CN105619426A - Tendon-rope type lateral locking linkage self-adaption robot finger device - Google Patents
Tendon-rope type lateral locking linkage self-adaption robot finger device Download PDFInfo
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- CN105619426A CN105619426A CN201510868252.0A CN201510868252A CN105619426A CN 105619426 A CN105619426 A CN 105619426A CN 201510868252 A CN201510868252 A CN 201510868252A CN 105619426 A CN105619426 A CN 105619426A
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Abstract
The invention discloses a tendon-rope type lateral locking linkage self-adaption robot finger device and belongs to the technical field of robot hands. The tendon-rope type lateral locking linkage self-adaption robot finger device comprises a motor, a speed reducer, a transmission mechanism, a main tendon rope, N finger sections, N-1 joint shafts, N-1 joint spring members, N-1 joint wheels, a first pull rope member, N-1 joint sliding blocks, N-1 friction blocks, N-1 locking tendon ropes, N-1 locking spring members and a second pull rope member, wherein N is a natural number which is greater than one. The device is used for grabbing objects and achieves the functions of self-adaption grabbing and continuous and synchronous locking of multiple joints. The grabbing process is rapid and stable, and the joints are locked after grabbing, so that fingers are prevented from springback instability, and large grabbing force can be provided. The multiple joints can be synchronously locked and lockable joint angles are continuous. The device is simple in structure, small in size, low in weight, easy to control and low in design, manufacturing, assembly and maintenance cost.
Description
Technical field
The invention belongs to robot technical field, laterally lock the structural design of linkage adaptive robot finger apparatus particularly to a kind of tendon rope type.
Background technology
Robot is one of most important assembly of robot, and the key technology such as the structural design of robot and function improvement is most important for robot. Existing robot can be divided mainly into anthropomorphic hands and non-anthropomorphic hands, both has application widely. Owing to the hands of people is very flexible, powerful, bionics there is very big research learning be worth, the exploitation of humanoid robot hand has very big prospect. Current humanoid robot hand is broadly divided into industry clamper, Dextrous Hand and drive lacking hands.
On the one hand, robot needs to realize to capture, carrying and operation difformity and the complex object of size, and this requires higher for the aspect such as control accuracy of robot; On the other hand, humanoid robot hand requires the features such as size to fit, weight are little. Existing industry clamper function is simple, and the scope of application is less. Existing Dextrous Hand has enough joints and driver to complete various accurate action, but extremely complex and expensive. And drive lacking hands to some extent solves this contradiction due to the feature such as adaptivity of self.
Drive lacking hands volume with features such as self adaptations is little, lightweight, can change crawl angle and automatically adapt to the shape of object with this in the process capturing object, controls simple, accurate, stable.
The robot device (patent of invention US2006129248A1) of existing a kind of self-adapting grasping object, finger part mainly includes pedestal, four segments, three spring parts and a tendon rope. When capturing object, first pull tendon rope that finger is stretched, then loosen tendon rope, rely on spring part natural resiliency to make digital flexion envelope capture object. Owing to each joint has spring part, finger can matching object shape bend according to respective angles in the process capturing object, has good adaptivity.
This device is disadvantageous in that:
1) the spring part grasp force of this device as far as possible big and stretch the pulling force of tendon rope used by finger try one's best little between there is bigger contradiction. In order to ensure that grasp force is bigger, it is necessary to spring part stiffness factor relatively big, cause that the pulling force needed for pulling tendon rope to stretch finger is bigger; Pulling force needed for stretching finger to tendon rope is less, adopts more weak spring part, then grasp force is too small.
2) this device is difficult to provide larger range of grasp force. This device adopts fixing spring part, it is provided that grasp force be confined in the smaller range fixed; This device relies primarily on the grasp force that spring part provides in capturing object process, if spring part is more weak, just cannot utilize the strength of the arm being attached thereto, can occur when extracting weight to capture to lose efficacy, when such as extracting very heavy luggage case, it is generally adopted arm strength to extract, but finger to have enough strength to guarantee the configuration of bending.
3) the spring part of excessive stiffness factor occurs finger quickly to collide object when may result in capturing object, thus causing squeezing the unstable phenomenon running object.
4) this device uses under vibration to have and captures the possibility lost efficacy.
Existing a kind of self-locking pneumatic under-actuated robot finger device (patent of invention CN103659825A), this device has self-adapting grasping function, adopts click to realize the self-locking in crawl process, and adopts motor to pull ratchet to realize unlocking.
This device is disadvantageous in that:
1) this device needs motive force and could realize self adaptation bending. This motive force is from the relative motion of finger Yu object: is extruded the slide block on finger by object, utilizes pneumatic power drive to promote next segment to bend.
2) the lockable joint angles of this device is discontinuous. Owing to the gear teeth of ratchet have certain tooth pitch, lock discontinuous; If tooth pitch is designed to relatively conference reduces locking precision, if tooth pitch is designed to less, then can reduce tooth depth, affect locking effect.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is proposed to a kind of tendon rope type laterally locks linkage adaptive robot finger apparatus, and this device is used for capturing object, it is possible to automatically adapt to the shape of object, size; Capture and can take locking articulated manner or not lock mode after object; Joint is locked, it is provided that bigger grasp force, it is prevented that finger resilience unstability after crawl; Can the multiple joint of genlocing; Lockable joint angles is continuous print; This apparatus structure is simple, lightweight, controls easily.
The present invention adopts the following technical scheme that
Tendon rope type provided by the invention laterally locks linkage adaptive robot finger apparatus, including motor, decelerator, drive mechanism, main tendon rope, N number of segment, N-1 joint shaft, N-1 joint spring part, N-1 joint wheel and the first stay cord part; Described motor and first segment are affixed, and the output shaft of described motor is connected with the power shaft of decelerator, and the output shaft of described decelerator is connected with the input of drive mechanism, and the outfan of described drive mechanism and the first stay cord part are connected; Described first stay cord part slides or rotates and is arranged in the first segment; One end of described main tendon rope is connected with the first stay cord part, and the other end of main tendon rope is connected with last segment; Described main tendon rope walks around all joints wheel, all segments that the traverse of main tendon rope is middle; Described i-th joint shaft is set in i-th segment, and described i+1 segment is socketed on i-th joint shaft, and described i-th joint wheel is socketed on i-th joint shaft, and the two ends of described i-th joint spring part connect i-th segment and i+1 segment respectively; Described joint shaft is parallel to each other; It is characterized in that: this device includes N-1 joint slide block, N-1 brake pad, N-1 locking tendon rope, N-1 locking spring part and the second stay cord part; Described joint shaft is provided with centre bore in the axial direction, and the centrage of described centre bore overlaps with the centrage of corresponding joint axle; Described i-th joint skid is embedded in i-th segment, and the glide direction of i-th joint slide block is consistent with the axis direction of i-th joint shaft; Described second stay cord part slides or rotates and is arranged in the first segment; Described i-th locking tendon rope is through the centre bore of i-th joint shaft, and one end of i-th locking tendon rope is connected with i-th joint slide block, and the other end and the second stay cord part of i-th locking tendon rope are connected; Described first stay cord part contacts in the motor process loosening main tendon rope direction and promotes the second stay cord part, makes the second stay cord part move to the direction of tension locking tendon rope; The two ends of described i-th locking spring part connect i-th brake pad and i-th joint slide block respectively; Described i-th brake pad is fixed in i+1 segment, and described i-th joint slide block contacts with i-th brake pad or stands away; Wherein, N is the natural number more than 1, and i is 1,2 ... or N-1.
Tendon rope type of the present invention laterally locks linkage adaptive robot finger apparatus, it is characterised in that: also include M conduit; Described conduit is the flexible pipe of hollow; The two ends of described jth conduit connect jth segment and first segment respectively, and a side ports of described jth conduit communicates with the centre bore of jth joint shaft, described jth locking tendon rope traverse jth conduit; Wherein, M is the quantity of described locking tendon rope, and j is 1,2 ... or M.
Tendon rope type of the present invention laterally locks linkage adaptive robot finger apparatus, it is characterised in that: any one or both in described joint slide block and brake pad adopt elastomeric material.
Tendon rope type of the present invention laterally locks linkage adaptive robot finger apparatus, it is characterised in that: the surface that described joint slide block and brake pad contact is rough surface.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize single motor, drive mechanism, joint slide block, brake pad, tendon rope and spring part comprehensively to realize self-adapting grasping and the function in the multiple joints of continuous synchronization locking. This device is used for capturing object, it is possible to automatically adapt to the shape of object, size, adaptable; Capture and can take locking articulated manner or not lock mode after object, especially the object of unlike material, weight is had very strong adaptive capacity; Crawl process fast and stable, locks joint, prevents finger resilience unstability on the one hand after crawl so that do not have collision object when capturing object, squeeze and run object; On the other hand, it is provided that bigger grasp force, the finger apparatus after locking can be similar to regards a rigid body as, and its bearing capacity aspect can mate the arm apparatus being attached thereto better, implements the extraction to relatively heavy object (such as luggage case); Can the multiple joint of genlocing; Lockable joint angles is continuous print; This apparatus structure is simple, and volume is little, lightweight, controls easily, design, manufacture, I& M cost low.
Accompanying drawing explanation
Fig. 1 is the front section view that tendon rope type provided by the invention laterally locks a kind of embodiment of linkage adaptive robot finger apparatus.
Fig. 2 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the left surface outside drawing of embodiment illustrated in fig. 1.
Fig. 4 is the right flank outside drawing of embodiment illustrated in fig. 1.
The tendon rope that Fig. 5 to Fig. 7 is embodiment illustrated in fig. 1 pulls schematic diagram.
Fig. 8 is embodiment illustrated in fig. 1 second joint spring part sectional view.
Fig. 9 to Figure 12 is the schematic diagram of the possible implementation of the first stay cord part and the second stay cord part.
Figure 13 to Figure 14 is second joint axle place's non-locking and lock-out state sectional view.
Figure 15 to Figure 17 is the schematic diagram of illustrated embodiment self-adapting grasping object.
Figure 18 to Figure 20 is the schematic diagram that illustrated embodiment self adaptation grasps large scale difformity object.
Figure 21 to Figure 23 is the schematic diagram of illustrated embodiment genlocing self-adapting grasping weight.
In Fig. 1 to Figure 23:
1 main tendon rope, 2 first locking tendon ropes, 3 second locking tendon ropes,
11 motors, 12 decelerators, 13 drive bevel gear, 14 driven wheels of differential,
15 power transmission shafts,
21 first segments, 22 second segments, 23 the 3rd segments,
31 first joint shafts, 32 second joint axles,
41 first joint spring parts, 42 second joint spring parts,
51 first locking spring parts, 52 second locking spring parts,
61 first joint slide blocks, 62 second joint slide blocks, 63 first conduits, 64 second conduits,
71 first brake pads, 72 second brake pads,
81 first stay cord parts (the first reel),
91 second stay cord parts (the second reel),
101 objects, 102-bearing-surface.
Detailed description of the invention
The concrete structure of the present invention, operation principle and work process is further described below in conjunction with drawings and Examples.
Tendon rope type provided by the invention laterally locks linkage adaptive robot finger apparatus, including motor, decelerator, drive mechanism, main tendon rope, N number of segment, N-1 joint shaft, N-1 joint spring part, N-1 joint wheel and the first stay cord part; Described motor and first segment are affixed, and the output shaft of described motor is connected with the power shaft of decelerator, and the output shaft of described decelerator is connected with the input of drive mechanism, and the outfan of described drive mechanism and the first stay cord part are connected; Described first stay cord part slides or rotates and is arranged in the first segment; One end of described main tendon rope is connected with the first stay cord part, and the other end of main tendon rope is connected with last segment; Described main tendon rope walks around all joints wheel, all segments that the traverse of main tendon rope is middle; Described i-th joint shaft is set in i-th segment, and described i+1 segment is socketed on i-th joint shaft, and described i-th joint wheel is socketed on i-th joint shaft, and the two ends of described i-th joint spring part connect i-th segment and i+1 segment respectively; Described joint shaft is parallel to each other; It is characterized in that: this device includes N-1 joint slide block, N-1 brake pad, N-1 locking tendon rope, N-1 locking spring part and the second stay cord part; Described joint shaft is provided with centre bore in the axial direction, and the centrage of described centre bore overlaps with the centrage of corresponding joint axle; Described i-th joint skid is embedded in i-th segment, and the glide direction of i-th joint slide block is consistent with the axis direction of i-th joint shaft; Described second stay cord part slides or rotates and is arranged in the first segment; Described i-th locking tendon rope is through the centre bore of i-th joint shaft, and one end of i-th locking tendon rope is connected with i-th joint slide block, and the other end and the second stay cord part of i-th locking tendon rope are connected; Described first stay cord part contacts in the motor process loosening main tendon rope direction and promotes the second stay cord part, makes the second stay cord part move to the direction of tension locking tendon rope; The two ends of described i-th locking spring part connect i-th brake pad and i-th joint slide block respectively; Described i-th brake pad is fixed in i+1 segment, and described i-th joint slide block contacts with i-th brake pad or stands away; Wherein, N is the natural number more than 1, and i is 1,2 ... or N-1.
Take N=3, embodiment is given below and is described in detail.
The tendon rope type of present invention design laterally locks a kind of embodiment of linkage adaptive robot finger apparatus, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, including motor 11, decelerator 12, drive mechanism, main tendon rope the 1, first segment the 21, second segment the 22, the 3rd segment the 23, first joint shaft 31, second joint axle the 32, first joint spring part 41, second joint spring part 42, N-1 joint wheel (directly adopting joint shaft to take turns as joint in the present embodiment) and the first stay cord part 81, described motor 11 and the first segment 21 are affixed, and the output shaft of described motor 11 is connected with the power shaft of decelerator 12, and the described output shaft of decelerator 12 is connected with the input of drive mechanism, and outfan and the first stay cord part 81 of described drive mechanism are connected, one end of described main tendon rope 1 is connected with the first stay cord part 81, and the other end and the 3rd segment 23 of main tendon rope 1 are connected, all joints wheel (the joint wheel in the present embodiment directly adopts joint shaft) walked around by described main tendon rope 1, all joints week (the first joint shaft 31 and second joint axle 32) walked around by described main tendon rope, main tendon rope 1 traverse the 3rd segment the 23, second segment 22 and the first segment 21, described first joint shaft 31 is set in the first segment 21, described second segment 22 is similar with the 3rd segment 23, described second segment 22 is socketed on the first joint shaft 31, described 3rd segment 23 is socketed on second joint axle 32, the two ends of described first joint spring part 41 connect the first segment 21 and the second segment 22 respectively, and the two ends of described second joint spring part 42 connect the second segment 22 and the 3rd segment 23 respectively, described joint shaft is parallel to each other, this device also includes the first joint slide block 61, second joint slide block the 62, first brake pad the 71, second brake pad 72, first locks tendon rope 2, second and locks tendon rope the 3, first locking spring part the 51, second locking spring part 52 and the second stay cord part 91, described first joint shaft 31 and second joint axle 32 are provided with centre bore in the axial direction, and the centrage of described centre bore overlaps with the centrage of corresponding joint axle, described first joint slide block 61 slides and is embedded in the first segment 21, and the glide direction of the first joint slide block 61 is consistent with the axis direction of the first joint shaft 31, and described second joint slide block 62 is similar with the first joint slide block 61, described second stay cord part 91 slides or rotates and is arranged in the first segment 21, the centre bore of described first locking tendon rope 2 traverse the first joint shaft 31, one end of first locking tendon rope 2 is connected with the first joint slide block 61, the other end and the second stay cord part 91 of the first locking tendon rope 2 are connected, the centre bore of described second locking tendon rope 3 traverse second joint axle 32, one end of second locking tendon rope 3 is connected with second joint slide block 62, the other end and the second stay cord part 91 of the first locking tendon rope 2 are connected, described first stay cord part 81 contacts in the motor process loosening main tendon rope 1 direction and promotes the second stay cord part 91, the second stay cord part 91 is made to move to the direction of tension locking tendon rope, the two ends of described first locking spring part 51 connect the first brake pad 71 and the first joint slide block 61 respectively, and the two ends of described second locking spring part 52 connect the second brake pad 72 and second joint slide block 62 respectively, described first brake pad 71 is fixed in the second segment 22, and described first joint slide block 61 contacts with the first brake pad 71 or stands away, described second brake pad 72 is fixed in the 3rd segment 23, and described second joint slide block 62 contacts with the second brake pad 72 or stands away.
In the present embodiment, described first joint spring part 41 and second joint spring part 42 are torsion spring, and described first locking spring part 51 and the second locking spring part 52 are stage clip, and described first stay cord part 81 and the second stay cord part 91 are reel.
The present embodiment also includes two conduits; Described conduit is the flexible pipe of hollow; The two ends of described first conduit 63 connect the first segment 21 and the first segment 21 respectively, and a side ports of described first conduit 63 communicates with the centre bore of the first joint shaft 31, described first locking tendon rope 2 traverse the first conduit; The two ends of described second conduit 64 connect the second segment 22 and the first segment 21 respectively, and a described side ports of the second conduit 64 communicates with the centre bore of second joint axle 32, described second locking tendon rope 3 traverse the second conduit 64.
In the present embodiment, described joint slide block and brake pad can adopt elastomeric material. In another embodiment, the surface that described joint slide block and brake pad contact is rough surface.
In the present embodiment, described drive mechanism includes drive bevel gear 13, driven wheel of differential 14 and power transmission shaft 15; Described power transmission shaft 15 is set in the first segment 21, and described first reel 81 is socketed on power transmission shaft 15, and one end of described main tendon rope 1 is fixed in the outer rim of the first reel 81; Described second reel 91 rotates and is arranged in the first segment 21, and longitudinal center line and the first reel 81 longitudinal center line overlap; One end of described first locking tendon rope 2 and one end of the second locking tendon rope 3 are all fixed in the outer rim of the second reel 91.
Fig. 9 to Figure 12 mainly have expressed the several embodiments of the first stay cord part 81 and the second stay cord part 91. The wherein initial position of position E and position F respectively the first stay cord part 81 and the second stay cord part 91; When the first stay cord part 81 is moved to position E1 by position E, for straining the process of main tendon rope 1, position E1 is complete tension, and the second stay cord part 91 position F1 is still at position F for this process; When the first stay cord part 81 is from position E1 adverse movement to E, for loosening main tendon rope 1 to the process loosened completely, then from position E to the motion of position E2, start to promote the second stay cord part 91 movement tensions first to lock tendon rope 2 and the second locking tendon rope 3 is lock-out state by position F1 to F2, position F2.
The first stay cord part 81 of the present embodiment and the second stay cord part 91 mainly adopt the embodiment shown in Figure 12.
Shown in the operation principle of the present embodiment such as Fig. 5, Fig. 6, Fig. 7, Fig. 8, Figure 12, Figure 13 and Figure 14, it is described below:
Fig. 5 to Fig. 7 mainly have expressed the Principle of Process schematic diagram of this finger apparatus stretch bending and locking. First motor 11 starts, and drives the first reel 81 to rotate through decelerator 12, drive bevel gear 13, driven wheel of differential 14 and power transmission shaft 15 so that main tendon rope 1 is tightened up, and finger is stretched to straight configuration by case of bending, prepares to capture object; Then motor 11 rotates backward so that the first reel 81 and then rotates backward, and now main tendon rope 1 is relaxed, and the elastic force of the first joint spring part 41 and second joint spring part 42 makes finger be gradually curved; After main tendon rope 1 is loosened completely, when not capturing object, finger bends to the state of holding with a firm grip completely, now motor 11 then rotates, first reel 81 now drives the second reel 91 to rotate, first locking tendon rope 2 and the second locking tendon rope 3 are tightened up simultaneously, respective joint slide block contacts with corresponding brake pad respectively to extrude and produces very strong stiction, once lock corresponding joint, the each adjacent segment of whole finger is relatively fixed, existing shape invariance can be maintained; After loosening the first locking tendon rope 2 and the second locking tendon rope 3, owing to the elastic force of the first locking spring part 51 with the second locking spring part 52 makes corresponding joint slide block no longer contact with brake pad, just complete the process unlocked with this.
Figure 12 have expressed the generalized section of the concrete position of second joint spring part 42, in the present embodiment, joint spring part is torsion spring, and it is set on second joint axle 32, one part of radially-protruding two parts is connected with the 3rd segment, and another part and the second segment are connected. Under original state, radially-protruding two parts are orthogonal so that finger is bending shape, two parts conllinear that torsion spring stretches out after main tendon rope is completely taut, and now finger is in stretching form. Shown in Fig. 8 is the finger state that second joint spring part presents when stretching. First joint spring part is similar with the Equations of The Second Kind joint spring part situation in Fig. 8.
Figure 13 and Figure 14 have expressed the sectional view at finger second joint place under non-locking and locking two states respectively. When the second locking tendon rope 3 pulls second joint slide block 62 to move axially so so that second joint slide block 62 mutually extrudes with the second brake pad 72 and contacts. Adopt elastomeric material due to surface both in the present embodiment, therefore both meetings produce very strong stiction so that the second segment 22 and the 3rd segment 23 are difficult to then rotate mutually, material is thus formed the effect in locking joint.
The work process of the present embodiment, such as shown in Figure 15 to Figure 23, have expressed the situation of the crawl difformity of the present embodiment, size and weight, is specifically described as follows:
The first situation is such as shown in Figure 15, Figure 16, Figure 17, for reduced size grasping body process. First, pull main tendon rope 1 to make finger stretch, then move finger and make it near object; Loosening main tendon rope 1, finger is gradually curved, and after the first segment 21 and the second segment 22 successively touch object, the first joint spring part is no longer replied, and the first joint shaft 31 stops operating; When the 3rd segment 23 is fully in contact with after object, whole finger apparatus just completes crawl object process adaptively. Due to the small volume of object, quality is less, so now not needing to use lock function also can implement reliable and stable crawl task.
The second situation, such as shown in Figure 18, Figure 19, Figure 20, captures process for irregular-shaped objects. The crawl process of this situation is substantially similar with the first situation, and object is also relatively light small and exquisite, it is possible to use lock function can not also use, and two kinds of selections are attained by good effect.
The third situation is such as shown in Figure 21, Figure 22, Figure 23, for the process of weight capacity larger object movement. Crawl process and first kind basic simlarity, but need in this case to use lock function. After finger envelope object, then loosen main tendon rope 1; When main tendon rope 1 just can then pull the first locking tendon rope 2 and the first locking tendon rope 3 to lock two joints after loosening completely. Joint synchronous two processes of locking are added so that finger can capture heavy objects, and the process of crawl is quick, stable by self-adapting grasping.
Apparatus of the present invention utilize single motor, drive mechanism, joint slide block, brake pad, tendon rope and spring part comprehensively to realize self-adapting grasping and the function in the multiple joints of continuous synchronization locking. This device is used for capturing object, it is possible to automatically adapt to the shape of object, size, adaptable; Capture and can take locking articulated manner or not lock mode after object, especially the object of unlike material, weight is had very strong adaptive capacity; Crawl process fast and stable, locks joint, prevents finger resilience unstability on the one hand after crawl so that do not have collision object when capturing object, squeeze and run object; On the other hand, it is provided that bigger grasp force, the finger apparatus after locking can be similar to regards a rigid body as, and its bearing capacity aspect can mate the arm apparatus being attached thereto better, implements the extraction to relatively heavy object (such as luggage case); Can the multiple joint of genlocing; Lockable joint angles is continuous print; This apparatus structure is simple, and volume is little, lightweight, controls easily, design, manufacture, I& M cost low.
Claims (4)
1. tendon rope type laterally locks a linkage adaptive robot finger apparatus, including motor, decelerator, drive mechanism, main tendon rope, N number of segment, N-1 joint shaft, N-1 joint spring part, N-1 joint wheel and the first stay cord part; Described motor and first segment are affixed, and the output shaft of described motor is connected with the power shaft of decelerator, and the output shaft of described decelerator is connected with the input of drive mechanism, and the outfan of described drive mechanism and the first stay cord part are connected; Described first stay cord part slides or rotates and is arranged in the first segment; One end of described main tendon rope is connected with the first stay cord part, and the other end of main tendon rope is connected with last segment; Described main tendon rope walks around all joints wheel, all segments that the traverse of main tendon rope is middle; Described i-th joint shaft is set in i-th segment, and described i+1 segment is socketed on i-th joint shaft, and described i-th joint wheel is socketed on i-th joint shaft, and the two ends of described i-th joint spring part connect i-th segment and i+1 segment respectively; Described joint shaft is parallel to each other; It is characterized in that: this device includes N-1 joint slide block, N-1 brake pad, N-1 locking tendon rope, N-1 locking spring part and the second stay cord part; Described joint shaft is provided with centre bore in the axial direction, and the centrage of described centre bore overlaps with the centrage of corresponding joint axle; Described i-th joint skid is embedded in i-th segment, and the glide direction of i-th joint slide block is consistent with the axis direction of i-th joint shaft; Described second stay cord part slides or rotates and is arranged in the first segment; Described i-th locking tendon rope is through the centre bore of i-th joint shaft, and one end of i-th locking tendon rope is connected with i-th joint slide block, and the other end and the second stay cord part of i-th locking tendon rope are connected; Described first stay cord part contacts in the motor process loosening main tendon rope direction and promotes the second stay cord part, makes the second stay cord part move to the direction of tension locking tendon rope; The two ends of described i-th locking spring part connect i-th brake pad and i-th joint slide block respectively; Described i-th brake pad is fixed in i+1 segment, and described i-th joint slide block contacts with i-th brake pad or stands away; Wherein, N is the natural number more than 1, and i is 1,2 ... or N-1.
2. tendon rope type laterally locks linkage adaptive robot finger apparatus as claimed in claim 1, it is characterised in that: also include M conduit; Described conduit is the flexible pipe of hollow; The two ends of described jth conduit connect jth segment and first segment respectively, and a side ports of described jth conduit communicates with the centre bore of jth joint shaft, described jth locking tendon rope traverse jth conduit; Wherein, M is the quantity of described locking tendon rope, and j is 1,2 ... or M.
3. as claimed in claim 1 tendon rope type laterally locks linkage adaptive robot finger apparatus, it is characterised in that: any one or both in described joint slide block and brake pad adopt elastomeric material.
4. tendon rope type laterally locks linkage adaptive robot finger apparatus as claimed in claim 1, it is characterised in that: the surface that described joint slide block and brake pad contact is rough surface.
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| CN201510868252.0A CN105619426B (en) | 2015-12-01 | 2015-12-01 | Tendon rope type laterally locks linkage adaptive robot finger apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111496822A (en) * | 2020-04-17 | 2020-08-07 | 五邑大学 | Finger structure and glove thereof |
| CN113386161A (en) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | Creep-resistant rope-driven mechanical finger |
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| CN101214658A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope three-joint under-driven robot finger device |
| CN101797753A (en) * | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| CN202241302U (en) * | 2011-10-24 | 2012-05-30 | 宁波力匠机械制造有限公司 | Bionic robot hand device |
| CN104162892A (en) * | 2014-06-26 | 2014-11-26 | 南京航空航天大学 | Hand-shaped manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496822A (en) * | 2020-04-17 | 2020-08-07 | 五邑大学 | Finger structure and glove thereof |
| CN113386161A (en) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | Creep-resistant rope-driven mechanical finger |
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