CN102825610A - Finger device of double-motor cooperative combination grabbing robot - Google Patents
Finger device of double-motor cooperative combination grabbing robot Download PDFInfo
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- CN102825610A CN102825610A CN2012102906651A CN201210290665A CN102825610A CN 102825610 A CN102825610 A CN 102825610A CN 2012102906651 A CN2012102906651 A CN 2012102906651A CN 201210290665 A CN201210290665 A CN 201210290665A CN 102825610 A CN102825610 A CN 102825610A
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Abstract
The invention relates to a finger device of a double-motor cooperative combination grabbing robot, and belongs to the technical field of arms of robots. The finger device comprises a base, two motors, two speed reducers, a middle finger section, a tail finger section, a proximal joint shaft, a distal joint shaft, two one-way transmission mechanisms, a driving wheel, a driven wheel, transmission parts, spring parts and the like. By the aid of the two motors arranged separately, the two one-way transmission mechanisms, a reverse transmission mechanism, the movably sleeved middle finger section, the spring parts and the like, the finger device can realize a combination under-actuated grabbing mode of coupling grabbing first and self-adaptive grabbing second. Excessive interference among various motion modes is eliminated, deformation of the spring parts in coupling motion is small, a finger can stop at any middle position during the coupling motion, and thus, energy consumption is low. The two motors which are respectively arranged in space of the base and space of the middle finger section act onto two joints cooperatively, so that the middle finger section, especially the tail finger section, can provide high grabbing force. The finger device is compact in structure, low in cost and easy to control.
Description
Technical field
The invention belongs to the robot technical field, the structural design of the collaborative powerful compound extracting robot finger apparatus of particularly a kind of bi-motor.
Background technology
Hand is one of most important organ of people, and in the anthropomorphic robot field, robot is vital link equally, and it is one of key technology of robot field that its structural design and function are improved.On the one hand, robot need be accomplished compound actions such as extracting, carrying, therefore needs comparatively accurate controlling mechanism; On the other hand, the personification of robot requires to have determined characteristics such as its volume is little, in light weight.Existing Dextrous Hand has enough pass joint numbers and drives number accomplishing accurate action, but very complicated, expensive.Also there are many technical barriers in the robot field at present.Owe to drive hand and solved this contradiction to a certain extent.
The coupled mode under-actuated finger adopts the crooked simultaneously coupling of multi-joint to grasp pattern, is rotated simultaneously by a certain percentage by a plurality of joints of driver drives.This pattern and the action of staff grasping objects are similar, and personification property is better, and the extracting process is more stable.The weak point of coupled mode finger is: pattern is comparatively fixing, can't adapt to difform object, generally to grip the mode grasping objects, is difficult to realize gripping Grasp Modes for large sized object, and grip is bad.
The self adaptation under-actuated finger adopts the pattern of self-adapting grasping, by joint of a driver drives, all the other joints finger with just begin rotation after object contacts.This finger can change the extracting angle according to the difformity of object, grips Grasp Modes thereby reach, and simple in structure and control is stablized.The weak point of self adaptation under-actuated finger is: finger is not solid form when contacting object, and anthropomorphic effect is relatively poor; Need in the process of contact object, produce driving force, possibly cause left knee stressed excessive, be unfavorable for grasping the far-end dactylus; Can't realize gripping Grasp Modes for small-size object, grip is restricted.
To coupled mode finger and self adaptation under-actuated finger weak point separately; A kind of new type compound that both are combined is owed to drive the extracting pattern and is suggested; This extracting pattern is: finger moves according to CGCM earlier before running into object; The motion of left knee is limited by object after the contact object, and this moment, the far-end dactylus continued to contact object with the adaptive model grasping objects fully until each dactylus.
The compound extracting robot finger apparatus of existing a kind of bevel gear flexible piece; Like Chinese invention patent CN102166753A, mainly constitute by pedestal, motor, decelerator, nearly joint shaft, middle finger section, joint shaft far away, the end section of finger, three bevel gears, driving wheel, driven pulley, two driving members and spring spare.This device can be realized the compound extracting process of owing to drive, and its weak point is: adopt three bevel gears that are meshed, reach the purpose that driver divides two-way output by bevel gear mechanism, require the bevel gear of both sides symmetrical fully, cost is high; Bevel Gear Transmission requires assembly precision high, and is big in the power transmission loss of making when hanging down with assembly precision; Motor can only be placed in the pedestal (palm), and the palm space can't make full use of, and does not make full use of the space of middle finger section.
Aspect grasp force, finger generally needs bigger grasping force to object.People's the strength that finger provided is very big; For example staff can be held pop can flat; The robot finger that present size and finger are close is difficult to that bigger exerting oneself arranged; Reason is that size can be hidden motor in starting with often power is big inadequately, and the volume of motor and this contradiction between the power exist always, have influenced the development of robot.
In addition; Although middle finger section is all very important for stablizing grasping objects to the grasping force of object separately with the terminal section of finger, discover that present robot lacks the big grasping force of the end section of finger if the terminal section of finger is more beneficial greatly to the grasping force of object; Generally motor is put into palm; The power attenuation that the transmission efficiency on the drive path is brought is delivered to terminal joint and the end section of finger through transmission mechanism, owing to can make the end section of finger not enough to the grasping force of object.
Summary of the invention
The objective of the invention is the weak point to prior art, provide a kind of bi-motor to work in coordination with powerful compound extracting robot finger apparatus, this device can be realized the compound extracting pattern that coupling extracting earlier combines with the back self-adapting grasping; Make full use of palm space and middle finger section space; The end section of finger can provide big grasping force; This apparatus structure is simple, and the low-yield loss of cost is little, and control easily.
Technical scheme of the present invention is following:
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, comprises pedestal, first motor, first decelerator, driving wheel, driven pulley, middle finger section, the end section of finger, nearly joint shaft and joint shaft far away; Said nearly joint shaft pivot bush unit is in pedestal, and said middle finger section is actively socketed on the nearly joint shaft, and said joint shaft pivot bush unit far away is in middle finger section; The said end section of finger is actively socketed on the joint shaft far away; Said nearly joint shaft is parallel with joint shaft far away; The output shaft of first motor links to each other with first input shaft of speed reducer; Described driven pulley is fixedly sleeved on joint shaft far away; It is characterized in that: the collaborative compound extracting robot finger apparatus of this bi-motor also comprises second motor, second decelerator, first transmission mechanism, second transmission mechanism, first one-way driving mechanism, second one-way driving mechanism and the spring spare; Said first motor and first decelerator all are fixed in the middle finger section, and said second motor and second decelerator all are fixed on the pedestal, and the output shaft of second motor links to each other with second input shaft of speed reducer; The two ends of described spring spare connect pedestal and nearly joint shaft respectively; Described driving wheel directly links to each other with driven pulley or links to each other driving wheel rotation direction and driven pulley direction of rotation through driving member; Described driving wheel is fixedly sleeved on nearly joint shaft; Said first one-way driving mechanism is arranged on first reducer output shaft, first transmission mechanism and nearly joint shaft three's the driving-chain; Said second one-way driving mechanism is arranged on second reducer output shaft, second transmission mechanism and nearly joint shaft three's the driving-chain; Described spring spare adopts extension spring, stage clip or torsion spring; The output shaft of said first decelerator links to each other with nearly joint shaft through first transmission mechanism; The output shaft of said second decelerator links to each other with nearly joint shaft through second transmission mechanism.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, and it is characterized in that: described driving wheel, driven pulley all adopt gear, and described driving wheel is meshed with driven pulley.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member adopts driving-belt or tendon rope, and described driving wheel adopts belt wheel or rope sheave, and described driven pulley adopts belt wheel or rope sheave; Described driving member, driving wheel and driven pulley three can cooperate the formation drive connection; Described driving member is wrapped on driving wheel and the driven pulley and forms the figure of eight.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member adopts tooth bar, and described driving wheel, driven pulley all adopt gear; Described tooth bar meshes with driving wheel, driven pulley respectively; The meshing point that makes tooth bar and driving wheel is A, and the meshing point of tooth bar and driven pulley is B, and the central point of driving wheel is O
1, the central point of driven pulley is O
2, line segment O
1A, line segment AB, line segment BO
2With line segment O
2O
1Constitute the figure of eight, line segment AB and line segment O
1O
2Intersection point be positioned at O
1And O
2Between, described tooth bar is embedded in the middle finger section.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member (43) adopts connecting rod, and the two ends of described connecting rod are hinged with driving wheel (41), driven pulley (42) respectively; The pin joint that makes connecting rod and driving wheel (41) is C, and the pin joint of connecting rod and driven pulley (42) is D, and the central point of driving wheel (41) is O
1, the central point of driven pulley (42) is O
2, line segment O
1C, line segment CD, line segment DO
2With line segment O
2O
1Constitute the figure of eight, line segment CD and line segment O
1O
2Intersection point be positioned at O
1And O
2Between.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member comprises the first sub-driving member, the second sub-driving member; The described first sub-driving member is wrapped on driving wheel and the driven pulley and forms " S " font, and the two ends of the first sub-driving member are affixed with driving wheel, driven pulley respectively; The described second sub-driving member is wrapped on driving wheel and the driven pulley and forms " Z " font, and the two ends of the second sub-driving member are affixed with driving wheel, driven pulley respectively, and the first sub-driving member and the second sub-driving member are crossed as the figure of eight; The described first sub-driving member adopts driving-belt, tendon rope or chain, and the described second sub-driving member adopts driving-belt, tendon rope or chain, and described driving wheel adopts belt wheel, rope sheave or sprocket wheel, and described driven pulley adopts belt wheel, rope sheave or sprocket wheel; The described first sub-driving member, the second sub-driving member, driving wheel and driven pulley can cooperate the formation drive connection.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member comprise the 1st travelling gear, the 2nd travelling gear ..., 2n-1 travelling gear, 2n travelling gear, the 1st transition axis, the 2nd transition axis ..., 2n-1 transition axis and 2n transition axis; Described driving wheel, driven pulley all adopt gear; Described driving wheel is meshed with the 1st travelling gear, and the k travelling gear is meshed with the k+1 travelling gear, and the 2n travelling gear is meshed with driven pulley; Pivot bush unit is in middle finger section respectively for all transition axises, and all transition axises are parallel with nearly joint shaft; The k travelling gear is actively socketed on the k transition axis, and the 2n travelling gear is actively socketed on the 2n transition axis, wherein, k is 1,2 ..., 2n-1, n is a natural number.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus; It is characterized in that: said first transmission mechanism comprises first bevel gear and second bevel gear; Said first bevel gear is fixedly sleeved on the output shaft of first decelerator; Said second bevel gear is fixedly sleeved on nearly joint shaft, and first bevel gear is meshed with second bevel gear.Said second transmission mechanism comprises third hand tap gear and the 4th bevel gear; Said third hand tap geared sleeve is connected on the nearly joint shaft and with nearly joint shaft and links to each other; Said the 4th bevel gear is socketed in the output shaft of second decelerator and links to each other with the output shaft of second decelerator, and the third hand tap gear is meshed with the 4th bevel gear.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described first one-way driving mechanism adopts torque limiter; Described second one-way driving mechanism adopts torque limiter.
Bi-motor of the present invention is worked in coordination with compound extracting robot finger apparatus; It is characterized in that: described second one-way driving mechanism comprises first projection and second projection; Said first projection and second reducer output shaft are affixed, and the input of said second projection and second transmission mechanism is affixed; Said first projection is stirred second projection.
The present invention compared with prior art has the following advantages and the high-lighting effect:
This device adopts middle finger section and the spring spare of two motors disperseing to deposit, two one-way driving mechanisms, reverse drive mechanism, pivot bush unit etc. to realize that comprehensively first coupling grasps combine with back self-adapting grasping compound and owe to drive the extracting pattern; This device both can link by multi-joint in the extracting process, produced anthropomorphic preferably effect; The object that can adapt to difformity, size again produces self-adapting grasping effect preferably; Multiple extracting pattern such as can realize gripping, grip; Too much do not interfere between this each forms of motion of device, during coupled motions the distortion of spring spare little, finger can rest on arbitrary centre position of coupled motions naturally, so energy consumption is little; In this device, driver disperses to deposit: two motors are placed on respectively in pedestal and the middle finger section, make full use of palm space and middle finger section space; Two motors act synergistically on two joints; Especially act on terminal joint; Make the especially terminal section of finger of middle finger section that bigger grasping force can be provided; Reach the better stable purpose that grasps, make and adopt the robot of this device to have wider extracting adaptive capacity, be applicable to the stable extracting of destructuring unknown complex environment; No internal intervention and energy loss between two motors; And this apparatus structure is compact, succinct, and cost is low, control is easy.
Description of drawings
Fig. 1 is first kind of embodiment stereogram of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention.
Fig. 2 is front appearance figure embodiment illustrated in fig. 1.
Fig. 3 is front appearance figure (not containing the middle finger section header board) embodiment illustrated in fig. 1.
Fig. 4 is a left side outside drawing embodiment illustrated in fig. 1.
Fig. 5 is a side sectional view embodiment illustrated in fig. 1.
Fig. 6 is first motor embodiment illustrated in fig. 1 and the partial sectional view of first bevel gear.
Fig. 7, Fig. 8 and Fig. 9 are that coupling earlier embodiment illustrated in fig. 1 back self adaptation owes to drive the terminal afterburning sketch map that grasps the first one-way driving mechanism relative position in the grasping object process in back.
Figure 10, Figure 11, Figure 12 and Figure 13 are that coupling earlier embodiment illustrated in fig. 1 back self adaptation owes to drive the terminal afterburning sketch map that grasps grasping object process in back.
Figure 14 is the sketch map of terminal displacement grasping objects process embodiment illustrated in fig. 1.
Figure 15 is driving wheel and the driven pulley signal of second kind of embodiment provided by the invention (adopting the one-level gear drive).
Figure 16 is driving wheel, driven pulley and the driving member signal of the third embodiment provided by the invention (adopting flexible piece mechanism).
Figure 17 is driving wheel, driven pulley and the driving member signal of the 4th kind of embodiment provided by the invention (employing rackwork).
Figure 18 is the position relation signal of several Key Points embodiment illustrated in fig. 17.
Figure 19 is driving wheel, driven pulley and the driving member signal of the 5th kind of embodiment provided by the invention (employing linkage).
Figure 20 is the position relation signal of several Key Points embodiment illustrated in fig. 19.
Figure 21 is driving wheel, driven pulley and the signal of a plurality of driving member of the 6th kind of embodiment provided by the invention (adopting multi-stage gear mechanism).
Figure 22 is driving wheel, driven pulley and the signal of a plurality of driving member of the 7th kind of embodiment provided by the invention (adopting two-stage flexible piece transmission mechanism).
Figure 23 is a V-V cutaway view embodiment illustrated in fig. 22.
Figure 24 is driving wheel, driven pulley and the signal of a plurality of driving member of the 8th kind of embodiment provided by the invention (adopting flexible piece and gear two-stage transmission mechanism).
Figure 25 is a Q-Q cutaway view embodiment illustrated in fig. 24.
Figure 26 is driving wheel, driven pulley and the signal of a plurality of driving member of the 9th kind of embodiment provided by the invention (adopting tooth bar two-stage transmission mechanism).
Figure 27 is a N-N cutaway view embodiment illustrated in fig. 26.
Figure 28 is driving wheel, driven pulley and the driving member signal of the provided by the invention ten kind of embodiment (adopting bevel gear two-stage transmission mechanism).
Figure 29, Figure 30 are the vertical views of torque limiter.
Figure 31 is the cross section view of torque limiter.
In Fig. 1 to Figure 30:
The 11-pedestal, the 12-middle finger section, the 13-end section of finger,
2-spring spare, the nearly joint shaft of 31-, 32-joint shaft far away,
The 41-driving wheel, the 42-driven pulley, the 43-driving member,
The 44-first sub-driving member, the 45-second sub-driving member,
51-first motor, 52-first decelerator, 521-first reducer output shaft,
53-second motor, 54-second decelerator, 541-second reducer output shaft,
61-first bevel gear, 62-second bevel gear, 63-third hand tap gear,
64-the 4th bevel gear, 71-first projection, 72-second projection,
The 73-torque limiter, 81-the 1st travelling gear, 82-the 2nd travelling gear,
83-the 1st transition axis, 84-the 2nd transition axis, the 91-jackshaft,
Driven pulley in the middle of the driving wheel in the middle of the 92-, 93-, driving member in the middle of the 94-first,
Driving member in the middle of the 95-second, the 96-double bevel wheel, the 10-object,
The 900-torque limiter, the 910-housing, the 911-link slot,
The 912-inclined plane, the 920-rotating member, the 921-groove,
The 930-rotating shaft, the 940-ball, the 950-cover,
The 960-depression, the 970-compression spring, the 980-wind spring,
The 981-bending section.
The specific embodiment
Further introduce the content of concrete structure of the present invention, operation principle in detail below in conjunction with accompanying drawing and a plurality of embodiment.
First kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design; Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Tu, comprise pedestal 11, first motor 51, first decelerator 52, driving wheel 41, driven pulley 42, middle finger section 12, the end section of finger 13, nearly joint shaft 31 and joint shaft 32 far away; Said nearly joint shaft 31 pivot bush units are in pedestal 11, and said middle finger section 12 is actively socketed on the nearly joint shaft 31, and said joint shaft 32 pivot bush units far away are in middle finger section 12; The said end section of finger 13 is actively socketed on the joint shaft 32 far away; Said nearly joint shaft 31 is parallel with joint shaft 32 far away; The output shaft of first motor 51 links to each other with the power shaft of first decelerator 52; Described driven pulley 42 is fixedly sleeved on joint shaft 32 far away; The collaborative compound extracting robot finger apparatus of this bi-motor also comprises second motor 53, second decelerator 54, first transmission mechanism, second transmission mechanism, first one-way driving mechanism, second one-way driving mechanism and spring spare 2; Said first motor 51 and first decelerator 52 all are fixed in the middle finger section 12, and said second motor 53 and second decelerator all are fixed on the pedestal 11, and the output shaft of second motor 53 links to each other with the power shaft of second decelerator 54; The two ends of described spring spare 2 connect pedestal 11 and nearly joint shaft 31 respectively; Described driving wheel 41 directly links to each other with driven pulley 42 or links to each other driving wheel 41 rotation directions and driven pulley 42 direction of rotation through driving member; Described driving wheel 41 is fixedly sleeved on nearly joint shaft 31; Said first one-way driving mechanism is arranged on first decelerator, 52 output shafts, first transmission mechanism and nearly joint shaft 31 threes' the driving-chain; Said second one-way driving mechanism is arranged on second decelerator, 54 output shafts, second transmission mechanism and nearly joint shaft 31 threes' the driving-chain; Described spring spare 2 adopts extension spring, stage clip or torsion spring; In the present embodiment, described spring spare 2 adopts torsion spring; The output shaft of said first decelerator 52 links to each other with nearly joint shaft 31 through first transmission mechanism; The output shaft of said second decelerator 54 links to each other with nearly joint shaft 31 through second transmission mechanism.
In the present embodiment, described driving member comprises first sub-driving member 44, the second sub-driving member 45; The described first sub-driving member 44 is wrapped on driving wheel 41 and the driven pulley 42 and forms " S " font, and the two ends of the first sub-driving member 44 are affixed with driving wheel 41, driven pulley 42 respectively; The described second sub-driving member 45 is wrapped on driving wheel 41 and the driven pulley 42 and forms " Z " font, and the two ends of the second sub-driving member 45 are affixed with driving wheel 41, driven pulley 42 respectively, and the first sub-driving member 44 and the second sub-driving member 45 are crossed as the figure of eight.
Among the present invention, the described first sub-driving member adopts driving-belt, tendon rope or chain, and the described second sub-driving member adopts driving-belt, tendon rope or chain, and described driving wheel adopts belt wheel, rope sheave or sprocket wheel, and described driven pulley adopts belt wheel, rope sheave or sprocket wheel; The described first sub-driving member, the second sub-driving member, driving wheel and driven pulley can cooperate the formation drive connection.
In the present embodiment, the described first sub-driving member 44 adopts tendon rope (steel wire rope), and the described second sub-driving member 45 adopts tendon rope (steel wire rope), and described driving wheel 41 adopts rope sheave, and described driven pulley 42 adopts rope sheave; The sub-driving member of the described first sub-driving member 44, second 45, driving wheel 41 and driven pulley 42 4 can cooperate the formation drive connection.
In the present embodiment, the described first sub-driving member 44 two ends are connected with first end block 71 and second end block 72 respectively; The second sub-driving member, 45 two ends are connected with the 3rd end block 73 and the 4th end block 74 respectively; Described first end block 71 is inlayed in the groove that is fixed on first driving wheel 41, and described second end block 72 is inlayed in the groove that is fixed on first driven pulley 42; Described the 3rd end block 73 is inlayed in the groove that is fixed on first driving wheel 41, and described the 4th end block 74 is inlayed in the groove that is fixed on first driven pulley 42.
Present embodiment also comprises second transmission mechanism, and described decelerator 21 output shafts link to each other with nearly joint shaft 31 through second transmission mechanism.
In the present embodiment, described second transmission mechanism comprises first bevel gear 61 and second bevel gear 62; Described decelerator 21 output shafts and first bevel gear 61 are affixed, and first bevel gear 61 is meshed with second bevel gear 62, and second bevel gear 62 is fixedly sleeved on nearly joint shaft 31.
In the present embodiment, described first one-way driving mechanism adopts torque limiter 900.
In the present embodiment, described second one-way driving mechanism comprises first projection 71 and second projection 72, and said first projection 71 and second decelerator, 54 output shafts are affixed, and the input of said second projection 72 and second transmission mechanism is affixed; Said first projection 71 is stirred second projection 72.
Second kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design, like Figure 29, Figure 30 and shown in Figure 31, described first one-way driving mechanism adopts torque limiter 900; Described second one-way driving mechanism adopts torque limiter 900.
The third embodiment of the collaborative compound extracting robot finger apparatus of the bi-motor of the present invention design, shown in figure 15, described driving wheel 41, driven pulley 42 all adopt gear, and described driving wheel 41 is meshed with driven pulley 42.
The 4th kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design, shown in figure 16, described driving member adopts driving-belt or tendon rope, and described driving wheel adopts belt wheel or rope sheave, and described driven pulley adopts belt wheel or rope sheave; Described driving member, driving wheel and driven pulley three can cooperate the formation drive connection; Described driving member is wrapped on driving wheel and the driven pulley and forms the figure of eight.
In the present embodiment, described driving member 43 adopts tendon rope (steel wire rope), and described driving wheel 41 adopts rope sheave, and described driven pulley 42 adopts rope sheave; Described driving member 43, driving wheel 41 and driven pulley 42 threes can cooperate the formation drive connection; Described driving member 43 is wrapped on driving wheel 41 and the driven pulley 42 and forms the figure of eight.
The 5th kind of embodiment of the collaborative compound extracting robot finger apparatus of the bi-motor of the present invention design, like Figure 17 and shown in Figure 180, described driving member 43 adopts tooth bars, and described driving wheel 41, driven pulley 42 all adopt gear; Described tooth bar meshes with driving wheel 41, driven pulley 42 respectively; The meshing point that makes tooth bar and driving wheel 41 is A, and the meshing point of tooth bar and driven pulley 42 is B, and the central point of driving wheel 41 is O
1, the central point of driven pulley 42 is O
2, line segment O
1A, AB, BO
2And O
2O
1Constitute the figure of eight, AB and O
1O
2Intersection point be positioned at O
1And O
2Between, described tooth bar is embedded in the middle finger section.
The 6th kind of embodiment of the collaborative compound extracting robot finger apparatus of the bi-motor of the present invention design, like Figure 19 and shown in Figure 20, described driving member 43 adopts connecting rods, and the two ends of described connecting rod are hinged with driving wheel 41, driven pulley 42 respectively; The pin joint that makes connecting rod and driving wheel 41 is C, and the pin joint of connecting rod and driven pulley 42 is D, and the central point of driving wheel 41 is O
1, the central point of driven pulley 42 is O
2, line segment O
1C, CD, DO
2And O
2O
1Constitute the figure of eight, CD and O
1O
2Intersection point be positioned at O
1And O
2Between.
The 7th kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design; Shown in figure 21, described driving member comprise the 1st travelling gear, the 2nd travelling gear ..., 2n-1 travelling gear, 2n travelling gear, the 1st transition axis, the 2nd transition axis ..., 2n-1 transition axis and 2n transition axis; Described driving wheel, driven pulley all adopt gear; Described driving wheel is meshed with the 1st travelling gear, and the k travelling gear is meshed with the k+1 travelling gear, and the 2n travelling gear is meshed with driven pulley; Pivot bush unit is in middle finger section respectively for all transition axises, and all transition axises are parallel with nearly joint shaft; The k travelling gear is actively socketed on the k transition axis, and the 2n travelling gear is actively socketed on the 2n transition axis, wherein, k is 1,2 ..., 2n-1, n is a natural number.
In the present embodiment, described driving member comprises the 1st travelling gear the 81, the 2nd travelling gear the 82, the 1st transition axis the 83, the 2nd transition axis 84; Described driving wheel 41, driven pulley 42 all adopt gear; Described driving wheel 41 is meshed with the 1st travelling gear 81, and the 1st travelling gear 81 is meshed with the 2nd travelling gear 82, and the 2nd travelling gear 82 is meshed with driven pulley 42; Pivot bush unit also nearly joint shaft 31 in middle finger section 11 is parallel respectively with the 2nd transition axis 84 for the 1st transition axis 83; The 1st travelling gear 81 is actively socketed on the 1st transition axis 83, and the 2nd travelling gear 82 is actively socketed on the 2nd transition axis 84.
The 8th kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design; Like Figure 22 and shown in Figure 23; Adopt the two-stage kind of drive to connect between described driving wheel 41 and the drive 42, described driving member comprises jackshaft 91, middle driving wheel 92, middle driven pulley 93, the first middle driving member 94 and the second middle driving member 95; Described jackshaft 91 pivot bush units are in middle finger section 11, and jackshaft 91 is parallel with nearly joint shaft 31; Driving wheel 92 and middle driven pulley 93 are fixedly sleeved on jackshaft 91 in the middle of described; Described driving wheel 41 links to each other through the first middle driving member 94 with middle driven pulley 93, and described middle driving wheel 92 links to each other through the second middle driving member 95 with driven pulley 42; The driving member and the second middle driving member adopt driving-belt or tendon rope in the middle of described first; Described driving wheel, driven pulley, middle driving wheel and middle driven pulley adopt belt wheel or rope sheave; The driving member three can cooperate the formation drive connection in the middle of described driving wheel, the middle driven pulley and first, and the driving member three can cooperate the formation drive connection in the middle of described middle driving wheel, the driven pulley and second; In the present embodiment, described in the middle of first in the middle of the driving member 94 and second driving member 95 adopt tendons ropes (steel wire rope), described driving wheel 41, driven pulley 42, middle driving wheel 92 and middle driven pulley 93 employing belt wheels; Driving member 94 is wrapped on driving wheel 41 and the middle driven pulley 93 and formation " O " font in the middle of described first; The described second middle driving member 95 is wrapped on middle driving wheel 92 and the driven pulley 42 and forms the figure of eight.
The 9th kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design; Like Figure 24 and shown in Figure 25; Adopt the two-stage kind of drive to connect between described driving wheel 41 and the drive 42, described driving member comprises jackshaft 91, middle driving wheel 92, middle driven pulley 93 and the first middle driving member 94; Described jackshaft 91 pivot bush units are in middle finger section 11, and jackshaft 91 is parallel with nearly joint shaft 31; Driving wheel 92 and middle driven pulley 93 are fixedly sleeved on jackshaft 91 in the middle of described; Described driving wheel 41 is meshed with middle driven pulley 93, and described middle driving wheel 92 links to each other through the first middle driving member 94 with driven pulley 42; Described driving wheel 41 all adopts gear with middle driven pulley 93; Driving member adopts driving-belt or tendon rope in the middle of described first; Described driven pulley and middle driving wheel adopt belt wheel or rope sheave, and the driving member three can cooperate the formation drive connection in the middle of described middle driving wheel, the driven pulley and first; In the present embodiment, the described first middle driving member 94 adopts tendons ropes (steel wire rope), and described driven pulley 42 adopts belt wheels with middle driving wheel 92; Also form " O " font in the middle of driving member 94 is wrapped in the middle of described first on driving wheel 92 and the driven pulley 42.
The tenth kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design; Like Figure 26 and shown in Figure 27; Adopt the two-stage kind of drive to connect between described driving wheel 41 and the drive 42, described driving member comprises jackshaft 91, middle driving wheel 92, middle driven pulley 93, the first middle driving member 94 and the second middle driving member 95; Described jackshaft 91 pivot bush units are in middle finger section 11, and jackshaft 91 is parallel with nearly joint shaft 31; Driving wheel 92 and middle driven pulley 93 are fixedly sleeved on jackshaft 91 in the middle of described; Described driving wheel 41 all adopts gear with middle driven pulley 93; Driving member 94 adopts tooth bar in the middle of described first; Driving member 94 is meshed with driving wheel 41 and middle driven pulley 93 respectively in the middle of first, and two meshing points lay respectively at the both sides of driving wheel 41 centers and middle driven pulley 93 lines of centres; Driving wheel 92 all adopts gear with driven pulley 42 in the middle of described; Driving member 95 adopts tooth bar in the middle of described second; Driving member 95 is meshed with driven pulley 42 with middle driving wheel 92 respectively in the middle of second, and two meshing points are positioned at the homonymy of driving wheel 41 centers and middle driven pulley 93 lines of centres; Described tooth bar all is embedded in the middle finger section.
The 11 kind of embodiment of the collaborative compound extracting robot finger apparatus of bi-motor of the present invention's design, shown in figure 28, described driving member is a double bevel wheel 96; Described double bevel wheel 96 is movably set in the middle finger section, and its center line is positioned at the plane with the center line of nearly joint shaft 31, the center line of joint shaft 32 far away, and the center line of the nearly joint shaft 31 of the center line of double bevel wheel 96 is perpendicular; Described driving wheel 41 all adopts bevel gear with driving wheel 42, and the bevel gear of double bevel wheel 96 1 ends is meshed with driving wheel 41, and the bevel gear of the other end is meshed with driven pulley 42.
With Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and first kind of embodiment shown in Figure 6 is the operation principle that example is introduced apparatus of the present invention, in conjunction with Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 29 and Figure 31, narrates as follows:
The initial position of this device is shown in figure 10, and middle finger section 11, the end section of finger 12 and pedestal 1 are straight configuration at this moment.When using the robot grasping objects 10 of present embodiment, the output shaft that first motor 51 drives decelerator 21 rotates, and drives nearly joint shaft 31 through second transmission mechanism and rotates; Because the effect of contraction of spring spare 5, pedestal 1 is fixed together with nearly joint shaft 31 seemingly, and first motor 51 will drive the middle finger section 11 rotational angle θ that self belongs to; In the present embodiment, the output shaft of decelerator 21 drives with second bevel gear, 62 affixed nearly joint shafts 31 through first bevel gear 61 and rotates.
Because driving wheel 41 is fixed on the nearly joint shaft 31; In middle finger section 11 rotation processes; Joint shaft 32 far away will change with respect to the position of nearly joint shaft 31; Driving wheel 41 drove the go the long way round center line of joint shaft 32 of driven pulley 42 through first transmission mechanism and turned over angle θ this moment, and the relative size that changes driving wheel 41 and driven pulley 42 can obtain the different coupling effect; The rotation of joint shaft 32 far away makes that end the refer to section 12 affixed with it turns over angle θ equally, thereby reaches coupling effect; First sub-driving member 44 1 ends and driving wheel 41 are affixed in first transmission mechanism of present embodiment; The other end and driven pulley 42 are affixed; Driving wheel 41 drives the go the long way round center line of joint shaft 32 of driven pulleys 42 through the first sub-driving member 44 and turns over angle θ; Thereby realized coupling process, reached anthropomorphic preferably effect.
Suppose to run into object 10 after middle finger section 11 and the end section of finger 12 all turn over the θ angle, following two kinds of situation possibly appear in this moment:
1) middle finger section 11 contacts object 10 earlier, and is shown in figure 11.This moment, middle finger section 11 can not be rotated further owing to stopping of object 10, and first motor 51 continues operation, and spring spare 5 will deform, and make nearly joint shaft 31 be able to be independent of pedestal 1 and be rotated further; Driving wheel 41 drives driven pulley 42 joint shaft 32 of going the long way round through first transmission mechanism and is rotated further, and makes the end section of finger be rotated further the α angle, refers to that until end the Duan Douyu body surface contacts; After this center line of joint shaft 32 rotates because the terminal section of finger 12 can't be continued by object blocks to go the long way round, and controls 51 stalls of first motor at this moment, starts second motor 53; Through second one-way driving mechanism, stir second recessed 72 motion for first recessed 71 that is fixed in second decelerator, 54 output shafts 541, the distortion of torque limiter 900 inner springs; Thereby nearly joint shaft 31 rotates, and makes fixedly sleeved the 4th bevel gear 64 on nearly joint shaft 31 rotate, because driving wheel 41 is fixed on the 4th bevel gear 64; Driving wheel 41 drives driven pulley 42 backward rotation through the first sub-driving member 44 and the second sub-driving member 45, rotates thereby drive the end section of finger 13, fills up the gap that possibly occur between end section of finger 13 and the object 10; Reach the effect of terminal reinforcement simultaneously; Thereby accomplish the extracting process, reach grip effect, shown in figure 12; First sub-driving member 44 1 ends and driving wheel 41 are affixed in first transmission mechanism of present embodiment, and the other end and driven pulley 42 are affixed, and driving wheel 41 drives the go the long way round center line of joint shaft 32 of driven pulleys 42 through the first sub-driving member 44 and turns over angle [alpha].
2) the end section of finger 12 contact objects 10 and middle finger section 11 does not contact object 10 as yet earlier are shown in figure 13.This moment, joint shaft 32 far away can't be rotated further, and made nearly joint shaft 31 also can't rotate, thereby accomplished the extracting process, reached to grip effect; First sub-driving member 44 1 ends and driving wheel 41 are affixed in first transmission mechanism of present embodiment, and the other end and driven pulley 42 are affixed.
Shown in figure 14, when needs hook up object 10, start second motor 53; Through second one-way driving mechanism; Stir second recessed 72 motion for first recessed 71 that is fixed in second decelerator, 54 output shafts 541, the distortion of torque limiter 900 inner springs, thus nearly joint shaft 31 rotates; Because driving wheel 41 is fixed on the nearly joint shaft 31 through the 4th bevel gear 64; Driving wheel 41 drives driven pulley 42 backward rotation through the first sub-driving member 44 and the second sub-driving member 45, rotates thereby drive the end section of finger 13, reaches the purpose that hooks up object.
The operation principle of Figure 29, Figure 30 and second kind of embodiment shown in Figure 31 with before a kind of embodiment basic identical, difference is that second transmission mechanism adopts torque limiter 900 to replace first projection 71 and second projection 72, reaches identical unidirectional transmission effect.
This device adopts middle finger section and the spring spare of two motors disperseing to deposit, two one-way driving mechanisms, reverse drive mechanism, pivot bush unit etc. to realize that comprehensively first coupling grasps combine with back self-adapting grasping compound and owe to drive the extracting pattern; This device both can link by multi-joint in the extracting process, produced anthropomorphic preferably effect; The object that can adapt to difformity, size again produces self-adapting grasping effect preferably; Multiple extracting pattern such as can realize gripping, grip; Too much do not interfere between this each forms of motion of device, during coupled motions the distortion of spring spare little, finger can rest on arbitrary centre position of coupled motions naturally, so energy consumption is little; In this device, driver disperses to deposit: two motors are placed on respectively in pedestal and the middle finger section, make full use of palm space and middle finger section space; Two motors act synergistically on two joints; Especially act on terminal joint; Make the especially terminal section of finger of middle finger section that bigger grasping force can be provided; Reach the better stable purpose that grasps, make and adopt the robot of this device to have wider extracting adaptive capacity, be applicable to the stable extracting of destructuring unknown complex environment; No internal intervention and energy loss between two motors; And this apparatus structure is compact, succinct, and cost is low, control is easy.
Claims (10)
1. the collaborative compound extracting robot finger apparatus of bi-motor comprises pedestal (11), first motor (51), first decelerator (52), driving wheel (41), driven pulley (42), middle finger section (12), the end section of finger (13), nearly joint shaft (31) and joint shaft (32) far away; Said nearly joint shaft (31) pivot bush unit is in pedestal (11), and said middle finger section (12) is actively socketed on the nearly joint shaft (31), and said joint shaft far away (32) pivot bush unit is in middle finger section (12); The said end section of finger (13) is actively socketed on the joint shaft far away (32); Said nearly joint shaft (31) is parallel with joint shaft (32) far away; The output shaft of first motor (51) links to each other with the power shaft of first decelerator (52); Described driven pulley (42) is fixed on the joint shaft far away (32); It is characterized in that: the collaborative compound extracting robot finger apparatus of this bi-motor also comprises second motor (53), second decelerator (54), first transmission mechanism, second transmission mechanism, first one-way driving mechanism, second one-way driving mechanism and spring spare (2); Said first motor (51) and first decelerator (52) all are fixed in the middle finger section (12); Said second motor (53) and second decelerator all are fixed on the pedestal (11), and the output shaft of second motor (53) links to each other with the power shaft of second decelerator (54); The two ends of described spring spare (2) connect pedestal (11) and nearly joint shaft (31) respectively; Described driving wheel (41) is fixedly sleeved on nearly joint shaft (31); Described driving wheel (41) directly links to each other with driven pulley (42) or links to each other driving wheel (41) rotation direction and driven pulley (42) direction of rotation through driving member (43); Said first one-way driving mechanism is arranged on first decelerator (52) output shaft, first transmission mechanism and nearly joint shaft (31) three's the driving-chain; Said second one-way driving mechanism is arranged on second decelerator (54) output shaft, second transmission mechanism and nearly joint shaft (31) three's the driving-chain; Described spring spare (2) adopts extension spring, stage clip or torsion spring; The output shaft of said first decelerator (52) links to each other with nearly joint shaft (31) through first transmission mechanism; The output shaft of said second decelerator (54) links to each other with nearly joint shaft (31) through second transmission mechanism.
2. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving wheel (41), driven pulley (42) all adopt gear, and described driving wheel (41) is meshed with driven pulley (42).
3. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus; It is characterized in that: described driving member (43) adopts driving-belt or tendon rope; Described driving wheel (41) adopts belt wheel or rope sheave, and described driven pulley (42) adopts belt wheel or rope sheave; Described driving member (43), driving wheel (41) and driven pulley (42) three can cooperate the formation drive connection; Described driving member (43) is wrapped in driving wheel (41) and the figure of eight is gone up and formed to driven pulley (42).
4. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member (43) adopts tooth bar, and described driving wheel (41) and driven pulley (42) all adopt gear; Described tooth bar meshes with driving wheel (41) and driven pulley (42) respectively; The meshing point that makes tooth bar and driving wheel (41) is A, and the meshing point of tooth bar and driven pulley (42) is B, and the central point of driving wheel (41) is O
1, the central point of driven pulley (42) is O
2, line segment O
1A, line segment AB, line segment BO
2With line segment O
2O
1Constitute the figure of eight, line segment AB and line segment O
1O
2Intersection point be positioned at O
1And O
2Between, described tooth bar is embedded in the middle finger section.
5. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member (43) adopts connecting rod, and the two ends of described connecting rod are hinged with driving wheel (41), driven pulley (42) respectively; The pin joint that makes connecting rod and driving wheel (41) is C, and the pin joint of connecting rod and driven pulley (42) is D, and the central point of driving wheel (41) is O
1, the central point of driven pulley (42) is O
2, line segment O
1C, line segment CD, line segment DO
2With line segment O
2O
1Constitute the figure of eight, line segment CD and line segment O
1O
2Intersection point be positioned at O
1And O
2Between.
6. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member comprises the first sub-driving member (44) and the second sub-driving member (45); The described first sub-driving member (44) is wrapped in driving wheel (41) and driven pulley (42) is gone up and formation " S " font, and the two ends of the first sub-driving member (44) are affixed with driving wheel (41) and driven pulley (42) respectively; The described second sub-driving member (45) is wrapped in driving wheel (41) and " Z " font is gone up and formed to driven pulley (42); The two ends of the second sub-driving member (45) are affixed with driving wheel (41) and driven pulley (42) respectively, and the first sub-driving member (44) and the second sub-driving member (45) are crossed as the figure of eight; The described first sub-driving member (44) adopts driving-belt, tendon rope or chain; The described second sub-driving member (45) adopts driving-belt, tendon rope or chain; Described driving wheel (41) adopts belt wheel, rope sheave or sprocket wheel, and described driven pulley (42) adopts belt wheel, rope sheave or sprocket wheel; The described first sub-driving member (44), the second sub-driving member (45), driving wheel (41) and driven pulley (42) four can cooperate the formation drive connection.
7. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described driving member comprise the 1st travelling gear, the 2nd travelling gear ..., 2n-1 travelling gear, 2n travelling gear, the 1st transition axis, the 2nd transition axis ..., 2n-1 transition axis and 2n transition axis; Described driving wheel (41), driven pulley (42) all adopt gear; Described driving wheel (41) is meshed with the 1st travelling gear, and the k travelling gear is meshed with the k+1 travelling gear, and the 2n travelling gear is meshed with driven pulley (42); Pivot bush unit is in middle finger section (11) respectively for all transition axises, and all transition axises are parallel with nearly joint shaft (31); The k travelling gear is actively socketed on the k transition axis, and the 2n travelling gear is actively socketed on the 2n transition axis, wherein, k is 1,2 ..., 2n-1, n is a natural number.
8. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus; It is characterized in that: said first transmission mechanism comprises first bevel gear (21) and second bevel gear (22); Said first bevel gear (21) is fixedly sleeved on the output shaft of first decelerator (52); Said second bevel gear (22) is fixedly sleeved on nearly joint shaft, and first bevel gear (21) is meshed with second bevel gear (22); Said second transmission mechanism comprises third hand tap gear (23) and the 4th bevel gear (24); Said third hand tap gear (23) is socketed in nearly joint shaft (31) and upward and with nearly joint shaft (31) links to each other; Said the 4th bevel gear (24) is socketed in the output shaft of second decelerator (54) and links to each other with the output shaft of second decelerator (54), and third hand tap gear (23) is meshed with the 4th bevel gear (24).
9. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus, it is characterized in that: described first one-way driving mechanism adopts torque limiter (900); Described second one-way driving mechanism adopts torque limiter (900).
10. bi-motor as claimed in claim 1 is worked in coordination with compound extracting robot finger apparatus; It is characterized in that: described second one-way driving mechanism comprises first projection (71) and second projection (72); Said first projection (71) is affixed with second decelerator (54) output shaft, and said second projection (72) is affixed with the input of second transmission mechanism; Said first projection (71) is stirred second projection (72).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012102906651A CN102825610A (en) | 2012-08-15 | 2012-08-15 | Finger device of double-motor cooperative combination grabbing robot |
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| CN2012102906651A CN102825610A (en) | 2012-08-15 | 2012-08-15 | Finger device of double-motor cooperative combination grabbing robot |
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| CN102825610A true CN102825610A (en) | 2012-12-19 |
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| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN105538337A (en) * | 2016-02-02 | 2016-05-04 | 哈尔滨工业大学 | High-precision steel wire rope vertical transmission joint |
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN105773647A (en) * | 2015-12-01 | 2016-07-20 | 清华大学 | Rack-type elastic-linkage self-adaptive robot finger device with variable-grabbing force |
| CN105798945A (en) * | 2016-05-23 | 2016-07-27 | 清华大学 | Single-ring flexible piece parallel clamping self-adaption robot finger device |
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| CN107081730A (en) * | 2017-06-24 | 2017-08-22 | 安徽普伦智能装备有限公司 | A kind of collapsible delivery equipment |
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Application publication date: 20121219 |