CN104175319A - Variable torque converter for under-actuated dexterous hand - Google Patents
Variable torque converter for under-actuated dexterous hand Download PDFInfo
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- CN104175319A CN104175319A CN201410408978.1A CN201410408978A CN104175319A CN 104175319 A CN104175319 A CN 104175319A CN 201410408978 A CN201410408978 A CN 201410408978A CN 104175319 A CN104175319 A CN 104175319A
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- gear
- worm shaft
- interior
- torque converter
- dactylus
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Abstract
The invention discloses a variable torque converter for an under-actuated dexterous hand. The variable torque converter comprises a first worm gear, an inner worm shaft, a second worm gear, an outer worm shaft and a first gear, wherein the inner worm shaft is meshed with the first worm gear which is connected with an inner knuckle of the dexterous hand, the outer worm shaft is meshed with the second worm gear which drives an outer knuckle of the dexterous hand, and the first gear is connected with an output shaft of a driving motor. A third gear is fixed onto the outer worm shaft and meshed with the first gear, a second gear capable of axially moving along the inner worm shaft is in threaded connection with the inner worm shaft and meshed with the first gear, a Belleville spring which enables the second gear to be fixed or rotate relative to the inner worm shaft is arranged on the inner worm shaft, and a retainer ring is arranged between the Belleville spring and the second gear. The variable torque converter is simple and convenient to mount, reliable in connection, capable of effectively realizing control of torque transmission and especially applicable to logic control of knuckle rotation of the under-actuated dexterous hand.
Description
Technical field
The present invention relates to a kind of variable displacement torque converter for under-actuated delicacy hand, for the logic control that under-actuated delicacy finger segments is rotated.
Background technology
Robot delicate is as anthropomorphic robot's outlet terminal, by increasing robot research person, paid attention to, with the mankind seemingly, most functions of anthropomorphic robot are to realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.In order to increase personalizing of hand, need to design more joint freedom degrees, yet, in order to alleviate the control difficulty of anthropomorphic robot's hand, and the volume weight that reduces hand, need to reduce driver number, both have certain contradiction.In addition, in order to capture better object, also need finger when capturing object, to have certain adaptivity.By applying a kind of variable displacement torque converter provided by the present invention, can realize accurately clever hand finger and owe the crawl to difformity, size objects in driving situation.
Existing under-actuated delicacy hand device, as Chinese invention patent CN1283429C, clever hand finger has wherein adopted set of gears device, this gear under-actuated delicacy hand finger has two transition axises between He Yuan joint, nearly joint, on nearly joint shaft, joint shaft far away and transition axis, gear is all installed, engagement between two between gear, middle part segment noose adopts direct friction contact between nearly joint shaft.When electric machine rotation, middle part segment can because its with nearly joint shaft between stiction and with nearly joint shaft rotation, when middle part segment touches object and is blocked and can not rotates, the driving moment of motor can drive stage-geared to operationalize, make the go the long way round rotation in joint and driven of end segment, there is the effect of automatic decoupling.
The weak point of this device is: because this kind of friction decoupling zero meeting causes the loss of material, use for a long time decoupling zero effect to decline and cause Grabbing properties unreliable; Once part is manufactured moulding, the stool and urine that captures used for object moment is immutable, does not have controllability.
Summary of the invention
Technical problem to be solved by this invention is the deficiency for above-mentioned prior art, and provide a kind of variable displacement torque converter, be applicable to the logic control that under-actuated delicacy finger segments is rotated, simple and reliable for structure, with low cost, controllability is strong, has assisted the adaptivity that difformity, size objects are captured.
For solving the problems of the technologies described above, technical scheme of the present invention is as follows:
A kind of variable displacement torque converter for under-actuated delicacy hand, comprise the first turbine being connected with dactylus in Dextrous Hand, interior worm shaft with described the first turbine engagement, drive the second turbine of the outer dactylus of Dextrous Hand, with the outer worm shaft of described the second turbine engagement and the first gear being connected with drive motors output shaft, on described outer worm shaft, be fixed with the 3rd gear, the first described gear and the engagement of the 3rd gear, it is characterized in that: second gear that can move up at interior worm shaft axle is threaded on described interior worm shaft, this second gear and described the first gear engagement, on described interior worm shaft, be also provided with one and make the second gear static or in relative rotation butterfly spring relative to interior worm shaft, between described butterfly spring and the second gear, be provided with a back-up ring.
What described interior worm shaft rotated by deep groove ball bearing is arranged on on worm seat, at the two ends of worm seat, is fixed with respectively worm seat end cap.
On the second described turbine, be fixedly connected with a driving pulley, on described outer dactylus, fix passive belt wheel, between described driving pulley and passive belt wheel, adopt a belt transmission.
Described the first turbine is provided with centre bore and counter sink, counter sink is connected with interior dactylus through Cross Recess Head Screw, centre bore embeds another deep groove ball bearing through intrinsic articulation axle, axial location is carried out by the intrinsic articulation axle shaft shoulder and axle sleeve respectively in described the first turbine, interior dactylus both sides, described intrinsic articulation axle is undertaken axially with circumferentially locating by left plate, right plate, by hexagon thin nut and fluting flush end holding screw, carries out radial location.
Described worm seat is connected with motor rack by Cross Recess Head Screw, and described motor rack and bracing frame are connected, and at motor rack, motor are installed.
Beneficial effect:
The present invention compared with prior art, has the following advantages:
1, the present invention is for the torque converter of Dextrous Hand, in driving, on the interior worm shaft of dactylus crawl, be provided with butterfly spring and the second gear movably, and make the second gear synchronize and rotate with interior worm shaft by the second gear compression butterfly spring, when first knuckle (interior dactylus) touches object and is blocked moment and increases to certain predetermined limit, end segment (outer dactylus) can continue sports envelope and capture object, the shape size of object that self adaptation captures is realized the logic motion that single motor drives lower intrinsic articulation and extrinsic articulation, not only guaranteed that thus finger captures the realization of function, and driving and frame for movement have been simplified.
2, under identical joint output torque, be conducive to adopt less drive system, the volume that reduces in large limit, reduces weight, makes structure compacter, and process and assemble is more prone to, and then impels whole finger to have independently controller.
Dependable performance, long service life, the special moment conversion equipment adapting to as under-actuated delicacy hand, to realize Dextrous Hand with the more cradle head of less driver drives.
3, controllability is strong, by controlling the degree of depth of the screw-in shaft part of the second gear, just can change the compression degree of disk spring when mounted, and then under different axial counter-forces, the suffered threaded static friction power of the second gear is also different, make the back-out moment of the second gear also different, realize its variable.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is exploded perspective view of the present invention;
Fig. 3 is quick-fried according to schematic diagram that in the present invention, worm shaft is connected with worm seat;
Fig. 4 is the transmission schematic diagram of motor of the present invention and gear;
Fig. 5 is application clever hand finger driving mechanism schematic diagram of the present invention;
Fig. 6 is the view of the outer dactylus of Dextrous Hand of the present invention the second gear and interior worm shaft while first touching object;
Fig. 7 is the view of the outer dactylus of Dextrous Hand of the present invention the second gear and interior worm shaft while first touching object;
In figure, have: the first gear 1, the second gear 2, the 3rd gear 3, outer dactylus 4, extrinsic articulation axle 5, interior dactylus 6, intrinsic articulation axle 7, motor rack 8, bracing frame 9, left plate 10, right plate 11, axle sleeve 12, driving pulley 13, passive belt wheel 14, interior scroll bar axle 15, outer scroll bar axle 16, the first turbine 17, worm seat 18, worm seat end cap 19, fluting flush end holding screw 20, Cross Recess Head Screw 21, hexagon thin nut 22, deep groove ball bearing 23, large washer 24, split washer 25, circlip for hole 26, disk spring 27, motor 28, belt 29, the second turbine 30.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
Refer to Fig. 1～5, a kind of variable displacement torque converter, comprise the first gear 1, the second gear 2, interior worm shaft 15, the first turbine 17, split washer 25, disk spring 27, Cross Recess Head Screw 21, worm seat 18, worm seat end cap 19, large washer 24, deep groove ball bearing 23, motor rack 8, interior worm shaft 15 is arranged on worm seat 18 by deep groove ball bearing 23, interior worm shaft 15 one end are provided with large washer 24, Cross Recess Head Screw 21 carries out axial location, the other end is provided with butterfly spring 27 successively, split washer 25, outside split washer, axle head is provided with screw thread, the second gear 2 screwed hole of centre therewith shaft part coordinate, second gear 2 of screwing on compresses disk spring 27 makes its axial shrinkage, the second gear 2 is subject to axial counter-force, and then between screw thread, frictional force makes the second gear 2 axial location, the whole outside of worm seat 18 is used worm seat end cap 19 to encapsulate, the first turbine 17 and worm screw modulus corresponding matching.
The first turbine 17 is equipped with centre bore and counter sink, counter sink is connected with interior dactylus 6 through Cross Recess Head Screw 21, centre bore embeds deep groove ball bearing through intrinsic articulation axle 7, axial location is carried out by the intrinsic articulation axle shaft shoulder and axle sleeve respectively in the first turbine 17, interior dactylus 6 both sides, intrinsic articulation axle is undertaken axially with circumferentially locating by left plate 10, right plate 11, by hexagon thin nut 22 and fluting flush end holding screw 20, carries out radial location.
The 3rd gear 3 is fixed on outer worm shaft 16, and the second turbine 30 and outer scroll bar axle 16 engagements are fixedly connected with driving pulley 13 on the second turbine 30, fix outside passive belt wheel 14 on dactylus 4, adopt belt 29 transmissions between driving pulley 13 and passive belt wheel 14.
The second gear 2 and the first gear 1 engagement, the first gear 1 is connected with motor output shaft, is the rotation that the second gear provides moment to drive interior dactylus 6, and the first gear 1 and the 3rd gear 3 engagements simultaneously drive the rotation of outer dactylus 4.
Worm seat 18 is connected with motor rack 8 by Cross Recess Head Screw, same, and motor rack 8 is connected with bracing frame 9, and motor 28 is arranged on motor rack 8.
Embodiment: under the effect of variable displacement torque converter, first touch object or interior dactylus first touches object for outer dactylus, finger has two kinds of different motion conditions.
Refer to Fig. 6, when the outer dactylus of finger first touches object, the operation principle of variable displacement torque converter as shown in the figure.During reset condition, the second gear 2 on interior worm shaft 15 in screwing state, 27 couples of the second gear 2 applied thrust f of compressed disk spring
0, under the effect of this thrust, between the screwed hole of the second gear 2 and the threaded column of interior worm shaft 15, produce static friction torque M
0.While starting to capture, finger driven by motor the first gear 1 forward, the first gear 1 is activated moment M
1, the second gear 2 and the 3rd gear 3 are subject to respectively the moment M that the first gear 1 passes over
2, M
3, because there is M
2< M
0, the second gear 2 can not screw out on interior worm shaft 15, so interior worm shaft 15 rotates together with the second gear 2, outer worm shaft 16 rotates together with the 3rd gear 3 simultaneously, thus inside and outside dactylus all obtains driving force.Because gearratio is different, the rotating speed of inside and outside dactylus meets V
outward> V
in, along with inside and outside dactylus moves together, outer dactylus first touches object, and control system order finger motor stops, and crawl completes.While unclamping object, the first gear 1 reversion of finger driven by motor, the second gear 2 has the trend screwing on interior worm shaft 15, interior worm shaft 15 rotates together with the second gear 2, similar during therefore with crawl, inside and outside dactylus moves together, until finger recovers reset condition, control system order finger motor stops, and completes and unclamps action.
Refer to Fig. 7, when the interior dactylus of finger first touches object, the operation principle of variable displacement torque converter as shown in the figure.Reset condition is constant with the situation that starts to capture, and when interior dactylus touches object, due to the reaction force effect of the internal dactylus of object, the moment of resistance on interior worm shaft 15 increases, thereby the output torque of finger motor increases, and works as M
2> M
0time, the second gear 2 starts screwing out on interior worm shaft 15, so interior worm shaft 15 stops operating, interior dactylus keeps static under the self-locking of worm and gear.Now, the 3rd gear 3 is still rotating together with outer worm shaft 16, until outer dactylus also touches object, control system order finger motor stops, and crawl completes.While unclamping object, the first gear 1 reversion of finger driven by motor, the second gear 2 screws on static interior worm shaft 15, and now outer dactylus has started to rotate.When being screwed into thrust that compression butterfly spring 27 produces, the second gear 2 make moment of friction in screw pair enough greatly time, interior worm shaft 15 rotates together with the second gear 2, after this, inside and outside dactylus moves together, until finger recovers reset condition, control system order finger motor stops, and completes and unclamps action.
From the analysis of variable displacement torque converter operation principle, can see initial static friction torque M
0be the work critical value of torque converter, and the size of this static friction torque is imposed on the thrust f of the second gear 2 by disk spring 27
0determine, while that is to say original state, the degree that the second gear 2 compresses disk spring has determined the work critical value of torque converter.This work critical value is larger, and the second gear 2 starts to screw out the required moment M of motion
2larger, mean that to point the output torque of motor larger, mean that the reaction force that in finger, dactylus is subject to is larger simultaneously, capture tighter.Therefore the initial compression degree of disk spring 27 has determined that dactylus in finger captures the tightness of object, if will avoid target object to be subject to excessive contact force, disk spring just should too not compress during original state, when capturing egg.Under the effect of variable displacement torque converter, single finger just can be realized one or more contact, then in conjunction with the cooperation of a plurality of fingers and palm, Dextrous Hand just has multiple grasp mode, and the Grasping skill of different target object is significantly strengthened.
Claims (5)
1. the variable displacement torque converter for under-actuated delicacy hand, comprise the first turbine (17) being connected with dactylus in Dextrous Hand, interior worm shaft (15) with described the first turbine engagement, drive second turbine (30) of the outer dactylus of Dextrous Hand, with the outer worm shaft (16) of described the second turbine engagement and the first gear (1) being connected with drive motors output shaft, on described outer worm shaft (16), be fixed with the 3rd gear (3), described the first gear (1) and the engagement of the 3rd gear (3), it is characterized in that: second gear (2) that can move up at interior worm shaft (15) axle is threaded on described interior worm shaft (15), this second gear (2) meshes with described the first gear (1), on described interior worm shaft (15), be also provided with one and make described the second gear (2) static or in relative rotation butterfly spring (27) relative to interior worm shaft (15), between described butterfly spring (27) and the second gear (2), be provided with a back-up ring (25).
2. variable displacement torque converter according to claim 1, it is characterized in that: being arranged on worm seat (18) that described interior worm shaft (15) rotates by deep groove ball bearing (23) is upper, at the two ends of worm seat (18), is fixed with respectively worm seat end cap (19).
3. a kind of variable displacement torque converter according to claim 1, it is characterized in that: on described the second turbine (30), be fixedly connected with a driving pulley (13), at the upper fixing passive belt wheel (14) of described outer dactylus (4), between described driving pulley (13) and passive belt wheel (14), adopt a belt (29) transmission.
4. a kind of variable displacement torque converter according to claim 1, it is characterized in that: described the first turbine (17) is provided with centre bore and counter sink, counter sink is connected with interior dactylus (6) through Cross Recess Head Screw (21), centre bore embeds another deep groove ball bearing (23) through intrinsic articulation axle (7), described the first turbine (17), axial location is carried out by intrinsic articulation axle (7) shaft shoulder and axle sleeve (12) respectively in interior dactylus (6) both sides, described intrinsic articulation axle (7) is by left plate (10), right plate (11) carries out axially with circumferentially locating, by hexagon thin nut (22) and fluting flush end holding screw (20), carry out radial location.
5. a kind of variable displacement torque converter according to claim 1, it is characterized in that: described worm seat (18) is connected with motor rack (8) by Cross Recess Head Screw (21), described motor rack (8) is connected with bracing frame (9), at motor rack (8), motor (28) is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410408978.1A CN104175319B (en) | 2014-08-19 | 2014-08-19 | For the variable displacement torque converter of under-actuated delicacy hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410408978.1A CN104175319B (en) | 2014-08-19 | 2014-08-19 | For the variable displacement torque converter of under-actuated delicacy hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104175319A true CN104175319A (en) | 2014-12-03 |
| CN104175319B CN104175319B (en) | 2015-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410408978.1A Expired - Fee Related CN104175319B (en) | 2014-08-19 | 2014-08-19 | For the variable displacement torque converter of under-actuated delicacy hand |
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| CN (1) | CN104175319B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107199558A (en) * | 2017-05-11 | 2017-09-26 | 西北工业大学 | A kind of drive lacking space arresting agency and arrest method |
| CN108247627A (en) * | 2018-03-06 | 2018-07-06 | 苏州钧舵机器人有限公司 | A kind of miniature clutch structure and the manipulator with the clutch structure |
| CN108436957A (en) * | 2018-05-23 | 2018-08-24 | 上海交通大学 | A kind of three finger underactuated manipulators with form adaptive |
| TWI633986B (en) * | 2016-08-26 | 2018-09-01 | 黃榮堂 | Robotic hand |
| CN108527308A (en) * | 2018-04-24 | 2018-09-14 | 邢明的 | A kind of firefighting movable crawl rescue robot |
| CN109875732A (en) * | 2019-04-09 | 2019-06-14 | 唐山康义合纵科技有限公司 | Worm-gear self-locking formula single-degree-of-freedom prosthetic hand |
| CN113874180A (en) * | 2019-03-25 | 2021-12-31 | 库卡德国有限公司 | Mechanical overload switching mechanism |
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| CN102896639A (en) * | 2012-03-08 | 2013-01-30 | 中南大学 | Thumb mechanism of artificial hand |
| CN103690279A (en) * | 2013-12-03 | 2014-04-02 | 上海交通大学 | Under-actuated prosthetic hand system based on planetary gear trains |
| US20140103676A1 (en) * | 2012-10-11 | 2014-04-17 | Seiko Epson Corporation | Robot hand and robot device |
| CN103846922A (en) * | 2013-11-27 | 2014-06-11 | 清华大学 | Rack check self-adaptive under-actuated robot finger device |
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- 2014-08-19 CN CN201410408978.1A patent/CN104175319B/en not_active Expired - Fee Related
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| SU1284821A1 (en) * | 1985-07-12 | 1987-01-23 | Харьковский Тракторный Завод Им.С.Орджоникидзе | Manipulator |
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| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
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| CN103690279A (en) * | 2013-12-03 | 2014-04-02 | 上海交通大学 | Under-actuated prosthetic hand system based on planetary gear trains |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI633986B (en) * | 2016-08-26 | 2018-09-01 | 黃榮堂 | Robotic hand |
| CN107199558A (en) * | 2017-05-11 | 2017-09-26 | 西北工业大学 | A kind of drive lacking space arresting agency and arrest method |
| CN107199558B (en) * | 2017-05-11 | 2020-11-03 | 西北工业大学 | Under-actuated space capturing mechanism and capturing method |
| CN108247627A (en) * | 2018-03-06 | 2018-07-06 | 苏州钧舵机器人有限公司 | A kind of miniature clutch structure and the manipulator with the clutch structure |
| CN108527308A (en) * | 2018-04-24 | 2018-09-14 | 邢明的 | A kind of firefighting movable crawl rescue robot |
| CN108436957A (en) * | 2018-05-23 | 2018-08-24 | 上海交通大学 | A kind of three finger underactuated manipulators with form adaptive |
| CN108436957B (en) * | 2018-05-23 | 2023-12-22 | 上海交通大学 | Three-finger underactuated manipulator with shape self-adaption function |
| CN113874180A (en) * | 2019-03-25 | 2021-12-31 | 库卡德国有限公司 | Mechanical overload switching mechanism |
| CN113874180B (en) * | 2019-03-25 | 2024-03-19 | 库卡德国有限公司 | Mechanical overload switching mechanism |
| CN109875732A (en) * | 2019-04-09 | 2019-06-14 | 唐山康义合纵科技有限公司 | Worm-gear self-locking formula single-degree-of-freedom prosthetic hand |
| CN109875732B (en) * | 2019-04-09 | 2024-02-23 | 温岭市大翰弘知智能科技有限公司 | Worm wheel self-locking single-degree-of-freedom artificial hand |
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| CN104175319B (en) | 2015-12-30 |
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Granted publication date: 20151230 Termination date: 20180819 |