CN101524846B - Humanoid artificial hand thumb mechanism having functions of torque and position sensing - Google Patents

Humanoid artificial hand thumb mechanism having functions of torque and position sensing Download PDF

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Publication number
CN101524846B
CN101524846B CN 200910071793 CN200910071793A CN101524846B CN 101524846 B CN101524846 B CN 101524846B CN 200910071793 CN200910071793 CN 200910071793 CN 200910071793 A CN200910071793 A CN 200910071793A CN 101524846 B CN101524846 B CN 101524846B
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CN
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Prior art keywords
near
knuckle
shaft
plate
right side
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CN 200910071793
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Chinese (zh)
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CN101524846A (en )
Inventor
刘伊威
刘宏
姜力
王伟
王新庆
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哈尔滨工业大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

The invention relates to a humanoid artificial hand thumb mechanism having functions of torque and position sensing. The invention solves the problems that the current artificial hand sensing device is imperfect, the size of under-actuated thumbs is large, and vibration occurs at the starting point and the endpoint of motion. A proximal knuckle left side plate, a proximal knuckle right side plate, a base, a proximal knuckle connecting bar and a connecting bar axis of the invention form a planar four-bar linkage mechanism; the proximal knuckle left side plate, the proximal knuckle right side plate, the connecting bar axis, a spherical hinge sleeve, a spherical connecting bar and a middle joint axis-disc form a spatial four-bar mechanism; a magnetic steel element seat is arranged within a bevel pinion pore, a magnetic steel element is arranged within the magnetic steel element seat, and a Hall device is fixedly connected with the base via a position sensing processing circuit board. Theinventive sensing device is perfect, is small in the size of the thumbs, is stable at the starting point and the endpoint of motion and also has the functions of torque and position sensing; the invention also has the advantages of rapid opening/closing speed, humanoid shape and motion track, and large grabbing force.

Description

具有力矩和位置感知的仿人假手拇指机构 Humanoid torque and having a position sensing mechanism of the artificial hand thumb

技术领域 FIELD

[0001 ] 本发明涉及一种仿人假手拇指机构。 [0001] The present invention relates to a prosthetic hand thumb humanoid mechanism. 背景技术 Background technique

[0002] 现有大部分假手的传感装置均不完善,从而限制了假手的应用;现有假手的拇指, 相当一部分采用了欠驱动原理方式。 [0002] Most existing artificial hand sensing means are not perfect, thus limiting the application of the artificial hand; conventional artificial hand thumb, a considerable number of drive principle under way. 公开号为CN1803413A、名称为“欠驱动自适应假手的拇指机构”的发明专利申请,虽然其拇指包络性较好,但由于其需要储能元件(扭簧),决定了拇指的尺寸比较大,且实验表明,由于储能元件的存在,拇指在运动的起点和终点会发生震动,这些都限制了欠驱动技术在假手中的应用。 Publication No. CN1803413A, entitled "Adaptive thumb drive mechanism under the guise of" invention patent applications, although it is better thumb envelope, but because it requires an energy storage element (torsion spring), determines the relatively large size of the thumb and experiments show that, due to the presence of energy storage element, thumb shock will occur at the beginning and end of the movement, these have limited the application of under-drive technology in the hands of the fake.

发明内容 SUMMARY

[0003] 本发明的目的是为了解决现有的假手传感装置不完善和欠驱动拇指尺寸比较大, 且在运动的起点和终点会发生震动的问题,进而提供一种具有力矩和位置感知的仿人假手拇指机构。 [0003] The object of the present invention is to solve the conventional prosthetic hand and imperfect sensing means UNDERACTUATED thumb size is relatively large, and the start and end motion vibration problems occur, thus providing torque and having a location-aware humanoid prosthetic hand thumb institutions.

[0004] 本发明的具有力矩和位置感知的仿人假手拇指机构由拇指电机、减速箱、减速箱座、力矩传感装置、位置传感装置、基座、基关节轴、力矩传感器轴、近指节左侧板、近指节右侧板、近指节连杆基座、近指节连杆、连杆轴、套筒、球铰、球铰销轴、球铰套、球连杆、中关节轴盘、中关节轴盘轴、中指节连杆、中指节连杆下轴、中指节连杆上轴、中指节左侧板、中指节右侧板、指尖轴和指尖组成,所述电机的输出端与减速箱的输入端连接,减速箱通过减速箱座固定在基座上,所述力矩传感装置由大伞齿轮、力矩传感器、大伞齿轮销和力矩传感器应变片组成,所述位置传感装置由小伞齿轮、磁钢元件座、磁钢元件、霍尔器件和位置传感处理电路板组成,小伞齿轮连接在减速箱的输出轴上,小伞齿轮与大伞齿轮啮合,大伞齿轮套装在基关节轴上,基 [0004] The humanoid having a torque and sensing a position of a thumb mechanism of the present invention by a prosthetic hand thumb motor, gear box, the gear box housing, the torque sensing means, the position sensing means, a base, a base joint axis, the torque sensor shaft, near knuckle side plate, near the right side plate knuckles, the knuckles link near the base, near the knuckle connecting rod, shaft, sleeve, ball joint, a ball joint pin, a ball joint sleeve, ball bars, the disk joint shaft, the joint axis of the reel shaft, the middle rod section, the middle section of the lower link shaft, the link middle section, the middle section of the left side plate, the middle plate section of the right side of the fingertip and finger shaft composition, the input end of the motor and gear box output terminal is connected, via a reduction gear box of the box base fixed to the base, said torque sensing means by a large bevel gear, torque sensors, and a large bevel gear pin strain gauge torque sensors composition said position sensing means is processed by bevel pinion, magnet holder member, magnet member, position sensing Hall device and circuit boards, small bevel gear connected to the output shaft of the gearbox, bevel pinion and the large bevel gears, the large bevel gear shaft sleeved joint group, group 关节轴安装在基座上,基关节轴倾斜于近指节左侧板和近指节右侧板布置,力矩传感器通过大伞齿轮销与大伞齿轮固接,力矩传感器轴置于近指节左侧板和近指节右侧板之间并将力矩传感器与近指节左侧板和近指节右侧板连接在一起,力矩传感器应变片贴在力矩传感器的两侧,连杆轴置于近指节左侧板和近指节右侧板之间,近指节连杆基座固定在基座上,近指节连杆的一端与近指节连杆基座铰接在一起,连杆轴的一端和近指节连杆的另一端通过球铰销轴与球铰连接在一起,连杆轴的另一端通过套筒与近指节左侧板和近指节右侧板连接,球铰安装在球铰套一端的套头内,球铰套的另一端与球连杆的一端铰连在一起,球连杆的另一端与中关节轴盘的下端通过销连接在一起,中关节轴盘的旋转轴设置在近指节左侧板和近指节右侧板之间的上端,中关节轴 Joint shaft mounted on a base, the base joint axis inclined to the left side plate and the knuckle near the knuckle near the right side plate is arranged, through the large bevel gear torque sensor pin fixedly connected with the large bevel gear, the shaft torque sensor disposed near the knuckle and means near the left side plate and the right side section of the torque sensor plate between the plate and the left side near the knuckle means is connected near the right side plate sections together, torque sensors strain gauges affixed on both sides of the torque sensor, the link shaft set refers to the near left between the plate and the section near the right side of the knuckle plate, near the knuckle link base fixed to the base, near the link means near one end section of the link base knuckles are hinged together, even One end of the lever shaft and the other ends of the proximal interphalangeal articulated rods are connected together by a hinge pin and the ball joint ball, the sleeve and the shaft through a link near the left side plate and the knuckle near the right plate connected to the knuckle, spherical joint mounted in the hub sleeve at one end of a ball joint, the other end of the ball end of a ball joint link hinge sleeve together, the lower end of the connecting rod and the other end ball joint axis of the disc are connected together by a pin, the joint disc rotating shaft means disposed near the upper end of the section between the left side plate and the right side near the knuckle plate, the joint axis 的上端设置在中指节左侧板与中指节右侧板之间的下端,且通过中关节轴盘轴与中指节左侧板与中指节右侧板相连接,中指节连杆设置在中指节左侧板与中指节右侧板之间,中指节连杆的下端通过中指节连杆下轴与近指节左侧板和近指节右侧板铰接在一起,中指节连杆的上端通过中指节连杆上轴与指尖铰接在一起,所述指尖轴设置在中指节左侧板和中指节右侧板之间的上端,所述指尖通过指尖轴与中指节左侧板和中指节右侧板铰接在一起,近指节左侧板、近指节右侧板、基座、近指节连杆与连杆轴组成一平面四连杆机构,近指节左侧板、近指节右侧板、连杆轴、球铰套、球连杆与中关节轴盘组成一空间四杆机构,所述磁钢元件座放置在小伞齿轮的孔内,磁钢元件放置在磁钢元件座内,霍尔器件通过位置传感处理电路板与基座固接。 Disposed between the lower end of the upper middle section of the middle section of the left side plate and the right side plate, and is connected by a joint in the middle section of the shaft and disk shaft middle section of the left side plate and right side plates disposed in the middle section of the middle section link the middle section between the left side plate and the right side plate, the middle section of the lower end of the link via a shaft near the left side plate and the knuckle near the right side plate knuckles are hinged together, the upper end of the middle section of the middle section of the lower link by link the middle link shaft section hinged together with a fingertip, the fingertip of the upper end of the middle shaft is provided between the left side plate sections and the middle section of the right side plate, by a fingertip and middle fingertip axis of the left side plate section middle and right side plate sections hinged together near the left side plate knuckles, the knuckles near the right side plate, the base, near the link rod shaft knuckles form a planar four-link mechanism, the link plates left proximal interphalangeal , near the right side plate knuckles, the link shaft, the ball sleeve joint, the joint axis of the rod and ball disc space consisting of a four-bar mechanism, the magnet element is placed in the seat of the bevel pinion bore, the magnet element is placed element in the magnet housing, the position sensing Hall device by the processing circuit board and the fixed base.

[0005] 本发明具有以下有益效果:本发明的传感装置完善和拇指尺寸比较小,且在运动的起点和终点运动稳定,具有力矩和位置感知功能,本发明还具有开合速度快、外观及运动轨迹拟人化和抓取力大的优点。 [0005] The present invention has the following advantages: a sensing device of the present invention to improve the thumb and relatively small size, and stabilize the movement of the start and end of movement, having a torque and location awareness, the present invention also has a fast opening and closing speed, the appearance and trajectory anthropomorphic and grab a large force advantage.

附图说明 BRIEF DESCRIPTION

[0006] 图1是本发明的整体外观示意图,图2是隐藏近指节右侧板和中指节右侧板的结构示意图,图3是图2的左视结构示意图,图4是图3的AA剖视图,图5是隐藏基座、近指节右侧板、中指节右侧板的结构示意图,图6是本发明的大伞齿轮、力矩传感器和大伞齿轮销位置关系局部剖视图,图7是本发明的位置传感装置安装示意图。 [0006] FIG. 1 is a schematic overall appearance of the present invention, FIG 2 is a schematic view of hiding means near the right side plate sections and the middle section of the right side plate, a left view of FIG. 3 is a schematic diagram of the structure of FIG. 2, FIG. 3 FIG. 4 is AA cross-sectional view, FIG. 5 is a hidden base, near the right side plate section schematic structural means, the middle section of the right side plate, FIG. 6 is a large bevel gear of the present invention, torque sensors and the large bevel gear pin positional relationship a partial cross-sectional view, FIG. 7 a position sensing device according to the present invention is mounted. FIG.

具体实施方式 Detailed ways

[0007] 具体实施方式一:结合图1〜图7说明本实施方式,本实施方式的具有力矩和位置感知的仿人假手拇指机构由拇指电机1、减速箱2、减速箱座3、力矩传感装置、位置传感装置、基座6、基关节轴7、力矩传感器轴10、近指节左侧板11、近指节右侧板12、近指节连杆基座13、近指节连杆14、连杆轴15、套筒45、球铰16、球铰销轴17、球铰套18、球连杆19、中关节轴盘20、中关节轴盘轴21、中指节连杆22、中指节连杆下轴23、中指节连杆上轴24、中指节左侧板25、中指节右侧板26、指尖轴27和指尖28组成,所述电机1的输出端与减速箱2的输入端连接,减速箱2通过减速箱座3固定在基座6上,所述力矩传感装置由大伞齿轮5、力矩传感器8、大伞齿轮销9和力矩传感器应变片29组成,所述位置传感装置由小伞齿轮4、磁钢元件座30、磁钢元件31、霍尔器件43和位置传感处理电路板42 [0007] In a specific embodiment: FIG. 1 ~ 7 described in conjunction with FIG embodiment according to the present embodiment, torque and position of the humanoid having perceived the present embodiment by a thumb mechanism prosthetic hand thumb motor 1, 2 gearbox, gearbox housing 3, the torque transmission sensing means, the position sensing means, the base 6, the base joint shaft 7, the shaft torque sensor 10, near the left finger plates 11, the plate 12 near the right side knuckles, the knuckles link near the base 13, near knuckles link 14, the link shaft 15, a sleeve 45, a ball joint 16, a ball joint pin 17, a ball joint sleeve 18, the ball link 19, the joint shaft disk 20, the disk shaft joint shaft 21, the middle section link 22, the middle section of the link shaft 23, shaft 24, the middle section of the left side plate 25, right side plate 26 on the middle section of the middle section link, fingers 27 and finger shaft 28 composed of an output of said motor and gearbox input terminal 2 is connected, via a reduction gearbox 2 a box base 6 fixed to the base, said torque sensing means by the large bevel gear 35, the torque sensor 8, a large bevel gear 9 and the pin torque sensors strain gauges 29 composition, said position sensing means by a bevel pinion 4, the magnet holder member 30, magnet member 31, the Hall device 43 and the position sensing processing circuit board 42 组成,小伞齿轮4连接在减速箱2的输出轴上,小伞齿轮4与大伞齿轮5啮合,大伞齿轮5套装在基关节轴7上,基关节轴7安装在基座6上,基关节轴7倾斜于近指节左侧板11和近指节右侧板12 布置,力矩传感器8通过大伞齿轮销9与大伞齿轮5固接,力矩传感器轴10置于近指节左侧板11和近指节右侧板12之间并将力矩传感器8与近指节左侧板11和近指节右侧板12 连接在一起,力矩传感器应变片29贴在力矩传感器8的两侧,连杆轴15置于近指节左侧板11和近指节右侧板12之间,近指节连杆基座13固定在基座6上,近指节连杆14的一端与近指节连杆基座13铰接在一起,连杆轴15的一端和近指节连杆14的另一端通过球铰销轴17与球铰16连接在一起,连杆轴15的另一端通过套筒45与近指节左侧板11和近指节右侧板12连接,球铰16安装在球铰套18 —端的套头内,球铰套18的另一端与球连杆19的 Composition, bevel pinion 4 connected to the output shaft 2 of the gearbox, bevel pinion 4 meshes with the large bevel gear 5, a large bevel gear 5 fitted over the joint axis 7-yl, 7-yl joint shaft 6 mounted on a base, yl joint shaft 7 oblique to the left side plate 11 near the knuckle and the knuckle near the right side plate 12 is arranged, the torque sensor 8 is connected to pin 9 with the large bevel gear 5 is fixed by the large bevel gear, the shaft torque sensor 10 is placed near the left knuckle and means between the side plate 11 near the right side panel section 12 and the torque sensor 8 is connected to the finger near the left side plate section 11 near the knuckle and the right side plate 12, the torque sensor 29 in the strain gauges of the two torque sensors 8 side, near the link shaft 15 is placed between the finger 12, near the left side plate 11 and the knuckle near the right side of the knuckle plate link base section 13 fixed on the base 6, refers to the end section of the connecting rod 14 near the near knuckle link 13 hinged to the base, and the end of the link shaft 15 near the other end section of the connecting rod means 14 is connected by a ball joint pin 17 together with the ball joint 16, the other end of the link 15 by a shaft sleeve 45 and the left side plate 11 near the knuckle and the knuckle near the right connecting plate 12, the ball joint 16 is mounted in a ball joint sleeve 18 - the inner end of the sleeve head, a ball joint 18 and the other end of the sleeve the ball 19 of the link 一端铰连在一起,球连杆19的另一端与中关节轴盘20的下端通过销连接在一起,中关节轴盘20的旋转轴设置在近指节左侧板11和近指节右侧板12之间的上端,中关节轴盘20的上端设置在中指节左侧板25与中指节右侧板26之间的下端,且通过中关节轴盘轴21与中指节左侧板25与中指节右侧板26相连接,中指节连杆22设置在中指节左侧板25与中指节右侧板26之间,中指节连杆22的下端通过中指节连杆下轴23与近指节左侧板11和近指节右侧板12铰接在一起,中指节连杆22的上端通过中指节连杆上轴24与指尖28铰接在一起,所述指尖轴27设置在中指节左侧板25和中指节右侧板26之间的上端,所述指尖28通过指尖轴27与中指节左侧板25和中指节右侧板26铰接在一起,近指节左侧板11、近指节右侧板12、基座6、近指节连杆14与连杆轴15组成一平面四连杆机构40,近指节左侧板11、近指 Hinged together at one end, the other end of the link ball 19 and the lower end of the joint shaft 20 is connected by a pin disk together, the joint axis in the disk rotation shaft 20 is disposed near the right side refers to the left side plate 11 and the section near the knuckle between the upper end plate 12, the upper end of the joint shaft 20 provided at a lower end plate 26 between the left side plate 25 and the middle section of the middle section of the right side plate and disk shaft by the joint shaft 21 and the left side plate 25 and the middle section the middle section is connected to the right side plate 26, the middle rod section 22 disposed between the left side plate 25 and the middle section of the middle section of the right side plate 26, the lower end of the middle section of the lower link 22 by the link shaft 23 and the middle section near finger section 11 and the left side plate means 12 are hinged together near the right side plate section, the middle section of the upper end of link 22 by a link shaft 24 on the middle section 28 are hinged together with a fingertip, the fingertip disposed in the middle section of shaft 27 between the upper end of the left side plate 26 and the middle section of the right side plate 25, 28 together by a fingertip and middle fingertip shaft section 27 and the middle section of the left side plate 25 right side plate 26 is hinged near the left finger plates 11, the right side plate 12 near the knuckle, the base 6, near the knuckle link 14 and the link shaft 15 form a planar four-bar linkage 40, the left proximal interphalangeal plates 11, proximal interphalangeal 右侧板12、连杆轴15、球铰套18、球连杆19与中关节轴盘20组成一空间四杆机构41,所述磁钢元件座30放置在小伞齿轮4的孔内,磁钢元件31放置在磁钢元件座30 内,霍尔器件43通过位置传感处理电路板42与基座6固接。 The right side plate 12, the link shaft 15, the ball joint sleeve 18, rod 19 and the ball joint shaft consisting of a disc 20 four spatial mechanism 41, the seat member 30 is placed in the magnet bore of the bevel pinion 4, magnet member 31 disposed within magnet holder member 30, the position sensing Hall device 43 and the processing circuit board 42 fixed to the base 6.

[0008] 具体实施方式二:结合图3说明本实施方式,本实施方式的基关节轴7与近指节左侧板11和近指节右侧板12之间的倾斜角的余角α为30°。 [0008] DETAILED Embodiment 2: FIG. 3 described in conjunction with the present embodiment, the base joint axis 7 of the present embodiment near the left side plate 11 and the knuckle near the tilt angle refers to the section between the right side plate 12 is complementary angle α 30 °. 如此设置,拇指的运动轨迹为一空间锥面,该锥面从倾斜于手掌30°转到与手掌平行。 Arranged such trajectory is a space thumb tapered, the tapered surface is inclined from 30 ° to the palm parallel to the palm.

[0009] 工作原理:(参见图1〜图7)电机1输出轴驱动减速箱2运动,减速箱2驱动小伞齿轮4转动,小伞齿轮4带动大伞齿轮5运动;大伞齿轮5带动与其连在一起的力矩传感器8转动,力矩传感器8通过力矩传感器轴10带动近指节左侧板11和近指节右侧板12绕基关节轴7转动;近指节左侧板11、近指节右侧板12、基座6、近指节连杆14与连杆轴15组成一平面四连杆机构40,近指节左侧板11和近指节右侧板12的转动驱动了连杆轴15的运动;近指节左侧板11、近指节右侧板12、连杆轴15、球铰套18、球连杆19与中关节轴盘20形成一空间四杆机构41,在这里球连杆19可以看成是一球铰,连杆轴15的运动驱动中关节轴盘20运动;中关节轴盘20通过中关节轴盘轴21驱动中指节左侧板25和中指节右侧板26运动冲指节左侧板25、中指节右侧板26、近指节左侧板11、近指节右侧板12、中指节连杆22、指 [0009] Referring to FIG principle :( 1 ~ FIG. 7) drives the motor output shaft 2 moving gear box, gear box 4 rotatably driving bevel pinion, bevel pinion driven by the large bevel gear 4 5 moves; large bevel gear drive 5 together with its rotational torque sensor 8, the torque sensor 8 is driven via a torque sensor shaft 10 near the left side plate 11 and the knuckle near the right side plate section 12 refers to the rotation about the joint axis 7-yl; near the left finger plates 11, near refers to the right side plate section 12, the base 6, near the knuckle link 14 and the link shaft 15 form a planar four-link mechanism 40, the rotation driving means near the left side plate 11 and the section near the knuckle of the right side plate 12 movement of the link shaft 15; knuckle near the left side plate 11, right side plate 12 near the knuckle, the link shaft 15, the ball joint sleeve 18, the ball 19 is formed a link mechanism 41 and the four spaces in the tray 20 joint axis , where the ball link 19 can be seen as a ball joint, movement of the drive rod shaft 15 of the joint shaft 20 moves the disc; the disc 20 by the joint shaft joint shaft 21 drives the reel plate 25 and the middle section of the left middle finger The right side plate section 26 is moved left knuckle punch plate 25, the middle section of the right side plate 26, near the left finger plates 11, the right side plate 12 near the knuckle, the middle rod section 22, means 28组成一平面四杆机构,中指节左侧板25和中指节右侧板26的运动推动指尖28的运动;基关节轴7倾斜于近指节左侧板11和近指节右侧板12布置,且倾斜角度的余角为30°,拇指的运动轨迹为一空间锥面,该锥面从倾斜于手掌30°转到与手掌平行;力矩传感器应变片29贴在力矩传感器8上,力矩传感器8的形变引起力矩传感器应变片29电阻的变化,通过测量应变片电阻的变化,可以推算出力矩传感器8的变形量,从而可以计算出力矩传感器8所传递的力矩,磁钢元件座30放置在小伞齿轮4的孔内,磁钢元件31放置在磁钢元件座30内,磁钢元件31和磁钢元件座30跟随减速箱2输出轴一起运动, 通过使用霍尔器件43检测磁钢元件31的磁场变化,可以计算出减速箱2的转动量。 28 form a planar four-bar mechanism, the left side plate 25 and the middle section of the middle section 26 of the movement of the right side plate 28 of a fingertip pushing movement; yl joint shaft 7 oblique to the knuckle near the left side plate 11 and right side panel near the knuckle 12 are arranged, and the inclination angle complementary angle of 30 °, the trajectory is a space thumb tapered, the tapered surface is inclined from 30 ° to the palm with the palm parallel; torque sensor 29 on the strain gauge torque sensors 8, strain causes a change in the torque sensor 8 is torque sensor resistance strain gauges 29, by measuring the sheet resistance of the strain change, can calculate the amount of deformation of the torque sensor 8, so that the torque can be calculated transmission torque sensor 8, the seat member 30 magnet placed in a bevel pinion bore 4, magnet member 31 is placed in a 30, 31 and the magnet member 30 follows the movement of the gearbox output shaft 2 together with the magnet holder magnet element seat member, by using a Hall element 43 detects magnetic steel element 31 changes in the magnetic field, can be calculated rotation amount of the gear box 2.

5 5

Claims (2)

  1. 一种具有力矩和位置感知的仿人假手拇指机构,它由拇指电机(1)、减速箱(2)、减速箱座(3)、力矩传感装置、位置传感装置、基座(6)、基关节轴(7)、力矩传感器轴(10)、近指节左侧板(11)、近指节右侧板(12)、近指节连杆基座(13)、近指节连杆(14)、连杆轴(15)、套筒(45)、球铰(16)、球铰销轴(17)、球铰套(18)、球连杆(19)、中关节轴盘(20)、中关节轴盘轴(21)、中指节连杆(22)、中指节连杆下轴(23)、中指节连杆上轴(24)、中指节左侧板(25)、中指节右侧板(26)、指尖轴(27)和指尖(28)组成,所述电机(1)的输出端与减速箱(2)的输入端连接,减速箱(2)通过减速箱座(3)固定在基座(6)上,其特征在于:所述力矩传感装置由大伞齿轮(5)、力矩传感器(8)、大伞齿轮销(9)和力矩传感器应变片(29)组成,所述位置传感装置由小伞齿轮(4)、磁钢元件座(30)、磁钢元件(31)、霍尔器件(43)和位置传感 Humanoid torque and having a prosthetic hand thumb position sensing mechanism that by the thumb motor (1), gearbox (2), a gearbox housing (3), the torque sensing means, the position sensing means, a base (6) base joint axis (7), the torque sensor shaft (10), near the knuckle side plate (11), near the right side of the knuckle plate (12), near the knuckle link base (13), connected near knuckles rod (14), the link shaft (15), a sleeve (45), ball joint (16), ball joint pin (17), ball joint sleeve (18), the ball linkage (19), the tray joint axis (20), the disk shaft joint shaft (21), the middle section of the connecting rod (22), the middle section of the link shaft (23), the middle section of the shaft rod (24), the middle section of the left plate (25), the middle section of the right side plate (26), finger shaft (27) and the finger (28), with the output of the motor (1) and the gearbox (2) connected to the input, the gear box (2) through a reduction box base (3) is fixed on the base (6), wherein: the torque sensing means by a large bevel gear (5), the torque sensor (8), a large bevel gear pin (9) and a strain gauge torque sensors (29), with said position sensing means by a bevel pinion (4), the magnet element seat (30), the magnet element (31), a Hall device (43) and a position sensor 理电路板(42)组成,小伞齿轮(4)连接在减速箱(2)的输出轴上,小伞齿轮(4)与大伞齿轮(5)啮合,大伞齿轮(5)套装在基关节轴(7)上,基关节轴(7)安装在基座(6)上,基关节轴(7)倾斜于近指节左侧板(11)和近指节右侧板(12)布置,力矩传感器(8)通过大伞齿轮销(9)与大伞齿轮(5)固接,力矩传感器轴(10)置于近指节左侧板(11)和近指节右侧板(12)之间并将力矩传感器(8)与近指节左侧板(11)和近指节右侧板(12)连接在一起,力矩传感器应变片(29)贴在力矩传感器(8)的两侧,连杆轴(15)置于近指节左侧板(11)和近指节右侧板(12)之间,近指节连杆基座(13)固定在基座(6)上,近指节连杆(14)的一端与近指节连杆基座(13)铰接在一起,连杆轴(15)的一端和近指节连杆(14)的另一端通过球铰销轴(17)与球铰(16)连接在一起,连杆轴(15)的另一端通过套筒(45)与近指节左侧板(11)和近指节右侧板(12)连接, Processing circuit board (42), with small bevel gear (4) connected to the output shaft of the gearbox (2), the bevel pinion (4) and the large bevel gear (5) engaged, the large bevel gear (5) Set the base the joint axis (7), a base joint axis (7) mounted on the base (6), a base joint axis (7) is inclined to the left side near the knuckle plate (11) and near the right side of the knuckle plate (12) is arranged torque sensor (8) by the large bevel gear pin (9) and the large bevel gear (5) fixed to the torque sensor shaft (10) is placed near the left knuckle plate (11) and near the right side of the knuckle plate (12 and the torque sensor (8) between a) and the left side plate near the knuckle (11) and near the right side of the knuckle plate (12) are connected together, torque sensors strain gauges (29) attached to the torque sensor (8) of the two side, the link shaft (15) is placed near the section between the left side plate means (11) and near the right side of the knuckle plate (12), near the knuckle link base (13) fixed to the base (6) , near one end section of the connecting rod means (14) and the proximal interphalangeal (13) hinged together, one end of the link shaft (15) and the connecting rod near the knuckle (14) and the other end of the base section of the link via a ball joint pin a shaft (17) and the ball joint (16) are connected together, the other end of the link shaft (15) of the sleeve (45) is connected to the knuckle near the left side plate (11) and near the right side of the knuckle plate (12) by , 球铰(16)安装在球铰套(18)一端的套头内,球铰套(18)的另一端与球连杆(19)的一端铰连在一起,球连杆(19)的另一端与中关节轴盘(20)的下端通过销连接在一起,中关节轴盘(20)的旋转轴设置在近指节左侧板(11)和近指节右侧板(12)之间的上端,中关节轴盘(20)的上端设置在中指节左侧板(25)与中指节右侧板(26)之间的下端,且通过中关节轴盘轴(21)与中指节左侧板(25)与中指节右侧板(26)相连接,中指节连杆(22)设置在中指节左侧板(25)与中指节右侧板(26)之间,中指节连杆(22)的下端通过中指节连杆下轴(23)与近指节左侧板(11)和近指节右侧板(12)铰接在一起,中指节连杆(22)的上端通过中指节连杆上轴(24)与指尖(28)铰接在一起,所述指尖轴(27)设置在中指节左侧板(25)和中指节右侧板(26)之间的上端,所述指尖(28)通过指尖轴(27)与中指节左侧板(25)和中指节右侧板(26)铰接在一起 Ball joint (16) mounted in the hub (18) at one end of the ball sleeve joint, a ball joint end sleeve (18) and the other end of the ball rod (19) hinged together, the other end of the link ball (19) the lower end of the shaft and the joint plate (20) are connected together by a pin, the joint shaft tray (20) disposed near the rotational axis of the knuckle side plate (11) and near the right side of the knuckle plate (12) between the upper ends, the tray joint shaft (20) is provided on the left side of the middle plate section (25) and the middle section of the right side plate (26) between the lower end and the left through the middle axis of the joint shaft disc section (21) plate (25) and the middle section of the right side plate (26) is connected to the middle rod section (22) is disposed between the middle section of the left plate (25) and the middle section of the right side plate (26), the middle section link ( lower end 22) through the middle rod section (23) and the knuckle near the left side plate (11) and near the right side of the knuckle plate (12) hinged together, the upper end of the middle section of the connecting rod (22) through the middle section of the lower shaft between the upper end of the shaft (24) with a fingertip (28) on the link hinged together, said finger shaft (27) provided on the left side of the middle plate section (25) and the middle section of the right side plate (26), the said finger (28) by a finger shaft (27) and the middle section of the left side plate (25) and the middle section of the right side plate (26) are hinged together 近指节左侧板(11)、近指节右侧板(12)、基座(6)、近指节连杆(14)与连杆轴(15)组成一平面四连杆机构(40),近指节左侧板(11)、近指节右侧板(12)、连杆轴(15)、球铰套(18)、球连杆(19)与中关节轴盘(20)组成一空间四杆机构(41),所述磁钢元件座(30)放置在小伞齿轮(4)的孔内,磁钢元件(31)放置在磁钢元件座(30)内,霍尔器件(43)通过位置传感处理电路板(42)与基座(6)固接。 Near the left knuckle plate (11), near the right side of the knuckle plate (12), the base (6), near the knuckle link (14) and the link shaft (15) form a planar four-bar linkage (40 ), knuckle near the left side plate (11), near the right side of the knuckle plate (12), the link shaft (15), ball joint sleeve (18), the ball linkage (19) and the joint shaft tray (20) form a four-bar mechanism space (41), said magnet holder element (30) is placed in small bevel gear (4) of the bore, the magnet element (31) is placed within the magnet seat member (30), Hall means (43) fixed by the position of the sensor processing circuit board (42) and the base (6).
  2. 2.根据权利要求1所述具有力矩和位置感知的仿人假手拇指机构,其特征在于:所述基关节轴(7)与近指节左侧板(11)和近指节右侧板(12)之间的倾斜角的余角(α)为30°。 According to claim 1 having a torque and a humanoid location aware mechanism of claim prosthetic hand thumb, characterized in that: the base joint axis (7) and near the knuckle side plate (11) and right side panel near the knuckle ( complementary angle ([alpha]) between the angle of inclination 12) is 30 °.
CN 200910071793 2009-04-16 2009-04-16 Humanoid artificial hand thumb mechanism having functions of torque and position sensing CN101524846B (en)

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CN103830025B (en) * 2014-03-18 2015-08-19 哈尔滨工业大学 With a bit force and tactile awareness of the freedom of two modular prosthetic hand thumb
CN106038006B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 Prosthetic thumb knuckle near the base section of the connecting structure refers to
CN106038003B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 Prosthetic thumb
CN105643644B (en) * 2016-04-08 2017-11-14 哈尔滨工业大学 Coupled with adaptive motion mode both underactuated high simulation finger

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