CN102039598A - Dual-connecting rod slider type coupling adaptive under-actuated robot finger device - Google Patents

Abstract

Translated fromChinese

双连杆滑块式耦合自适应欠驱动机器人手指装置，属于拟人机器人手技术领域。该装置包括基座、近关节轴、第一指段、远关节轴、第二指段、电机、两套曲柄滑块传动机构和簧件。该装置实现了1:1耦合转动与欠驱动转动紧密结合的传动效果，能耦合拟人化抓取，且具备欠驱动自适应功能。整个手指指节采用相同的传动机构，其结构简洁，制造加工成本低；将耦合传动与欠驱动传动有机融合起来，利用滑块活接触方式实现自然解耦，此解耦不消耗电机功率，能量利用率高。该装置结构紧凑，传动平稳精确，制造和维护成本低，外形与人手指相似，可以作为机器人手的一个手指或手指的一部分，也可以用多个手指组合成为机器人手，用以达到拟人机器人手高关节自由度、高自适应性的优良效果。

The utility model relates to a dual-link sliding block coupling self-adaptive underactuated robot finger device, which belongs to the technical field of anthropomorphic robot hands. The device comprises a base, a near-joint shaft, a first finger section, a far-joint shaft, a second finger section, a motor, two sets of crank slider transmission mechanisms and spring parts. The device realizes the transmission effect of the close combination of 1:1 coupling rotation and underactuation rotation, can couple anthropomorphic grasping, and has an underactuation self-adaptive function. The entire finger knuckle adopts the same transmission mechanism, which has a simple structure and low manufacturing and processing costs; organically integrates coupling transmission and under-actuated transmission, and uses the sliding block to realize natural decoupling. This decoupling does not consume motor power and energy. High utilization rate. The device has a compact structure, stable and precise transmission, low manufacturing and maintenance costs, and is similar in shape to a human finger. It can be used as a finger or a part of a robot hand, or a robot hand can be combined with multiple fingers to achieve anthropomorphic robot hands. Excellent effect of high joint freedom and high adaptability.

Description

Translated fromChinese

双连杆滑块式耦合自适应欠驱动机器人手指装置Dual-link slider coupling adaptive underactuated robot finger device

技术领域technical field

本发明属于机器人手技术领域，特别涉及一种双连杆滑块式耦合自适应欠驱动机器人手指装置的结构设计。The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a double-link slider type coupling self-adaptive underactuated robot finger device.

背景技术Background technique

机器人手作为机器人不可或缺的一部分，相对于机器人的其它部分，机器人手具有关节自由度多、体积小，非常灵巧、控制复杂等特点与难点。机器人手主要用于对物体的抓持和空间移动以及做手势等其它手部动作。目前现有的灵巧手虽然控制灵活，但由于其电机和传感器数量多，其结构非常复杂，控制难度相当大，制造和维护成本非常高，这些因素阻碍了灵巧手型机器人手在现实生活中的广泛推广应用。近年来快速发展的耦合抓取型机器人手和欠驱动抓取型机器人手虽然不具备灵巧手的高灵活度，但是电机数量少，结构简单，控制容易，大大降低了制造和使用成本，并且能较好抓取常见物体，成为发展和研究的热点。As an indispensable part of the robot, the robot hand has many joint freedoms, small size, very dexterous, complex control and other characteristics and difficulties compared with other parts of the robot. The robot hand is mainly used for grasping objects, moving in space, and making gestures and other hand movements. Although the existing dexterous hands are flexible in control, due to the large number of motors and sensors, their structures are very complex, the control is quite difficult, and the manufacturing and maintenance costs are very high. These factors hinder the application of dexterous hand-type robot hands in real life Widely promote and apply. Although the coupled grasping robot hand and the underactuated grasping robot hand developed rapidly in recent years do not have the high flexibility of the dexterous hand, they have a small number of motors, a simple structure, and easy control, which greatly reduces the cost of manufacturing and use, and can Better grasping of common objects has become a hotspot of development and research.

已有的一种双关节并联欠驱动机器人手指装置，如中国发明专利CN101633171A，包括基座、电机、近关节轴、远关节轴和末端指段，还包括分别实现耦合和欠驱动转动的传动机构以及多个簧件解耦装置等。当手指碰触物体前实现多关节耦合转动的效果，当手指碰触物体后采用多关节欠驱动方式抓取物体。该装置的不足之处为：该装置由于采用了两套传动机构分别实现耦合和欠驱动抓取，使得整个手指结构复杂，制造加工成本高；该装置耦合传动机构和欠驱动传动机构相互影响，虽然采用了3个簧件来解耦，但内耗了电机的功率；该装置的两套传动机构平行排列，再加上多个簧件在关节轴上安装，致使手指过于粗大；该装置的两套传动机构均采用柔性传动件，容易松动产生间隙，传动不够精确，要实现良好效果，还需要预紧装置，进一步增加制造、安装和维护成本和难度。An existing double-joint parallel underactuated robot finger device, such as the Chinese invention patent CN101633171A, includes a base, a motor, a proximal joint shaft, a distal joint shaft, and a terminal finger segment, and also includes a transmission mechanism for respectively realizing coupling and underactuated rotation And multiple spring decoupling devices, etc. When the finger touches the object, the effect of multi-joint coupling rotation is realized, and when the finger touches the object, the multi-joint underactuation method is used to grasp the object. The disadvantages of this device are: the device adopts two sets of transmission mechanisms to achieve coupling and under-actuated grasping respectively, which makes the structure of the whole finger complex and the cost of manufacturing and processing is high; the coupling transmission mechanism and the under-actuation transmission mechanism of the device affect each other, Although three springs are used for decoupling, the power of the motor is consumed internally; the two sets of transmission mechanisms of the device are arranged in parallel, and multiple springs are installed on the joint shaft, resulting in too thick fingers; the two sets of the device The transmission mechanism of the set adopts flexible transmission parts, which are easy to loose and cause gaps, and the transmission is not accurate enough. To achieve good results, a pre-tensioning device is needed, which further increases the cost and difficulty of manufacturing, installation and maintenance.

另有一种双关节异构并联欠驱动机器人手指装置，如中国发明专利CN101829994A，包括基座、电机、近关节轴、远关节轴和末端指段，还包括分别实现耦合和欠驱动转动的传动机构以及多个簧件解耦装置等。当手指碰触物体前实现多关节耦合转动的效果，当手指碰触物体后采用多关节欠驱动方式抓取物体。该装置的不足之处为：该装置近、远轴关节处两套传动装置异构，增加了其结构的复杂性；且异构会导致两关节转动角度只能在特定范围内近似1:1耦合，使得远轴关节的转动难以预测，控制难度增大。There is also a dual-joint heterogeneous parallel underactuated robot finger device, such as the Chinese invention patent CN101829994A, which includes a base, a motor, a proximal joint shaft, a distal joint shaft, and a terminal finger segment, and also includes a transmission mechanism that realizes coupling and underactuated rotation respectively And multiple spring decoupling devices, etc. When the finger touches the object, the effect of multi-joint coupling rotation is realized, and when the finger touches the object, the multi-joint underactuation method is used to grasp the object. The disadvantage of this device is that the two sets of transmission devices at the proximal and distal joints of the device are heterogeneous, which increases the complexity of its structure; and the heterogeneity will cause the rotation angle of the two joints to be approximately 1:1 within a specific range. Coupling makes the rotation of the distal joint difficult to predict and the difficulty of control increases.

发明内容Contents of the invention

本发明的目的是为了克服已有技术的不足之处，提供一种双连杆滑块式耦合自适应欠驱动机器人手指装置。该装置能实现1:1耦合转动与欠驱动转动相结合的效果，能最大程度上的实现耦合拟人化抓取，且具备欠驱动自适应功能，结构紧凑，传动平稳精确，制造和维护成本低，外形与人手指相似，适用于拟人机器人手。The purpose of the present invention is to overcome the disadvantages of the prior art, and provide a double-link slider type coupling adaptive underactuated robot finger device. The device can achieve the effect of combining 1:1 coupling rotation and under-actuation rotation, and can realize coupling anthropomorphic grasping to the greatest extent, and has an under-actuation self-adaptive function, compact structure, stable and precise transmission, and low manufacturing and maintenance costs , which is similar in shape to a human finger and is suitable for an anthropomorphic robot hand.

本发明采用如下技术方案：The present invention adopts following technical scheme:

本发明所述的一种双连杆滑块式耦合自适应欠驱动机器人手指装置，包括基座、左近关节半轴、第一指段、远关节轴、第二指段和电机，所述的电机设置在基座中，电机的输出轴与左近关节半轴相连；所述的左近关节半轴套设在所述的基座中，所述的远关节轴套设在第一指段中，所述的第二指段套固在所述的远关节轴上；该双连杆滑块式耦合自适应欠驱动机器人手指装置还包括第一拨盘、第一连杆、第一轴、第二轴、第一滑块、第二滑块、第二连杆、第三轴、第四轴、第二拨盘和第一簧件；所述的第一指段套固在左近关节半轴上，第一指段套设在右近关节半轴上；所述的右近关节半轴套设在基座上，右近关节半轴与左近关节半轴共轴，右近关节半轴与第一拨盘固接，所述的第一拨盘套设在左关节半轴上，第一拨盘与基座固接；所述的第一连杆与第一拨盘通过第一轴铰接，另一端与第一滑块通过第二轴铰接；所述的第一滑块镶嵌在第一指段的第一滑槽中，第二滑块镶嵌在第一指段的第二滑槽中，所述的第一滑槽和第二滑槽平行，第一滑块与第二滑块活接触；所述的第二连杆一端与第二滑块通过第三轴铰接，另一端与第二拨盘通过第四轴铰接；所述的第二拨盘套固在远关节轴上；所述的第一簧件设置在第一指段与第二指段之间并且第一簧件的两端分别与第一指段和第二指段相连接，或者所述的第一簧件设置在第二滑块与第一指段之间并且第一簧件的两端分别与第二滑块和第一指段相连接。A double-link slider coupling adaptive underactuated robot finger device according to the present invention includes a base, a left proximal joint half shaft, a first finger segment, a distal joint shaft, a second finger segment and a motor. The motor is arranged in the base, and the output shaft of the motor is connected with the left proximal joint half shaft; the left proximal joint half shaft is sleeved in the base, and the distal joint shaft is sleeved in the first finger section, The second finger segment is sleeved and fixed on the distal joint shaft; the double-link slider coupling adaptive underactuated robot finger device also includes a first dial, a first connecting rod, a first shaft, a second Two shafts, the first slider, the second slider, the second connecting rod, the third shaft, the fourth shaft, the second dial and the first spring; the first finger segment is sleeved on the left proximal joint half shaft On the top, the first finger segment is sleeved on the right proximal joint semi-axis; the right proximal joint semi-axis is sleeved on the base, the right proximal joint semi-axis is coaxial with the left proximal joint semi-axis, and the right proximal joint semi-axis is coaxial with the first dial Fixed connection, the first dial is sleeved on the half shaft of the left joint, and the first dial is fixed to the base; the first connecting rod and the first dial are hinged through the first shaft, and the other end is connected to the The first slider is hinged by the second shaft; the first slider is embedded in the first slide groove of the first finger segment, the second slider is embedded in the second slide groove of the first finger segment, and the The first chute is parallel to the second chute, and the first slider is in live contact with the second slider; one end of the second connecting rod is hinged with the second slider through a third shaft, and the other end is connected with the second dial through The fourth shaft is hinged; the second dial is sleeved on the distal joint shaft; the first spring is arranged between the first finger segment and the second finger segment and the two ends of the first spring are respectively connected to the The first finger segment is connected with the second finger segment, or the first spring part is arranged between the second slider and the first finger segment, and the two ends of the first spring part are connected with the second slider block and the first finger segment respectively. The segments are connected.

本发明所述的一种双连杆滑块式耦合自适应欠驱动机器人手指装置，包括基座、左近关节半轴、第一指段、远关节轴、第二指段和电机，所述的电机设置在基座中，电机的输出轴与左近关节半轴相连；所述的左近关节半轴套设在所述的基座中，所述的远关节轴套设在第一指段中，所述的第二指段套固在所述的远关节轴上；该双连杆滑块式耦合自适应欠驱动机器人手指装置还包括右近关节半轴、第一拨盘、第一连杆、第一轴、第二轴、第一滑块、第二滑块、第二连杆、第三轴、第四轴、第二拨盘、第一簧件和第二簧件；所述的第一指段套固在左近关节半轴上，第一指段套设在右近关节半轴上；所述的第二簧件的两端分别连接第一指段和左近关节半轴；所述的右近关节半轴套设在基座上，右近关节半轴与左近关节半轴共轴，右近关节半轴与第一拨盘固接，所述的第一拨盘套设在左关节半轴上，第一拨盘与基座固接；所述的第一连杆一端与第一拨盘通过第一轴铰接，另一端与第一滑块通过第二轴铰接；所述的第一滑块镶嵌在第一指段的第一滑槽中，第二滑块镶嵌在第一指段的第二滑槽中，所述的第一滑槽和第二滑槽平行，第一滑块与第二滑块活接触；所述的第二连杆一端与第二滑块通过第三轴铰接，另一端与第二拨盘通过第四轴铰接；所述的第二拨盘套固在远关节轴上；所述的第一簧件设置在第一指段与第二指段之间并且第一簧件的两端分别与第一指段和第二指段相连接，或者所述的第一簧件设置在第二滑块与第一指段之间并且第一簧件的两端分别与第二滑块和第一指段相连接。A double-link slider coupling adaptive underactuated robot finger device according to the present invention includes a base, a left proximal joint half shaft, a first finger segment, a distal joint shaft, a second finger segment and a motor. The motor is arranged in the base, and the output shaft of the motor is connected with the left proximal joint half shaft; the left proximal joint half shaft is sleeved in the base, and the distal joint shaft is sleeved in the first finger section, The second finger segment is sleeved on the distal joint shaft; the double-link slider coupling adaptive underactuated robot finger device also includes a right proximal joint half shaft, a first dial, a first connecting rod, The first shaft, the second shaft, the first slider, the second slider, the second connecting rod, the third shaft, the fourth shaft, the second dial, the first spring and the second spring; One finger segment is sleeved on the left proximal joint semi-axis, and the first finger segment is sleeved on the right proximal joint semi-axis; the two ends of the second spring member are respectively connected to the first finger segment and the left proximal joint semi-axis; The right proximal joint semi-axis is sleeved on the base, the right proximal joint semi-axis is coaxial with the left proximal joint semi-axis, the right proximal joint semi-axis is fixedly connected to the first dial, and the first dial is sleeved on the left proximal joint semi-axis , the first dial is fixedly connected to the base; one end of the first connecting rod is hinged with the first dial through the first shaft, and the other end is hinged with the first slider through the second shaft; the first slider Embedded in the first chute of the first finger segment, the second slider is embedded in the second chute of the first finger segment, the first chute and the second chute are parallel, the first slider and the second chute The two sliders are in live contact; one end of the second connecting rod is hinged with the second slider through the third shaft, and the other end is hinged with the second dial through the fourth shaft; the second dial is sleeved and fixed on the distal joint on the shaft; the first spring member is arranged between the first finger segment and the second finger segment and the two ends of the first spring member are respectively connected with the first finger segment and the second finger segment, or the first finger segment A spring is arranged between the second slide block and the first finger section, and the two ends of the first spring piece are respectively connected with the second slide block and the first finger section.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，所述的第一连杆、第二连杆、第一拨盘和第二拨盘的结构参数符合以下关系：设第一连杆的长度为L₁，第一拨盘的中心线到第二轴的中心线的距离为R₁；设第二连杆的长度为L₂，第二拨盘的中心线到第四轴的中心线的距离为R₂，则：L₁∶R₁＝L₂∶R₂＝2.5～3.5∶1。In the double-link slider type coupling adaptive underactuated robot finger device described in the present invention, the structural parameters of the first connecting rod, the second connecting rod, the first dial and the second dial conform to the following relationship: set The length of the first connecting rod is L₁ , the distance from the center line of the first dial to the center line of the second shaft is R₁ ; the length of the second connecting rod is L₂ , the distance from the center line of the second dial to the center line of the second shaft isR 1 ; The distance between the centerlines of the four axes is R₂ , then: L₁ : R₁ = L₂ : R₂ = 2.5˜3.5:1.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，所述的远关节轴由左远关节半轴和右关节半轴组成，所述的左远关节半轴和右远关节半轴共轴套设在第一指段中。In the dual-link slider type coupling self-adaptive underactuated robot finger device described in the present invention, the distal joint axis is composed of a left distal joint semi-axis and a right joint semi-axis, and the left distal joint semi-axis and the right distal joint The joint half shaft is coaxially sleeved in the first finger segment.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，所述的第一滑块与第二滑块的活接触方式采用第一滑块与第二滑块单面接触，所述的第一滑块推动第二滑块向手指内滑移。In the double-link slider-type coupling adaptive underactuated robot finger device of the present invention, the living contact mode between the first slider and the second slider adopts single-sided contact between the first slider and the second slider, The first slider pushes the second slider to slide inwardly of the finger.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，所述的第一滑块与第二滑块的活接触方式采用绳连接，所述的第一滑块拉动第二滑块向手指内滑移。In the dual-link slider coupling self-adaptive underactuated robotic finger device of the present invention, the living contact between the first slider and the second slider is connected by a rope, and the first slider pulls the second slider. The slider slides inwards of the finger.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，所述的簧件采用压簧、扭簧或弹性绳。In the double-link slider type coupling self-adaptive underactuated robot finger device of the present invention, the spring element adopts compression spring, torsion spring or elastic rope.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，还包括传动机构，所述的传动机构包括减速器、第一齿轮和第二齿轮；所述的电机的输出轴与减速器的输入轴相连，所述的第一齿轮套固在减速器的输出轴上，所述的第二齿轮套固在近关节轴上，所述的第一齿轮与第二齿轮啮合。The double-link slider type coupling self-adaptive underactuated robot finger device of the present invention also includes a transmission mechanism, and the transmission mechanism includes a reducer, a first gear and a second gear; the output shaft of the motor is connected to the The input shafts of the reducer are connected, the first gear is sleeved on the output shaft of the reducer, the second gear is sleeved on the proximal joint shaft, and the first gear meshes with the second gear.

本发明所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，所述的第二滑块表面覆盖有第二滑块表面板。In the dual-link slider coupling self-adaptive underactuated robot finger device of the present invention, the surface of the second slider is covered with a second slider surface plate.

本发明与现有技术相比，具有以下优点和突出性效果：Compared with the prior art, the present invention has the following advantages and outstanding effects:

本发明装置利用双曲柄滑块和簧件综合实现了耦合转动与欠驱动转动紧密结合的传动效果，不仅能够1:1耦合转动，使其最大限度地实现拟人化抓取物体，而且具备欠驱动功能，自适应抓取不同形状、大小的物体；该装置关节处采取相同的传动装置，使其制造加工简单，结构简洁紧凑，安装容易；该装置实现了耦合传动机构和欠驱动传动机构有机融合，不相互影响，利用滑块活接触的多种方式实现了自然解耦，此解耦不消耗电机功率，能量利用率高。其中第一指段的曲柄滑块机构能够将电机的大角度转动转化为第一滑块的短距离运动，第二指段的曲柄滑块机构能够通过第二滑块的短距离运动实现第二指段大角度的转动，上述特性大大缩减了第一指节的体积。外形与人手手指相似，可以作为拟人机器人手的一个手指或手指的一部分，也可以用多个这样的基于双曲柄滑块的并联耦合欠驱动手指组合成为机器人手，用以达到拟人机器人手高关节自由度、高自适应性的优良效果。The device of the present invention utilizes double crank sliders and spring parts to comprehensively realize the transmission effect of the close combination of coupling rotation and under-actuation rotation, not only capable of 1:1 coupling rotation, so that it can realize anthropomorphic grasping of objects to the greatest extent, but also has under-actuation Function, self-adaptively grasping objects of different shapes and sizes; the joints of the device adopt the same transmission device, making it simple to manufacture and process, simple and compact in structure, and easy to install; the device realizes the organic integration of coupling transmission mechanism and underactuated transmission mechanism , do not affect each other, and realize natural decoupling by using various ways of slider live contact. This decoupling does not consume motor power, and the energy utilization rate is high. The slider-crank mechanism of the first finger section can convert the large-angle rotation of the motor into a short-distance movement of the first slider, and the slider-crank mechanism of the second finger section can realize the second movement through the short-distance movement of the second slider. The above characteristics greatly reduce the volume of the first knuckle due to the large-angle rotation of the finger segment. The shape is similar to that of a human finger, and it can be used as a finger or a part of an anthropomorphic robot hand. It can also be combined into a robot hand with multiple parallel coupled underactuated fingers based on double crank sliders to achieve high joints in an anthropomorphic robot hand. The excellent effect of freedom degree and high adaptability.

附图说明Description of drawings

图1是本发明提供的双连杆滑块式耦合自适应欠驱动机器人手指装置的一种实施例的侧剖视图。Fig. 1 is a side sectional view of an embodiment of a double-link slider coupling adaptive underactuated robot finger device provided by the present invention.

图2是图1所示实施例的正剖视图(也是图1的左侧剖视图)。FIG. 2 is a front sectional view of the embodiment shown in FIG. 1 (also a left sectional view of FIG. 1 ).

图3是本发明又一种实施例(第一滑块和第二滑块之间的活接触采用绳连接的实施例)的侧剖视图。Fig. 3 is a side sectional view of another embodiment of the present invention (an embodiment in which the living contact between the first slider and the second slider is connected by a rope).

图4是本发明又一种实施例(具有变抓取力效果实施例)的正剖视图。Fig. 4 is a front sectional view of another embodiment of the present invention (an embodiment with variable gripping force effect).

图5是图1所示实施例外观的侧视图。Fig. 5 is a side view of the appearance of the embodiment shown in Fig. 1 .

图6是图1所示实施例外观的正视图。Fig. 6 is a front view of the appearance of the embodiment shown in Fig. 1 .

图7是图1所示实施例外观的立体图。Fig. 7 is a perspective view of the appearance of the embodiment shown in Fig. 1 .

图8是图1所示实施例的部分零件的立体图。Fig. 8 is a perspective view of some parts of the embodiment shown in Fig. 1 .

图9是图1所示实施例的三维爆炸视图。Fig. 9 is a three-dimensional exploded view of the embodiment shown in Fig. 1 .

图10、11、12、13是图1所示实施例中实现耦合抓取过程的侧面外观示意图。Figures 10, 11, 12 and 13 are schematic views of the side appearances of the process of realizing coupling grasping in the embodiment shown in Figure 1 .

图14、15、16、17是图1所示实施例中实现耦合抓取以及欠驱动自适应抓取过程的侧面外观示意图。14 , 15 , 16 , and 17 are side appearance schematic diagrams of the coupled grasping and underactuated adaptive grasping processes in the embodiment shown in FIG. 1 .

图18、19、20、21是图1所示实施例中实现先耦合后自适应欠驱动的抓取方式过程的侧面外观示意图。18 , 19 , 20 , and 21 are schematic side views of the process of realizing the grasping mode of coupling first and then adaptive underactuation in the embodiment shown in FIG. 1 .

在图1至图21中：In Figures 1 to 21:

1-基座，          11-基座架，      12-基座背板，1-base, 11-base frame, 12-base back plate,

121-第一凸块      13-基座前板，    14-基座右支承板，121-the first bump 13-the front plate of the base, 14-the right support plate of the base,

15-基座连接板，    2-电机，           3-近关节轴，15-base connecting plate, 2-motor, 3-proximal joint shaft,

31-左近关节半轴，  32-右近关节半轴，  4-第一指段，31-left proximal joint semi-axis, 32-right proximal joint semi-axis, 4-first finger segment,

41-第一指段架，    42-第一指段背板，  421-第二凸块，41-the first finger segment frame, 42-the first finger segment backboard, 421-the second bump,

43-第一指段右支承板，  5-远关节轴，    51-左远关节半轴，43-right bearing plate of the first finger segment, 5-distal joint axis, 51-left distal joint semi-axis,

52-右远关节半轴，      6-第二指段，    71-第一拨盘，52-right distal joint half shaft, 6-second finger segment, 71-first dial,

72-第一连杆，          73-第一滑块，   74-第二滑块，72-the first connecting rod, 73-the first slider, 74-the second slider,

741-滑块表面板，       75-第二连杆，   76-第二拨盘，741-slider surface plate, 75-second link, 76-second dial,

77-第一轴，            78-第二轴，     79-第三轴，77-first axis, 78-second axis, 79-third axis,

80-第四轴，            81-第一簧件，   82-第二簧件，80-the fourth shaft, 81-the first spring, 82-the second spring,

91-减速器，            92-第一齿轮，   93-第二齿轮，91-reducer, 92-first gear, 93-second gear,

94-套筒，              95-销，         96-绳，94-sleeve, 95-pin, 96-rope,

97-物体。97 - Object.

具体实施方式Detailed ways

下面结合附图及实施例进一步详细说明本发明的具体结构、工作原理及工作过程。The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

本发明设计的一种双连杆滑块式耦合自适应欠驱动机器人手指装置的实施例，剖视图如图1、2所示，外观如图5、6所示，立体外观如图7所示，部分零件如图8所示，三维爆炸图如图9所示，动作原理如图10、图11、图12、图13、图14、图15、图16、图17、图18、图19、图20、图21所示。一种双连杆滑块式耦合自适应欠驱动机器人手指装置，包括基座1、左近关节半轴31、第一指段4、远关节轴5、第二指段6和电机2，所述的电机2设置在基座1中，电机2的输出轴与左近关节半轴31相连；所述的左近关节半轴31套设在所述的基座1中，所述的远关节轴5套设在第一指段4中，所述的第二指段6套固在所述的远关节轴5上；该双连杆滑块式耦合自适应欠驱动机器人手指装置还包括右近关节半轴32、第一拨盘71、第一连杆72、第一轴77、第二轴78、第一滑块73、第二滑块74、第二连杆75、第三轴79、第四轴80、第二拨盘76和第一簧件81；所述的第一指段4套固在左近关节半轴31上，第一指段4套设在右近关节半轴32上；所述的右近关节半轴32套设在基座1上，右近关节半轴与左近关节半轴共轴，右近关节半轴与第一拨盘71固接，所述的第一拨盘71套设在左关节半轴31上，第一拨盘71与基座1固接；所述的第一连杆72一端与第一拨盘71通过第一轴77铰接，另一端与第一滑块73通过第二轴78铰接；所述的第一滑块73镶嵌在第一指段4的第一滑槽中，第二滑块74镶嵌在第一指段4的第二滑槽中，所述的第一滑槽和第二滑槽平行，第一滑块73与第二滑块74活接触；所述的第二连杆75一端与第二滑块74通过第三轴79铰接，另一端与第二拨盘76通过第四轴80铰接；所述的第二拨盘76套固在远关节轴5上；所述的第一簧件81设置在第一指段4与第二指段6之间并且第一簧件81的两端分别与第一指段4和第二指段6相连接，或者所述的第一簧件81设置在第二滑块74与第一指段4之间并且第一簧件81的两端分别与第二滑块74和第一指段4相连接。另有实施例剖视图如图3、4所示，第二簧件82的两端分别连接第一指段4和左近关节半轴31，其余结构相同。An embodiment of a dual-link slider coupling adaptive underactuated robot finger device designed by the present invention, the cross-sectional views are shown in Figures 1 and 2, the appearance is shown in Figures 5 and 6, and the three-dimensional appearance is shown in Figure 7. Some parts are shown in Figure 8, the three-dimensional exploded view is shown in Figure 9, and the action principle is shown in Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Shown in Figure 20 and Figure 21. A dual-link slider coupling adaptive underactuated robotic finger device, comprising abase 1, a left proximaljoint half shaft 31, afirst finger segment 4, a distaljoint shaft 5, asecond finger segment 6 and amotor 2, the Themotor 2 is set in thebase 1, the output shaft of themotor 2 is connected with the left proximaljoint half shaft 31; the left proximaljoint half shaft 31 is sleeved in thebase 1, and the 5 distal joint shafts are set Set in thefirst finger segment 4, thesecond finger segment 6 is sleeved on the distaljoint shaft 5; the double-link slider coupling adaptive underactuated robotic finger device also includes a right proximaljoint half shaft 32.First dial 71, first connectingrod 72,first shaft 77,second shaft 78,first slider 73,second slider 74, second connectingrod 75,third shaft 79,fourth shaft 80. Thesecond dial 76 and thefirst spring member 81; thefirst finger segment 4 is sleeved on the left proximaljoint semi-axis 31, and thefirst finger segment 4 is sleeved on the right proximaljoint semi-axis 32; the described The right proximaljoint semi-axis 32 is sleeved on thebase 1, the right proximal joint semi-axis is coaxial with the left proximal joint semi-axis, and the right proximal joint semi-axis is fixedly connected to thefirst dial 71, and thefirst dial 71 is sleeved on the left On thejoint half shaft 31, thefirst dial 71 is fixedly connected to thebase 1; one end of the first connectingrod 72 is hinged with thefirst dial 71 through thefirst shaft 77, and the other end is hinged with thefirst slider 73 through the first The twoshafts 78 are hinged; thefirst slider 73 is embedded in the first chute of thefirst finger section 4, thesecond slider 74 is embedded in the second chute of thefirst finger section 4, and thefirst slider 74 is embedded in the second chute of thefirst finger section 4. One chute is parallel to the second chute, and thefirst slide block 73 is in live contact with thesecond slide block 74; one end of the second connectingrod 75 is hinged with thesecond slide block 74 through thethird shaft 79, and the other end is hinged with thesecond slide block 74. Thesecond dial 76 is hinged by thefourth shaft 80; thesecond dial 76 is sleeved on the distaljoint shaft 5; thefirst spring 81 is arranged between thefirst finger segment 4 and thesecond finger segment 6 and the two ends of thefirst spring member 81 are respectively connected with thefirst finger segment 4 and thesecond finger segment 6, or thefirst spring member 81 is arranged between thesecond slider 74 and thefirst finger segment 4 And the two ends of thefirst spring member 81 are respectively connected with the second slidingblock 74 and thefirst finger section 4 . 3 and 4, the two ends of thesecond spring member 82 are respectively connected to thefirst finger segment 4 and the left proximaljoint semi-axis 31, and the rest of the structure is the same.

本实施例中，所述的第一连杆、第二连杆、第一拨盘和第二拨盘的结构参数符合以下关系：设第一连杆72的长度为L₁，第一拨盘71的中心线到第二轴78的中心线的距离为R₁；设第二连杆75的长度为L₂，第二拨盘76的中心线到第四轴80的中心线的距离为R₂，则：L₁∶R₁=L₂∶R₂＝2.5～3.5∶1。In this embodiment, the structural parameters of the first connecting rod, the second connecting rod, the first dial and the second dial meet the following relationship: Let the length of the first connectingrod 72 be L₁ , and the first dial The distance from the centerline of thesecond dial 71 to the centerline of thesecond shaft 78 is R₁ ; assuming that the length of the second connectingrod 75 is L₂ , the distance from the centerline of thesecond dial 76 to the centerline of thefourth shaft 80 is R₂ , then: L₁ : R₁ =L₂ : R₂ =2.5～3.5:1.

本实施例中，所述的远关节轴5由左远关节半轴51和右关节半轴52组成，所述的左远关节半轴51和右远关节半轴52共轴套设在第一指段中。In this embodiment, the distaljoint shaft 5 is composed of a left distaljoint semi-axis 51 and a right distaljoint semi-axis 52, and the left distaljoint semi-axis 51 and the right distaljoint semi-axis 52 are coaxially sleeved on the first refers to the segment.

本实施例中，所述的第一滑块73与第二滑块74的活接触方式采用第一滑块73与第二滑块74单面接触，所述的第一滑块73推动第二滑块74向手指内滑移。In this embodiment, the living contact between thefirst slider 73 and thesecond slider 74 adopts single-sided contact between thefirst slider 73 and thesecond slider 74, and thefirst slider 73 pushes thesecond Slider 74 slides inwardly of the finger.

本实施例中，所述的第一滑块73与第二滑块74的活接触方式采用绳96连接，所述的第一滑块73拉动第二滑块74向手指内滑移。In this embodiment, the living contact between thefirst slider 73 and thesecond slider 74 is connected by arope 96, and thefirst slider 73 pulls thesecond slider 74 to slide inwardly of the finger.

本实施例中，所述的簧件81采用压簧、扭簧或弹性绳。In this embodiment, thespring member 81 is a compression spring, a torsion spring or an elastic cord.

本实施例中，还包括传动机构，所述的传动机构包括减速器91、第一齿轮92和第二齿轮93；所述的电机2的输出轴与减速器91的输入轴相连，所述的第一齿轮92套固在减速器91的输出轴上，所述的第二齿轮93套固在近关节轴3上，所述的第一齿轮92与第二齿轮93啮合。In this embodiment, a transmission mechanism is also included, and the transmission mechanism includes areducer 91, afirst gear 92 and asecond gear 93; the output shaft of themotor 2 is connected with the input shaft of thereducer 91, and the Thefirst gear 92 is sleeved on the output shaft of thereducer 91 , thesecond gear 93 is sleeved on the joint-proximal shaft 3 , and thefirst gear 92 and thesecond gear 93 mesh.

本实施例中，所述的第二滑块74表面覆盖有第二滑块表面板741。In this embodiment, the surface of thesecond slider 74 is covered with a secondslider surface plate 741 .

本发明还提供的一种双连杆滑块式耦合自适应欠驱动机器人手指装置的实施例，其剖视图如图3所示。第一滑块73与第二滑块74的活接触方式采用采用绳96连接，当第一滑块73向手指里移动时，第一滑块73可拉动第二滑块74向手指里滑移。当第一指段4碰到物体，第二滑块74向手指里移动时，第二滑块74对第一滑块73不会产生影响，实现了自然解耦。The present invention also provides an embodiment of a double-link slider coupling adaptive underactuated robotic finger device, the cross-sectional view of which is shown in FIG. 3 . The living contact mode between thefirst slider 73 and thesecond slider 74 is connected by arope 96. When thefirst slider 73 moves into the finger, thefirst slider 73 can pull thesecond slider 74 to slide in the finger. . When thefirst finger section 4 hits an object and thesecond slider 74 moves inwards, thesecond slider 74 will not affect thefirst slider 73 , which realizes natural decoupling.

下面结合附图介绍图1所示的双连杆滑块式耦合自适应欠驱动机器人手指装置的实施例的工作原理。The working principle of the embodiment of the dual-link slider coupling adaptive underactuated robot finger device shown in FIG. 1 will be described below with reference to the accompanying drawings.

机器人手指的初始状态如图10所示，此时手指未接触物体97时，第一指段4相对于基座1处于伸直状态(第一凸块121顶着第一指段4使手指不致于反向弯曲)；第一簧件81采用的是压簧，该压簧迫使第二指段6与第一指段4之间保持伸直的初始状态，即远关节轴5不发生转动(第二凸块421顶着第二指段6)，此时整个手指保持伸直状态。The initial state of the robot finger is shown in Figure 10, when the finger does not touch the object 97, thefirst finger segment 4 is in a straight state relative to the base 1 (the first bump 121 is against thefirst finger segment 4 so that the finger does not What thefirst spring part 81 adopts is stage clip, and this stage clip forces the initial state that keeps straight between thesecond finger segment 6 and thefirst finger segment 4, that is, the distaljoint shaft 5 does not rotate ( Thesecond protrusion 421 bears against the second finger section 6), and at this moment, the whole finger remains in a straight state.

本实施例的抓取方式有两种，分别叙述如下：There are two grabbing modes in this embodiment, which are described as follows:

(a)耦合抓取过程(a) Coupled grabbing process

当机器人手指抓取物体97时，电机2正转，通过减速器91带动第一齿轮92转动，驱动第二齿轮93转动，使左近关节轴31正转，带动第一指段4绕左近关节轴31的中心线正转(此正转方向是指第一指段4逐渐迎向需要抓取的物体)。由于第一拨盘71套设在左近关节轴31上且与基座1固接，因此第一指段4的转动，会使得与第一连杆72被第一拨盘71反向拨动(第一连杆72向手指内部平移运动)，于是镶嵌在第一指段4中的第一滑块73随着第一连杆72向手指内部平移运动。因为第二滑块74与第一滑块73单面接触，第一滑块73会带动第二滑块74向第一指段4里滑移；第二连杆75向手指里滑移，带动远关节轴5正转，第二指段6正转(迎向需要抓取的物体)，直到手指接触物体。When the robot finger grabs the object 97, themotor 2 rotates forward, drives thefirst gear 92 to rotate through thereducer 91, and drives thesecond gear 93 to rotate, so that the left proximaljoint axis 31 rotates forward, and drives thefirst finger segment 4 around the left proximal joint axis The centerline of 31 rotates forward (this forward direction refers to that thefirst finger section 4 gradually faces the object that needs to be grasped). Since thefirst dial 71 is sleeved on the left proximaljoint shaft 31 and fixedly connected to thebase 1, the rotation of thefirst finger section 4 will make the first connectingrod 72 reversely dialed by the first dial 71 ( The first connectingrod 72 moves toward the inside of the finger), so thefirst slider 73 embedded in thefirst finger segment 4 moves toward the inside of the finger along with the first connectingrod 72 . Because thesecond slider 74 is in one-sided contact with thefirst slider 73, thefirst slider 73 will drive thesecond slider 74 to slide in thefirst finger section 4; the second connectingrod 75 will slide in the finger, driving The distaljoint shaft 5 rotates forward, and thesecond finger segment 6 rotates forward (facing the object to be grasped), until the finger touches the object.

本实施例的第一拨盘71和第二拨盘76的分度圆直径相等，所以第一指段4相对于基座1转动的角度与第二指段6相对于第一指段4转动的角度相同，即实现了1:1的耦合传动。综上所述，本实施例在物体不动的情况下实现了耦合抓取的功能。具体运动过程如图10、图11、图12、图13所示。The pitch circle diameters of thefirst dial 71 and thesecond dial 76 in this embodiment are equal, so the angle at which thefirst finger segment 4 rotates relative to thebase 1 is the same as the rotation angle of thesecond finger segment 6 relative to thefirst finger segment 4 The angles are the same, that is, a 1:1 coupling transmission is realized. To sum up, this embodiment realizes the function of coupled grasping when the object does not move. The specific movement process is shown in Figure 10, Figure 11, Figure 12, and Figure 13.

放开物体的过程与上述抓取物体的过程相同，电机2反转，将带动第一指段4和第二指段6同时反向转动，实现放开物体，最终回复到手指初始的伸直状态。The process of releasing the object is the same as the above process of grabbing the object. The reverse rotation of themotor 2 will drive thefirst finger segment 4 and thesecond finger segment 6 to rotate in the opposite direction at the same time, so as to release the object and finally return to the initial straightening of the fingers. state.

(b)欠驱动抓取过程(b) Underactuated grasping process

有两种欠驱动抓取过程：There are two underactuated grasping processes:

1)第一种欠驱动抓取过程：其他手指和外力直接挤压物体，物体挤压第二滑块74触发欠驱动抓取，最终第二指段6快速扣住物体。具体来说，当第一指段4上可滑动的第二滑块74与物体97接触，第二指段6未与物体接触，物体在其它手指或外力作用下向手指内推动第二滑块74时，第二滑块74向手指里滑移，因为第二滑块74与第一滑块73单面接触，所以不会对第一滑块73产生影响，实现了自然解耦(图3所示实施例采用绳96连接方式实现了自然解耦，原理与此相同，不再赘述)。第二滑块74的滑移会带动第二连杆75向手指里滑动，带动远关节轴5正转，使第二指段6正转直到接触物体实现了抓取，且能够自动适应物体的大小形状，是一种无需电机工作的自适应欠驱动抓取方式。具体运动过程如图14、图15、图16、图17所示。1) The first type of underactuated grasping process: other fingers and external force directly squeeze the object, the object presses thesecond slider 74 to trigger the underactuated grasping, and finally thesecond finger segment 6 fastens the object. Specifically, when the slidablesecond slide block 74 on thefirst finger segment 4 is in contact with the object 97, thesecond finger segment 6 is not in contact with the object, and the object pushes the second slide block in the finger under the action of other fingers or external force. 74, thesecond slider 74 slides in the finger, because thesecond slider 74 is in single-sided contact with thefirst slider 73, so it will not affect thefirst slider 73, and realizes natural decoupling (Fig. 3 The shown embodiment adopts the connection mode ofrope 96 to realize natural decoupling, and the principle is the same as this, and will not be repeated here). The sliding of thesecond slider 74 will drive the second connectingrod 75 to slide in the finger, drive the distaljoint shaft 5 to rotate forward, and make thesecond finger segment 6 rotate forward until the contact object is grasped, and can automatically adapt to the movement of the object. Size and shape, is an adaptive underactuated gripping method that does not require motor work. The specific movement process is shown in Figure 14, Figure 15, Figure 16 and Figure 17.

2)第二种欠驱动抓取过程：物体固定不动(被手掌或其他手指、外力约束)，此时本实施例继续转动致使第二滑块74因物体阻挡而被压入第一指段4中从而触发了欠驱动抓取，最终第二指段6快速扣住物体。具体来说，当第一指段4上可滑动的第二滑块74与物体97接触，第二指段6未与物体接触，此时由于物体被手掌或其他手指约束住固定不动，第二滑块74被物体阻挡，此时第一指段4还可以转动一个很小的角度δ，此转动将产生一个第二指段6相对于第一指段4的1:1的耦合转动角度δ(原因见前述的耦合抓取过程)，而此时由于第二滑块74已经相对于第一指段4向手指内部滑动了一段较小的距离Δd，因此该变化的距离将使得第二连杆75滑动，从而带动第二拨盘76和第二指段6转动一个较大的角度θ，由于物体与第二滑块74表面的接触点到近关节轴3中心线的距离h大于第一拨盘71的分度圆半径r₁，通过下面的计算可知，θ会大于α，从而实现第二指段6转过的角度是一个较大的角度θ，不再是耦合转动的角度α。计算分析如下：此时第一滑块73在第一指段4的较小角度δ的转动过程中会移动一个较小的距离d₁，d₁＝δ·r₁。而第二滑块74在第一指段4的较小角度δ的转动过程中会移动一个较大的距离d₂，d₂＝δ·h，由于h大于r₁，因此d₂大于d₁。此时第二滑块74与第一滑块73脱开，实现了自然解耦，第二滑块74平移一个距离d₂，导致第二指段6快速扣向物体，此过程直到第二指段6紧紧扣住物体，从而实现了欠驱动抓取过程。此欠驱动抓取实现了对不同形状大小物体的抓取，具有自适应性，减轻了对控制系统的要求。第二种欠驱动抓取过程如图18、图19、图20、图21所示。2) The second under-actuated grasping process: the object is fixed (constrained by the palm or other fingers, external force), and this embodiment continues to rotate at this time, causing thesecond slider 74 to be pressed into the first finger section due to the obstruction of theobject 4 thus triggers an underactuated grasp, and finally thesecond finger segment 6 snaps onto the object. Specifically, when the slidablesecond slide block 74 on thefirst finger segment 4 contacts the object 97, and thesecond finger segment 6 does not contact the object, at this moment, the object is restrained and fixed by the palm or other fingers. Thesecond slider 74 is blocked by an object. At this time, thefirst finger section 4 can also rotate a small angle δ, and this rotation will produce a 1:1 coupling rotation angle of thesecond finger section 6 relative to thefirst finger section 4. δ (see the above-mentioned coupling grasping process for the reason), and at this time, because thesecond slider 74 has slid a small distance Δd relative to thefirst finger segment 4 to the inside of the finger, the changed distance will make the second The connectingrod 75 slides, thereby driving thesecond dial 76 and thesecond finger segment 6 to rotate a larger angle θ, because the distance h between the contact point of the object and the surface of thesecond slider 74 and the centerline of the proximal joint axis 3 is greater than that of the first The radius r₁ of the indexing circle of adial 71 can be known from the following calculations, θ will be greater than α, so that the angle at which thesecond finger segment 6 rotates is a larger angle θ, which is no longer the angle α of coupling rotation . The calculation and analysis are as follows: at this time, thefirst slider 73 will move asmall distance d 1 during the_{rotation of the first finger section 4 at a small angle δ, d 1=} δ·r₁ . While thesecond slider 74 will move alarger distance d 2 during the rotation of thefirst finger segment 4 at a smaller angle δ_, d₂ =δ·h, since h is greater than r₁ , therefore d₂ is greater than d₁ . At this time, thesecond slider 74 is disengaged from thefirst slider 73, realizing natural decoupling. Thesecond slider 74 translates a distance d₂ , causing thesecond finger section 6 to fasten to the object.Segment 6 grips the object tightly, thereby realizing the underactuated grasping process. The underactuated grasping realizes the grasping of objects of different shapes and sizes, which is self-adaptive and reduces the requirements on the control system. The second underactuated grasping process is shown in Figure 18, Figure 19, Figure 20, and Figure 21.

综合(a)和(b)耦合和自适应抓取过程可知，本实施例实现了一种特殊的先耦合后自适应欠驱动的抓取方式，解耦方式自然，无需损耗电机功率。本发明装置利用电机、两套曲柄滑块机构和簧件综合实现了耦合转动与欠驱动转动紧密结合的传动效果，不仅能够耦合转动比达到了1∶1，能够更拟人化地抓取物体，而且具备欠驱动功能，自适应抓取不同形状、大小的物体；该装置由于采用了一套传动机构就同时实现了耦合和欠驱动抓取，使得整个手指结构简洁紧凑，安装容易，制造加工成本低；该装置耦合传动机构和欠驱动传动机构有机融合，不相互影响，利用滑块活接触的多种方式实现了自然解耦，此解耦不消耗电机功率，能量利用率高；该装置由于采用曲柄滑块机构传动，结构简单，能将较小位移放大为较大的转动角度；其外形与人手手指相似，可以作为拟人机器人手的一个手指或手指的一部分，也可以用多个这样的双连杆滑块式耦合自适应欠驱动机器人手指组合成为机器人手，用以达到拟人机器人手高关节自由度、高自适应性的优良效果。Combining (a) and (b) the coupling and adaptive grasping process, it can be known that this embodiment implements a special grasping method that first couples and then adapts to underactuation, and the decoupling method is natural without loss of motor power. The device of the present invention utilizes the motor, two sets of crank-slider mechanisms and spring parts to comprehensively realize the transmission effect of the close combination of coupled rotation and under-driven rotation. Not only can the coupling rotation ratio reach 1:1, but it can also grasp objects more anthropomorphically. Moreover, it has the function of under-actuation, which can adaptively grasp objects of different shapes and sizes; the device realizes coupling and under-actuation grasping at the same time due to the use of a set of transmission mechanisms, which makes the whole finger structure simple and compact, easy to install, and low in manufacturing and processing costs. Low; the coupling transmission mechanism and the underactuated transmission mechanism of the device are organically integrated without mutual influence, and the natural decoupling is realized by using various methods of slider live contact. This decoupling does not consume motor power and has a high energy utilization rate; the device is due to The crank slider mechanism is used for transmission, the structure is simple, and the small displacement can be amplified into a large rotation angle; its shape is similar to that of a human finger, and it can be used as a finger or a part of an anthropomorphic robot hand, or multiple such fingers can be used The double-link slider coupling adaptive underactuated robot fingers are combined into a robot hand to achieve the excellent effects of high joint freedom and high adaptability of the anthropomorphic robot hand.

Claims (9)

Translated fromChinese

1.一种双连杆滑块式耦合自适应欠驱动机器人手指装置，包括基座(1)、左近关节半轴(31)、第一指段(4)、远关节轴(5)、第二指段(6)和电机(2)，所述的电机(2)设置在基座(1)中，电机(2)的输出轴与左近关节半轴(31)相连；所述的左近关节半轴(31)套设在所述的基座(1)中，所述的远关节轴(5)套设在第一指段(4)中，所述的第二指段(6)套固在所述的远关节轴(5)上；其特征在于：该双连杆滑块式耦合自适应欠驱动机器人手指装置还包括右近关节半轴(32)、第一拨盘(71)、第一连杆(72)、第一轴(77)、第二轴(78)、第一滑块(73)、第二滑块(74)、第二连杆(75)、第三轴(79)、第四轴(80)、第二拨盘(76)和第一簧件(81)；所述的第一指段(4)套固在左近关节半轴(31)上，第一指段(4)套设在右近关节半轴(32)上；所述的右近关节半轴(32)套设在基座(1)上，右近关节半轴(32)与左近关节半轴(31)共轴，右近关节半轴与第一拨盘(71)固接，所述的第一拨盘(71)套设在左关节半轴(31)上，第一拨盘(71)与基座(1)固接；所述的第一连杆(72)一端与第一拨盘(71)通过第一轴(77)铰接，另一端与第一滑块(73)通过第二轴(78)铰接；所述的第一滑块(73)镶嵌在第一指段(4)的第一滑槽中，第二滑块(74)镶嵌在第一指段(4)的第二滑槽中，所述的第一滑槽和第二滑槽平行，第一滑块(73)与第二滑块(74)活接触；所述的第二连杆(75)一端与第二滑块(74)通过第三轴(79)铰接，另一端与第二拨盘(76)通过第四轴(80)铰接；所述的第二拨盘(76)套固在远关节轴(5)上；所述的第一簧件(81)设置在第一指段(4)与第二指段(6)之间并且第一簧件(81)的两端分别与第一指段(4)和第二指段(6)相连接，或者所述的第一簧件(81)设置在第二滑块(74)与第一指段(4)之间并且第一簧件(81)的两端分别与第二滑块(74)和第一指段(4)相连接。1. A double-link slider type coupling adaptive underactuated robot finger device, comprising a base (1), a left proximal joint half shaft (31), a first finger segment (4), a distal joint shaft (5), a second The two finger segments (6) and the motor (2), the motor (2) is arranged in the base (1), the output shaft of the motor (2) is connected with the left proximal joint semi-axis (31); the left proximal joint The half shaft (31) is sleeved in the base (1), the distal joint shaft (5) is sleeved in the first finger segment (4), and the second finger segment (6) is sleeved fixed on the distal joint shaft (5); it is characterized in that: the double-link slider type coupling adaptive underactuated robot finger device also includes a right proximal joint half shaft (32), a first dial (71), The first connecting rod (72), the first shaft (77), the second shaft (78), the first slider (73), the second slider (74), the second connecting rod (75), the third shaft ( 79), the fourth shaft (80), the second dial (76) and the first spring (81); the first finger section (4) is sleeved on the left proximal joint semi-axis (31), and the first The finger segment (4) is sleeved on the right proximal joint semi-axis (32); the right proximal joint semi-axis (32) is sleeved on the base (1), and the right proximal joint semi-axis (32) and the left proximal joint semi-axis ( 31) Coaxial, the right proximal joint semi-axis is fixedly connected to the first dial (71), and the first dial (71) is sleeved on the left joint semi-axis (31), and the first dial (71) is connected to the first dial (71) The base (1) is fixedly connected; one end of the first connecting rod (72) is hinged with the first dial (71) through the first shaft (77), and the other end is hinged with the first slider (73) through the second shaft (78) hinged; the first slider (73) is embedded in the first slide groove of the first finger section (4), and the second slider (74) is embedded in the second slider of the first finger section (4). In the chute, the first chute is parallel to the second chute, and the first slider (73) is in live contact with the second slider (74); one end of the second connecting rod (75) is in contact with the second The slide block (74) is hinged by the third shaft (79), and the other end is hinged with the second dial (76) by the fourth shaft (80); the second dial (76) is sleeved on the distal joint shaft ( 5) above; the first spring member (81) is arranged between the first finger segment (4) and the second finger segment (6) and the two ends of the first spring member (81) are respectively connected to the first finger segment (4) is connected with the second finger segment (6), or the first spring part (81) is arranged between the second slider (74) and the first finger segment (4) and the first spring part ( The two ends of 81) are respectively connected with the second slide block (74) and the first finger section (4).2.一种双连杆滑块式耦合自适应欠驱动机器人手指装置，包括基座(1)、左近关节半轴(31)、第一指段(4)、远关节轴(5)、第二指段(6)和电机(2)，所述的电机(2)设置在基座(1)中，电机(2)的输出轴与左近关节半轴(31)相连；所述的左近关节半轴(31)套设在所述的基座(1)中，所述的远关节轴(5)套设在第一指段(4)中，所述的第二指段(6)套固在所述的远关节轴(5)上；其特征在于：该双连杆滑块式耦合自适应欠驱动机器人手指装置还包括右近关节半轴(32)、第一拨盘(71)、第一连杆(72)、第一轴(77)、第二轴(78)、第一滑块(73)、第二滑块(74)、第二连杆(75)、第三轴(79)、第四轴(80)、第二拨盘(76)、第一簧件(81)和第二簧件(82)；所述的第一指段(4)套固在左近关节半轴(31)上，第一指段(4)套设在右近关节半轴(32)上；所述的第二簧件(82)的两端分别连接第一指段(4)和左近关节半轴(31)；所述的右近关节半轴(32)套设在基座(1)上，右近关节半轴(32)与左近关节半轴(31)共轴，右近关节半轴(32)与第一拨盘(71)固接，所述的第一拨盘(71)套设在左关节半轴(31)上，第一拨盘(71)与基座(1)固接；所述的第一连杆(72)一端与第一拨盘(71)通过第一轴(77)铰接，另一端与第一滑块(73)通过第二轴(78)铰接；所述的第一滑块(73)镶嵌在第一指段(4)的第一滑槽中，第二滑块(74)镶嵌在第一指段(4)的第二滑槽中，所述的第一滑槽和第二滑槽平行，第一滑块(73)与第二滑块(74)活接触；所述的第二连杆(75)一端与第二滑块(74)通过第三轴(79)铰接，另一端与第二拨盘(76)通过第四轴(80)铰接；所述的第二拨盘(76)套固在远关节轴(5)上；所述的第一簧件(81)设置在第一指段(4)与第二指段(6)之间并且第一簧件(81)的两端分别与第一指段(4)和第二指段(6)相连接，或者所述的第一簧件(81)设置在第二滑块(74)与第一指段(4)之间并且第一簧件(81)的两端分别与第二滑块(74)和第一指段(4)相连接。2. A dual-link slider coupling adaptive underactuated robotic finger device, comprising a base (1), a left proximal joint half shaft (31), a first finger segment (4), a distal joint shaft (5), a second The two finger segments (6) and the motor (2), the motor (2) is arranged in the base (1), the output shaft of the motor (2) is connected with the left proximal joint semi-axis (31); the left proximal joint The half shaft (31) is sleeved in the base (1), the distal joint shaft (5) is sleeved in the first finger segment (4), and the second finger segment (6) is sleeved fixed on the distal joint shaft (5); it is characterized in that: the double-link slider type coupling adaptive underactuated robot finger device also includes a right proximal joint half shaft (32), a first dial (71), The first connecting rod (72), the first shaft (77), the second shaft (78), the first slider (73), the second slider (74), the second connecting rod (75), the third shaft ( 79), the fourth shaft (80), the second dial (76), the first spring (81) and the second spring (82); On the shaft (31), the first finger segment (4) is sleeved on the right proximal joint half shaft (32); the two ends of the second spring member (82) are respectively connected to the first finger segment (4) and the left proximal joint Semi-axis (31); the right proximal joint semi-axis (32) is sleeved on the base (1), the right proximal joint semi-axis (32) is coaxial with the left proximal joint semi-axis (31), and the right proximal joint semi-axis (32 ) is fixedly connected to the first dial (71), the first dial (71) is sleeved on the left joint half shaft (31), and the first dial (71) is fixedly connected to the base (1); One end of the first connecting rod (72) is hinged with the first dial (71) through the first shaft (77), and the other end is hinged with the first slider (73) through the second shaft (78); The first slider (73) is embedded in the first chute of the first finger section (4), and the second slider (74) is embedded in the second chute of the first finger section (4). A chute is parallel to the second chute, and the first slide block (73) is in live contact with the second slide block (74); one end of the second connecting rod (75) and the second slide block (74) pass through the third The shaft (79) is hinged, and the other end is hinged with the second dial (76) through the fourth shaft (80); the second dial (76) is sleeved on the distal joint shaft (5); A spring part (81) is arranged between the first finger section (4) and the second finger section (6) and the two ends of the first spring part (81) are respectively connected with the first finger section (4) and the second finger section (6) are connected, or the first spring member (81) is arranged between the second slider (74) and the first finger segment (4) and the two ends of the first spring member (81) are respectively connected to the second The second slide block (74) is connected with the first finger segment (4).3.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：所述的第一连杆、第二连杆、第一拨盘和第二拨盘的结构参数符合以下关系：设第一连杆(72)的长度为L₁，第一拨盘(71)的中心线到第二轴(78)的中心线的距离为R₁；设第二连杆(75)的长度为L₂，第二拨盘(76)的中心线到第四轴(80)的中心线的距离为R₂，则：L₁∶R₁=L₂∶R₂＝2.5～3.5∶1。3. The double-link slider type coupling adaptive underactuated robot finger device as claimed in claim 1 or 2, characterized in that: the first connecting rod, the second connecting rod, the first dial and the second The structural parameters of the dial meet the following relationship: the length of the first connecting rod (72) is L₁ , the distance from the centerline of the first dial (71) to the centerline of the second shaft (78) is R₁ ; The length of the second connecting rod (75) is L₂ , the distance from the center line of the second dial (76) to the center line of the fourth shaft (80) is R₂ , then: L₁ : R₁ =L₂ : R₂ =2.5-3.5:1.4.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：所述的远关节轴(5)由左远关节半轴(51)和右关节半轴(52)组成，所述的左远关节半轴(51)和右远关节半轴(52)共轴套设在第一指段中。4. The double-link slider type coupling self-adaptive underactuated robot finger device as claimed in claim 1 or 2, is characterized in that: the described far-joint axis (5) consists of the left far-joint semi-axis (51) and the right The joint half shaft (52) is composed of the left far joint half shaft (51) and the right far joint half shaft (52) coaxially sleeved in the first finger segment.5.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：所述的第一滑块(73)与第二滑块(74)的活接触方式采用第一滑块(73)与第二滑块(74)单面接触，所述的第一滑块(73)推动第二滑块(74)向手指内滑移。5. The dual-link slider type coupling self-adaptive underactuated robot finger device as claimed in claim 1 or 2, is characterized in that: the movement of the first slider (73) and the second slider (74) The contact method adopts single-sided contact between the first slider (73) and the second slider (74), and the first slider (73) pushes the second slider (74) to slide inwardly of the finger.6.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：所述的第一滑块(73)与第二滑块(74)的活接触方式采用绳(96)连接，所述的第一滑块(73)拉动第二滑块(74)向手指内滑移。6. The double-link slider type coupling self-adaptive underactuated robot finger device as claimed in claim 1 or 2, characterized in that: the movement of the first slider (73) and the second slider (74) The contact mode is connected by a rope (96), and the first slider (73) pulls the second slider (74) to slide inwardly of the fingers.7.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：所述的第一簧件(81)采用压簧、扭簧或弹性绳。7. The dual-link slider coupling adaptive underactuated robot finger device according to claim 1 or 2, characterized in that: the first spring member (81) is a compression spring, torsion spring or elastic rope.8.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：该装置还包括传动机构，所述的传动机构包括减速器(91)、第一齿轮(92)和第二齿轮(93)；所述的电机(2)的输出轴与减速器(91)的输入轴相连，所述的第一齿轮(92)套固在减速器(91)的输出轴上，所述的第二齿轮(93)套固在近关节轴(3)上，所述的第一齿轮(92)与第二齿轮(93)啮合。8. The double-link slider type coupling adaptive underactuated robot finger device as claimed in claim 1 or 2, characterized in that: the device also includes a transmission mechanism, and the transmission mechanism includes a speed reducer (91), a first A gear (92) and a second gear (93); the output shaft of the motor (2) is connected with the input shaft of the reducer (91), and the first gear (92) is sleeved and fixed on the reducer (91) ), the second gear (93) is sheathed on the proximal joint shaft (3), and the first gear (92) meshes with the second gear (93).9.如权利要求1或2所述的双连杆滑块式耦合自适应欠驱动机器人手指装置，其特征在于：所述的第二滑块(74)表面覆盖有第二滑块表面板(741)。9. The double-link slider type coupling adaptive underactuated robot finger device as claimed in claim 1 or 2, characterized in that: the surface of the second slider (74) is covered with a second slider surface plate ( 741).

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