CN102717393B - 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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- CN102717393B CN102717393B CN201210179816.6A CN201210179816A CN102717393B CN 102717393 B CN102717393 B CN 102717393B CN 201210179816 A CN201210179816 A CN 201210179816A CN 102717393 B CN102717393 B CN 102717393B
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- connecting rod
- decelerator
- joint shaft
- gear
- coupling
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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 humanoid robot hand technical field, particularly a kind of structural design of connecting rod coupling type dexterous robot finger device.
Background technology
Along with science and technology development with rapid changepl. never-ending changes and improvements, people more and more thirst for freeing from single machinery repeatedly work, 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 to capture object, is the focus of studying at present.On staff, distributing and reaching 20 above frees degree, if all adopt motor-driven mode control, not only cost costliness, the requirement of controlling in fact time is very high, also needs complicated sensing and control even if capture a simple object.For the difficulty that reduces to control, a kind of method is to reduce the number of motors of simultaneously working, the real-time that captures like this object can more easily ensure, bring again a problem: how drive more joint (owing to drive crawl) with less motor simultaneously, and course of action personalizes effective, capture object still reliable and stable.
Conventionally have two kinds of modes to realize and owe to drive crawl, one is self adaptation under-actuated finger mechanism, and often referred to as self adaptation finger or under-actuated finger, another kind is coupling under-actuated finger mechanism, often referred to as coupling finger.Although, there is a kind of unstable crawl phenomenon in the shape and size of automatic adaptation object that self adaptation has been pointed passive realization: can occur to squeeze near the segment of root and run object or destroy object; 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 crawl process of this finger is not anthropomorphic, cannot realize from gestures such as bending (clenching fist) yet.Although coupling finger crawl process relatively personalizes, can be certainly bending, and crawl is comparatively stable, does not have adaptivity, realizes and gripping better, and most objects are difficult to realize good grip effect.
Existing a kind of double bevel wheel coupling under-driving robot finger, as Chinese invention patent CN101633172A, comprise pedestal, nearly joint shaft, middle part segment, joint shaft far away, end segment, motor, decelerator, the first bevel gear, double bevel wheel, the second bevel gear.Motor drives middle part segment to rotate around nearly joint shaft by decelerator, and end segment can be rotated an angle simultaneously, reaches the coupling rotating effect that nearly joint shaft and joint shaft far away rotate simultaneously.The weak point of this device is: in the process of crawl object, the rotation of nearly joint shaft and joint shaft far away is simultaneously, when middle part segment contact object is blocked can not be rotated further time again, end segment also cannot further be rotated even without contact object again, therefore captures effect bad.Grasp Modes should be that middle part segment and end segment can touch object and apply grasping force preferably.
Summary of the invention
The object of the invention is the weak point for prior art, a kind of connecting rod coupling type dexterous robot finger device is provided.This device has two frees degree, can realize multiple grasp mode, comprising: 1) grasp mode is rotated in doublejointed coupling; 2) doublejointed independent rotation grasp mode; 3) the doublejointed rotation that is first coupled, the afterwards grasp mode of independent rotation again; 4) the first independent rotation of doublejointed, the grasp mode that coupling is rotated again afterwards.
The present invention adopts following technical scheme:
A kind of connecting rod coupling type dexterous robot finger device, comprises pedestal, middle part segment, end segment, nearly joint shaft and joint shaft far away; Described nearly joint shaft is set in pedestal, and described joint shaft far away is set in the segment of middle part, and nearly joint shaft is parallel with joint shaft far away, and described middle part segment is fixed on nearly joint shaft, and described end segment is fixed on joint shaft far away; It is characterized in that: this connecting rod coupling type dexterous robot finger device also comprises the first motor, the first decelerator, the second motor, the second decelerator, first connecting rod, second connecting rod, third connecting rod, the first bearing pin and the second bearing pin; The first described motor and the first decelerator are all affixed with pedestal, and the output shaft of the first motor is connected with the power shaft of the first decelerator, and the output shaft of the first decelerator is connected with nearly joint shaft; The second described motor and the second decelerator are all affixed with pedestal, and the output shaft of the second motor is connected with the power shaft of the second decelerator, and the output shaft of the second decelerator is connected with first connecting rod; Described first connecting rod is socketed on nearly joint shaft, and described second connecting rod is fixed on joint shaft far away and is affixed with end segment; One end of described third connecting rod is hinged by the first bearing pin and first connecting rod, and the other end of third connecting rod is hinged by the second bearing pin and second connecting rod; The plane that makes the center line of nearly joint shaft and the center line of joint shaft far away form is plane K, and the first bearing pin and the second bearing pin lay respectively at the both sides of plane K.
Connecting rod coupling type dexterous robot finger device of the present invention, is characterized in that: the output shaft of the first decelerator is connected with nearly joint shaft by the first transmission mechanism.
Connecting rod coupling type dexterous robot finger device of the present invention, is characterized in that: the output shaft of the second decelerator is connected with the first drive by the second transmission mechanism.
Connecting rod coupling type dexterous robot finger device of the present invention, is characterized in that: the first described transmission mechanism comprises the first gear and the second gear; The first described gear is fixed on the output shaft of the first decelerator, and the second gear is fixed on nearly joint shaft, and the first gear engages with the second gear.
Connecting rod coupling type dexterous robot finger device of the present invention, is characterized in that: the second described transmission mechanism comprises the 3rd gear and the 4th gear; The 3rd described gear is fixed on the output shaft of the second decelerator, and the 4th described geared sleeve is connected on nearly joint shaft, and the 3rd described gear engages with the 4th gear, and described the 4th gear and the first drive are affixed.
Connecting rod coupling type dexterous robot finger device of the present invention, is characterized in that: the speed reducing ratio of the second described decelerator is at least 100.
Connecting rod coupling type dexterous robot finger device of the present invention, is characterized in that: the second described decelerator adopts the reduction gearing mechanism with latching characteristics.
The present invention compared with the prior art, has the following advantages and 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 grasp modes, comprising: 1) grasp mode is rotated in doublejointed coupling; 2) doublejointed independent rotation grasp mode; 3) the doublejointed rotation that is first coupled, the afterwards grasp mode of independent rotation again; 4) the first independent rotation of doublejointed, the grasp mode that coupling is rotated again afterwards.This device can reach the coupling effect that single motor that tradition coupling finger realizes drives multiple joints to rotate simultaneously, and the decoupling zero again with the single joint of independent rotation that tradition coupling finger do not have captures effect, controls easily while capturing object; All motors, decelerator are all hidden in pedestal, and finger rotating part volume is little, lightweight.
Brief description of the drawings
Fig. 1 is the front appearance figure of a kind of embodiment of connecting rod coupling type dexterous robot finger device provided by the invention
Fig. 2 is the side view of the present embodiment, is also the right view of Fig. 1.
Fig. 3 is the front section view of the present embodiment, is also the cutaway view of Fig. 1.
Fig. 4 is the C-C cutaway view in Fig. 3
Fig. 5, Fig. 6, Fig. 7 and Fig. 8 are several key positions side schematic appearance that the present embodiment grasps object process.
Fig. 9 and Figure 10 are the situation schematic diagrames that the 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 forming and the center line A of the first bearing pin, the center line B mutual alignment schematic diagram of the second bearing pin.
Figure 12 is the situation signal that the present embodiment adopts He Yuan joint, the bending nearly joint of coupling grasp mode.
In Fig. 1 to Figure 12:
1-pedestal, 2-middle part segment, 3-end segment
4-nearly joint shaft, 5-joint shaft far away,
The 61-the first motor, the 62-the first decelerator,
The 71-the second motor, the 72-the second decelerator,
91-first connecting rod, 92-second connecting rod, 93-third connecting rod,
The 94-the first bearing pin, the 95-the second bearing pin,
The 85-the first gear, the 86-the second gear, the 87-the three gear,
The 88-the four gear.
Detailed description of the invention
Further introduce concrete structure of the present invention, operation principle below in conjunction with accompanying drawing and example.
The embodiment of a kind of connecting rod coupling type dexterous robot finger device of the present invention design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, comprise pedestal 1, middle part segment 2, end segment 3, nearly joint shaft 4, joint shaft 5 far away; Described nearly joint shaft 4 is set in pedestal 1, and described joint shaft far away 5 is set in the segment 2 of middle part, and nearly joint shaft 4 is parallel with joint shaft 5 far away, and described middle part segment 2 is fixed on nearly joint shaft 4, and said end segment 3 is fixed on joint shaft 5 far away; This connecting rod coupling type dexterous robot finger device also comprises the first motor 61, the first decelerator 62, the second motor 71, the second decelerator 72, first connecting rod 91, second connecting rod 92, third connecting rod 93, the first bearing pin 94 and the second bearing pin 95; Described the first motor 61 and the first decelerator 62 are all affixed with pedestal 1, and the output shaft of the first motor 61 is connected with the power shaft of the first decelerator 62, and the output shaft of the first decelerator 62 is connected with nearly joint shaft 4; Described the second motor 71 and the second decelerator 72 are all affixed with pedestal 1, and the output shaft of the second motor 71 is connected with the power shaft of the second decelerator 72, and the output shaft of the second decelerator 72 is connected with first connecting rod 91; Described first connecting rod 91 is socketed on nearly joint shaft 4, and described second connecting rod 92 is fixed on joint shaft 5 far away and is affixed with end segment 3; One end of described third connecting rod 93 is hinged with first connecting rod 91 by the first bearing pin 94, and the other end of third connecting rod 93 is hinged with second connecting rod 92 by the second bearing pin 95; The plane that makes the center line of nearly joint shaft 4 and the center line of joint shaft 5 far away form is plane K, and the first bearing pin 94 and the second bearing pin 95 lay respectively at the both sides of plane K, as shown in figure 11.
In the present embodiment, the output shaft of the first decelerator 62 is connected with nearly joint shaft 4 by the first transmission mechanism.
In the present embodiment, the output shaft of the second decelerator 72 is connected with the first drive by the second transmission mechanism.
In the present embodiment, the first described transmission mechanism comprises the first gear 85 and the second gear 86; The first described gear 85 is fixed on the output shaft of the first decelerator 62, and the second gear 86 is fixed on nearly joint shaft 4, and the first gear 85 engages with the second gear 86.
In the present embodiment, the second described transmission mechanism comprises the 3rd gear 87 and the 4th gear 88; The 3rd described gear 87 is fixed on the output shaft of the second decelerator 72, and the 4th described gear 88 is socketed on nearly joint shaft 4, and the 3rd described gear 87 engages with the 4th gear 88, and described the 4th gear 88 and the first drive are affixed.
In apparatus of the present invention, the speed reducing ratio of the second described decelerator is at least 100.The second decelerator 72 in the present embodiment adopts planetary reducer, and its speed reducing ratio is 275.
In apparatus of the present invention, the second described decelerator can adopt the reduction gearing mechanism with latching characteristics.In another kind of embodiment, the second decelerator adopts screw nut driving mechanism or the Worm and worm-wheel gearing with latching characteristics.
Operation principle of the present invention, in conjunction with Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10, is described below:
The robot finger that the present embodiment adopts jointed gear unit, two cover motors and decelerator comprehensively to realize 2DOF, this device has four kinds of grasp modes, comprising:
1) grasp mode is rotated in doublejointed coupling: now only allow the first motor 61 rotate, the second motor 71 does not use, after rotation as shown in figure 12;
2) doublejointed independent rotation grasp mode: now two motors can rotate simultaneously, the first motor 61 can make finger produce coupling linkage, and the second motor 71 can change arbitrarily the rotational angle of end segment on this basis;
3) the doublejointed rotation that is first coupled, the afterwards grasp mode of independent rotation again: now first rotate the first motor 61, after middle part segment is touched object, stop the first motor 61, then rotate the second motor 71;
4) the first independent rotation of doublejointed, the grasp mode that coupling is rotated again afterwards: now first start two motors simultaneously, according to circumstances stop the second motor 71 after a period of time, then rotate the first motor 61.
Below to conventional its operating principle of the further illustration of the second grasp mode.The process that this device adopts the second grasp mode to capture object is divided into two stages: coupling stage of gripping and dexterous stage of gripping.
As shown in Figure 5, now middle part segment 2 and end segment 3 are finger straight configuration with pedestal 1 to the initial position of this device.In the time using the robot finger of the present embodiment to capture object, the output shaft rotation of the first motor 61, drive the second gear 86 through the first decelerator 62 by the first gear 85, thereby middle part segment 2 and nearly joint shaft 4 rotate an angle [alpha] around the axis of nearly joint shaft 4, as shown in Figure 6.
In this process, the second motor 71 does not rotate, and due to very large (275:1) of the speed reducing ratio of the second decelerator 72, presents " soft self-locking " state (decelerator that employing has a latching characteristics also can), and first connecting rod 91 will not rotate.Therefore, the forward rotation of middle part segment 2 can make to drive the go the long way round center line forward rotation of joint shaft 5 of second connecting rod 92 by third connecting rod 93, also just make the go the long way round center line forward rotation equal angular of joint shaft 5 of end segment 3, thereby forward rotation when having realized 5 two joints of nearly joint shaft 4 and joint shaft far away, this i.e. coupling of the first stage of gripping is rotated, as shown in Figure 6, Figure 7.
If in coupling crawl process, if end segment 3 contacts object, and middle part segment 2 does not contact object, captures and finishes so, in this crawl situation, only there is a coupling crawl process, realize the effect that grips object, as shown in Figure 9, Figure 10.
If in coupling crawl process, middle part segment 2 first touches object, as shown in Figure 7, stops the first motor 61, restarts the second motor 71, this subsequent process is a dexterous stage of gripping, as described below:
The second motor 71 rotates, drive the 3rd gear 87 to rotate by the second decelerator 72, thereby drive the 4th gear 88, first connecting rod 91 to rotate, realize that end segment 3 continues forward rotation until contact object by third connecting rod 93, second connecting rod 92, corner is now γ, and as shown in figure 10, this corner γ is not subject to the restriction of middle part segment 2 corner β, as shown in Figure 8, reach the dexterity crawl object of the second stage of gripping.
The process of decontroling object is: the first motor and the second motor reverse respectively, and object process is contrary with capturing, and repeats no more.
Therefore, the present embodiment can reach the coupling effect that single motor that tradition coupling finger realizes drives multiple joints to rotate simultaneously, and the decoupling zero again with the single joint of independent rotation that tradition coupling finger do not have captures effect, controls easily while capturing object; All motors, decelerator are all hidden in pedestal, and finger rotating part volume is little, lightweight.
Claims (6)
1. a connecting rod coupling type dexterous robot finger device, comprises pedestal, middle part segment, end segment, nearly joint shaft and joint shaft far away; Described nearly joint shaft is set in pedestal, and described joint shaft far away is set in the segment of middle part, and nearly joint shaft is parallel with joint shaft far away, and described middle part segment is fixed on nearly joint shaft, and described end segment is fixed on joint shaft far away; It is characterized in that: this connecting rod coupling type dexterous robot finger device also comprises the first motor, the first decelerator, the second motor, the second decelerator, first connecting rod, second connecting rod, third connecting rod, the first bearing pin and the second bearing pin; The first described motor and the first decelerator are all affixed with pedestal, and the output shaft of the first motor is connected with the power shaft of the first decelerator, and the output shaft of the first decelerator is connected with nearly joint shaft; The second described motor and the second decelerator are all affixed with pedestal, and the output shaft of the second motor is connected with the power shaft of the second decelerator, and the output shaft of the second decelerator is connected with first connecting rod; Described first connecting rod is socketed on nearly joint shaft, and described second connecting rod is fixed on joint shaft far away and is affixed with end segment; One end of described third connecting rod is hinged by the first bearing pin and first connecting rod, and the other end of third connecting rod is hinged by the second bearing pin and second connecting rod; The plane that makes the center line of nearly joint shaft and the center line of joint shaft far away form is plane K, and the first bearing pin and the second bearing pin lay respectively at the both sides of plane K; The second described decelerator adopts the reduction gearing mechanism with latching characteristics.
2. connecting rod coupling type dexterous robot finger device as claimed in claim 1, is characterized in that: the output shaft of the first decelerator is connected with nearly joint shaft by the first transmission mechanism.
3. connecting rod coupling type dexterous robot finger device as claimed in claim 1, is characterized in that: the output shaft of the second decelerator is connected with the first drive by the second transmission mechanism.
4. connecting rod coupling type dexterous robot finger device as claimed in claim 2, is characterized in that: the first described transmission mechanism comprises the first gear and the second gear; The first described gear is fixed on the output shaft of the first decelerator, and the second gear is fixed on nearly joint shaft, and the first gear engages with the second gear.
5. connecting rod coupling type dexterous robot finger device as claimed in claim 3, is characterized in that: the second described transmission mechanism comprises the 3rd gear and the 4th gear; The 3rd described gear is fixed on the output shaft of the second decelerator, and the 4th described geared sleeve is connected on nearly joint shaft, and the 3rd described gear engages with the 4th gear, and described the 4th gear and the first drive are affixed.
6. connecting rod coupling type dexterous robot finger device as claimed in claim 1, is characterized in that: the speed reducing ratio of the second described decelerator is at least 100.
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 |
|---|---|
| CN102717393A CN102717393A (en) | 2012-10-10 |
| CN102717393B true CN102717393B (en) | 2014-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210179816.6A Expired - Fee Related CN102717393B (en) | 2012-06-01 | 2012-06-01 | Connecting rod coupling-type finger device for neat robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102717393B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10279484B2 (en) | 2014-09-12 | 2019-05-07 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN105150231B (en) * | 2015-09-08 | 2021-02-26 | 清华大学 | Seven-connecting-rod parallel-connection pinching-holding composite self-adaptive robot 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 |
| CN105583830B (en) * | 2016-03-17 | 2018-04-10 | 清华大学 | The flat folder adaptive robot finger apparatus of link gear |
| 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 |
| CN112405571B (en) * | 2020-09-30 | 2023-07-28 | 北京工业大学 | Nested industrial assembly gripper |
| CN114378806B (en) * | 2020-10-20 | 2023-12-22 | 腾讯科技（深圳）有限公司 | Manipulator, and driving method and device for manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5062673A (en) * | 1988-12-28 | 1991-11-05 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Articulated hand |
| CN101049696A (en) * | 2007-05-18 | 2007-10-10 | 清华大学 | Under drive mechanical finger device of connecting rod |
| CN101797753A (en) * | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| CN101829995A (en) * | 2010-04-30 | 2010-09-15 | 清华大学 | Crank block type flexible piece parallel coupled under-actuated finger device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006000992A (en) * | 2004-06-18 | 2006-01-05 | Toyota Motor Corp | Robot hand |
| JP2006026807A (en) * | 2004-07-16 | 2006-02-02 | Harmonic Drive Syst Ind Co Ltd | Joint mechanism of robot hand or the like |
-
2012
- 2012-06-01 CN CN201210179816.6A patent/CN102717393B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5062673A (en) * | 1988-12-28 | 1991-11-05 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Articulated hand |
| CN101049696A (en) * | 2007-05-18 | 2007-10-10 | 清华大学 | Under drive mechanical finger device of connecting rod |
| CN101797753A (en) * | 2010-04-06 | 2010-08-11 | 清华大学 | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes |
| CN101829995A (en) * | 2010-04-30 | 2010-09-15 | 清华大学 | Crank block type flexible piece parallel coupled under-actuated finger device |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2006-992A 2006.01.05 |
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