CN104908056B - A kind of three finger mechanical paws of variable configuration - Google Patents
A kind of three finger mechanical paws of variable configuration Download PDFInfo
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- CN104908056B CN104908056B CN201510367511.1A CN201510367511A CN104908056B CN 104908056 B CN104908056 B CN 104908056B CN 201510367511 A CN201510367511 A CN 201510367511A CN 104908056 B CN104908056 B CN 104908056B
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- 210000001145 finger joint Anatomy 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 description 14
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 239000012636 effector Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 230000003281 allosteric effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
Three finger mechanical paws of a kind of variable configuration, it relates to a kind of three and refers to mechanical paw.The present invention solves existing three and refers to that mechanical paws exist that volume is big, maintaining cost is high and whole paw exists certain circumscribed problem of crawl configuration.Uniform on rotating base being provided with three rotary shafts, the output shaft of each finger bottom motor is affixed with a corresponding worm screw, and each worm screw engages each other with a corresponding turbine, and each small Spur gear engages each other with a corresponding large straight gear；A coupled links it is installed with on the output shaft of each finger-joint motor, one end of coupled links is connected with the minor face end of second knuckle by the first drive rod, the other end of coupled links is connected with one end of head rod and one end of the second connecting rod by the second drive rod, the other end of head rod is connected with second knuckle, and the long edge tail of second knuckle, the other end of the second connecting rod are all connected with first knuckle.The present invention is used for robotics.
Description
Technical field
The present invention relates to a kind of three and refer to mechanical paw, be specifically related to three finger mechanical paws of a kind of variable configuration.
Background technology
The hands imitating the mankind carrys out the end effector of design robot to make it have the ability to work of similar human hand, so that
These mechanical paws can substitute the mankind and complete task, enhance versatility and the motility of end effector of robot.
During design mechanical paw, it is to realize grasp stability and adaptability that mechanical paw structure and mechanical paw capture configuration
Important research content.
In the research of mechanical paw, the design structure of end effector of robot requires consideration for how that making mechanical paw have connects
The flexibility ratio of person of modern times's hands, has multiple crawl configuration, and volume is little, lightweight.When the amount of articulation of robot increases
Time, the volume and weight of joint driver becomes important considering.At this point it is possible to make by reducing number of drives
It constitutes a mechanism with coupling joint, reduces the requirement to control system.In order to adapt to difform being applied
Object, can possess multiple crawl configuration with design robot end effector.The determination of mechanism is realized by controlling input variable
Motion, makes to constitute, for body form, the crawl configuration determined during paw operation, such that it is able to strengthen grasp stability, and carries
High robot ability to work in actual job environment.
United States Patent (USP) US5762390A discloses the three-finger paw with free-standing coupling joint of classics.This three finger
Paw utilizes single-point to fix four-bar mechanism principle, in conjunction with the spring extension effect between two articulations digitorum manus, makes three-finger paw hold
What row was different captures the shape being adapted to crawled object in task process, until keeping certain crawl attitude.But should
Three-finger paw in patent have employed hydraulically powered mode, it may appear that oil circuit sealing problem, and system bulk is the biggest, simultaneously
Care and maintenance is relatively costly.
Chinese patent CN101844358B discloses a kind of robotic gripper dress in rotary moving with three fingers
Putting, this paw utilizes and constitutes two sector gears of quadrangular mechanism and two connecting rods change the sensing of finger, thus structure
Becoming different crawl configurations, but there is coupling between two of which finger, another finger not coupled is due to polycrystalline substance
Fixing and can not change the sensing of finger, there is certain crawl configuration limitation in whole paw.
From the point of view of in terms of theory of mechanisms, the mechanical paw of employing coupling joint makes the number of the control input variable of mechanism less than mechanism
Joint number, mechanism can also determine the motion path and track that Fingers saves.In order to make mechanical paw have higher spirit
Activity simplified control system, need mechanism to have more degree of freedom, make number of drives less simultaneously.If mechanical hand
Pawl meets mechanism and realizes determining the condition of motion, and when mechanical paw is when carrying out grasping manipulation, each joint is involved in driving work
Make, then just can save certain energy, and be advantageously implemented Shape closed and force-closed when crawl object.
To sum up, existing three refer to that mechanical paws exist that volume is big, maintaining cost is high and whole paw exists certain grabbing
Take the circumscribed problem of configuration.
Summary of the invention
The present invention solves that existing three refer to that mechanical paws exist that volume is big, maintaining cost is high and whole paw exists one
The fixed circumscribed problem of crawl configuration, and then three finger mechanical paws of a kind of variable configuration are provided.
The present invention solves that above-mentioned technical problem adopts the technical scheme that:
Three finger mechanical paws of the variable configuration of the present invention include palm, rotating base, centered cylinder, three rotary shafts, three
Individual turntable, three finger bottom motors, three worm gears, three worm screws, three large straight gears, three small Spur gears and three
Individual finger, rotating base is provided with three fingers, and palm is by flat board, palm upper flat plate and multiple connecting cylinder group under palm
Becoming, palm upper flat plate is packed under palm on the upper surface of flat board by multiple connecting cylinders, and palm upper flat plate is flat with under palm
Plate be arranged in parallel, and under palm, the lower end of flat board is packed in center, rotating base upper surface by centered cylinder；
Each finger includes first knuckle, second knuckle, head rod, the second connecting rod, the first drive rod, second drives
Lever, coupled links and finger-joint motor, the shape of second knuckle is L-shaped, and each turntable is provided with one
Finger-joint motor, the output shaft of each finger-joint motor is installed with a coupled links, and one end of coupled links is passed through
First drive rod is connected with the minor face end of second knuckle, and the other end of coupled links passes through the second drive rod and head rod
One end and the second connecting rod one end connect, the other end of head rod is connected with second knuckle, the long limit of second knuckle
End, the other end of the second connecting rod are all connected with first knuckle；
Uniform on rotating base it is provided with three rotary shafts, each rotary shaft is fixed with a turntable, on each turntable
Being provided with a large straight gear, the output shaft of each finger bottom motor is affixed with a corresponding worm screw, each worm screw and phase
The worm gear answered engages each other, and each worm gear is coaxially disposed with a corresponding small Spur gear, and each small Spur gear is with corresponding
A large straight gear engage each other.
The method have the advantages that
The main body of each finger of three finger mechanical paws of the variable configuration of the present invention is the multi-connecting-rod mechanism that single-point is fixing, each
Finger has three joints, and two drive links of finger-joint driven by motor control stretching, extension and the bending of finger；Finger bottom electricity
Machine drives worm and gear to drive small Spur gear to rotate, and small Spur gear drives large straight gear to rotate, and i.e. can adjust three handss respectively
The sensing referred to, after rotating to required angle, the position of finger is locked by finger bottom motor；And do not deposit between three fingers
Couple in mechanism, refer to compared with mechanical paws with existing three, parallel crawl can be realized, three refer to the heart is grasped and two fingers are pinched and taken
Different crawl configurations, adapts to the grasping manipulation to difformity object, and improves the stability that paw captures；
Present configuration is compact, overall structure size is little, lightweight, drives number few, thus reduces control system
Requirement, reliability is high, maintaining low cost.
Accompanying drawing explanation
Fig. 1 is the integrated model axonometric chart of three finger mechanical paws of the variable configuration of the present invention, and Fig. 2 is that the present invention is embodied as
The axonometric chart of finger in mode one, Fig. 3 is the axonometric chart of rotating base 8 in the specific embodiment of the invention one, and Fig. 4 is
The variable configuration of the present invention three finger mechanical paws use two fingerhold object schematic diagrams, Fig. 5 be the present invention can allosteric
Three finger mechanical paws of type use three fingers that the heart is captured spheroid schematic diagram, and Fig. 6 is three finger machines of the variable configuration of the present invention
Tool paw uses three finger parallel crawl pole schematic diagrams.
Detailed description of the invention
Detailed description of the invention one: as shown in figs. 1 to 6, the variable configuration of present embodiment three finger mechanical paws include palm,
Rotating base 8,21, three turntables of 7, three rotary shafts of centered cylinder, 6, three snails of 20, three finger bottom motors
Take turns 23, three worm screws, 22, three small Spur gears 25 of 24, three large straight gears and three fingers 1, rotating base 8 sets
Being equipped with three fingers 1, palm is made up of flat board under palm 2, palm upper flat plate 3 and multiple connecting cylinder 4, flat on palm
Plate 3 is packed under palm on the upper surface of flat board 2 by multiple connecting cylinders 4, palm upper flat plate 3 and flat board 2 under palm
Be arrangeding in parallel, under palm, the lower end of flat board 2 is packed in center, rotating base 8 upper surface by centered cylinder 7；
Each finger includes that first knuckle 11, second knuckle 12, head rod the 13, second connecting rod 14, first drive
Bar the 15, second drive rod 16, coupled links 17 and finger-joint motor 5, the shape of second knuckle 12 is L-shaped,
One finger-joint motor 5 is installed on each turntable 20, the output shaft of each finger-joint motor 5 is installed with one
Individual coupled links 17, one end of coupled links 17 is connected with the minor face end of second knuckle 12 by the first drive rod 15,
The other end of coupled links 17 is by the second drive rod 16 and one end of head rod 13 and one end of the second connecting rod 14
Connecting, the other end of head rod 13 is connected with second knuckle 12, the long edge tail of second knuckle 12, the second connection
The other end of bar 14 is all connected with first knuckle 11；
Uniform on rotating base 8 it is provided with three rotary shafts 21, each rotary shaft is fixed with a turntable 20, each
One large straight gear 22, the output shaft of each finger bottom motor 6 and a corresponding worm screw 24 are installed on turntable 20
Affixed, each worm screw 24 engages each other with a corresponding worm gear 23, each worm gear 23 and a corresponding small Spur gear
25 are coaxially disposed, and each small Spur gear 25 engages each other with a corresponding large straight gear 22.
It is so designed that, it is possible to use the self-locking property of worm and gear improves the grasp stability of paw.
Detailed description of the invention two: as it is shown on figure 3, rotating base 8 described in present embodiment include rotation platform 8-1, under
Rotation platform 8-2 and three bearing sleeve 8-3, upper rotation platform 8-1 and lower rotation platform 8-2 be arranged in parallel, three axles
Bearing sleeve cylinder 8-3 is fixedly arranged between rotation platform 8-1 and lower rotation platform 8-2, installs in each bearing sleeve 8-3
There is a rotary shaft 21.It is so designed that, the sensing of each finger can be adjusted flexibly, thus it is various to increase paw configuration
Property.Other composition and annexation are identical with detailed description of the invention one.
Detailed description of the invention three: as in figure 2 it is shown, three finger mechanical paws also include three first knuckle sets described in present embodiment
Part 9, first knuckle 11 is provided with a first knuckle external member 9.It is so designed that, finger can be increased when contacting with object
Frictional force, it is ensured that grasp stability；And it can be avoided that the surface abrasion may being subject to when finger and object rigid contact.
Other composition and annexation are identical with detailed description of the invention one or two.
Detailed description of the invention four: as in figure 2 it is shown, described the three of present embodiment refer to that mechanical paw also includes three second knuckles
External member 10, second knuckle 12 is provided with a second knuckle external member 10.It is so designed that, external force can be uniformly distributed
On stress end face between second knuckle 12 and second knuckle external member 10, improve grasp stability；It also is able to avoid finger
The surface abrasion may being subject to during with object rigid contact.Other composition and annexation are identical with detailed description of the invention three.
Detailed description of the invention five: described the three of present embodiment refer to that mechanical paw also includes multiple potentiometer, each finger-joint
It is provided with a potentiometer on motor 5 and each finger bottom motor 6.It is so designed that, it is possible to detection finger-joint motor
5 and the anglec of rotation of each finger bottom motor 6, thus realize the accurate control of paw configuration.Other composition and connection are closed
It is identical with detailed description of the invention one, two or four.
Operation principle:
As shown in figs. 1 to 6, three fingers of three finger mechanical paws of the variable configuration of the present invention are uniform is arranged on rotating base
On 8, the main body of each finger 1 is the multi-connecting-rod mechanism that single-point is fixing, and each finger 1 has three joints, finger bottom electricity
Machine 6 drives worm and gear to drive small Spur gear 25 to rotate, and small Spur gear 25 drives large straight gear 22 to rotate, and can rotate
Rotary shaft 21 drives finger to rotate, thus adjusts the sensing of finger 1, rotates to finger bottom motor 6 after required angle
The position of finger is locked；
Finger-joint motor 5 drives coupled links 17 to rotate, and coupled links 17 rotarily drives the first drive rod 15 and second
Drive rod 16 controls stretching, extension and the bending of finger 1；
The i.e. relative orientation of three fingers 1 of the present invention can be adjusted, and there is not mechanism's coupling between three fingers 1
Close.
Claims (5)
1. three finger mechanical paws of variable configuration, described three refer to that mechanical paw includes palm, rotating base (8), center
Cylinder (7), three rotary shafts (21), three turntables (20), three finger bottoms motor (6), three worm gears (23),
Three worm screws (24), three large straight gears (22), three small Spur gears (25) and three fingers (1), rotating base (8)
On be provided with three fingers (1), it is characterised in that: palm is by flat board under palm (2), palm upper flat plate (3) and multiple company
Connecing cylinder (4) composition, palm upper flat plate (3) is packed in the upper of flat board under palm (2) by multiple connecting cylinders (4)
On end face, palm upper flat plate (3) be arranged in parallel with flat board under palm (2), and under palm, center is passed through in the lower end of flat board (2)
Cylinder (7) is packed in rotating base (8) center, upper surface；
Each finger include first knuckle (11), second knuckle (12), head rod (13), the second connecting rod (14),
First drive rod (15), the second drive rod (16), coupled links (17) and finger-joint motor (5), second knuckle (12)
Shape L-shaped, each turntable 20 is provided with a finger-joint motor 5, each finger-joint motor 5
Being installed with a coupled links (17) on output shaft, the first drive rod (15) and second is passed through in one end of coupled links (17)
Referring to that the minor face end of joint (12) connects, the other end of coupled links (17) is connected with first by the second drive rod (16)
One end of bar (13) and one end of the second connecting rod (14) connect, the other end of head rod (13) and second knuckle
(12) connect, the long edge tail of second knuckle (12), the second connecting rod (14) the other end all with first knuckle (11)
Connect；
Rotating base (8) is the most uniform is provided with three rotary shafts (21), and each rotary shaft is fixed with a turntable (20),
Being provided with a large straight gear (22) on each turntable (20), the output shaft of each finger bottom motor (6) is with corresponding
A worm screw (24) affixed, each worm screw (24) engages each other with a corresponding worm gear (23), each worm gear (23)
It is coaxially disposed with a corresponding small Spur gear (25), each small Spur gear (25) and a corresponding large straight gear (22)
Engage each other.
Three finger mechanical paws of variable configuration the most according to claim 1, it is characterised in that: described rotating base (8)
Including upper rotation platform (8-1), lower rotation platform (8-2) and three bearing sleeves (8-3), upper rotation platform (8-1)
Be arranged in parallel with lower rotation platform (8-2), three bearing sleeves (8-3) be fixedly arranged to rotation platform (8-1) and under
Between rotation platform (8-2), each bearing sleeve (8-3) is provided with a rotary shaft (21).
Three finger mechanical paws of variable configuration the most according to claim 1 and 2, it is characterised in that: described three refer to machinery
Paw also includes three first knuckle external members (9), and first knuckle (11) is provided with a first knuckle external member (9).
Three finger mechanical paws of variable configuration the most according to claim 3, it is characterised in that: described three refer to mechanical paw
Also include three second knuckle external members (10), second knuckle (12) is provided with a second knuckle external member (10).
5. according to three finger mechanical paws of the variable configuration described in claim 1,2 or 4, it is characterised in that: described three refer to
Mechanical paw also includes being respectively provided with on multiple potentiometer, each finger-joint motor (5) and each finger bottom motor (6)
There is a potentiometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510367511.1A CN104908056B (en) | 2015-06-29 | 2015-06-29 | A kind of three finger mechanical paws of variable configuration |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510367511.1A CN104908056B (en) | 2015-06-29 | 2015-06-29 | A kind of three finger mechanical paws of variable configuration |
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| CN104908056A CN104908056A (en) | 2015-09-16 |
| CN104908056B true CN104908056B (en) | 2016-09-21 |
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Effective date of registration: 20240605 Address after: 150001, 130 prosperity Street, Nangang District, Heilongjiang, Harbin Patentee after: Gao Wenpeng Country or region after: China Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY Country or region before: China |