CN106826885A - A kind of robot clever hand finger of variation rigidity drive lacking - Google Patents
A kind of robot clever hand finger of variation rigidity drive lacking Download PDFInfo
- Publication number
- CN106826885A CN106826885A CN201710152428.1A CN201710152428A CN106826885A CN 106826885 A CN106826885 A CN 106826885A CN 201710152428 A CN201710152428 A CN 201710152428A CN 106826885 A CN106826885 A CN 106826885A
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- CN
- China
- Prior art keywords
- cradle head
- end cradle
- distal end
- variation rigidity
- distal
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot clever hand finger of variation rigidity drive lacking, including the distal phalanx, distal end cradle head, proximal phalanx and the near-end cradle head that are sequentially connected from far near, driving draught line is wound with the near-end cradle head, the two ends for driving draught line are connected with two transmission traction lines respectively, two transmission traction lines are respectively wound around on two reels, two reels are driven by two motors respectively, and the driving draught line and the transmission traction line are connected by spring；The distal end cradle head and the near-end cradle head pass through train line rope drive；The different linkage cotton rope winding slot I of multiple depth is provided with the distal end cradle head, the different linkage cotton rope winding slot II of multiple depth is provided with the near-end cradle head.Link transmission ratio-variable between simple and compact for structure, light weight of the invention, small volume, phalanges, and motor is few needed for drive lacking, and can realize that variation rigidity is adjusted.
Description
Technical field
The invention belongs to robotics, it is related to a kind of robot clever hand finger of the drive lacking of variable rigidity.
Background technology
Traditional industrial robot end gripper can only carry out some simple tasks.However, increasing actual
Application requirement robot end can realize more complicated and more intelligent operation, and simple end gripper can not meet reality
The requirement of complex operations task.The advantages of robot delicate has highly versatile, grasping high precision, dexterity, good stability,
As the effective scheme for solving complex operations task, one research side of hot topic of robot field is turned into since 20 th century laters
One of to.
Robot clever hand finger decides grasping precision, the spirit of Dextrous Hand as the most important components of Dextrous Hand
The performances such as skilful property, stability.
Chinese invention patent document CN101941205A, Chinese invention patent document CN 10163317A etc. are in the prior art
Robot delicate design structure it is complicated, Dextrous Hand design is mostly that overall dimension is more much larger than staff, finger is excessively thick,
It is heavy, it is difficult to capture small objects.And for example Chinese invention patent document CN1031228744, a kind of robot delicate, each
Finger sets three joints and is closed by three groups of quadric chain lotus roots, is driven by a motor.Three movement rates in joint are by fixation
Angle 1:1:1 bends simultaneously, it is impossible to realize the linkage transmission of different drive ratios, dexterity reduction.And for example Chinese invention patent is literary
The Dextrous Hand design in CN1418765 is offered, the driver because needed for is more, system controls that difficulty is high, the reason such as producing cost is huge,
Significantly reduce the practicality of robot delicate.And skillful finger rigidity is immutable, it is difficult to capture frangible object, it is impossible to
Meet the compliance requirement of different-stiffness needed for grasping different objects.
The content of the invention
The present invention provides a kind of robot spirit of variation rigidity drive lacking to solve technical problem present in known technology
Dab hand finger, the finger structure is simply compact, light weight, small volume, and link transmission ratio-variable between phalanges, motor needed for drive lacking
It is few, it is possible to achieve variation rigidity is adjusted.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：A kind of variation rigidity is owed to drive
Dynamic robot clever hand finger, including distal phalanx, distal end cradle head, the proximal phalanx and near being sequentially connected from far near
End cradle head, is wound with driving draught line on the near-end cradle head, the two ends of the driving draught line respectively with two
Transmission traction line is connected, and two transmission traction lines are respectively wound around on two reels, two reels respectively by
Two motors are driven, and the driving draught line and the transmission traction line are connected by spring；The distal end cradle head and institute
Near-end cradle head is stated by train line rope drive；The different linkage cotton rope of multiple depth is provided with the distal end cradle head
Winding slot I, is provided with the different linkage cotton rope winding slot II of multiple depth on the near-end cradle head.
The proximal phalanx and the near-end cradle head are fixed together by connection sheet I.
The distal end cradle head is using two collateral support end plate supportings, and the collateral support end plate is logical with the proximal phalanx
Cross connection sheet II to be fixed together, the distal end cradle head is fixedly connected on the distal phalanx by connection sheet III
Together.
The present invention has the advantages and positive effects that：One) clever hand finger uses drive lacking mode, and simple structure is tight
Gather, light weight, small volume, driver number is few needed for drive lacking, also causes system control difficulty reduction；Two) clever hand finger
The linkage transmission of different drive ratios can be realized between phalanges, presses what fixed angle bent simultaneously compared to traditional stable drive ratio movement rate
Dexterity is higher for clever hand finger；Three) skillful finger can realize the tune of bending, stretching routine and the variation rigidity of finger
Section, can meet the compliance requirement of different-stiffness needed for grasping different objects.In sum, the present invention has simple structure tight
Gather, light weight, small volume, link between phalanges transmission ratio-variable, variation rigidity, the features such as drive lacking, can complete various dexterous and multiple
Miscellaneous operation task, can realize grasping manipulation under the limit or hostile environment instead of staff, there is wide in multiple fields
Application prospect and important social effect.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the side diagram of Fig. 1；
Fig. 3 is that distal end cradle head of the invention is driven schematic diagram with near-end cradle head；
Fig. 4 is distal end cradle head structural representation of the invention；
Fig. 5 is the structural representation of distal end cradle head of the invention and distal phalanx and collateral support end plate connection.
In figure：101st, distal phalanx, 102, connection sheet I, 103, collateral support end plate, 104, distal end cradle head, 105, near
End phalanges, 106, proximal joint, 107, spring, 108, reel, 109, linkage cotton rope, 110, drive draught line, 111, transmission
Draught line, 112, connection sheet II, 113 connection sheets III.
Specific embodiment
For the content of the invention of the invention, feature and effect can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing
Describe in detail as follows：
Fig. 1~Fig. 5, a kind of robot clever hand finger of variation rigidity drive lacking are referred to, including is connected successively from far near
Distal phalanx 101, distal end cradle head 104, proximal phalanx 105 and the near-end cradle head 106 for connecing, rotate in the near-end and close
Driving draught line 110 is wound with section 106, the two ends for driving draught line 110 are connected with two transmission traction lines 111 respectively,
Two transmission traction lines 111 are respectively wound around on two reels 108, and two reels 108 are respectively by two electricity
Machine is driven, and the driving draught line 110 and the transmission traction line 111 are connected by spring 107；The distal end cradle head
104 and the near-end cradle head 106 be driven by the cotton rope 109 that links；It is provided with multiple deep on the distal end cradle head 104
The different linkage cotton rope winding slot I of degree, is provided with the different linkage cotton rope coiling of multiple depth on the near-end cradle head 106
Groove II, linkage cotton rope 109 can be stretched in the linkage cotton rope winding slot I of different depth and linkage cotton rope winding slot II so that
The linkage gearratio of proximal phalanx 105 and distal phalanx 101 can be adjusted, also can be by changing different near-end cradle heads
And/or linkage of the distal end cradle head to realize different drive ratios is driven.Finger is realized when two direction of motor rotation are identical
Bending and stretching motion, realized when two direction of motor rotation are differed finger variation rigidity regulation.
In the present embodiment, the proximal phalanx 105 and the near-end cradle head 106 are fixed by connection sheet I 102 and connected
It is connected together.The distal end cradle head 106 using two it is collateral support end plates 103 support, it is described it is collateral support end plate 103 with it is described
Proximal phalanx 105 is fixed together by connection sheet II 112, the distal end cradle head 104 and the distal phalanx 101
It is fixed together by connection sheet III 113.
Operation principle of the invention：
When two motors are all rotated counterclockwise, the near-end cradle head 106 is driven to rotate counterclockwise, so that institute
State proximal phalanx 105 and the distal phalanx 101 is rotated counterclockwise, realize the stretching routine of finger.When two motors are all clockwise
During rotation, the near-end cradle head 106 is driven to rotate clockwise, the proximal phalanx 105 and the up time of the distal phalanx 101
Pin is rotated, and realizes the bending motion of finger.When motor, one is rotated clockwise, and one when rotating counterclockwise, is realized the change of finger
Stiffness tuning.
Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in upper
The specific embodiment stated, above-mentioned specific embodiment is only schematical, be not it is restricted, this area it is common
Technical staff, in the case where present inventive concept and scope of the claimed protection is not departed from, goes back under enlightenment of the invention
Many forms can be made, these are belonged within protection scope of the present invention.
Claims (3)
1. a kind of robot clever hand finger of variation rigidity drive lacking, including distal phalanx, the distal end being sequentially connected from far near
Cradle head, proximal phalanx and near-end cradle head, it is characterised in that driving traction is wound with the near-end cradle head
Line, the two ends of the driving draught line are connected with two transmission traction lines respectively, and two transmission traction lines are respectively wound around
On two reels, two reels are driven by two motors respectively, described to drive draught line and the transmission traction line
Connected by spring；
The distal end cradle head and the near-end cradle head pass through train line rope drive；
The different linkage cotton rope winding slot I of multiple depth is provided with the distal end cradle head, in the near-end cradle head
It is provided with the different linkage cotton rope winding slot II of multiple depth.
2. the robot clever hand finger of variation rigidity drive lacking according to claim 1, it is characterised in that the near-end refers to
Bone and the near-end cradle head are fixed together by connection sheet I.
3. the robot clever hand finger of variation rigidity drive lacking according to claim 1, it is characterised in that the distal end turns
Movable joint is fixedly connected with the proximal phalanx using two collateral support end plate supportings, the collateral support end plate by connection sheet II
Together, the distal end cradle head is fixed together with the distal phalanx by connection sheet III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152428.1A CN106826885B (en) | 2017-03-15 | 2017-03-15 | Variable-rigidity underactuated robot dexterous hand finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152428.1A CN106826885B (en) | 2017-03-15 | 2017-03-15 | Variable-rigidity underactuated robot dexterous hand finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826885A true CN106826885A (en) | 2017-06-13 |
| CN106826885B CN106826885B (en) | 2023-04-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710152428.1A Active CN106826885B (en) | 2017-03-15 | 2017-03-15 | Variable-rigidity underactuated robot dexterous hand finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826885B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748254A (en) * | 2018-06-20 | 2018-11-06 | 哈尔滨工业大学 | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint |
| CN111376287A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and finger thereof |
| CN113172614A (en) * | 2021-04-28 | 2021-07-27 | 清华大学 | Execution arm of continuum robot |
| CN113183125A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigid-flexible coupling variable-rigidity dexterous hand skeleton |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748254A (en) * | 2018-06-20 | 2018-11-06 | 哈尔滨工业大学 | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint |
| CN111376287A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and finger thereof |
| CN111376287B (en) * | 2018-12-29 | 2021-10-29 | 深圳市优必选科技有限公司 | Robot and finger thereof |
| CN113183125A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigid-flexible coupling variable-rigidity dexterous hand skeleton |
| CN113172614A (en) * | 2021-04-28 | 2021-07-27 | 清华大学 | Execution arm of continuum robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106826885B (en) | 2023-04-04 |
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