Suche Bilder Maps Play YouTube News Gmail Drive Mehr »
Anmelden
Nutzer von Screenreadern: Klicke auf diesen Link, um die Bedienungshilfen zu aktivieren. Dieser Modus bietet die gleichen Grundfunktionen, funktioniert aber besser mit deinem Reader.

Patentsuche

  1. Erweiterte Patentsuche
VeröffentlichungsnummerCN102717393 B
PublikationstypErteilung
AnmeldenummerCN 201210179816
Veröffentlichungsdatum13. Aug. 2014
Eingetragen1. Juni 2012
Prioritätsdatum1. Juni 2012
Auch veröffentlicht unterCN102717393A
Veröffentlichungsnummer201210179816.6, CN 102717393 B, CN 102717393B, CN 201210179816, CN-B-102717393, CN102717393 B, CN102717393B, CN201210179816, CN201210179816.6
Erfinder杨雷, 张文增, 孙振国, 陈强
Antragsteller清华大学
Zitat exportierenBiBTeX, EndNote, RefMan
Externe Links:  SIPO, Espacenet
Connecting rod coupling-type finger device for neat robot
CN 102717393 B
Zusammenfassung  übersetzt aus folgender Sprache: Chinesisch
连杆耦合式灵巧机器人手指装置,属于拟人机器人手技术领域,包括基座、中部指段、末端指段、近关节轴、远关节轴、连杆传动机构、两套电机和减速器。 Link coupled dexterous robot hand apparatus belonging to the technical field anthropomorphic robot hand, comprising a base, referring to the middle section, the end of the paragraph refers to recent joint shaft, far joint shaft, connecting rod drive mechanism, two motors and gear. 该装置实现了两自由度的四种抓取模式:1)双关节耦合转动抓取模式;2)双关节独立转动抓取模式;3)双关节先耦合转动,之后再独立转动的抓取模式;4)双关节先独立转动,之后再耦合转动的抓取模式。 The device implements four two degrees crawl modes: 1) double-jointed coupling rotating crawl mode; 2) double joint rotate independently crawl mode; 3) Double-joint coupling the first rotation, then rotate independently after the crawl mode ; 4) double joint to rotate independently, after re-coupling rotation crawl mode. 该装置既能达到传统耦合手指所实现的单个电机驱动多个关节同时转动的耦合效果,又具有传统耦合手指没有的独立转动单个关节的解耦抓取效果,抓取物体时控制容易;所有电机、减速器均藏入基座中,手指转动部分体积小、重量轻。 The device can achieve a single motor coupled traditional finger joints achieved simultaneously driving a plurality of rotatable coupling effect, but also has independent rotation of a single joint of the finger is no conventional coupling decoupling crawl effect, easy to control when retrieving objects; all motors reducer were hidden into the base, finger rotating part of the small size and light weight.
Ansprüche(6)  übersetzt aus folgender Sprache: Chinesisch
1.一种连杆耦合式灵巧机器人手指装置,包括基座、中部指段、末端指段、近关节轴和远关节轴;所述的近关节轴套设在基座中,所述的远关节轴套设在中部指段中,近关节轴与远关节轴平行,所述的中部指段套固在近关节轴上,所述的末端指段套固在远关节轴上;其特征在于:该连杆耦合式灵巧机器人手指装置还包括第一电机、第一减速器、第二电机、第二减速器、第一连杆、第二连杆、第三连杆、第一销轴和第二销轴;所述的第一电机和第一减速器均与基座固接,第一电机的输出轴与第一减速器的输入轴相连,第一减速器的输出轴与近关节轴相连;所述的第二电机和第二减速器均与基座固接,第二电机的输出轴与第二减速器的输入轴相连,第二减速器的输出轴与第一连杆相连;所述的第一连杆套接在近关节轴上,所述的第二连杆套固在远关节轴上并与末端指段固接;所述的第三连杆的一端通过第一销轴与第一连杆铰接,第三连杆的另一端通过第二销轴与第二连杆铰接;令近关节轴的中心线与远关节轴的中心线构成的平面为平面K,第一销轴和第二销轴分别位于平面K的两侧;所述的第二减速器采用具有自锁特性的减速传动机构。 A link coupled dexterous robot hand apparatus includes a base, middle finger segment refers to the segment end, near and far articulation joint shaft axis; near the joint of the sleeve is provided in the base, the far joint bushings located in the middle section refers to the recent joint articulation axis parallel to the shaft and away, the middle finger section sets solid in recent joint axis, the end of the finger joints in the far section sets solid shaft; characterized : The link coupled dexterous robot hand apparatus further includes a first motor, a first reduction gear, a second motor, the second speed reducer, the first link, the second link, the third link, the first pin and second pin; said first motor and the first gear unit are fixedly connected with the base connected to the input shaft and the output shaft of the first motor reducer of the first, the first gearbox output shaft near the joint axis connected; a second motor and said second gear unit are secured to the base, connected to the input shaft of the second motor output shaft and the second gear unit, the second gearbox output shaft connected to the first link; The first link in the socket near the joint axis, said second link set fixed shaft with the far end of the finger joint section is fixedly connected; one end of said third link by a first pin the hinge axis of the first link, the other end of the third link and the second link by a second hinge pin; centerline plane make joint shaft centerline near and far constituted joint axis plane K, the first pin and a second pin on each side of the plane K; and the second reduction gear reduction transmission mechanism using a self-locking characteristics.
2.如权利要求1所述的连杆耦合式灵巧机器人手指装置,其特征在于:第一减速器的输出轴通过第一传动机构与近关节轴相连。 Link coupled finger dexterity robot apparatus according to claim 2., characterized in that: a first speed reducer output shaft through a first transmission mechanism connected with the shaft near the joint.
3.如权利要求1所述的连杆耦合式灵巧机器人手指装置,其特征在于:第二减速器的输出轴通过第二传动机构与第一传动轮相连。 Link coupled finger dexterity robot apparatus according to claim, characterized in that: the second speed reducer output shaft through a second transmission mechanism connected with the first transmission wheel.
4.如权利要求2所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第一传动机构包括第一齿轮和第二齿轮;所述的第一齿轮套固在第一减速器的输出轴上,第二齿轮套固在近关节轴上,第一齿轮与第二齿轮啮合。 The link coupled finger dexterity robot apparatus according to claim 2, wherein: said first transmission means comprises a first gear and a second gear; said first reduction gear set in the first solid- The output shaft of the second gear set solid in the last joint shaft, the first gear and second gear.
5.如权利要求3所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二传动机构包括第三齿轮和第四齿轮;所述的第三齿轮套固在第二减速器的输出轴上,所述的第四齿轮套接在近关节轴上,所述的第三齿轮与第四齿轮啮合,所述的第四齿轮与第一传动轮固接。 5. 3 wherein the link means coupled to claim dexterous robotic fingers, wherein: said second transmission mechanism includes a third gear and a fourth gear; the third reduction gear set in the second solid- the output shaft, said fourth gear socket joint shaft near said third gear and the fourth gear, the fourth gear is fixedly connected with the first transmission wheel.
6.如权利要求1所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二减速器的减速比至少为100。 Link coupled finger dexterity robot apparatus according to claim 6., wherein: said second gear unit reduction ratio of at least 100.
Beschreibung  übersetzt aus folgender Sprache: Chinesisch

连杆耦合式灵巧机器人手指装置 Link coupled dexterous robot hand device

技术领域 Technical Field

[0001] 本发明属于拟人机器人手技术领域,特别涉及一种连杆耦合式灵巧机器人手指装置的结构设计。 [0001] The present invention belongs to the field of anthropomorphic robotic hand technology, in particular to the structural design of a connecting rod coupled dexterous robot hand device.

背景技术 Background

[0002] 随着科学技术日新月异的发展,人们越来越渴望从单一反复的机械劳动中解脱出来,在传统劳动密集型生产工作中使用机器人或者部分使用机器人的需求也水涨船高。 [0002] With the rapid development of science and technology, people are increasingly eager to extricate themselves from a single repeated mechanical labor, demand for the use of a robot or partially using robots in traditional labor-intensive production work have gone up. 在拟人机器人研究领域,一个重要的研究方向是抓取物体,是目前研究的热点。 In the field of humanoid robot research, an important research direction is crawling objects is currently a hot research. 人手上分布着多达20个以上的自由度,如果全部采用电机驱动的方式控制,不但成本昂贵,其实时控制的要求很高,即使抓取一个简单的物体也需要复杂的传感和控制。 The distribution of the hands of as many as 20 or more degrees of freedom, if all controlled with motor-driven, not only expensive, in fact, when high control requirements, even grab a simple objects also require sophisticated sensing and control. 为了减小控制的难度,一种方法是减少同时工作的电机数量,这样抓取物体的实时性能够更容易保证,同时又带来一个问题:如何用较少的电机驱动较多的关节(即欠驱动抓取),并且动作过程拟人化效果好,抓取物体仍然稳定可靠。 In order to reduce the difficulty of control, one approach is to reduce the number of motors simultaneously, so grab an object in real time makes it easier to ensure that, at the same time poses a problem: How many fewer motor-driven joint (ie Underactuated crawl), and action process personified good effect, grab objects remained stable and reliable.

[0003] 通常有两种方式可以实现欠驱动抓取,一种是自适应欠驱动手指机构,经常简称为自适应手指或欠驱动手指,另一种是耦合欠驱动手指机构,经常简称为耦合手指。 [0003] There are generally two ways to implement underactuated crawl An adaptive underactuated finger mechanism, often referred to as adaptive fingers or Underactuated finger, and the other is coupled underactuated finger mechanism, often referred to as the coupling fingers. 自适应手指虽然被动的实现了自动适应物体的形状和尺寸,但是存在一种不稳定抓取现象:靠近根部的指段会发生挤跑物体或破坏物体;还存在另一种不稳定现象:在自适应抓取达到之后,如果抓持力过大也会进一步导致物体被推开;此外,该手指的抓取过程不拟人,也无法实现自弯曲(握拳)等手势。 A passive adaptive finger realized automatically adapt the shape and size of the object, but there is a phenomenon of instability crawl: squeeze objects or damage objects near run root refers to the segment will occur; there is another instability: in After the adaptive crawling achieved if the gripping force is too large will cause the object to be pushed further; in addition, crawl the finger is not intended person can not achieve self-bent (fist), and other gestures. 耦合手指虽然抓取过程比较拟人化,能够自弯曲,且抓取较为稳定,但是不具有自适应性,实现捏持较好,对多数物体难以实现较好的握持效果。 Although the fetching process is coupled finger anthropomorphic, capable of self-bending and crawling is more stable, but does not have the adaptability to achieve a better grip on the most difficult to achieve a good grip objects effect.

[0004] 已有的一种双联锥齿轮耦合欠驱动机器人手指,如中国发明专利CN101633172A,包括基座、近关节轴、中部指段、远关节轴、末端指段、电机、减速器、第一锥齿轮、双联锥齿轮、第二锥齿轮。 [0004] has a double-bevel gear coupling underactuated robot fingers, such as China patent CN101633172A, including a base, near the joint axis, referring to the middle section, much joint axis, the end refers to the segment, motor, reducer, the first a bevel gear, bevel gear double, the second bevel gear. 电机通过减速器带动中部指段绕近关节轴转动,末端指段会同时转动一个角度,达到近关节轴和远关节轴同时转动的耦合转动效果。 Motor through reducer drive means around the middle section near the joint axis, the end of the paragraph refers to an angle of rotation simultaneously reach coupling joint axis near and far while rotating joint axis rotation effect. 该装置的不足之处是:在抓取物体的过程中,近关节轴和远关节轴的转动是同时的,当中部指段接触物体被阻挡不能再继续转动时,末端指段即使没有接触物体也无法再进一步转动,因此抓取效果不好。 The inadequacies of the device is: grab an object during joint axis of rotation near and far are simultaneously the joint axis, which refers to the segment portion is blocked by touching an object can not continue to rotate, the end of the paragraph refers to an object even if there is no contact It can not be further rotated, so grab ineffective. 较好的抓取方式应该是中部指段和末端指段都能接触到物体并施加抓持力。 Fetch should be a good middle segment refers to the segment and the end of the finger can come into contact with the object and the gripping force applied.

发明内容 DISCLOSURE

[0005] 本发明的目的是针对已有技术的不足之处,提供一种连杆耦合式灵巧机器人手指装置。 Objective [0005] The present invention is for the shortcomings of the prior art, providing a link coupled dexterous robot hand device. 该装置具有两个自由度,能实现多种抓取模式,包括:1)双关节耦合转动抓取模式; The device has two degrees of freedom, we can achieve a variety crawl mode, including: 1) Double-joint coupling rotating crawl mode;

2)双关节独立转动抓取模式;3)双关节先耦合转动,之后再独立转动的抓取模式;4)双关节先独立转动,之后再耦合转动的抓取模式。 2) Double-joint rotate independently crawl mode; 3) double joint first coupling rotates, then rotate independently after the crawl mode; 4) double joint to rotate independently, after re-coupling rotation crawl mode.

[0006] 本发明采用如下技术方案: [0006] The present invention adopts the following technical solution:

[0007] —种连杆耦合式灵巧机器人手指装置,包括基座、中部指段、末端指段、近关节轴和远关节轴;所述的近关节轴套设在基座中,所述的远关节轴套设在中部指段中,近关节轴与远关节轴平行,所述的中部指段套固在近关节轴上,所述的末端指段套固在远关节轴上;其特征在于:该连杆耦合式灵巧机器人手指装置还包括第一电机、第一减速器、第二电机、第二减速器、第一连杆、第二连杆、第三连杆、第一销轴和第二销轴;所述的第一电机和第一减速器均与基座固接,第一电机的输出轴与第一减速器的输入轴相连,第一减速器的输出轴与近关节轴相连;所述的第二电机和第二减速器均与基座固接,第二电机的输出轴与第二减速器的输入轴相连,第二减速器的输出轴与第一连杆相连;所述的第一连杆套接在近关节轴上,所述的第二连杆套固在远关节轴上并与末端指段固接;所述的第三连杆的一端通过第一销轴与第一连杆铰接,第三连杆的另一端通过第二销轴与第二连杆铰接;令近关节轴的中心线与远关节轴的中心线构成的平面为平面K,第一销轴和第二销轴分别位于平面K的两侧。 [0007] - the kind of link coupled dexterous robot hand apparatus includes a base, referring to the middle section, the end refers to the segment, near and far articulation joint shaft axis; near the joint of the sleeve is provided in the base, said Far joint bushings located in the middle section refers to the recent joint articulation axis parallel to the shaft and away, the middle finger section sets solid in recent joint axis, the end of the finger joints in the far section sets solid shaft; characterized wherein: the link coupled dexterous robotic finger means further includes a first motor, a first speed reducer, a second motor, a second speed reducer, a first link, second link, third link, a first pin and a second pin; said first motor and the first gear unit are fixedly connected with the base connected to the input shaft and the output shaft of the first motor reducer of the first, the first gearbox output shaft near the joint connected to the shaft; said second motor and a second gear unit are secured to the base, connected to the input shaft of the second motor output shaft and the second gear unit, the second gearbox output shaft connected to the first link ; said first link near the joint socket in the shaft, said second link set fixed shaft with the far end of the finger joint section is fixedly connected; one end of said third link by a first the first link hinge pin and the other end of the third link and the second link via the second hinge pin; centerline plane make joint shaft centerline near and far constituted joint axis plane K, the first a pin and a second pin on each side of the plane K.

[0008] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:第一减速器的输出轴通过第一传动机构与近关节轴相连。 [0008] The connecting rod coupled dexterous robot hand apparatus according to the invention is characterized in that: a first gearbox output shaft connected by a first actuator and near the joint axis.

[0009] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:第二减速器的输出轴通过第二传动机构与第一传动轮相连。 [0009] link coupled dexterous robotic finger device according to the present invention, wherein: the second speed reducer output shaft through a second transmission mechanism connected with the first transmission wheel.

[0010] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第一传动机构包括第一齿轮和第二齿轮;所述的第一齿轮套固在第一减速器的输出轴上,第二齿轮套固在近关节轴上,第一齿轮与第二齿轮啮合。 [0010] link coupled dexterous robot hand apparatus according to the invention is characterized in that: a first transmission mechanism comprises a first gear and a second gear; said first gear set solid in first gear unit The output shaft of the second gear set solid in the last joint shaft, the first gear and second gear.

[0011] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二传动机构包括第三齿轮和第四齿轮;所述的第三齿轮套固在第二减速器的输出轴上,所述的第四齿轮套接在近关节轴上,所述的第三齿轮与第四齿轮啮合,所述的第四齿轮与第一传动轮固接。 [0011] link coupled dexterous robot hand apparatus according to the invention is characterized in that: said second transmission mechanism includes a third gear and a fourth gear; said third gear set solid in second gear unit an output shaft, said fourth gear socket joint shaft near said third gear and the fourth gear, the fourth gear is fixedly connected with the first transmission wheel.

[0012] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二减速器的减速比至少为100。 Link coupled dexterous robot hand device [0012] The present invention is characterized in that: the second reduction gear unit ratio of at least 100.

[0013] 本发明所述的连杆耦合式灵巧机器人手指装置,其特征在于:所述的第二减速器采用具有自锁特性的减速传动机构。 [0013] link coupled dexterous robot hand apparatus according to the invention is characterized in that: the second reduction gear reduction transmission mechanism using a self-locking characteristics.

[0014] 本发明与现有技术比较,具有以下优点和突出性效果: [0014] The present invention and the prior art comparison, has the following advantages and prominence effects:

[0015] 本发明装置采用连杆传动机构、两套电机和减速器综合实现了2自由度的机器人手指,该装置具有四种抓取模式,包括:1)双关节耦合转动抓取模式;2)双关节独立转动抓取模式;3)双关节先耦合转动,之后再独立转动的抓取模式;4)双关节先独立转动,之后再耦合转动的抓取模式。 [0015] apparatus of the present invention uses link drive mechanism, two motor and reducer integrated to achieve the 2 degrees of freedom of the robot hand, the device has four crawl mode, including: 1) Double-joint coupling rotating crawl mode; 2 ) Two joint rotate independently crawl mode; 3) double joint first coupling rotates, then rotate independently after the crawl mode; 4) double joint to rotate independently, after re-coupling rotation crawl mode. 该装置既能达到传统耦合手指所实现的单个电机驱动多个关节同时转动的耦合效果,又具有传统耦合手指没有的独立转动单个关节的解耦抓取效果,抓取物体时控制容易;所有电机、减速器均藏入基座中,手指转动部分体积小、重量轻。 The device can achieve a single motor coupled traditional finger joints achieved simultaneously driving a plurality of rotatable coupling effect, but also has independent rotation of a single joint of the finger is no conventional coupling decoupling crawl effect, easy to control when retrieving objects; all motors reducer were hidden into the base, finger rotating part of the small size and light weight.

附图说明 Brief Description

[0016] 图1是本发明提供的连杆耦合式灵巧机器人手指装置的一种实施例的正面外观图 [0016] FIG. 1 is a front view of an appearance of the present invention provides a link coupled dexterous robot hand apparatus embodiment

[0017] 图2是本实施例的侧视图,也是图1的右视图。 [0017] FIG. 2 is a side view of the present embodiment, it is a right side view of FIG.

[0018] 图3是本实施例的正面剖视图,也是图1的剖视图。 [0018] FIG. 3 is a sectional front view of the embodiment of FIG. 1 is a cross-sectional view.

[0019] 图4是图3中的C一C剖视图[0020] 图5、图6、图7和图8是本实施例抓握物体过程的几个关键位置侧面外观示意图。 [0019] FIG. 4 is a C 3 C sectional view [0020] FIGS. 5, 6, 7 and 8 are schematic appearance of side cases several key positions in the present embodiment the process of grasping objects.

[0021] 图9和图10是本实施例捏持物体的情况示意图。 [0021] Figures 9 and 10 of the present embodiment is a grip schematic view of the subject.

[0022] 图11是本实施例中,由近关节轴的中心线O1与远关节轴的中心线O2构成的平面K与第一销轴的中心线A、第二销轴的中心线B相互位置示意图。 [0022] FIG. 11 is the present embodiment, the planar center line K from the centerline O1 and O2 far joint shaft near the joint axis of the first pin configuration of the center line A, the second pin centerline B are Location schematic.

[0023] 图12是本实施例采用耦合抓取模式弯曲近关节和远关节的情况示意。 [0023] FIG. 12 is the present embodiment employs bowing near crawl mode coupling joints and joints schematic far.

[0024] 在图1至图12中: [0024] 12 in Figures 1 to:

[0025] I一基座, 2—中部指段, 3—末端指段 [0025] I a base, 2 refers to the middle segment, 3 refers to the segment ends

[0026] 4 一近关节轴, 5—远关节轴, [0026] 4 a recent joint axis, 5-axis joints far,

[0027] 61一第一电机,62—第一减速器, [0027] a first motor 61, 62- first reducer,

[0028] 71—第二电机,72—第二减速器, [0028] 71- second motor, 72- second reducer,

[0029] 91 一第一连杆,92—第二连杆, 93—第三连杆, [0029] a first link 91, second link 92-, 93- third link,

[0030] 94 一第一销轴,95—第二销轴, [0030] a first pin 94, 95- second pin,

[0031] 85一第一齿轮,86—第二齿轮, 87—第二齿轮, [0031] 85 a first gear, a second gear 86-, 87- second gear,

[0032] 88一第四齿轮。 [0032] 88 a fourth gear.

具体实施方式 DETAILED DESCRIPTION

[0033] 下面结合附图及实例进一步介绍本发明的具体结构、工作原理。 [0033] The following examples further introduce the accompanying drawings and the specific structure of the present invention it works.

[0034] 本发明设计的一种连杆耦合式灵巧机器人手指装置的实施例,如图1、图2、图3、图4、图5、图6和图7所示,包括基座1、中部指段2、末端指段3、近关节轴4、远关节轴5 ;所述的近关节轴4套设在基座I中,所述的远关节轴5套设在中部指段2中,近关节轴4和远关节轴5平行,所述的中部指段2套固在近关节轴4上,所说的末端指段3套固在远关节轴5上;该连杆稱合式灵巧机器人手指装置还包括第一电机61、第一减速器62、第二电机71、第二减速器72、第一连杆91、第二连杆92、第三连杆93、第一销轴94和第二销轴95 ;所述的第一电机61和第一减速器62均与基座I固接,第一电机61的输出轴与第一减速器62的输入轴相连,第一减速器62的输出轴与近关节轴4相连;所述的第二电机71和第二减速器72均与基座I固接,第二电机71的输出轴与第二减速器72的输入轴相连,第二减速器72的输出轴与第一连杆91相连;所述的第一连杆91套接在近关节轴4上,所述的第二连杆92套固在远关节轴5上并与末端指段3固接;所述的第三连杆93的一端通过第一销轴94与第一连杆91铰接,第三连杆93的另一端通过第二销轴95与第二连杆92铰接;令近关节轴4的中心线与远关节轴5的中心线构成的平面为平面K,第一销轴94和第二销轴95分别位于平面K的两侧,如图11所示。 [0034] Embodiments of the present invention is the design of a connecting rod coupled finger dexterity robot apparatus, shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6 and Figure 7, comprises a base 1, middle finger section 2, paragraph 3 refers to the end, near the joint shaft 4, much joint shaft 5; 4 near the joint axis of the sleeve is provided in the base I, the far-joint shaft 5 is arranged around the middle finger in paragraph 2 recent joint axes 4 and 5 parallel joint axes away, means that the two sets of solid middle section near the joint on the shaft 4, said the end of the paragraph refers to three sets solid on the remote joint shaft 5; the link called smart fit robot hand apparatus further comprises a first motor 61, a first reduction gear 62, the second motor 71, the second reduction gear 72, the first link 91, second link 92, third link 93, the first pin 94 and a second pin 95; the first motor 61 and the first reduction gear 62 are fixedly connected to the base I, the output shaft of the first motor 61 is connected with the first reduction gear input shaft 62, the first reduction gear connected to the output shaft 62 and the shaft 4 near the joint; a second motor 71 and the second gear unit 72 are fixedly connected to the base I connected to the output shaft of the second motor 71 and the second gear unit input shaft 72, The second speed reducer output shaft 72 and the first link 91 coupled; said socket 91 on the first link shaft 4 near the joint, said second link 92 fixed on the sleeve 5 and the joint axis away 3 refers to the segment and end fixedly connected; one end of said third link 93 by a first pin 94 and first link 91 is hinged, the other end of the third link 93 by a second pin 95 connected to the second 92 hinged lever; make joint shaft 4 near the center line and far-joint shaft centerline plane plane constituted 5 K, the first pin 94 and second pin 95 on each side of the plane K, as shown in 11 show.

[0035] 本实施例中,第一减速器62的输出轴通过第一传动机构与近关节轴4相连。 Example [0035] This, the first speed reducer output shaft 62 through the first actuator is connected with the recent joint shaft 4.

[0036] 本实施例中,第二减速器72的输出轴通过第二传动机构与第一传动轮相连。 [0036] In this embodiment, the second speed reducer output shaft 72 is connected through a second transmission mechanism with the first transmission wheel.

[0037] 本实施例中,所述的第一传动机构包括第一齿轮85和第二齿轮86 ;所述的第一齿轮85套固在第一减速器62的输出轴上,第二齿轮86套固在近关节轴4上,第一齿轮85与第二齿轮86啮合。 [0037] In this embodiment, a first transmission mechanism comprises a first gear 85 and second gear 86; 85 of the first gear set output shaft fixed at a first speed reducer 62, a second gear 86 set solid in the near joint shaft 4 engages the first gear 85 and second gear 86.

[0038] 本实施例中,所述的第二传动机构包括第三齿轮87和第四齿轮88 ;所述的第三齿轮87套固在第二减速器72的输出轴上,所述的第四齿轮88套接在近关节轴4上,所述的第三齿轮87与第四齿轮88啮合,所述的第四齿轮88与第一传动轮固接。 The first set of the third gear 87 fixed in the output shaft 72 of the second gear unit, wherein; [0038] In this embodiment, the second drive mechanism includes a third gear 87 and fourth gear 88 Four sockets 88 on the gear shaft 4 near the joint, the third gear 87 meshed with the fourth gear 88, the fourth gear 88 is fixedly connected with the first transmission wheel. [0039] 本发明装置中,所述的第二减速器的减速比至少为100。 Apparatus of the invention [0039] This, the second reduction gear reduction ratio of said at least 100. 本实施例中的第二减速器72采用行星齿轮减速器,其减速比为275。 In this embodiment the second speed reducer planetary gear reducer 72, the reduction ratio of 275.

[0040] 本发明装置中,所述的第二减速器可以采用具有自锁特性的减速传动机构。 [0040] apparatus of the present invention, the second reduction gear reduction transmission mechanism can be used with self-locking characteristics. 另一种实施例中,第二减速器采用具有自锁特性的丝杆螺母传动机构或蜗轮蜗杆传动机构。 Another embodiment, the second reduction gear transmission mechanism using screw nut or worm drive mechanism with self-locking characteristics.

[0041] 本发明的工作原理结合图5、图6、图7、图8、图9和图10,叙述如下: [0041] The operation principle of the present invention in conjunction with Figure 5, 6, 7, 8, 9 and 10, described as follows:

[0042] 本实施例采用连杆传动机构、两套电机和减速器综合实现了2自由度的机器人手指,该装置具有四种抓取模式,包括: [0042] The present embodiment employs link drive mechanism, two motor and reducer integrated to achieve the 2 degrees of freedom of the robot hand, the device has four crawl mode, comprising:

[0043] I)双关节耦合转动抓取模式:此时只让第一电机61转动,第二电机71不使用,转动后如图12所示; [0043] I) double-jointed coupling rotating crawl mode: At this point just let the first motor 61 is rotated, the second motor 71 is not used, the rotated as shown in Figure 12;

[0044] 2)双关节独立转动抓取模式:此时两个电机可以同时转动,第一电机61会使得手指产生耦合联动,第二电机71可以在此基础上任意改变末端指段的转动角度; [0044] 2) double joint rotate independently crawl mode: At this point the two motors can be rotated at the same time, the first motor 61 causes the finger to produce coupling linkage, the second motor 71 can be changed to refer to the end of the rotation angle on the basis of paragraph ;

[0045] 3)双关节先耦合转动,之后再独立转动的抓取模式:此时先转动第一电机61,当中部指段碰触物体之后,停止第一电机61,再转动第二电机71 ; [0045] 3) Double-joint coupling the first rotation, then rotate independently after the crawl mode: At this point the first rotation of the first motor 61, which refers to the section after section touching objects, stopping the first motor 61, and then turn the second motor 71 ;

[0046] 4)双关节先独立转动,之后再耦合转动的抓取模式:此时先同时启动两个电机,根据情况一段时间之后停止第二电机71,再转动第一电机61。 [0046] 4) double joint to rotate independently, after re-coupling rotating crawl mode: At this first start two motors at the same time, according to the situation after a period of time to stop the second motor 71, and then rotating the first motor 61.

[0047] 下面对常用的第二种抓取模式进一步举例解释其动作原理。 [0047] The following part of the second crawl mode further example to explain its operation principle. 该装置采用第二种抓取模式抓取物体的过程分为两个阶段:耦合抓取阶段和灵巧抓取阶段。 The device uses a second object of the crawl crawl mode process is divided into two phases: Phase and dexterity coupled crawl crawling stage.

[0048] 该装置的初始位置如图5所示,此时中部指段2和末端指段3与基座I呈手指伸直状态。 [0048] The initial position of the device shown in Figure 5, when the middle finger and the end of paragraph 2 refers to section 3 of the base I was fingers extended state. 当使用本实施例的机器人手指抓取物体时,第一电机61的输出轴转动,经第一减速器62通过第一齿轮85带动第二齿轮86,从而中部指段2和近关节轴4绕着近关节轴4的轴线转动一个角度α,如图6所示。 When using this embodiment of the robot hand grab an object, the output shaft of the first motor 61 is rotated, the first gear unit 62 through the first gear 85 driven by the second gear 86, which refers to paragraph 2 and near the central joint axis 4 around Near the joint axis of rotation 4 at an angle α, as shown in Figure 6.

[0049] 在此过程中,第二电机71并未转动,由于第二减速器72的减速比很大(275:1),呈现“软自锁”状态(采用具有自锁特性的减速器也可以),第一连杆91将不发生转动。 [0049] In this process, the second motor 71 is not moving, because the second gear reducer than 72 large (275: 1), showing a "soft self-locking" state (using reducer with self-locking feature is also can), the first link 91 will rotate not occur. 因此,中部指段2的正向转动会使得通过第三连杆93带动第二连杆92绕远关节轴5的中心线正向转动,也就使得末端指段3绕远关节轴5的中心线正向转动相同角度,从而实现了近关节轴4与远关节轴5两个关节的同时正向转动,此即第一抓取阶段的耦合转动,如图6、图7所示。 Therefore, paragraph 2 of the middle finger to rotate forward so that by the third link 93 will be driven by the second link 92 detour joint centerline axis 5 forward rotation, it means the center line of paragraph 3 so that the ends detour joint shaft 5 positive rotated the same angle, in order to achieve the joint shaft 4 near and far-joint shaft 5 while the forward rotation of two joints, namely the first catcher coupling rotating stage, Figure 6, Figure 7.

[0050] 如果耦合抓取过程中,如果末端指段3接触物体,而中部指段2没有接触物体,那么抓取结束,在这种抓取情况下仅有一个耦合抓取过程,即实现了捏持物体的效果,如图9、图10所示。 [0050] If the coupling crawl, if the end of paragraph 3 refers to touching the object, while the central section 2 refers to no contact with the object, then grab the end, in this case just a couple crawl crawling process, namely, the achievement of the grip effect of the object, as shown in Figure 9, Figure 10.

[0051] 如果耦合抓取过程中,中部指段2先接触到物体,如图7所示,则停止第一电机61,再启动第二电机71,这个后续过程为一个灵巧抓取阶段,如下所述: [0051] If the coupling crawl during the middle finger to reach objects paragraph 2, shown in Figure 7, the first motor 61 is stopped, and then start the second motor 71, the follow-up process is a smart crawling stage, as follows said:

[0052] 第二电机71转动,通过第二减速器72带动第三齿轮87转动,从而带动第四齿轮88、第一连杆91转动,通过第三连杆93、第二连杆92实现末端指段3继续正向转动直到接触物体,此时的转角为Y,如图10所示,这个转角Y不受中部指段2转角β的限制,如图8所示,达到第二抓取阶段的灵巧抓取目的。 [0052] The second motor 71 rotates, the second reduction gear 72 driven by a third gear 87 is rotated, so as to drive the fourth gear 88, the first link 91 is rotated by the third link 93, second link 92 to achieve the end refers to the section 3 continues to rotate until it contacts the forward object, when the angle is Y, shown in Figure 10, the angle Y is not the middle finger section 2 limits the angle β, shown in Figure 8, to fetch the second stage smart crawl purposes.

[0053] 放开物体的过程为:第一电机和第二电机分别反转,与抓取物体过程相反,不再赘述。 [0053] The object of the process of liberalization: The first motor and the second motor are reversed, the process is reversed and grab objects, not repeat them.

[0054] 因此,本实施例既能达到传统耦合手指所实现的单个电机驱动多个关节同时转动的耦合效果,又具有传统耦合手指没有的独立转动单个关节的解耦抓取效果,抓取物体时控制容易;所有电机、减速器均藏入基座中,手指转动部分体积小、重量轻。 [0054] Accordingly, the present embodiment can achieve the effect of a single motor is coupled by conventional coupling finger joints simultaneously achieve a plurality of drive rotation, but also has an independent single rotatable joint effect of traditional decoupled fetch the finger is not coupled, grab objects easy to control; all motor, reducer were hidden into the base, finger rotating part of the small size and light weight.

Patentzitate
Zitiertes PatentEingetragen Veröffentlichungsdatum Antragsteller Titel
CN101049696A18. Mai 200710. Okt. 2007清华大学Under drive mechanical finger device of connecting rod
CN101797753A6. Apr. 201011. Aug. 2010清华大学Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
CN101829995A30. Apr. 201015. Sept. 2010清华大学Crank block type flexible piece parallel coupled under-actuated finger device
US2006/0011010 Titel nicht verfügbar
US506267328. Dez. 19895. Nov. 1991Kabushiki Kaisha Toyota Chuo KenkyushoArticulated hand
Nichtpatentzitate
Referenz
1JP特开2006-992A 2006.01.05
Klassifizierungen
Internationale KlassifikationB25J15/08, B25J17/00
Juristische Ereignisse
DatumCodeEreignisBeschreibung
10. Okt. 2012C06Publication
28. Nov. 2012C10Request of examination as to substance
13. Aug. 2014C14Granted