CN102717393A - Connecting rod coupling-type finger device for neat robot - Google Patents
Connecting rod coupling-type finger device for neat robot Download PDFInfo
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- CN102717393A CN102717393A CN2012101798166A CN201210179816A CN102717393A CN 102717393 A CN102717393 A CN 102717393A CN 2012101798166 A CN2012101798166 A CN 2012101798166A CN 201210179816 A CN201210179816 A CN 201210179816A CN 102717393 A CN102717393 A CN 102717393A
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- connecting rod
- finger
- joint shaft
- decelerator
- gear
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Abstract
A connecting rod coupling-type finger device for a neat robot belongs to the technical field of anthropomorphic robot hands, and comprises a base, a middle finger section, a tail end finger section, a near joint shaft, a far joint shaft, a connecting rod transmission mechanism, two sets of electric motors and a speed reducer. The connecting rod coupling-type finger device achieves two free degrees and four grabbing modes as follows: (1) a double joint coupling rotation grabbing mode is adopted; (2) a double joint independent rotation grabbing mode is adopted; (3) a grabbing mode that double joints rotate in a coupling manner at first and then rotate independently is adopted; and (4) a grabbing mode that the double joints rotate independently at first and then rotate in a coupling manner is adopted. The connecting rod coupling-type finger device can achieve the coupling effect in a traditional coupling finger that a single electric motor drives a plurality of joints to rotate at the same time, also achieves the decoupling grabbing effect that a single joint can rotate independently, and is easy to control when grabbing an object, while the traditional coupling finger cannot achieve the decoupling grabbing effect; in addition, all the electric motors and the speed reducer are arranged in the base, and a finger rotation part is small in size and light in weight.
Description
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, particularly a kind of structural design of connecting rod manifold type handyman finger apparatus.
Background technology
Along with the development that science and technology is maked rapid progress, People more and more is thirsted for from single machinery work repeatedly, freeing, and also when the river rises the boat goes up in the labour-intensive production work of tradition, to use robot or part to use the demand of robot.In anthropomorphic robot's research field, an important research direction is a grasping objects, is the focus of studying at present.Much frees degree more than 20 that distributing on the staff, if all adopt motor-driven mode to control, not only cost is expensive, in the time of in fact the requirement of control very high, also need complex sensing and control even grasp a simple object.For the difficulty that reduces to control; A kind of method is to reduce the number of motors of working simultaneously; The real-time of grasping objects can guarantee more easily like this; Simultaneously bring a problem again: how to use the more joint of less motor-driven (promptly owe to drive and grasp), and course of action personalizes effectively, grasping objects is still reliable and stable.
Usually have dual mode can realize owing driving and grasp, a kind of is the self adaptation under-actuated finger mechanism, often abbreviates self adaptation finger or under-actuated finger as, and another kind is the coupling under-actuated finger mechanism, often abbreviates the coupling finger as.Though there is a kind of unstable phenomenon that grasps in the shape and size of automatic adaptation object that self adaptation has been pointed passive realization: race object or destruction object can take place to squeeze in the finger section near root; Also there is another kind of wild effect: after self-adapting grasping reaches, also can further cause object to be open if grasping force is excessive; In addition, the extracting process of this finger is not anthropomorphic, can't realize from crooked gestures such as (clenching fist) yet.Though coupling finger extracting process relatively personalizes, can be crooked certainly, and extracting is comparatively stable, does not have adaptivity, realizes gripping better, and most objects are difficult to realize grip effect preferably.
Existing a kind of double bevel wheel coupling under-driving robot finger; Like Chinese invention patent CN101633172A, comprise pedestal, nearly joint shaft, middle finger section, joint shaft far away, the end section of finger, motor, decelerator, first bevel gear, double bevel wheel, second bevel gear.Motor drives middle finger section through decelerator and rotates around nearly joint shaft, and the end section of finger can be rotated an angle simultaneously, reaches the coupled rotation effect that nearly joint shaft and joint shaft far away rotate simultaneously.The weak point of this device is: in the process of grasping objects; The rotation of nearly joint shaft and joint shaft far away is simultaneously; When middle finger section contact object is stopped that can not be rotated further the time, the end section of finger also can't further be rotated even without contacting object again, so grip is bad again.Grasp Modes should be that middle finger section and the end section of finger can both touch object and apply grasping force preferably.
Summary of the invention
The objective of the invention is weak point, a kind of connecting rod manifold type handyman finger apparatus is provided to prior art.This device has two frees degree, can realize multiple extracting pattern, comprising: 1) the doublejointed coupled rotation grasps pattern; 2) the doublejointed independent rotation grasps pattern; 3) doublejointed elder generation coupled rotation, the extracting pattern of independent rotation more afterwards; 4) doublejointed elder generation independent rotation, the extracting pattern of coupled rotation more afterwards.
The present invention adopts following technical scheme:
A kind of connecting rod manifold type handyman finger apparatus comprises pedestal, middle finger section, the end section of finger, nearly joint shaft and joint shaft far away; Described nearly joint shaft is set in the pedestal, and described joint shaft far away is set in the middle finger section, and nearly joint shaft is parallel with joint shaft far away, and described middle finger section is fixed on the nearly joint shaft, and the described end section of finger is fixed on the joint shaft far away; It is characterized in that: this connecting rod manifold type handyman finger apparatus also comprises first motor, first decelerator, second motor, second decelerator, first connecting rod, second connecting rod, third connecting rod, first bearing pin and second bearing pin; Described first motor and first decelerator are all affixed with pedestal, and the output shaft of first motor links to each other with first input shaft of speed reducer, and the output shaft of first decelerator links to each other with nearly joint shaft; Described second motor and second decelerator are all affixed with pedestal, and the output shaft of second motor links to each other with second input shaft of speed reducer, and the output shaft of second decelerator links to each other with first connecting rod; Described first connecting rod is socketed on the nearly joint shaft, and described second connecting rod is fixed on the joint shaft far away and is affixed with the end section of finger; One end of described third connecting rod is hinged through first bearing pin and first connecting rod, and the other end of third connecting rod is hinged through second bearing pin and second connecting rod; The plane that the center line of the center line that makes nearly joint shaft and joint shaft far away constitutes is plane K, and first bearing pin and second bearing pin lay respectively at the both sides of plane K.
Connecting rod manifold type handyman finger apparatus of the present invention is characterized in that: the output shaft of first decelerator links to each other with nearly joint shaft through first transmission mechanism.
Connecting rod manifold type handyman finger apparatus of the present invention is characterized in that: the output shaft of second decelerator links to each other with first drive through second transmission mechanism.
Connecting rod manifold type handyman finger apparatus of the present invention, it is characterized in that: described first transmission mechanism comprises first gear and second gear; Described first gear is fixed on the output shaft of first decelerator, and second gear is fixed on the nearly joint shaft, first gear and second gears engaged.
Connecting rod manifold type handyman finger apparatus of the present invention, it is characterized in that: described second transmission mechanism comprises the 3rd gear and the 4th gear; Described the 3rd gear is fixed on the output shaft of second decelerator, and described the 4th geared sleeve is connected on the nearly joint shaft, described the 3rd gear and the 4th gears engaged, and described the 4th gear and first drive are affixed.
Connecting rod manifold type handyman finger apparatus of the present invention, it is characterized in that: the speed reducing ratio of described second decelerator is at least 100.
Connecting rod manifold type handyman finger apparatus of the present invention is characterized in that: described second decelerator adopts the reduction gearing mechanism with latching characteristics.
The present invention and prior art relatively have the following advantages and the high-lighting effect:
The robot finger that apparatus of the present invention adopt jointed gear unit, two cover motors and decelerator comprehensively to realize 2DOF, this device has four kinds of extracting patterns, comprising: 1) the doublejointed coupled rotation grasps pattern; 2) the doublejointed independent rotation grasps pattern; 3) doublejointed elder generation coupled rotation, the extracting pattern of independent rotation more afterwards; 4) doublejointed elder generation independent rotation, the extracting pattern of coupled rotation more afterwards.This device can reach the single motor that tradition coupling finger realized and drive the coupling effect that rotate simultaneously in a plurality of joints, has the decoupling zero grip in the single joint of independent rotation that tradition coupling finger do not have again, and control easily during grasping objects; All motors, decelerator are all hidden in the pedestal, and finger rotating part volume is little, in light weight.
Description of drawings
Fig. 1 is the front appearance figure of a kind of embodiment of connecting rod manifold type handyman finger apparatus provided by the invention
Fig. 2 is the side view of present embodiment, also is the right view of Fig. 1.
Fig. 3 is the front section view of present embodiment, also is the cutaway view of Fig. 1.
Fig. 4 is the C-C cutaway view among Fig. 3
Fig. 5, Fig. 6, Fig. 7 and Fig. 8 are several key positions side schematic appearance of present embodiment grasping object process.
Fig. 9 and Figure 10 are the situation sketch mapes that present embodiment grips object.
Figure 11 is in the present embodiment, by the center line O of nearly joint shaft
1Center line O with joint shaft far away
2The plane K that constitutes and the center line A of first bearing pin, the center line B mutual alignment sketch map of second bearing pin.
Figure 12 is the situation signal that present embodiment adopts crooked nearly joint of coupling extracting pattern and joint far away.
In Fig. 1 to Figure 12:
1-pedestal, 2-middle finger section, 3-end section of finger
4-nearly joint shaft, 5-joint shaft far away,
61-the first motor, 62-the first decelerator,
71-the second motor, 72-the second decelerator,
91-first connecting rod, 92-second connecting rod, 93-third connecting rod,
94-the first bearing pin, 95-the second bearing pin,
85-the first gear, 86-the second gear, 87-the three gear,
88-the four gear.
The specific embodiment
Further introduce concrete structure of the present invention, operation principle below in conjunction with accompanying drawing and instance.
The embodiment of a kind of connecting rod manifold type handyman finger apparatus of the present invention's design like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, comprises pedestal 1, middle finger section 2, the end section of finger 3, nearly joint shaft 4, joint shaft 5 far away; Described nearly joint shaft 4 is set in the pedestal 1, and described joint shaft 5 far away is set in the middle finger section 2, and nearly joint shaft 4 is parallel with joint shaft 5 far away, and described middle finger section 2 is fixed on the nearly joint shaft 4, and the said end section of finger 3 is fixed on the joint shaft 5 far away; This connecting rod manifold type handyman finger apparatus also comprises first motor 61, first decelerator 62, second motor 71, second decelerator 72, first connecting rod 91, second connecting rod 92, third connecting rod 93, first bearing pin 94 and second bearing pin 95; Described first motor 61 and first decelerator 62 are all affixed with pedestal 1, and the output shaft of first motor 61 links to each other with the power shaft of first decelerator 62, and the output shaft of first decelerator 62 links to each other with nearly joint shaft 4; Described second motor 71 and second decelerator 72 are all affixed with pedestal 1, and the output shaft of second motor 71 links to each other with the power shaft of second decelerator 72, and the output shaft of second decelerator 72 links to each other with first connecting rod 91; Described first connecting rod 91 is socketed on the nearly joint shaft 4, and described second connecting rod 92 is fixed on the joint shaft 5 far away and is affixed with the end section of finger 3; One end of described third connecting rod 93 is hinged with first connecting rod 91 through first bearing pin 94, and the other end of third connecting rod 93 is hinged with second connecting rod 92 through second bearing pin 95; The plane that the center line of the center line that makes nearly joint shaft 4 and joint shaft 5 far away constitutes is plane K, and first bearing pin 94 and second bearing pin 95 lay respectively at the both sides of plane K, and be shown in figure 11.
In the present embodiment, the output shaft of first decelerator 62 links to each other with nearly joint shaft 4 through first transmission mechanism.
In the present embodiment, the output shaft of second decelerator 72 links to each other with first gear 76 through second transmission mechanism.
In the present embodiment, described first transmission mechanism comprises first gear 85 and second gear 86; Described first gear 85 is fixed on the output shaft of first decelerator 62, and second gear 86 is fixed on the nearly joint shaft 4, first gear 85 and 86 engagements of second gear.
In the present embodiment, described second transmission mechanism comprises the 3rd gear 87 and the 4th gear 88; Described the 3rd gear 87 is fixed on the output shaft of second decelerator 72, and described the 4th gear 88 is socketed on the nearly joint shaft 4, described the 3rd gear 87 and 88 engagements of the 4th gear, and described the 4th gear 88 and first drive 91 are affixed.
In apparatus of the present invention, the speed reducing ratio of described second decelerator is at least 100.Second decelerator 72 in the present embodiment adopts planetary reducer, and its speed reducing ratio is 275.
In apparatus of the present invention, described second decelerator can adopt the reduction gearing mechanism with latching characteristics.Among the another kind of embodiment, second decelerator adopts feed screw nut's transmission mechanism or the Worm and worm-wheel gearing with latching characteristics.
Operation principle of the present invention combines Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10, narrates as follows:
The robot finger that present embodiment adopts jointed gear unit, two cover motors and decelerator comprehensively to realize 2DOF, this device has four kinds of extracting patterns, comprising:
1) the doublejointed coupled rotation grasps pattern: only let this moment first motor 61 rotate, second motor 71 does not use, and is shown in figure 12 after rotating;
2) the doublejointed independent rotation grasps pattern: this moment, two motors can rotate simultaneously, and first motor 61 can make that finger produces coupling linkage, and second motor 71 can change the rotational angle of the end section of finger on this basis arbitrarily;
3) doublejointed elder generation coupled rotation, the extracting pattern of independent rotation more afterwards: rotate first motor 61 this moment earlier, after middle finger section is touched object, stops first motor 61, rotates second motor 71 again;
4) doublejointed elder generation independent rotation, the extracting pattern of coupled rotation more afterwards: start earlier two motors this moment simultaneously, according to circumstances stop second motor 71 after a period of time, rotate first motor 61 again.
Down in the face of second kind of its operating principle of the further illustrative of extracting pattern commonly used.This device adopts second kind of process that grasps the pattern grasping objects to be divided into two stages: coupling stage of gripping and dexterous stage of gripping.
The initial position of this device is as shown in Figure 5, and this moment, middle finger section 2 was the finger straight configuration with end section of finger 3 and pedestal 1.When using robot finger's grasping objects of present embodiment; The output shaft of first motor 61 rotates; Pass through first gear 85 through first decelerator 62 and drive second gear 86, thereby middle finger section 2 and nearly joint shaft 4 angle [alpha] of axis rotation around nearly joint shaft 4 are as shown in Figure 6.
In this process, second motor 71 does not rotate, because the speed reducing ratio of second decelerator 72 very big (275:1), presents " soft self-locking " state (decelerator that employing has a latching characteristics yet can), and first connecting rod 91 will not rotate.Therefore; The forward rotation of middle finger section 2 can make and drive the go the long way round center line forward rotation of joint shaft 5 of second connecting rods 92 through third connecting rod 93; Also just make the go the long way round center line forward rotation equal angular of joint shaft 5 of the end section of finger 3; Thereby forward rotation when having realized nearly joint shaft 4 and 5 two joints of joint shaft far away, this i.e. the coupled rotation of first stage of gripping, like Fig. 6, shown in Figure 7.
If in the coupling extracting process, if the end section of finger 3 contact objects, and middle finger section 2 does not contact object, grasps so and finishes, and a coupling extracting process is only arranged under this extracting situation, has promptly realized gripping the effect of object, like Fig. 9, shown in Figure 10.
If in the coupling extracting process, middle finger section 2 touches object earlier, and is as shown in Figure 7, then stops first motor 61, restarts second motor 71, this subsequent process is a dexterous stage of gripping, is described below:
The process of decontroling object is: first motor and second motor reverse respectively, and be opposite with the grasping objects process, repeats no more.
Therefore, present embodiment can reach the single motor that tradition coupling finger realized and drive the coupling effect that rotate simultaneously in a plurality of joints, has the decoupling zero grip in the single joint of independent rotation that tradition coupling finger do not have again, and control easily during grasping objects; All motors, decelerator are all hidden in the pedestal, and finger rotating part volume is little, in light weight.
Claims (7)
1. a connecting rod manifold type handyman finger apparatus comprises pedestal, middle finger section, the end section of finger, nearly joint shaft and joint shaft far away; Described nearly joint shaft is set in the pedestal, and described joint shaft far away is set in the middle finger section, and nearly joint shaft is parallel with joint shaft far away, and described middle finger section is fixed on the nearly joint shaft, and the described end section of finger is fixed on the joint shaft far away; It is characterized in that: this connecting rod manifold type handyman finger apparatus also comprises first motor, first decelerator, second motor, second decelerator, first connecting rod, second connecting rod, third connecting rod, first bearing pin and second bearing pin; Described first motor and first decelerator are all affixed with pedestal, and the output shaft of first motor links to each other with first input shaft of speed reducer, and the output shaft of first decelerator links to each other with nearly joint shaft; Described second motor and second decelerator are all affixed with pedestal, and the output shaft of second motor links to each other with second input shaft of speed reducer, and the output shaft of second decelerator links to each other with first connecting rod; Described first connecting rod is socketed on the nearly joint shaft, and described second connecting rod is fixed on the joint shaft far away and is affixed with the end section of finger; One end of described third connecting rod is hinged through first bearing pin and first connecting rod, and the other end of third connecting rod is hinged through second bearing pin and second connecting rod; The plane that the center line of the center line that makes nearly joint shaft and joint shaft far away constitutes is plane K, and first bearing pin and second bearing pin lay respectively at the both sides of plane K.
2. connecting rod manifold type handyman finger apparatus as claimed in claim 1 is characterized in that: the output shaft of first decelerator links to each other with nearly joint shaft through first transmission mechanism.
3. connecting rod manifold type handyman finger apparatus as claimed in claim 1 is characterized in that: the output shaft of second decelerator links to each other with first drive through second transmission mechanism.
4. connecting rod manifold type handyman finger apparatus as claimed in claim 2, it is characterized in that: described first transmission mechanism comprises first gear and second gear; Described first gear is fixed on the output shaft of first decelerator, and second gear is fixed on the nearly joint shaft, first gear and second gears engaged.
5. connecting rod manifold type handyman finger apparatus as claimed in claim 3, it is characterized in that: described second transmission mechanism comprises the 3rd gear and the 4th gear; Described the 3rd gear is fixed on the output shaft of second decelerator, and described the 4th geared sleeve is connected on the nearly joint shaft, described the 3rd gear and the 4th gears engaged, and described the 4th gear and first drive are affixed.
6. connecting rod manifold type handyman finger apparatus as claimed in claim 1, it is characterized in that: the speed reducing ratio of described second decelerator is at least 100.
7. connecting rod manifold type handyman finger apparatus as claimed in claim 1 is characterized in that: described second decelerator adopts the reduction gearing mechanism with latching characteristics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210179816.6A CN102717393B (en) | 2012-06-01 | 2012-06-01 | Connecting rod coupling-type finger device for neat robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210179816.6A CN102717393B (en) | 2012-06-01 | 2012-06-01 | Connecting rod coupling-type finger device for neat robot |
Publications (2)
| Publication Number | Publication Date |
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| CN102717393A true CN102717393A (en) | 2012-10-10 |
| CN102717393B CN102717393B (en) | 2014-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210179816.6A Expired - Fee Related CN102717393B (en) | 2012-06-01 | 2012-06-01 | Connecting rod coupling-type finger device for neat robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150231A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| WO2016037288A1 (en) * | 2014-09-12 | 2016-03-17 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN105583839A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-reset open loop and flexible piece coupled flexible robot finger device |
| CN105583830A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot finger device capable of achieving parallel clamping through connecting rods and gears |
| CN106564066A (en) * | 2016-09-26 | 2017-04-19 | 清华大学 | Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand |
| CN112405571A (en) * | 2020-09-30 | 2021-02-26 | 北京工业大学 | Nested industrial assembly gripper |
| EP4129579A4 (en) * | 2020-10-20 | 2023-11-01 | Tencent Technology (Shenzhen) Company Limited | Manipulator, robot, and manipulator driving method and apparatus |
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| CN101797753A (en) * | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
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| US5062673A (en) * | 1988-12-28 | 1991-11-05 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Articulated hand |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016037288A1 (en) * | 2014-09-12 | 2016-03-17 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| US10279484B2 (en) | 2014-09-12 | 2019-05-07 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN105150231A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364937B (en) * | 2015-12-01 | 2017-06-16 | 清华大学 | Link-type can the cooperative self-adapted finger apparatus of changeable grasping force |
| CN105583839A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-reset open loop and flexible piece coupled flexible robot finger device |
| CN105583830A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot finger device capable of achieving parallel clamping through connecting rods and gears |
| CN106564066A (en) * | 2016-09-26 | 2017-04-19 | 清华大学 | Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand |
| CN112405571A (en) * | 2020-09-30 | 2021-02-26 | 北京工业大学 | Nested industrial assembly gripper |
| CN112405571B (en) * | 2020-09-30 | 2023-07-28 | 北京工业大学 | Nested industrial assembly gripper |
| EP4129579A4 (en) * | 2020-10-20 | 2023-11-01 | Tencent Technology (Shenzhen) Company Limited | Manipulator, robot, and manipulator driving method and apparatus |
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| CN102717393B (en) | 2014-08-13 |
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Granted publication date: 20140813 Termination date: 20170601 |