CN1215926C - Under driving mechanical finger device capable of shape self adaptation and high under driving mechanical finger device - Google Patents

Under driving mechanical finger device capable of shape self adaptation and high under driving mechanical finger device Download PDF

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CN1215926C
CN1215926C CN 02153489 CN02153489A CN1215926C CN 1215926 C CN1215926 C CN 1215926C CN 02153489 CN02153489 CN 02153489 CN 02153489 A CN02153489 A CN 02153489A CN 1215926 C CN1215926 C CN 1215926C
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finger
knuckle
slider
joint
under
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CN 02153489
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Chinese (zh)
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CN1410233A (en )
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张文增
陈强
孙振国
徐济民
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清华大学
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Abstract

具有形状自适应的欠驱动机械手指装置及高欠驱动机械手指装置,属于拟人机械手指装置技术领域。 It has a shape adaptive driving under the finger device and high mechanical drive under mechanical finger device, a mechanical finger device belonging anthropomorphic art. 包括第一指节、欠驱动关节和第二指节;欠驱动关节包括主动滑块、关节齿轮轴、齿条、弹簧;关节齿轮轴设置在第一指节和第二指节之间并与第二指节固接;主动滑块镶嵌在第一指节中,齿条固接在主动滑块上并与关节齿轮轴上的齿轮啮合;弹簧设置在第一指节与主动滑块之间。 Comprising a first knuckle, a second joint and underactuated knuckle; underactuated joint comprises a driving slider, the gear shaft joint, a rack, a spring; joint gear shaft disposed between the first finger and the second finger sections and sections with the second fixed knuckle; driving slider embedded in the first knuckle, the rack gear meshed with and fixed to the joint on the gear shaft driving slider; a first spring disposed between the knuckle and the driving slider . 该装置可以作为机器人拟人手的一个手指或手指的一部分,也可以串联起来构成高形状适应性和高欠驱动的手指,用以实现机器人拟人手以较少驱动器驱动较多的手指关节自由度,并具有抓取不同形状、大小物体的自适应性,该装置结构简单、可靠,体积小、重量轻,仅需较低的控制系统要求。 The apparatus may be part of a finger or hand of the robot hand is intended, the fingers may be connected in series constitute a high flexibility and shape under high drive, intended to achieve a robot hand with a small degree of freedom of finger drive more drive joints, having a different shape and gripping, adaptive size of the object, the apparatus structure is simple, reliable, small size, light weight, only low control system requirements.

Description

具有形状自适应的欠驱动机械手指装置及高欠驱动机械手指装置 Less mechanical driving means and the finger under high mechanical drive means having a finger shape adaptive

技术领域 FIELD

本发明涉及一种拟人机械手指装置,特别涉及一种具有形状自适应的欠驱动机械手指装置。 The present invention relates to an anthropomorphic mechanical finger device, particularly to a mechanical driving under the finger means having a shape adaptive.

背景技术 Background technique

与人类似,拟人机器人的多数功能要通过手部操作来实现,因而手部结构是拟人机器人的重要组成部分,其设计是拟人机器人的关键技术之一。 And similar people, most of the features anthropomorphic robot to be achieved by hand operation, thus the hand structure is an important part of the humanoid robot, whose design is one of the key technologies anthropomorphic robot. 为了增加手部的拟人化,手部要设计较多的关节自由度,然而,为了减轻拟人机器人手部的控制难度,以及减小手部的体积、重量,需要减少驱动器数目,这两者有一定的矛盾,另外,为了更好地抓取物体,还需要手指在抓取物体时具有一定的自适应性。 To increase the anthropomorphic hand, hand joints freedom to design more, however, in order to reduce the difficulty in controlling humanoid robot hand, the hand and to reduce size, weight, necessary to reduce the number of drives, there are both certain contradiction, in addition, in order to better grip the object, but also has some adaptability finger when grasping objects. 设计具有形状自适应的欠驱动机械手指装置能够更好的实现较多关节自由度、较少驱动器数目、抓取不同形状、尺寸的物体时的较强的自适应性这三个目标。 Shape adaptive design having finger under mechanical drive means can better achieve more joint degrees of freedom, smaller number of drives, crawler different shapes, great adaptability to the target when the three dimensional object.

已有的一种自适应欠驱动机械手指装置,如美国发明专利US5762390,包括第一指节、第二指节、第三指节、电机、带轮传动机构、丝杠传动机构、底座、连杆机构、弹簧。 An adaptive Underactuated conventional mechanical finger device, as described in US patent US5762390, comprising a first knuckle, a second knuckle, a third knuckle, motor, pulley mechanism, screw gear mechanism, a base, and even lever mechanism, a spring. 第一指节、第二指节、第三指节与底座串连绞接在一起,并且两两之间设有弹簧和连杆相连,形成3个四连杆机构,电机、带轮传动机构、丝杠传动机构相串连设置在底座里。 A first knuckle, a second knuckle, a third knuckle with the base hinged together in series, and provided with a spring and a link connected between any two, three four-bar linkage is formed, the motor, the pulley mechanism , the screw gear mechanism is provided in series with its base. 该装置由自身携带的电机驱动,由带轮传动机构、丝杠传动机构将电机的转动转化为连杆机构的运动。 The device carried by its own motor driven by the pulley mechanism, the rotation of the screw drive motor into movement of the link mechanism. 其工作原理为:电机转动,通过带轮传动机构和丝杠传动机构的运动,推动第一个四连杆机构运动,从而推动第一、二、三指节同时转动。 Its working principle is: the motor is rotated by the movement of the pulley mechanism and the screw drive mechanism, a first push motion of the four-link mechanism, thereby pushing the first, second and third knuckles rotate simultaneously. 当第一指节接触到物体时,第一指节不再转动,电机继续转动,推动第一、二2个四连杆机构运动,从而推动第二、三指节继续转动。 When the object contacts the first knuckle, a first knuckle does not rotate, the motor continues to rotate, pushing the first and second four-bar linkage movement 2, thereby pushing the second and third knuckles continues to rotate. 当第二指节也接触到物体,第二指节不再转动,电机继续转动,推动第一、二、三3个四连杆机构运动,从而推动第三指节继续转动,直到第三指节也接触物体为止。 When the second knuckle also contacts the object, the second joint does not rotate, the motor continues to rotate, pushing the first, second, third three four-bar linkage movement, thus promoting the third knuckle continues to rotate until the third means the contact section also far objects.

该装置的不足之处为:该装置的电机、带轮传动机构、丝杠传动机构不仅装置复杂,而且较重、体积较大,不能安装于手指指节中,只能安装在手掌底座里,造成手掌底座体积很大;实现手指指节依次转动的多个四连杆机构装置复杂、制造成本高;不适合安装在拟人机器人上使用。 Disadvantage of this device is: the motor means, the pulley mechanism, screw gear mechanism is not only complex devices, but also heavy, bulky, can not be attached to the finger knuckles, can only be installed in the palm of a base, cause great volume of palm base; four-bar linkage means to achieve a plurality of finger knuckle successively rotated complex, costly to manufacture; not suitable for installation on a humanoid robot.

已有的一种自适应欠驱动机械手指装置,如中国发明专利CN 1365875A,包括第一指节、主动板、第二指节、欠驱动关节。 An adaptive Underactuated conventional mechanical finger device, such as a Chinese patent CN 1365875A, comprises a first knuckle, the active plate, a second knuckle, under drive joints. 外力使主动板绕欠驱动关节轴转动,由多级齿轮增速机构实现第二指节大幅度转动后扣紧物体。 So that the active external drive plate under rotation about the joint shaft, to realize a multi-stage gear speed increasing mechanism after substantial rotation of the second knuckle fastening object.

该装置的不足之处为:该装置采用多级齿轮传动,在关节处为一个齿轮箱,体积较大;其主动板作转动运动,致使其远离关节的一端距离第一指节表面过远,造成手指一端比另一端粗许多,与人手差别较大;该装置虽然模仿拇指是基本可行的,但不适合模仿除拇指外的其他手指,而且,若将多个该装置连接起来构成食指、中指、无名指和小指,外观将与人手差别过大。 Disadvantage of this device is as follows: The device uses a multi-stage gear transmission in a gear box joints, a larger volume; its active plate for rotational movement, so that one end thereof remote from the first knuckle joint surface too far, causing the finger end with the rough than the other end, a large difference manpower; imitation thumb while the device is substantially possible, but not for others to imitate fingers except the thumb, and, when the plurality of finger means configured to connect, the middle finger , ring finger and little finger, and the staff will look different too large.

发明内容 SUMMARY

本发明的目的是为克服已有技术的不足之处,设计出一种具有形状自适应的欠驱动机械手指装置。 Object of the present invention is to overcome the deficiencies of the prior art, to design a drive having a shape adaptive under mechanical finger device. 该装置自身不带驱动器,外形与人手的手指相似,结构简单、可靠,体积小、重量轻,仅需要较低的控制系统要求。 The device itself without a driver, and the shape is similar to a finger of a human hand, simple structure, reliable, small size, light weight, requires only low control system requirements. 该装置可以作为机器人拟人手的一个手指或手指的一部分,用以实现机器人拟人手较少驱动器驱动较多的手指关节自由度,并具有抓取不同形状、尺寸的物体的自适应性。 The apparatus may be part of a finger or hand of a robot intended to achieve the proposed robot hand drive joints fewer degrees of freedom drive more fingers, and having adaptive size of the object grasping a different shape.

本发明采用如下技术方案:一种具有形状自适应的欠驱动机械手指装置,主要包括第一指节、第二指节和套设在两者之间的欠驱动关节,其特征在于:所说的欠驱动关节包括主动滑块、关节齿轮轴、齿条、弹簧,所说的关节齿轮轴设置在第一指节和第二指节之间并与第二指节固接,所说的主动滑块镶嵌在第一指节中,所说的齿条固接在主动滑块上并与关节齿轮轴上的齿轮啮合,所说的弹簧设置在第一指节与主动滑块之间。 The present invention adopts the following technical solutions: A shape-adaptive underactuated mechanical finger device having mainly comprises a first knuckle, a second knuckle and a sleeve disposed between the under-drive joints, characterized in that: said underactuated joint comprises a driving slider, the gear shaft joint, a rack, a spring, a gear of said joint shaft is provided between the first knuckle and a second knuckle and a second knuckle fixed, said active embedded in the slider in the first knuckle, said rack fixed to the slider and on the active joint gear meshed gear shaft, said spring disposed between the first knuckle and the driving slider.

所说的第一指节包括第一指节骨架、右轴承板和背面板,三者固接在一起。 He said first knuckle comprises a first knuckle skeleton, the right bearing plate and the back plate, the three fixed together.

所说的主动滑块包括滑块体、固接在滑块体表面上的滑块表面罩以及固接在滑块表面罩上的滑块表面板,所说的滑块表面板采用工业橡皮材料,这样在抓取物体时,手指表面与物体之间将形成软指面接触,一方面增加了手指对物体的约束程度,另一方面也可以增加摩擦力,从而增加抓取物体的稳定性。 Active said slider includes a slider body, the slider is fixed to the surface of the mask table and the slide surface of the slider cover fixed to the surface of the slider plate, said surface of the slider plate using industrial rubber materials so that when gripping an object, refers to the surface of a soft contact between the finger surface and the object, on the one hand increases the degree of restraint finger object, it can also increase the friction, thereby increasing the stability of grasping an object.

第一指节、第二指节和滑块体、滑块表面罩均采用尼龙610。 A first knuckle, a second knuckle and the slider body, the slider surface cover 610 are made of nylon. 较大程度的减轻了重量,同时由于尼龙610具有一定的润滑作用,省去了关节齿轮轴与第一指节之间的滑动轴承。 Greater degree of reducing the weight, and because the nylon 610 having a certain lubricating effect, eliminating the need for a sliding bearing between the shaft and the first gear joint knuckles.

本发明还提供了一种高欠驱动机械手指装置,其特征在于:该装置包括多个指节和多个欠驱动关节。 The present invention also provides a high mechanical driving under the finger device, characterized in that: the apparatus comprises a plurality of sections and a plurality of finger joints underactuated. 如可以将多个自适应欠驱动手指装置串联起来构成高形状适应性、高欠驱动的手指装置,也可以将多个这样的高欠驱动手指装置组合搭配起来形成高欠驱动的机器人手。 As can be more adaptive driving under the finger means connected in series constitute a high finger means conformable, high underactuated, also a plurality of such high driving under the finger means may be in combination with a robot hand to form a high under-driven.

本发明具有以下优点及突出性效果:该装置自身不带驱动器,间接利用手部其他手指、其他关节的主动驱动力(力矩)作为驱动源,并利用齿轮齿条传动实现手指指节转动,对所抓物体形状、大小具有很强的自适应,降低了抓取物体时需要的控制精度,降低了装置对控制系统的要求。 The present invention has the following advantages and projection of effects: the device itself without a driver, indirect use of the hand fingers, the active urging force other joints (torque) as a drive source, and rack and pinion drive to achieve finger knuckle rotates for grasping the object shape, the size of a strong adaptive reducing control accuracy required when the object is grasped, the control device reduces the requirements of the system. 该装置外形与人手的手指相似,结构简单、可靠,体积小、重量轻,可以作为机器人拟人手的一个手指或手指的一部分,也可以串联起来构成高形状适应性和高欠驱动的手指,还可以用多个这样的高欠驱动手指组合构成高欠驱动的机器人拟人手,用以实现机器人拟人手以较少驱动器驱动较多的手指关节自由度,并具有抓取不同形状、大小物体的很强的自适应性。 The apparatus is similar to the shape of a human hand finger, simple structure, reliable, small size, light weight, can be used as part of a finger or hand of the robot hand is intended, may be connected in series together constitute a high flexibility and a high shape underactuated finger, further a plurality of fingers may be driven by a combination of such high under high underactuated configuration proposed robot hand, the robot intends to achieve with less manpower drive finger drive joints more degrees of freedom, and it has a gripping of different shape and size of the object strong adaptability.

附图说明 BRIEF DESCRIPTION

图1是本发明的一种具有形状自适应的欠驱动机械手指实施例的侧面外观图。 FIG. 1 is a side driver of the present invention under an external view example of a mechanical embodiment has a shape adaptive finger.

图2是本实施例的正面外观图。 FIG 2 is a front external view of the embodiment according to the present embodiment.

图3是本实施例的侧面剖视图(为图4中的DD剖视图)。 FIG 3 is a side cross-sectional view of the embodiment according to the present embodiment (a sectional view DD in FIG. 4).

图4是本实施例的正面剖视图(为图3中的AA剖视图)。 FIG 4 is a front cross-sectional view of the embodiment according to the present embodiment (a sectional view AA of FIG. 3).

图5、6、7、8是固定于手掌的本实施例手指抓握物体示意图。 FIG 5,6,7,8 embodiment is a finger secured to the palm grip schematic object of the present embodiment.

图9是固定于手掌的本实施例手指用第二指节接触小尺寸物体示意图。 FIG 9 is a schematic view of a small-sized objects in contact with the second joint of the finger is fixed to a palm embodiment of the present embodiment.

图10、11、12、13是第一指节与主动关节连接后的本实施例手指抓握物体示意图。 Refers to FIG. 12, 13, the first object is a schematic view of the finger grip of the present embodiment after the active articulation section embodiment.

图14是第一指节与主动关节连接后的本实施例手指用第二指节接触小尺寸物体示意图。 FIG 14 is a schematic view of a first refers to small size of the object in contact with the second joint of the finger according to the present embodiment the section to the active articulation embodiment.

图15是应用了本实施例的欠驱动双关节手指的侧面示意图。 FIG 15 is a schematic side view of the application of the present embodiment is driven under the double joint of the finger embodiment.

图16是应用了本实施例的欠驱动双关节手指的正面示意图。 FIG. 16 is an embodiment of the present embodiment is driven under a schematic front double joint of the finger.

图17是应用了本实施例的欠驱动双关节手指用末端指节接触小尺寸物体的示意图,其根部指节与主动关节连接。 FIG 17 is applied to the present embodiment is driven under a schematic section of double finger joint small-sized objects in contact with the finger tip, the root and active articulation knuckles.

图18是应用了本实施例的欠驱动双关节手指在两个欠驱动关节转动下抓握大尺寸物体的示意图,其根部指节与主动关节连接。 FIG 18 is applied under the present driving example embodiment of the double joint of the finger joints schematic underactuated two gripping a large-sized object is rotated under the root knuckles and active articulation.

图19是应用了本实施例的欠驱动双关节手指在只转动一个欠驱动关节下抓握中等尺寸物体的示意图,其根部指节与主动关节连接。 FIG 19 is driven under application of a double joint according to the present embodiment rotates only in a schematic view of a finger under the lower joint grip driving medium size of the object, the root knuckles and active articulation.

图20、21分别是3个应用了本实施例的欠驱动双关节手指联合抓握大尺寸物体的两个方向的示意图,它们的根部指节均与主动关节连接。 20 and 21 FIG. 3 is applied to the present embodiment is driven under the double joint of the finger is a schematic view of a large size two directions combined gripping objects, their roots are connected to knuckles active joints.

图22是应用了本实施例的机器人拟人多指手的侧面外观图,此时拇指已转动到手掌的正对面。 FIG 22 is a robot according to the present embodiment is applied anthropomorphic side external view of a multi-fingered hand, when the thumb is rotated to the opposite palm.

图23是应用了本实施例的机器人拟人多指手的正面外观图,此时拇指已转动到手掌的侧面。 FIG 23 is a robot according to the present embodiment is applied to a front external view of anthropomorphic multi-fingered hand, when the thumb is pivoted to the side of the palm.

图24是应用了本实施例的机器人拟人多指手的俯视外观图,此时拇指已转动到手掌的侧面,双点画线为转动到手掌正面的情况。 FIG 24 is a robot according to the present embodiment is applied anthropomorphic a top external view of a multi-finger hand, when the thumb is rotated to the palm side, two-dot chain line to rotate to the front of the case where the palm.

图25是应用了本实施例的机器人拟人多指手抓握物体的示意图。 FIG 25 is a robot according to the present embodiment is applied anthropomorphic schematic multi-fingered hand gripping the object.

在图1至图25中:1是第一指节, 2是第二指节, 3是欠驱动关节,4是主动滑块, 5是第一指节骨架, 6是右轴承板,7是背面板, 8是弹簧, 9是滑块体,10是滑块表面罩, 11是滑块表面板, 12是齿条,13是关节齿轮轴, 14是圆锥销, 15是根部指节,16是中部指节, 17是末端指节, 18是根部主动滑块,19是中部主动滑块, 20是中部欠驱动关节, 21是末端欠驱动关节,22是手掌, 23是拇指, 24是食指,25是中指, 26是无名指, 27是小指,28是拇指根部关节, 29是拇指末端欠驱动关节,30是食指根部关节, 31是食指中部欠驱动关节,32是食指末端欠驱动关节,33是中指根部关节, In FIGS. 1 to 25: 1 is the first knuckle, a second knuckle is 2, 3 are driven under the joint, the slider 4 is active, the first knuckle 5 skeleton, a bearing plate 6 is a right side, 7 is rear plate spring 8, 9 is a slider body, the slider 10 is a mask table, a surface of the slider plate 11, a rack 12, the joint 13 is a gear shaft, a conical pin 14, 15 is the root knuckles 16 is the central knuckle, the end of the knuckle 17, the slider 18 is active roots, is a central driving slider 19, 20 is driven under the central joint, the joint 21 is driven under the end, 22 is a palm, thumb 23, index finger 24 25 is the middle finger, 26 is the ring finger, 27 is the little finger, 28 is the base of the thumb joint, 29 is the thumb tip underactuated joints, 30 the index finger root joint, 31 is the middle finger underactuated joints, 32 the index finger tip under drive joints 33 is the root of the middle finger joints,

34是中指中部欠驱动关节, 35是中指末端欠驱动关节,36是无名指根部关节, 37是无名指中部欠驱动关节,38是无名指末端欠驱动关节, 39是小指根部关节,40是小指中部欠驱动关节, 41是小指末端欠驱动关节。 34 is the middle finger under the driven joint 35 is the middle finger tip under the driven joint 36 is the ring finger root joint, 37 is the middle finger under the driven joint 38 is the ring finger tip under the driven joint 39 is the pinky finger joint, 40 is the central pinky underactuated joint, the end of the little finger 41 is under drive joints.

具体实施方式 detailed description

下面结合附图及实施例进一步详细说明本发明具体结构、工作原理的内容。 DETAILED DESCRIPTION content structure of the present invention, works in further detail below in conjunction with accompanying drawings and embodiments.

本发明设计的一种具有形状自适应的欠驱动机械手指装置实施例如图1、2、3、4所示,主要包括第一指节1、第二指节2和套设在两者之间的欠驱动关节3;所说的欠驱动关节3包括主动滑块4、关节齿轮轴13、齿条12、弹簧8;所说的关节齿轮轴设置在第一指节1和第二指节2之间并与第二指节固接,所说的主动滑块4镶嵌在第一指节1中,所说的齿条12固接在主动滑块4上并与关节齿轮轴13上的齿轮啮合,所说的弹簧8设置在第一指节1与主动滑块4之间,在没有外力的情况下,主动滑块4在弹簧8作用下始终靠外。 The present invention is designed under a mechanical drive apparatus embodiment has a shape of a finger, for example, FIG adaptive 1,2,3,4 mainly includes a first knuckle 1, 2 and the second knuckle is provided between the two sets of 3 under the drive joints; underactuated said joint 3 includes an active slide 4, the joint gear shaft 13, a rack 12, the spring 8; gear shaft of said joint provided on a first knuckle and a second knuckle 2 with the second fixed knuckle, said driving slider 4 embedded in the first knuckle 1, said rack 12 fixed to the gear on the driving slider 13 and the joint between the gear shaft 4 engagement, said spring 8 is disposed between the first knuckle driving slider 1 and 4, in the absence of external forces, driving slider 4 is always under the action of the spring 8 against the outer.

所说的第一指节1包括第一指节骨架5、右轴承板6和背面板7,三者固接在一起。 Said first means comprises a first section of a skeleton knuckle 5, the right bearing plate 6 and the rear plate 7, the three fixed together.

所说的主动滑块4包括滑块体9、固接在滑块体表面上的滑块表面罩10以及固接在滑块表面罩上的滑块表面板11。 He said active slide 4 comprises a slider body 9 fixed to the slide surface of the slide table 10 and fixed to the mask surface of the slider surface of the cover plate 11 of the slider.

所述的滑块表面板11采用有适当弹性的工业橡皮材料,这样在抓取物体时,手指表面与物体之间将形成软指面接触,一方面增加了手指对物体的约束程度,另一方面也可以增加摩擦力,从而增加抓取物体的稳定性。 The surface of the slider plate 11 using industrial rubber materials have appropriate elasticity, so that when grasping the object, forming a soft surface refers to the surface contact between the finger and the object, on the one hand increases the degree of restraint finger object, another aspects may also increase the friction, thereby increasing the stability of grasping an object.

第一指节1、第二指节2和滑块体9、滑块表面罩10均采用尼龙610。 The first knuckle 1, 2 and the second knuckle slider body 9, the slide surface cover 10 are made of nylon 610. 较大程度的减轻了重量,同时由于尼龙610具有一定的润滑作用,省去了关节齿轮轴13与第一指节1之间的滑动轴承。 Greater degree of reducing the weight, and because the nylon 610 having a certain lubricating effect, eliminating the need for sliding bearing 13 between the shaft and the first gear articulated knuckle.

本实施例的工作原理,叙述如下:(1)如果将本实施例的第一指节1固定于机器人拟人手的手掌上,本实施例的工作原理,如图5、6、7、8所示,叙述如下:当机器人拟人手抓取物体时,其他手指转动后压迫物体,物体挤压主动滑块4,主动滑块4沿垂直手指表面向第一指节1里平移d,其上固接的齿条12带动关节齿轮轴13以较大的幅度转动,与关节齿轮轴固接的第二指节2也相应大角度转动α,直到第二指节接触物体为止,因而该机器人拟人手将具有对物体大小、形状的自动适应性。 Working principle of the present embodiment, described as follows: (1) if the first knuckle to the present embodiment is fixed to the robot hand palm intended, the operation principle of the present embodiment, as shown in FIG 5,6,7,8 shown, described as follows: when the robot hand intended to grip an object, the rotation of the compression fingers object, object pressing driving slider 4, the first driving slider 4 in translation knuckle 1 d, the surface on which the finger along a vertical solid then rack 12 pinion shaft to drive joint 13 at a greater amplitude rotated, the gear shaft is fixed to the joint of the second joint of two correspondingly large rotation angle [alpha], until the second knuckle object comes into contact, thus the robot hand Quasi the automatic adaptation of the object size, shape. 由于关节齿轮轴13上的齿轮设计为较小的分度圆直径,使得较小的主动滑块4的位移将带来较大的第二指节2的转动角度,使得第二指节转动时仿佛有电机等驱动器驱动一般,能够快速扣住物体,实现了手指自身不用驱动器,却可以有多个关节自由度的目的;当机器人拟人手放开物体时,其他手指在电机转动下离开物体,物体也就不再压迫主动滑块4,第一指节1和主动滑块4之间的弹簧将主动滑块弹回到最初的远离第一指节的位置,同时,通过主动滑块4上的齿条12与关节齿轮轴13上齿轮的啮合传动,带动第一指节2也恢复到最初手指伸直的位置。 Since the gear 13 on the gear shaft joint design a smaller pitch diameter, so that a smaller displacement driving slider 4 will bring the second larger angle of rotation 2 of the knuckles, so that the second knuckle rotated if there is such as a motor driver drives in general, an object can be fastened quickly achieved without the driver's own fingers, but can have a degree of freedom of the object of the plurality of joints; when the robot body intends to release the hand, leaving the other fingers when the motor rotates the object, compression object no longer driving slider 4, the first upper finger section and a spring interposed between the driving slider driving slider 4 will spring back to the original position away from the first knuckle, while, by driving slider 4 rack 12 meshed with the transmission gear joint gear shaft 13, drives the first 2 knuckles finger also restored to the original straight position.

如果抓取的物体直径较小,不适合接触到主动滑块4,则可以采用其他手指的末端指节与本实施例的的第二指节2接触的方式抓取,此时,关节齿轮轴13不会转动,也同样能够很好的抓取物体。 If the object gripping a small diameter, is not suitable for contact with the driving slider 4, may be employed other end of the finger knuckles of the second embodiment of the present embodiment the section of the second contact gripping this case, the joint gear shaft 13 does not rotate, it is possible to well grasp an object. 如图9所示。 9 shown in FIG.

(2)如果将本实施例的第一指节1根部套接在一个由驱动器驱动的主动关节上,本实施例的工作原理,如图10、11、12、13所示,叙述如下:当机器人拟人手抓取物体时,第一指节1所套在的主动关节在驱动力矩m作用下转动,使得整个欠驱动手指绕根部的这个主动关节转动,直到主动滑块4接触物体,由于物体在其他手指的作用下不能离开,所以,当主动关节继续转动时,主动滑块4在物体的阻挡下沿垂直手指表面向第一指节1里平移,其后抓取过程与(1)类似。 (2) if the first finger section works on a root sleeved active joints driven by a drive, this embodiment of the present embodiment, as shown in FIG. 10, 11, described as follows: when Quasi robot hand gripping the object, a first knuckle joint set in the active rotational driving torque under effect of m, so that the entire finger to rotate about the drive under the root of the active joints, driving slider 4 until contact with the object, since the object not leaving under the action of the other fingers, so that, when the active joint continues to rotate, driving slider 4 along the vertical surface of the finger at the barrier to the object 1 in the first knuckle translation, crawl and thereafter (1) similar .

如果抓取的物体直径较小,不适合接触到主动滑块4,则可以采用其他手指的末端指节与本实施例的的第二指节2接触的方式抓取,此时,关节齿轮轴13不会转动,也同样能够很好的抓取物体。 If the object gripping a small diameter, is not suitable for contact with the driving slider 4, may be employed other end of the finger knuckles of the second embodiment of the present embodiment the section of the second contact gripping this case, the joint gear shaft 13 does not rotate, it is possible to well grasp an object. 如图14所示。 14 shown in FIG.

应用本实施例的欠驱动双关节手指如图15、16所示。 Application of the present embodiment is driven under the double finger joints 15 and 16 shown in FIG.

应用本实施例的欠驱动双关节手指包括根部指节15,中部指节16,末端指节17,根部主动滑块18,中部主动滑块19,中部欠驱动关节20,末端欠驱动关节21。 Application Underactuated embodiment of the present embodiment comprises a root double knuckle joint of the finger 15, middle phalanx 16, the end of the knuckle 17, the root driving slider 18, the central driving slider 19, under the central drive joints 20, tip 21 under drive joints.

应用本实施例的欠驱动双关节手指用两个欠驱动关节转动抓取物体的原理如图17所示。 Underactuated double finger joints of the present embodiment is applied under rotation of the two drive joints with the principles of grasping the object shown in Figure 17. 当机器人拟人手抓取物体时,物体在其他手指的作用下压迫根部主动滑块18,(如果此欠驱动双关节手指的根部指节套设在一个主动关节上,则此欠驱动双关节手指在根部主动关节的主动转动下,压迫物体,物体受到其他手指的阻碍不能离开,于是反作用于根部主动滑块18,)此时根部主动滑块18沿垂直手指表面的向根部指节15里直线运动,使得中部指节16、中部主动滑块19、末端欠驱动关节21、末端指节17绕中部欠驱动关节20快速转动,仿佛在中部欠驱动关节有电机等驱动器主动驱动一般,直到中部主动滑块19接触物体,中部主动滑块19受到物体阻碍不再运动,此时物体继续压迫根部主动滑块18,于是造成中部指节16、末端欠驱动关节21、末端指节17继续绕欠驱动关节20快速转动,由于此时中部指节16(在转动)相对于中部主动滑块19(不动)运动,带动末端指节17 When the robot hand intended to grip an object, the object under the effect of compression of the roots of the fingers 18 driving slider, (if driving under the finger root double knuckle joint sleeve provided on an active joint, this joint of the finger bis underactuated in the active root active rotational joints, compression object, the object is not hindered by the other fingers away, so the root counteracts driving slider 18,) at this time root driving slider 18 along the vertical surface of the finger section 15 refers to the root portion in a straight line movement, so that the middle phalanx 16, the central driving slider 19, the tip under drive joints 21, the end of the knuckle 17 about the central backward drive joints 20 rapidly rotating, if underactuated joints such as a motor drive in the middle of actively driving ships, until the middle of the active contacting the slider body 19, the central driving slider 19 is no longer hindered by the moving object, when an object continues to press the root driving slider 18, thus causing the middle phalanx 16, the tip under drive joints 21, 17 continue around the end of the knuckle underactuated rapidly rotating joint 20, middle phalanx 16 since at this time (rotation) driving slider 19 with respect to the center (fixed) movement, driven by the end of the knuckle 17 末端欠驱动关节21快速转动,仿佛在末端欠驱动关节有电机等驱动器主动驱动一般,直到末端指节17接触物体,具有对不同形状、尺寸的物体的自动适应性。 End under rapid rotation drive joints 21, if there is under-drive joints drive motor or the like driving ships terminal active until the end of the phalanx contacting object 17, having an automatic adaptability to different shapes and sizes of objects. 放开物体时,过程相反。 When the object is released, the process is reversed.

应用本实施例的欠驱动双关节手指用1个欠驱动关节转动和欠驱动关节不转动抓取物体的情况,分别如图18、19所示。 Application of embodiment shown Underactuated a double joint of the finger joints under rotating and driving under the rotation of the drive joints without grasping an object with, respectively, 18 and 19 of the present embodiment.

采用3个同样的应用本实施例的欠驱动双关节手指抓取圆柱物体的情况,如图20、21所示。 Example Underactuated case of using a double joint of the finger gripping the cylindrical body 3 of the same embodiment of the present application, 20 and 21.

应用本实施例的机器人拟人多指手如图22、23、24所示。 Application of the present embodiment is a robot anthropomorphic multi-fingered hand 22, 23, as shown in FIG.

应用本实施例的机器人拟人多指手包括手掌22、拇指23、食指24、中指25、无名指26、小指27、拇指根部关节28、拇指末端关节29、食指根部关节30、食指中部关节31、食指末端关节32、中指根部关节33、中指中部关节34、中指末端关节35、无名指根部关节36、无名指中部关节37、无名指末端关节38、小指根部关节39、小指中部关节40、小指末端关节41。 Robot applications of the present embodiment anthropomorphic multi-fingered hand comprises a palm 22, thumb 23, index finger 24, middle finger 25, ring finger 26, the little finger 27, the base of the thumb joint 28, the thumb tip joint 29, the index finger root joint 30, the index finger middle joint 31, the index finger end of the joint 32, the middle finger root joint 33, joint 34 middle middle finger, middle finger tip joint 35, the root of the joint ring 36, the middle finger joint 37, the end joint ring 38, the pinky finger joint 39, the central joints 40 of the little finger, little finger tip joint 41.

其中,拇指23应用了单个本实施例结构、食指24、中指25、无名指26、小指27均分别应用了两个本实施例结构。 Wherein the thumb 23 of the present embodiment applied to the structure of a single embodiment, index finger 24, middle finger 25, ring finger 26, the little finger 27 are respectively applied to the structure of two embodiments of the present embodiment. 各手指的根部关节均为由电机驱动的主动关节。 Root joint of each finger are active joints driven by a motor. 各手指的中部关节和术端关节均为不带驱动器的欠驱动关节,即应用了本实施例的结构。 The central joint of each finger and the operation ends and the joints are under-drive without driving the joints, i.e., the structure using the embodiment according to the present embodiment.

应用本实施例的机器人拟人多指手抓取大尺寸物体的原理如图25所示。 Application of the present embodiment is a robot intended to refer to the principles of people hand gripping a large-sized object shown in Figure 25. 首先,拇指23在电机带动下绕根部关节28转动到手掌22的正对面,食指24、中指25、无名指26、小指27在电机的带动下分别绕各自的根部关节30、33、36、39转动,直到配合其上的8个欠驱动关节31、32、34、35、37、38、40、41与拇指的欠驱动关节29,将物体紧紧扣住。 First, thumb 2328 is rotated opposite to the palm of the hand 22 about the motor driven at the root of the joint, the index finger 24, middle finger 25, ring finger 26, the little finger 27 is driven by rotation of the motor are articulated about respective root 30,33,36,39 until the joint with underactuated 8 under which the drive joints 31,32,34,35,37,38,40,41 and thumb 29, firmly fastened to the object.

Claims (5)

  1. 1.一种具有形状自适应的欠驱动机械手指装置,主要包括第一指节、第二指节和套设在两者之间的欠驱动关节,其特征在于:所说的欠驱动关节包括主动滑块、关节齿轮轴、齿条、弹簧,所说的关节齿轮轴设置在第一指节和第二指节之间并与第二指节固接,所说的主动滑块镶嵌在第一指节中,所说的齿条固接在主动滑块上并与关节齿轮轴上的齿轮啮合,所说的弹簧设置在第一指节与主动滑块之间。 A driving under the finger having a shape adaptive mechanical means, including a first knuckle, a second knuckle and a sleeve disposed between the under-drive joints, wherein: said under-drive joints comprising driving slider, the gear shaft joint, a rack, a spring, a gear of said joint shaft is provided with a first finger and a second finger and a second section between the fixed knuckle section, embedded in said first driving slider refers to a section of said fixed rack and on the driving slider joint gear meshed with the gear shaft, said spring disposed between the first knuckle and the driving slider.
  2. 2.如权利要求1所述的具有形状自适应的欠驱动机械手指装置,其特征在于:所说的第一指节包括第一指节骨架、右轴承板和背面板,三者固接在一起。 2. The mechanical finger device having a shape adaptive Underactuated according to claim 1, wherein: said first means comprises a first knuckle section skeleton, the right bearing plate and the back plate, fixed to the three together.
  3. 3.如权利要求1所述的具有形状自适应的欠驱动机械手指装置,其特征在于:所说的主动滑块包括滑块体、固接在滑块体表面上的滑块表面罩以及固接在滑块表面罩上的滑块表面板。 3. The mechanical finger device having a shape adaptive Underactuated according to claim 1, wherein: said driving slider comprises a slider body, fixed to the surface of the slider and the slider surface cover solid connected to the cover surface of the slider plate of the slider surface.
  4. 4.如权利要求1或3所述的具有形状自适应的欠驱动机械手指装置,其特征在于:所说的滑块表面板采用工业橡皮材料,第一指节、第二指节和滑块体、滑块表面罩均采用尼龙610。 4. The mechanical finger device having a shape adaptive Underactuated claim 1 or claim 3, wherein: said surface of the slider plate using industrial rubber material, a first knuckle, a second knuckle and a slider body, the slider surface cover 610 are made of nylon.
  5. 5.一种采用如权利要求1所述装置的高欠驱动机械手指装置,其特征在于:该装置包括多个指节和多个欠驱动关节。 A use of apparatus as claimed in claim 1 under high mechanical finger drive means, characterized in that: the apparatus comprises a plurality of sections and a plurality of finger joints underactuated.
CN 02153489 2002-11-29 2002-11-29 Under driving mechanical finger device capable of shape self adaptation and high under driving mechanical finger device CN1215926C (en)

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