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 PDFInfo
- 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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- nearly dactylus
- middle finger
- joint
- connecting rod
- finger joint
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
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. The inventive 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
Technical field
The present invention relates to a kind of apery thumb mechanism of doing evil through another person.
Background technology
The equal imperfection of the sensing device that existing major part is done evil through another person, thus limited the application of doing evil through another person; Existing thumb of doing evil through another person, quite a few has adopted the drive principle mode of owing.Publication number is that CN1803413A, name are called the application for a patent for invention of " thumb mechanism of under-driven adaptive prosthetic hand ", though its thumb envelope is better, but because it needs energy-storage travelling wave tube (torsion spring), determined that the size of thumb is bigger, and experiment shows, because the existence of energy-storage travelling wave tube, thumb can shake at the starting point and the terminal point of motion, and these have all limited owes the application of actuation techniques in doing evil through another person.
Summary of the invention
The objective of the invention is in order to solve existing sensing device imperfection and the under-driven thumb size of doing evil through another person bigger, and the problem that can shake at the starting point and the terminal point of motion, and then a kind of apery with moment and location aware thumb mechanism of doing evil through another person is provided.
Apery with moment and location aware of the present invention is done evil through another person thumb mechanism by the thumb motor, reduction box, the deceleration block, moment sensor, position sensing device, pedestal, the base joint shaft, the torque sensor axle, nearly dactylus left plate, nearly dactylus right plate, nearly dactylus connecting rod pedestal, nearly dactylus connecting rod, pitman shaft, sleeve, ball pivot, the ball pivot bearing pin, the ball pivot cover, ball link, middle joint reel, middle joint reel axle, the middle finger joint connecting rod, middle finger joint connecting rod lower shaft, axle on the middle finger joint connecting rod, the middle finger joint left plate, the middle finger joint right plate, finger tip axle and finger tip are formed, the output of described motor is connected with the input of reduction box, reduction box is fixed on the pedestal by the deceleration block, described moment sensor is by large bevel gear, torque sensor, large bevel gear pin and torque sensor foil gauge are formed, described position sensing device is by cone pinion, the magnet steel component holder, the magnet steel element, hall device and position sensing treatment circuit plate are formed, cone pinion is connected on the output shaft of reduction box, cone pinion and large bevel gear engagement, large bevel gear is sleeved on the basic joint shaft, the base joint shaft is installed on the pedestal, the base joint shaft favours nearly dactylus left plate and nearly dactylus right plate is arranged, torque sensor is affixed by large bevel gear pin and large bevel gear, the torque sensor axle places between nearly dactylus left plate and the nearly dactylus right plate and with torque sensor and nearly dactylus left plate and nearly dactylus right plate and links together, the torque sensor foil gauge is attached to the both sides of torque sensor, pitman shaft places between nearly dactylus left plate and the nearly dactylus right plate, nearly dactylus connecting rod pedestal is fixed on the pedestal, one end of nearly dactylus connecting rod is hinged with nearly dactylus connecting rod pedestal, the other end of one end of pitman shaft and nearly dactylus connecting rod links together by ball pivot bearing pin and ball pivot, the other end of pitman shaft is connected with nearly dactylus right plate with nearly dactylus left plate by sleeve, ball pivot is installed in ball pivot and overlaps in an end pullover, the other end of ball pivot cover and an end of ball link are hinged together, the lower end of the other end of ball link and middle joint reel links together by pin, the rotating shaft of middle joint reel is arranged on the upper end between nearly dactylus left plate and the nearly dactylus right plate, the upper end of middle joint reel is arranged on the lower end between middle finger joint left plate and the middle finger joint right plate, and be connected with the middle finger joint right plate with the middle finger joint left plate by middle joint reel axle, the middle finger joint connecting rod is arranged between middle finger joint left plate and the middle finger joint right plate, the lower end of middle finger joint connecting rod is hinged with nearly dactylus left plate and nearly dactylus right plate by middle finger joint connecting rod lower shaft, the upper end of middle finger joint connecting rod by axle and finger tip articulation on the middle finger joint connecting rod together, described finger tip axle is arranged on the upper end between middle finger joint left plate and the middle finger joint right plate, it is hinged that described finger tip passes through finger tip axle and middle finger joint left plate and middle finger joint right plate, nearly dactylus left plate, nearly dactylus right plate, pedestal, nearly dactylus connecting rod and pitman shaft are formed a lanar four rod mechanism, nearly dactylus left plate, nearly dactylus right plate, pitman shaft, the ball pivot cover, ball link and middle joint reel are formed a spatial four-bar mechanism, described magnet steel component holder is placed in the hole of cone pinion, the magnet steel element is placed in the magnet steel component holder, and hall device is affixed by position sensing treatment circuit plate and pedestal.
The present invention has following beneficial effect: sensing device of the present invention improves with the thumb size smaller, and starting point and terminal point motion stabilization in motion, have moment and location aware function, the present invention has also that folding speed is fast, outward appearance and movement locus personalizes and grasp force is big advantage.
Description of drawings
Fig. 1 is an overall appearance schematic diagram of the present invention, Fig. 2 is a structural representation of hiding nearly dactylus right plate and middle finger joint right plate, Fig. 3 is the left TV structure schematic diagram of Fig. 2, Fig. 4 is the A-A cutaway view of Fig. 3, Fig. 5 is a structural representation of hiding pedestal, nearly dactylus right plate, middle finger joint right plate, Fig. 6 is that large bevel gear of the present invention, torque sensor and large bevel gear pin position concern partial sectional view, and Fig. 7 is a position sensing device scheme of installation of the present invention.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1～Fig. 7, the apery with moment and location aware of present embodiment is done evil through another person thumb mechanism by thumb motor 1, reduction box 2, deceleration block 3, moment sensor, position sensing device, pedestal 6, base joint shaft 7, torque sensor axle 10, nearly dactylus left plate 11, nearly dactylus right plate 12, nearly dactylus connecting rod pedestal 13, nearly dactylus connecting rod 14, pitman shaft 15, sleeve 45, ball pivot 16, ball pivot bearing pin 17, ball pivot cover 18, ball link 19, middle joint reel 20, middle joint reel axle 21, middle finger joint connecting rod 22, middle finger joint connecting rod lower shaft 23, axle 24 on the middle finger joint connecting rod, middle finger joint left plate 25, middle finger joint right plate 26, finger tip axle 27 and finger tip 28 are formed, the output of described motor 1 is connected with the input of reduction box 2, reduction box 2 is fixed on the pedestal 6 by deceleration block 3, described moment sensor is by large bevel gear 5, torque sensor 8, large bevel gear pin 9 and torque sensor foil gauge 29 are formed, described position sensing device is by cone pinion 4, magnet steel component holder 30, magnet steel element 31, hall device 43 and position sensing treatment circuit plate 42 are formed, cone pinion 4 is connected on the output shaft of reduction box 2, cone pinion 4 and large bevel gear 5 engagements, large bevel gear 5 is sleeved on the basic joint shaft 7, base joint shaft 7 is installed on the pedestal 6, base joint shaft 7 favours nearly dactylus left plate 11 and nearly dactylus right plate 12 is arranged, torque sensor 8 is affixed by large bevel gear pin 9 and large bevel gear 5, torque sensor axle 10 places between nearly dactylus left plate 11 and the nearly dactylus right plate 12 and with torque sensor 8 and nearly dactylus left plate 11 and nearly dactylus right plate 12 and links together, torque sensor foil gauge 29 is attached to the both sides of torque sensor 8, pitman shaft 15 places between nearly dactylus left plate 11 and the nearly dactylus right plate 12, nearly dactylus connecting rod pedestal 13 is fixed on the pedestal 6, one end of nearly dactylus connecting rod 14 is hinged with nearly dactylus connecting rod pedestal 13, the other end of one end of pitman shaft 15 and nearly dactylus connecting rod 14 links together by ball pivot bearing pin 17 and ball pivot 16, the other end of pitman shaft 15 is connected with nearly dactylus right plate 12 with nearly dactylus left plate 11 by sleeve 45, ball pivot 16 is installed in ball pivot and overlaps in 18 1 ends pullover, the other end of ball pivot cover 18 and an end of ball link 19 are hinged together, the lower end of the other end of ball link 19 and middle joint reel 20 links together by pin, the rotating shaft of middle joint reel 20 is arranged on the upper end between nearly dactylus left plate 11 and the nearly dactylus right plate 12, the upper end of middle joint reel 20 is arranged on the lower end between middle finger joint left plate 25 and the middle finger joint right plate 26, and be connected with middle finger joint right plate 26 with middle finger joint left plate 25 by middle joint reel axle 21, middle finger joint connecting rod 22 is arranged between middle finger joint left plate 25 and the middle finger joint right plate 26, the lower end of middle finger joint connecting rod 22 is hinged with nearly dactylus left plate 11 and nearly dactylus right plate 12 by middle finger joint connecting rod lower shaft 23, the upper end of middle finger joint connecting rod 22 is hinged with finger tip 28 by axle 24 on the middle finger joint connecting rod, described finger tip axle 27 is arranged on the upper end between middle finger joint left plate 25 and the middle finger joint right plate 26, described finger tip 28 is hinged with middle finger joint left plate 25 and middle finger joint right plate 26 by finger tip axle 27, nearly dactylus left plate 11, nearly dactylus right plate 12, pedestal 6, nearly dactylus connecting rod 14 is formed a lanar four rod mechanism 40 with pitman shaft 15, nearly dactylus left plate 11, nearly dactylus right plate 12, pitman shaft 15, ball pivot cover 18, ball link 19 is formed a spatial four-bar mechanism 41 with middle joint reel 20, described magnet steel component holder 30 is placed in the hole of cone pinion 4, magnet steel element 31 is placed in the magnet steel component holder 30, and hall device 43 is affixed by position sensing treatment circuit plate 42 and pedestal 6.
The specific embodiment two: in conjunction with Fig. 3 present embodiment is described, the complementary angle α at the inclination angle between the basic joint shaft 7 of present embodiment and nearly dactylus left plate 11 and the nearly dactylus right plate 12 is 30 °.So be provided with, the movement locus of thumb is a space cone, and this conical surface forwards to parallel with palm from favouring 30 ° on palm.
Operation principle: (referring to Fig. 1～Fig. 7) motor 1 output shaft drives reduction box 2 motions, reduction box 2 drives cone pinion 4 and rotates, and cone pinion 4 drives large bevel gear 5 motions; Large bevel gear 5 drives the torque sensor 8 that connects together with it and rotates, and torque sensor 8 drives nearly dactylus left plate 11 by torque sensor axle 10 and nearly dactylus right plate 12 rotates around basic joint shaft 7; Nearly dactylus left plate 11, nearly dactylus right plate 12, pedestal 6, nearly dactylus connecting rod 14 are formed a lanar four rod mechanism 40 with pitman shaft 15, the rotating drive of nearly dactylus left plate 11 and nearly dactylus right plate 12 motion of pitman shaft 15; Nearly dactylus left plate 11, nearly dactylus right plate 12, pitman shaft 15, ball pivot cover 18, ball link 19 form a spatial four-bar mechanism 41 with middle joint reel 20, here ball link 19 can be regarded a ball pivot as, reel 20 motions in joint during the motion of pitman shaft 15 drives; Middle joint reel 20 drives middle finger joint left plates 25 and 26 motions of middle finger joint right plate by middle joint reel axle 21; Middle finger joint left plate 25, middle finger joint right plate 26, nearly dactylus left plate 11, nearly dactylus right plate 12, middle finger joint connecting rod 22, finger tip 28 are formed a four-bar linkage, and the motion of middle finger joint left plate 25 and middle finger joint right plate 26 promotes the motion of finger tip 28; Base joint shaft 7 favours nearly dactylus left plate 11 and nearly dactylus right plate 12 is arranged, and the complementary angle at angle of inclination is 30 °, and the movement locus of thumb is a space cone, and this conical surface forwards to parallel with palm from favouring 30 ° on palm; Torque sensor foil gauge 29 is attached on the torque sensor 8, the deformation of torque sensor 8 causes torque sensor foil gauge 29 changes in resistance, by measuring the foil gauge changes in resistance, can extrapolate the deflection of torque sensor 8, thereby can calculate the moment that torque sensor 8 is transmitted, magnet steel component holder 30 is placed in the hole of cone pinion 4, magnet steel element 31 is placed in the magnet steel component holder 30, magnet steel element 31 and magnet steel component holder 30 are followed reduction box 2 output shafts and are moved together, by using the changes of magnetic field of hall device 43 detection magnet steel elements 31, can calculate the amount of spin of reduction box 2.
Claims (2)
1. the apery with moment and location aware thumb mechanism of doing evil through another person, it is by thumb motor (1), reduction box (2), deceleration block (3), moment sensor, position sensing device, pedestal (6), base joint shaft (7), torque sensor axle (10), nearly dactylus left plate (11), nearly dactylus right plate (12), nearly dactylus connecting rod pedestal (13), nearly dactylus connecting rod (14), pitman shaft (15), sleeve (45), ball pivot (16), ball pivot bearing pin (17), ball pivot cover (18), ball link (19), middle joint reel (20), middle joint reel axle (21), middle finger joint connecting rod (22), middle finger joint connecting rod lower shaft (23), axle (24) on the middle finger joint connecting rod, middle finger joint left plate (25), middle finger joint right plate (26), finger tip axle (27) and finger tip (28) are formed, the output of described motor (1) is connected with the input of reduction box (2), reduction box (2) is fixed on the pedestal (6) by deceleration block (3), it is characterized in that: described moment sensor is by large bevel gear (5), torque sensor (8), large bevel gear pin (9) and torque sensor foil gauge (29) are formed, described position sensing device is by cone pinion (4), magnet steel component holder (30), magnet steel element (31), hall device (43) and position sensing treatment circuit plate (42) are formed, cone pinion (4) is connected on the output shaft of reduction box (2), cone pinion (4) and large bevel gear (5) engagement, large bevel gear (5) is sleeved on the basic joint shaft (7), base joint shaft (7) is installed on the pedestal (6), base joint shaft (7) favours nearly dactylus left plate (11) and nearly dactylus right plate (12) is arranged, torque sensor (8) is affixed by large bevel gear pin (9) and large bevel gear (5), torque sensor axle (10) places between nearly dactylus left plate (11) and the nearly dactylus right plate (12) and with torque sensor (8) and nearly dactylus left plate (11) and nearly dactylus right plate (12) and links together, torque sensor foil gauge (29) is attached to the both sides of torque sensor (8), pitman shaft (15) places between nearly dactylus left plate (11) and the nearly dactylus right plate (12), nearly dactylus connecting rod pedestal (13) is fixed on the pedestal (6), one end of nearly dactylus connecting rod (14) is hinged with nearly dactylus connecting rod pedestal (13), the other end of one end of pitman shaft (15) and nearly dactylus connecting rod (14) links together by ball pivot bearing pin (17) and ball pivot (16), the other end of pitman shaft (15) is connected with nearly dactylus right plate (12) with nearly dactylus left plate (11) by sleeve (45), ball pivot (16) is installed in ball pivot cover (18) one ends pullover, one end of the other end of ball pivot cover (18) and ball link (19) is hinged together, the lower end of the other end of ball link (19) and middle joint reel (20) links together by pin, the rotating shaft of middle joint reel (20) is arranged on the upper end between nearly dactylus left plate (11) and the nearly dactylus right plate (12), the upper end of middle joint reel (20) is arranged on the lower end between middle finger joint left plate (25) and the middle finger joint right plate (26), and be connected with middle finger joint right plate (26) with middle finger joint left plate (25) by middle joint reel axle (21), middle finger joint connecting rod (22) is arranged between middle finger joint left plate (25) and the middle finger joint right plate (26), the lower end of middle finger joint connecting rod (22) is hinged with nearly dactylus left plate (11) and nearly dactylus right plate (12) by middle finger joint connecting rod lower shaft (23), the upper end of middle finger joint connecting rod (22) is hinged with finger tip (28) by axle (24) on the middle finger joint connecting rod, described finger tip axle (27) is arranged on the upper end between middle finger joint left plate (25) and the middle finger joint right plate (26), described finger tip (28) is hinged with middle finger joint left plate (25) and middle finger joint right plate (26) by finger tip axle (27), nearly dactylus left plate (11), nearly dactylus right plate (12), pedestal (6), nearly dactylus connecting rod (14) is formed a lanar four rod mechanism (40) with pitman shaft (15), nearly dactylus left plate (11), nearly dactylus right plate (12), pitman shaft (15), ball pivot cover (18), ball link (19) is formed a spatial four-bar mechanism (41) with middle joint reel (20), described magnet steel component holder (30) is placed in the hole of cone pinion (4), magnet steel element (31) is placed in the magnet steel component holder (30), and hall device (43) is affixed by position sensing treatment circuit plate (42) and pedestal (6).
2. according to the described apery of claim 1 thumb mechanism of doing evil through another person, it is characterized in that with moment and location aware: described basic joint shaft (7) and nearly dactylus left plate (11) and closely the complementary angle (α) at the inclination angle between the dactylus right plate (12) be 30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910071793 CN101524846B (en) | 2009-04-16 | 2009-04-16 | Humanoid artificial hand thumb mechanism having functions of torque and position sensing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910071793 CN101524846B (en) | 2009-04-16 | 2009-04-16 | Humanoid artificial hand thumb mechanism having functions of torque and position sensing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101524846A CN101524846A (en) | 2009-09-09 |
| CN101524846B true CN101524846B (en) | 2011-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910071793 Expired - Fee Related CN101524846B (en) | 2009-04-16 | 2009-04-16 | Humanoid artificial hand thumb mechanism having functions of torque and position sensing |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103830025B (en) * | 2014-03-18 | 2015-08-19 | 哈尔滨工业大学 | The two-freedom modularity with power position and tactilely-perceptible function is done evil through another person thumb |
| CN106038003B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | Artificial limb thumb |
| CN106038006B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | The nearly finger joint of artificial limb thumb and the attachment structure of base finger joint |
| CN105643644B (en) * | 2016-04-08 | 2017-11-14 | 哈尔滨工业大学 | The high artificial finger of drive lacking that coupling is had both with adaptive motion pattern |
| CN113043301B (en) * | 2019-12-27 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN111546366B (en) * | 2020-05-26 | 2022-04-15 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
| CN113069252B (en) * | 2021-03-30 | 2024-02-06 | 合肥工业大学 | Umbrella tooth connecting rod configuration bionic artificial limb |
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| CN1215926C (en) * | 2002-11-29 | 2005-08-24 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
| JP2005349490A (en) * | 2004-06-08 | 2005-12-22 | Sharp Corp | Multi-flexible multi-finger hand |
| CN1803413A (en) * | 2006-01-20 | 2006-07-19 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
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2009
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Patent Citations (3)
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|---|---|---|---|---|
| CN1215926C (en) * | 2002-11-29 | 2005-08-24 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
| JP2005349490A (en) * | 2004-06-08 | 2005-12-22 | Sharp Corp | Multi-flexible multi-finger hand |
| CN1803413A (en) * | 2006-01-20 | 2006-07-19 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
Non-Patent Citations (2)
| Title |
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| 刘伊威，金明河.DLR_HIT仿人机器人灵巧手的设计.《机械制造》.2006,第44卷(第507期), * |
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| CN101524846A (en) | 2009-09-09 |
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