CN102085661B - All-drive type smart manipulator - Google Patents
All-drive type smart manipulator Download PDFInfo
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- CN102085661B CN102085661B CN2010105942186A CN201010594218A CN102085661B CN 102085661 B CN102085661 B CN 102085661B CN 2010105942186 A CN2010105942186 A CN 2010105942186A CN 201010594218 A CN201010594218 A CN 201010594218A CN 102085661 B CN102085661 B CN 102085661B
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- bevel gear
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- chute
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Abstract
The invention discloses an all-drive type smart manipulator. The all-drive type smart manipulator comprises a chute type palm, four fingers and a thumb, wherein the thumb and the four fingers respectively sequentially comprise an upper metacarpophalangeal joint, a middle metacarpophalangeal joint, a lower metacarpophalangeal joint and a basic joint, the basic joints of the four fingers are respectively arranged in the chute type palm in parallel in the same direction by virtue of respective rectangular fixed blocks; the basic joint of the thumb is vertically arranged on the chute type palm by virtue of a round fixed block on a thumb mounting and adjusting structure, the thumb mounting and adjusting structure is arranged in a chute at the lower part of the chute type palm, and the mounting position and orientation of the thumb are manually adjusted and fixed; and the five fingers respectively form three driving curve degrees of freedom and one driving sway degree of freedom, so that twenty driving degrees of freedom are formed in total. The fingers are all driven by adopting a built-in stepping motor, a spiral bevel gear is adopted to realize rotation of the joints, and the kinematic accuracy is high. The orientation and mounting position of the thumb can be adjusted in the mechanical structure in the invention, thus the dexterity and grabbing stability of the manipulator are improved, and the grabbing space of the manipulator is increased.
Description
Technical field
The present invention relates to a kind of robot mechanical arm, specifically relate to have 20 initiatively frees degree, thumb towards with the dexterous manipulator of the adjustable full drive-type in installation site.
Background technology
Along with the continuous expansion in rapid development of modern science and technology and robot application field, original robot end's operator can not satisfy current production demand.Common end-effector method of clamping is single, activity space is little in order to overcome, lack flexibility, be difficult to shortcoming such as accurately control, and dexterous type manipulator (abbreviation Dextrous Hand) arises at the historic moment.Dextrous Hand has a plurality of frees degree, can grasp the object of multiple shape, unlike material, can also carry out accurate operation to the object that is grasped.Replace special-purpose clamper with it, be installed to the robotic manipulator end, can not only enlarge the job area of robot, can also improve the operation quality of robot.
Earlier 1860s, Yugoslavia Tomovic and Boni have been developed first manipulator, and it has five fingers and five frees degree.The seventies has been invented multiple universal gripper, has developed one three like Japanese Hanafusa and has referred to the mobile phone structure, and each finger has one degree of freedom; U.S. Crossley has developed three and has referred to eight degrees of freedom mechanism, and one of them finger has two frees degree, and two fingers have three degree of freedom respectively in addition.The eighties, Salisbury, people such as Jacobsen propose to simulate the research idea that staff designs universal gripper, have developed many fingers, multi-joint, multivariant JPL Dextrous Hand mechanism; Japan scholar T.Okada has developed three and has referred to ten one degree of freedom Dextrous Hand; U.S. Utah university has developed the MIT hand.Late nineteen nineties earlier 2000s, the research and development of Dextrous Hand have got into a new stage, close joint number, finger number gradually to staff near; Wherein more representational have: the NASA Dextrous Hand of succeeding in developing in 1999; Form by four fingers and the relative thumb in position, have 14 frees degree, by 14 driven by Brush-Less DC motor; It is very similar in staff appearance and size, has good flexibility; The Haruhisa of Gifu, Japan university in 2003, people such as Kawasaki have researched and developed Gifu III Dextrous Hand.Gifu III hand is anthropomorphic electronic Dextrous Hand, and size is slightly larger than staff, and profile has five finger ten six-freedom degrees more near staff, has higher dexterity and accurately controlled.The BH-3 hand that BJ University of Aeronautics & Astronautics's robot research is developed has three fingers, and each finger has three joints, totally 9 frees degree.Harbin Institute of Technology had developed HIT/DLR II multi-finger clever hand in 2008, and each finger has 3DOF, had 15 frees degree.
Summary of the invention
The object of the present invention is to provide the dexterous manipulator of a kind of full drive-type, have multiple degrees of freedom, multi-joint, can grasp the Dextrous Hand of difformity, unlike material object.It can substitute staff, the mankind can't come to personally or rugged environment in work.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention includes chute-type palm, four finger and thumbs; Thumb 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 through separately respectively is installed in parallel in the chute-type palm; The basic joint of thumb is installed the structural circular fixed block of adjustment through thumb and is vertically mounted on the chute-type palm, and thumb is installed the adjustment structure and is installed in the chute of chute-type palm bottom, the installation site of thumb and fixing after manual adjustment; 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.
The described articulations digitorum manus of going up comprises the dactylus body, goes up driven spiral bevel gear, goes up power transmission shaft, goes up the active spiral bevel gear, goes up stepper motor and middle finger joint body; Be installed in active spiral bevel gear on the last step motor drive in the middle finger joint body, through last driven spiral bevel gear and last power transmission shaft, the dactylus body rotates in the drive, articulations digitorum manus crooked free degree of active in the formation; Last power transmission shaft and last dactylus body and last driven spiral bevel gear connect firmly, and are slidingly connected with the middle finger joint body.
In described articulations digitorum manus comprise the middle finger joint body, in driven spiral bevel gear, middle power transmission shaft, middle active spiral bevel gear, middle stepper motor and following dactylus body; Be installed in down active spiral bevel gear in the middle step motor drive in the dactylus body, driven spiral bevel gear and middle power transmission shaft in the warp drive the middle finger joint body and rotate articulations digitorum manus crooked free degree of active in the formation; In power transmission shaft and middle finger joint body and in driven spiral bevel gear connect firmly, be slidingly connected with following dactylus body.
Articulations digitorum manus comprises dactylus body, lower drive shaft, connecting shaft piece, following stepper motor, following initiatively spiral bevel gear and following driven spiral bevel gear down under described; Be installed in down active spiral bevel gear under the following step motor drive in the dactylus body, warp is driven spiral bevel gear and lower drive shaft down, and drive dactylus body rotation down, formation be an active side-sway free degree of articulations digitorum manus down; Lower drive shaft connects firmly with following dactylus body and following driven spiral bevel gear, is slidingly connected with the connecting shaft piece.
Described basic joint comprises connecting shaft piece, basic power transmission shaft, base initiatively spiral bevel gear, basic driven spiral bevel gear, basic stepper motor and rectangle fixed block; Be installed in the basic step motor drive base active spiral bevel gear in the rectangle fixed block,, drive the connecting shaft piece and rotate, form the crooked free degree of active of basic articulations digitorum manus through basic driven spiral bevel gear and basic power transmission shaft; Base power transmission shaft and connecting shaft piece and basic driven spiral bevel gear connect firmly, and are slidingly connected with the rectangle fixed block.
Described thumb is installed the adjustment structure and is comprised circular fixed block, left side retaining thick stick and right retaining thick stick; The basic joint of thumb is installed in the circular fixed block; Side arc groove rotation thumb base power transmission shaft along circular fixed block; The installation of adjustment thumb towards, circular fixed block is installed in the chute of chute-type palm, moves circular fixed block along the chute of chute-type palm; The installation site of adjustment thumb, and keep off thick stick by a left side and keep off thick stick through being bolted on the chute-type palm with the right side.
The present invention compares with background technology, and the beneficial effect that has is:
1. the present invention adopts built-in step motor drive, realizes joint rotation through spiral bevel gear, and motion is steady, and transmission accuracy is high.
The present invention designed thumb towards with the adjustable frame for movement in installation site, improved the dexterity and the grasp stability of manipulator, the extracting space that has increased manipulator.
3. the present invention has 20 initiatively frees degree, has strengthened the ability that grasps of dexterous manipulator, and it can substitute staff, the mankind can't come to personally or rugged environment in work.。
Therefore, the present invention can satisfy the performance of dexterous robot manipulator.
Description of drawings
Fig. 1 is an overall structure principle schematic of the present invention;
Fig. 2 is a finger structure principle schematic of the present invention;
Fig. 3 is the articulations digitorum manus sketch map of going up of the present invention;
Fig. 4 is a middle articulations digitorum manus sketch map of the present invention;
Fig. 5 is an articulations digitorum manus sketch map down of the present invention;
Fig. 6 is a basic joint of the present invention sketch map;
Fig. 7 is that thumb of the present invention is installed the adjustment structural representation.
Among the figure: 1. chute-type palm, 2. four fingers, 3. thumb, 4. thumb is installed the adjustment structure, 5. goes up articulations digitorum manus, 6. in articulations digitorum manus; 7. descend articulations digitorum manus, 8. basic joint, 9. rectangle fixed block, 10. circular fixed block, dactylus body on 11.; 12. go up driven spiral bevel gear, power transmission shaft on 13., spiral bevel gear initiatively on 14., stepper motor on 15., 16. middle finger joint bodies; 17. in driven spiral bevel gear, power transmission shaft in 18., spiral bevel gear initiatively in 19., stepper motor in 20., 21. times dactylus bodies; 22. lower drive shaft, 23. connecting shaft pieces, 24. times stepper motors, 25. times active spiral bevel gears, 26. times driven spiral bevel gears; 27. basic stepper motor, 28. left side retaining thick sticks, 29. right retaining thick sticks, 30. bolts, 31. thumb base power transmission shafts.
The specific embodiment
Below in conjunction with accompanying drawing and instance the present invention is described further
Like Fig. 1, Fig. 2, shown in Figure 7, the present invention includes chute-type palm 1, four fingers 2 and thumb 3; The basic joint that thumb 3 and four finger 2 all comprises articulations digitorum manus 5, middle articulations digitorum manus 6, time articulations digitorum manus 7 and 8, four fingers in the basic joint successively rectangle fixed block 9 same directions through separately respectively is installed in parallel in the chute-type palm 1; The circular fixed block 10 that install on the adjustment structure 4 through thumb in the basic joint of thumb 3 is vertically mounted on the chute-type palm 1, and 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 after manual adjustment; 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.
Like Fig. 2, shown in Figure 3, the described articulations digitorum manus of going up comprises dactylus body 11, upward 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.The last stepper motor 15 that is installed in the middle finger joint body 16 drives upward initiatively spiral bevel gear 14, and through last driven spiral bevel gear 12 and last power transmission shaft 13, dactylus body 11 rotates the crooked free degree of articulations digitorum manus in the formation in the drive; Last power transmission shaft 13 connects firmly with last driven spiral bevel gear 12 with last dactylus body 11, is slidingly connected with middle finger joint body 16.
Like Fig. 2, shown in Figure 4, described in 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 drivings in the dactylus body 21, driven spiral bevel gear 17 and middle power transmission shaft 18 in the warp drive 16 rotations of middle finger joint body, the crooked free degree of articulations digitorum manus in the formation; In power transmission shaft 18 and middle finger joint body 16 with in driven spiral bevel gear 17 connect firmly, be slidingly connected with following dactylus body 21.
Like Fig. 2, shown in Figure 5, described down articulations digitorum manus comprises down dactylus body 21, lower drive shaft 22, connecting shaft piece 23, stepper motor 24, initiatively spiral bevel gear 25 and driven spiral bevel gear 26 down down down; The following stepper motor 24 that is installed in down in the dactylus body 21 drives down initiatively spiral bevel gear 25, and down driven spiral bevel gear 26 of warp and lower drive shaft 22 drive dactylus body 21 rotations down, form the 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.
Like Fig. 2, shown in Figure 6, 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 basic driven spiral bevel gear 26 and basic power transmission shaft 24, drives connecting shaft piece 23 and rotates, and forms the crooked free degree 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.
Like Fig. 2, shown in Figure 7, 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 adjustment thumb 3 towards, circular fixed block 10 is installed in the chute of chute-type palm 1, moves circular fixed block 10 along the chute of chute-type palm 1; 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.
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 through separately respectively is installed in parallel in the chute-type palm (1); The circular fixed block (10) that install on the adjustment structure (4) through thumb in the basic joint of thumb (3) 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 after manual adjustment; 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 basic driven spiral bevel gear (26) and basic power transmission shaft (24), drives connecting shaft piece (23) and rotates, and forms the crooked free degree of active in basic joint; 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 adjustment thumb (3) towards, circular fixed block (10) is installed in the chute of chute-type palm (1), moves circular fixed block (10) along the chute of chute-type palm (1); 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105942186A CN102085661B (en) | 2010-12-18 | 2010-12-18 | All-drive type smart manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105942186A CN102085661B (en) | 2010-12-18 | 2010-12-18 | All-drive type smart manipulator |
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| Publication Number | Publication Date |
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| CN102085661A CN102085661A (en) | 2011-06-08 |
| CN102085661B true CN102085661B (en) | 2012-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105942186A Expired - Fee Related CN102085661B (en) | 2010-12-18 | 2010-12-18 | All-drive type smart manipulator |
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| CN104875210A (en) * | 2015-05-10 | 2015-09-02 | 浙江理工大学 | Dexterous hand master-slave control method capable of eliminating shake |
| CN105364939A (en) * | 2015-12-18 | 2016-03-02 | 上海理工大学 | Air bag type flexible finger and flexible hand |
| CN105415394A (en) * | 2015-12-29 | 2016-03-23 | 浙江工业大学 | Multi-fingered dexterous hand based on FPA drive |
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| CN107471243B (en) * | 2017-07-26 | 2019-08-16 | 清华大学 | A kind of more perception apery five-needle pines blister rusts |
| CN107791266B (en) * | 2017-10-24 | 2020-10-27 | 磐安县寅磐机械有限公司 | Hydraulic drive five-finger dexterous hand of robot |
| CN107745391A (en) * | 2017-11-07 | 2018-03-02 | 西北农林科技大学 | A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor |
| CN107803849A (en) * | 2017-12-30 | 2018-03-16 | 赵孝勇 | A kind of bionic robot finger |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN109434865B (en) * | 2018-12-14 | 2024-04-16 | 浙江工业大学 | Five-finger dexterous hand based on intelligent special-shaped steel cable driving |
| CN109434821A (en) * | 2018-12-14 | 2019-03-08 | 浙江工业大学 | A kind of Dextrous Hand bending joint of abnormity wirerope driving |
| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
| CN111872962B (en) * | 2020-08-07 | 2022-07-12 | 中山大学 | Full-drive humanoid hand device with multipoint array pressure sensor |
| CN112517527A (en) * | 2020-10-19 | 2021-03-19 | 张家港三能机电设备有限公司 | Ultrasonic cleaning device convenient to adjust |
| CN112659166B (en) * | 2021-01-26 | 2022-09-16 | 韩靖 | Finger assembly of simulation manipulator |
| CN112976035B (en) * | 2021-05-21 | 2021-08-10 | 季华实验室 | Dexterous finger and mechanical clamping jaw |
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| JP4133188B2 (en) * | 2002-10-07 | 2008-08-13 | 株式会社ハーモニック・ドライブ・システムズ | Robot hand finger unit |
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Granted publication date: 20120509 Termination date: 20121218 |