ratchet (75) is affixed with driven pulley (33),The two ends of the second spring part (76) connect respectively middle part segment (3) and ratchet (73), and the two ends of described the 3rd spring part (8) are dividedDo not connect ratchet (75) and end segment (5), the two ends of described the 4th spring part (71) connect respectively nearly joint shaft (2) andDriving pulley (31).
2. crawl locking adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described the second transmissionMechanism comprises sleeve (722) and flexible piece; Described sleeve (722) is fixed on nearly joint shaft; One end of described flexible piece connectsBe connected on sleeve (722) upper, the other end is connected on ratchet (73).
3. crawl locking adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described the first spring partAdopt torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the second spring part adopts torsion spring, extension spring, stage clip, sheet spring or elasticityRope; Described the 3rd spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 4th spring part adopt torsion spring, extension spring,Stage clip, sheet spring or elastic threads.
4. crawl locking adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described the first transmissionMechanism comprises decelerator, the first gear and the second gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410242304.9A CN104015193B (en) | 2014-06-03 | 2014-06-03 | Capture locking adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410242304.9A CN104015193B (en) | 2014-06-03 | 2014-06-03 | Capture locking adaptive robot finger apparatus |
Publications (2)
| Publication Number | Publication Date |
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| CN104015193A CN104015193A (en) | 2014-09-03 |
| CN104015193B true CN104015193B (en) | 2016-05-18 |
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| CN201410242304.9A Expired - Fee Related CN104015193B (en) | 2014-06-03 | 2014-06-03 | Capture locking adaptive robot finger apparatus |
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| CN105364938B (en) * | 2015-12-01 | 2017-06-23 | 清华大学 | Belt wheel collaboration locking linkage adaptive robot finger apparatus |
| CN105364937B (en) * | 2015-12-01 | 2017-06-16 | 清华大学 | Link-type can the cooperative self-adapted finger apparatus of changeable grasping force |
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| CN105798937B (en) * | 2016-03-11 | 2018-10-02 | 清华大学 | Axis moves helical synchronous and locks adaptive robot finger apparatus |
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| CN105773606A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN105773643B (en) * | 2016-03-17 | 2018-06-29 | 清华大学 | Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus |
| CN107953353B (en) * | 2017-11-22 | 2020-05-01 | 清华大学 | Finger multi-joint any-angle instant synchronous locking device of under-actuated robot |
| CN108481311B (en) * | 2018-06-14 | 2023-09-12 | 中国科学院宁波材料技术与工程研究所 | Variable-rigidity compliant grabbing device |
| CN111015713B (en) * | 2019-12-11 | 2021-06-25 | 佛山科学技术学院 | Manipulator capable of enhancing clamping force |
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| EP0268341A2 (en) * | 1986-11-19 | 1988-05-25 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern | Gripping device |
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| Publication number | Publication date |
|---|---|
| CN104015193A (en) | 2014-09-03 |
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