技术领域technical field
本发明属于拟人机器人手技术领域，特别涉及一种连杆键槽式耦合欠驱动双关节机器人手指装置的机构设计。The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to a mechanism design of a connecting rod keyway coupling underactuated double-joint robot finger device.
背景技术Background technique
从达芬奇时代起，人们就开始了关于模拟人类手掌的尝试，到了今天医学、航天、制造业各个领域无不产生对机器手的需求。在人们投入极大的经历去研制新一代的机器手时，机器手的功能依据在各自领域的不同用途出现了多元化的倾向，其中的一大类是为了实现高效、稳定抓取目的的机器手。Since the time of Da Vinci, people have tried to simulate human palms, and today there is a demand for robotic hands in various fields such as medicine, aerospace, and manufacturing. When people invest a lot of experience to develop a new generation of robotic hands, the functions of robotic hands tend to be diversified according to different uses in their respective fields. One of the major categories is to achieve efficient and stable grasping purposes. hand.
由于目的是抓取，不需要对抓取过程精确的控制，因此这类手的手指的研制主要围绕两个模式展开，一个是“耦合”抓取模式，另一个是“欠驱动”抓取模式。所谓“耦合”抓取模式即同时弯曲各关节的动作模式，这种模式能够很好的模拟人手的运动状态，达到逼真的效果。所谓“欠驱动”的抓取模式即通过少量电机引起多个相互独立的关节运动的动作模式，这种模式可以实现对物体的包络抓取。Since the purpose is to grasp and does not require precise control of the grasping process, the development of the fingers of this type of hand mainly revolves around two modes, one is the "coupled" grasping mode, and the other is the "underactuated" grasping mode . The so-called "coupling" grasping mode is the action mode of bending each joint at the same time. This mode can well simulate the movement state of the human hand and achieve a realistic effect. The so-called "under-actuated" grasping mode is an action mode in which multiple independent joint movements are caused by a small number of motors. This mode can achieve envelope grasping of objects.
这两种模式各有各的不足。在“耦合”模式的抓取中，各关节均以固定比例角度的转动，虽然有很多关节的运动但实际上只有一个自由度，在抓取物体时一旦某个指段抓取物体其它指段一般无法触碰物体，很难恰好适应物体的形状尺寸，完全不具备抓取物体时对不同尺寸物体的自适应性。在“欠驱动”模式的抓取中，手指可以通过弹簧等柔性约束实现自由度的增加，进而对物体实现自适应效果的抓取。但是在这种抓取模式下，手指在触碰物体后进入欠驱动状态下会对物体施加力，增加物体射出的风险，为操作带来不便。如用在拟人机器人手领域，由于手指在未碰触物体前始终呈现伸直状态，不符合人手抓取特征，也不能满足拟人化的需求。Both models have their own shortcomings. In the "coupling" mode of grasping, each joint rotates at a fixed ratio of angles. Although there are many joint movements, there is actually only one degree of freedom. When grasping an object, once a certain finger segment grabs another finger segment Generally, it is impossible to touch objects, it is difficult to adapt to the shape and size of objects, and it does not have the adaptability to objects of different sizes when grasping objects. In the "underactuated" mode of grasping, the fingers can achieve an increase in the degree of freedom through flexible constraints such as springs, and then achieve an adaptive effect on the grasping of the object. However, in this grasping mode, the finger will exert force on the object when it enters the under-actuated state after touching the object, which increases the risk of the object being ejected and brings inconvenience to the operation. If it is used in the field of anthropomorphic robot hands, since the fingers are always in a straight state before touching the object, it does not meet the characteristics of human grasping, nor can it meet the needs of anthropomorphism.
基于以上问题，有人提出一种耦合欠驱动的抓取模式，即手指可以先耦合运动，触碰物体后可以进行自适应抓取。已有一种耦合欠驱动两关节机器人手指装置（【公开号】CN101664930），包括括基座、电机、第一指段、远关节轴、第二指段、主动锥齿轮、从动锥齿轮和双联锥齿轮等。这一装置综合之前装置的优缺点较好地实现了耦合欠驱动的抓取模式，但结构复杂（四根连杆作为传动机构、两个弹簧），增加了装置的不稳定性。Based on the above problems, someone proposes a coupled underactuated grasping mode, that is, the finger can couple the motion first, and then it can perform adaptive grasping after touching the object. There is a coupled underactuated two-joint robot finger device ([public number] CN101664930), which includes a base, a motor, a first finger segment, a distal joint shaft, a second finger segment, a driving bevel gear, a driven bevel gear and a double Bevel gears, etc. This device combines the advantages and disadvantages of previous devices to better realize the grasping mode of coupled underactuation, but the structure is complicated (four connecting rods as the transmission mechanism and two springs), which increases the instability of the device.
发明内容Contents of the invention
本发明的目的是针对已有技术的不足之处，提供一种连杆键槽式耦合欠驱动双关节机器人手指装置，通过键槽传动以及弹簧解耦的方式，综合实现了耦合抓取效果与自适应欠驱动抓取效果两者的有效融合。该装置仅采用两个连杆构成传动机构，结构简单，并且只用一个弹簧便实现了耦合自适应的抓取效果；手指的外形与抓取物体的动作与人手指相似，对控制系统要求低，适合作为一般的拟人机器人手的手指。The purpose of the present invention is to address the deficiencies of the prior art, to provide a connecting rod keyway coupling underactuated double-joint robot finger device, through keyway transmission and spring decoupling, the coupling grasping effect and self-adaptation are comprehensively realized An effective fusion of both underactuated gripping effects. The device only uses two connecting rods to form the transmission mechanism, the structure is simple, and only one spring is used to realize the coupling adaptive grasping effect; the shape of the fingers and the action of grasping objects are similar to human fingers, and the requirements for the control system are low , suitable as the fingers of a general anthropomorphic robot hand.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
连杆键槽式耦合欠驱动双关节机器人手指装置，包括基座、电机、减速器、第一指段、第二指段、远关节轴、近关节轴和耦合传动机构；所述的电机与基座固接，电机的输出轴与所述的减速器的输入轴相连；所述的近关节轴套设在基座中，所述的远关节轴固接在所述的第一指段中；第一指段套接在近关节轴上，所述的第二指段套接在远关节轴上；所述的近关节轴和远关节轴的轴线相互平行；The connecting rod keyway coupling underactuated double-joint robot finger device includes a base, a motor, a reducer, a first finger segment, a second finger segment, a distal joint shaft, a proximal joint shaft and a coupling transmission mechanism; the motor and the base The base is fixed, the output shaft of the motor is connected with the input shaft of the reducer; the proximal joint shaft is sleeved in the base, and the distal joint shaft is fixed in the first finger section; The first finger segment is sleeved on the proximal joint shaft, and the second finger segment is sleeved on the distal joint shaft; the axes of the proximal joint shaft and the distal joint shaft are parallel to each other;
其特征在于：所述的耦合传动机构包括第一连杆、推杆、推杆螺母、第一连接轴、第二连接轴、键轴和簧件。It is characterized in that: the coupling transmission mechanism includes a first connecting rod, a push rod, a push rod nut, a first connecting shaft, a second connecting shaft, a key shaft and a spring.
所述的推杆的一端设有推杆螺母，通过推杆螺母与减速器输出端螺纹连接，另一端设有键槽和第一连接轴；键槽与所述的键轴套接，键轴固设在第一连杆的一端，第一连杆的另一端套接在近关节轴上；第一连接轴固接在推杆上并与第二连杆的一端套接，第二连杆的另一端套接在第二连接轴上，第二连接轴和第二指段固接；所述的簧件的两端分别连接第一连杆和第一指段；所述的近关节轴、远关节轴、第一连接轴、键轴和第二连接轴的轴线相互平行。One end of the push rod is provided with a push rod nut, which is threadedly connected with the output end of the reducer through the push rod nut, and the other end is provided with a keyway and a first connecting shaft; the keyway is socketed with the key shaft, and the key shaft is fixed At one end of the first connecting rod, the other end of the first connecting rod is sleeved on the proximal joint shaft; the first connecting shaft is fixedly connected to the push rod and is sleeved with one end of the second connecting rod, and the other end of the second connecting rod One end is sleeved on the second connecting shaft, and the second connecting shaft is fixedly connected to the second finger segment; the two ends of the spring member are respectively connected to the first connecting rod and the first finger segment; the proximal joint shaft, the far Axes of the joint shaft, the first connection shaft, the key shaft and the second connection shaft are parallel to each other.
本发明所述的连杆键槽式耦合欠驱动双关节机器人手指装置，其特征在于：所述的近关节轴、远关节轴、键轴符合如下关系：设近关节轴的轴线与远关节轴的轴线所在平面为P平面，近关节轴的轴线与键轴的轴线所在平面为M平面；则P平面与M平面的夹角大于所用材料的摩擦角。The connecting rod keyway coupling underactuated double-joint robot finger device of the present invention is characterized in that: the proximal joint shaft, the distal joint shaft, and the key shaft conform to the following relationship: the axis of the proximal joint shaft and the distance of the distal joint shaft The plane where the axis is located is the P plane, and the plane where the axis of the proximal joint shaft and the axis of the key shaft is located is the M plane; then the angle between the P plane and the M plane is greater than the friction angle of the material used.
本发明所述的连杆键槽式耦合欠驱动双关节机器人手指装置，其特征在于：所述的簧件采用拉簧、板簧或弹性绳。The connecting rod keyway coupling underactuated double-joint robot finger device according to the present invention is characterized in that: the spring element is a tension spring, a leaf spring or an elastic rope.
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:
该装置利用键槽机构及簧件所具有的解耦作用综合实现了耦合与自适应欠驱动两种抓取方式简单有效地结合。本装置通过键槽传动以及弹簧解耦的方式，综合实现了耦合抓取效果与自适应欠驱动抓取效果两者的有效融合。该装置仅采用两个连杆构成传动机构，结构简单，并且只用一个弹簧便实现了耦合自适应的抓取效果；手指的外形与抓取物体的动作与人手指相似，对控制系统要求低，适合作为一般的拟人机器人手的手指。The device utilizes the decoupling function of the keyway mechanism and the spring to comprehensively realize the simple and effective combination of the coupling and adaptive underactuation grasping methods. The device comprehensively realizes the effective fusion of the coupled grasping effect and the self-adaptive underactuated grasping effect through the way of keyway transmission and spring decoupling. The device only uses two connecting rods to form the transmission mechanism, the structure is simple, and only one spring is used to realize the coupling adaptive grasping effect; the shape of the fingers and the action of grasping objects are similar to human fingers, and the requirements for the control system are low , suitable as the fingers of a general anthropomorphic robot hand.
附图说明Description of drawings
图1是本实施例提供的连杆键槽式耦合欠驱动机器人手指装置的立体视图。Fig. 1 is a perspective view of the link keyway coupling underactuated robot finger device provided by this embodiment.
图2是图1的F方向的视图Figure 2 is a view from the F direction of Figure 1
图3是图2的A-A剖视图。Fig. 3 is a cross-sectional view along line A-A of Fig. 2 .
图4是图3的B-B剖视图。Fig. 4 is a B-B sectional view of Fig. 3 .
图5是图4的C-C剖视图。Fig. 5 is a C-C sectional view of Fig. 4 .
图6是图1所示实施例的爆炸视图。Figure 6 is an exploded view of the embodiment shown in Figure 1 .
图7是图2所示实施例以耦合方式转动的A-A剖视图。Fig. 7 is an A-A sectional view of the embodiment shown in Fig. 2 rotating in a coupled manner.
图8是图7所示转动状态的等效连杆示意图。Fig. 8 is a schematic diagram of an equivalent connecting rod in the rotating state shown in Fig. 7 .
图9是图2所示实施例的以欠驱动方式转动的A-A剖视图（此时第一指段和第二指段均被所抓物体阻挡）。Fig. 9 is an A-A cross-sectional view of the embodiment shown in Fig. 2 rotating in an under-actuated manner (the first finger segment and the second finger segment are both blocked by the grasped object at this time).
图10是图9所示转动状态的等效连杆示意图。Fig. 10 is a schematic diagram of an equivalent connecting rod in the rotating state shown in Fig. 9 .
图11、图12、图13、图14和图15是图1所示实施例以两个指段完全握持方式抓取物体过程示意图（第一指段和第二指段分别绕近关节轴、远关节轴轴线转动）。Fig. 11, Fig. 12, Fig. 13, Fig. 14 and Fig. 15 are schematic diagrams of the process of grabbing an object in the embodiment shown in Fig. 1 with two finger segments fully gripped (the first finger segment and the second finger segment are respectively around the proximal joint axis , axis rotation of the distal joint axis).
图16是本实施例以第二指段碰触物体的示意图。Fig. 16 is a schematic diagram of touching an object with the second finger segment in this embodiment.
图17是本实施例以捏持方式抓取物体的示意图。Fig. 17 is a schematic diagram of grasping an object by pinching in this embodiment.
在图1至图17中：In Figures 1 to 17:
11-电机， 12-减速器， 2-基座11-motor, 12-reducer, 2-base
3-第一指段， 31-远关节轴3-first finger segment, 31-distal joint axis
4-第二指段， 41-第二连接轴4-the second finger segment, 41-the second connecting shaft
5-推杆， 51-推杆螺母， 52-第一连接轴5-push rod, 51-push rod nut, 52-the first connecting shaft
6-第一连杆， 61-键轴6-first connecting rod, 61-key shaft
7-第二连杆， 8-近关节轴， 9-簧件7-second connecting rod, 8-proximal joint shaft, 9-spring
具体实施方式Detailed ways
下面结合附图及实施例进一步详细介绍本发明的具体结构、工作原理的内容。The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
本发明设计的连杆键槽式耦合欠驱动机器人手指装置的一种实施例，如图1、图2、图3、图4、图5、和图6所示，包括基座2、电机11、减速器12、第一指段3、第二指段4、远关节轴31、近关节轴8和耦合传动机构；所述的电机11与基座2固接，电机11的输出轴与所述的减速器12的输入轴相连；所述的近关节轴8套设在基座1中，所述的远关节轴31固接在所述的第一指段3中；第一指段3套接在近关节轴8上，所述的第二指段4套接在远关节轴31上；所述的近关节轴8和远关节轴31的轴线相互平行；An embodiment of the connecting rod keyway type coupling underactuated robot finger device designed by the present invention, as shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, comprises a base 2, a motor 11, Reducer 12, first finger segment 3, second finger segment 4, far joint shaft 31, proximal joint shaft 8 and coupling transmission mechanism; the motor 11 is fixedly connected to the base 2, and the output shaft of the motor 11 is connected to the The input shaft of the reducer 12 is connected; the proximal joint shaft 8 is sleeved in the base 1, and the distal joint shaft 31 is fixed in the first finger segment 3; the first finger segment 3 sets Connected to the proximal joint shaft 8, the second finger segment 4 is sleeved on the distal joint shaft 31; the axes of the proximal joint shaft 8 and the distal joint shaft 31 are parallel to each other;
该实施例还包括第一连杆6、第二连杆7、推杆5、推杆螺母51、第一连接轴52、第二连接轴41、键轴61和簧件9。This embodiment also includes a first connecting rod 6 , a second connecting rod 7 , a push rod 5 , a push rod nut 51 , a first connecting shaft 52 , a second connecting shaft 41 , a key shaft 61 and a spring element 9 .
所述的推杆5的一端设有推杆螺母51，通过推杆螺母（51与减速器输出端12螺纹连接，另一端设有键槽和第一连接轴52，键槽与所述的键轴61套接，键轴61固设在第一连杆6的一端，第一连杆6的另一端套接在近关节轴8上；第一连接轴52固接在推杆上并与第二连杆7的一端套接，第二连杆的另一端套接在第二连接轴41上，第二连接轴41和第二指段4固接；所述的簧件9的两端分别连接第一连杆6和第一指段3；所述的近关节轴8、远关节轴31、第一连接轴52、键轴61和第二连接轴41的轴线相互平行。One end of the push rod 5 is provided with a push rod nut 51, which is threadedly connected with the output end 12 of the reducer through the push rod nut (51, and the other end is provided with a keyway and a first connecting shaft 52, and the keyway and the key shaft 61 Socketing, the key shaft 61 is fixed on one end of the first connecting rod 6, and the other end of the first connecting rod 6 is sleeved on the proximal joint shaft 8; the first connecting shaft 52 is fixed on the push rod and connected with the second connecting rod. One end of the rod 7 is sleeved, the other end of the second connecting rod is sleeved on the second connecting shaft 41, and the second connecting shaft 41 is fixedly connected to the second finger section 4; the two ends of the spring member 9 are connected to the second connecting shaft respectively. A connecting rod 6 and the first finger section 3; the axes of the proximal joint shaft 8, the distal joint shaft 31, the first connecting shaft 52, the key shaft 61 and the second connecting shaft 41 are parallel to each other.
本实施例中，所述的近关节轴8、远关节轴31、键轴61符合如下关系：设近关节轴8的轴线与远关节轴31的轴线所在平面为P平面，近关节轴8的轴线与键轴61的轴线所在平面为M平面；则P平面与M平面的夹角大于所用材料的摩擦角。In this embodiment, the described proximal joint shaft 8, distal joint shaft 31, and key shaft 61 conform to the following relationship: the plane where the axis of the proximal joint shaft 8 and the distal joint shaft 31 are located is the P plane, and the plane of the proximal joint shaft 8 The plane where the axis and the axis of the key shaft 61 are located is the M plane; then the angle between the P plane and the M plane is greater than the friction angle of the material used.
本发明所述的连杆键槽式耦合欠驱动双关节机器人手指装置，其特征在于：所述的簧件9采用拉簧、板簧或弹性绳。The connecting rod keyway coupling underactuated double-joint robot finger device according to the present invention is characterized in that: the spring member 9 is a tension spring, a leaf spring or an elastic rope.
本实施例的工作原理，如图11、图12、图13、图14、图15、图16和图17所示，叙述如下：The working principle of the present embodiment, as shown in Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16 and Fig. 17, is described as follows:
本实施例的初始状态如图11所示，类似人的手指伸直状态。The initial state of this embodiment is shown in FIG. 11 , which is similar to the straightened state of human fingers.
当使用本实施例的机器人手指抓取物体时，电机11的输出轴转动，通过减速器12的输出轴和推杆螺母51带动整个推杆5直线运动，推杆5推动键轴61带动第一连杆6绕近关节轴中心线转动，由于簧件9的约束作用，第一指段3和第一连杆6仿佛固接在一起，第一指段3将绕着近关节轴8转动一定角度。When the robot finger of this embodiment is used to grab an object, the output shaft of the motor 11 rotates, the output shaft of the reducer 12 and the push rod nut 51 drive the entire push rod 5 to move linearly, and the push rod 5 pushes the key shaft 61 to drive the first The connecting rod 6 rotates around the center line of the proximal joint axis. Due to the constraint of the spring element 9, the first finger segment 3 and the first connecting rod 6 seem to be fixedly connected together, and the first finger segment 3 will rotate around the proximal joint axis 8 for a certain amount. angle.
在推杆5运动过程中，第一连接轴52将接近远关节轴31，由于第二连杆7与第一连接轴52和第二连接轴41相互铰接并且第二连接轴41与第二指段4固接，推杆5的运动使得第一连接轴52将接近远关节轴31，从而推动第二指段4绕远关节轴31的中心线转动一定角度。改变键轴61。这种方式即耦合传动方式，如图12所示。During the movement of the push rod 5, the first connecting shaft 52 will be close to the distal joint shaft 31, because the second connecting rod 7 is hinged with the first connecting shaft 52 and the second connecting shaft 41 and the second connecting shaft 41 is connected to the second finger. The segment 4 is fixedly connected, and the movement of the push rod 5 makes the first connecting shaft 52 approach the distal joint axis 31 , thereby pushing the second finger segment 4 to rotate a certain angle around the center line of the distal joint axis 31 . Change key shaft 61. This mode is the coupling transmission mode, as shown in Figure 12.
通过调整第一连杆6、第二连杆7的长度，初始状态下第一连杆6与第一指段3的角度以及键槽与第一连接轴52的相对位置，第二连接轴41与远关节轴31的轴线的距离，可以获得不同的耦合效果，即耦合转动时第一指段3绕近关节轴8转动的角度与第二指段4绕远关节轴31相对于第一指端3转动的角度的不同关系。By adjusting the length of the first connecting rod 6 and the second connecting rod 7, the angle between the first connecting rod 6 and the first finger segment 3 and the relative position of the keyway and the first connecting shaft 52 in the initial state, the second connecting shaft 41 and The distance of the axis of the distal joint axis 31 can obtain different coupling effects, that is, the angle at which the first finger segment 3 rotates around the proximal joint axis 8 is the same as the angle at which the second finger segment 4 rotates around the distal joint axis 31 relative to the first fingertip 3 during coupling rotation. The different relationships of the angle of rotation.
此时，如果第一指段3首先碰触物体，如同13所示。电机11的输出轴继续转动，通过减速器12的输出轴和推杆螺母51带动整个推杆5直线运动，使得第一连杆6将在电机的推动下继续转动。由于第一指段受到物体的限制无法移动，簧件9将发生变形，这将使第一指段3以越来越大的抓取力紧靠物体。由于第二连杆7与第一连接轴52和第二连接轴41相互铰接并且第二连接轴41与第二指段4固接，推杆5的运动使得第一连接轴52将接近远关节轴31，从而推动第二指段4绕远关节轴31的中心线转动一定角度。这一过程直到第二指段4接触到物体，这时电机的输出通过弹簧的弹力矩和物体的压力产生的反力矩进行平衡，完成抓持动作，如图14、图15所示。此过程使得该装置能够自动适应抓取不同形状和尺寸大小的物体。At this time, if the first finger segment 3 first touches the object, as shown in 13 . The output shaft of the motor 11 continues to rotate, and the output shaft of the reducer 12 and the push rod nut 51 drive the whole push rod 5 to move linearly, so that the first connecting rod 6 will continue to rotate under the promotion of the motor. Since the first finger section is restricted by the object and cannot move, the spring element 9 will be deformed, which will make the first finger section 3 close to the object with increasing grasping force. Because the second connecting rod 7 is hinged with the first connecting shaft 52 and the second connecting shaft 41 and the second connecting shaft 41 is fixedly connected with the second finger section 4, the movement of the push rod 5 makes the first connecting shaft 52 approach the distal joint shaft 31, thereby pushing the second finger section 4 to rotate a certain angle around the central line of the distal joint shaft 31. This process is until the second finger section 4 touches the object. At this time, the output of the motor is balanced by the elastic moment of the spring and the counter moment generated by the pressure of the object to complete the grasping action, as shown in Figures 14 and 15. This process allows the device to automatically adapt to grasp objects of different shapes and sizes.
此时，如果由第一指段3和第二指段4同时碰触物体，这时电机的输出通过弹簧的弹力矩和物体的压力产生的反力矩进行平衡，完成抓持，如图16所示。At this time, if the first finger segment 3 and the second finger segment 4 touch the object at the same time, the output of the motor is balanced by the elastic moment of the spring and the counter torque generated by the pressure of the object to complete the grip, as shown in Figure 16 Show.
此时，如果由第二指段4首先碰触物体，这时电机的输出通过弹簧的弹力矩和物体在第二指段4上的压力产生的反力矩进行平衡，手指以捏持的方式抓取物体，如图17所示。At this time, if the second finger segment 4 first touches the object, the output of the motor is balanced by the elastic moment of the spring and the counter torque generated by the pressure of the object on the second finger segment 4, and the fingers grasp the object in a pinching manner. Take the object, as shown in Figure 17.
当放开物体时，电机11反转，通过减速器12的输出轴和推杆螺母51带动整个推杆5直线返回，推杆5通过键轴61带动第一连杆6绕近关节轴8中心线反转，弹簧9的变形逐渐减小；并且第一连接轴52和远关节轴31的距离增大，带动第二指段4绕远关节轴31反转。弹簧9的变形完全复原后开始带动第一指段3绕着近关节轴8反转。最终，由于基座2的限制作用，推杆5停在初始位置，手指复原，如图11所示。When the object is released, the motor 11 reverses, and the output shaft of the reducer 12 and the push rod nut 51 drive the entire push rod 5 to return in a straight line, and the push rod 5 drives the first connecting rod 6 around the center of the joint shaft 8 through the key shaft 61 When the line is reversed, the deformation of the spring 9 gradually decreases; and the distance between the first connecting axis 52 and the distal joint axis 31 increases, driving the second finger segment 4 to reverse around the distal joint axis 31 . After the deformation of the spring 9 is fully recovered, it starts to drive the first finger segment 3 to reverse around the proximal joint axis 8 . Finally, due to the restriction of the base 2, the push rod 5 stops at the initial position, and the finger recovers, as shown in FIG. 11 .
由于键轴和键槽之间相互作用时存在滑动摩擦，其作用力的夹角要避免所选材料的自锁条件，因此要求近关节轴8、远关节轴31、键轴61三者之间符合如下关系：设近关节轴8的轴线与远关节轴31的轴线所在平面为P平面，近关节轴8的轴线与键轴61的轴线所在平面为M平面，如图5所示；则P平面与M平面的夹角大于所用材料的摩擦角。Since there is sliding friction when the key shaft and the key groove interact, the included angle of the force should avoid the self-locking condition of the selected material, so it is required that the proximal joint shaft 8, the distal joint shaft 31, and the key shaft 61 meet the requirements. The relationship is as follows: the plane where the axis of the proximal joint shaft 8 and the axis of the distal joint shaft 31 is located is the P plane, and the plane where the axis of the proximal joint shaft 8 and the axis of the key shaft 61 is located is the M plane, as shown in Figure 5; then the P plane The angle with the M plane is greater than the friction angle of the material used.
簧件9要求能够在两个零件之间传递扭矩，因此可以采用拉簧、板簧或弹性绳。The spring member 9 is required to be able to transmit torque between the two parts, so extension springs, leaf springs or elastic cords can be used.
该装置利用一个推杆通过连杆和键槽将两个关节的传动集中起来，同时利用簧件所具有的解耦作用综合实现了耦合与自适应欠驱动两种抓取方式简单有效地结合。在推杆的输入端，推杆螺母连接减速器的输出端；在推杆的两个输出端，键槽和第一连接轴将运动分别传递给第一指段和第二指段，这种分叉式的传动方式减小了零件的数量并节约了空间，使得装置更加灵巧简单。该手指装置在碰触物体前采用耦合方式传动，动作高度拟人化；触碰物体时，可以自适应地抓取物体。该装置仅采用两个连杆构成传动机构，结构简单，并且只用一个弹簧便实现了耦合自适应的抓取效果；手指的外形与抓取物体的动作与人手指相似，对控制系统要求低，适合作为一般的拟人机器人手的手指。The device uses a push rod to centralize the transmission of the two joints through the connecting rod and the keyway, and at the same time utilizes the decoupling function of the spring to comprehensively realize the simple and effective combination of the two grasping modes of coupling and self-adaptive underactuation. At the input end of the push rod, the push rod nut is connected to the output end of the reducer; at the two output ends of the push rod, the keyway and the first connecting shaft transmit the motion to the first finger segment and the second finger segment respectively. The fork-type transmission reduces the number of parts and saves space, making the device more dexterous and simple. The finger device adopts coupling transmission before touching the object, and its action is highly anthropomorphic; when touching the object, it can grasp the object adaptively. The device only uses two connecting rods to form the transmission mechanism, the structure is simple, and only one spring is used to realize the coupling adaptive grasping effect; the shape of the fingers and the action of grasping objects are similar to human fingers, and the requirements for the control system are low , suitable as the fingers of a general anthropomorphic robot hand.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210448641.4ACN102935642B (en) | 2012-11-09 | 2012-11-09 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210448641.4ACN102935642B (en) | 2012-11-09 | 2012-11-09 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
| Publication Number | Publication Date |
|---|---|
| CN102935642A CN102935642A (en) | 2013-02-20 |
| CN102935642Btrue CN102935642B (en) | 2015-02-18 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210448641.4AExpired - Fee RelatedCN102935642B (en) | 2012-11-09 | 2012-11-09 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
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| CN (1) | CN102935642B (en) |
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