CN106426238A - Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending - Google Patents
Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending Download PDFInfo
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- CN106426238A CN106426238A CN201510487146.8A CN201510487146A CN106426238A CN 106426238 A CN106426238 A CN 106426238A CN 201510487146 A CN201510487146 A CN 201510487146A CN 106426238 A CN106426238 A CN 106426238A
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Abstract
The invention provides a tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending. The tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism is mainly applied to a human-simulated manipulator for grabbing a target object and also can be called as a two-degree-of-freedom mechanical finger. The finger comprises a base, a near knuckle, a middle knuckle and a far knuckle; all parts are connected by a rotating shaft; the near knuckles is connected with the middle knuckle realize transmission by tendons; the far knuckle and the middle knuckle realize coupling transmission by a connecting rod; and the finger has two degrees of freedom; torsion springs are separately arranged between the base and the near knuckle as well as between the near knuckle and the middle knuckle, so that self extension of the near knuckle and the middle knuckle in a bending state is realized; an encode is arranged on the rotating shaft of the near knuckle and the middle knuckle; a six-dimension force sensor is arranged at the tail end of the far knuckle; tension sensors are arranged on driving tendons of the near knuckle and the middle knuckle; a control system can realize force control over a finger grabbing process by tension information; and the tension sensor also can realize the detection of the control system to the relaxation degree of the tendons.
Description
Technical field
The invention belongs to the field such as industrial robot and its automatization, robot for space, it is related to can certainly stretching of tendon-connecting rod mixed drive
Exhibition two-freedom mechanism is and in particular to a kind of two-freedom mechanical finger of employing tendon-connecting rod coupling driving.
Background technology
Mechanical finger is the core component of mechanical hand, and mechanical hand is the weight that industrial circle or space field implement grasping manipulation
Want actuator, mechanical hand is able to carry out accurate operation, dexterous manipulation, complete to grasp, screw, plug, moving, being aligned
Typical operation, these operations are all representative in ground and space tasks.When mechanical finger is applied to commercial production and sky
Between environment when, mechanical finger should structure be simple, stable and reliable for performance as far as possible, have and realize sensor needed for grasping manipulation etc..
At present, how based on motor direct-drive joint, in this kind of mode, motor is placed in mechanical finger to the type of drive of mechanical finger
Inside, due to being limited by finger space, motor volume is less, leads to the grasp force of finger less.In the prior art,
The sensor of mechanical finger, based on position sensor, also has Toe Transplantation for Segmental Finger to have fingertip force sensor, and tendon drives can in finger
The finger of measurement driving force is less.
Therefore, it is badly in need of a kind of tendon-connecting rod combined drive motivation that can measure joint position, speed, finger tip power, tendon driving force function
Motor can be placed in outside, and the selection of motor is not limited by mechanism size by structure, have sensor enrich,
Structure is simple, finger tip is exerted oneself greatly, reliability height, strong operability the advantages of.
Content of the invention
In order to solve problems of the prior art, the present invention proposes a kind of two-freedom machine of employing tendon-connecting rod coupling driving
Tool finger scheme, the motion realization curving through two driving tendons and connecting rod of this finger, and the torsion spring that extends through of finger is realized,
The positional information of digital flexion is measured by encoder, and the force information of finger passes through six force transducers and two pulling force sensors are surveyed
Amount.In addition, in the solution of the present invention, driving source is placed in finger, and outside so that finger is provided with, structure is simple, volume and matter
Measure little feature, multisensor makes finger have multiple perceptions again, improve the controllability of finger so that finger has
For the hardware foundation realized needed for senior control.
The invention provides a kind of tendon-connecting rod mixed drive can from stretch two-freedom mechanism, on mechanical hand and pass through tendon
Come to realize can be from the effect stretching two-freedom mechanical finger, this mechanism include-connecting rod mixed drive：
Pedestal, it includes base seat support, boss, central shaft and pulley, and wherein, pulley is installed on pedestal through central shaft and props up
On frame, coordinate for gap between pulley and central shaft, can relatively rotate between the two；
Nearly finger joint, it includes encoder, bearing flange, bearing, the first nearly finger joint pulley, torsion spring baffle plate, torsion spring, second near
Finger joint pulley, tendon fixed seat, nearly finger joint housing, nearly finger joint central shaft, driving pulley and nearly finger joint lid, wherein, encoder quilt
It is arranged on base seat support, the angle for the rotation of measuring center axle and velocity information, nearly finger joint central shaft is arranged on by bearing
So that nearly finger joint central shaft occurs freely rotatable on base seat support on base seat support, bearing flange is used for realizing the axial direction of bearing
Positioning, the first nearly finger joint pulley sleeve forms gap on nearly finger joint central shaft and coordinates, and may occur from by rotating between the two, torsion spring
Baffle plate be used for torsion spring is limited in inside driving pulley, between driving pulley and nearly finger joint housing be connected, one end rocking arm of torsion spring with
Driving pulley contacts and other end rocking arm is contacted with base seat support, and then forms nearly finger joint housing with nearly finger joint central shaft for axis phase
For the rotation of base seat support, the second nearly finger joint pulley is arranged on nearly finger joint housing and for realizing the guiding to the first driving tendon,
Can relatively rotate between second nearly finger joint pulley and nearly finger joint housing, tendon fixed seat is fixed on nearly finger joint housing, closely refer to
Section lid be connected on nearly finger joint housing, as mechanical finger outer package to realize its attractive in appearanceization；
Middle finger joint, it include middle finger joint driving pulley, middle finger joint torsion spring, middle finger joint torsion spring baffle plate, middle finger joint tendon fixed seat, in
Finger joint housing, connecting rod, middle finger joint encoder, connecting rod base, middle finger joint central shaft, middle finger bearings and middle finger joint lid, wherein,
Middle finger joint torsion spring is limited in inside middle finger joint driving pulley by middle finger joint torsion spring baffle plate, middle finger joint driving pulley and middle finger joint housing it
Between be connected, one end rocking arm of middle finger joint torsion spring is contacted with middle finger joint driving pulley and other end rocking arm is contacted with middle finger joint housing, from
And formed middle finger joint housing with middle finger joint central shaft for axis with respect to nearly finger joint housing rotation, middle finger joint central shaft pass through middle finger
Bearings are arranged on nearly finger joint housing, pass through the realization rotation of middle finger joint central shaft and be connected between middle finger joint housing and nearly finger joint housing,
Middle finger joint encoder is installed on nearly finger joint housing and for measuring the speed of the angle of middle finger joint central axis, middle finger joint tendon
Fixed seat is fixed on middle finger joint housing, and connecting rod base is fixed on middle finger joint housing, one end of connecting rod pass through connecting rod base with
Finger joint housing forms to rotate and connects and the other end forms to rotate with remote finger joint housing and is connected, and middle finger joint lid is connected on middle finger joint housing
And as mechanical finger outer package to realize its attractive in appearanceization；
Remote finger joint, it includes remote finger joint bearing, remote finger joint housing, six-dimension force sensor, remote finger joint central shaft and remote finger joint lid,
Wherein, remote finger joint central shaft is arranged on remote finger joint housing by remote finger joint bearing and is formed to rotate between remote finger joint housing and is connected,
Six-dimension force sensor is installed on remote finger joint housing, and remote finger joint lid is connected with six-dimension force sensor；
First driving tendon, it is after pulley, nearly finger joint first pulley, nearly finger joint second pulley, middle finger joint driving pulley by middle finger
Section tendon fixed seat is connected on middle finger joint housing, and when pulled, causes middle finger joint housing around nearly finger joint housing into rotation, make
Obtain mechanical finger bending；
Second driving tendon, it is connected on nearly finger joint housing by tendon fixed seat after pulley, driving pulley, and when pulled,
Nearly finger joint housing is caused to rotate around base seat support so that mechanical finger bends；And
First and second pulling force sensors, are separately mounted on the first driving tendon and second and drive on tendon, for measurement first driving
Tendon and second drives the pulling force suffered by tendon.
Preferably, in pedestal, boss be used for limit central shaft moving along its axis direction, thus prevent central shaft with
Separate between base seat support.In nearly finger joint, torsion spring baffle plate, torsion spring, driving pulley are installed on nearly finger joint central shaft, from
And gap is concurrently given birth to greatly freely rotatable between axis hole, and nearly finger joint housing rotates with respect to base seat support by original state
In the case of, the rotation being occurred returns to original state in the presence of torsion spring.In middle finger joint, middle finger joint housing is by initial shape
In the case that state rotates with respect to nearly finger joint housing, the rotation being occurred returns to original state under the effect of middle finger joint torsion spring.
In remote finger joint, when remote finger joint lid is subject to external force to act on, the six-dimension force sensor being connected with remote finger joint lid can measure this external force
Value.
In the present invention, second drive tendon to be connected with nearly finger joint housing by tendon fixed seat, and first drives tendon to pass through middle finger joint
Tendon fixed seat is connected with middle finger joint housing.First driving tendon, the second driving tendon and connecting rod are realized bending by the way of mixed drive,
And connecting rod is used for realizing between middle finger joint housing and remote finger joint housing coupling of motion, wherein, first drive tendon to middle finger joint shell
When body is pulled, cause middle finger joint housing with respect to nearly finger joint housing into rotation, the coupling fortune by connecting rod for the remote finger joint housing simultaneously
The dynamic rotation realized with respect to middle finger joint housing, and when the second driving tendon pulls to nearly finger joint housing, cause nearly finger joint shell
Body phase rotates for base seat support.
Upper torsion spring is arranged between nearly finger joint housing and base seat support, and middle finger joint torsion spring is arranged on middle finger joint housing and closely refers to
Between section housing, wherein, after the first driving tendon makes middle finger joint housing relatively rotate with respect to nearly finger joint housing, the first driving
Tendon unclamps, and middle finger joint torsion spring makes middle finger joint housing return to original state with respect to the position of nearly finger joint housing, thus middle finger joint shell
Body phase is in extended configuration for nearly finger joint housing, and the second driving tendon makes nearly finger joint housing occur relatively with respect to base seat support
After rotation, the second driving tendon unclamps, and torsion spring makes nearly finger joint housing return to original state with respect to the position of base seat support, thus
Nearly finger joint housing is in extended configuration with respect to base seat support.
Extraly, the tendon of the present invention-connecting rod mixed drive can from stretch two-freedom mechanism also include：Control system, for inciting somebody to action
Six force transducers that mechanical finger is internally integrated, middle finger joint encoder, encoder, the first and second driving tendons are merged,
Thus realizing the complex control to mechanical finger.
Therefore, compared with prior art, following beneficial effect can be realized using technical scheme：
1) with tendon type of drive, to finger, each joint is driven, and is capable of the rearmounted of motor, it is to avoid narrow in finger
Cloth centrally-mounted driving under narrow space；
2) with tendon drive system, to finger, each joint is driven, can identical physical dimension limit under, provide than gear,
The higher driving force of the traditional transmission mode such as chain, V belt translation；
3) middle finger joint passes through the remote finger joint of connecting rod coupling driving it is achieved that the gearing of remote finger joint and middle finger joint is so that remote finger joint and middle finger
There is between section the relative motion relation of determination, achieve the control in two joints in middle finger joint and remote finger joint using a motor,
Thus both having achieved the crawl of finger, save motor quantity again；
4) expansion after digital flexion is realized using torsion spring mode, which eliminates the motor needed for finger extension, simplify
Finger structure, reduces cost, improves reliability；
5) finger has the multiple sensors such as encoder, six-dimensional force, pulling force, and the position of finger, crawl contact force can be driven
The much informations such as dynamic motor driving force measure, and these information can serve as the input quantity that motor is controlled, and is
The system of one Multi-sensor Fusion.
Brief description
Fig. 1 is the axonometric schematic diagram of the two-freedom mechanical finger of employing tendon-connecting rod coupling driving of the present invention；And
Fig. 2 is that the axle of the mechanical finger shown in Fig. 1 surveys explosive view.
Specific embodiment
It will be appreciated that the tendon of the present invention-connecting rod mixed drive can from stretch two-freedom mechanism, it is mainly used in Apery manipulator
To realize the crawl to object for the mechanical hand, it is alternatively referred to as two-freedom mechanical finger.This finger include pedestal, nearly finger joint,
Middle finger joint and remote finger joint four part, are connected by rotary shaft between each several part, and nearly finger joint and middle finger joint realize transmission by tendon, far
Between finger joint and middle finger joint, coupled drive is realized by connecting rod, finger has two degree of freedom altogether.Between pedestal and nearly finger joint,
Closely it is respectively designed with torsionspring between finger joint and middle finger joint, to realize nearly finger joint and middle finger joint self-deploying in the bent state.
The rotary shaft of nearly finger joint and middle finger joint is provided with encoder, it can provide the position in finger joint rotary course for control system
And velocity information.In remote finger joint end, six-dimension force sensor is installed, during this force transducer can be to finger grip object
Contact force measures, and then is controlled by the power that control system realizes finger grip process.Driving in nearly finger joint and middle finger joint
Pulling force sensor is designed with tendon, this sensor can measure driving source by pulling force during tendon driving digital flexion, control system
Controlled by the power that this pulling force information also can achieve finger grip process, this pulling force sensor can realize control system to tendon in addition
The detection of lax degree.
In addition, it is also possible to apply the invention to other refer in formula arresting agency.
Below in conjunction with the accompanying drawings 1 and 2 and specific embodiment the present invention is described in detail.
As shown in drawings, finger by pedestal 1, nearly finger joint 2, middle finger joint 3, remote finger joint 4 and drives tendon J1, J2 and pulling force to pass
Sensor S1, S2 form.
Pedestal includes base seat support 1-1, boss 1-2, central shaft 1-3, pulley 1-4.Pulley 1-4 pacifies through central shaft 1-3
It is loaded on base seat support 1-1, coordinate for gap between pulley 1-4 and central shaft 1-3, can relatively rotate between the two；Axle
End flanges 1-2 are used for limiting central shaft 1-3 moving along its axis direction, prevent from dividing between central shaft 1-3 and base seat support 1-1
From.
Nearly finger joint includes encoder 2-1, bearing flange 2-2, bearing 2-3, pulley 2-4, torsion spring baffle plate 2-5, torsion spring 2-6, slides
Wheel 2-7, tendon fixed seat 2-8, nearly finger joint housing 2-9, central shaft 2-10, driving pulley 2-11, nearly finger joint lid 2-12.Coding
Device 2-1 is installed on base seat support 1-1, for measuring center axle 2-10 rotation angle and velocity information；Central shaft 2-10 leads to
Cross bearing 2-3 be installed on base seat support 1-1 so that central shaft 2-10 can occur on base seat support 1-1 freely rotatable；
Bearing flange 2-2 is used for realizing the axially position of bearing 2-3；Pulley 2-4 is enclosed within central shaft 2-10 and forms gap cooperation, and two
Can occur freely rotatable between person；Torsion spring baffle plate 2-5 is used for torsion spring 2-6 is limited in inside driving pulley 2-11；Torsion spring keeps off
Plate 2-5, torsion spring 2-6, driving pulley 2-11 are arranged on central shaft 2-10, and between axis hole, gap is larger, and freedom can occur
Rotate；It is connected between driving pulley 2-11 and nearly finger joint housing 2-9；One end rocking arm of torsion spring 2-6 is contacted with driving pulley 2-11,
Other end rocking arm is contacted with base seat support 1-1, so can be formed nearly finger joint housing 2-9 with central shaft 2-10 for axis with respect to
The rotation of base seat support 1-1, when nearly finger joint housing 2-9 is rotated with respect to base seat support 1-1 by original state, this rotation
Original state can be returned under torsion spring 2-6 effect；Pulley 2-7 is arranged on nearly finger joint housing 2-9 and realizes to driving tendon J1
Guiding, can relatively rotate between pulley 2-7 and nearly finger joint housing 2-9；Tendon fixed seat 2-8 is fixed on nearly finger joint housing
On 2-9, drive tendon J2 to pass through tendon fixed seat 2-8 and be connected with nearly finger joint housing 2-9；Nearly finger joint lid 2-12 is connected in nearly finger joint shell
On body 2-9, attractive in appearanceization of finger is realized in the outer package as finger.
Middle finger joint includes driving pulley 3-1, torsion spring 3-2, torsion spring baffle plate 3-3, tendon fixed seat 3-4, middle finger joint housing 3-5, connects
Bar 3-6, encoder 3-7, connecting rod base 3-8, central shaft 3-9, bearing 3-10, middle finger joint lid 3-11.Torsion spring baffle plate 3-3 will turn round
Spring 3-2 is limited in inside driving pulley 3-1；It is connected between driving pulley 3-1 and middle finger joint housing 3-5；One end of torsion spring 3-2
Rocking arm is contacted with driving pulley 3-1, and other end rocking arm is contacted with middle finger joint housing 3-5, and then can form middle finger joint housing 3-5
The rotation with respect to nearly finger joint housing 2-9 with central shaft 3-9 for axis, as middle finger joint housing 3-5 by original state with respect to closely finger
When section housing 2-9 rotates, this rotation can return to original state under torsion spring 3-2 effect；Central shaft 3-9 passes through bearing
3-10 is arranged on nearly finger joint housing 2-9；Pass through central shaft 3-9 between middle finger joint housing 3-5 and nearly finger joint housing 2-9 to realize turning
It is dynamically connected；Encoder 3-7 is arranged on nearly finger joint housing 2-9, the speed of the angle rotating for measuring center axle 3-9；Tendon is solid
Reservation 3-4 is fixed on middle finger joint housing 3-5；Drive tendon J1 to pass through tendon fixed seat 3-4 to be connected with middle finger joint housing 3-5；Even
Pole socket 3-8 is fixed on middle finger joint housing 3-5；One end of connecting rod 3-6 is passed through connecting rod base 3-8 and middle finger joint housing 3-5 formation and is turned
It is dynamically connected, the other end forms to rotate with remote finger joint housing 4-2 and is connected；Middle finger joint lid 3-11 is connected on middle finger joint housing 3-5,
Attractive in appearanceization of finger is realized in outer package as finger.
Remote finger joint includes bearing 4-1, remote finger joint housing 4-2, six-dimension force sensor 4-3, central shaft 4-4, remote finger joint lid 4-5.
Central shaft 4-4 is arranged on remote finger joint housing 4-2 by bearing 4-1, and formation rotation is connected between remote finger joint housing 4-2；
Six-dimension force sensor 4-3 is arranged on remote finger joint housing 4-2；Remote finger joint lid 4-5 and six-dimension force sensor 4-3 is connected, when remote finger
When section lid 4-5 is subject to external force to act on, the six-dimension force sensor 4-3 being connected with remote finger joint lid 4-5 can measure the value of this external force.
Tendon J1 is driven to be connected in middle finger by tendon fixed seat 3-4 after pulley 1-4, pulley 2-4, pulley 2-7, driving pulley 3-1
On section housing 3-5, when driving tendon J1 when pulled, middle finger joint housing 3-5 can be caused around the rotation of nearly finger joint housing 2-9, enter
And show as the bending of finger.
Drive tendon J2 to be connected on nearly finger joint housing 2-9 by tendon fixed seat 2-8 after pulley 1-4, driving pulley 2-11, work as drive
Dynamic tendon J2 when pulled, can cause nearly finger joint housing 2-9 around the rotation of base seat support 1-1, and then show as the bending of finger.
Pulling force sensor S1 and S2 is separately mounted to drive tendon J1 and drives on tendon J2, drives tendon J1 for measurement and drives tendon
Pulling force suffered by J2.
The mechanical finger of the present invention is realized bending by way of driving tendon J1, driving tendon J2 and connecting rod 3-6 mixed drive, connecting rod
3-6 achieves between middle finger joint housing 3-5 and remote finger joint housing 4-2 coupling of motion；Drive tendon J1 that middle finger joint housing 3-5 is entered
When row pulls, cause the rotation that middle finger joint housing 3-5 is with respect to nearly finger joint housing 2-9, remote finger joint housing 4-2 passes through connecting rod simultaneously
The rotation with respect to middle finger joint housing 3-5 is realized in the coupled motions of 3-6；When driving tendon J2 that nearly finger joint housing 2-9 is pulled,
Cause the rotation that nearly finger joint housing 2-9 is with respect to base seat support 1-1.
In addition, being designed with torsion spring 2-6, middle finger joint housing 3-5 and nearly finger joint shell between nearly finger joint housing 2-9 and base seat support 1-1
It is designed with torsion spring 3-2 between body 2-9；When driving tendon J1, middle finger joint housing 3-5 is occurred relatively with respect to nearly finger joint housing 2-9
After rotation, tendon J1 will be driven to unclamp, torsion spring 3-2 can be extensive with respect to the position of nearly finger joint housing 2-9 by middle finger joint housing 3-5
Arrive original state again, the state that is, middle finger joint housing 3-5 stretches with respect to nearly finger joint housing 2-9；Make closely to refer to when driving tendon J2
After section housing 2-9 relatively rotates with respect to base seat support 1-1, tendon J2 will be driven to unclamp, torsion spring 2-6 can nearly finger joint
The position with respect to base seat support 1-1 for the housing 2-9 returns to original state, and that is, nearly finger joint housing 2-9 is with respect to base seat support 1-1
The state stretching.
Therefore, the mechanical finger of the present invention has been internally integrated six-dimension force sensor 4-3, encoder 3-7, encoder 2-1, drives
Pulling force sensor S1 and S2 is respectively designed with tendon J1, J2.This finger sensor abundant information, these can be passed by control system
Sensor information is merged, and realizes the complex control to finger.
First embodiment
Tendon J1 is driven to be connected with middle finger joint housing 3-5 after bypassing pulley 1-4, pulley 2-4, pulley 2-7 and driving pulley 3-1,
When driving tendon J1 when pulled, relatively rotate between middle finger joint housing 3-5 and nearly finger joint housing 2-9, meanwhile drive
Torsion spring 3-2 within pulley 3-1 twists.The torsion spring 3-2 twisting can produce elastic force hinder middle finger joint housing 3-5 with
Relatively rotate between nearly finger joint housing 2-9.
Realize coupling gearing due to passing through connecting rod 3-6 between remote finger joint housing 4-2 and middle finger joint housing 3-5, therefore when middle finger joint shell
When relatively rotating between body 3-5 and nearly finger joint housing 2-9, remote finger joint housing 4-2 also can be simultaneously with respect to middle finger joint housing
3-5 rotates.With the reduction of angle between middle finger joint housing 3-5 and nearly finger joint housing 2-9, the elastic force meeting of torsion spring 3-2
Increase and drive the driving force on tendon J1 also can increase so that acting on.Drive tendon J2 through pulley 1-4 and driving pulley 2-11
It is connected with nearly finger joint housing 2-9 afterwards, when driving tendon J2 when pulled, occur between nearly finger joint housing 2-9 and base seat support 1-1
Relatively rotate, meanwhile the torsion spring 2-6 within driving pulley 2-11 twists.The torsion spring 2-6 twisting can produce bullet
Property mechanical resistance hinders and relatively rotates between nearly finger joint housing 2-9 and base seat support 1-1.With nearly finger joint housing 2-9 and base seat support
The reduction of angle between 1-1, the elastic force of torsion spring 2-6 can increase so that the driving force acting on driving tendon J2 also can increase.
With the rotation of middle finger joint housing 3-5 and nearly finger joint housing 2-9, can achieve the crawl to object.
Second embodiment
According to the mode of first embodiment, make digital flexion, after the driving force driving tendon J1 disappears, the torsion spring 3-2 being twisted
The elastic force of storage makes middle finger joint housing 3-5 occur to launch to rotate so that middle finger joint housing 3-5 with respect to nearly finger joint housing 2-9
Return to the initial position before crawl.Realize coupling due to passing through connecting rod 3-6 between remote finger joint housing 4-2 and middle finger joint housing 3-5
Interlock, when occurring therefore between middle finger joint housing 3-5 and nearly finger joint housing 2-9 that relatively expansion rotates, remote finger joint housing 4-2
Can occur to launch to rotate with respect to middle finger joint housing 3-5 simultaneously.After the driving force driving tendon J2 disappears, the torsion spring 2-6 being twisted
The elastic force of storage makes nearly finger joint housing 2-9 occur to launch to rotate so that nearly finger joint housing 2-9 is extensive with respect to base seat support 1-1
The multiple initial position arriving before capturing.Torsion spring 3-2 and torsion spring 2-6 achieve finger by capture attitude to launch attitude recovery.
3rd embodiment
When finger is curved as in the first embodiment shown, the angle of rotation with respect to nearly finger joint housing 2-9 for the middle finger joint housing 3-5
Degree and velocity of rotation are measured by encoder 3-7.The nearly rotational angle with respect to base seat support 1-1 for the finger joint housing 2-9 and rotation speed
Degree is measured by encoder 2-1.Drive tendon J1 and drive the driving pulling force of tendon J2 to be surveyed by pulling force sensor S1 and S2
Amount.The six-dimension force sensor 4-3 being installed on remote finger joint housing 4-2 realizes to remote finger joint lid 4-5 and the contact forces being grabbed object
Measurement.The information of these sensors measurement be passed to control system for realize motor control to finger.
In sum, using the present invention, joint position, speed, finger tip power, tendon driving force can be measured, and in the present invention
Driving source be placed in finger outside so that finger is provided with, structure is simple, volume and the little feature of quality, multisensor again so that
Finger has multiple perceptions, improves the controllability of finger so that finger possesses the hardware realized needed for senior control
Basis.
Do not specify in the present invention and partly belong to techniques known.
Claims (9)
1. a kind of tendon-connecting rod mixed drive can from stretch two-freedom mechanism, on mechanical hand and by tendon-connecting rod mix
Close transmission to realize can certainly stretching the effect of two-freedom mechanical finger it is characterised in that including：
Pedestal, it includes base seat support, boss, central shaft and pulley, and wherein, described pulley is pacified through described central shaft
It is loaded on described base seat support, coordinates for gap between described pulley and described central shaft, can occur between the two relatively to turn
Dynamic；
Nearly finger joint, it include encoder, bearing flange, bearing, the first nearly finger joint pulley, torsion spring baffle plate, torsion spring, second
Nearly finger joint pulley, tendon fixed seat, nearly finger joint housing, nearly finger joint central shaft, driving pulley and nearly finger joint lid, wherein, institute
State encoder to be installed on described base seat support, for measuring center axle rotation angle and velocity information, described nearly finger
Section central shaft is arranged on described base seat support by described bearing so that described nearly finger joint central shaft is in described base seat support
Upper generation is freely rotatable, and described bearing flange is used for realizing the axially position of described bearing, described first nearly finger joint pulley sleeve
Gap cooperation is formed on described nearly finger joint central shaft, may occur between the two by rotating, described torsion spring baffle plate is used for will
Described torsion spring is limited in inside described driving pulley, is connected between described driving pulley and described nearly finger joint housing, described torsion
One end rocking arm of spring is contacted with described driving pulley and other end rocking arm is contacted with described base seat support, and then is formed described near
Finger joint housing with described nearly finger joint central shaft for axis with respect to described base seat support rotation, described second nearly finger joint pulley
Be arranged on described nearly finger joint housing and for realizing the guiding to the first driving tendon, described second nearly finger joint pulley with described
Can relatively rotate between nearly finger joint housing, described tendon fixed seat is fixed on described nearly finger joint housing, described nearly finger
Section lid be connected on described nearly finger joint housing, as described mechanical finger outer package to realize its attractive in appearanceization；
Middle finger joint, it include middle finger joint driving pulley, middle finger joint torsion spring, middle finger joint torsion spring baffle plate, middle finger joint tendon fixed seat,
Middle finger joint housing, connecting rod, middle finger joint encoder, connecting rod base, middle finger joint central shaft, middle finger bearings and middle finger joint lid,
Wherein, described middle finger joint torsion spring is limited in inside described middle finger joint driving pulley by described middle finger joint torsion spring baffle plate, described in
It is connected between finger joint driving pulley and described middle finger joint housing, one end rocking arm of described middle finger joint torsion spring is driven with described middle finger joint
Movable pulley contacts and other end rocking arm is contacted with described middle finger joint housing, thus forming described middle finger joint housing with described middle finger
Section central shaft is the rotation that axis is with respect to described nearly finger joint housing, and described middle finger joint central shaft is by described middle finger bearings
It is arranged on described nearly finger joint housing, pass through middle finger joint central shaft between described middle finger joint housing and described nearly finger joint housing real
Now rotate and connect, described middle finger joint encoder is installed on described nearly finger joint housing and is used for measuring described middle finger joint center
The speed of the angle that axle rotates, described middle finger joint tendon fixed seat is fixed on described middle finger joint housing, described connecting rod base quilt
It is fixed on described middle finger joint housing, one end of described connecting rod is passed through described connecting rod base and formed rotation with described middle finger joint housing
Connect and the other end and remote finger joint housing form rotation and be connected, described middle finger joint lid is connected on described middle finger joint housing and makees
For described mechanical finger outer package to realize its attractive in appearanceization；
Remote finger joint, it includes remote finger joint bearing, remote finger joint housing, six-dimension force sensor, remote finger joint central shaft and remote finger joint lid,
Wherein, described remote finger joint central shaft be arranged on described remote finger joint housing by described remote finger joint bearing and with described remote finger joint
Formed between housing to rotate and connect, described six-dimension force sensor is installed on described remote finger joint housing, described remote finger joint lid
It is connected with described six-dimension force sensor；
Described first driving tendon, it is through described pulley, described nearly finger joint first pulley, described nearly finger joint second pulley, described
It is connected on described middle finger joint housing by described middle finger joint tendon fixed seat after middle finger joint driving pulley, and when pulled,
Cause described middle finger joint housing around described nearly finger joint housing into rotation so that described mechanical finger bends；
Described second driving tendon, it is connected in described nearly finger joint by described tendon fixed seat after described pulley, described driving pulley
On housing, and when pulled, described nearly finger joint housing is caused to rotate around described base seat support so that described mechanical hand
Clinodactyly；And
First and second pulling force sensors, are separately mounted on described first and drive tendon and described second to drive on tendon, for surveying
Measuring described first drives tendon and described second to drive the pulling force suffered by tendon.
2. tendon according to claim 1-connecting rod mixed drive can from stretch two-freedom mechanism it is characterised in that
In described pedestal, described boss is used for limiting described central shaft moving along its axis direction, thus preventing described central shaft
Separate between described base seat support.
3. tendon according to claim 1-connecting rod mixed drive can from stretch two-freedom mechanism it is characterised in that
In described nearly finger joint,
Described torsion spring baffle plate, described torsion spring, described driving pulley are installed on described nearly finger joint central shaft, thus axis hole it
Between gap greatly concurrently give birth to freely rotatable, and
In the case that described nearly finger joint housing is rotated with respect to described base seat support by original state, the rotation being occurred exists
Original state is returned in the presence of described torsion spring.
4. tendon according to claim 1-connecting rod mixed drive can from stretch two-freedom mechanism it is characterised in that
In described middle finger joint,
In the case that described middle finger joint housing is rotated with respect to described nearly finger joint housing by original state, the rotation that occurred
Return to original state under the effect of described middle finger joint torsion spring.
5. tendon according to claim 1-connecting rod mixed drive can from stretch two-freedom mechanism it is characterised in that
In described remote finger joint,
When remote finger joint lid is subject to external force to act on, the six-dimension force sensor being connected with remote finger joint lid can measure the value of this external force.
6. tendon according to claim 1-connecting rod mixed drive can from stretch two-freedom mechanism it is characterised in that
Described second drives tendon to be connected with described nearly finger joint housing by described tendon fixed seat, and
Described first drives tendon to be connected with described middle finger joint housing by described middle finger joint tendon fixed seat.
7. tendon according to claim 1-connecting rod mixed drive can be from stretching two-freedom mechanism it is characterised in that institute
State the first driving tendon, described second driving tendon is realized bending with described connecting rod by the way of mixed drive, and described connecting rod is used
In realizing between described middle finger joint housing and described remote finger joint housing coupling of motion,
Wherein,
When described first driving tendon pulls to described middle finger joint housing, cause described middle finger joint housing with respect to described nearly finger
Section housing into rotation, simultaneously described remote finger joint housing is realized with respect to described middle finger joint housing by the coupled motions of described connecting rod
Rotation, and
When described second driving tendon pulls to described nearly finger joint housing, cause described nearly finger joint housing with respect to described pedestal
Holder pivots.
8. tendon according to claim 1-connecting rod mixed drive can from stretch two-freedom mechanism it is characterised in that on
Described torsion spring is arranged between described nearly finger joint housing and described base seat support, and described middle finger joint torsion spring be arranged on described in
Between finger joint housing and described nearly finger joint housing,
Wherein,
After described first driving tendon makes described middle finger joint housing relatively rotate with respect to described nearly finger joint housing, described first
Tendon is driven to unclamp, described middle finger joint torsion spring makes described middle finger joint housing return to just with respect to the position of described nearly finger joint housing
Beginning state, thus described middle finger joint housing is in extended configuration with respect to described nearly finger joint housing, and
After described second driving tendon makes described nearly finger joint housing relatively rotate with respect to described base seat support, described second drive
Dynamic tendon unclamps, and described torsion spring makes described nearly finger joint housing return to original state with respect to the position of described base seat support, from
And described nearly finger joint housing is in extended configuration with respect to described base seat support.
9. tendon according to claim 1-connecting rod mixed drive can be from stretching two-freedom mechanism it is characterised in that also
Including：
Control system, for described mechanical finger is internally integrated described six force transducers, described middle finger joint encoder,
Described encoder, described first and second driving tendons are merged, thus realizing the complex control to described mechanical finger.
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| CN201510487146.8A CN106426238B (en) | 2015-08-10 | 2015-08-10 | Tendon-connecting rod mixed drive can be from stretching, extension two-freedom mechanism |
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| CN111070232A (en) * | 2020-01-16 | 2020-04-28 | 河北工业大学 | Pneumatic driven two-finger manipulator |
| CN112518796A (en) * | 2020-12-02 | 2021-03-19 | 哈尔滨工业大学（深圳） | Antagonistic driving type multi-configuration rope driving paw mechanism |
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