CN112894861A - Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device - Google Patents
Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device Download PDFInfo
- Publication number
- CN112894861A CN112894861A CN202110129752.8A CN202110129752A CN112894861A CN 112894861 A CN112894861 A CN 112894861A CN 202110129752 A CN202110129752 A CN 202110129752A CN 112894861 A CN112894861 A CN 112894861A
- Authority
- CN
- China
- Prior art keywords
- gear
- shaft
- wheel
- motor
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Weak pressure triggers in coordination with helping hand coupling self-adaptation robot finger device belongs to robot hand technical field, including base, two finger sections, two joint shafts, two motors, a plurality of gears, action wheel, follow driving wheel, two lugs, two thumb wheels, two spring spares and two trigger sensor etc.. The finger coupling self-adaptive grabbing function of the double-joint robot is realized, and the first finger section and the second finger section can be driven to grab objects with different shapes and sizes; the information that the finger section contacts the object is acquired through the trigger sensor, and the second motor can be triggered to cooperate with the assisting force for self-adaptive grabbing only by small extrusion force, so that the damage caused by overlarge extrusion force of the finger section on the object in the grabbing process is avoided; the device has the advantages of large grabbing range, compact structure, small volume, low manufacturing and maintenance cost, and appearance similar to that of a hand, and is suitable for a robot hand.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device.
Background
The hand of the anthropomorphic robot is generally composed of a palm and a plurality of multi-joint fingers, the appearance is anthropomorphic, and when facing objects with different shapes and sizes, the robot hand needs to be as flexible as the human hand to finish the grabbing work instead of human.
The self-adaptive robot hand has the greatest advantage that the size and the shape of a target object can be well and automatically adapted in the grabbing process, and the grabbing mode reduces the difficulty and the manufacturing cost of real-time control.
When the hand is bent towards the object at each joint of the finger during the process of grabbing the object, when the rotation angle is in a certain proportion, the motion mode of the hand enveloping the object is called a coupling grabbing mode. The traditional coupling robot hand cannot adjust the holding action according to the size and the shape of an object, and when the first finger section is blocked by the object and cannot rotate continuously, the second finger section stops rotating. Traditional self-adaptation type robot hand has the adaptivity, but the state that the finger kept straightening always in snatching the in-process, and this not only influences its anthropomorphic nature, still can lead to first finger section to exert the in-process of extrusion force to the object and squeeze away the object to can't guarantee stably to snatch. The coupling self-adaptive robot hand has a coupling grabbing function and a self-adaptive grabbing function at the same time, ensures stable grabbing while realizing personification in the grabbing process, and has the self-adaptive grabbing function for objects of different shapes and sizes.
The prior rack under-actuated robot finger device (Chinese patent CN100551637C) comprises a base, a motor, two joint shafts, two finger sections, a driving gear, a rack, a driven gear and a spring piece. The device can realize the automatic adaptation and snatch the object of different shapes, size. The disadvantages are that: when the motor is started, the middle finger section and the tail end finger section rotate around the near joint shaft together, which not only influences the anthropomorphic nature of the device, but also can cause the middle finger section to squeeze away objects when continuously applying pressure on the objects; although the rack can still move continuously when the middle finger section is blocked by the object, the tail end finger section is driven to rotate continuously by overcoming the elastic force of the spring piece, the gripping force of the tail end finger section is very small compared with that of the middle finger section, and in order to enable the two finger sections to have large gripping force on the object, the first finger section is required to continuously apply extrusion force on the object, so that the object is often damaged.
The existing rack type parallel coupling under-actuated robot finger device (Chinese patent CN101664929B) comprises a base, a motor, two joint shafts, two finger sections, a coupling transmission mechanism, an under-actuated transmission mechanism, a plurality of spring pieces and the like. The device can realize a coupling and self-adaptive composite under-actuated grabbing mode. The disadvantages are that: by utilizing the contradiction between the spring decoupling harmonic coupling transmission mechanism and the self-adaptive transmission mechanism, a plurality of spring pieces conflict with each other, the loss is large, and the grabbing force is small.
An existing double-joint homodromous transmission composite under-actuated robot finger device (Chinese patent CN102161204B) comprises a base, a motor, a base shaft, two joint shafts, two finger sections, a plurality of gears, a homodromous transmission mechanism, a spring piece and the like. The device can realize a coupling and self-adaptive composite grabbing mode. The disadvantages are that: when the middle finger section is blocked by the object and cannot rotate continuously, the self-adaptive grabbing stage is started, the object is continuously subjected to extrusion force from the middle finger section until the tail end finger section contacts the object, and in the process, the object is subjected to excessive extrusion force, so that the object is often damaged.
The multi-joint active control type dexterous robot finger composed of the motor, the sensor and the controller can complete various gesture actions, and the object can be grabbed. The disadvantages of this type of robot finger are: the smart robot finger does not have the self-adaptive grabbing function for objects with different shapes and sizes, and can achieve the purpose of coordinated movement of multiple joints of the finger by means of real-time large-amount complex calculation. The grabbing process involves comprehensive application, complex calculation and complex control of various sensor information, the design, manufacture, use and maintenance costs of the device are high, and the requirement on operators is high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device. The device can rotate first finger section and second finger section simultaneously to the object snatchs the in-process, indicates the control mode of section to the object extrusion force through the restriction, realizes self-adaptation different shapes, the size object under the prerequisite of guaranteeing harmless snatching.
The technical scheme of the invention is as follows:
the invention discloses a weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device which comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a driving shaft, a first motor, a first transmission mechanism, a first gear, a second gear, a third gear, a fourth gear, a driving wheel, a driven wheel, an intermediate transmission mechanism and a first spring piece, wherein the first finger section is arranged on the base; the proximal joint shaft is sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is movably sleeved on the far joint shaft; the first motor is fixedly connected with the base, an output shaft of the first motor is connected with an input end of a first transmission mechanism, and an output end of the first transmission mechanism is connected with the driving shaft; the driving shaft is sleeved in the base; the central line of the near joint shaft, the central line of the far joint shaft and the central line of the driving shaft are parallel to each other; the first gear is fixedly sleeved on the driving shaft, the second gear is movably sleeved on the proximal joint shaft, and the first gear is meshed with the second gear; the third gear is fixedly sleeved on the driving shaft, the fourth gear is movably sleeved on the proximal joint shaft, the third gear is meshed with the fourth gear, and two ends of the first spring part are respectively connected with the fourth gear and the first finger section; the driving wheel is movably sleeved on the near joint shaft, and the driven wheel is movably sleeved on the far joint shaft; the driving wheel is fixedly connected with the second gear; setting the transmission ratio between the first gear and the second gear to be 1: a, and setting the transmission ratio between the third gear and the fourth gear to be a: 1; the transmission diameters of the driving wheel and the driven wheel are equal; the input end of the intermediate transmission mechanism is connected with the driving wheel, and the output end of the intermediate transmission mechanism is connected with the driven wheel; through the intermediate transmission mechanism, the transmission from the driving wheel to the driven wheel is homodromous and constant-speed transmission; the method is characterized in that: the weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device further comprises a second spring, a second motor, a second transmission mechanism, a first thumb wheel, a second thumb wheel, a first bump, a second bump, a first touch sensor, a second touch sensor, a control module and a motor driving module; the second motor is fixedly connected with the first finger section; an output shaft of the second motor is connected with an input end of a second transmission mechanism, and an output end of the second transmission mechanism is connected with the first dial wheel; the first shifting wheel is movably sleeved on the far joint shaft, and the first convex block is fixedly connected on the first shifting wheel; the second thumb wheel is movably sleeved on the far joint shaft, and the second lug is fixedly connected on the second thumb wheel; the second thumb wheel is fixedly connected with the second finger section; two ends of the second spring piece are respectively connected with the driven wheel and the second thumb wheel; the first bump is in contact with or separated from the second bump by a certain distance; in an initial state, the first bump is in contact with the second bump; the input end of the motor driving module is connected with the output end of the control module; the output end of the motor driving module is connected with a lead of a second motor; the signal ends of the first touch sensor and the second touch sensor are respectively connected with the corresponding input ends of the control module; the first touch sensor is arranged on the surface of the first finger section and is used for detecting information of an object touching the surface of the first finger section; the second touch sensor is arranged on the surface of the second finger section and is used for detecting information that an object touches the surface of the second finger section; the control module runs a program, which is: when the feedback signal of the first touch sensor is received and the feedback signal of the second touch sensor is not received, a corresponding instruction is sent to the motor driving module to drive the second motor to rotate; and when the second tactile sensor feedback signal is received, stopping the second motor through the motor driving module.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the intermediate transmission mechanism comprises a first intermediate gear, a second intermediate gear, a third intermediate gear, a first intermediate shaft, a second intermediate shaft and a third intermediate shaft; the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved in the first finger section; the first intermediate gear is sleeved on the first intermediate shaft, the second intermediate gear is sleeved on the second intermediate shaft, and the third intermediate gear is movably sleeved on the third intermediate shaft; the driving wheel is meshed with a first intermediate gear, the first intermediate gear is meshed with a second intermediate gear, the second intermediate gear is meshed with a third intermediate gear, and the third intermediate gear is meshed with a driven wheel.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the first transmission mechanism comprises a first speed reducer, a first worm and a first worm wheel; an output shaft of the first motor is connected with an input shaft of a first speed reducer, the first worm is fixedly sleeved on the output shaft of the first speed reducer, and the first worm wheel is meshed with the first worm; the first worm wheel is fixedly sleeved on the driving shaft.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the second transmission mechanism comprises a second speed reducer, a second worm wheel, an intermediate transition shaft and a transmission wheel; an output shaft of the second motor is connected with an input shaft of a second speed reducer, the second worm is fixedly sleeved on the output shaft of the second speed reducer, and the second worm wheel is meshed with the second worm; the second worm wheel is fixedly sleeved on the middle transition shaft; the driving wheel is fixedly sleeved on the middle transition shaft and is meshed with the first shifting wheel.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the first touch sensor adopts a pressure sensor, the second touch sensor adopts a pressure sensor, and the program comprises the following steps: when the pressure value fed back by the first touch sensor reaches a preset value and a feedback signal of the second touch sensor is not received, sending a corresponding instruction to the motor driving module to drive the second motor to rotate; when the pressure value fed back by the second touch sensor reaches a preset value, the second motor is stopped through the motor driving module.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the first spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the second spring piece adopts a tension spring, a pressure spring, a leaf spring or a torsion spring.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the function of finger coupling self-adaptive grabbing of the double-joint robot by utilizing two motors, a homodromous transmission mechanism, a plurality of gears, a control module, a trigger sensor, a spring piece, a thumb wheel, a bump and the like, can grab an object by a first finger section and a second finger section at the same time, and can also continuously drive the second finger section to grab the object when the first finger section is blocked by the object; compared with the traditional coupling self-adaptive finger, the device can trigger the second motor to cooperate with the assisting force to perform self-adaptive grabbing only by acquiring the information that the finger section contacts the object and needing smaller extrusion force, thereby avoiding the damage of the finger section to the object due to overlarge extrusion force in the grabbing process and completing stable grabbing on the premise of ensuring lossless grabbing; compared with the traditional electronic triggering self-adaptive finger, the device can drive the two finger sections to rotate by only starting one motor, and can also perform a holding action under the condition of not contacting an object; the device has the advantages of large grabbing range, compact structure, small volume, low manufacturing and maintenance cost, and appearance similar to that of a hand, and is suitable for a robot hand.
Drawings
Fig. 1 is a perspective external view of an embodiment of a weak voltage triggering cooperative power assisted coupling adaptive robot finger device designed by the invention.
Fig. 2 is a front view of the embodiment of fig. 1 (not shown with the front bezel of the base, the front bezel of the first finger section).
Fig. 3 is a sectional view a-a of fig. 2.
Fig. 4 is a sectional view B-B of fig. 2.
Fig. 5 is an internal perspective view of the embodiment of fig. 1 from an angle (not shown with some parts).
Fig. 6 to 7 are schematic views illustrating the operation process of the embodiment shown in fig. 1 in pinching the object.
Fig. 8 to fig. 11 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 in the coupling adaptation.
Fig. 12 is a schematic diagram of the circuit connection principle of the embodiment shown in fig. 1.
In fig. 1 to 12:
1-base, 21-first finger segment, 210-first tactile sensor, 22-second finger segment,
220-second tactile sensor, 31-proximal joint axis, 32-distal joint axis, 33-active axis,
41-a first motor, 411-a first reducer, 412-a first worm, 413-a first worm wheel,
42-a second motor, 421-a second reducer, 422-a second worm, 423-a second worm wheel,
424-transmission wheel, 51-first gear, 52-second gear, 53-third gear,
54-a fourth gear, 61-a driving wheel, 62-a driven wheel, 7-an intermediate transmission mechanism,
71-first intermediate gear, 711-first intermediate shaft, 72-second intermediate gear, 711-second intermediate shaft,
73-third intermediate gear, 731-third intermediate shaft, 81-first spring element, 82-second spring element,
91-first thumb wheel, 910-first cam, 92-second thumb wheel, 910-second cam,
10-an object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
An embodiment of the weak voltage triggering cooperative power coupling adaptive robot finger device designed by the invention, as shown in fig. 1 to 9, comprises a base 1, a first finger section 21, a second finger section 22, a proximal joint shaft 31, a distal joint shaft 32, a driving shaft 33, a first motor 41, a first transmission mechanism, a first gear 51, a second gear 52, a third gear 53, a fourth gear 54, a driving wheel 61, a driven wheel 62, an intermediate transmission mechanism 7 and a first spring element 81; the proximal joint shaft 31 is sleeved in the base 1; the first finger section 21 is movably sleeved on the proximal joint shaft 31; the distal joint shaft 32 is sleeved in the first finger section 21; the second finger section 22 is movably sleeved on the distal joint shaft 32; the first motor 41 is fixedly connected with the base 1, an output shaft of the first motor 41 is connected with an input end of a first transmission mechanism, and an output end of the first transmission mechanism is connected with the driving shaft 33; the driving shaft 33 is sleeved in the base 1; the central line of the proximal joint shaft 31, the central line of the distal joint shaft 32 and the central line of the driving shaft 33 are parallel to each other; the first gear 51 is fixedly sleeved on the driving shaft 33, the second gear 52 is movably sleeved on the proximal joint shaft 31, and the first gear 51 is meshed with the second gear 52; the third gear 53 is fixedly sleeved on the driving shaft 33, the fourth gear 54 is movably sleeved on the proximal joint shaft 31, the third gear 53 is meshed with the fourth gear 54, and two ends of the first spring element 81 are respectively connected with the fourth gear 54 and the first finger section 21; the driving wheel 61 is movably sleeved on the proximal joint shaft 31, and the driven wheel 62 is movably sleeved on the distal joint shaft 32; the driving wheel 61 is fixedly connected with the second gear 52; setting the transmission ratio between the first gear 51 and the second gear 52 as 1: a, and the transmission ratio between the third gear 53 and the fourth gear 54 as a: 1; the transmission diameters of the driving wheel 61 and the driven wheel 62 are equal; the input end of the intermediate transmission mechanism 7 is connected with the driving wheel 61, and the output end of the intermediate transmission mechanism 7 is connected with the driven wheel 62; the transmission from the driving wheel 61 to the driven wheel 62 is the same-direction and constant-speed transmission through the intermediate transmission mechanism 7; the weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device further comprises a second spring 82, a second motor 42, a second transmission mechanism, a first thumb wheel 91, a second thumb wheel 92, a first bump 910, a second bump 920, a first tactile sensor 210, a second tactile sensor 220, a control module and a motor driving module; the second motor 42 is fixedly connected with the first finger section 21; an output shaft of the second motor 42 is connected with an input end of a second transmission mechanism, and an output end of the second transmission mechanism is connected with the first dial wheel 91; the first thumb wheel 91 is movably sleeved on the distal joint shaft 32, and the first bump 910 is fixedly connected to the first thumb wheel 91; the second thumb wheel 92 is movably sleeved on the distal joint shaft 32, and the second bump 920 is fixedly connected to the second thumb wheel 92; the second thumb wheel 92 is fixedly connected with the second finger section 22; the two ends of the second spring 82 are respectively connected with the driven wheel 62 and a second thumb wheel 92; the first bump 910 is in contact with or separated from the second bump 920 by a certain distance; in an initial state, the first bump 910 is in contact with the second bump 920; the input end of the motor driving module is connected with the output end of the control module; the output end of the motor driving module is connected with a lead of a second motor 42; the signal ends of the first touch sensor 210 and the second touch sensor 220 are respectively connected with the corresponding input ends of the control module; the first touch sensor 210 is arranged on the surface of the first finger section 21 and detects information that an object touches the surface of the first finger section 21; the second touch sensor 220 is arranged on the surface of the second finger section 22 and detects information that an object touches the surface of the second finger section 22; the control module runs a program, which is: when receiving the feedback signal of the first touch sensor 210 and not receiving the feedback signal of the second touch sensor 220, sending a corresponding command to the motor driving module to drive the second motor 42 to rotate; when receiving the second tactile sensor 220 feedback signal, the second motor 42 is stopped by the motor driving module.
In the present embodiment, the intermediate transmission mechanism includes a first intermediate gear 71, a second intermediate gear 72, a third intermediate gear 73, a first intermediate shaft 711, a second intermediate shaft 721, and a third intermediate shaft 731; the first intermediate shaft 711, the second intermediate shaft 721 and the third intermediate shaft 731 are respectively sleeved in the first finger section 21; the first intermediate gear 71 is sleeved on the first intermediate shaft 711, the second intermediate gear 72 is sleeved on the second intermediate shaft 721, and the third intermediate gear 73 is movably sleeved on the third intermediate shaft 731; the driving wheel 61 is meshed with a first intermediate gear 71, the first intermediate gear 71 is meshed with a second intermediate gear 72, the second intermediate gear 72 is meshed with a third intermediate gear 73, and the third intermediate gear 73 is meshed with the driven wheel 62.
In this embodiment, the first transmission mechanism includes a first speed reducer 411, a first worm 412 and a first worm gear 413; an output shaft of the first motor 41 is connected with an input shaft of a first speed reducer 411, the first worm 412 is fixedly sleeved on the output shaft of the first speed reducer, and the first worm wheel 413 is meshed with the first worm 412; the first worm gear 413 is fixedly sleeved on the driving shaft 33.
In this embodiment, the second transmission mechanism includes a second speed reducer 421, a second worm 422, a second worm gear 423, an intermediate transition shaft, and a transmission wheel 424; an output shaft of the second motor 42 is connected with an input shaft of a second speed reducer 421, the second worm gear 422 is fixedly sleeved on the output shaft of the second speed reducer, and the second worm gear 423 is meshed with the second worm gear 422; the second worm gear 423 is fixedly sleeved on the middle transition shaft; the driving wheel 424 is fixedly sleeved on the intermediate transition shaft, and the driving wheel 424 is meshed with the first shifting wheel 91.
In this embodiment, the intermediate transition shaft is the third intermediate shaft 731, which is identical to the first intermediate shaft.
In this embodiment, the first tactile sensor 210 is a pressure sensor, the second tactile sensor 220 is a pressure sensor, and the procedure is as follows: when the pressure value fed back by the first touch sensor 210 reaches the preset value and the feedback signal of the second touch sensor 220 is not received, a corresponding instruction is sent to the motor driving module to drive the second motor 42 to rotate; when the pressure value fed back by the second tactile sensor 220 reaches the preset value, the second motor 42 is stopped by the motor driving module.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the first spring 81 is a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the first spring 81 is a torsion spring.
The invention relates to a weak-pressure triggering cooperative power-assisted coupling self-adaptive robot finger device, which is characterized in that: the second spring 82 is a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the second spring 82 is a torsion spring.
The working principle of the embodiment is described as follows with reference to the attached drawings:
the initial position of this embodiment is shown in fig. 6, where the first finger section 21 and the second finger section 22 are in an upright position.
The first motor 41 is started, and the first gear 51 and the third gear 53 are driven by the first transmission mechanism, and the second gear 52 and the fourth gear 54 are driven to rotate respectively.
The fourth gear 54 drives the first finger section 21 to rotate forward through the first spring element 81; at the same time, the second gear 52 and the driving wheel 61 rotate, and the driven wheel 62 is driven to rotate in the forward direction through the intermediate transmission mechanism 7. The driven wheel 62 rotates the second finger section 22 via the second spring member.
Since the transmission ratio between the first gear 51 and the second gear 52 is 1: a, the transmission ratio between the third gear 53 and the fourth gear 54 is a:1, and the transmission from the driving wheel 61 to the driven wheel 62 is a same-direction and constant-speed transmission through the intermediate transmission mechanism 7, the rotation speed of the second finger section 22 relative to the base 1 is greater than the rotation speed of the first finger section 21 relative to the base 1, that is, the second finger section 22 rotates relative to the first finger section 21 by an angle β about the distal joint axis 32 on the basis of the rotation of the first finger section 21 by an angle α about the proximal joint axis 31 relative to the base 1, as shown in fig. 7. Thus, the purpose of coupling and rotating the two joints is achieved.
In addition, in the above process, the second thumb wheel 92 fixed to the second finger section 22 rotates in the forward direction to drive the second protrusion 920 to leave the first protrusion 910 for a distance.
When the above process is performed, if the second finger section 22 first contacts the object, the gripping is finished, and the gripping function of holding the small-sized object with the second finger section 22 at the end is realized.
When in the above process, if the first finger section 21 first contacts the object, the following process occurs:
when the first finger segment 21 contacts the object 10, the first finger segment 21 is blocked by the object 10 and cannot rotate further, as shown in fig. 10, and then the adaptive phase is entered, the deformation amount of the first spring element 81 is increased, and the power of the first motor 41 allows the second finger segment 22 to rotate further.
An object contacts the first tactile sensor (in this embodiment, a pressure sensor), the control module receives a pressure value fed back by the first tactile sensor 210, the pressure value of the first tactile sensor 210 reaches a preset value, if a feedback signal of the second tactile sensor 220 is not received at this time, the control module sends a corresponding command to the motor driving module to drive the second motor 42 to rotate, the second motor 42 drives the first thumb wheel 91 fixedly connected with the first bump 910 to rotate in the forward direction through the second transmission mechanism, after the first bump 910 rotates for a certain idle distance, the first bump 910 pulls the second bump 920 to drive the second thumb wheel 92 to rotate in the forward direction, at this time, the deformation of the second spring 82 increases, the second thumb wheel and the second finger continue to rotate until the second finger contacts the object, the object touches the second tactile sensor (in this embodiment, the control module receives a pressure value fed back by the second tactile sensor 220, when the pressure value of the second touch sensor 220 reaches the preset value, the control module stops the second motor 42 through the motor driving module, and thus the self-adaptive grabbing function of two finger sections both contacting the object 10 is completed, as shown in fig. 11.
The weak voltage triggering of the device is mainly embodied in the self-adaptive triggering threshold of the robot finger, and compared with the traditional mechanical finger device, the self-adaptive finger section triggering threshold is very small, namely the first finger section can trigger the grabbing action of the self-adaptive finger section to the object without applying larger extrusion force to the object.
The cooperative power assistance of the device provided by the invention is realized by that the second motor cooperates with the first motor, the power assistance self-adapts to the grabbing of the finger section to the object, and the problems that the grabbing force of the traditional mechanical finger self-adapting finger section is too small relative to the first finger section and the grabbing performance of the tail end finger is reduced are solved.
The device comprehensively realizes the function of finger coupling self-adaptive grabbing of the double-joint robot by utilizing two motors, a homodromous transmission mechanism, a plurality of gears, a control module, a trigger sensor, a spring piece, a thumb wheel, a bump and the like, can simultaneously envelop an object by a first finger section and a second finger section, and can also continuously drive the second finger section to grab the object when the first finger section is blocked by the object; compared with the traditional coupling self-adaptive finger, the device can trigger the second motor to cooperate with the assisting force to perform self-adaptive grabbing only by acquiring the information that the finger section contacts the object and needing smaller extrusion force, thereby avoiding the damage of the finger section to the object due to overlarge extrusion force in the grabbing process and completing stable grabbing on the premise of ensuring lossless grabbing; compared with the traditional triggering type self-adaptive finger, the device can drive the two finger sections to rotate by only starting one motor, and can also perform a holding action under the condition of not contacting an object; the device has the advantages of large grabbing range, compact structure, small volume, low manufacturing and maintenance cost, and appearance similar to that of a hand, and is suitable for a robot hand.
Claims (7)
1. A weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a driving shaft, a first motor, a first transmission mechanism, a first gear, a second gear, a third gear, a fourth gear, a driving wheel, a driven wheel, an intermediate transmission mechanism and a first spring piece; the proximal joint shaft is sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is movably sleeved on the far joint shaft; the first motor is fixedly connected with the base, an output shaft of the first motor is connected with an input end of a first transmission mechanism, and an output end of the first transmission mechanism is connected with the driving shaft; the driving shaft is sleeved in the base; the central line of the near joint shaft, the central line of the far joint shaft and the central line of the driving shaft are parallel to each other; the first gear is fixedly sleeved on the driving shaft, the second gear is movably sleeved on the proximal joint shaft, and the first gear is meshed with the second gear; the third gear is fixedly sleeved on the driving shaft, the fourth gear is movably sleeved on the proximal joint shaft, the third gear is meshed with the fourth gear, and two ends of the first spring part are respectively connected with the fourth gear and the first finger section; the driving wheel is movably sleeved on the near joint shaft, and the driven wheel is movably sleeved on the far joint shaft; the driving wheel is fixedly connected with the second gear; setting the transmission ratio between the first gear and the second gear to be 1: a, and setting the transmission ratio between the third gear and the fourth gear to be a: 1; the transmission diameters of the driving wheel and the driven wheel are equal; the input end of the intermediate transmission mechanism is connected with the driving wheel, and the output end of the intermediate transmission mechanism is connected with the driven wheel; through the intermediate transmission mechanism, the transmission from the driving wheel to the driven wheel is homodromous and constant-speed transmission; the method is characterized in that: the weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device further comprises a second spring, a second motor, a second transmission mechanism, a first thumb wheel, a second thumb wheel, a first bump, a second bump, a first touch sensor, a second touch sensor, a control module and a motor driving module; the second motor is fixedly connected with the first finger section; an output shaft of the second motor is connected with an input end of a second transmission mechanism, and an output end of the second transmission mechanism is connected with the first dial wheel; the first shifting wheel is movably sleeved on the far joint shaft, and the first convex block is fixedly connected on the first shifting wheel; the second thumb wheel is movably sleeved on the far joint shaft, and the second lug is fixedly connected on the second thumb wheel; the second thumb wheel is fixedly connected with the second finger section; two ends of the second spring piece are respectively connected with the driven wheel and the second thumb wheel; the first bump is in contact with or separated from the second bump by a certain distance; in an initial state, the first bump is in contact with the second bump; the input end of the motor driving module is connected with the output end of the control module; the output end of the motor driving module is connected with a lead of a second motor; the signal ends of the first touch sensor and the second touch sensor are respectively connected with the corresponding input ends of the control module; the first touch sensor is arranged on the surface of the first finger section and is used for detecting information of an object touching the surface of the first finger section; the second touch sensor is arranged on the surface of the second finger section and is used for detecting information that an object touches the surface of the second finger section; the control module runs a program, which is: when the feedback signal of the first touch sensor is received and the feedback signal of the second touch sensor is not received, a corresponding instruction is sent to the motor driving module to drive the second motor to rotate; and when the second tactile sensor feedback signal is received, stopping the second motor through the motor driving module.
2. The weak voltage triggered cooperative power coupling adaptive robot finger device according to claim 1, wherein: the intermediate transmission mechanism comprises a first intermediate gear, a second intermediate gear, a third intermediate gear, a first intermediate shaft, a second intermediate shaft and a third intermediate shaft; the first intermediate shaft, the second intermediate shaft and the third intermediate shaft are respectively sleeved in the first finger section; the first intermediate gear is sleeved on the first intermediate shaft, the second intermediate gear is sleeved on the second intermediate shaft, and the third intermediate gear is movably sleeved on the third intermediate shaft; the driving wheel is meshed with a first intermediate gear, the first intermediate gear is meshed with a second intermediate gear, the second intermediate gear is meshed with a third intermediate gear, and the third intermediate gear is meshed with a driven wheel.
3. The weak voltage triggered cooperative power coupling adaptive robot finger device according to claim 1, wherein: the first transmission mechanism comprises a first speed reducer, a first worm and a first worm wheel; an output shaft of the first motor is connected with an input shaft of a first speed reducer, the first worm is fixedly sleeved on the output shaft of the first speed reducer, and the first worm wheel is meshed with the first worm; the first worm wheel is fixedly sleeved on the driving shaft.
4. The weak voltage triggered cooperative power coupling adaptive robot finger device according to claim 1, wherein: the second transmission mechanism comprises a second speed reducer, a second worm wheel, an intermediate transition shaft and a transmission wheel; an output shaft of the second motor is connected with an input shaft of a second speed reducer, the second worm is fixedly sleeved on the output shaft of the second speed reducer, and the second worm wheel is meshed with the second worm; the second worm wheel is fixedly sleeved on the middle transition shaft; the driving wheel is fixedly sleeved on the middle transition shaft and is meshed with the first shifting wheel.
5. The weak voltage triggered cooperative power coupling adaptive robot finger device according to claim 1, wherein: the first touch sensor adopts a pressure sensor, the second touch sensor adopts a pressure sensor, and the program comprises the following steps: when the pressure value fed back by the first touch sensor reaches a preset value and a feedback signal of the second touch sensor is not received, sending a corresponding instruction to the motor driving module to drive the second motor to rotate; when the pressure value fed back by the second touch sensor reaches a preset value, the second motor is stopped through the motor driving module.
6. The weak voltage triggered cooperative power coupled adaptive robotic finger device of claim 1, wherein: the first spring piece is a tension spring, a pressure spring, a leaf spring or a torsion spring.
7. The weak voltage triggered cooperative power coupled adaptive robotic finger device of claim 1, wherein: the second spring piece adopts a tension spring, a pressure spring, a leaf spring or a torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110129752.8A CN112894861A (en) | 2021-01-29 | 2021-01-29 | Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110129752.8A CN112894861A (en) | 2021-01-29 | 2021-01-29 | Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112894861A true CN112894861A (en) | 2021-06-04 |
Family
ID=76121801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110129752.8A Pending CN112894861A (en) | 2021-01-29 | 2021-01-29 | Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112894861A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004130405A (en) * | 2002-10-08 | 2004-04-30 | Incs Inc | Robot hand drive mechanism |
| CN102303316A (en) * | 2011-04-13 | 2012-01-04 | 清华大学 | Multi-sensor feedback adaptive robot finger device and control method thereof |
| CN102806561A (en) * | 2012-08-27 | 2012-12-05 | 清华大学 | Split shaft type dual-motor cooperative composite grabbing robot finger device |
| CN102909727A (en) * | 2012-10-18 | 2013-02-06 | 清华大学 | Separate type three-motor synergetic composite finger device of gripping robot |
| CN106426239A (en) * | 2016-07-08 | 2017-02-22 | 清华大学 | Idle stroke transmission gear coupling self-adaption robot finger device |
| CN110561467A (en) * | 2019-08-06 | 2019-12-13 | 张嘉伟 | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device |
-
2021
- 2021-01-29 CN CN202110129752.8A patent/CN112894861A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004130405A (en) * | 2002-10-08 | 2004-04-30 | Incs Inc | Robot hand drive mechanism |
| CN102303316A (en) * | 2011-04-13 | 2012-01-04 | 清华大学 | Multi-sensor feedback adaptive robot finger device and control method thereof |
| CN102806561A (en) * | 2012-08-27 | 2012-12-05 | 清华大学 | Split shaft type dual-motor cooperative composite grabbing robot finger device |
| CN102909727A (en) * | 2012-10-18 | 2013-02-06 | 清华大学 | Separate type three-motor synergetic composite finger device of gripping robot |
| CN106426239A (en) * | 2016-07-08 | 2017-02-22 | 清华大学 | Idle stroke transmission gear coupling self-adaption robot finger device |
| CN110561467A (en) * | 2019-08-06 | 2019-12-13 | 张嘉伟 | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107932541B (en) | Under-actuated humanoid dexterous hand driven and controlled by micro motor | |
| CN107182443B (en) | Full-drive human-hand-simulated three-finger fruit and vegetable picking end effector | |
| CN209954679U (en) | Under-actuated humanoid dexterous hand driven and controlled by micro motor | |
| CN101444918A (en) | under-actuated bionic finger device with function of pre-bending grasping | |
| CN112873252A (en) | Modularized dexterous hand mechanical structure | |
| CN109129530B (en) | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device | |
| CN111761599B (en) | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device | |
| CN109877868B (en) | Coupling self-adaptive under-actuated human-simulated dexterous finger | |
| CN107139195B (en) | Robot finger device suitable for pinching and holding | |
| CN108453768B (en) | Rod wheel parallel racing envelope self-adaptive robot finger device | |
| CN109227583B (en) | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping | |
| CN107030719B (en) | Multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device | |
| CN112894861A (en) | Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device | |
| CN219563126U (en) | Under-actuated dexterous hand structure | |
| CN107891439B (en) | Wave-cutting-off sharp connecting rod straight line parallel clamping self-adaptive robot finger device | |
| CN107243915A (en) | A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack | |
| CN110561467B (en) | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device | |
| CN102267137B (en) | Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device | |
| CN107009375A (en) | Compound adaptive robot finger apparatus with a variety of crawl force modes | |
| CN107498572B (en) | Rack idle stroke transmission parallel coupling switching self-adaptive robot finger device | |
| CN212601877U (en) | Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device | |
| CN113386160A (en) | Rigid-flexible coupling under-actuated dexterous hand device | |
| CN206551037U (en) | Horizontalization folder adaptive robot finger apparatus in seven wheel idle running motors | |
| CN113386115B (en) | Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210604 |
|
| WD01 | Invention patent application deemed withdrawn after publication |