Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Self-extending two-degree-of-freedom mechanism of tendon-link hybrid transmission

A technology of hybrid transmission and degrees of freedom, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve the problems of small grasping force of fingers and small motor volume, and achieve the effect of improving reliability, simplifying finger structure and reducing costs.

Active Publication Date: 2019-02-12
BEIJING INST OF SPACECRAFT SYST ENG
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the driving method of the mechanical finger is mainly to directly drive the joint by the motor. In this method, the motor is placed inside the mechanical finger. Due to the limitation of the space of the finger, the motor is small in size, resulting in a small grasping force of the finger.
In the existing technology, the sensors of mechanical fingers are mainly position sensors, and some fingers have fingertip force sensors, and there are fewer fingers in the tendon-driven fingers that can measure the driving force.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Self-extending two-degree-of-freedom mechanism of tendon-link hybrid transmission
  • Self-extending two-degree-of-freedom mechanism of tendon-link hybrid transmission

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0041] The driving tendon J1 bypasses the pulley 1-4, the pulley 2-4, the pulley 2-7 and the driving pulley 3-1 and is fixedly connected with the middle knuckle shell 3-5. When the driving tendon J1 is pulled, the middle knuckle shell 3 Relative rotation occurs between -5 and the proximal knuckle housing 2-9, and at the same time, the torsion spring 3-2 inside the drive pulley 3-1 twists. The twisted torsion spring 3-2 will generate elastic force to hinder the relative rotation between the middle knuckle housing 3-5 and the proximal knuckle housing 2-9.

[0042] Since the coupling linkage is realized between the far knuckle housing 4-2 and the middle knuckle housing 3-5 through the connecting rod 3-6, the middle knuckle housing 3-5 and the proximal knuckle housing 2-9 When relative rotation occurs, the far knuckle housing 4-2 will also rotate relative to the middle knuckle housing 3-5 at the same time. As the angle between the middle knuckle housing 3-5 and the proximal knuck...

no. 2 example

[0044] According to the method of the first embodiment, when the finger is bent, when the driving force of the driving tendon J1 disappears, the elastic force stored by the twisted torsion spring 3-2 makes the middle knuckle housing 3-5 relatively close to the knuckle housing. 2-9 unfolds and rotates, so that the middle knuckle shell 3-5 returns to the initial position before grabbing. Since the coupling linkage is realized between the far knuckle housing 4-2 and the middle knuckle housing 3-5 through the connecting rod 3-6, the middle knuckle housing 3-5 and the proximal knuckle housing 2-9 When the relative unfolding rotation occurs, the far knuckle housing 4-2 will also simultaneously unfold and rotate relative to the middle knuckle housing 3-5. When the driving force of the driving tendon J2 disappears, the elastic force stored by the twisted torsion spring 2-6 makes the proximal knuckle housing 2-9 expand and rotate relative to the base bracket 1-1, so that the proximal k...

no. 3 example

[0046] When the finger is bent as shown in the first embodiment, the rotation angle and rotation speed of the middle knuckle housing 3-5 relative to the proximal knuckle housing 2-9 are measured by the encoder 3-7. The rotation angle and rotation speed of the proximal knuckle housing 2-9 relative to the base bracket 1-1 are measured by the encoder 2-1. The driving tension of the driving tendon J1 and the driving tendon J2 is measured by tension sensors S1 and S2. The six-dimensional force sensor 4-3 installed on the far knuckle housing 4-2 realizes the measurement of the contact force between the far knuckle cover 4-5 and the grasped object. The information measured by these sensors is passed to the control system for controlling the movements of the fingers.

[0047] In summary, the present invention can measure joint position, speed, fingertip force, and tendon driving force, and the driving source in the present invention is placed outside the finger, so that the finger ha...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending. The tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism is mainly applied to a human-simulated manipulator for grabbing a target object and also can be called as a two-degree-of-freedom mechanical finger. The finger comprises a base, a near knuckle, a middle knuckle and a far knuckle; all parts are connected by a rotating shaft; the near knuckles is connected with the middle knuckle realize transmission by tendons; the far knuckle and the middle knuckle realize coupling transmission by a connecting rod; and the finger has two degrees of freedom; torsion springs are separately arranged between the base and the near knuckle as well as between the near knuckle and the middle knuckle, so that self extension of the near knuckle and the middle knuckle in a bending state is realized; an encode is arranged on the rotating shaft of the near knuckle and the middle knuckle; a six-dimension force sensor is arranged at the tail end of the far knuckle; tension sensors are arranged on driving tendons of the near knuckle and the middle knuckle; a control system can realize force control over a finger grabbing process by tension information; and the tension sensor also can realize the detection of the control system to the relaxation degree of the tendons.

Description

technical field [0001] The invention belongs to the fields of industrial robots and their automation, space robots, etc., and relates to a self-extending two-degree-of-freedom mechanism of a tendon-connecting rod hybrid transmission, in particular to a two-degree-of-freedom mechanical finger driven by a tendon-connecting rod coupling. Background technique [0002] The mechanical finger is the core component of the manipulator, and the manipulator is an important actuator for grasping operations in the industrial field or the space field. The manipulator can perform fine and dexterous operations, and complete grasping, screwing, plugging, moving, alignment, etc. Typical operations, which are representative of both ground and space missions. When the mechanical finger is used in industrial production and space environment, the mechanical finger should be as simple as possible in structure, stable and reliable in performance, and have the sensors needed to realize the grasping ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/02B25J15/08
Inventor 赵志军王捷王耀兵
Owner BEIJING INST OF SPACECRAFT SYST ENG
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com