CN105583848B - Twisted-pair feeder genlocing adaptive robot finger apparatus - Google Patents
Twisted-pair feeder genlocing adaptive robot finger apparatus Download PDFInfo
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- CN105583848B CN105583848B CN201610153469.8A CN201610153469A CN105583848B CN 105583848 B CN105583848 B CN 105583848B CN 201610153469 A CN201610153469 A CN 201610153469A CN 105583848 B CN105583848 B CN 105583848B
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- joint
- segment
- rope
- tendon rope
- brake pad
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
Abstract
Twisted-pair feeder genlocing adaptive robot finger apparatus, belongs to robot technical field, including motor, segment, joint shaft, joint spring part, tendon rope, drawstring part, joint pulley, driver plate, brake pad and flexible piece transmission mechanism.The device is integrated using motor, tendon rope, spring part, flexible piece transmission mechanism, twisted-pair feeder locking mechanism realizes that self-adapting grasping and continuous synchronization lock the function in multiple joints.The device is used to capture object, and profile, the size of object can be adapted to automatically；Locking articulated manner can be taken after crawl object；Crawl process fast and stable, joint is locked after crawl, is prevented finger resilience unstability, can be provided larger grasp force；Being capable of the multiple joints of genlocing；Lockable joint angles are continuous；The apparatus structure is simple, and small volume is lightweight, and control is easy, and design, manufacture, I＆ M cost are low.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of twisted-pair feeder genlocing adaptive robot finger
The structure design of device.
Background technology
Robot is one of most important component of robot, the crucial skill such as the structure design and function of robot are improved
Art is most important for robot.Existing robot can be divided mainly into anthropomorphic hand and non-anthropomorphic hand, and both are owned by non-
Often it is widely applied.It is powerful because the hand of people is very flexible, there is very big research learning value on bionics, it is anthropomorphic
The exploitation of robot has very big prospect.Current humanoid robot hand is broadly divided into industrial clamper, Dextrous Hand and owes to drive
Start.
On the one hand, robot need realize crawl, carry and operation different shape and size complex object, this for
Require higher in terms of the control accuracy of robot；On the other hand, humanoid robot hand requires the spies such as size is suitable, weight is small
Point.Existing industrial clamper function is simple, and the scope of application is smaller.Existing Dextrous Hand has enough joint and driver
Into various accurate actions, but extremely complex and costliness.And drive lacking hand due to itself adaptivity the features such as in certain journey
This contradiction is solved on degree.
With it is adaptive the features such as drive lacking hand small volume, lightweight, can change during object is captured and grab
Take angle with this automatic shape for adapting to object, control is simply, accurately, stably.
A kind of robot device (patent of invention US2006129248A1) of existing self-adapting grasping object, finger part
Mainly include pedestal, four segments, three joint spring parts and a longitudinal tendon rope.When capturing object, longitudinal tendon rope is first pulled to make
Obtain finger to stretch, then loosen longitudinal tendon rope, digital flexion envelope is captured object by joint spring part natural resiliency.Due to every
Individual joint all has joint spring part, and finger can be bent during object is captured with matching object shape according to respective angles,
With good adaptivity.
The device is disadvantageous in that：
1) the joint spring part grasp force of the device try one's best greatly with stretch used in finger the pulling force of longitudinal tendon rope try one's best it is small between
There is larger contradiction.In order to ensure grasp force it is larger, it is necessary to joint spring part stiffness factor it is larger, cause to pull longitudinal tendon rope to stretch
Pulling force needed for straight finger is larger；Pulling force needed for stretching finger to longitudinal tendon rope is smaller, using weaker joint spring part, then
Grasp force is too small.
2) device is difficult to provide larger range of grasp force.The device using fixed joint spring part there is provided crawl
Power is confined in fixed smaller range；The device relies primarily on the grasp force that joint spring part is provided during crawl object,
If joint spring part is weaker, the strength for the arm being attached thereto can not be just utilized, crawl failure can occur when extracting weight,
It is general to be extracted using arm strength when such as extracting very heavy luggage case, but finger will have enough strength to ensure bending
Configuration.
3) the joint spring part of excessive stiffness factor may cause generation finger during crawl object quickly to collide object, so as to lead
Cause to squeeze the unstable phenomenon for running object.
4) device is under vibration using the possibility for having crawl failure.
A kind of existing self-locking pneumatic under-actuated robot finger device (patent of invention CN103659825A), device tool
There is self-adapting grasping function, the self-locking during crawl is realized using click, and pull ratchet to realize unblock using motor.
The device is disadvantageous in that：
1) device, which needs motive force, could realize adaptive bending.Relative fortune of this motive force from finger and object
It is dynamic：Sliding block on finger is extruded by object, promotes next segment to bend using pneumatic power drive.
2) the lockable joint angles of the device are discontinuous.Because the gear teeth of ratchet have certain tooth pitch, locking is not
Continuously；If tooth pitch is designed to compared with conference reduction locking precision, if tooth pitch is designed to smaller, it is high to reduce tooth, influence lock
Determine effect.
The content of the invention
The invention aims to overcome the weak point of prior art, propose that a kind of twisted-pair feeder genlocing is adaptive
Robot finger apparatus, the device is used to capture object, and shape, the size of object can be adapted to automatically；Capturing can be with after object
Take locking articulated manner；Joint is locked after crawl, larger grasp force can be provided, finger resilience unstability is prevented, with certainly
Lock effect；Being capable of the multiple joints of genlocing；Lockable joint angles are continuous；The apparatus structure is simple, lightweight, control
System is easy.
The present invention is adopted the following technical scheme that：
The twisted-pair feeder genlocing adaptive robot finger apparatus that the present invention is provided, including motor, decelerator, the first biography
Motivation structure, longitudinal tendon rope, drawstring part, N number of segment, N-1 joint shaft, N-1 joint spring part and N-1 joint pulley；It is described
Motor and first segment are affixed；The output shaft of the motor is connected with the input shaft of decelerator, the output shaft of the decelerator
It is connected with the input of the first transmission mechanism, the output end of first transmission mechanism is connected with drawstring part；The drawstring part is slided
Move or be rotatably arranged in the first segment；One end of longitudinal tendon rope is connected with drawstring part, the other end of longitudinal tendon rope with most
Latter segment is connected；Longitudinal tendon rope bypasses all joint pulleys, all segments of longitudinal tendon rope through centre；Described
I joint shaft is set in i-th of segment, and the i+1 segment is socketed on i-th of joint shaft, and i-th of joint is slided
Wheel is socketed on i-th of joint shaft, and the two ends of i-th of joint spring part connect i-th of segment and i+1 segment respectively；
All joint shafts are parallel to each other；It is characterized in that：The device is also individual including the second transmission mechanism, N-2 driving wheel, N-2
Driven pulley, N-2 flexible drive parts, N-1 driver plate, N-1 upper tendon ropes, N-1 lower tendon ropes, N-1 brake pad and N-1 lockings
Spring part；The output shaft of the decelerator is connected with the input of the second transmission mechanism, the output end of second transmission mechanism with
First joint shaft is connected, and j-th of driving wheel is fixed on j-th of joint shaft, and j-th of driven pulley is fixed in jth+1
On individual joint shaft, j-th of flexible drive parts connect j-th of driving wheel and j-th of driven pulley；J-th of Flexible Transmission
Part uses transmission belt, transmission rope or chain；J-th of driving wheel uses belt wheel, rope sheave or sprocket wheel, j-th of driven pulley
Using belt wheel, rope sheave or sprocket wheel, coordinate between j-th of flexible drive parts, j-th of driving wheel and j-th of driven pulley three
Form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation；I-th of driver plate is fixed on i-th of joint shaft；
The two ends of tendon rope connect i-th driver plate, i-th of brake pad respectively on described i-th；The two ends difference of described i-th lower tendon rope
Connect i-th driver plate, i-th of brake pad；The tie point of tendon rope and i-th of driver plate is set to A points, described i-th on described i-th
The tie point that the tie point of lower tendon rope and i-th of driver plate is set to tendon rope and i-th of brake pad in B points, described i-th is set to C points,
The tie point of described i-th lower tendon rope and i-th of brake pad is set to D points, and A and B is misaligned or C and D is misaligned；Described i-th
Brake pad is slided and is embedded in i-th of segment；I-th of brake pad is in contact or stood away with i+1 segment；
Wherein, N is the natural number more than 1, and i is 1,2 ... or N-1, j are 1,2 ... or N-2.
Twisted-pair feeder genlocing adaptive robot finger apparatus of the present invention, it is characterised in that：The brake pad
Overall or part uses elastomeric material.
Twisted-pair feeder genlocing adaptive robot finger apparatus of the present invention, it is characterised in that：The brake pad
Local surfaces are rough surface.
The present invention compared with prior art, with advantages below and high-lighting effect：
Apparatus of the present invention are integrated using motor, tendon rope, spring part, flexible piece transmission mechanism, twisted-pair feeder locking mechanism and realized certainly
Adapt to crawl and continuous synchronization locks the function in multiple joints.The device is used to capture object, and the shape of object can be adapted to automatically
Shape, size, it is adaptable；Locking articulated manner can be taken after crawl object, is especially had to the object of unlike material, weight
There is very strong adaptability；Crawl process fast and stable, locks joint after crawl, on the one hand prevent finger resilience unstability so that
Be not in collide object, squeeze and run object during crawl object；On the other hand, larger grasp force, locking device tool can be provided
There is self-locking effect, the finger apparatus after locking can be matched preferably therewith in terms of can approximately regarding a rigid body, its bearing capacity as
Connected arm apparatus, implements the extraction to relatively heavier object (such as luggage case)；Being capable of the multiple joints of genlocing；It can lock
Fixed joint angles are continuous；The apparatus structure is simple, and small volume is lightweight, and it is easy to control, design, manufacture, assembling and dimension
Protect cost low.
Brief description of the drawings
Fig. 1 is a kind of front of the embodiment for the twisted-pair feeder genlocing adaptive robot finger apparatus that the present invention is provided
Sectional view.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the reverse side outside drawing of embodiment illustrated in fig. 1.
Fig. 4 is the left surface outside drawing of embodiment illustrated in fig. 1.
Fig. 5 is the right side outside drawing of embodiment illustrated in fig. 1.
Fig. 6 is the explosive view of embodiment illustrated in fig. 1.
Fig. 7 to Fig. 9 is that longitudinal tendon rope of embodiment illustrated in fig. 1 pulls schematic diagram.
Figure 10 is schematic diagram unlocked at second joint axle.
Figure 11 is the schematic diagram locked at second joint axle.
Figure 12 is schematic diagram (with Figure 10 identicals situation) unlocked at second joint axle, only draw second joint axle,
Second driven pulley, the second brake pad, tendon rope, second time tendon rope on second.
Figure 13 is the schematic diagram (with Figure 11 identicals situation) locked at second joint axle, only draws second joint axle, the
Two driven pulleys, the second brake pad, tendon rope, second time tendon rope on second.
Figure 14 to Figure 16 is the schematic diagram of embodiment illustrated in fig. 1 self-adapting grasping object.
Figure 17 to Figure 20 is the schematic diagram of embodiment illustrated in fig. 1 genlocing self-adapting grasping weight.
In Fig. 1 into Figure 20：
1- pedestals, the segments of 11- first, the segments of 12- second,
The joint shafts of 21- first, 22- second joint axles, the first joints of 23- pulley, 24- second joint pulleys,
3- motors, 31- decelerators, 32- first bevel gears, 33- second bevel gears,
34- transition axises,
4- rope-winding wheels, 41- longitudinal directions tendon rope, the driving wheels of 42- first, the driven pulleys of 43- first,
The transmission belts of 44- first, the driving wheels of 45- second, the driven pulleys of 46- second, the transmission belts of 47- second,
The driver plates of 48- first, the driver plates of 49- second,
The first joints of 51- spring part, 52- second joint spring parts, 53- the first locking spring parts, 54- the second locking spring parts,
Tendon rope on the brake pads of 61- first, 62- first, first time tendon rope of 63-, the brake pads of 64- second,
Tendon rope on 65- second, second time tendon rope of 66-,
9- objects, 91- bearing-surfaces, 92- suitcases, 921- crawl handles.
Embodiment
Below in conjunction with the accompanying drawings and the concrete structure of the present invention, operation principle and worked is further described in embodiment
Journey.
The twisted-pair feeder genlocing adaptive robot finger apparatus that the present invention is provided, including motor, decelerator, the first biography
Motivation structure, longitudinal tendon rope, drawstring part, N number of segment, N-1 joint shaft, N-1 joint spring part and N-1 joint pulley；It is described
Motor and first segment are affixed；The output shaft of the motor is connected with the input shaft of decelerator, the output shaft of the decelerator
It is connected with the input of the first transmission mechanism, the output end of first transmission mechanism is connected with drawstring part；The drawstring part is slided
Move or be rotatably arranged in the first segment；One end of longitudinal tendon rope is connected with drawstring part, the other end of longitudinal tendon rope with most
Latter segment is connected；Longitudinal tendon rope bypasses all joint pulleys, all segments of longitudinal tendon rope through centre；Described
I joint shaft is set in i-th of segment, and the i+1 segment is socketed on i-th of joint shaft, and i-th of joint is slided
Wheel is socketed on i-th of joint shaft, and the two ends of i-th of joint spring part connect i-th of segment and i+1 segment respectively；
All joint shafts are parallel to each other；It is characterized in that：The device is also individual including the second transmission mechanism, N-2 driving wheel, N-2
Driven pulley, N-2 flexible drive parts, N-1 driver plate, N-1 upper tendon ropes, N-1 lower tendon ropes, N-1 brake pad and N-1 lockings
Spring part；The output shaft of the decelerator is connected with the input of the second transmission mechanism, the output end of second transmission mechanism with
First joint shaft is connected, and j-th of driving wheel is fixed on j-th of joint shaft, and j-th of driven pulley is fixed in jth+1
On individual joint shaft, j-th of flexible drive parts connect j-th of driving wheel and j-th of driven pulley；J-th of Flexible Transmission
Part uses transmission belt, transmission rope or chain；J-th of driving wheel uses belt wheel, rope sheave or sprocket wheel, j-th of driven pulley
Using belt wheel, rope sheave or sprocket wheel, coordinate between j-th of flexible drive parts, j-th of driving wheel and j-th of driven pulley three
Form belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation；I-th of driver plate is fixed on i-th of joint shaft；
The two ends of tendon rope connect i-th driver plate, i-th of brake pad respectively on described i-th；The two ends difference of described i-th lower tendon rope
Connect i-th driver plate, i-th of brake pad；The tie point of tendon rope and i-th of driver plate is set to A points, described i-th on described i-th
The tie point that the tie point of lower tendon rope and i-th of driver plate is set to tendon rope and i-th of brake pad in B points, described i-th is set to C points,
The tie point of described i-th lower tendon rope and i-th of brake pad is set to D points, and A and B is misaligned or C and D is misaligned；Described i-th
Brake pad is slided and is embedded in i-th of segment；I-th of brake pad is in contact or stood away with i+1 segment；
Wherein, N is the natural number more than 1, and i is 1,2 ... or N-1, j are 1,2 ... or N-2.
N=3 is taken, embodiment is given below and is described in detail.
A kind of embodiment for the twisted-pair feeder genlocing adaptive robot finger apparatus that the present invention is designed, such as Fig. 1 to Fig. 5
It is shown, including motor 3, the first transmission mechanism, longitudinal tendon rope 41, rope-winding wheel 4, the first segment 11, the second segment 12, the first joint
Axle 21, second joint axle 22, the first joint spring part 51, second joint spring part 52, the first joint pulley 23 and second joint pulley
24；The motor 3 and pedestal 1 are affixed；The output shaft of the motor 3 and the input of the first transmission mechanism are connected, and described the
The output end of one transmission mechanism is connected with transition axis 4, and the transition axis 4 is set in pedestal 1, and the rope-winding wheel 4 was fixed in
Cross on axle 4；One end of longitudinal tendon rope 41 is fixed in the outer rim of rope-winding wheel 4, and the other end of longitudinal tendon rope 41 and second refers to
Section 12 is affixed；Longitudinal tendon rope 41 bypasses the first joint pulley 23 and second joint pulley 24, and longitudinal tendon rope 41 passes through first
The segment 12 of segment 11 and second；First joint shaft 21 is set in pedestal 1, and the second joint axle 22 is set in the first finger
In section 11；First segment 11 is socketed on the first joint shaft 21, and second segment 12 is socketed on second joint axle 22；
First joint pulley 23 is socketed on the first joint shaft 21, and the second joint pulley 24 is socketed in second joint axle 22
On；The two ends of the first joint spring part 51 connect the segment 11 of pedestal 1 and first respectively；The two ends of the first joint spring part 52
The first segment 11 and the second segment 12 are connected respectively；First joint shaft 21, second joint axle 22 are parallel to each other；
The device also includes the first driving wheel 42, the second driving wheel 45, the first driven pulley 43, the second driven pulley 46, first
Transmission belt 44, the second transmission belt 47, the first driver plate 48, on the second driver plate 49, first on tendon rope 62, second under tendon rope 65, first
Tendon rope 63, second time tendon rope 66, the first brake pad 61, the second brake pad 64, the first locking spring part 53 and the second locking spring part 54；
First driving wheel 42 is socketed on transition axis 4, and the driven pulley 43 of the first driving wheel 42 and first passes through the first conveyer belt
44 are connected, and the first driving wheel 42, the first driven pulley 43 and the three of the first transmission belt 44 formation belt wheel transmission relation, and described the
One driven pulley 43 is socketed on the first joint shaft 21, and first driven pulley 43 and the first driver plate 48 are affixed；Described second actively
Wheel 45 is socketed on the first joint shaft 21, and second driving wheel 45 is connected with the second driven pulley 46 by the second conveyer belt 47,
And the second driving wheel 45, the second driven pulley 46 and the three of the second transmission belt 47 form belt wheel transmission relation, and described second is driven
Wheel 46 is socketed on second joint axle 22, and second driven pulley 46 and the second driver plate 49 are affixed；48 sets of firstth driver plate
It is located on the first joint shaft 21；The two ends of tendon rope 62 connect the first driver plate 48 and the first brake pad 61 respectively on described first；Institute
The two ends for stating first time tendon rope 63 connect the first driver plate 48 and the first brake pad 61 respectively；Tendon rope 62 and first group on described first
The tie point of disk 48 is set to A points, and the tie point of first time tendon rope 63 and the first driver plate 48 is set to B points, and A is misaligned with B；Institute
The two ends for stating tendon rope 65 on second connect the second driver plate 49 and the second brake pad 64 respectively；The two ends of second time tendon rope 66 point
The second driver plate 49 and the second brake pad 64 are not connected；Tendon rope 65 and the second tie point for dialling 49 disks are set to C points, institute on described second
The tie point for stating second time driver plate 49 of tendon rope 66 and second is set to D points, and C is misaligned with D；First brake pad 61, which is slided, to be inlayed
In the first segment 11；First brake pad 61 is in contact or stood away with the first segment 11；Second friction
Block 64 is slided and is embedded in the second segment 12；Second brake pad 64 is in contact or stood away with the second segment 12.
In the present embodiment, the first joint spring part 51 and second joint spring part 52 are torsion spring, first locking spring
The locking spring part 54 of part 53 and second is stage clip.
In the present embodiment, the joint sliding block and brake pad can use elastomeric material.It is described to close in another embodiment
The surface that section both sliding block and brake pad are in contact is rough surface.
The operation principle of the present embodiment is described below as shown in Fig. 7 to Figure 13：
Fig. 7 to Fig. 9 mainly expresses the Principle of Process schematic diagram of finger apparatus stretching and bending.Motor 3 starts first,
Rope-winding wheel 4 is driven to rotate through decelerator 31, first bevel gear 32, second bevel gear 33 and transition axis 34 so that longitudinal tendon rope 41
It is tightened up, finger is stretched to straight configuration by case of bending, prepares crawl object；Then motor 3 is rotated backward so that wiring
Wheel 4 is and then rotated backward, and now longitudinal tendon rope 4 is relaxed, and the elastic force of the first joint spring part 51 and second joint spring part 52 makes
Finger is obtained to be gradually curved；After longitudinal tendon rope 4 is loosened completely, finger is bent to completely in the case of no crawl object holds
Tight state.
Figure 10 and Figure 12 mainly express the finger schematic diagram, Figure 11 and Figure 13 at the second joint at unlocked joint
Mainly express the finger lock joint when second joint at schematic diagram.When motor 3 starts, tooth is bored through decelerator 31, first
Wheel 32, second bevel gear 33 and transition axis 34 drive the first driving wheel 42 to rotate, driven by the drive first of the first transmission belt 44
Wheel 43 is rotated；Because the first driven pulley 43 and the second driving wheel 45 are affixed, when the first driven pulley 43 starts rotation, the second driving wheel
45 rotate simultaneously, drive the second driven pulley 46 to rotate by the second transmission belt 47；Due to the second driver plate 49 and the second driven pulley 46
It is affixed, therefore when the second driven pulley 46 is rotated, drive driver plate to rotate；The two ends of tendon rope 65 and second time tendon rope 66 are distinguished on second
Connect the second driver plate 49 and the second brake pad 64, therefore when driver plate is rotated, tendon rope 65 and second time tendon rope 66 are wrapped in the on second
On two joint shafts 22, the second brake pad 64 is pulled to be slided to driver plate direction, so as to extrude the second segment 12.Because surface both exists
Elastomeric material is used in the present embodiment, therefore both can produce very strong stiction so that the first segment 11 and the second segment 12
It is difficult to then mutually rotate, material is thus formed the effect in locking joint.
The course of work of the present embodiment expresses the crawl different shape, size of the present embodiment as shown in Figure 14 to Figure 20
With the situation of weight, it is specifically described as follows：
The first situation is the schematic diagram of the present embodiment self-adapting grasping object as shown in Figure 14, Figure 15 and Figure 16.It is first
First, longitudinal tendon rope is pulled to stretch finger, then moving finger makes it close to object；Loosen longitudinal tendon rope, finger is gradually curved；
While digital flexion, driver plate is rotated simultaneously, brake pad is slided to driver plate direction；When the first segment 11 and the second segment 12
Successively contact object, the first brake pad the first segment of contact, the second brake pad the second segment of contact, make joint locking, whole hand
Refer to the process that device just adaptively completes crawl object.
Second of situation is the process of weight capacity larger object and movement as shown in Figure 17, Figure 18, Figure 19 and Figure 20.
Crawl is substantially similar with the first, and adding joint synchronous by self-adapting grasping locks two processes so that finger can be captured
Heavy objects, and crawl process is quickly, stably.
Apparatus of the present invention are integrated using motor, tendon rope, spring part, flexible piece transmission mechanism, twisted-pair feeder locking mechanism and realized certainly
Adapt to crawl and continuous synchronization locks the function in multiple joints.The device is used to capture object, and the shape of object can be adapted to automatically
Shape, size, it is adaptable；The mode in locking joint can be taken after crawl object, especially to unlike material, the object of weight
With very strong adaptability；Crawl process fast and stable, locks joint after crawl, on the one hand prevent finger resilience unstability, make
Be not in collide object, squeeze and run object when must capture object；On the other hand, larger grasp force, locking device can be provided
With self-locking effect, the finger apparatus after locking can approximately regard a rigid body as, can preferably be matched in terms of its bearing capacity with
Connected arm apparatus, implement the extraction to relatively heavier object (such as luggage case)；Being capable of the multiple joints of genlocing；Can
The joint angles of locking are continuous；The apparatus structure is simple, and small volume is lightweight, and control is easy, design, manufacture, assembling and
Maintenance cost is low.
Claims (3)
1. a kind of twisted-pair feeder genlocing adaptive robot finger apparatus, including it is motor, decelerator, the first transmission mechanism, vertical
To tendon rope, drawstring part, N number of segment, N-1 joint shaft, N-1 joint spring part and N-1 joint pulley；The motor and first
Individual segment is affixed；The output shaft of the motor is connected with the input shaft of decelerator, the output shaft of the decelerator and the first transmission
The input of mechanism is connected, and the output end of first transmission mechanism is connected with drawstring part；The drawstring part is slided or rotated and sets
Put in the first segment；One end of longitudinal tendon rope is connected with drawstring part, the other end and last segment of longitudinal tendon rope
It is connected；Longitudinal tendon rope bypasses all joint pulleys, all segments of longitudinal tendon rope through centre；I-th of joint shaft is arranged
In i-th of segment, i+1 segment is socketed on i-th of joint shaft, and i-th of joint pulley is socketed in i-th of joint shaft
On, the two ends of i-th of joint spring part connect i-th of segment and i+1 segment respectively；All joint shafts are parallel to each other；
It is characterized in that：The device also include the second transmission mechanism, N-2 driving wheel, N-2 driven pulley, N-2 flexible drive parts,
N-1 driver plate, N-1 upper tendon ropes, N-1 lower tendon ropes, N-1 brake pad and N-1 locking spring parts；The output shaft of the decelerator
It is connected with the input of the second transmission mechanism, the output end of second transmission mechanism is connected with the first joint shaft, j-th actively
Wheel is fixed on j-th of joint shaft, and j-th of driven pulley is fixed on+1 joint shaft of jth, and j-th of flexible drive parts connects jth
Individual driving wheel and j-th of driven pulley；J-th of flexible drive parts uses transmission belt, transmission rope or chain；J-th of driving wheel is used
Belt wheel, rope sheave or sprocket wheel, j-th driven pulley use belt wheel, rope sheave or sprocket wheel, j-th of flexible drive parts, j-th of driving wheel and
Belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation are cooperatively formed between j-th of driven pulley three；I-th of driver plate
It is fixed on i-th of joint shaft；The two ends of tendon rope connect i-th driver plate, i-th of brake pad respectively on i-th；I-th of lower tendon
The two ends of rope connect i-th driver plate, i-th of brake pad respectively；The tie point of tendon rope and i-th of driver plate is set to A on described i-th
The tie point that the tie point of point, i-th of lower tendon rope and i-th of driver plate is set to tendon rope and i-th of brake pad in B points, i-th is set to
The tie point of C points, i-th of lower tendon rope and i-th of brake pad is set to D points, and A and B is misaligned or C and D is misaligned；I-th of friction
Block is slided and is embedded in i-th of segment；I-th of brake pad is in contact or stood away with i+1 segment；Wherein, N is
Natural number more than 1, i is 1,2 ... N-1, and j is 1,2 ... N-2.
2. twisted-pair feeder genlocing adaptive robot finger apparatus as claimed in claim 1, it is characterised in that：The brake pad
Entirety or local use elastomeric material.
3. twisted-pair feeder genlocing adaptive robot finger apparatus as claimed in claim 1, it is characterised in that：The brake pad
Local surfaces be rough surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153469.8A CN105583848B (en) | 2016-03-17 | 2016-03-17 | Twisted-pair feeder genlocing adaptive robot finger apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153469.8A CN105583848B (en) | 2016-03-17 | 2016-03-17 | Twisted-pair feeder genlocing adaptive robot finger apparatus |
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| CN105583848A CN105583848A (en) | 2016-05-18 |
| CN105583848B true CN105583848B (en) | 2017-10-17 |
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|---|---|---|---|---|
| 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 |
| CN110293575A (en) * | 2019-07-17 | 2019-10-01 | 常州纺织服装职业技术学院 | A kind of five finger-type mechanical paw of apery |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2823584C2 (en) * | 1978-05-30 | 1983-01-27 | Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern | Gripping device for industrial robots |
| WO2006053137A2 (en) * | 2004-11-12 | 2006-05-18 | Mark Stark | Artificial hand |
| CN102514016B (en) * | 2011-12-23 | 2014-09-24 | 清华大学 | Soft piece coupling type handyman finger device |
| CN103659825B (en) * | 2013-11-25 | 2015-12-30 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
| 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 |
| CN105364938B (en) * | 2015-12-01 | 2017-06-23 | 清华大学 | Belt wheel collaboration locking linkage adaptive robot finger apparatus |
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