CN105583848A - Twisted-pair synchronous-locking and self-adapting robot finger device - Google Patents
Twisted-pair synchronous-locking and self-adapting robot finger device Download PDFInfo
- Publication number
- CN105583848A CN105583848A CN201610153469.8A CN201610153469A CN105583848A CN 105583848 A CN105583848 A CN 105583848A CN 201610153469 A CN201610153469 A CN 201610153469A CN 105583848 A CN105583848 A CN 105583848A
- Authority
- CN
- China
- Prior art keywords
- joint
- segment
- tendon rope
- rope
- brake pad
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
Abstract
The invention belongs to the technical field of robot hands and discloses a twisted-pair synchronous-locking and self-adapting robot finger device. The device comprises a motor, finger sections, joint shafts, joint spring parts, tendon ropes, rope pull parts, joint pulleys, drive plates, friction blocks and flexible part drive mechanisms. The device realizes the self-adapting grabbing function and the function of continuously and synchronously locking the multiple joints through the comprehensive effect of the motor, the tendon ropes, the spring parts, the flexible part drive mechanisms and a twisted-pair locking mechanism; when used for grabbing objects, the device can automatically adapt to the appearances and sizes of the objects; the joint locking mode can be adopted after the objects are grabbed; the grabbing process is fast and stable, the joints are locked after the objects are grabbed, fingers are prevented against resilience and unstability, and large grabbing force can be provided; the multiple joints can be synchronously locked; the angles of the joints capable of being locked are continuous. In addition, the device is compact in structure, small in size, light in weight, easy to control and low in designing, manufacturing, assembling and maintaining cost.
Description
Technical field
The invention belongs to robot technical field, particularly a kind of twisted-pair feeder genlocing adaptive robot fingerThe structural design of device.
Background technology
Robot is one of most important assembly of robot, the crucial skill such as structural design and revising of the functions of robotArt is most important concerning robot. Existing robot mainly can be divided into anthropomorphic hand and non-anthropomorphic hand, both has non-Often application widely. Because people's hand is very flexible, powerful, on bionics, there is very large research learning to be worth, personificationThe exploitation of robot has very large prospect. Current humanoid robot hand is mainly divided into industrial clamper, Dextrous Hand and owes to driveStart.
On the one hand, robot need to realize crawl, carrying and operation difformity and size complex object, this forHave relatively high expectations in the aspects such as the control accuracy of robot; On the other hand, humanoid robot hand requires the spies such as size to fit, weight be littlePoint. Existing industrial clamper function is simple, and the scope of application is less. Existing Dextrous Hand has enough joints and driverBecome various accurate actions, but very complicated and expensive. And owe to drive hand because self the feature such as adaptivity is in certain journeyOn degree, solve this contradiction.
With the features such as self adaptation owe drive hand volume little, lightweight, can change and grab capturing in the process of objectGet the shape that angle adapts to object automatically with this, control simple, accurate, stable.
The robot device (patent of invention US2006129248A1) of existing a kind of self-adapting grasping object, finger partMainly comprise pedestal, four segments, three joint spring parts and a longitudinal tendon rope. While capturing object, first pull longitudinal tendon rope to makeMust point and stretch, then loosen longitudinal tendon rope, rely on joint spring part self elasticity to make to point bending envelope and capture object. Due to oftenIndividual joint all has joint spring part, finger capture in the process of object can matching object shape according to respective angles bending,There is good adaptivity.
This device weak point is:
1) the joint spring part grasp force of this device as far as possible large with stretch the pulling force of pointing longitudinal tendon rope used try one's best little betweenThere is larger contradiction. In order to ensure that grasp force is larger, the joint spring part stiffness factor needing is larger, causes pulling longitudinal tendon rope to be stretchedDirectly point required pulling force larger; If it is less to want longitudinal tendon rope to stretch the required pulling force of finger, adopt weak joint spring part,Grasp force is too small.
2) this device is difficult to the grasp force that provides wider. Fixing joint spring part, the crawl providing are provided this devicePower be confined to fix more among a small circle in; This device is the main grasp force that relies on joint spring part to provide in crawl object process,If joint spring part is more weak, just cannot utilize the strength of the arm being attached thereto, in the time extracting weight, can occur to capture and lose efficacy,When extracting very heavy luggage case, generally adopt arm strength to extract, but finger to there is enough strength to guarantee bendingConfiguration.
3) when the joint spring part of excessive stiffness factor may cause capturing object, there is finger and collide fast object, thereby leadCause and squeeze the unstable phenomenon that runs object.
4) this device uses to have and captures the possibility losing efficacy under vibration environment.
The pneumatic under-actuated robot finger device of existing a kind of self-locking (patent of invention CN103659825A), this device toolThere is self-adapting grasping function, adopt click to realize the self-locking in crawl process, and adopt motor to pull ratchet to realize release.
The weak point of this device is:
1) this device need to have motive force could realize self adaptation bending. This motive force is the relative fortune with object from fingerMoving: by the slide block on object extruding finger, to utilize strength transmission to promote next segment bending.
2) the lockable joint angles of this device is discontinuous. Because the gear teeth of ratchet have certain tooth pitch, locking is notContinuously; If tooth pitch designs to such an extent that reduce locking precision compared with conference, if tooth pitch designs littlely, can reduce tooth depth, impact lockDetermine effect.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, propose a kind of twisted-pair feeder genlocing self adaptationRobot finger apparatus, this device is used for capturing object, can automatically adapt to shape, the size of object; Can after crawl objectTake to lock articulated manner; After capturing, locking joint, can provide larger grasp force, prevents from pointing resilience unstability, has certainlyLock effect; Can the multiple joints of genlocing; Lockable joint angles is continuous; This apparatus structure is simple, lightweight, controlSystem easily.
The present invention adopts following technical scheme:
Twisted-pair feeder genlocing adaptive robot finger apparatus provided by the invention, comprises that motor, decelerator, first passActuation mechanism, longitudinal tendon rope, stay cord part, a N segment, a N-1 joint shaft, a N-1 joint spring part and N-1 joint pulley; DescribedMotor and first segment are affixed; The output shaft of described motor is connected with the power shaft of decelerator, the output shaft of described deceleratorBe connected with the input of the first transmission mechanism, the output of described the first transmission mechanism is connected with stay cord part; Described stay cord part is slidingMoving or rotation is arranged in the first segment; One end of described longitudinal tendon rope is connected with stay cord part, longitudinally the other end of tendon rope withA rear segment is connected; Described longitudinal tendon rope is walked around all joints pulley, and longitudinally tendon rope is through middle all segments; DescribedI joint shaft is set in i segment, and described i+1 segment is socketed on i joint shaft, and described i joint is slidingWheel is socketed on i joint shaft, and Huang Jian two ends, described i joint connect respectively i segment and i+1 segment;All described joint shafts are parallel to each other; It is characterized in that: this device also comprises the second transmission mechanism, a N-2 driving wheel, N-2Driven pulley, a N-2 flexible drive parts, a N-1 driver plate, a N-1 upper tendon rope, a N-1 lower tendon rope, a N-1 brake pad and N-1 lockingSpring part; The output shaft of described decelerator is connected with the input of the second transmission mechanism, the output of described the second transmission mechanism withThe first joint shaft is connected, and described j driving wheel is fixed on j joint shaft, and described j driven pulley is fixed in j+1On individual joint shaft, described j flexible drive parts connects j driving wheel and j driven pulley; Described j Flexible TransmissionPart adopts driving-belt, transmission rope or chain; Described j driving wheel adopts belt wheel, rope sheave or sprocket wheel, described j driven pulleyAdopt belt wheel, rope sheave or sprocket wheel, between described j flexible drive parts, a j driving wheel and j driven pulley three, coordinateForm belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation; Described i driver plate is fixed on i joint shaft;The two ends of described i upper tendon rope connect respectively i driver plate, an i brake pad; The two ends of described i lower tendon rope respectivelyConnect i driver plate, an i brake pad; The tie point of described i upper tendon rope and i driver plate is made as A point, described iThe tie point of lower tendon rope and i driver plate is made as B point, and the tie point of described i upper tendon rope and i brake pad is made as C point,The tie point of described i lower tendon rope and i brake pad is made as D point, and A does not overlap with B or C does not overlap with D; Described iBrake pad slides and is embedded in i segment; Described i brake pad contacts or stands away with i+1 segment;Wherein, N is greater than 1 natural number, and i is 1,2 ... or N-1, j is 1,2 ... or N-2.
Twisted-pair feeder genlocing adaptive robot finger apparatus of the present invention, is characterized in that: described brake padEntirety or the local elastomeric material that adopts.
Twisted-pair feeder genlocing adaptive robot finger apparatus of the present invention, is characterized in that: described brake padLocal surfaces is rough surface.
The present invention compared with prior art, has the following advantages and high-lighting effect:
Apparatus of the present invention are utilized motor, tendon rope, spring part, flexible piece transmission mechanism, twisted-pair feeder locking mechanism is comprehensive realizes certainlyAdapt to the function that crawl and continuous synchronization lock multiple joints. This device is used for capturing object, can automatically adapt to the shape of objectShape, size, adaptable; After capturing object, can take to lock articulated manner, the object tool to unlike material, weight especiallyThere is very strong adaptive capacity; Crawl process fast and stable, after capturing, locking joint, prevents from pointing resilience unstability on the one hand, makesWhile capturing object, there will not be and collide object, the crowded object that runs; On the other hand, can provide larger grasp force, locking device toolHave self-locking effect, the finger apparatus after locking can be similar to regards a rigid body as, and its bearing capacity aspect can be mated with it betterConnected arm apparatus, implements the extraction to heavier object (such as luggage case); Can the multiple joints of genlocing; Can lockFixed joint angles is continuous; This apparatus structure is simple, and volume is little, lightweight, controls easily design, manufacture, assembling and dimensionProtect cost low.
Brief description of the drawings
Fig. 1 is the front of a kind of embodiment of twisted-pair feeder genlocing adaptive robot finger apparatus provided by the inventionCutaway view.
Fig. 2 is front appearance figure embodiment illustrated in fig. 1.
Fig. 3 is reverse side outside drawing embodiment illustrated in fig. 1.
Fig. 4 is left surface outside drawing embodiment illustrated in fig. 1.
Fig. 5 is right side outside drawing embodiment illustrated in fig. 1.
Fig. 6 is explosive view embodiment illustrated in fig. 1.
Fig. 7 to Fig. 9 is that longitudinal tendon rope embodiment illustrated in fig. 1 pulls schematic diagram.
Figure 10 is the schematic diagram of second joint axle place non-locking.
Figure 11 is the schematic diagram of second joint axle place locking.
Figure 12 is the schematic diagram (situation identical with Figure 10) of second joint axle place non-locking, only draw second joint axle,Tendon rope, second time tendon rope on the second driven pulley, the second brake pad, second.
Figure 13 is the schematic diagram (situation identical with Figure 11) of second joint axle place locking, only draws second joint axle, theTendon rope, second time tendon rope on two driven pulleys, the second brake pad, second.
Figure 14 to Figure 16 is the schematic diagram of self-adapting grasping object embodiment illustrated in fig. 1.
Figure 17 to Figure 20 is the schematic diagram of genlocing self-adapting grasping weight embodiment illustrated in fig. 1.
In Fig. 1 to Figure 20:
1-pedestal, 11-the first segment, 12-the second segment,
21-the first joint shaft, 22-second joint axle, 23-the first joint pulley, 24-second joint pulley,
3-motor, 31-decelerator, 32-the first bevel gear, 33-the second bevel gear,
34-transition axis,
4-rope-winding wheel, the longitudinal tendon rope of 41-, 42-the first driving wheel, 43-the first driven pulley,
44-the first driving-belt, 45-the second driving wheel, 46-the second driven pulley, 47-the second driving-belt,
48-the first driver plate, 49-the second driver plate,
51-the first joint spring part, 52-second joint spring part, 53-the first locking spring part, 54-the second locking spring part,
61-the first brake pad, tendon rope on 62-first, first time tendon rope of 63-, 64-the second brake pad,
Tendon rope on 65-second, second time tendon rope of 66-,
9-object, 91-bearing-surface, 92-suitcase, 921-captures handle.
Detailed description of the invention
Further describe concrete structure of the present invention, operation principle and worked below in conjunction with drawings and ExamplesJourney.
Twisted-pair feeder genlocing adaptive robot finger apparatus provided by the invention, comprises that motor, decelerator, first passActuation mechanism, longitudinal tendon rope, stay cord part, a N segment, a N-1 joint shaft, a N-1 joint spring part and N-1 joint pulley; DescribedMotor and first segment are affixed; The output shaft of described motor is connected with the power shaft of decelerator, the output shaft of described deceleratorBe connected with the input of the first transmission mechanism, the output of described the first transmission mechanism is connected with stay cord part; Described stay cord part is slidingMoving or rotation is arranged in the first segment; One end of described longitudinal tendon rope is connected with stay cord part, longitudinally the other end of tendon rope withA rear segment is connected; Described longitudinal tendon rope is walked around all joints pulley, and longitudinally tendon rope is through middle all segments; DescribedI joint shaft is set in i segment, and described i+1 segment is socketed on i joint shaft, and described i joint is slidingWheel is socketed on i joint shaft, and Huang Jian two ends, described i joint connect respectively i segment and i+1 segment;All described joint shafts are parallel to each other; It is characterized in that: this device also comprises the second transmission mechanism, a N-2 driving wheel, N-2Driven pulley, a N-2 flexible drive parts, a N-1 driver plate, a N-1 upper tendon rope, a N-1 lower tendon rope, a N-1 brake pad and N-1 lockingSpring part; The output shaft of described decelerator is connected with the input of the second transmission mechanism, the output of described the second transmission mechanism withThe first joint shaft is connected, and described j driving wheel is fixed on j joint shaft, and described j driven pulley is fixed in j+1On individual joint shaft, described j flexible drive parts connects j driving wheel and j driven pulley; Described j Flexible TransmissionPart adopts driving-belt, transmission rope or chain; Described j driving wheel adopts belt wheel, rope sheave or sprocket wheel, described j driven pulleyAdopt belt wheel, rope sheave or sprocket wheel, between described j flexible drive parts, a j driving wheel and j driven pulley three, coordinateForm belt wheel transmission relation, rope sheave drive connection or chain gear transmission relation; Described i driver plate is fixed on i joint shaft;The two ends of described i upper tendon rope connect respectively i driver plate, an i brake pad; The two ends of described i lower tendon rope respectivelyConnect i driver plate, an i brake pad; The tie point of described i upper tendon rope and i driver plate is made as A point, described iThe tie point of lower tendon rope and i driver plate is made as B point, and the tie point of described i upper tendon rope and i brake pad is made as C point,The tie point of described i lower tendon rope and i brake pad is made as D point, and A does not overlap with B or C does not overlap with D; Described iBrake pad slides and is embedded in i segment; Described i brake pad contacts or stands away with i+1 segment;Wherein, N is greater than 1 natural number, and i is 1,2 ... or N-1, j is 1,2 ... or N-2.
Get N=3, provide embodiment below and be elaborated.
A kind of embodiment of the twisted-pair feeder genlocing adaptive robot finger apparatus of the present invention's design, as Fig. 1 to Fig. 5Shown in, comprise motor 3, the first transmission mechanism, longitudinal tendon rope 41, rope-winding wheel 4, the first segment 11, the second segment 12, the first jointAxle 21, second joint axle 22, the first joint spring part 51, second joint spring part 52, the first joint pulley 23 and second joint pulley24; Described motor 3 is affixed with pedestal 1; The output shaft of described motor 3 and the first transmission mechanism input be connected, describedThe output of one transmission mechanism is connected with transition axis 4, and described transition axis 4 is set in pedestal 1, and described rope-winding wheel 4 was fixed inCross on axle 4; One end of described longitudinal tendon rope 41 is fixed in the outer rim of rope-winding wheel 4, longitudinally the other end and second finger of tendon rope 41Section 12 is affixed; Described longitudinal tendon rope 41 is walked around the first joint pulley 23 and second joint pulley 24, and longitudinally tendon rope 41 is through firstSegment 11 and the second segment 12; Described the first joint shaft 21 is set in pedestal 1, and described second joint axle 22 is set in the first fingerIn section 11; Described the first segment 11 is socketed on the first joint shaft 21, and described the second segment 12 is socketed on second joint axle 22;Described the first joint pulley 23 is socketed on the first joint shaft 21, and described second joint pulley 24 is socketed in second joint axle 22On; The two ends of described the first joint spring part 51 connect respectively pedestal 1 and the first segment 11; The two ends of described the first joint spring part 52Connect respectively the first segment 11 and the second segment 12; Described the first joint shaft 21, second joint axle 22 are parallel to each other;
This device also comprises the first driving wheel 42, the second driving wheel 45, the first driven pulley 43, the second driven pulley 46, firstTendon rope 65 on tendon rope 62, second on driving-belt 44, the second driving-belt 47, the first driver plate 48, the second driver plate 49, first, first timeTendon rope 63, second time tendon rope 66, the first brake pad 61, the second brake pad 64, the first locking spring part 53 and the second locking spring part 54;Described the first driving wheel 42 is socketed on transition axis 4, and described the first driving wheel 42 and the first driven pulley 43 are by the first conveyer belt44 are connected, and the first driving wheel 42, the first driven pulley 43 and the first driving-belt 44 threes form belt wheel transmission relation, and described theOne driven pulley 43 is socketed on the first joint shaft 21, and described the first driven pulley 43 and the first driver plate 48 are affixed; Described second initiativelyWheel 45 is socketed on the first joint shaft 21, and described the second driving wheel 45 is connected by the second conveyer belt 47 with the second driven pulley 46,And the second driving wheel 45, the second driven pulley 46 and the second driving-belt 47 threes form belt wheel transmission relation, described second drivenWheel 46 is socketed on second joint axle 22, and described the second driven pulley 46 and the second driver plate 49 are affixed; Described the firstth driver plate 48 overlapsBe located on the first joint shaft 21; On described first, the two ends of tendon rope 62 connect respectively the first driver plate 48 and the first brake pad 61; InstituteThe two ends of stating first time tendon rope 63 connect respectively the first driver plate 48 and the first brake pad 61; Tendon rope 62 and first group on described firstThe tie point of dish 48 is made as A point, and the tie point of described first time tendon rope 63 and the first driver plate 48 is made as B point, and A does not overlap with B; InstituteThe two ends of stating tendon rope 65 on second connect respectively the second driver plate 49 and the second brake pad 64; The two ends of described second time tendon rope 66 are dividedDo not connect the second driver plate 49 and the second brake pad 64; On described second, tendon rope 65 and second is dialled 49 tie points that coil and is made as C point, instituteThe tie point of stating second time tendon rope 66 and the second driver plate 49 is made as D point, and C does not overlap with D; Described the first brake pad 61 slides and inlaysIn the first segment 11; Described the first brake pad 61 contacts or stands away with the first segment 11; Described the second frictionPiece 64 slides and is embedded in the second segment 12; Described the second brake pad 64 contacts or stands away with the second segment 12.
In the present embodiment, described the first joint spring part 51 and second joint spring part 52 are torsion spring, described the first locking springPart 53 and the second locking spring part 54 are stage clip.
In the present embodiment, described joint slide block and brake pad can adopt elastomeric material. In another embodiment, described passThe surface that joint slide block and brake pad contact is rough surface.
The operation principle of the present embodiment, as shown in Fig. 7 to Figure 13, is described below:
Fig. 7 to Fig. 9 has mainly expressed this finger apparatus and has stretched and bending Principle of Process schematic diagram. First motor 3 starts,Drive rope-winding wheel 4 to rotate through decelerator 31, the first bevel gear 32, the second bevel gear 33 and transition axis 34, make longitudinal tendon rope 41Be tightened up, finger is stretched to straight configuration by case of bending, prepares to capture object; Then motor 3 rotates backward, and makes wiringWheel 4 and then rotates backward, and now longitudinally tendon rope 4 is relaxed, and the elastic force of the first joint spring part 51 and second joint spring part 52 makesMust point bending gradually; After longitudinal tendon rope 4 is loosened completely, in the situation that not capturing object, finger completely bends to and holdsTight state.
Figure 10 and Figure 12 have mainly expressed the second joint place schematic diagram of this finger in the time of non-locking joint, Figure 11 and Figure 13Mainly express this finger second joint place schematic diagram in the time of locking joint. When motor 3 starts, through decelerator 31, the first cone toothWheel 32, the second bevel gear 33 and transition axis 34 drive the first driving wheel 42 to rotate, and drive first driven by the first driving-belt 44Wheel 43 rotates; Due to the first driven pulley 43 and the second driving wheel 45 affixed, when the first driven pulley 43 start rotate, the second driving wheel45 rotate simultaneously, drive the second driven pulley 46 to rotate by the second driving-belt 47; Due to the second driver plate 49 and the second driven pulley 46Affixed, therefore in the time that the second driven pulley 46 rotates, drive driver plate to rotate; On second, the two ends of tendon rope 65 and second time tendon rope 66 respectivelyConnect the second driver plate 49 and the second brake pad 64, therefore rotate when driver plate, tendon rope 65 and second time tendon rope 66 are wrapped in the on secondOn two joint shafts 22, pull the second brake pad 64 to slide to driver plate direction, thus extruding the second segment 12. Because surface both existsIn the present embodiment, adopt elastomeric material, therefore both can produce very strong stiction, make the first segment 11 and the second segment 12Be difficult to then rotate mutually, so just formed the effect in locking joint.
The course of work of the present embodiment, as shown in Figure 14 to Figure 20, has been expressed crawl difformity, the size of the present embodimentSituation with weight, is specifically described as follows:
The first situation, as shown in Figure 14, Figure 15 and Figure 16, is the schematic diagram of the present embodiment self-adapting grasping object. FirstFirst, pull longitudinal tendon rope that finger is stretched, then moveable finger makes it near object; Loosen longitudinal tendon rope, finger is bending gradually;When finger is bending, driver plate rotates simultaneously, and brake pad is slided to driver plate direction; When the first segment 11 and the second segment 12Successively contact object, the first brake pad contacts the first segment, and the second brake pad contacts the second segment, makes joint locking, whole handFinger device has just completed the process that captures object adaptively.
The second situation, as shown in Figure 17, Figure 18, Figure 19 and Figure 20, is weight capacity larger object mobile process.Crawl is substantially similar with the first, adds two processes of joint synchronous locking by self-adapting grasping, and finger can be capturedHeavier object, and crawl process is quick, stable.
Apparatus of the present invention are utilized motor, tendon rope, spring part, flexible piece transmission mechanism, twisted-pair feeder locking mechanism is comprehensive realizes certainlyAdapt to the function that crawl and continuous synchronization lock multiple joints. This device is used for capturing object, can automatically adapt to the shape of objectShape, size, adaptable; After crawl object, can take to lock the mode in joint, the object to unlike material, weight especiallyThere is very strong adaptive capacity; Crawl process fast and stable, after capturing, locking joint, prevents from pointing resilience unstability on the one hand, makesMust capture object time, there will not be and collide object, the crowded object that runs; On the other hand, can provide larger grasp force, locking deviceHave self-locking effect, the finger apparatus after locking can be similar to regards a rigid body as, its bearing capacity aspect can mate better withConnected arm apparatus, implement extraction to heavier object (such as luggage case); Can the multiple joints of genlocing; CanThe joint angles of locking is continuous; This apparatus structure is simple, and volume is little, lightweight, control easily, design, manufacture, assembling andMaintenance cost is low.
Claims (3)
1. a twisted-pair feeder genlocing adaptive robot finger apparatus, comprises motor, decelerator, the first transmission mechanism, verticalTo tendon rope, stay cord part, a N segment, a N-1 joint shaft, a N-1 joint spring part and N-1 joint pulley; Described motor and firstIndividual segment is affixed; The output shaft of described motor is connected with the power shaft of decelerator, the output shaft of described decelerator and the first transmissionThe input of mechanism is connected, and the output of described the first transmission mechanism is connected with stay cord part; Described stay cord part slides or rotates and establishPut in the first segment; One end of described longitudinal tendon rope is connected with stay cord part, longitudinally the other end and last segment of tendon ropeBe connected; Described longitudinal tendon rope is walked around all joints pulley, and longitudinally tendon rope is through middle all segments; Described i joint shaftBe set in i segment, described i+1 segment is socketed on i joint shaft, and described i joint pulley sleeve is connected onOn i joint shaft, Huang Jian two ends, described i joint connect respectively i segment and i+1 segment; Described in allJoint shaft is parallel to each other; It is characterized in that: this device also comprises the second transmission mechanism, a N-2 driving wheel, a N-2 driven pulley, N-2 flexible drive parts, a N-1 driver plate, a N-1 upper tendon rope, N-1 lower tendon rope, a N-1 brake pad and N-1 locking spring part; DescribedThe output shaft of decelerator is connected with the input of the second transmission mechanism, the output of described the second transmission mechanism and the first joint shaftBe connected, described j driving wheel is fixed on j joint shaft, and described j driven pulley is fixed on j+1 joint shaft,Described j flexible drive parts connects j driving wheel and j driven pulley; Described j flexible drive parts adopts transmissionBand, transmission rope or chain; Described j driving wheel adopts belt wheel, rope sheave or sprocket wheel, and described j driven pulley adopts belt wheel, ropeWheel or sprocket wheel, coordinate between described j flexible drive parts, a j driving wheel and j driven pulley three and form belt wheel transmissionRelation, rope sheave drive connection or chain gear transmission relation; Described i driver plate is fixed on i joint shaft; On described iThe two ends of tendon rope connect respectively i driver plate, an i brake pad; The two ends of described i lower tendon rope connect respectively i and dialDish, an i brake pad; The tie point of described i upper tendon rope and i driver plate is made as A point, the individual lower tendon rope of described i and iThe tie point of individual driver plate is made as B point, and the tie point of described i upper tendon rope and i brake pad is made as C point, under described i is individualThe tie point of tendon rope and i brake pad is made as D point, and A does not overlap with B or C does not overlap with D; Described i brake pad slides and inlaysBe embedded in i segment; Described i brake pad contacts or stands away with i+1 segment; Wherein, N is for being greater than1 natural number, i is 1,2 ... or N-1, j is 1,2 ... or N-2.
2. twisted-pair feeder genlocing adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described brake padEntirety or the local elastomeric material that adopts.
3. twisted-pair feeder genlocing adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described brake padLocal surfaces be rough surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153469.8A CN105583848B (en) | 2016-03-17 | 2016-03-17 | Twisted-pair feeder genlocing adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153469.8A CN105583848B (en) | 2016-03-17 | 2016-03-17 | Twisted-pair feeder genlocing adaptive robot finger apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105583848A true CN105583848A (en) | 2016-05-18 |
| CN105583848B CN105583848B (en) | 2017-10-17 |
Family
ID=55923926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610153469.8A Expired - Fee Related CN105583848B (en) | 2016-03-17 | 2016-03-17 | Twisted-pair feeder genlocing adaptive robot finger apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105583848B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953353A (en) * | 2017-11-22 | 2018-04-24 | 清华大学 | The instant genlocing device of under-driving robot finger multi-joint any angle |
| CN110293575A (en) * | 2019-07-17 | 2019-10-01 | 常州纺织服装职业技术学院 | A kind of five finger-type mechanical paw of apery |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4367891A (en) * | 1978-05-30 | 1983-01-11 | Pfaff Industriemaschinen Gmbh | Industrial robot with a gripping mechanism |
| WO2006053137A2 (en) * | 2004-11-12 | 2006-05-18 | Mark Stark | Artificial hand |
| CN102514016A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Soft piece coupling type handyman finger device |
| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
-
2016
- 2016-03-17 CN CN201610153469.8A patent/CN105583848B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4367891A (en) * | 1978-05-30 | 1983-01-11 | Pfaff Industriemaschinen Gmbh | Industrial robot with a gripping mechanism |
| WO2006053137A2 (en) * | 2004-11-12 | 2006-05-18 | Mark Stark | Artificial hand |
| CN102514016A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Soft piece coupling type handyman finger device |
| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953353A (en) * | 2017-11-22 | 2018-04-24 | 清华大学 | The instant genlocing device of under-driving robot finger multi-joint any angle |
| CN107953353B (en) * | 2017-11-22 | 2020-05-01 | 清华大学 | Finger multi-joint any-angle instant synchronous locking device of under-actuated robot |
| CN110293575A (en) * | 2019-07-17 | 2019-10-01 | 常州纺织服装职业技术学院 | A kind of five finger-type mechanical paw of apery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105583848B (en) | 2017-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105364937B (en) | Link-type can the cooperative self-adapted finger apparatus of changeable grasping force | |
| CN105364938B (en) | Belt wheel collaboration locking linkage adaptive robot finger apparatus | |
| CN105583837A (en) | Gear type self-adaptive robot finger device with rope and springs assisting in grabbing | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN102166753B (en) | Bevel gear flexible piece compound grabbing robot fingers device | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN102284957A (en) | Differential bevel gear rack type combination underactuated robot finger device | |
| CN106426239B (en) | Idle running transmission gear coupling adaptive robot finger apparatus | |
| CN101941205B (en) | Flexible part and slider type parallel coupled under-actuation robot finger device | |
| CN102310411A (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN101774175A (en) | Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device | |
| CN105798933A (en) | Rack type multi-joint synchronous locking self-adaptation robot finger device | |
| CN106142117A (en) | Parallel-ordinal shift many belt wheels coupling adaptive robot finger apparatus | |
| CN105583848A (en) | Twisted-pair synchronous-locking and self-adapting robot finger device | |
| CN101829995B (en) | Crank block type flexible piece parallel coupled under-actuated finger device | |
| CN101829994B (en) | Flexible part crank block type parallel coupling underactuated robot finger device | |
| CN105773647B (en) | Rack-and-pinion becomes grip elasticity linkage adaptive robot finger apparatus | |
| CN106142118A (en) | Idle running transmission flat folder adaptive robot finger apparatus taken turns by four bars six | |
| CN101653940B (en) | Finger device of double joint rack coupling robot | |
| CN109129530A (en) | Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel | |
| CN106426240B (en) | Idle running kinematic link coupling adaptive robot finger apparatus | |
| CN105619426B (en) | Tendon rope type laterally locks linkage adaptive robot finger apparatus | |
| CN105798934B (en) | Cam genlocing elasticity adaptive robot finger apparatus | |
| CN102267137B (en) | Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device | |
| CN105798937B (en) | Axis moves helical synchronous and locks adaptive robot finger apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171017 Termination date: 20200317 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |