CN102528814A - Deflector rod chute-type indirect under-driven robot finger device - Google Patents
Deflector rod chute-type indirect under-driven robot finger device Download PDFInfo
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- CN102528814A CN102528814A CN201210034169XA CN201210034169A CN102528814A CN 102528814 A CN102528814 A CN 102528814A CN 201210034169X A CN201210034169X A CN 201210034169XA CN 201210034169 A CN201210034169 A CN 201210034169A CN 102528814 A CN102528814 A CN 102528814A
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- finger
- chute
- joint shaft
- driving lever
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention relates to a deflector rod chute-type indirect under-driven robot finger device which belongs to the technical field of humanoid robot hands. The deflector rod chute-type indirect under-driven robot finger device comprises a first finger section, a second finger section, a joint shaft, an active slider, a spring, a deflector rod and a cylindrical pin. Such parts as a slider, the cylindrical pin, the deflector rod with a chute and the spring are adopted in the device, so that a self-adaptive under-driven grabbing function is comprehensively realized, the short-distance sliding of the active slider can drive the second finger section to rotate in a large angle, and the device can be matched with other actively driven fingers or other actively driven joints on the fingers to grab an object and has the self-adaptive grabbing characteristic to objects with different appearances. The joint rotation angle of the device can be more than 110 degrees, so that the motion angle requirements of the robot fingers are met; the device has low processing precision requirements on parts, and no dead motion area exists in a normal grabbing process; and according to the device, the structure is simple and compact, parts are few, a transmission chain is short, the contact area is small, the friction loss is small, the transmission efficiency is high, and the processing and assembly are easy.
Description
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, the structural design of the indirect under-actuated robot finger device of particularly a kind of driving lever chute-type.
Background technology
Staff has the complexity and the flexibility that can realize multiple-task; A lot of functions of anthropomorphic robot will realize through operation by human hand; Therefore hand structure is anthropomorphic robot's a important component part, and its design possibly realize having direct influence to anthropomorphic robot's function.In order to realize the personification property of hand motion; Hand should have the free degree and the scope of activities approximate with staff; Also should show the corresponding attitude that grasps according to body form and size when the grasping objects as staff, this is for control and drive and proposed certain requirement.The target of the design of under-actuated robot finger device is under the effect of still less driver, can realize higher adaptivity, has simple and reliable structure simultaneously and is convenient to processing and uses.
The activation lacking mechanical finger device of existing a kind of link-type like Chinese invention patent CN 101518903B, comprises the first finger section, owes to drive the joint and the second finger section, owes to drive the joint and contains linkage, joint shaft and the active sliding block that has dial.Active sliding block externally refers to inwardly slide on the section first under the effect of pressure, makes two ends be hinged on the link motion on active sliding block and the dial respectively, drives dial and rotates around joint shaft, realizes that second refers to that section rotates an also fastening object.
The weak point of this device is: 1) this device rotational angle range is generally less than 80 °; When second refer to section rotational angle during greater than 90 °; Second refers to that section is difficult to reply initial straight configuration, and this point is difficult to satisfy all robot finger's slewing areas and requires (joint that has requires to reach 110 °); 2) this device is high to the parts requirement on machining accuracy, and precision can produce motion dead band (having stuck phenomenon) when low; 3) this apparatus structure is many than complicacy and parts, and the transmission chain length, contact-making surface is big, frictional dissipation is big, transmission efficiency is low, process and assemble difficulty etc.
Summary of the invention
The objective of the invention is in order to overcome the weak point of prior art, propose the indirect under-actuated robot finger device of a kind of driving lever chute-type.This device can cooperate the finger of other active drive or other active drive joints on the finger to realize the extracting to object, and can both show the characteristic of self-adapting grasping for the object of different profiles; The joint rotation angular range of this device can reach more than 110 °, satisfies the requirement of robot finger's movement angle; This device is low to the parts requirement on machining accuracy, does not have the motion dead band in the normally extracting process; This apparatus structure is succinct, compact, and part is few, driving-chain is short, contact-making surface is few, frictional dissipation is little, transmission efficiency is high, and process and assemble is easy.
The present invention adopts following technical scheme:
The indirect under-actuated robot finger device of a kind of driving lever chute-type of the present invention comprises that first refers to that section, second refers to section, joint shaft, active sliding block and spring; Described joint shaft is set in first and refers in the section, and described spring is arranged on first and refers in the section that the two ends of spring connect first respectively and refer to section and active sliding block; It is characterized in that: the indirect under-actuated robot finger device of described driving lever chute-type also comprises driving lever and straight pin; Described driving lever is socketed on the joint shaft and is affixed with joint shaft; One end of driving lever and second refers to that section is affixed; On the other end, have a straight line chute, the center line k of the length direction of straight line chute and the center line of joint shaft intersect, and described straight pin is fixed on the active sliding block; The center line of straight pin is parallel with the center line of joint shaft, cooperates in the straight line chute of said straight pin insertion driving lever and with the straight line chute; Described active sliding block is embedded in first and refers in the section, and active sliding block is slided along straight line h with respect to the first finger section; Said straight line h is vertical with the center line r of joint shaft, and with the center line k of the length direction of the straight line chute β that has angle, the span of angle β is 35 °～145 °.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Parts such as the driving lever of apparatus of the present invention employing slide block, straight pin, band chute and spring; Realized that comprehensively self adaptation owes drive to grasp function; The short-range slip of active sliding block can drive the rotation of the second finger section wide-angle; This device can cooperate the finger of other active drive or other active drive joints on the finger to realize the extracting to object, and can both show the characteristic of self-adapting grasping for the object of different profiles.The joint rotation angular range of this device can reach more than 110 °, satisfies the requirement of robot finger's movement angle; This device is low to the parts requirement on machining accuracy, does not have the motion dead band in the normally extracting process; This apparatus structure is succinct, compact, and part is few, driving-chain is short, contact-making surface is few, frictional dissipation is little, transmission efficiency is high, and process and assemble is easy.
Description of drawings
Fig. 1 is the front view of a kind of embodiment of the indirect under-actuated robot finger device of driving lever chute-type provided by the invention.
Fig. 2 is the right view of Fig. 1.
Fig. 3 be Fig. 1 partly cut open right view.
Fig. 4 is the front view after present embodiment is removed active sliding block.
Fig. 5 is the explosive view of present embodiment.
Fig. 6 is the outside drawing of driving lever part.
Fig. 7 is the side sectional view of present embodiment after the second finger section is rotated
The sketch map of the finger grip object when Fig. 8,9,10, the 11st, present embodiment first refer to that section fixedly.
Figure 12,13,14, the 15th, the sketch map of the finger grip object when the present embodiment first finger section lower end is the active joint.
Figure 16 is a front view of having used a kind of under-actuated two-articulated finger apparatus embodiment embodiment illustrated in fig. 1.
Figure 17 is a right view embodiment illustrated in fig. 16.
Figure 18 is that a plurality of section contact objects that refer to of employing embodiment illustrated in fig. 16 grasp the sketch map of situation.
Figure 19,20, the 21st, the sketch map that adopts the different section of finger contact objects to grasp embodiment illustrated in fig. 16.
In Fig. 1 to Figure 21:
1. first refers to section, and 2. second refers to section, 3. joint shaft,
4. active sliding block, 41 cover plates, 5. spring,
6. driving lever, 61. straight line chutes, 7. straight pin,
81. the root section of finger, 82. middle finger section, the 83. end sections of finger,
84. pedestal, the object that 9. grasps.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment further explain concrete structure of the present invention, operation principle and the course of work.
A kind of embodiment of the indirect under-actuated robot finger device of driving lever chute-type of the present invention's design is like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7.The indirect under-actuated robot finger device of present embodiment a kind of driving lever chute-type of the present invention comprises that first refers to that section 1, second refers to section 2, joint shaft 3, active sliding block 4 and spring 5; Described joint shaft 3 is set in first and refers in the section 1, and described spring 5 is arranged on first and refers in the section 1 that the two ends of spring 5 connect first respectively and refer to section 1 and active sliding block 4; It is characterized in that: the indirect under-actuated robot finger device of described driving lever chute-type also comprises driving lever 6 and straight pin 7;
Described driving lever 6 is socketed on the joint shaft 3 and is affixed with joint shaft 3; One end of driving lever 6 and second refers to that section 2 is affixed; On the other end, have a straight line chute 61, the center line k of the length direction of straight line chute 61 and the center line of joint shaft 3 intersect, and described straight pin 7 is fixed on the active sliding block 4; The center line of straight pin 7 is parallel with the center line of joint shaft 3, cooperates in the straight line chute 61 of said straight pin 7 insertion driving levers 6 and with straight line chute 61; Described active sliding block 4 is embedded in first and refers in the section 1, and active sliding block 4 refers to that with respect to first section 1 slides along straight line h; Said straight line h is vertical with the center line r of joint shaft, and with the center line k of the length direction of the straight line chute β that has angle, the span of angle β is 35 °～145 °
Described active sliding block 4 comprises a cover plate 41, can also be coated with certain flexible industrial rubber material on the surface of this cover plate 41.When grasping objects, will form soft finger face between finger surface and the object and contact, increase the frictional force between finger and object on the one hand, increase degree of restraint on the one hand, thereby further improve the stability of grasping objects object.
The function of described spring 5 is: non-when grasping state and releasing and grasping state, spring 5 is pushed active sliding block 4 to the outside, promotes second down in driving lever 6 effects and refers to that sections 2 return to initial straight configuration; When grasping state, spring 5 will grasped the promotion lower compression distortion of thing.
Adopt a kind of two joints finger embodiment of the indirect under-actuated robot finger device of driving lever chute-type, comprise 2 apparatus of the present invention that are together in series, have 3 and refer to section, like Figure 16, shown in 17.
Introduce the operation principle of apparatus of the present invention embodiment shown in Figure 1 below in conjunction with accompanying drawing.
(a) if first of present embodiment is referred to that section 1 is fixed on the palm of robot, the operation principle of present embodiment, like Fig. 8,9,10, shown in 11, narrate as follows:
When robot did not contact object, finger was in free straight configuration.
When the robot grasping objects; Other fingers rotate back compressing object; Object extruding active sliding block 4, the straight line h direction of the vertical finger surface in active sliding block 4 edges is to 1 li displacement d that translation is certain of the first finger section, and straight pin 7 affixed on the active sliding block will be along straight line h moving displacement d; The center line r around joint shaft 3 that drives driving lever 6 rotates; Thereby make second to refer to section 2 together around angle [alpha] of the center line r of joint shaft 3 rotation, till the second finger section, 2 contact objects, thereby this robot has the adaptivity to object size, shape.This makes second to refer to that section 2 has driver drives such as motor general seemingly when rotating, and can fasten object fast, has realized that finger self without driver, but has the purpose of a joint freedom degrees.
When robot is decontroled object; Other fingers leave object under motor rotates, object is also just no longer oppressed active sliding block 4, and spring 5 will promote active sliding block to relying on the finger outside; Through the transmission of driving lever 6, drive second and refer to that section 2 goes back to initial position around joint shaft 3 center lines.
(b) if first of present embodiment (embodiment illustrated in fig. 1) is referred to that section 1 root socket is fixed on the active joint by driver drives, the operation principle of present embodiment, like Figure 12,13,14, shown in 15, narrate as follows:
When the robot grasping objects, initiatively rotate under driving moment m effect in the joint, makes the active joint rotation of whole under-actuated finger around root; Up to active sliding block 4 contact objects; Because object can not leave under the effect of other fingers, so, when the active joint is rotated further; Active sliding block 4 refers to 1 li translation of section in the straight line h direction court first that stops the vertical finger surface in extruding lower edge of object, and the process that grasps thereafter is with (a) similar.
Use embodiment illustrated in fig. 1 owing and drive doublejointed finger embodiment like Figure 16, shown in 17.This is owed to drive doublejointed finger and adopts two apparatus of the present invention formation that is together in series, and comprises the root section of finger 81, middle finger section 82 and the end section of finger 83.This principle of owing to drive the last diverse location touching of doublejointed finger object is like Figure 18,19,20, shown in 21.When the robot grasping objects, owe drive unit meeting sequentially-operating, final shape, the size that adapts to object automatically for two.
Parts such as the driving lever of apparatus of the present invention employing slide block, straight pin, band chute and spring; Realized that comprehensively self adaptation owes drive to grasp function; The short-range slip of active sliding block can drive the rotation of the second finger section wide-angle; This device can cooperate the finger of other active drive or other active drive joints on the finger to realize the extracting to object, and can both show the characteristic of self-adapting grasping for the object of different profiles.The joint rotation angular range of this device can reach more than 110 °, satisfies the requirement of robot finger's movement angle; This device is low to the parts requirement on machining accuracy, does not have the motion dead band in the normally extracting process; This apparatus structure is succinct, compact, and part is few, driving-chain is short, contact-making surface is few, frictional dissipation is little, transmission efficiency is high, and process and assemble is easy.
Claims (1)
1. the indirect under-actuated robot finger device of driving lever chute-type comprises that first refers to that section (1), second refers to section (2), joint shaft (3), active sliding block (4) and spring (5); Described joint shaft is set in first and refers in the section, and described spring is arranged on first and refers in the section that the two ends of spring connect first respectively and refer to section and active sliding block; It is characterized in that: the indirect under-actuated robot finger device of described driving lever chute-type also comprises driving lever (6) and straight pin (7); Described driving lever is socketed on the joint shaft and is affixed with joint shaft, and an end of driving lever and second refers to that section (2) is affixed, on the other end, has a straight line chute (61); The center line k of the length direction of straight line chute and the center line r of joint shaft intersect; Described straight pin is fixed on the active sliding block; The center line s of straight pin is parallel with the center line r of joint shaft, cooperates in the straight line chute of said straight pin insertion driving lever and with the straight line chute; Described active sliding block is embedded in first and refers in the section, and active sliding block is slided along straight line h with respect to the first finger section; Said straight line h is vertical with the center line r of joint shaft, and with the center line k of the length direction of the straight line chute β that has angle, the span of angle β is 35 °～145 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210034169XA CN102528814A (en) | 2012-02-15 | 2012-02-15 | Deflector rod chute-type indirect under-driven robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210034169XA CN102528814A (en) | 2012-02-15 | 2012-02-15 | Deflector rod chute-type indirect under-driven robot finger device |
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| Publication Number | Publication Date |
|---|---|
| CN102528814A true CN102528814A (en) | 2012-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210034169XA Pending CN102528814A (en) | 2012-02-15 | 2012-02-15 | Deflector rod chute-type indirect under-driven robot finger device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN111943026A (en) * | 2020-08-22 | 2020-11-17 | 佳木斯大学 | Electric power cabinet suspends erection equipment in midair |
| CN113370245A (en) * | 2021-07-07 | 2021-09-10 | 北京理工大学 | Mechanical arm clamp holder capable of automatically bending and returning |
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| JP2000325375A (en) * | 1999-05-19 | 2000-11-28 | Harada Denshi Kogyo Kk | Movable finger for artificial limb prosthesis, prosthesis hand using movable finger, and controller for movable finger |
| CN1410233A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
| WO2004026540A1 (en) * | 2002-09-02 | 2004-04-01 | Gilles Lopez | Automatic anthropomorphous gripper |
| US20080023974A1 (en) * | 2006-07-25 | 2008-01-31 | Pohang Institute Of Intelligent Robotics | Joint apparatus and hand apparatus for robot using the same |
| CN201224035Y (en) * | 2008-06-04 | 2009-04-22 | 上海华新合金有限公司 | Fixture for drilling holes on side surface |
| CN101518903A (en) * | 2009-03-27 | 2009-09-02 | 清华大学 | Crank block type under-actuated robot finger device |
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2012
- 2012-02-15 CN CN201210034169XA patent/CN102528814A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000325375A (en) * | 1999-05-19 | 2000-11-28 | Harada Denshi Kogyo Kk | Movable finger for artificial limb prosthesis, prosthesis hand using movable finger, and controller for movable finger |
| WO2004026540A1 (en) * | 2002-09-02 | 2004-04-01 | Gilles Lopez | Automatic anthropomorphous gripper |
| CN1410233A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
| US20080023974A1 (en) * | 2006-07-25 | 2008-01-31 | Pohang Institute Of Intelligent Robotics | Joint apparatus and hand apparatus for robot using the same |
| CN201224035Y (en) * | 2008-06-04 | 2009-04-22 | 上海华新合金有限公司 | Fixture for drilling holes on side surface |
| CN101518903A (en) * | 2009-03-27 | 2009-09-02 | 清华大学 | Crank block type under-actuated robot finger device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN111943026A (en) * | 2020-08-22 | 2020-11-17 | 佳木斯大学 | Electric power cabinet suspends erection equipment in midair |
| CN113370245A (en) * | 2021-07-07 | 2021-09-10 | 北京理工大学 | Mechanical arm clamp holder capable of automatically bending and returning |
| CN113370245B (en) * | 2021-07-07 | 2022-09-02 | 北京理工大学 | Mechanical arm clamp holder capable of automatically bending and returning |
| WO2023279996A1 (en) * | 2021-07-07 | 2023-01-12 | 北京理工大学 | Robotic arm holder capable of automatically bending and resetting |
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Application publication date: 20120704 |