CN101648381A

CN101648381A - Multi-joint linked multi-finger dexterous hand

Info

Publication number: CN101648381A
Application number: CN200910092411A
Authority: CN
Inventors: 战强; 杨双龙; 蔡尧; 杨睿
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2009-09-09
Filing date: 2009-09-09
Publication date: 2010-02-17
Anticipated expiration: 2029-09-09
Also published as: CN101648381B

Abstract

The invention discloses a multi-joint linked multi-finger dexterous hand which comprises a palm part and a plurality of finger parts used for grasping articles, wherein one end of each finger part ispivotally connected with the palm part; each finger part comprises a plurality of finger rods which are pivotally connected to form a whole body in sequence, and a transmission device is arranged among all finger rods and connected with a driving device arranged in the palm part. The dexterous hand can be driven only by one motor and also enable each finger part to be driven by an independent motor, and ensures that the control structure is relatively simple. The dexterous hand can envelope and grasp articles like a human hand while grasping the articles and improves the grasping stability.

Description

Multi-joint linked multi-finger dexterous hand

Technical field

The present invention relates to a kind of clamping device, more particularly, relate to a kind of multi-joint linked multi-finger dexterous hand that can be used for a plurality of fields such as scientific experiment, Aero-Space, industry, amusement, belong to the robot field.

Background technology

Along with development of science and technology, robot has obtained application more and more widely, and Dextrous Hand in the robot or robot gripper are the basic tools of robot complete operation.Although had various Dextrous Hand or clamper to occur at present, but usually clamper is that finger by rigidity combines, thereby causes clamper function singleness, bad adaptability, grasps different objects and need change different clampers, not only use inconvenience, and cost increases; Though robot delicate is made of the finger in a plurality of joints, adaptability is very strong, but each joint of finger all needs by a motor-driven, thereby cause whole Dextrous Hand the control device complexity, cost an arm and a leg, and the mode of general employing finger tip clamping when grasping operation, grasp instability, be difficult to be used widely.

For this reason, the present invention propose a kind of simple in structure, cost is low, it is strong and can carry out the multi-joint linked multi-finger dexterous hand that envelope grasps to object to grasp adaptability.

Summary of the invention

Main purpose of the present invention is to solve existing clamper because the rigidity characteristics of finger causes grasping the problem of bad adaptability, and robot delicate is owing to need a plurality of motor-driven exist to control complexity, problem that cost is high.

Multi-joint linked multi-finger dexterous hand among the present invention includes a metacarpus, and a plurality of fingers that are used to grasp object, and an end of each finger articulates by rotating shaft and described metacarpus; Described each finger has included and has a plurality ofly articulated all-in-one-piece in regular turn by rotating shaft and refer to bar, all refer to that the axis of the rotating shaft on the bar is parallel to each other, be that the rotation in the plane can only be done in each finger, each refers to that the effective length (i.e. distance between two rotating shafts on finger bar) of bar is all equal, each refers to be provided with between the bar transmission device of interlock, gearratio is 1: 1, and this transmission device connects with the drive unit that is located in the described metacarpus.The quantity of finger can be two, three, four, five or more, all fingers are interspersed in the both sides of metacarpus, if being the quantity of even number then both sides, the quantity of finger equates, if the quantity of finger is many one of the quantity of odd number then a side than opposite side.To stagger with the position, finger of opposite side in the installation site of one side finger, the finger motion that can guarantee a side so can not interfere with the finger of opposite side, and move to the finger that a time-out can guarantee both sides in all fingers and be staggered in together, but do not interfere, such layout mainly is finger and by the symmetry of contact point between the grabbing object when improving grabbing object, make grasp more reliable.The rotating shaft that all fingers, the same side and metacarpus articulate is on same straight line, and the finger, both sides is identical with the effective length that refers to bar with the distance that metacarpus articulates between the rotating shaft, and promptly metacarpus can be visualized as a finger bar.In each finger motion process of Dextrous Hand, all equate with angle between the metacarpus plane between the adjacent finger bar and with the finger bar of metacarpus pivot joint, all that can guarantee to be positioned on the finger of metacarpus both sides refer to that the central point envelope of bar becomes a circle, and envelope diameter of a circle can change along with the motion of finger in this, like this can realize the envelope of the big wisp of difference is grasped when move in the finger that drives this Dextrous Hand.All fingers only can drive with a motor, and drive motors is by gear or transmit motion to synchronously rotating shaft place that each finger links to each other with metacarpus gearratios such as motion transfering device such as band.

In addition, described metacarpus also can include a housing, and this enclosure interior is provided with a plurality of motors, this each motor by transmission devices such as gear train respectively with described each finger in transmission device connect.

Multi-joint linked multi-finger dexterous hand among the present invention is by means of the transmission device between the finger and refer to linkage between bar, can reduce drive unit, thereby simplify control device, reduces cost.

Multi-joint linked multi-finger dexterous hand among the present invention is further by means of the joint, finger and be staggered finger and the inner envelope circle that can form the different-diameter size that is arranged in the metacarpus both sides, make Dextrous Hand can grasp difform object, as cylinder, cuboid, orbicule and elastomeric objects or the like.

Multi-joint linked multi-finger dexterous Dextrous Hand among the present invention has following advantage:

1. the Dextrous Hand among the present invention adopts and refers to the identical finger structure in the identical and adjacent finger bar cramp of bar effective dimensions angle, and the finger interlaced arrangement is in the both sides of metacarpus, 1: 1 the same fast kind of drive is adopted in each finger, all that can guarantee Dextrous Hand refer to that bar constitutes the envelope circle of a vary in diameter at the mid point of motion process middle finger bar, make this Dextrous Hand can realize that the envelope of circle, sphere or rectangle object to different-diameter grasps, and, grasp reliable because contact point quantity is many;

2. all joint interlocks of each finger when grabbing object of the Dextrous Hand among the present invention, can carry out envelope to object as staff grasps, only can drive all fingers, also can make each finger, make control structure simple relatively by a motor-driven independently with a motor.

Description of drawings

Fig. 1 is the three-dimensional appearance schematic diagram of multi-joint linked multi-finger dexterous hand among the present invention;

Fig. 2 is that the size, both sides metacarpus of middle finger bar of the present invention articulates distance between the rotating shaft of finger, refers to that angle, first between the bar refers to the angle and the interior envelope circle diagram of bar and metacarpus;

Fig. 3 is the three transmission schematic diagrames that refer between bar among the present invention;

Drive unit and transmission front view among Fig. 4 the present invention in the metacarpus;

Fig. 5 is drive unit and the transmission side view in the metacarpus among the present invention.

Among the figure:

B 3-finger, A 2-finger, 1-finger C 4-metacarpus

20-refers to that bar A 21-refers to that bar B 22-refers to that bar C 30-refers to bar D

31-refers to that bar E 32-refers to bar F 101-lug F 201-lug G

202-directive wheel A 203-steel wire A 204-pivot A 205-directive wheel B

206-lug D 207-directive wheel C 208-lug B 209-steel wire B

210-pivot B 211-lug E 212-directive wheel D 213-lug C

301-lug H 401-motor 402-gear A 403-gear B

404-gear D 405-axle A 406-axle B 407-belt wheel A

408-is with 409-belt wheel B 410-gear C synchronously

The specific embodiment

Below in conjunction with accompanying drawing the specific embodiment among the present invention is described in further detail.

As shown in Figure 1, the present invention is embodiment with the multi-joint linked multi-finger dexterous hand that is provided with three fingers and each finger and is provided with three joints, certainly, the finger can change according to different demands at any time with the quantity in joint, and both quantity is also not necessarily identical.The quantity that is the finger can be two, three, four or five, even more than five; And the quantity in joint also can be two, three, four, five, more than six even six.Finger among the present invention is the staggered both sides that are distributed in metacarpus, runs foul of each other to prevent Dextrous Hand each finger when the clamping wisp.

As depicted in figs. 1 and 2, the multi-joint linked multi-finger dexterous hand among the present invention includes and one can be installed in metacarpus 4 in the robot, three finger A1, B2, C3 that are interlaced setting, is located at the drive units in the metacarpus 4 and connects the transmission device of be used to link finger A1, B2, C3 with this drive unit.Metacarpus 4 includes a square casing, and this housing also can be other and be convenient to the shape of installing and placing, and is not limited thereto, and this housing is provided with a drive unit in its inside, and this drive unit is a motor 401, as Fig. 5.Finger B2 comprises finger bar A20, B21, C22, all refer to that the effective length of bar A20, B21, C22, the effective length of metacarpus 4 equate with the effective length that refers to bar, and refer to bar A20, refer to bar B21, refer between the bar C22 and refer to that bar A20 also equates with angle between the metacarpus 4, like this refer to bar A20, refer to bar B21, refer to bar C22, refer to bar D30, refer to bar E31, refer to bar F32, the mid point of metacarpus 4 can constitute an interior envelope and justify.Because gearratio is between 1: 1 and the adjacent finger bar and refers to that bar A20 all equates with angle between the metacarpus plane between the adjacent finger bar of each finger, therefore all refer to that the velocity of rotation of bar is identical, in the process that refers to the bar motion, the interior envelope diameter of a circle that refer to bar A20, refer to bar B21, refer to bar C22, metacarpus 4 is constituted also can change, and can realize thus the envelope of different-diameter object is grasped.Because the quantity of contact point is many, can be reliable stable so grasp.

As shown in Figure 3, finger B2 includes three finger bar A20 that are hollow form, refers to bar B21, refers to bar C22, refer to bar 20, refer to bar B21, refer to that the end of bar C22 is respectively arranged with a lug A201, lug B208, lug C213 in the centre position, lug B208, lug C213 are fixedlyed connected with pivot A204, pivot B210 by key respectively.Refer to bar A20, refer to that the other end of bar B21 respectively is provided with lug D206, the lug E211 of a symmetry in its both sides, respectively be provided with the circular hole of concentric on this lug D206, the lug E211, bearing is housed with supporting pivot A204, pivot B210 in the circular hole, will refers to bar A20 and finger bar B21, refer to that bar B21 articulates formation one finger B2 in regular turn with referring to bar C22 by pivot pivot A204, pivot B210 and lug A201, lug B208, lug C213, lug D206, lug E211.B2 inside, finger is provided with the transmission device of an interlock, and the transmission device of this interlock includes directive wheel A202, directive wheel B205, directive wheel C207, directive wheel D212 and and the steel wire A203 of directive wheel A202, directive wheel B205 winding and the steel wire B209 that twines with directive wheel C207, directive wheel D212 of fixedlying connected with pivot A204, pivot B210 by key.The diameter of all directive wheels is identical, can guarantee to refer to bar A20, refers to bar B21, refer to that the gearratio between the bar C22 is 1: 1: 1, promptly refer to bar C22 with respect to B21, refer to bar B21 with respect to referring to bar A20, referring to that bar A20 is all identical with respect to the corner of metacarpus 4.Utilizing drive unit, transmission device can drive finger 2 like this does and grasps action.But need emphasize a bit that at this transmission device also can be replaced by other structures with identical function, as chain, sprocket wheel, belt wheel etc., does not limit to the structure that present embodiment is lifted, as long as gearratio is 1: 1.

As shown in Figure 4 and Figure 5, enclosure interior is provided with a motor 401, the output shaft of this motor is by gear A 402, gear B 403, gear C 410 passes motion to gear D 404 and axle A405, the lug F101 of finger A1 and the lug G201 of finger B2 and axle A405 connect firmly together by key, the fixing synchronous pulley A407 of the end of axle C411 is delivered to a synchronous pulley B409 and a B406 by being with 408 1: 1 ground that will move synchronously, synchronous pulley B409 connects firmly on axle B406 by key, axle B406 connects firmly by the lug H301 of key and finger C3, like this can guarantee motor 401 the motion constant speed passed to finger A1, finger B2, finger C3 makes its synchronized movement.

In addition, also a plurality of motors can be set in enclosure interior, the quantity of this motor is identical with the quantity of finger, promptly a motor drives a finger respectively, but each finger self-movement, the independence and freedom degree and the flexibility that can improve whole Dextrous Hand can grasp complex-shaped object.

Claims

1. multi-joint linked multi-finger dexterous hand, it is characterized in that: it includes a metacarpus and a plurality of finger that is used to grasp object, one end of each finger articulates by rotating shaft and described metacarpus, described each finger has included and has a plurality ofly articulated all-in-one-piece in regular turn by rotating shaft and refer to bar, all refer to that the shaft axis of bar is parallel to each other, and all refer to that the effective length of bar equates; Be provided with transmission device between each adjacent finger bar of described each finger, gearratio is 1: 1, and this transmission device drive unit interior with being located at described metacarpus connects; All fingers are interspersed in the both sides of metacarpus, promptly a side finger can not interfere with the finger of opposite side or collide in the process of motion, the rotating shaft that all fingers, the same side and metacarpus articulate is on same straight line, and the finger, both sides is identical with the effective length that refers to bar with the distance that metacarpus articulates between the rotating shaft; Motor in the metacarpus by devices such as gear train or cog belt with the gearratios such as rotation of motor pass to the transmission device of each finger, a motor-driven is only used in all fingers.

2. according to the multi-joint linked multi-finger dexterous hand described in the claim 1, it is characterized in that: describedly refer to that respectively the transmission device between bar is steel wire and directive wheel.

3. according to the multi-joint linked multi-finger dexterous hand described in the claim 1, it is characterized in that: describedly refer to that respectively the transmission device between bar is many groups the be meshing with each other cog belt and the belt wheels of transmission.

4. according to the multi-joint linked multi-finger dexterous hand described in the claim 1, it is characterized in that: describedly refer to that respectively the transmission device between bar is many groups the be meshing with each other chain and the sprocket wheels of transmission.

5. according to the multi-joint linked multi-finger dexterous hand described in the claim 1, it is characterized in that: the quantity of described finger is two, three, four or five, and described finger is the staggered both sides of being located at metacarpus.

6. according to the multi-joint linked multi-finger dexterous hand described in the claim 1, it is characterized in that: the quantity of described finger bar is n, n=2,3,4 ..., finger bar that articulates between the adjacent finger bar and with metacarpus and the angle between the metacarpus plane all equal 180n/ (n+1) and spend.