CN101474795A - Pre-bend coupling under-actuated three-joint robot finger device - Google Patents
Pre-bend coupling under-actuated three-joint robot finger deviceDownload PDFInfo
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- CN101474795A CN101474795ACNA2009100009490ACN200910000949ACN101474795ACN 101474795 ACN101474795 ACN 101474795ACN A2009100009490 ACNA2009100009490 ACN A2009100009490ACN 200910000949 ACN200910000949 ACN 200910000949ACN 101474795 ACN101474795 ACN 101474795A
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Abstract
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of pre-bend coupling under-actuated three-joint robot finger device.
Background technology
The anthropomorphic robot is the leading-edge field of robot research all the time, realizes that by imitation human action realizes that intellectuality is the important research direction in this field always.And with human own the same, most of function of anthropomorphic robot also realizes by hand.Therefore, the research of robot becomes one of key technology of robot research.
The robot of realizing staff extracting function mainly contains Dextrous Hand and owes to drive hand two big classes, and Dextrous Hand generally has 3～5 fingers, and eachpoints 2～4 joint freedom degrees, and most joints are the active joint that motor, air muscle, hydraulic pressure etc. drive.Dextrous Hand can be made the exercises of staff, comprises grasping and operate two kinds of actions.The major advantage of Dextrous Hand be can be flexibly initiatively extracting object, and good grasp stability arranged, its deficiency is that the shape and size to object adapt to (self-adapting grasping) automatically can not realize grasping object the time, cause sensing and control system to be required high, system complex, cost height, reliability are low.
Activation lacking mechanical finger can overcome the some shortcomings of the pure active drive multi-joint finger of Dextrous Hand, owes the machine driven staff as main design realization height and is more and more being paid attention to over past ten years.For example, with the under-actuated finger with a motor, two cradle heads is example, this finger apparatus comprises pedestal, nearly joint, the centre section of finger, joint far away, the end section of finger, initial time is pointed and is straight configuration, and this moment, motor rotated, whole finger rotates around its nearly joint, when the centre section of finger touch object be blocked motionless after, motor continue to drive joint far away and the end section of finger is rotated, thereby realizes that a motor drives the driving purposes of owing of two joints rotations successively.The advantage of activation lacking mechanical finger is to adapt to body form and size automatically, reaches the purpose of self-adapting grasping, has reduced the requirement to sensing and control system.But the deficiency of activation lacking mechanical finger is: its finger initial configuration is fixing (stretches or be certain angle of bend), and this and staff Grasp Modes have more different, personalize inadequately, are not easy to the object of some size, shape is stablized extracting.During people's hand grip different size object, finger just need not bend to certain angle in advance before also touching object, only in this way just can better grasp.For example, before staff was gripping small-size object, four referred to that (being forefinger, middle finger, the third finger and little finger of toe) middle joint is crooked in advance than wide-angle, refer to that up to four end and thumb end are close, and grasp afterwards again.And finger crooked angle be to need to regulate for the object of different size.And traditional under-actuated finger cannot be implemented in the rotation of touching joint in the middle of this before the object, thereby be difficult to realize personalizing more grasping movement and grabbing object effect more stably.In addition, do not grab object when having and carry out simple clenching fist during action, whole finger can only be straight configuration and rotate around nearly joint shaft, and this and can moving around clenching fist of middle arthrogryposis of staff greatly differ from each other, and have influenced the action effect that personalizes of robot.
Existing a kind of belt wheel formula under-actuated robot finger device (Chinese invention patent CN101234489A) comprises pedestal, motor, decelerator, nearly joint shaft, gear drive, belt wheel transmission mechanism, the middle part section of finger, joint shaft far away, the end section of finger and spring spare.Motor rotates the end section of finger by decelerator, gear and belt wheel transmission mechanism thereupon.Because the effect of contraction of spring is maintained fixed middle part section of finger and the terminal section of finger before not touching object straight configuration (angle between middle part section of finger and the terminal section of finger is the straight angle), have only when the middle part section of finger contact object is blocked, the end section of finger is just rotated with joint shaft far away, realizes finger object that crooked envelope grasps.The weak point of this device is that the middle part section of finger and the end section of finger can only be straight configuration before the contact object, does as a wholely around nearly joint shaft rotation, has influenced the extracting effect.Also having a kind of belt wheel multi-joint high under-driven robot finger device (Chinese invention patent CN101214649A) is a multiarticulate under-actuated finger device, also has above-mentioned same weak point.Simultaneously, consider the actual conditions of finger, terminal joint usually and the joint, middle part rotate synchronously, the two rotational angle has certain synergy, two kinds of devices all can't satisfy this effect.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of pre-bend coupling under-actuated three-joint robot finger device is provided, it can the free adjustment second joint the initial angle state, realize the coupling in second joint and the 3rd joint simultaneously, the extracting effect that has automatic adaptation body form, size when guaranteeing to grasp object simultaneously, profile, action are similar to people's finger, and the finger that can be used as anthropomorphic robot's hand uses.
Technical scheme of the present invention is as follows:
A kind of pre-bend coupling under-actuated three-joint robot finger device of the present invention comprises pedestal, first motor, first transmission mechanism, first joint shaft, second transmission mechanism, the first middle part section of finger, second joint axle, the second middle part section of finger and the first spring spare; Described first motor and pedestal are affixed, and the output shaft of first motor links to each other with first joint shaft by first transmission mechanism, and first transmission mechanism is delivered to the rotational power of the output shaft of first motor on first joint shaft; Described first joint shaft is set in the pedestal, the described first middle part section of finger is socketed on first joint shaft, the second joint axle sleeve is located in the first middle part section of finger, and the second middle part section of finger is fixed on the second joint axle, and first joint shaft and second joint axle are parallel to each other; Described first joint shaft links to each other with the second joint axle by second transmission mechanism, and second transmission mechanism is delivered to the rotational power of first joint shaft on the second joint axle, and first joint shaft is identical with the rotation direction of second joint axle; The two ends of the described first spring spare connect the first middle part section of finger and the second middle part section of finger respectively; It is characterized in that: this pre-bend coupling under-actuated three-joint robot finger device also comprises second motor, the 3rd transmission mechanism, flexible piece, the second spring spare, first rope sheave, the first tendon rope, the second tendon rope, second rope sheave, the 3rd joint shaft and the end section of finger; Described the 3rd joint shaft is set in the second middle part section of finger, and the end section of finger is fixed on the 3rd joint shaft, and the 3rd joint shaft and second joint axle are parallel to each other; Described second motor and the first middle part section of finger are affixed, the output shaft of described second motor links to each other with an end of flexible piece by the 3rd transmission mechanism, the other end of flexible piece connects the second middle part section of finger, and the 3rd transmission mechanism is delivered to the rotational power of the output shaft of second motor on the flexible piece; The described second spring spare is installed in series from first joint shaft to second transmission mechanism again to the driving-chain of second joint axle as connector; Described first rope sheave is socketed on the second joint axle, and first rope sheave and the first middle part section of finger are affixed; Second rope sheave is fixed on the 3rd joint shaft; The described first tendon rope is wrapped on first rope sheave and second rope sheave and becomes " Z " font, and the two ends of the first tendon rope are affixed with first rope sheave, second rope sheave respectively; The described second tendon rope is wrapped on first rope sheave and second rope sheave and becomes " S " font, and the two ends of the second tendon rope are affixed with first rope sheave, second rope sheave respectively, and the first tendon rope and the second tendon rope are crossed as the figure of eight.
Pre-bend coupling under-actuated three-joint robot finger device of the present invention is characterized in that: described second transmission mechanism comprises driving wheel, driving member and driven pulley; Described driving wheel links to each other with first joint shaft as the input component of second transmission mechanism, and described driven pulley links to each other with the second joint axle as the output of second transmission mechanism, and described driving member connects driving wheel and driven pulley; Described driving member adopts flat rubber belting, cog belt, tendon rope or chain, described driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, described driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described driving member, driving wheel and the driven pulley three.
Pre-bend coupling under-actuated three-joint robot finger device of the present invention, it is characterized in that: described the 3rd transmission mechanism comprises initiatively screw element and slave thread spare, described active screw element links to each other with the output shaft of second motor as the input component of the 3rd transmission mechanism, described active screw element and slave thread spare form the screw thread drive connection, described slave thread spare links to each other with an end of flexible piece as the output of the 3rd transmission mechanism, and slave thread spare is embedded in the first middle part section of finger and can slides; Described active screw element adopts the screwed pipe that has externally threaded screw mandrel or have internal thread, and then corresponding employing of described slave thread spare has the nut of internal thread or have externally threaded screw mandrel.
Pre-bend coupling under-actuated three-joint robot finger device of the present invention is characterized in that: one or more combination in described first spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.
Pre-bend coupling under-actuated three-joint robot finger device of the present invention is characterized in that: one or more combination in described second spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.
Pre-bend coupling under-actuated three-joint robot finger device of the present invention is characterized in that: one or more combination in described flexible piece employing rope, band, muscle, silk or the chain.
Pre-bend coupling under-actuated three-joint robot finger device of the present invention is characterized in that: the described first tendon rope and the second tendon rope all adopt steel wire, rope, band or chain; First rope sheave and second rope sheave all adopt rope sheave, belt wheel or sprocket wheel.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention utilize bi-motor, transmission mechanism, flexible piece and spring spare comprehensively to realize the self-adapting grasping special-effect of finger variable initial configuration and part coupling.This device is coupled crooked to reach good preparation extracting attitude in extracting front curve second middle part section of finger and the terminal section of finger automatically.This device first middle part section of finger when grasping is owed type of drive with the second middle part section of finger according to self adaptation and is grasped object.This device can be regulated different finger original configuration, better improves the stability that grasps.The be coupled motion of the second middle part section of finger and the 3rd middle part section of finger of this device imitation staff makes robot more approach staff, has saved the free degree simultaneously, has reduced the requirement to sensor and control system.This apparatus structure compactness, volume are little, form and action more levels off to staff, can stablize the object that grasps and adapt to different shape, size automatically, and the finger or the finger part that are suitable as anthropomorphic robot's hand are used.
Description of drawings
Fig. 1 is the front section view of a kind of embodiment of pre-bend coupling under-actuated three-joint robot finger device provided by the invention.
Fig. 2 is C-C cutaway view embodiment illustrated in fig. 1.
Fig. 3 is B-B cutaway view embodiment illustrated in fig. 1.
Fig. 4 is A-A cutaway view embodiment illustrated in fig. 1.
Fig. 5 is a front appearance view (being the external view of Fig. 1) embodiment illustrated in fig. 1.
Fig. 6 is a right side external view (being the external view of Fig. 2) embodiment illustrated in fig. 1.
Fig. 7 is the first spring spare scheme of installation of present embodiment.
Fig. 8 is D-D cutaway view (having shown the scheme of installation of nut in the first middle part section of finger) embodiment illustrated in fig. 1.
Fig. 9 is the scheme of installation of the second spring spare of present embodiment.
Figure 10 is E-E cutaway view (having shown the scheme of installation of first rope sheave in the first middle part section of finger) embodiment illustrated in fig. 1.
Figure 11, Figure 12, Figure 13, Figure 14, Figure 15 are that present embodiment does not have the process that grasps object when prebending joint, first middle part.
Figure 16, Figure 17, Figure 18, Figure 19, Figure 20 are that present embodiment prebends and grasps the process of object after the joint, first middle part.
In Fig. 1 to Figure 20:
1-pedestal, 2-the first motor, 3-the first transmission mechanism,
4-the first joint shaft, 5-the first middle part section of finger, 6-the second transmission mechanism,
7-second joint axle, 8-the first spring spare, 9-the second motor,
10-the three transmission mechanism, 11-flexible piece, 12-the second middle part section of finger,
13-the first rope sheave, 15-the three joint shaft, 16-end section of finger,
17-the second spring spare, 21-decelerator, 22-the first gear,
23-the second gear, 24-driving wheel, 25-driving member,
26-driven pulley, 27-screw mandrel, 28-nut,
29-the first tendon rope, 30-the second tendon rope, 31-the second rope sheave.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
The embodiment of the pre-bend coupling under-actuated three-joint robot finger device of the present invention's design, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, comprisepedestal 1,first motor 2,first transmission mechanism 3, firstjoint shaft 4,second transmission mechanism 6, the first middle part section offinger 5,second joint axle 7, the second middle part section offinger 12 and the first spring spare 8; Describedfirst motor 2 is affixed withpedestal 1, and the output shaft offirst motor 2 links to each other with firstjoint shaft 4 byfirst transmission mechanism 3, andfirst transmission mechanism 3 is delivered to the rotational power of the output shaft offirst motor 2 on firstjoint shaft 4 and makes its rotation; Described firstjoint shaft 4 is set in thepedestal 1, the described first middle part section offinger 5 is socketed onfirst joint shaft 4,second joint axle 7 is set in the first middle part section offinger 5, and the second middle part section offinger 12 is fixed on thesecond joint axle 7, and firstjoint shaft 4 and secondjoint axle 7 are parallel to each other; Described firstjoint shaft 4 links to each other with secondjoint axle 7 bysecond transmission mechanism 6, andsecond transmission mechanism 6 is delivered to the rotational power of firstjoint shaft 4 and makes its rotation on thesecond joint axle 7, and firstjoint shaft 4 is identical with the rotation direction of secondjoint axle 7; The two ends of the described first spring spare 8 connect the first middle part section offinger 5 and the second middle part section offinger 12 respectively; This pre-bend coupling under-actuated three-joint robot finger device also comprisessecond motor 9, the3rd transmission mechanism 10,flexible piece 11, the second spring spare 17,first rope sheave 13, thefirst tendon rope 29, thesecond tendon rope 30,second rope sheave 31, the3rd joint shaft 15 and the end section offinger 16; Described the3rd joint shaft 15 is set in the second middle part section offinger 12, and the end section offinger 16 is fixed on the3rd joint shaft 15, and the3rd joint shaft 15 and secondjoint axle 7 are parallel to each other; Describedsecond motor 9 and the first middle part section offinger 5 are affixed, the output shaft of describedsecond motor 9 links to each other with an end offlexible piece 11 by the3rd transmission mechanism 10, the other end offlexible piece 11 connects the second middle part section of finger, 12, the threetransmission mechanisms 10 and the rotational power of the output shaft ofsecond motor 9 is delivered to makes the one end motion on theflexible piece 11; The describedsecond spring spare 17 is installed in series from first joint shaft, 4 tosecond transmission mechanisms 6 again to the driving-chain of secondjoint axle 7 as connector; Describedfirst rope sheave 13 is socketed on the secondjoint axle 7, andfirst rope sheave 13 and the first middle part section offinger 5 are affixed;Second rope sheave 31 is fixed on the3rd joint shaft 15; The describedfirst tendon rope 29 is wrapped onfirst rope sheave 13 andsecond rope sheave 31 and becomes " Z " font, and the two ends of thefirst tendon rope 29 are affixed withfirst rope sheave 13,second rope sheave 31 respectively; The describedsecond tendon rope 30 is wrapped onfirst rope sheave 13 andsecond rope sheave 31 and becomes " S " font, and the two ends of thesecond tendon rope 30 are affixed withfirst rope sheave 13,second rope sheave 31 respectively, and thefirst tendon rope 29 and thesecond tendon rope 30 are crossed as the figure of eight.
In the present embodiment, describedsecond transmission mechanism 6 comprisesdriving wheel 24, drivingmember 25 and drivenpulley 26; Describeddriving wheel 24 links to each other with firstjoint shaft 4 as the input component ofsecond transmission mechanism 6, and described drivenpulley 26 links to each other with secondjoint axle 7 as the output ofsecond transmission mechanism 6, and describeddriving member 25 connectsdriving wheel 24 and drivenpulley 26.
Among the present invention, described driving member adopts flat rubber belting, cog belt, tendon rope or chain, described driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, described driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described driving member, driving wheel and the driven pulley three.
In the present embodiment, describeddriving member 25 adopts flat rubber belting, and describeddriving wheel 24 adopts belt wheel, and described drivenpulley 26 adopts belt wheel, can cooperate between describeddriving member 24,driving wheel 25 and drivenpulley 26 threes to form the flat tyre wheel drive connection.
Among the present invention, described the 3rd transmission mechanism comprises initiatively screw element and slave thread spare, described active screw element links to each other with the output shaft of second motor as the input component of the 3rd transmission mechanism, described active screw element and slave thread spare form the screw thread drive connection, described slave thread spare links to each other with an end of flexible piece as the output of the 3rd transmission mechanism, and slave thread spare is embedded in the first middle part section of finger and can slides; Described active screw element adopts the screwed pipe that has externally threaded screw mandrel or have internal thread, and then corresponding employing of described slave thread spare has the nut of internal thread or have externally threaded screw mandrel.
In the present embodiment, described the3rd transmission mechanism 10 comprises initiatively screw element and slave thread spare, described active screw element links to each other with the output shaft ofsecond motor 9 as the input component of the3rd transmission mechanism 10, described active screw element and slave thread spare form the screw thread drive connection, described slave thread spare links to each other with an end offlexible piece 11 as the output of the3rd transmission mechanism 10, and slave thread spare is embedded in the first middle part section offinger 5 and can slides; Described active screw element adopts has externally threadedscrew mandrel 27, the then correspondingnut 28 with internal thread that adopts of described slave thread spare.
Among the present invention, one or more combination in described first spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.
In the present embodiment, the described first spring spare 8 adopts torsion spring.
Among the present invention, one or more combination in described second spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.
In the present embodiment, the described second spring spare 17 adopts torsion spring.
Among the present invention, one or more combination in described flexible piece employing rope, band, muscle, silk or the chain.
In the present embodiment, describedflexible piece 11 adopts rope.
Among the present invention, the described first tendon rope and the second tendon rope all adopt steel wire, rope, band or chain; First rope sheave and second rope sheave all adopt rope sheave, belt wheel or sprocket wheel.
In the present embodiment, the describedfirst tendon rope 29 and thesecond tendon rope 30 all adopt steel wire.
In the present embodiment,first transmission mechanism 3 comprises thatfirst gear 22 and second gear, 23, thefirst motors 2 comprise thatdecelerator 21, thefirst motors 2 drivefirst gear 22 bydecelerator 21 and rotate,second gear 23 andfirst gear 22 are meshing with each other, andsecond gear 23 is fixed on firstjoint shaft 4.
Narrate the operation principle of embodiment below in conjunction with Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20.Be divided into three kinds of situation explanations.
(a) second joint and the 3rd joint are coupled, and its action effect and operation principle are described below.
The forward rotation of second joint axle 7 (forward rotation refers to the crooked object that grasps of this finger) will cause the forward rotation (with respect to first middle part refer tosection 5 rotate) of the second middle part section offinger 12 around secondjoint axle 7 center lines, again becausefirst rope sheave 13 is fixed in the first middle part section offinger 5, therefore, with the second middle part section offinger 12 is that reference system is observed first rope sheave, 13 meeting discoveries,first rope sheave 13 in " counter-rotating ", this counter-rotating (comprisesfirst rope sheave 13 by figure of eight rope sheave transmission mechanism, thefirst tendon rope 29, thesecond tendon rope 30 and second rope sheave 31) can cause the forward rotation (this momentsecond tendon rope 30 brought into play effect that forward draw commentaries on classics second rope sheave 31) ofsecond rope sheave 31 with respect to the second middle part section offinger 12, so the end section offinger 16 forward rotation an angle, promptly realized the rotation of the 3rd joint (corresponding to the center line of the 3rd joint shaft 15), this second joint (corresponding to the center line of second joint axle 7) rotates the rotation that brings the corresponding rotation in the 3rd joint to be called two joints and is coupled.For example, when the radius offirst rope sheave 13 andsecond rope sheave 31 is identical, be coupling in 1: 1, promptly the 3rd joint is identical with the rotational angle of second joint.
(b) first joint and second joint are that driving relationship is owed in a kind of decoupling zero, and its course of action and operation principle are described below.
The output shaft offirst motor 2 rotates, be sent tofirst gear 22 byfirst decelerator 21,first gear 22 drivessecond gear 23 and rotates,second gear 23 drives firstjoint shaft 4 and rotates, firstjoint shaft 4 drivesdriving wheel 24 by the second spring spare 17 and rotates, rotate bydriving member 25 pulling drivenpulleys 26, drivenpulley 26 drives the second middle part section offinger 12 by secondjoint axle 7 and rotates around the center line of secondjoint axle 7, because the spring force constraint of thefirst spring spare 8 is arranged between the first middle part section offinger 5 and the second middle part section offinger 12, therefore, the rotation offirst motor 2 will make the whole first middle part section offinger 5, the second middle part section offinger 12 is center line around firstjoint shaft 4 of an integral body and rotates.Touch that object is blocked and no longer rotate up to the first middle part section offinger 5, this moment,first motor 2 was rotated further, and will cause the first spring spare 8 to be forced to distortion, and the second middle part section offinger 12 is walked around the center line rotation of secondjoint axle 7.
(c) because the comprehensive function ofsecond motor 2, the3rd transmission mechanism 10,flexible piece 11 and the second spring spare 17 etc. makes the present embodiment device to adopt stretches or the finger gesture of crooked certain angle when being about to grasp object, this be called have a prebuckling effect owe to drive grasping movement, its course of action and operation principle are described below.
Second motor 9 and first motor 2 will successively use successively.At first only allow second motor 9 work, its output shaft rotates, drive 10 work of the 3rd transmission mechanism, be specially herein and drive screw mandrel 27 rotations, driving nut 28 moves down, nut 28 pulls an end of flexible piece 11 (being rope herein) downwards, flexible piece 11 (rope) the pulling second middle part section of finger 12 rotates, this moment, the first spring spare 8 deformed, because the second middle part section of finger 12 rotates by second joint axle 7, driven pulley 26 and driving member 25 pulling driving wheels 24, the second spring spare 17 deforms simultaneously.At this moment, second motor 9 quits work and no longer rotates, and this moment, the second middle part section of finger 12 was rotated an angle.Can be crooked because flexible piece 11 (rope) cannot be pulled, thereby it has played the unilateral constrain effect to the slewing area of the second middle part section of finger 12, be flexible piece 11 limited the second middle part section of finger 12 can not be toward getting back to the initial position that stretches, but the second middle part section of finger 12 can continue to rotate forward (this moment, flexible piece 11 was in lax case of bending) under other mechanism's effects, therefore, the state of this finger second joint bending this moment is determined as the follow-up initial position of owing to drive grasping movement.The doublejointed of realizing during first motor, 2 work afterwards (referring to first joint and second joint) is owed to drive the extracting process and still can normally be carried out.Aforementioned process can the free adjustment second middle part section of finger 12 rotational angles, in case adjusting is finished second motor 9 and is just quit work, after this transferring first motor 2 to starts working again, the subsequent rotation extracting object process of finger is identical with aforementioned (b) process during first motor, 2 work afterwards, and just the initial attitude of finger has become crooked state.
In sum, in the actual motion, present embodiment is operated under any combination of above-mentioned (a) and (b), (c) three kinds of situations.Many is two kinds of combinations: a kind of be (a) with (b), its process such as Figure 11, Figure 12, Figure 13, Figure 14 and shown in Figure 15; Also have a kind of be (a) and (b) with (c), its course of action such as Figure 16, Figure 17, Figure 18, Figure 19 and shown in Figure 20.
Apparatus of the present invention utilize bi-motor, transmission mechanism, flexible piece and spring spare comprehensively to realize the self-adapting grasping special-effect of finger variable initial configuration and part coupling.This device is coupled crooked to reach good preparation extracting attitude in extracting front curve second middle part section of finger and the terminal section of finger automatically.This device first middle part section of finger when grasping is owed type of drive with the second middle part section of finger according to self adaptation and is grasped object.
Claims (7)
1. a pre-bend coupling under-actuated three-joint robot finger device comprises pedestal (1), first motor (2), first transmission mechanism (3), first joint shaft (4), second transmission mechanism (6), the first middle part section of finger (5), second joint axle (7), the second middle part section of finger (12) and the first spring spare (8); Described first motor and pedestal are affixed, and the output shaft of first motor links to each other with first joint shaft by first transmission mechanism, and first transmission mechanism is delivered to the rotational power of the output shaft of first motor on first joint shaft; Described first joint shaft is set in the pedestal, the described first middle part section of finger is socketed on first joint shaft, the second joint axle sleeve is located in the first middle part section of finger, and the second middle part section of finger is fixed on the second joint axle, and first joint shaft and second joint axle are parallel to each other; Described first joint shaft links to each other with the second joint axle by second transmission mechanism, and second transmission mechanism is delivered to the rotational power of first joint shaft on the second joint axle, and first joint shaft is identical with the rotation direction of second joint axle; The two ends of the described first spring spare connect the first middle part section of finger and the second middle part section of finger respectively; It is characterized in that: this pre-bend coupling under-actuated three-joint robot finger device also comprises second motor (9), the 3rd transmission mechanism (10), flexible piece (11), the second spring spare (17), first rope sheave (13), the first tendon rope (29), the second tendon rope (30), second rope sheave (31), the 3rd joint shaft (15) and the end section of finger (16); Described the 3rd joint shaft is set in the second middle part section of finger, and the end section of finger is fixed on the 3rd joint shaft, and the 3rd joint shaft and second joint axle are parallel to each other; Described second motor and the first middle part section of finger are affixed, the output shaft of described second motor links to each other with an end of flexible piece by described the 3rd transmission mechanism, the other end of flexible piece connects the second middle part section of finger, and the 3rd transmission mechanism is delivered to the rotational power of the output shaft of second motor on the flexible piece; The described second spring spare is installed in series from first joint shaft to second transmission mechanism again to the driving-chain of second joint axle as connector; Described first rope sheave is socketed on the second joint axle, and first rope sheave and the first middle part section of finger are affixed; Second rope sheave is fixed on the 3rd joint shaft; The described first tendon rope is wrapped on first rope sheave and second rope sheave and becomes " Z " font, and the two ends of the first tendon rope are affixed with first rope sheave, second rope sheave respectively; The described second tendon rope is wrapped on first rope sheave and second rope sheave and becomes " S " font, and the two ends of the second tendon rope are affixed with first rope sheave, second rope sheave respectively, and the first tendon rope and the second tendon rope are crossed as the figure of eight.
2. pre-bend coupling under-actuated three-joint robot finger device as claimed in claim 1 is characterized in that: described second transmission mechanism comprises driving wheel (24), driving member (25) and driven pulley (26); Described driving wheel links to each other with first joint shaft as the input component of second transmission mechanism, and described driven pulley links to each other with the second joint axle as the output of second transmission mechanism, and described driving member connects driving wheel and driven pulley; Described driving member adopts flat rubber belting, cog belt, tendon rope or chain, described driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel, described driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described driving member, driving wheel and the driven pulley three.
3. pre-bend coupling under-actuated three-joint robot finger device as claimed in claim 1, it is characterized in that: described the 3rd transmission mechanism comprises initiatively screw element and slave thread spare, described active screw element links to each other with the output shaft of second motor as the input component of the 3rd transmission mechanism, described active screw element and slave thread spare form the screw thread drive connection, described slave thread spare links to each other with an end of flexible piece as the output of the 3rd transmission mechanism, and slave thread spare is embedded in the first middle part section of finger and can slides; Described active screw element adopts the screwed pipe that has externally threaded screw mandrel or have internal thread, and then corresponding employing of described slave thread spare has the nut of internal thread or have externally threaded screw mandrel.
4. pre-bend coupling under-actuated three-joint robot finger device as claimed in claim 1 is characterized in that: one or more combination in described first spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.
5. pre-bend coupling under-actuated three-joint robot finger device as claimed in claim 1 is characterized in that: one or more combination in described second spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.
6. pre-bend coupling under-actuated three-joint robot finger device as claimed in claim 1 is characterized in that: one or more combination in described flexible piece employing rope, band, muscle, silk or the chain.
7. pre-bend coupling under-actuated three-joint robot finger device as claimed in claim 1 is characterized in that: the described first tendon rope and the second tendon rope all adopt steel wire, rope, band or chain; First rope sheave and second rope sheave all adopt rope sheave, belt wheel or sprocket wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100009490ACN101474795B (en) | 2009-01-23 | 2009-01-23 | Pre-bend coupling under-actuated three-joint robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100009490ACN101474795B (en) | 2009-01-23 | 2009-01-23 | Pre-bend coupling under-actuated three-joint robot finger device |
Publications (2)
| Publication Number | Publication Date |
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| CN101474795Atrue CN101474795A (en) | 2009-07-08 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797753A (en)* | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| CN101664929B (en)* | 2009-09-11 | 2011-01-05 | 清华大学 | Rack type parallel coupling underactuated robot finger device |
| CN101633170B (en)* | 2009-07-31 | 2011-02-16 | 清华大学 | Finger device of coupling three-joint robot |
| CN102873689A (en)* | 2012-10-24 | 2013-01-16 | 中南大学 | Multimode under-actuated human finger simulation device with quick reflex grabbing function |
| CN102896637A (en)* | 2012-05-11 | 2013-01-30 | 中南大学 | Coupling-self-adaptive under-actuated prosthetic finger device with function of rapidly reflecting to grab |
| CN102896636A (en)* | 2012-03-28 | 2013-01-30 | 中南大学 | Differential gear train coupled adaptive under-actuated finger device |
| RU2481069C1 (en)* | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Device of intermediate turn of operational elements of multifunctional diagnostic-surgical robotic system of operation table with possibility of information-computer control named after yirusanov |
| CN111633669A (en)* | 2019-03-01 | 2020-09-08 | 哈尔滨工业大学 | Modular three-degree-of-freedom tendon-rope-driven humanoid dexterous robotic finger and control method |
| CN112706150A (en)* | 2020-12-17 | 2021-04-27 | 武汉大学 | Wearable external limb auxiliary grabbing device and control method |
| CN113084868A (en)* | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Flexible finger rigidity testing system |
| CN113618761A (en)* | 2021-08-10 | 2021-11-09 | 程少如 | Flexible part transmission displacement self-adaptive robot finger device |
| CN117984142A (en)* | 2024-04-02 | 2024-05-07 | 深圳市超睿自动化技术有限公司 | Automatic feeding and discharging flexible paw of machine tool |
- 2009
- 2009-01-23CNCN2009100009490Apatent/CN101474795B/ennot_activeExpired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633170B (en)* | 2009-07-31 | 2011-02-16 | 清华大学 | Finger device of coupling three-joint robot |
| CN101664929B (en)* | 2009-09-11 | 2011-01-05 | 清华大学 | Rack type parallel coupling underactuated robot finger device |
| CN101797753A (en)* | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| RU2481069C1 (en)* | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Device of intermediate turn of operational elements of multifunctional diagnostic-surgical robotic system of operation table with possibility of information-computer control named after yirusanov |
| CN102896636A (en)* | 2012-03-28 | 2013-01-30 | 中南大学 | Differential gear train coupled adaptive under-actuated finger device |
| CN102896637A (en)* | 2012-05-11 | 2013-01-30 | 中南大学 | Coupling-self-adaptive under-actuated prosthetic finger device with function of rapidly reflecting to grab |
| CN102896637B (en)* | 2012-05-11 | 2016-12-14 | 中南大学 | A kind of coupling adaptive drive lacking prosthetic finger device with quick reflex crawl function |
| CN102873689A (en)* | 2012-10-24 | 2013-01-16 | 中南大学 | Multimode under-actuated human finger simulation device with quick reflex grabbing function |
| CN111633669A (en)* | 2019-03-01 | 2020-09-08 | 哈尔滨工业大学 | Modular three-degree-of-freedom tendon-rope-driven humanoid dexterous robotic finger and control method |
| CN112706150A (en)* | 2020-12-17 | 2021-04-27 | 武汉大学 | Wearable external limb auxiliary grabbing device and control method |
| CN112706150B (en)* | 2020-12-17 | 2022-06-07 | 武汉大学 | A wearable external limb auxiliary grasping device and control method |
| CN113084868A (en)* | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Flexible finger rigidity testing system |
| CN113084868B (en)* | 2021-03-24 | 2022-08-30 | 北京航空航天大学 | Flexible finger rigidity testing system |
| CN113618761A (en)* | 2021-08-10 | 2021-11-09 | 程少如 | Flexible part transmission displacement self-adaptive robot finger device |
| CN117984142A (en)* | 2024-04-02 | 2024-05-07 | 深圳市超睿自动化技术有限公司 | Automatic feeding and discharging flexible paw of machine tool |
| CN117984142B (en)* | 2024-04-02 | 2024-07-12 | 深圳市超睿自动化技术有限公司 | Automatic feeding and discharging flexible paw of machine tool |
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