CN106903682B - A kind of modularization under-actuated finger that end orbit is controllable - Google Patents
A kind of modularization under-actuated finger that end orbit is controllable Download PDFInfo
- Publication number
- CN106903682B CN106903682B CN201710218125.5A CN201710218125A CN106903682B CN 106903682 B CN106903682 B CN 106903682B CN 201710218125 A CN201710218125 A CN 201710218125A CN 106903682 B CN106903682 B CN 106903682B
- Authority
- CN
- China
- Prior art keywords
- joint
- wheel
- spring
- axis
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of modularization under-actuated finger that end orbit is controllable, it is related to a kind of modularization under-actuated finger.The present invention is to make finger tips track indefinite motion that existing underactuated manipulator be caused to exist in order to solve the problem of the coupling due to underactuated manipulator joint motions and lose necessary testing finger flexibility.First joint, second joint and third joint of the invention is sequentially rotatably connected, guide wheel mechanism, resetting-mechanism and retaining mechanism are mounted on the first joint, second joint and third joint, guide wheel mechanism realizes the grasping movement of finger under the drive of power drive portion, resetting-mechanism realizes the stretching, extension homing action after grasping movement, whether retaining mechanism realizes the enabling in the first joint, second joint or one or more joints in third joint.End of the present invention for intelligent robot executes manipulator.
Description
Technical field
The present invention relates to a kind of modularization under-actuated fingers, and in particular to a kind of modularization drive lacking that end orbit is controllable
Finger.
Background technique
Manipulator can imitate certain holding functions of manpower, to by fixed routine crawl, carrying object or operative employee
The automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can generation
The mechanization and automation of production are realized for the heavy labor of people, can be operated under hostile environment to protect personal safety, because
And it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator is as intelligent robot and surrounding
One important interface of environmental interaction, importance are self-evident.In mobile robot, energy is provided especially with power supply
Mobile robot, reduce energy consumption be one will special consideration should be given to index.Therefore, driving unit is few, consuming little energy
Underactuated manipulator just becomes the first choice of mobile robot.But with each joint motions of full driving manipulator and grasp force completely by driving
Moving cell determines that the movement in each joint of underactuated manipulator is also influenced by mechanical structure and extraneous contact, this just makes its hand
The movement of finger has extremely strong movement coupling, its finger tip track is caused to have uncertainty, loses compared to full driving manipulator
The flexibility of crawl, this proposes sternness to requiring underactuated manipulator accurately to grab object (pinch and the movement such as take, operate)
Test.Therefore how under the premise of keeping drive lacking hand advantage itself, moreover it is possible to which improving its crawl flexibility just becomes one urgently
Problem to be solved.Simultaneously as the type of crawl object is more, the how preferably structure of topological underactuated manipulator
It has to consider the problems of when being redesign.
In conclusion due to underactuated manipulator joint motions coupling and make the uncertain fortune in finger tips track
It is dynamic, cause existing underactuated manipulator to there are problems that losing necessary testing finger flexibility.
Summary of the invention
Make finger tips the purpose of the present invention is to solve the coupling due to underactuated manipulator joint motions
Track indefinite motion causes existing underactuated manipulator to there are problems that losing necessary testing finger flexibility.And then provide one
The controllable modularization under-actuated finger of kind end orbit.
The technical scheme is that a kind of modularization under-actuated finger that end orbit is controllable includes power drive portion
And articular portion, the output end of articular portion and power drive portion connect, articular portion include the first joint, second joint,
Third joint, guide wheel mechanism, resetting-mechanism and retaining mechanism, the first joint, second joint and third joint sequentially rotatably connect
It connects, guide wheel mechanism, resetting-mechanism and retaining mechanism are mounted on the first joint, second joint and third joint, and guide wheel mechanism exists
The grasping movement of finger is realized under the drive of power drive portion, resetting-mechanism realizes the stretching, extension homing action after grasping movement,
Whether retaining mechanism realizes the enabling in the first joint, second joint or one or more joints in third joint.
Further, power drive portion include motor, connector sleeve, fixing sleeve, refer to seat, reel, the first guide wheel and
Second guide wheel, motor, connector sleeve, fixing sleeve and refers to that seat is sequentially connected with, and reel is mounted in connector sleeve and defeated with motor
Outlet connection, the first guide wheel are located in connector sleeve, and the second guide wheel is located in fixing sleeve.
Further, power drive portion further includes tightening wheel cap and running wheel bracket, and tightening wheel cap is mounted in connector sleeve
And be sleeved on the output shaft of motor, running wheel bracket is mounted on connector sleeve, and the second guide wheel partially protrudes into fixing sleeve, the
One guide wheel and the second guide wheel are installed on running wheel bracket.
Further, the first joint includes two finger seat connecting plates, the first joint shaft and two first baffles；Second joint
Including second joint axis and two second baffles, third joint includes third joint shaft and two third baffles, is oppositely arranged
One end of two finger seat connecting plates is connect by pin shaft with seat is referred to, two two for referring to the other end of seat connecting plate and being oppositely arranged
One end of first baffle is rotatably connected by the first joint shaft；The one end for two second baffles being oppositely arranged with two first
It is rotatably connected between the other end of baffle by second joint axis；The one end for two third baffles being oppositely arranged with two the
It is rotatably connected between the other end of two baffles by third joint shaft.
Further, resetting-mechanism includes two finger seat reseting baffles, two the first reseting baffles, two the second reset gears
Plate, two third reseting baffles, first back-moving spring, second back-moving spring and third reset spring, two finger seat reseting baffles
It is mounted on pin shaft, two the first reseting baffles are mounted on second joint axis, and two the second reseting baffles are mounted on third pass
On nodal axisn, two third reseting baffles are mounted on the first auxiliary axis and the second auxiliary axis, and first back-moving spring is sleeved on the first joint
On axis, and the both ends of first back-moving spring are ridden upon respectively on the auxiliary axis of third and the first running wheel axis, and second back-moving spring is sleeved on
On second joint axis, and the both ends of second back-moving spring are ridden upon respectively on the second running wheel axis and third running wheel axis, and third resets
Spring pocket is on third joint shaft, and the both ends of third reset spring are ridden upon respectively on the 4th running wheel axis and the first auxiliary axis.
Further, guide wheel mechanism includes that bull wheel, middle wheel, steamboat, guide ribs, the first running wheel, the second running wheel, third are drawn
Wheel, the 4th running wheel, the 5th running wheel, the first running wheel axis, the second running wheel axis, third running wheel axis, the 4th running wheel axis, the first auxiliary axis,
Two auxiliary axis, driving silk and the auxiliary axis of third, the first running wheel axis and the second running wheel axis are sequentially threaded through two first gear in the first joint
On plate, third running wheel axis and the 4th running wheel axis are sequentially threaded through on two second baffles of second joint, the first auxiliary axis and second
Auxiliary axis is sequentially threaded through in two third baffles in third joint, and the auxiliary axis of third is threaded through on two finger seat reseting baffles, bull wheel
It is sleeved on the first joint shaft, middle wheel is sleeved on second joint axis, and steamboat is sleeved on third joint shaft, the first running wheel suit
On the first running wheel axis, the second running wheel is sleeved on the second running wheel axis, and third running wheel is sleeved on third running wheel axis, the 4th running wheel
It being sleeved on the 4th running wheel axis, guide ribs are threaded through on the first auxiliary axis and the second auxiliary axis, and the 5th running wheel is sleeved on the auxiliary axis of third,
One end of driving silk is fixed on reel, and the other end of silk is driven successively to bypass the first guide wheel, the second guide wheel, the 5th draw
It is fixed in guide ribs after wheel, bull wheel, the first running wheel, the second running wheel, middle wheel, third running wheel, the 4th running wheel and steamboat.
Further, retaining mechanism includes the first joint locking wheel, the first joint connector sleeve, the first joint separation sleeve, the
One joint locking spring, the first joint spring end block, the first joint memory alloy spring, second joint locking wheel, second joint
Connector sleeve, second joint separation sleeve, second joint locking spring, second joint spring end block, second joint memory alloy spring,
Third joint locking wheel, third joint connector sleeve, third joint separation sleeve, third joint locking spring, third joint spring end
Block and third joint memory alloy spring, the first joint locking wheel be mounted on refer to seat connecting plate and refer between a reseting baffle the
On one joint shaft, the first joint connector sleeve is mounted on the first joint locking wheel, the first joint separation sleeve and the first joint spring
End block is sequentially arranged at from left to right on the first reseting baffle, and one end of the first joint locking spring and the first joint connector sleeve are solid
Fixed connection, the other end of the first joint locking spring are fixedly connected after bypassing the first joint locking wheel with the first joint separation sleeve,
One end of first joint memory alloy spring is fixedly connected with the first joint connector sleeve, the first joint memory alloy spring it is another
End is fixedly connected after bypassing the first joint separation sleeve with the first joint spring end block；Second joint locking wheel is mounted on first baffle
On second joint axis between the first reseting baffle, second joint connector sleeve is mounted on second joint locking wheel, and second closes
Section separation sleeve and second joint spring end block are sequentially arranged at from left to right on the second reseting baffle, second joint locking spring
One end is fixedly connected with second joint connector sleeve, the other end of second joint locking spring around after second joint locking wheel with the
Two joint separation sleeves are fixedly connected, and one end of second joint memory alloy spring is fixedly connected with second joint separation sleeve, and second
The other end of joint memory alloy spring is fixedly connected after bypassing second joint separation sleeve with second joint spring end block；Third is closed
Section locking wheel is mounted on the third joint shaft between second baffle and the second reseting baffle, and third joint connector sleeve is mounted on the
On three joint locking wheels, third joint separation sleeve and third joint spring end block are sequentially arranged at third reseting baffle from left to right
On, one end of third joint locking spring is fixedly connected with third joint connector sleeve, the other end of third joint locking spring around
It is fixedly connected after crossing third joint locking wheel with third joint separation sleeve, one end of third joint memory alloy spring and third are closed
Section separation sleeve is fixedly connected, the other end of third joint memory alloy spring around after the separation sleeve of third joint with third joint bullet
Spring end block is fixedly connected.
Further, it further includes three finger bellys, is divided in two first baffles, two second baffles and two third baffles
One finger belly is not installed.
Further, it further includes referring to seat battery plate, the first joint battery plate, second joint battery plate and third joint battery plate, is referred to
Seat battery plate, the first joint battery plate, second joint battery plate and third joint battery plate, which respectively correspond, is mounted on ipsilateral finger seat company
In fishplate bar, a first baffle, a second baffle and a third baffle.
Further, it further includes the first joint limit shaft, and the first joint limit shaft, which is mounted on, to be referred on seat.
The present invention has the effect that compared with prior art
1, the present invention can make underactuated manipulator by providing a kind of modularization under-actuated finger with retaining mechanism
Under the premise of keeping only can grab the characteristic of various shapes object using only simple control method, additionally it is possible to realization pair
More demanding the pinching in contact point such as takes and operates at the movement, makes up the missing of finger movement flexibility.By using modular hand
Refer to design, to solve the problems, such as underactuated manipulator structural topology.
2, whether the present invention is by the locking in simple digital output modul joint, and then additional constraint is provided joint,
So that joint is become controllable state from the state influenced originally by the external world, and then plan that the track of finger tip can, improves lack of driven
The flexibility of tool hand crawl.
3, the present invention can substitute motor and provide corresponding constraint for finger-joint, and combine the resilient element in joint, make
The mechanical finger of piece three finger joints, as soon as similar full driving can be reached under the substitution of three retaining mechanisms and servo motor
The movement effects of finger (needing three servo motors), reduce the cost, structure and the complexity of control of mechanical finger.
4, the present invention has structure and principle simple, and power consumption is low, occupies little space, and safeguards and replace convenient advantage,
Suitable for the crawl flexibility for improving and improving underactuated manipulator.
5, modular activation lacking mechanical finger of the invention, can be according to the needs of practical matter, it is only necessary to be equipped with not
Same palm pedestal, it will be able to which being rapidly performed by structural topology, (two finger manipulators, three finger manipulators or four fingers are mechanical
Hand), it dismantles quick and easy for installation.
Detailed description of the invention
Fig. 1 is main view of the invention；Fig. 2 is Fig. 1 bottom view；Fig. 3 is the top view of Fig. 1；Fig. 4 is Fig. 3 along GN-GN
Cross-sectional view；Fig. 5 is cross-sectional view of the Fig. 3 along GO-GO；Fig. 6 is the side view of Fig. 1；Fig. 7 is the locking of articular portion of the present invention
Structural scheme of mechanism.
Specific embodiment
Specific embodiment 1: illustrating that present embodiment, present embodiment include power drive portion in conjunction with Fig. 1 to Fig. 7
And articular portion, the output end connection of articular portion and power drive portion, articular portion includes the first joint 8, second joint
9, third joint 10, guide wheel mechanism, resetting-mechanism and retaining mechanism, the first joint 8, second joint 9 and third joint 10 are sequentially
It is rotatably connected, guide wheel mechanism, resetting-mechanism and retaining mechanism are mounted on the first joint 8, second joint 9 and third joint 10
On, after guide wheel mechanism realizes that the grasping movement of finger, resetting-mechanism realize grasping movement under the drive of power drive portion
Homing action is stretched, retaining mechanism realizes the first joint 8, second joint 9 or one or more joints in third joint 10
Whether enabling.
There is modular under-actuated finger of the invention combination flexibly to install or replace convenient advantage.The manipulator
Refer to the design method (lamination bone can determine by Fig. 3) for using lamination skeleton-type, both alleviates finger itself in this way
Construction weight also enhances rigidity and intensity on finger grip direction, meanwhile, the gap between bone can be used to install machinery
Other components of finger, improve the utilization rate of finger space, reduce the overall structure size of finger.
Specific embodiment 2: illustrating present embodiment, the power drive portion packet of present embodiment in conjunction with Fig. 1 to Fig. 5
Include motor 1, connector sleeve 2, fixing sleeve 3, refer to seat 4, reel 5, the first guide wheel 6 and the second guide wheel 7, motor 1, connector sleeve 2,
Fixing sleeve 3 and finger seat 4 are sequentially connected with, and reel 5 is mounted in connector sleeve 2 and connect with the output end of motor 1, the first guide wheel
6 are located in connector sleeve 2, and the second guide wheel 7 is located in fixing sleeve 3.So set, convenient for being provided for the grasping movement of entire finger
Power.Other compositions and connection relationship are same as the specific embodiment one.
When motor 1 does not export, activation lacking mechanical finger can return under the action of joint returning spring and mechanical position limitation
To original state.
One is made in the fixing sleeve 3 and finger seat 4 of present embodiment.
Specific embodiment 3: the power drive portion of embodiment is described with reference to Fig.5, present embodiment further includes receiving
Bearing up pulley lid 18 and running wheel bracket 19, tightening wheel cap 18 are mounted in connector sleeve 2 and are sleeved on the output shaft of motor 1, running wheel branch
Frame 19 is mounted on connector sleeve 2, and the second guide wheel 7 partially protrudes into fixing sleeve 3, and the first guide wheel 6 and the second guide wheel 7 are
It is mounted on running wheel bracket 19.So set, tightening wheel cap 18 and winding wheel are fixed on the output shaft of motor by screw, electricity
Machine is fixed on connector sleeve by screw, and running wheel bracket is fixed on connector sleeve by screw, and connector sleeve passes through screw, by this
Part is whole to be fixed on pedestal, so that the connection between motor and other components is more compact.Other compositions and connection relationship
It is the same as one or two specific embodiments.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 1 and Fig. 3, the first joint 8 of present embodiment includes two
A finger seat connecting plate 11, the first joint shaft 12 and two first baffles 13；Second joint 9 includes second joint axis 14 and two the
Two baffles 15, third joint 10 include third joint shaft 16 and two third baffles 17, two finger seat connecting plates being oppositely arranged
11 one end is connect by pin shaft 80 with seat 4 is referred to, the other end of two finger seat connecting plates 11 and two first gear being oppositely arranged
One end of plate 13 is rotatably connected by the first joint shaft 12；The one end for two second baffles 15 being oppositely arranged with two first
It is rotatably connected between the other end of baffle 13 by second joint axis 14；The one end for two third baffles 17 being oppositely arranged with
It is rotatably connected between the other end of two second baffles 15 by third joint shaft 16.So set, structure is simple, movement spirit
It is living.Other compositions and connection relationship are identical as specific embodiment one, two or three.
Specific embodiment 5: illustrating present embodiment in conjunction with Fig. 2 and Fig. 3, the resetting-mechanism of present embodiment includes two
39, two third reseting baffles 40 of the second reseting baffle of the first reseting baffle 38, two of a finger seat reseting baffle 37, two,
One reset spring 41, second back-moving spring 42 and third reset spring 43, two finger seat reseting baffles 37 are mounted on pin shaft 80,
Two the first reseting baffles 38 are mounted on second joint axis 14, and two the second reseting baffles 39 are mounted on third joint shaft 16
On, two third reseting baffles 40 are mounted on the first auxiliary axis 32 and the second auxiliary axis 33, and first back-moving spring 41 is sleeved on first
On joint shaft 12, and the both ends of first back-moving spring 41 are ridden upon respectively on the auxiliary axis 35 of third and the first running wheel axis 28, and second is multiple
Position spring 42 is sleeved on second joint axis 14, and the both ends of second back-moving spring 42 ride upon the second running wheel axis 29 and the respectively
On three running wheel axis 30, third reset spring 43 is sleeved on third joint shaft 16, and the both ends of third reset spring 43 are taken respectively
It is located on the 4th running wheel axis 31 and the first auxiliary axis 32.So set, when three joints are after having grabbed article, when needing to be reset,
Three reset springs provide the power of expansion for three joints, and then realize the reset in joint.It is other composition and connection relationship and
Specific embodiment one, two, three or four are identical.
Specific embodiment 6: the guide wheel mechanism of embodiment is described with reference to Fig.5, present embodiment include bull wheel 20,
Middle wheel 21, steamboat 22, guide ribs 23, the first running wheel 24, the second running wheel 25, third running wheel 26, the 4th running wheel 27, the 5th running wheel
36, the first running wheel axis 28, the second running wheel axis 29, third running wheel axis 30, the 4th running wheel axis 31, the first auxiliary axis 32, the second auxiliary axis 33,
Silk 34 and the auxiliary axis 35 of third are driven, the first running wheel axis 28 and the second running wheel axis 29 are sequentially threaded through two first of the first joint 8
On baffle 13, third running wheel axis 30 and the 4th running wheel axis 31 are sequentially threaded through on two second baffles 15 of second joint 9, and first
Auxiliary axis 32 and the second auxiliary axis 33 are sequentially threaded through in two third baffles 17 in third joint 10, and the auxiliary axis 35 of third is threaded through two
Refer on seat reseting baffle 37, bull wheel 20 is sleeved on the first joint shaft 12, and middle wheel 21 is sleeved on second joint axis 14, steamboat 22
It is sleeved on third joint shaft 16, the first running wheel 24 is sleeved on the first running wheel axis 28, and the second running wheel 25 is sleeved on the second running wheel
On axis 29, third running wheel 26 is sleeved on third running wheel axis 30, and the 4th running wheel 27 is sleeved on the 4th running wheel axis 31, guide ribs 23
It is threaded through on the first auxiliary axis 32 and the second auxiliary axis 33, the 5th running wheel 36 is sleeved on the auxiliary axis 35 of third, and one end of driving silk 34 is solid
It is scheduled on reel 5, the other end of driving silk 34 successively bypasses the first guide wheel 6, the second guide wheel 7, the 5th running wheel 36, bull wheel
20, guide ribs 23 are fixed on after the first running wheel 24, the second running wheel 25, middle wheel 21, third running wheel 26, the 4th running wheel 27 and steamboat 22
On.So set, convenient for providing power for the movement in three joints.Other compositions and connection relationship and specific embodiment one,
Two, three, four or five are identical.
The driving principle of guide wheel mechanism: by motor direct connection winding wheel and driving winding wheel to rotate, and drives cabling such as Fig. 5 of silk
It is shown.When motor rotates winding driving silk, three joints of finger can be revolved according to the rigidity ratio of the spring for joint rebound
Turn corresponding angle, when three joints are not all contacted with external object, the angle of motor rotation and the angle in three joints
It is unique corresponding.When any joint and external object contact, then the track of finger tip is unpredictable.This is that under-actuated finger itself is solid
Some characteristics；When motor rotates release driving silk, joint can reply initial bit under the limitation of rebound original part and mechanical position limitation
It sets.In above process, finger tip can be reached whether according to the enabling in actually required control joint in conjunction with joint locking device
The controllable effect in track.
Specific embodiment 7: the retaining mechanism of embodiment is described with reference to Fig.7, present embodiment includes the first joint
Locking wheel 44, the first joint connector sleeve 45, the first joint separation sleeve 46, the first joint locking spring 47, the first joint spring end
Block 48, the first joint memory alloy spring 49, second joint locking wheel 50, second joint connector sleeve 51, second joint separation sleeve
52, second joint locking spring 53, second joint spring end block 54, second joint memory alloy spring 55, the locking of third joint
Take turns 56, third joint connector sleeve 57, third joint separation sleeve 58, third joint locking spring 59, third joint spring end block 60
With third joint memory alloy spring 61, the first joint locking wheel 44 be mounted on refer to seat connecting plate 11 and refer to seat reseting baffle 37 it
Between the first joint shaft 12 on, the first joint connector sleeve 45 is mounted on the first joint locking wheel 44, the first joint separation sleeve 46
It is sequentially arranged on the first reseting baffle 38 from left to right with the first joint spring end block 48, the one of the first joint locking spring 47
End is fixedly connected with the first joint connector sleeve 45, and the other end of the first joint locking spring 47 is around after the first joint locking wheel 44
It is fixedly connected with the first joint separation sleeve 46, one end of the first joint memory alloy spring 49 and the first joint connector sleeve 45 are fixed
Connection, the other end of the first joint memory alloy spring 49 around after the first joint separation sleeve 46 with the first joint spring end block 48
It is fixedly connected；Second joint locking wheel 50 is mounted on the second joint axis 14 between first baffle 13 and the first reseting baffle 38
On, second joint connector sleeve 51 is mounted on second joint locking wheel 50, second joint separation sleeve 52 and second joint spring terminal
Block 54 is sequentially arranged at from left to right on the second reseting baffle 39, and one end of second joint locking spring 53 is connect with second joint
Set 51 is fixedly connected, the other end of second joint locking spring 53 around after second joint locking wheel 50 with second joint separation sleeve
52 are fixedly connected, and one end of second joint memory alloy spring 55 is fixedly connected with second joint separation sleeve 52, second joint note
The other end of alloy spring 55 is recalled around being fixedly connected after second joint separation sleeve 52 with second joint spring end block 54；Third is closed
Section locking wheel 56 is mounted on the third joint shaft 16 between second baffle 15 and the second reseting baffle 39, third joint connector sleeve
57 are mounted on third joint locking wheel 56, and third joint separation sleeve 58 and third joint spring end block 60 are successively pacified from left to right
On third reseting baffle 40, one end of third joint locking spring 59 is fixedly connected with third joint connector sleeve 57, third
The other end of joint locking spring 59 is fixedly connected after bypassing third joint locking wheel 56 with third joint separation sleeve 58, and third is closed
Section memory alloy spring 61 one end be fixedly connected with third joint separation sleeve 58, third joint memory alloy spring 61 it is another
End is fixedly connected after bypassing third joint separation sleeve 58 with third joint spring end block 60.So set, the movement for finger mentions
Another mode is supplied, guide wheel mechanism is suitable for the state of three joints simultaneously operation, and locking device is to be used in needs
One joint or the locking of multiple joints, a kind of flexible working condition of remaining joint action, so that finger of the invention is dynamic
Work is more diversified, and use scope is wider.Other compositions and connection relationship and specific embodiment one, two, three, four, five or six
It is identical.
The principle of locking device: memory alloy spring can generate axial shrinkage movement when passing to a constant current, pass through company
Female connector drives locking spring torsion, and the internal diameter of locking spring is caused to become smaller and hold locking wheel tightly.Locking wheel by keyway arrangements with
Rear end finger joint is connected, and locking spring is fixed in the finger joint of front end, cares for when locking spring holds locking wheel tightly, so that it may play resistance
The only effect of two finger joint relative motions, achievees the purpose that braking.
Specific embodiment 8: illustrate that present embodiment, present embodiment further include three finger bellys 62 in conjunction with Fig. 1 and Fig. 2,
One is equipped with by finger belly support base 81 respectively on two first baffles, 13, two second baffles 15 and two third baffles 17
Finger belly 62.So set, convenient for being contacted with object to be grabbed.Other compositions and connection relationship and specific embodiment one, two, three,
Four, five, six or seven are identical.
Specific embodiment 9: embodiment is described with reference to Fig. 3, present embodiment further includes referring to seat battery plate 63, first
Joint battery plate 64, second joint battery plate 65 and third joint battery plate 66 refer to a battery plate 63, the first joint battery plate 64, second joint
Battery plate 65 and third joint battery plate 66, which respectively correspond, is mounted on ipsilateral 11, first baffles 13, one of a finger seat connecting plate
On a second baffle 15 and a third baffle 17.So set, with the integrated circuit of mechanical finger, lack of driven on battery plate
The information such as the pressure in rotational angle information and finger joint that tool hand needs to acquire each joint in control, wherein data acquisition is electric
Road and angular transducer (preferably capacitance type angle sensor) have accomplished on circuit board that pressure sensor is present in finger belly simultaneously
Lower section can be connected by the good interface of advance reservation on circuit boards with circuit board, and acquisition angles pass data acquisition circuit simultaneously
The information of sensor and pressure sensor, and it is supplied to control system.Other compositions and connection relationship and specific embodiment one,
Two, three, four, five, six, seven or eight are identical.
Specific embodiment 10: embodiment is described with reference to Fig. 3, present embodiment further includes the first joint limit shaft
67, the first joint limit shaft 67, which is mounted on, to be referred on seat 4.So set, the movement for the first joint provides limit.It is other composition and
Connection relationship and specific embodiment one, two, three, four, five, six, seven, eight or nine are identical.
Specific embodiment 11: embodiment is described with reference to Fig. 1, two first baffles 13 of present embodiment and two
Two the first reseting baffles 38 of 15 intersection of second baffle are equipped with protrusion, two second baffles 15 and two third baffles 17
Two the second reseting baffles 39 of intersection are equipped with protrusion.So set, providing rebound when joint is sprung back for three joints
Extreme position guarantees that joint was unlikely to position in rebound, to keep the reset condition of finger.Other compositions and connection relationship
It is identical as specific embodiment one, two, three, four, five, six, seven, eight, nine or ten.
Claims (9)
1. a kind of modularization under-actuated finger that end orbit is controllable, it includes power drive portion and articular portion, joint portion
Divide and connect with the output end of power drive portion, articular portion includes the first joint (8), second joint (9), third joint
(10), guide wheel mechanism, resetting-mechanism and retaining mechanism, the first joint (8), second joint (9) and third joint (10) sequentially may be used
Rotation connection, guide wheel mechanism, resetting-mechanism and retaining mechanism are mounted on the first joint (8), second joint (9) and third joint
(10) on, guide wheel mechanism realizes the grasping movement of finger under the drive of power drive portion, and resetting-mechanism realizes grasping movement
Stretching, extension homing action afterwards, retaining mechanism realize the first joint (8), one in second joint (9) or third joint (10) or
Whether the enabling in multiple joints；It is characterized by: retaining mechanism includes the first joint locking wheel (44), the first joint connector sleeve
(45), the first joint separation sleeve (46), the first joint locking spring (47), the first joint spring end block (48), the first joint note
Recall alloy spring (49), second joint locking wheel (50), second joint connector sleeve (51), second joint separation sleeve (52), second
Joint locking spring (53), second joint spring end block (54), second joint memory alloy spring (55), third joint locking wheel
(56), third joint connector sleeve (57), third joint separation sleeve (58), third joint locking spring (59), third joint spring
End block (60) and third joint memory alloy spring (61)；
First joint locking wheel (44) is mounted on the first joint shaft referred between seat connecting plate (11) and finger seat reseting baffle (37)
(12) on, the first joint connector sleeve (45) is mounted on the first joint locking wheel (44), the first joint separation sleeve (46) and first
Joint spring end block (48) is sequentially arranged at from left to right on the first reseting baffle (38), and the one of the first joint locking spring (47)
End is fixedly connected with the first joint connector sleeve (45), and the other end of the first joint locking spring (47) bypasses the first joint locking wheel
(44) it is fixedly connected afterwards with the first joint separation sleeve (46), one end and the first joint of the first joint memory alloy spring (49) connect
Female connector (45) is fixedly connected, and the other end of the first joint memory alloy spring (49) is around the first joint separation sleeve (46) afterwards with the
One joint spring end block (48) is fixedly connected；
Second joint locking wheel (50) is mounted on the second joint axis between first baffle (13) and the first reseting baffle (38)
(14) on, second joint connector sleeve (51) is mounted on second joint locking wheel (50), second joint separation sleeve (52) and second
Joint spring end block (54) is sequentially arranged at from left to right on the second reseting baffle (39), and the one of second joint locking spring (53)
End is fixedly connected with second joint connector sleeve (51), and the other end of second joint locking spring (53) bypasses second joint locking wheel
(50) be fixedly connected afterwards with second joint separation sleeve (52), one end of second joint memory alloy spring (55) and second joint every
It is fixedly connected from set (52), the other end of second joint memory alloy spring (55) is around second joint separation sleeve (52) afterwards with the
Two joint spring end blocks (54) are fixedly connected；
Third joint locking wheel (56) is mounted on the third joint shaft between second baffle (15) and the second reseting baffle (39)
(16) on, third joint connector sleeve (57) is mounted on third joint locking wheel (56), third joint separation sleeve (58) and third
Joint spring end block (60) is sequentially arranged at from left to right on third reseting baffle (40), and the one of third joint locking spring (59)
End is fixedly connected with third joint connector sleeve (57), and the other end of third joint locking spring (59) bypasses third joint locking wheel
(56) be fixedly connected afterwards with third joint separation sleeve (58), one end of third joint memory alloy spring (61) and third joint every
It is fixedly connected from set (58), the other end of third joint memory alloy spring (61) is around third joint separation sleeve (58) afterwards with the
Three joint spring end blocks (60) are fixedly connected.
2. a kind of controllable modularization under-actuated finger of end orbit according to claim 1, it is characterised in that: power drives
Dynamic part includes motor (1), connector sleeve (2), fixing sleeve (3), refers to that seat (4), reel (5), the first guide wheel (6) and second draw
Guide wheel (7), motor (1), connector sleeve (2), fixing sleeve (3) and finger seat (4) are sequentially connected with, and reel (5) is mounted on connector sleeve (2)
Interior and connect with the output end of motor (1), the first guide wheel (6) is located in connector sleeve (2), and the second guide wheel (7), which is located at, to be fixed
It covers in (3).
3. a kind of controllable modularization under-actuated finger of end orbit according to claim 2, it is characterised in that: power drives
Dynamic part further includes tightening wheel cap (18) and running wheel bracket (19), and tightening wheel cap (18) is mounted in connector sleeve (2) and is sleeved on
On the output shaft of motor (1), running wheel bracket (19) is mounted on connector sleeve (2), and the second guide wheel (7) partially protrudes into fixing sleeve
(3) in, the first guide wheel (6) and the second guide wheel (7) are installed on running wheel bracket (19).
4. a kind of controllable modularization under-actuated finger of end orbit according to claim 3, it is characterised in that: first closes
Saving (8) includes two finger seat connecting plates (11), the first joint shaft (12) and two first baffles (13)；Second joint (9) includes
Second joint axis (14) and two second baffles (15), third joint (10) include third joint shaft (16) and two third baffles
(17), two be oppositely arranged refer to that the one end of seat connecting plate (11) is connect by pin shaft (80) with seat (4) are referred to, two finger seat connections
The other end of plate (11) and the one end for two first baffles (13) being oppositely arranged are rotatably connected by the first joint shaft (12)；
Pass through second joint axis between the one end of two second baffles (15) being oppositely arranged and the other end of two first baffles (13)
(14) it is rotatably connected；Between the one end of two third baffles (17) being oppositely arranged and the other end of two second baffles (15)
It is rotatably connected by third joint shaft (16).
5. a kind of controllable modularization under-actuated finger of end orbit according to claim 4, it is characterised in that: reset machine
Structure includes two finger seat reseting baffles (37), two the first reseting baffles (38), two the second reseting baffles (39), two thirds
Reseting baffle (40), first back-moving spring (41), second back-moving spring (42) and third reset spring (43), two finger seats reset
Baffle (37) is mounted on pin shaft (80), and two the first reseting baffles (38) are mounted on second joint axis (14), and two second
Reseting baffle (39) is mounted on third joint shaft (16), and two third reseting baffles (40) are mounted on the first auxiliary axis (32) and
On two auxiliary axis (33), first back-moving spring (41) is sleeved on the first joint shaft (12), and the both ends of first back-moving spring (41)
It is ridden upon on the auxiliary axis of third (35) and the first running wheel axis (28) respectively, second back-moving spring (42) is sleeved on second joint axis (14)
On, and the both ends of second back-moving spring (42) are ridden upon respectively on the second running wheel axis (29) and third running wheel axis (30), third is multiple
Position spring (43) is sleeved on third joint shaft (16), and the both ends of third reset spring (43) ride upon the 4th running wheel axis respectively
(31) and on the first auxiliary axis (32).
6. a kind of controllable modularization under-actuated finger of end orbit according to claim 5, it is characterised in that: guide wheel machine
Structure includes that bull wheel (20), middle wheel (21), steamboat (22), guide ribs (23), the first running wheel (24), the second running wheel (25), third are drawn
Take turns (26), the 4th running wheel (27), the 5th running wheel (36), the first running wheel axis (28), the second running wheel axis (29), third running wheel axis
(30), the 4th running wheel axis (31), the first auxiliary axis (32), the second auxiliary axis (33), driving silk (34) and the auxiliary axis of third (35), first draws
Wheel shaft (28) and the second running wheel axis (29) are sequentially threaded through on two first baffles (13) in the first joint (8), third running wheel axis
(30) be sequentially threaded through on two second baffles (15) of second joint (9) with the 4th running wheel axis (31), the first auxiliary axis (32) and
Second auxiliary axis (33) is sequentially threaded through on two third baffles (17) in third joint (10), and the auxiliary axis of third (35) is threaded through two
Refer on seat reseting baffle (37), bull wheel (20) is sleeved on the first joint shaft (12), and middle wheel (21) is sleeved on second joint axis
(14) on, steamboat (22) is sleeved on third joint shaft (16), and the first running wheel (24) is sleeved on the first running wheel axis (28), and second
Running wheel (25) is sleeved on the second running wheel axis (29), and third running wheel (26) is sleeved on third running wheel axis (30), the 4th running wheel
(27) it being sleeved on the 4th running wheel axis (31), guide ribs (23) are threaded through on the first auxiliary axis (32) and the second auxiliary axis (33), and the 5th
Running wheel (36) is sleeved on the auxiliary axis of third (35), and one end of driving silk (34) is fixed on reel (5), drives the another of silk (34)
One end successively bypasses the first guide wheel (6), the second guide wheel (7), the 5th running wheel (36), bull wheel (20), the first running wheel (24),
It is fixed on guide ribs (23) after two running wheels (25), middle wheel (21), third running wheel (26), the 4th running wheel (27) and steamboat (22).
7. a kind of controllable modularization under-actuated finger of end orbit according to claim 1 or 6, it is characterised in that: it
Further include three finger bellys (62), distinguishes on two first baffles (13), two second baffles (15) and two third baffles (17)
One finger belly (62) is installed.
8. a kind of controllable modularization under-actuated finger of end orbit according to claim 7, it is characterised in that: it is also wrapped
It includes and refers to seat battery plate (63), the first joint battery plate (64), second joint battery plate (65) and third joint battery plate (66), refer to a battery plate
(63), the first joint battery plate (64), second joint battery plate (65) and third joint battery plate (66) respectively correspond be mounted on it is ipsilateral
On one finger seat connecting plate (11), a first baffle (13), a second baffle (15) and a third baffle (17).
9. a kind of controllable modularization under-actuated finger of end orbit according to claim 1 or 8, it is characterised in that: it
It further include the first joint limit shaft (67), the first joint limit shaft (67), which is mounted on, to be referred on seat (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218125.5A CN106903682B (en) | 2017-04-05 | 2017-04-05 | A kind of modularization under-actuated finger that end orbit is controllable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218125.5A CN106903682B (en) | 2017-04-05 | 2017-04-05 | A kind of modularization under-actuated finger that end orbit is controllable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903682A CN106903682A (en) | 2017-06-30 |
| CN106903682B true CN106903682B (en) | 2019-05-14 |
Family
ID=59195254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710218125.5A Active CN106903682B (en) | 2017-04-05 | 2017-04-05 | A kind of modularization under-actuated finger that end orbit is controllable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903682B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571528A (en) * | 2018-12-29 | 2019-04-05 | 南京工程学院 | Activation lacking mechanical finger and finger tips trajectory predictions method |
| CN110919691B (en) * | 2019-12-31 | 2023-07-28 | 中国科学院沈阳自动化研究所 | Under-actuated joint imitating woodpecker and pecking device |
| CN111388090B (en) * | 2020-03-24 | 2023-04-28 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument, surgical instrument system and surgical robot |
| CN111791244A (en) * | 2020-06-01 | 2020-10-20 | 广州大学 | Mechanical finger and mechanical arm |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN106344223A (en) * | 2016-11-08 | 2017-01-25 | 哈尔滨工业大学 | Thumb passive joint for artificial hand of disabled people |
-
2017
- 2017-04-05 CN CN201710218125.5A patent/CN106903682B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN106344223A (en) * | 2016-11-08 | 2017-01-25 | 哈尔滨工业大学 | Thumb passive joint for artificial hand of disabled people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106903682A (en) | 2017-06-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106945069B (en) | Three controllable-three finger joint underactuated manipulators of finger of a kind of finger tips track | |
| CN106903682B (en) | A kind of modularization under-actuated finger that end orbit is controllable | |
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN107414880B (en) | Based on the activation lacking mechanical finger for becoming born of the same parents' principle | |
| CN205835332U (en) | A kind of delivery type mechanical gripper | |
| CN106041995A (en) | Human-simulated mechanical hand | |
| CN206123661U (en) | Manipulator with many joints, multi freedom | |
| CN106826902A (en) | Bionic flexible manipulator | |
| CN206445813U (en) | A kind of drive lacking humanoid dexterous arm device | |
| CN105150190A (en) | Six-freedom-degree bionic mechanical arm based on pneumatic muscle | |
| CN101716767A (en) | Coupling underactuated integrated bionic hand device | |
| CN105234933B (en) | Dual-translation dual-rotation parallel-connection robot device | |
| CN108357581A (en) | A kind of Bionic flexible pawl thorn is to grabbing sufficient constructed machine people | |
| CN111515983B (en) | Snatch manipulator | |
| CN110171011A (en) | A kind of three finger robot delicates of coordinated drive | |
| CN205870535U (en) | Three degree of freedom gear drive manipulators | |
| CN203471788U (en) | Multi-joint mechanical arm | |
| CN103101055B (en) | A kind of tendon formula under-driven adaptive multi-finger hand device | |
| CN105460187B (en) | A kind of underwater glider becomes wing mechanism | |
| CN202572400U (en) | Robot hand | |
| CN102126220A (en) | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus | |
| CN108500971B (en) | Under-actuated hand palm supporting various finger layouts | |
| CN102554934A (en) | Robot hand | |
| CN205835317U (en) | A kind of multi-joint manipulator | |
| CN207983374U (en) | The instant genlocing device of under-driving robot finger multi-joint any angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |