CN1410233A - Under driving mechanical finger device capable of shape self adaptation - Google Patents
Under driving mechanical finger device capable of shape self adaptation Download PDFInfo
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- CN1410233A CN1410233A CN 02153489 CN02153489A CN1410233A CN 1410233 A CN1410233 A CN 1410233A CN 02153489 CN02153489 CN 02153489 CN 02153489 A CN02153489 A CN 02153489A CN 1410233 A CN1410233 A CN 1410233A
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- 229920000305 Nylon 6,10 Polymers 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 210000003811 finger Anatomy 0.000 description 74
- 210000003813 thumb Anatomy 0.000 description 14
- 210000005224 forefinger Anatomy 0.000 description 11
- 210000004932 little finger Anatomy 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 244000060701 Kaempferia pandurata Species 0.000 description 2
- 235000016390 Uvaria chamae Nutrition 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
A shape-adaptive under-driven mechanical finger for robot is composed of a first finger segment, an under-driven joint and a second finger segment. The under-driven joint consists of an active slide block inlaid in the first finger segment, a joint gear axle fixed to the second finger segment, a rack bar fixed to the said active slide block and matched with the said gear, and a spring between the first finger segment and the active slide block. It can grasp objects with different shapes.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design with activation lacking mechanical finger device of form adaptive.
Background technology
With the mankind seemingly, most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.In order to increase personalizing of hand, hand will design more joint freedom degrees, yet, in order to alleviate the control difficulty of anthropomorphic robot's hand, and the volume, the weight that reduce hand, need to reduce the driver number, the two has certain contradiction, in addition, in order to grasp object better, also need to point and when grasping object, have certain adaptivity.The activation lacking mechanical finger device that design has a form adaptive can better realize more joint freedom degrees, less driver number, these three targets of stronger adaptivity when grasping the object of difformity, size.
Existing a kind of under-driven adaptive mechanical finger device as U.S. patent of invention US5762390, comprises first knuckle, second knuckle, third knuckle, motor, belt wheel transmission mechanism, lead-screw drive mechanism, base, linkage, spring.First knuckle, second knuckle, third knuckle and the hinge joint of base polyphone and are provided with spring between any two and link to each other with connecting rod together, form 3 quadric chains, and motor, belt wheel transmission mechanism, lead-screw drive mechanism are contacted mutually and be arranged in the base.This device is converted into the rotation of motor by belt wheel transmission mechanism, lead-screw drive mechanism the motion of linkage by self-contained motor-driven.Its operation principle is: motor rotates, and by the motion of belt wheel transmission mechanism and lead-screw drive mechanism, promotes first parallel motion, rotates simultaneously thereby promote first, second and third dactylus.When first knuckle touched object, first knuckle no longer rotated, and motor is rotated further, and promoted first and second 2 parallel motions, was rotated further thereby promote second and third dactylus.When second knuckle also touches object, second knuckle no longer rotates, and motor is rotated further, and promotes first, second and third 3 parallel motions, is rotated further thereby promote third knuckle, till third knuckle also contacts object.
The weak point of this device is: the motor of this device, belt wheel transmission mechanism, lead-screw drive mechanism not only install complexity, and heavier, volume is bigger, can not be installed on the finger dactylus in, can only be installed in the palm base, cause palm base volume very big; Realize a plurality of quadric chain device complexity, manufacturing cost height that the finger dactylus rotates successively; Be not suitable for being installed in the anthropomorphic robot and go up use.
Existing a kind of under-driven adaptive mechanical finger device as Chinese invention patent CN1365875A, comprises first knuckle, active plate, second knuckle, owes to drive the joint.External force makes active plate rotate around owing to drive joint shaft, realizes that by the multi-stage gear speed increasing mechanism second knuckle rotates back fastening object significantly.
The weak point of this device is: this device adopts the multi-stage gear transmission, is a gear-box at joint, and volume is bigger; Its active plate rotates, and causes its abarticular end distance far away excessively from the first knuckle surface, causes finger one end thick more many than the other end, and is bigger with the staff difference; Though this device imitation thumb is a basic feasible solution, is not suitable for imitating other fingers except that thumb, and, as if being coupled together, a plurality of these devices constitute forefinger, middle finger, the third finger and little finger of toe, and outward appearance will be excessive with the staff difference.
Summary of the invention
The objective of the invention is to design a kind of activation lacking mechanical finger device with form adaptive for overcoming the weak point of prior art.This installs self not tape drive, and profile is similar to the finger of staff, and is simple in structure, reliable, and volume is little, in light weight, only needs lower control system requirement.This device can be used as a finger of simulating human hand for robot or a part of pointing, and in order to the more finger-joint free degree of the realization less driver drives of simulating human hand for robot, and has the adaptivity of the object that grasps difformity, size.
The present invention adopts following technical scheme: a kind of activation lacking mechanical finger device with form adaptive, mainly comprise first knuckle, second knuckle and be set between the two owe to drive the joint, it is characterized in that: saidly owe to drive the joint and comprise active sliding block, the joint gear axle, tooth bar, spring, said joint gear axle is arranged between first knuckle and the second knuckle and is affixed with second knuckle, said active sliding block is embedded in the first knuckle, said tooth bar be fixed on the active sliding block and with the joint gear axle on gears engaged, said spring is arranged between first knuckle and the active sliding block.
Said first knuckle comprises first knuckle skeleton, right bearing plate and backplate, and the three is fixed together.
Said active sliding block comprises slide body, be fixed in the lip-deep slider table face shield of slide body and be fixed in slider table panel on the slider table face shield,
Said slider table panel adopts industrial rubber material, like this when grasping object, will form soft finger face between finger surface and the object and contact, one side has increased the degree of restraint of pointing object, also can increase frictional force on the other hand, thereby increase the stability that grasps object.
First knuckle, second knuckle and slide body, slider table face shield all adopt NYLON610.Alleviate weight largely, because NYLON610 has certain lubrication, saved the sliding bearing between joint gear axle and the first knuckle simultaneously.
The present invention also provides a kind of high activation lacking mechanical finger device, it is characterized in that: this device comprises a plurality of dactylus and a plurality ofly owes to drive the joint.Owe the fingers driven device as the high shape adaptability of formation that a plurality of self adaptation under-actuated finger devices can be together in series, height, also a plurality of so high under-actuated finger device combination collocations can be got up form height and owe the machine driven staff.
The present invention has the following advantages and the high-lighting effect: this device self is tape drive not, the active drive power (moment) in other fingers of indirect utilization hand, other joints is as drive source, and utilize the rack-and-pinion transmission to realize that the finger dactylus rotates, grabbing body form, size had very strong self adaptation, reduced the control accuracy that needs when grasping object, reduced the requirement of device control system.This device profile is similar to the finger of staff, simple in structure, reliable, volume is little, in light weight, can be used as a finger of simulating human hand for robot or a part of pointing, also can be together in series and constitute high shape adaptability and height is owed fingers driven, can also constitute height with a plurality of so high under-actuated fingers and owe the machine driven people anthropomorphic hand, in order to realizing simulating human hand for robot, and has the very strong adaptivity that grasps difformity, big wisp with the more finger-joint free degree of less driver drives.
Description of drawings
Fig. 1 is a kind of side outside drawing with activation lacking mechanical finger embodiment of form adaptive of the present invention.
Fig. 2 is the front appearance figure of present embodiment.
Fig. 3 is the side sectional view (for the D-D cutaway view among Fig. 4) of present embodiment.
Fig. 4 is the front section view (for the A-A cutaway view among Fig. 3) of present embodiment.
Fig. 5,6,7, the 8th is fixed in the present embodiment finger grip object schematic diagram of palm.
Fig. 9 is that the present embodiment finger that is fixed in palm contacts the small-size object schematic diagram with second knuckle.
Figure 10,11,12, the 13rd, first knuckle and present embodiment finger grip object schematic diagram after initiatively the joint is connected.
To be first knuckle contact the small-size object schematic diagram with present embodiment finger after initiatively the joint is connected with second knuckle to Figure 14.
Figure 15 is a side schematic view of owing to drive the doublejointed finger of having used present embodiment.
Figure 16 is a front schematic view of owing to drive the doublejointed finger of having used present embodiment.
Figure 17 be used present embodiment owe drive doublejointed finger two owe to drive the joint rotate under the schematic diagrames of grasping large sized object, its root dactylus is connected with the active joint.
Figure 18 be used present embodiment owe drive doublejointed finger and only rotating a schematic diagram of owing to drive grasping medium size object under the joint, its root dactylus is connected with the active joint.
Figure 19 be used present embodiment owe drive doublejointed finger schematic diagram with terminal dactylus contact small-size object, its root dactylus is connected with the active joint.
Figure 20,21 is respectively 3 schematic diagrames of both direction of owing to drive doublejointed finger associating grasping large sized object of having used present embodiment, and their root dactylus all is connected with the active joint.
Figure 22 is a side outside drawing of having used the multi-finger hand simulating human hand for robot of present embodiment, and this moment, thumb turned to the right opposite of palm.
Figure 23 is the front appearance figure that has used the multi-finger hand simulating human hand for robot of present embodiment, and this moment, thumb turned to the side of palm.
Figure 24 be used present embodiment multi-finger hand simulating human hand for robot overlook outside drawing, this moment, thumb turned to the side of palm, two-dot chain line is the situation that turns to the palm front.
Figure 25 is a schematic diagram of having used the multi-finger hand simulating human hand for robot grasping object of present embodiment.
In Fig. 1 to Figure 25:
The 1st, first knuckle, the 2nd, second knuckle, the 3rd, owe to drive the joint,
The 4th, active sliding block, the 5th, the first knuckle skeleton, the 6th, the right bearing plate,
The 7th, backplate, the 8th, stage clip, the 9th, slide body,
The 10th, the slider table face shield, the 11st, the slider table panel, the 12nd, tooth bar,
The 13rd, the joint gear axle, the 14th, taper bolt, the 15th, the root dactylus,
The 16th, the middle part dactylus, the 17th, terminal dactylus, the 18th, the root active sliding block,
The 19th, the middle part active sliding block, the 20th, the joint is owed to drive in the middle part, and the 21st, end owes to drive the joint,
The 22nd, palm, the 23rd, thumb, the 24th, forefinger,
The 25th, middle finger, the 26th, nameless, the 27th, little finger of toe,
The 28th, the thumb root joint, the 29th, the thumb end owes to drive the joint,
The 30th, the forefinger root joint, the 31st, the joint is owed to drive in the forefinger middle part,
The 32nd, the forefinger end owes to drive the joint, and the 33rd, the middle finger root joint,
The 34th, the joint is owed to drive in the middle finger middle part, and the 35th, the middle finger end owes to drive the joint,
The 36th, nameless root joint, the 37th, the joint is owed to drive in nameless middle part,
The 38th, nameless end owes to drive the joint, and the 39th, the little finger of toe root joint,
The 40th, the joint is owed to drive in the little finger of toe middle part, and the 41st, the little finger of toe end owes to drive the joint.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
The a kind of of the present invention design has the white activation lacking mechanical finger device embodiment that adapts to of shape shown in Fig. 1,2,3,4, mainly comprise first knuckle 1, second knuckle 2 and be set between the two owe to drive joint 3; Saidly owe to drive joint 3 and comprise active sliding block 4, joint gear axle 13, tooth bar 12, spring 8; Said joint gear axle is arranged between first knuckle 1 and the second knuckle 2 and is affixed with second knuckle, said active sliding block 4 is embedded in the first knuckle 1, said tooth bar 12 be fixed on the active sliding block 4 and with joint gear axle 13 on gears engaged, said spring 8 is arranged between first knuckle 1 and the active sliding block 4, do not having under the situation of external force, active sliding block 4 is outer all the time under spring 8 effects.
Said first knuckle 1 comprises first knuckle skeleton 5, right bearing plate 6 and backplate 7, and the three is fixed together.
Said active sliding block 4 comprises slide body 9, be fixed in the lip-deep slider table face shield 10 of slide body and be fixed in slider table panel 11 on the slider table face shield.
Said slider table panel 11 adopts industrial rubber material, like this when grasping object, will form soft finger between finger surface and the object and contact, increased the degree of restraint of pointing object on the one hand, also can increase frictional force on the other hand, thereby increase the stability that grasps object.
First knuckle 1, second knuckle 2 and slide body 9, slider table face shield 10 all adopt NYLON610.Alleviate weight largely, because NYLON610 has certain lubrication, saved the sliding bearing between joint gear axle 13 and the first knuckle 1 simultaneously.
Slider table panel 11 adopts suitable flexible industrial rubber material.Like this when grasping object, will form soft finger face between finger surface and the object and contact, increased the degree of restraint of finger on the one hand to object, also can increase frictional force on the other hand, thus the stability of increase extracting object.
The operation principle of present embodiment is described below:
(1) if the first knuckle 1 of present embodiment is fixed on the palm of simulating human hand for robot, the operation principle of present embodiment shown in Fig. 5,6,7,8, is described below:
When simulating human hand for robot grasps object, other fingers rotate back compressing object, object extruding active sliding block 4, the vertical finger surface in active sliding block 4 edges is to 1 li translation d of first knuckle, affixed tooth bar 12 drives joint gear axle 13 with bigger amplitude rotation on it, rotate α with the also corresponding wide-angle of second knuckle 2 that the joint gear axle is affixed, till second knuckle contact object, thereby this simulating human hand for robot will have the automatic adaptability to object size, shape.Because the design of gears on the joint gear axle 13 is less reference diameter, make the displacement of less active sliding block 4 will bring the rotational angle of bigger second knuckle 2, there is driver drives such as motor general when making second knuckle rotate seemingly, can fasten object fast, realized that finger self without driver, but can have the purpose of a plurality of joint freedom degrees; When simulating human hand for robot is decontroled object, other fingers leave object under motor rotates, object is also just no longer oppressed active sliding block 4, spring between first knuckle 1 and the active sliding block 4 bounces back into the initial position away from first knuckle with active sliding block, simultaneously, by the engaged transmission that tooth bar on the active sliding block 4 12 and joint gear axle 13 cog, drive first knuckle 2 and also return to the position that initial finger stretches.
If the article diameters that grasps is less, be not suitable for touching active sliding block 4, the terminal dactylus that then can adopt other fingers and present embodiment the mode that contacts of second knuckle 2 grasp, at this moment, joint gear axle 13 can not rotate, and can be good at grasping object too.As shown in Figure 9.
(2) if first knuckle 1 root of present embodiment is socketed on the active joint by driver drives, the operation principle of present embodiment shown in Figure 10,11,12,13, is described below:
When simulating human hand for robot grasps object, rotate under driving moment m effect in the active joint that first knuckle 1 is enclosed within, make whole under-actuated finger rotate around this active joint of root, up to active sliding block 4 contact objects, because object can not leave under the effect of other fingers, so, when the active joint is rotated further, active sliding block 4 stops the vertical finger surface in lower edge to 1 li translation of first knuckle object, and it is similar with (1) to grasp process thereafter.
If the article diameters that grasps is less, be not suitable for touching active sliding block 4, the terminal dactylus that then can adopt other fingers and present embodiment the mode that contacts of second knuckle 2 grasp, at this moment, joint gear axle 13 can not rotate, and can be good at grasping object too.As shown in figure 14.
Use present embodiment owe drive the doublejointed finger shown in Figure 15,16.
Use present embodiment owe drive the doublejointed finger and comprise root dactylus 15, middle part dactylus 16, terminal dactylus 17, root active sliding block 18, middle part active sliding block 19, joint 20 is owed to drive in the middle part, end owes to drive joint 21.
Use present embodiment owe drive the doublejointed finger with two owe to drive rotate the extracting object in the joint principle as shown in figure 17.When simulating human hand for robot grasps object, object is in the effect lower compression root active sliding block 18 of other fingers, if (this root knuckle of owing to drive the doublejointed finger is located at one initiatively on the joint, then this owes to drive the doublejointed finger under the active rotation in root active joint, the compressing object, object is subjected to the obstruction of other fingers and can not leaves, so react on root active sliding block 18,) this moment root active sliding block 18 along vertical finger surface to 15 li rectilinear motions of root dactylus, dactylus 16 in the middle part of making, middle part active sliding block 19, end owes to drive joint 21, terminal dactylus 17 owes to drive joint 20 quick rotation around the middle part, owing to drive the joint seemingly at the middle part has driver active drive such as motor general, up to middle part active sliding block 19 contact objects, middle part active sliding block 19 is subjected to object and hinders no longer motion, this moment, object continued compressing root active sliding block 18, so cause middle part dactylus 16, end owes to drive joint 21, terminal dactylus 17 continues around owing to drive joint 20 quick rotation, because middle part dactylus 16 this moment (rotating) moves with respect to middle part active sliding block 19 (motionless), drive terminal dactylus 17 and owe to drive joint 21 quick rotation around end, owing to drive the joint seemingly endways has driver active drive such as motor general, up to terminal dactylus 17 contact objects, have difformity, the automatic adaptability of the object of size.When decontroling object, process is opposite.
Use present embodiment owe drive the doublejointed finger and owe to drive the joint with 1 and rotate and owe to drive the situation that the extracting object is not rotated in the joint, respectively shown in Figure 18,19.
Adopt the situation of owing to drive doublejointed finger extracting cylindrical object of 3 same application present embodiments, shown in Figure 20,21.
The multi-finger hand simulating human hand for robot of using present embodiment is shown in Figure 22,23,24.
The multi-finger hand simulating human hand for robot of using present embodiment comprises palm 22, thumb 23, forefinger 24, middle finger 25, nameless 26, little finger of toe 27, thumb root joint 28, the terminal joint 29 of thumb, forefinger root joint 30, joint 31, forefinger middle part, the terminal joint 32 of forefinger, middle finger root joint 33, joint 34, middle finger middle part, the terminal joint 35 of middle finger, nameless root joint 36, joint 37, nameless middle part, nameless terminal joint 38, little finger of toe root joint 39, joint 40, little finger of toe middle part, the terminal joint 41 of little finger of toe.
Wherein, thumb 23 has been used single present embodiment structure, forefinger 24, middle finger 25, nameless 26, little finger of toe 27 has been used two present embodiment structures respectively.Root joint of each finger is all for by motor-driven active joint.What the joint, middle part of each finger and terminal joint were tape drive not owes to drive the joint, has promptly used the structure of present embodiment.
The principle of the multi-finger hand simulating human hand for robot extracting large sized object of application present embodiment as shown in figure 25.At first, thumb 23 turns to the right opposite of palm 22 around root joint 28 under driven by motor, forefinger 24, middle finger 25, nameless 26, little finger of toe 27 rotate around separately root joint 30,33,36,39 respectively under the drive of motor, up to cooperate on it 8 to owe to drive joint 31,32,34,35,37,38,40,41 and thumb owe drive joint 29, object is tightly fastened.
Claims (5)
1. activation lacking mechanical finger device with form adaptive, mainly comprise first knuckle, second knuckle and be set between the two owe to drive the joint, it is characterized in that: saidly owe to drive the joint and comprise active sliding block, the joint gear axle, tooth bar, spring, said joint gear axle is arranged between first knuckle and the second knuckle and is affixed with second knuckle, said active sliding block is embedded in the first knuckle, said tooth bar be fixed on the active sliding block and with the joint gear axle on gears engaged, said spring is arranged between first knuckle and the active sliding block.
2. the activation lacking mechanical finger device with form adaptive as claimed in claim 1 is characterized in that: said first knuckle comprises first knuckle skeleton, right bearing plate and backplate, and the three is fixed together.
3. the activation lacking mechanical finger device with form adaptive as claimed in claim 1 is characterized in that: said active sliding block comprises slide body, be fixed in the lip-deep slider table face shield of slide body and be fixed in slider table panel on the slider table face shield.
4. as claim 1 or 3 described activation lacking mechanical finger devices with form adaptive, it is characterized in that: said slider table panel adopts industrial rubber material, and first knuckle, second knuckle and slide body, slider table face shield all adopt NYLON610.
5. high activation lacking mechanical finger device that employing is installed according to claim 1 is characterized in that: this device comprises a plurality of dactylus and a plurality ofly owes to drive the joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02153489 CN1215926C (en) | 2002-11-29 | 2002-11-29 | Under driving mechanical finger device capable of shape self adaptation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02153489 CN1215926C (en) | 2002-11-29 | 2002-11-29 | Under driving mechanical finger device capable of shape self adaptation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1410233A true CN1410233A (en) | 2003-04-16 |
| CN1215926C CN1215926C (en) | 2005-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02153489 Expired - Fee Related CN1215926C (en) | 2002-11-29 | 2002-11-29 | Under driving mechanical finger device capable of shape self adaptation |
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| CN (1) | CN1215926C (en) |
Cited By (22)
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| CN1292719C (en) * | 2004-02-11 | 2007-01-03 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
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| CN1292719C (en) * | 2004-02-11 | 2007-01-03 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
| CN100336639C (en) * | 2006-01-20 | 2007-09-12 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
| CN100450731C (en) * | 2007-04-06 | 2009-01-14 | 清华大学 | Tendon-channel under-driven mechanical finger device |
| CN101518903B (en) * | 2009-03-27 | 2011-01-05 | 清华大学 | Crank block type under-actuated robot finger device |
| CN101653941B (en) * | 2009-09-11 | 2011-01-05 | 清华大学 | Sliding block type direct under-actuated bionic hand device with changeable holding power |
| CN101941204A (en) * | 2010-03-12 | 2011-01-12 | 清华大学 | Double-slider-type parallel coupling under-actuated robot finger device |
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| CN101941207A (en) * | 2010-03-12 | 2011-01-12 | 清华大学 | Double-rack slider type parallel finger device integrating coupling and under-actuation |
| CN101941207B (en) * | 2010-03-12 | 2012-06-27 | 清华大学 | Double-rack slider type parallel finger device integrating coupling and under-actuation |
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