Under-actuated coupling transmission type imitation human finger mechanism

A transmission-type, under-actuated technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of difficulty in maintaining the shape of the grasp, slow speed of the grasped object, poor grasping accuracy, etc., to achieve stable grip, The effect of good movement coordination and smooth movement

Inactive Publication Date: 2008-06-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problems of poor coordination of each knuckle, difficulty in maintaining the grip shape, slow speed of enveloping the grasped object, poor adaptability

Method used

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  • Under-actuated coupling transmission type imitation human finger mechanism
  • Under-actuated coupling transmission type imitation human finger mechanism
  • Under-actuated coupling transmission type imitation human finger mechanism

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0007] Specific Embodiment 1: As shown in Figures 1 to 6, the underactuated coupling transmission type humanoid finger mechanism of this embodiment consists of a motor 9, a reducer 8, a motor seat 10, a finger base 7, a small bevel gear sleeve 24, Small bevel gear 20, large bevel gear 6, near knuckle 51, middle knuckle 52, far knuckle 53, finger base joint shaft 19, middle joint shaft 17, fingertip shaft 15, middle joint torsion spring 16, base joint torque sensor 22. Near-knuckle connecting rod 23, coupling connecting rod 28, coupling middle joint shaft 30, shaft plate 54 of middle joint shaft, No. 1 spring stop pin 27, No. 2 spring stop pin 31, No. 1 connecting rod pin 33, No. 2 connecting rod pin shaft 18, No. 1 coupling connecting rod shaft 32, and No. 2 coupling connecting rod shaft 29 are composed, and the shaft disk 54 of the middle joint shaft is fixed on the described middle joint shaft 17; the motor 9 and the speed reducer 8 connection, the reducer 8 is fixed on the ...

specific Embodiment approach 2

[0008] Specific embodiment two: as shown in Figures 1 to 6, the proximal knuckle 51 in this embodiment consists of the proximal knuckle left side plate 25, the proximal knuckle right side plate 4, the proximal knuckle upper cover plate 5, the proximal knuckle The lower cover plate 11 is composed of the left side of the proximal knuckle upper cover 5 and the left side of the proximal knuckle lower cover 11 respectively fixedly connected with the proximal knuckle left side plate 25, and the proximal knuckle upper cover The right side of the plate 5 and the right side of the lower cover plate 11 of the proximal knuckle are respectively fixedly connected with the right side of the proximal knuckle 4; Middle phalanx upper cover 3, middle phalanx lower cover 12, and middle joint guard 13, the left side of the middle phalanx upper cover 3 and the left side of the middle phalanx lower cover 12 are respectively connected to the left side of the middle phalanx. Plate 26 is fixedly conne...

specific Embodiment approach 3

[0009] Embodiment 3: The motor 9 in this embodiment is a stepping motor. Because the stepper motor has a reverse holding torque, it can maintain the gripping state when the power is lost. Other compositions and connections are the same as in the first embodiment.

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Abstract

The invention provides an under-actuated coupling driving finger-imitating mechanism, in particular to a finger-imitating mechanism on the manipulator of a robot. The invention solves the problems of poor harmonization of all knuckles, being difficult to keep holding shape, slow speed when wrapping the article to be held, poor adaptability, etc. when the existing manipulator finger carries out a holding motion. One end of the invention, which is close to a knuckle connecting rod (23), is connected with a basic joint moment sensor (22); the other end close to the knuckle connecting rod (23) is connected with the shaft disc (54) of a central joint shaft; one end of a coupling connecting rod (28) is connected with a left plate (25) close to the knuckle and a right plate (4) close to the knuckle; the other end of the coupling connecting rod (28) is connected with a fingertip (14); a central knuckle left plate (26) and a central knuckle right plate (2) are connected with the shaft disc (54) of the central knuckle shaft by a coupling central knuckle shaft (30). By adopting the coupling transmission way, the central knuckle and the fingertip of the invention have the advantages of good motion harmony when the finger is bent, fast speed and convenient pre-tightening when the article to be held is wrapped.

Description

technical field [0001] The invention relates to a humanoid finger mechanism on a robot manipulator. Background technique [0002] The important device of anthropomorphic robot is manipulator. The degree of coordination of each knuckle, the shape of the grip, the quality of adaptability and the size of the manipulator are all directly related to the accuracy of the robot's operation when the manipulator is doing the grasping movement. topic. Publication number CN1557268A, date of publication is December 29, 2004, application number is 200410013550.3, and the invention patent application titled "Underactuated Adaptive Prosthetic Hand Device", although the coordination degree, adaptability and the size of the manipulator have been made Further improvement, but there are still poor coordination of each knuckle during grasping movement, difficulty in maintaining the grasping shape, slow speed of enveloping the grasped object, poor adaptability, and large volume of the finger de...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00B25J19/02
Inventor 刘宏姜力黄海赵京东王新庆
Owner HARBIN INST OF TECH
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