CN102085661A - All-drive type smart manipulator - Google Patents

Abstract

The invention discloses a fully-driven dexterous manipulator. Including chute-type palm, four fingers and thumb; the thumb and four fingers all include upper knuckles, middle knuckles, lower knuckles and base joints in turn, and the base joints of the four fingers are respectively parallel in the same direction through their respective rectangular fixed blocks Installed in the chute-type palm; the base joint of the thumb is vertically installed on the chute-type palm through the circular fixed block on the thumb installation and adjustment structure, and the thumb installation and adjustment structure is installed in the chute at the lower part of the chute-type palm. The installation position and orientation are manually adjusted and then fixed; the five fingers respectively form three active bending degrees of freedom and one active side swing degree of freedom; there are twenty active degrees of freedom in total. All are driven by built-in stepping motors, and the joints are rotated by spiral bevel gears with high motion precision. The mechanical structure with adjustable orientation and installation position of the thumb improves the dexterity and grasping stability of the manipulator and increases the grasping space of the manipulator.

Description

Fully-driven dexterous manipulator

technical field

The invention relates to a robot manipulator, in particular to a fully driven dexterous manipulator with 20 active degrees of freedom and adjustable orientation and installation position of the thumb.

Background technique

With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, a dexterous manipulator (referred to as dexterous hand) came into being. The dexterous hand has multiple degrees of freedom, can grasp objects of various shapes and materials, and can also perform fine manipulations on the grasped objects. Using it instead of a special gripper and installing it at the end of the robot manipulator can not only expand the working range of the robot, but also improve the working quality of the robot.

In the early 1860s, Tomovic and Boni of Yugoslavia developed the first mechanical hand with five fingers and five degrees of freedom. In the 1970s, a variety of universal grippers were invented. For example, Japan Hanafusa developed a three-finger hand mechanism, each finger has one degree of freedom; American Crossley developed a three-finger eight-degree-of-freedom mechanism, one of which has two degrees of freedom , and the other two fingers have three degrees of freedom respectively. In the 1980s, Salisbury, Jacobsen and others proposed the research idea of imitating the human hand to design a universal gripper, and developed a multi-finger, multi-joint, multi-degree-of-freedom JPL dexterous hand mechanism; Japanese scholar T.Okada developed a three-finger ten A dexterous hand with one degree of freedom; the MIT hand was developed by Utah University in the United States. At the end of the 1990s and the beginning of the 21st century, the research and development of the dexterous hand entered a new stage. The number of joints and the index of the hand gradually approached that of the human hand. Among them, the more representative ones are: the NASA dexterous hand successfully developed in 1999, consisting of four The finger and an opposite thumb are composed of 14 degrees of freedom, driven by 14 DC brushless motors, which are very similar to the size of the human hand and have good flexibility; in 2003, Haruhisa, Kawasaki, Gifu University, Japan developed the Gifu III dexterous hand. The Gifu Ⅲ hand is an anthropomorphic electric dexterous hand, slightly larger in size and closer in shape to a human hand. It has five fingers and 16 degrees of freedom, with high dexterity and precise control. The BH-3 hand developed by the Institute of Robotics, Beihang University has three fingers, and each finger has three joints, with a total of 9 degrees of freedom. In 2008, Harbin Institute of Technology developed the HIT/DLRⅡ multi-fingered dexterous hand, each finger has 3 degrees of freedom, a total of 15 degrees of freedom.

Contents of the invention

The object of the present invention is to provide a fully driven dexterous manipulator with multiple degrees of freedom and multiple joints, capable of grasping objects of different shapes and materials. It can replace human hands and work in environments where humans cannot be present or in harsh environments.

The technical solution adopted by the present invention to solve its technical problems is:

The present invention comprises chute-type palm, four fingers and thumb; the thumb and four fingers all include upper knuckles, middle knuckles, lower knuckles and base joints in turn, and the base joints of the four fingers are respectively unified by respective rectangular fixing blocks. The direction is parallel installed in the chute-type palm; the base joint of the thumb is vertically installed on the chute-type palm through the circular fixed block on the thumb installation and adjustment structure, and the thumb installation and adjustment structure is installed in the chute at the lower part of the chute-type palm. The installation position and orientation of the thumb are manually adjusted and then fixed; the five fingers constitute three active bending degrees of freedom and one active side swinging degree of freedom; the fully-driven dexterous manipulator has a total of twenty active degrees of freedom.

The upper knuckle includes an upper knuckle body, an upper driven spiral bevel gear, an upper transmission shaft, an upper driving helical bevel gear, an upper stepping motor and a middle knuckle body; The active spiral bevel gear, through the upper driven spiral bevel gear and the upper transmission shaft, drives the upper knuckle body to rotate, forming an active bending degree of freedom of the upper knuckle; the upper transmission shaft, the upper knuckle body and the upper driven spiral bevel gear Fixed connection, sliding connection with the middle phalanx.

The middle finger joint includes a middle knuckle body, a middle driven spiral bevel gear, a middle transmission shaft, a middle driving spiral bevel gear, a middle stepping motor and a lower knuckle body; the middle stepping motor installed in the lower knuckle body drives the middle active The spiral bevel gear, through the middle driven spiral bevel gear and the middle transmission shaft, drives the middle knuckle body to rotate, forming an active bending degree of freedom of the middle finger joint; the middle transmission shaft is fixedly connected with the middle knuckle body and the middle driven spiral bevel gear, and Lower knuckle body sliding joint.

The lower knuckle includes a lower knuckle body, a lower transmission shaft, a shaft block, a lower stepping motor, a lower driving spiral bevel gear and a lower driven spiral bevel gear; The active spiral bevel gear, through the lower driven spiral bevel gear and the lower transmission shaft, drives the lower knuckle body to rotate, forming an active lateral swing degree of freedom of the lower knuckle; the lower transmission shaft, the lower knuckle body and the lower driven spiral cone The gear is fixedly connected, and is slidably connected with the coupling block.

The base joint includes a connecting shaft block, a base transmission shaft, a base driving spiral bevel gear, a base driven spiral bevel gear, a base stepping motor and a rectangular fixed block; the base stepping motor installed in the rectangular fixed block drives the base active The spiral bevel gear, through the base driven spiral bevel gear and the base transmission shaft, drives the connecting shaft block to rotate, forming an active bending degree of freedom of the base knuckle; the base transmission shaft is fixedly connected with the connecting shaft block and the base driven spiral bevel gear, Sliding connection with rectangular fixed block.

The thumb installation adjustment structure includes a circular fixed block, a left stop bar and a right stop bar; the base joint of the thumb is installed in the circular fixed block, and the thumb base transmission shaft is rotated along the side arc groove of the circular fixed block to adjust the thumb The installation orientation, the circular fixed block is installed in the chute of the chute-type palm, and the circular fixed block is moved along the chute of the chute-type palm to adjust the installation position of the thumb, and the left and right stopper bars are passed through the bolts Secures on chute-style palm.

Compared with the background technology, the present invention has the beneficial effects of:

1. This invention is driven by a built-in stepping motor, and the joint rotation is realized through the spiral bevel gear, with stable movement and high transmission precision.

2. The invention designs a mechanical structure with adjustable orientation and installation position of the thumb, which improves the dexterity and grasping stability of the manipulator, and increases the grasping space of the manipulator.

3. The present invention has twenty active degrees of freedom, which enhances the grasping ability of the dexterous manipulator. It can replace human hands and work in harsh environments where humans cannot be present. .

Therefore, the present invention can satisfy the performance of the dexterous manipulator of the robot.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a schematic diagram of the finger structure principle of the present invention;

Fig. 3 is a schematic diagram of the upper knuckle of the present invention;

Fig. 4 is a schematic diagram of the middle finger joint of the present invention;

Fig. 5 is a schematic diagram of the lower knuckle of the present invention;

Fig. 6 is a schematic diagram of the base joint of the present invention;

Fig. 7 is a schematic diagram of the installation and adjustment structure of the thumb of the present invention.

In the figure: 1. Chute-type palm, 2. Four fingers, 3. Thumb, 4. Thumb installation and adjustment structure, 5. Upper finger joint, 6. Middle finger joint, 7. Lower finger joint, 8. Base joint, 9 .Rectangular fixed block, 10. Circular fixed block, 11. Upper knuckle body, 12. Upper driven spiral bevel gear, 13. Upper transmission shaft, 14. Upper driving spiral bevel gear, 15. Upper stepper motor, 16 .Middle knuckle body, 17. Middle driven spiral bevel gear, 18. Middle transmission shaft, 19. Middle driving spiral bevel gear, 20. Middle stepping motor, 21. Lower knuckle body, 22. Lower transmission shaft, 23. Coupling block, 24. Lower stepping motor, 25. Lower driving spiral bevel gear, 26. Lower driven spiral bevel gear, 27. Base stepping motor, 28. Left bumper, 29. Right bumper, 30. Bolt , 31. Thumb base drive shaft.

Detailed ways

Below in conjunction with accompanying drawing and example the present invention will be further described

As shown in Fig. 1, Fig. 2, Fig. 7, the present invention comprises chute type palm 1, four fingers 2 and thumb 3; Thumb 3 and four fingers 2 all comprise upper finger joint 5, middle finger joint 6, lower finger Joint 7 and base joint 8, the base joints of the four fingers are respectively installed in parallel in the chute type palm 1 through respective rectangular fixing blocks 9 in the same direction; 10 is vertically installed on the chute-type palm 1, the thumb installation adjustment structure 4 is installed in the chute at the lower part of the chute-type palm 1, and the installation position and orientation of the thumb 3 are manually adjusted and fixed; the five fingers respectively constitute three active bends degrees of freedom and one active side swing degree of freedom; the fully driven dexterous manipulator has a total of twenty active degrees of freedom.

As shown in Figures 2 and 3, the upper knuckle includes an upper knuckle body 11, an upper driven spiral bevel gear 12, an upper transmission shaft 13, an upper driving spiral bevel gear 14, an upper stepping motor 15 and a middle knuckle Body 16. The upper stepping motor 15 installed in the middle knuckle body 16 drives the upper driving spiral bevel gear 14, and through the upper driven spiral bevel gear 12 and the upper transmission shaft 13, the upper knuckle body 11 is driven to rotate, forming the bending freedom of the upper knuckle degree; the upper transmission shaft 13 is fixedly connected with the upper knuckle body 11 and the upper driven spiral bevel gear 12, and is slidably connected with the middle knuckle body 16.

As shown in Figures 2 and 4, the middle finger joint includes a middle knuckle body 16, a middle driven spiral bevel gear 17, a middle transmission shaft 18, a middle driving spiral bevel gear 19, a middle stepping motor 20 and a lower knuckle body twenty one. The middle stepping motor 20 installed in the lower knuckle body 21 drives the middle driving spiral bevel gear 19, and drives the middle knuckle body 16 to rotate through the middle driven spiral bevel gear 17 and the middle transmission shaft 18, forming the bending freedom of the middle knuckle; The middle transmission shaft 18 is fixedly connected with the middle knuckle body 16 and the middle driven spiral bevel gear 17, and is slidably connected with the lower knuckle body 21.

As shown in Fig. 2 and Fig. 5, the described lower knuckle includes the lower knuckle body 21, the lower transmission shaft 22, the connecting shaft block 23, the lower stepper motor 24, the lower driving spiral bevel gear 25 and the lower driven spiral bevel Gear 26; the lower stepper motor 24 installed in the lower knuckle body 21 drives the lower driving spiral bevel gear 25, and through the lower driven spiral bevel gear 26 and the lower transmission shaft 22, the lower knuckle body 21 is driven to rotate to form the lower knuckle The side swing degree of freedom; the lower transmission shaft 22 is fixedly connected with the lower knuckle body 21 and the lower driven spiral bevel gear 26, and is slidably connected with the connecting shaft block 23.

As shown in Fig. 2 and Fig. 6, the base joint includes a connecting shaft block 23, a base transmission shaft 24, a base driving spiral bevel gear 25, a base driven spiral bevel gear 26, a base stepping motor 27 and a rectangular fixed block 9 ; The base stepper motor 27 that is installed in the rectangular fixed block 9 drives the base driving spiral bevel gear 25, and through the base driven spiral bevel gear 26 and the base transmission shaft 24, drives the connecting shaft block 23 to rotate, forming the bending freedom of the base knuckle degree; the base transmission shaft 24 is fixedly connected with the connecting shaft block 23 and the base driven spiral bevel gear 26, and is slidably coupled with the rectangular fixed block 9.

As shown in Figures 2 and 7, the thumb mounting adjustment structure includes a circular fixing block 10, a left stop bar 28 and a right stop bar 29; the base joint of the thumb 3 is installed in the circular fixing block 10, along the circular The side arc groove of the fixed block 10 rotates the thumb base drive shaft 31 to adjust the installation orientation of the thumb 3. The circular fixed block 10 is installed in the chute of the chute-type palm 1, and moves circularly along the chute of the chute-type palm 1. The fixed block 10 adjusts the installation position of the thumb 3, and is fixed on the chute type palm 1 through the bolt 30 by the left stop bar 28 and the right stop bar 29.

Claims (6)

1. the dexterous manipulator of full drive-type is characterized in that: comprise chute-type palm (1), four finger and thumbs (3); Thumb (3) and four fingers all comprise articulations digitorum manus, middle articulations digitorum manus, articulations digitorum manus and basic joint down successively, and the basic joint of four fingers same direction of rectangle fixed block by separately respectively is installed in parallel in the chute-type palm (1); The basic joint of thumb (3) is installed the circular fixed block of adjusting on the structure (4) (10) through thumb and is vertically mounted on the chute-type palm (1), thumb is installed adjustment structure (4) and is installed in the chute of chute-type palm (1) bottom, the installation site of thumb (3) and fixing towards manual adjustment back; Five fingers constitute three crooked frees degree of active and an active side-sway free degree respectively; The dexterous manipulator of full drive-type has 20 initiatively frees degree.

2. a kind of full drive-type dexterity manipulator according to claim 1 is characterized in that: the described articulations digitorum manus of going up comprises dactylus body (11), goes up driven spiral bevel gear (12), goes up power transmission shaft (13), goes up active spiral bevel gear (14), goes up stepper motor (15) and middle finger joint body (16); Be installed in active spiral bevel gear (14) in last stepper motor (15) driving in the middle finger joint body (16), through last driven spiral bevel gear (12) and last power transmission shaft (13), dactylus body (11) rotates in the drive, articulations digitorum manus crooked free degree of active in the formation; Last power transmission shaft (13) connects firmly with last dactylus body (11) and last driven spiral bevel gear (12), is slidingly connected with middle finger joint body (16).

3. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: in described articulations digitorum manus comprise middle finger joint body (16), in driven spiral bevel gear (17), middle power transmission shaft (18), middle active spiral bevel gear (19), middle stepper motor (20) and following dactylus body (21); Be installed in down active spiral bevel gear (19) in middle stepper motor (20) driving in the dactylus body (21), driven spiral bevel gear (17) and middle power transmission shaft (18) in the warp drive middle finger joint body (16) and rotate articulations digitorum manus crooked free degree of active in the formation; In power transmission shaft (18) and middle finger joint body (16) and in driven spiral bevel gear (17) connect firmly, be slidingly connected with following dactylus body (21).

4. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: articulations digitorum manus comprises dactylus body (21), lower drive shaft (22), connecting shaft piece (23), following stepper motor (24), following initiatively spiral bevel gear (25) and following driven spiral bevel gear (26) down under described; Be installed in down active spiral bevel gear (25) under following stepper motor (24) driving in the dactylus body (21), warp is driven spiral bevel gear (26) and lower drive shaft (22) down, and dactylus body (21) rotation under the drive, formation be an active side-sway free degree of articulations digitorum manus down; Lower drive shaft (22) connects firmly with following dactylus body (21) and following driven spiral bevel gear (26), is slidingly connected with connecting shaft piece (23).

5. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: described basic joint comprises connecting shaft piece (23), basic power transmission shaft (24), base initiatively spiral bevel gear (25), basic driven spiral bevel gear (26), basic stepper motor (27) and rectangle fixed block (9); The basic stepper motor (27) that is installed in the rectangle fixed block (9) drives initiatively spiral bevel gear (25) of base, through driven spiral bevel gear of base (26) and basic power transmission shaft (24), drives connecting shaft piece (23) and rotates, and forms the crooked free degree of active of basic articulations digitorum manus; Base power transmission shaft (24) connects firmly with connecting shaft piece (23) and basic driven spiral bevel gear (26), is slidingly connected with rectangle fixed block (9).

6. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: described thumb is installed the adjustment structure and is comprised circular fixed block (10), left side retaining thick stick (28) and right retaining thick stick (29); The basic joint of thumb (3) is installed in the circular fixed block (10), side arc groove rotation thumb base power transmission shaft (31) along circular fixed block (10), the installation of adjusting thumb (3) towards, circular fixed block (10) is installed in the chute of chute-type palm (1), chute along chute-type palm (1) moves circular fixed block (10), adjust the installation site of thumb (3), and be fixed on the chute-type palm (1) through bolt (30) by left side retaining thick stick (28) and right retaining thick stick (29).

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