CN104175319B - For the variable displacement torque converter of under-actuated delicacy hand - Google Patents
For the variable displacement torque converter of under-actuated delicacy hand Download PDFInfo
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- CN104175319B CN104175319B CN201410408978.1A CN201410408978A CN104175319B CN 104175319 B CN104175319 B CN 104175319B CN 201410408978 A CN201410408978 A CN 201410408978A CN 104175319 B CN104175319 B CN 104175319B
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- gear
- worm shaft
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- dactylus
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Abstract
The invention discloses a kind of variable displacement torque converter for under-actuated delicacy hand, comprise the first turbine be connected with dactylus in Dextrous Hand, worm shaft in engaging with the first turbine, drive the second turbine of the outer dactylus of Dextrous Hand, the outer worm shaft engaged with the second turbine and the first gear be connected with drive motors output shaft, outside worm shaft is fixed with the 3rd gear, first gear and the 3rd gears meshing, interior worm shaft is threaded one can at the second gear of interior worm shaft axially movement, this second gear and the first described gears meshing, interior worm shaft is also provided with one and makes the second gear and interior worm shaft geo-stationary or butterfly spring in relative rotation, a back-up ring is provided with between butterfly spring and the second gear.This variable displacement torque converter, simple installation, connects reliable, effectively can realize the control of transmitting moment, be particularly useful for the logic control of rotating under-actuated delicacy finger segments.
Description
Technical field
The present invention relates to a kind of variable displacement torque converter for under-actuated delicacy hand, for the logic control of rotating under-actuated delicacy finger segments.
Background technology
Robot delicate is as the outlet terminal of anthropomorphic robot, 's pay attention to by increasing robot research person, with the mankind seemingly, most functions of anthropomorphic robot are realized by operation by human hand, thus hand structure is the important component part of anthropomorphic robot, and its design is one of key technology of anthropomorphic robot.In order to increase personalizing of hand, need to design more joint freedom degrees, but in order to alleviate the control difficulty of anthropomorphic robot's hand, and reduce the volume weight of hand, need to reduce driver number, both have certain contradiction.In addition, in order to capture object better, finger is also needed to have certain adaptivity when capturing object.By applying a kind of variable displacement torque converter provided by the present invention, the crawl to difformity, size objects in clever hand finger drive lacking situation can be realized accurately.
Existing under-actuated delicacy hand device, as Chinese invention patent CN1283429C, clever hand finger wherein have employed set of gears device, this gear under-actuated delicacy hand finger has two transition axises between nearly joint and joint far away, nearly joint shaft, joint shaft far away and transition axis are all provided with gear, engage between two between gear, middle part segment noose adopts direct friction to contact between nearly joint shaft.When electric machine rotation, middle part segment can be rotated with nearly joint shaft because of the stiction between itself and nearly joint shaft, when middle part segment touch object can not be rotated by stopping time, the driving moment of motor can drive stage-geared to operationalize, make end segment go the long way round joint rotation and driven, there is the effect of automatic decoupling.
The weak point of this device is: because this kind of friction decoupling zero can cause the loss of material, Long-Time Service decoupling effect can decline and cause Grabbing properties unreliable; Once part manufactures shaping, the stool and urine capturing moment used for object 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 a kind of variable displacement torque converter is provided, 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 captured difformity, size objects.
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 be connected with dactylus in Dextrous Hand, worm shaft in engaging with the first described turbine, drive the second turbine of the outer dactylus of Dextrous Hand, the outer worm shaft engaged with the second described turbine and the first gear be connected with drive motors output shaft, described outer worm shaft is fixed with the 3rd gear, the first described gear and the 3rd gears meshing, it is characterized in that: worm shaft being threaded in described one can at the second gear of interior worm shaft axially movement, this second gear and the first described gears meshing, worm shaft is also provided with in described one and makes the second gear and interior worm shaft geo-stationary or butterfly spring in relative rotation, a back-up ring is provided with between described butterfly spring and the second gear.
What described interior worm shaft was rotated by deep groove ball bearing is arranged on on worm seat, is fixed with worm seat end cap respectively at the two ends of worm seat.
The second described turbine is fixedly connected with a driving pulley, described outer dactylus fixes passive belt wheel, between described driving pulley and passive belt wheel, adopts a belt transmission.
Described 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, described first turbine, interior dactylus both sides carry out axial location by the intrinsic articulation axle shaft shoulder and axle sleeve respectively, described intrinsic articulation axle carries out axis by left plate, right plate and locates with circumference, carries out radial location by hexagon thin nut and fluting flush end holding screw.
Described worm seat is connected with motor rack by Cross Recess Head Screw, and described motor rack and bracing frame are connected, and are provided with motor at motor rack.
Beneficial effect:
The present invention compared with prior art, has the following advantages:
1, the present invention is used for the torque converter of Dextrous Hand, in driving, in dactylus crawl, worm shaft is provided with butterfly spring and moveable second gear, and make the second gear and interior worm shaft synchronous axial system by the second gear compression butterfly spring, when first knuckle (interior dactylus) touch object stopped that moment increases to certain predetermined limit time, end segment (outer dactylus) can continue sports envelope and capture object, self adaptation capture object shape size realize the logic motion that single motor drives lower intrinsic articulation and extrinsic articulation, not only ensure that the realization of finger grip function thus, and simplify driving and frame for movement.
2, under identical joint output torque, be conducive to adopting less drive system, at the reduction volume of limits, reduce weight, make structure compacter, 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 device adapted to as under-actuated delicacy hand, to realize Dextrous Hand with the more cradle head of less driver drives.
3, controllability is strong, just the compression degree of disk spring can be changed when mounted by the degree of depth of the screw-in shaft part of control second gear, and then under different axial counter-forces, threaded static friction power suffered by second gear is also different, make the back-out moment of the second gear also different, realize that it is variability.
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 the quick-fried photograph 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 Dextrous Hand of the present invention outer dactylus the second gear and interior worm shaft when first touching object;
Fig. 7 is the view of Dextrous Hand of the present invention outer dactylus the second gear and interior worm shaft when first touching object;
Have in figure: the first gear 1, second gear 2, 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, 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, second turbine 30.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
Refer to Fig. 1 ~ 5, a kind of variable displacement torque converter, comprise the first gear 1, second gear 2, interior worm shaft 15, 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 is 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, second gear 2 screwed hole of centre therewith shaft part coordinates, second gear 2 of screwing on compresses disk spring 27 makes its axial shrinkage, second gear 2 is subject to axial counter-force, and then frictional force makes the second gear 2 axial location between screw thread, the overall outside of worm seat 18 uses worm seat end cap 19 to encapsulate, first turbine 17 and worm screw modulus corresponding matching.
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, first turbine 17, interior dactylus 6 both sides carry out axial location by the intrinsic articulation axle shaft shoulder and axle sleeve respectively, intrinsic articulation axle carries out axis by left plate 10, right plate 11 and locates with circumference, carries out radial location by hexagon thin nut 22 and fluting flush end holding screw 20.
3rd gear 3 is fixed on outer worm shaft 16, and the second turbine 30 engages with outer scroll bar axle 16, and the second turbine 30 is fixedly connected with driving pulley 13, dactylus 4 is fixed passive belt wheel 14 outside, adopts belt 29 transmission between driving pulley 13 and passive belt wheel 14.
Second gear 2 engages with the first gear 1, and the first gear 1 is connected with motor output shaft, and for the second gear provides moment to drive the rotation of interior dactylus 6, the first gear 1 engages with the 3rd gear 3 rotation driving outer dactylus 4 simultaneously.
Worm seat 18 is connected with motor rack 8 by Cross Recess Head Screw, same, and motor rack 8 and bracing frame 9 are connected, and motor 28 is arranged on motor rack 8.
Embodiment: under the effect of variable displacement torque converter, first touches object for outer dactylus or interior dactylus first touches object, and finger has two kinds of different motion conditions.
Refer to Fig. 6, when the outer dactylus pointed first touches object, the operation principle of variable displacement torque converter as shown in the figure.During reset condition, the second gear 2 is in tightening state on interior worm shaft 15, by the disk spring 27 that compresses to the second gear 2 applied thrust f
0, under the effect of this thrust, between the screwed hole of the second gear 2 and the threaded post of interior worm shaft 15, produce static friction torque M
0.When starting to capture, finger driven by motor first gear 1 rotates forward, and the first gear 1 is subject to driving moment M
1, the second gear 2 and the 3rd gear 3 are subject to the moment M that the first gear 1 passes over respectively
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.When unclamping object, finger driven by motor first gear 1 reverses, second gear 2 has the trend screwed on interior worm shaft 15, interior worm shaft 15 rotates together with the second gear 2, therefore with similar during 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 in pointing, dactylus first touches object, the operation principle of variable displacement torque converter as shown in the figure.Reset condition is constant with the situation starting 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, thus 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, and 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.When unclamping object, finger driven by motor first gear 1 reverses, and the second gear 2 worm shaft 15 screws in static, and now outer dactylus has started rotation.When the thrust that the second gear 2 is screwed into the generation of compression butterfly spring 27 makes the moment of friction in screw pair enough large, 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.
Can see from the analysis of variable displacement torque converter operation principle, initial static friction torque M
0be the work threshold of torque converter, and the size of this static friction torque is applied to the thrust f of the second gear 2 by disk spring 27
0determine, that is during original state, the degree that the second gear 2 compresses disk spring determines the work threshold of torque converter.This work threshold is larger, and the second gear 2 starts to screw out the moment M needed for motion
2larger, mean that the output torque of finger motor is larger, mean that the reaction force that in finger, dactylus is subject to is larger simultaneously, namely capture tighter.Therefore the compression degree that disk spring 27 is initial determines dactylus in finger and captures the tightness of object, and to avoid target object to be subject to excessive contact force, then during original state, disk spring just should too not compress, when such as capturing egg.Under the effect of variable displacement torque converter, single finger just can realize one or more contact, then in conjunction with the cooperation of multiple finger and palm, Dextrous Hand just has multiple grasp mode, is significantly strengthened the Grasping skill of different target object.
Claims (5)
1. the variable displacement torque converter for under-actuated delicacy hand, comprise the first turbine (17) be connected with dactylus in Dextrous Hand, worm shaft (15) in engaging with the first described turbine, drive second turbine (30) of the outer dactylus of Dextrous Hand, the outer worm shaft (16) engaged with the second described turbine and the first gear (1) be connected with drive motors output shaft, described outer worm shaft (16) is fixed with the 3rd gear (3), described the first gear (1) and the engagement of the 3rd gear (3), it is characterized in that: worm shaft (15) being threaded in described one can at second gear (2) of interior worm shaft (15) axially movement, this second gear (2) engages with described the first gear (1), worm shaft (15) is also provided with in described one and makes described second gear (2) and interior worm shaft (15) geo-stationary or butterfly spring (27) in relative rotation, a back-up ring (25) is provided with between described butterfly spring (27) and the second gear (2).
2. variable displacement torque converter according to claim 1, it is characterized in that: what described interior worm shaft (15) was rotated by deep groove ball bearing (23) is arranged on a worm seat (18), is fixed with worm seat end cap (19) respectively at the two ends of worm seat (18).
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 2, it is characterized in that: described 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), axial location is carried out by intrinsic articulation axle (7) shaft shoulder and axle sleeve (12) respectively in the overall both sides that described first turbine (17) and interior dactylus (6) are formed, described intrinsic articulation axle (7) is carried out axis by left plate (10) and right plate (11) and is located with circumference, radial location is carried out by hexagon thin nut (22) and fluting flush end holding screw (20).
5. a kind of variable displacement torque converter according to claim 2, 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) and bracing frame (9) are connected, and are provided with motor (28) at motor rack (8).
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 |
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| 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 |
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| Publication Number | Publication Date |
|---|---|
| CN104175319A CN104175319A (en) | 2014-12-03 |
| CN104175319B true CN104175319B (en) | 2015-12-30 |
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|---|---|---|---|
| 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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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI633986B (en) * | 2016-08-26 | 2018-09-01 | 黃榮堂 | Robotic hand |
| CN107199558B (en) * | 2017-05-11 | 2020-11-03 | 西北工业大学 | Under-actuated space capturing mechanism and capturing method |
| CN108247627B (en) * | 2018-03-06 | 2024-07-02 | 苏州钧舵机器人有限公司 | Miniature clutch structure and manipulator with same |
| CN108527308A (en) * | 2018-04-24 | 2018-09-14 | 邢明的 | A kind of firefighting movable crawl rescue robot |
| CN108436957B (en) * | 2018-05-23 | 2023-12-22 | 上海交通大学 | Three-finger underactuated manipulator with shape self-adaption function |
| DE102019204024B4 (en) * | 2019-03-25 | 2022-03-24 | Kuka Deutschland Gmbh | Mechanical overload switch |
| 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 |
| CN115194809A (en) * | 2022-06-27 | 2022-10-18 | 北京控制工程研究所 | Film-coated under-actuated gripping paw and method for climbing outside space cabin |
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| SU1284821A1 (en) * | 1985-07-12 | 1987-01-23 | Харьковский Тракторный Завод Им.С.Орджоникидзе | Manipulator |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| 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 |
| CN103846922A (en) * | 2013-11-27 | 2014-06-11 | 清华大学 | Rack check self-adaptive under-actuated robot finger device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8708852B2 (en) * | 2011-04-12 | 2014-04-29 | Eunha Machinery Industrial Co., Ltd. | Vertical spring return valve actuator |
| JP2014076522A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand and robot device |
-
2014
- 2014-08-19 CN CN201410408978.1A patent/CN104175319B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1284821A1 (en) * | 1985-07-12 | 1987-01-23 | Харьковский Тракторный Завод Им.С.Орджоникидзе | Manipulator |
| CN102205542A (en) * | 2011-05-27 | 2011-10-05 | 清华大学 | Multipath flexible piece two-joint compound robot finger device |
| CN102896639A (en) * | 2012-03-08 | 2013-01-30 | 中南大学 | Thumb mechanism of artificial hand |
| CN103846922A (en) * | 2013-11-27 | 2014-06-11 | 清华大学 | Rack check self-adaptive under-actuated robot finger device |
| CN103690279A (en) * | 2013-12-03 | 2014-04-02 | 上海交通大学 | Under-actuated prosthetic hand system based on planetary gear trains |
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| CN104175319A (en) | 2014-12-03 |
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