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CN102085661B - All-drive type smart manipulator - Google Patents

All-drive type smart manipulator Download PDF

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Publication number
CN102085661B
CN102085661B CN 201010594218 CN201010594218A CN102085661B CN 102085661 B CN102085661 B CN 102085661B CN 201010594218 CN201010594218 CN 201010594218 CN 201010594218 A CN201010594218 A CN 201010594218A CN 102085661 B CN102085661 B CN 102085661B
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type
thumb
manipulator
chute
joint
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CN 201010594218
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Chinese (zh)
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CN102085661A (en )
Inventor
于世光
杨文珍
章华
竺志超
陈文华
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浙江理工大学
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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 byvirtue 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 mountingposition 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

全驱动式灵巧机械手 Full-driven Dexterous Manipulator

技术领域 FIELD

[0001] 本发明涉及一种机器人机械手,具体地说是涉及具有二十个主动自由度,拇指的朝向和安装位置可调整的全驱动式灵巧机械手。 [0001] The present invention relates to a robot manipulator, particularly to active having twenty degrees of freedom, and the mounting position of the thumb toward the driven adjustable full dexterity robot.

背景技术 Background technique

[0002] 随着现代科学技术的快速发展和机器人应用领域的不断扩大,原有的机器人末端操作器已经不能满足当今生产需求。 [0002] With the rapid development of modern science and technology and expanding the field of robotic applications, the original robot end of the operation can not meet today's production needs. 为了克服普通末端操作器夹持方式单一、活动空间小、 缺少灵活性、难以精确控制等缺点,灵巧型机械手(简称灵巧手)应运而生。 To overcome the ordinary single mode holding end of the operation, a small space, lack of flexibility, it is difficult to precisely control the shortcomings, smart-type manipulator (abbreviated dexterous hand) came into being. 灵巧手有多个自由度,可以抓取多种形状、不同材质的物体,还可以对所抓持的物体进行精细操作。 Dexterous hand a plurality of degrees of freedom, can capture a variety of shapes, objects of different materials, can also be fine manipulation of the gripped object. 用其代替专用的夹持器,安装到机器人操作器末端,不仅能扩大机器人的作业范围,还能提高机器人的作业质量。 Instead of a dedicated by its holder, mounted to the end of the robot manipulator, not only to expand the operation range of the robot, the robot can improve the work quality.

[0003] 十九世纪六十年代初,南斯拉夫Tomovic和Boni开发了第一只机械手,它有五个手指和五个自由度。 [0003] the early nineteen sixties, Yugoslavia Tomovic and Boni only developed the first robot, it has five fingers and five degrees of freedom. 七十年代发明了多种通用夹持器,如日本Hanafusa开发了一个三指手机构,每个手指有一个自由度;美国Crossley研制了三指八自由度机构,其中一个手指有二个自由度,另两个手指分别有三个自由度。 Seventies invented a variety of common holder, such as Japan Hanafusa developed a three-fingered hand mechanism, each finger has a degree of freedom; the United States developed a three-finger eight Crossley freedom mechanism in which a finger has two degrees of freedom the other two fingers each have three degrees of freedom. 八十年代,Salisbury,Jacobsen等人提出摸拟人手来设计通用夹持器的研究思想,研制了多指、多关节、多自由度的JPL灵巧手机构; 日本学者T. Okada研制了三指十一个自由度灵巧手;美国Utah大学研制了MIT手。 Eighties, Salisbury, Jacobsen et al design simulation manpower to study the idea of ​​universal gripper, developed a multi-finger, multi-joint, JPL dexterous hand mechanism multiple degrees of freedom; Japanese scholar T. Okada developed a three-finger ten a degree of freedom dexterous hand; Utah University, MIT developed a hand. 九十年代末二十一世纪初,灵巧手的研发进入了一个新阶段,关节数、手指数逐渐向人手靠近,其中比较有代表性的有:1999年研制成功的NASA灵巧手,由四个手指和一个位置相对的拇指组成,共有十四个自由度,由十四个直流无刷电机驱动,其于人手外形尺寸很相似,具有很好的灵活性;2003年日本歧阜大学HaruhisEi, Kawasaki等人研发了Gifu III灵巧手。 The early nineties the end of the twenty-first century, dexterous hands entered a new stage of development, the number of joints, hand index gradually closer to hand, which are more representative: in 1999 the successful development of NASA dexterous hand, consists of four the relative position of the finger and a thumb, a total of fourteen degrees of freedom, driven by fourteen brushless DC motor, which is very similar to the human hand size, it has good flexibility; Gifu University in Japan in 2003 HaruhisEi, Kawasaki Gifu III, who developed a dexterous hand. Gifu III手是拟人电动灵巧手,尺寸略大于人手,外形更接近人手,共有五个手指十六个自由度, 具有较高的灵巧性和精确控制性。 Gifu III electric hand anthropomorphic dexterous hands, slightly larger than the human hand, the shape is closer to hand, there are five fingers sixteen degrees of freedom, with high dexterity and precise control. 北京航空航天大学机器人研究所研制的BH-3手有三个手指,每个手指有三个关节,共9个自由度。 Beijing University of Aeronautics and Astronautics Robotics Institute developed the BH-3 hand has three fingers, each finger has three joints, a total of nine degrees of freedom. 2008年哈尔滨工业大学研制了HIT/DLR II多指灵巧手,每个手指有3自由度,共有15个自由度。 2008 Harbin Institute of Technology developed the HIT / DLR II multi-fingered hand, each finger has three degrees of freedom, a total of 15 degrees of freedom.

发明内容 SUMMARY

[0004] 本发明的目的在于提供一种全驱动式灵巧机械手,具有多自由度、多关节,能抓取不同形状、不同材质物体的灵巧手。 [0004] The object of the present invention is to provide a fully driven smart robots, with multiple degrees of freedom, multi-joint, able to crawl different shapes, different materials of the object dexterous hand. 它能替代人手,在人类无法亲临或恶劣的环境中工作。 It can replace manpower, can not visit or harsh environments to work in humans.

[0005] 本发明解决其技术问题所采用的技术方案是: [0005] aspect of the present invention to solve the technical problem are:

[0006] 本发明包括滑槽式手掌、四个手指和拇指;拇指和四个手指均依次包括上指关节、 中指关节、下指关节和基关节,四个手指的基关节分别通过各自的矩形固定块同一方向平行安装在滑槽式手掌内;拇指的基关节经拇指安装调整结构上的圆形固定块垂直安装在滑槽式手掌上,拇指安装调整结构安装在滑槽式手掌下部的滑槽内,拇指的安装位置和朝向手动调整后固定;五个手指分别构成三个主动弯曲自由度和一个主动侧摆自由度;全驱动式灵巧机械手共有二十个主动自由度。 [0006] The present invention includes a sliding guide a palm, thumb and four fingers; thumb and four fingers on the knuckles are successively comprising, middle finger joints and the knuckle joint groups, four groups of fingers through their respective rectangular joint fixing block in the same direction parallel to the sliding guide mounted within the palm; thumb through the thumb joint base block mounted on the fixed circular structure of the vertical adjustment of the sliding guide mounted on the palm, thumb slide adjustment mounting structure mounted on the lower slide-in palm tank, the installation position of the thumb and fixed toward the rear of the manual adjustment; five fingers are bent to form three active degrees of freedom and a degree of freedom in the active side to side; all-driven dexterous robotic total of twenty active degrees of freedom. [0007] 所述的上指关节包括上指节体、上从动螺旋锥齿轮、上传动轴、上主动螺旋锥齿轮、上步进电机和中指节体;安装在中指节体内的上步进电机驱动上主动螺旋锥齿轮,经上从动螺旋锥齿轮和上传动轴,带动上指节体转动,形成上指关节的一个主动弯曲自由度;上传动轴与上指节体和上从动螺旋锥齿轮固联,与中指节体滑动联接。 [0007] The upper knuckle includes an upper knuckle member, the driven bevel gear, the shaft, on the driving bevel gear, a stepping motor and the middle section thereof; mounted on the middle section of the stepper vivo the motor drives the drive bevel gear, spiral bevel gear driven by the drive shaft and to drive the rotation of the knuckle body, means forming an active degree of freedom of bending joint; knuckles on the upper shaft and the driven member spiral bevel gear is fixedly connected with the middle section coupled to slide.

[0008] 所述的中指关节包括中指节体、中从动螺旋锥齿轮、中传动轴、中主动螺旋锥齿轮、中步进电机和下指节体;安装在下指节体内的中步进电机驱动中主动螺旋锥齿轮,经中从动螺旋锥齿轮和中传动轴,带动中指节体转动,形成中指关节的一个主动弯曲自由度;中传动轴与中指节体和中从动螺旋锥齿轮固联,与下指节体滑动联接。 Middle finger joint [0008] The middle section comprises a body, the driven bevel gear, the shaft, the driving helical bevel gear, the stepper motor and the knuckle body; knuckles attached to the lower body of a stepping motor active driving bevel gear, spiral bevel gear driven by the drive shaft and to drive the middle section of the rotation body, forming a joint middle active bending freedom; in the middle section of the shaft and the body and the driven bevel gear fixed associated with the lower body slidably coupled to the knuckle.

[0009] 所述的下指关节包括下指节体、下传动轴、连轴块、下步进电机、下主动螺旋锥齿轮和下从动螺旋锥齿轮;安装在下指节体内的下步进电机驱动下主动螺旋锥齿轮,经下从动螺旋锥齿轮和下传动轴,带动下指节体转动,形成下指关节的一个主动侧摆自由度;下传动轴与下指节体和下从动螺旋锥齿轮固联,与连轴块滑动联接。 Under [0009] the knuckle includes a lower knuckle member, the shaft, coupling blocks, the stepping motor, the driving helical bevel gear and the driven bevel gear; refers to a lower mounted section stepper vivo the motor drives the drive bevel gear, spiral bevel gear driven by the lower shaft and, means rotatably driven body section, forming a joint refers to the active side pendulum freedom; knuckle under the lower shaft and the lower the movable bevel gear is fixedly connected with the coupling block slidably coupled.

[0010] 所述的基关节包括连轴块、基传动轴、基主动螺旋锥齿轮、基从动螺旋锥齿轮、基步进电机和矩形固定块;安装在矩形固定块内的基步进电机驱动基主动螺旋锥齿轮,经基从动螺旋锥齿轮和基传动轴,带动连轴块转动,形成基指关节的一个主动弯曲自由度;基传动轴与连轴块和基从动螺旋锥齿轮固联,与矩形固定块滑动联接。 [0010] The base includes a coupling joint block, the drive shaft group, group active bevel gear, spiral bevel gear driven group, a stepping motor and a rectangular base fixed block; mounted within a rectangular block fixed group stepping motor active driving yl bevel gear, spiral bevel gear driven by the base and the base drive shaft to drive rotation of the coupling block form a knuckle active bending freedom group; yl coupling block and the drive shaft and spiral bevel gear driven yl fixedly connected with the fixed block slidably coupled rectangular.

[0011] 所述的拇指安装调整结构包括圆形固定块、左挡杠和右挡杠;拇指的基关节安装在圆形固定块内,沿圆形固定块的侧面弧槽旋转拇指基传动轴,调整拇指的安装朝向,圆形固定块安装在滑槽式手掌的滑槽中,沿滑槽式手掌的滑槽移动圆形固定块,调整拇指的安装位置,并由左挡杠和右挡杠经螺栓固定在滑槽式手掌上。 Adjusting thumb mounting structure [0011] The fixing block comprises a circular, left door and right door bumper bar; base joint of the thumb is mounted within the circular fixing block, rotation of the thumb along the side of the base circular arc groove block fixed shaft adjusting thumb mounting direction, circular fixing block mounted to slide in the sliding guide palms, along the circular movement of the sliding guide chute palm fixed block, adjusting the mounting position of the thumb, by the left and right door stop bar bar was bolted to the sliding guide palms.

[0012] 本发明与背景技术相比,具有的有益效果是: [0012] The present invention is compared to the background art, it has an advantageous effect that:

[0013] 1.本发明采用内置式步进电机驱动,通过螺旋锥齿轮实现关节转动,运动平稳, 传动精度高。 [0013] 1. The present invention uses a built-in stepping motor drive, accomplished by the joint rotation of spiral bevel gear, smooth motion transmission accuracy.

[0014] 2.本发明设计了拇指的朝向和安装位置可调整的机械结构,提高了机械手的灵巧性和抓取稳定性,增大了机械手的抓取空间。 [0014] 2. The present invention contemplates the thumb toward the mounting position and adjustable mechanical structure and improve the stability of dexterity and gripping robot, the robot increases the crawl space.

[0015] 3.本发明有二十个主动自由度,增强了灵巧机械手的抓持能力,它能替代人手, 在人类无法亲临或恶劣的环境中工作。 There [0015] 3. The present invention twenty initiative degrees of freedom, and enhance the gripping ability of dexterous manipulator, it can replace manpower, can not visit or harsh environments to work in humans. .

[0016] 因此,本发明能够满足了机器人灵巧机械手的性能。 [0016] Accordingly, the present invention can satisfy the performance of dexterous robotic manipulator.

附图说明 BRIEF DESCRIPTION

[0017] 图1是本发明的整体结构原理示意图; [0017] FIG. 1 is a schematic view of the overall structure of the principles of the present invention;

[0018] 图2是本发明的手指结构原理示意图; [0018] FIG. 2 is a finger Schematic structure of the invention;

[0019] 图3是本发明的上指关节示意图; [0019] FIG. 3 is a schematic view of the invention on the knuckle;

[0020] 图4是本发明的中指关节示意图; [0020] FIG. 4 is a schematic view of the middle joint of the present invention;

[0021] 图5是本发明的下指关节示意图; [0021] FIG. 5 is a schematic diagram of the present invention, the knuckles;

[0022] 图6是本发明的基关节示意图; [0022] FIG. 6 is a schematic view of the present invention, a joint-yl;

[0023] 图7是本发明的拇指安装调整结构示意图。 [0023] FIG. 7 is a schematic view of the adjustment thumb present invention is mounted.

[0024] 图中:1.滑槽式手掌,2.四个手指,3.拇指,4.拇指安装调整结构,5.上指关节, 6.中指关节,7.下指关节,8.基关节,9.矩形固定块,10.圆形固定块,11.上指节体,12.上从动螺旋锥齿轮,13.上传动轴,14.上主动螺旋锥齿轮,15.上步进电机,16.中指节体, 17.中从动螺旋锥齿轮,18.中传动轴,19.中主动螺旋锥齿轮,20.中步进电机,21.下指节体,22.下传动轴,23.连轴块,24.下步进电机,25.下主动螺旋锥齿轮,26.下从动螺旋锥齿轮,27.基步进电机,28.左挡杠,29.右挡杠,30.螺栓,31.拇指基传动轴。 [0024] FIG.:.... 1 Chute palm, four fingers 2, 3 thumb, the thumb installation and adjustment structure 4, the knuckle 5, 6. The finger joint, the finger joint 7, 8 group... joint 9. rectangular fixed block 10 circular fixing block 11. knuckle body 12. the driven bevel gear, 13. the drive shaft, 14 driving helical bevel gear, 15 stepping on motor, 16 the middle section thereof, the driven bevel gear 17, 18. in the drive shaft 19 in driving helical bevel gear, 20 stepping motor, knuckle body 21, the 22 lower shaft , 23. the coupling block 24 of the stepping motor 25 under the driving helical bevel gears 26 lower the driven bevel gear, 27-yl stepping motor 28 in the left door bar, 29 bar the right block, 30. The bolts 31. thumb yl shaft.

具体实施方式 detailed description

[0025] 下面结合附图和实例对本发明作进一步说明 [0025] accompanying drawings and the following examples of the present invention will be further described

[0026] 如图1、图2、图7所示,本发明包括滑槽式手掌1、四个手指2和拇指3 ;拇指3和四个手指2均依次包括上指关节5、中指关节6、下指关节7和基关节8,四个手指的基关节分别通过各自的矩形固定块9同一方向平行安装在滑槽式手掌1内;拇指3的基关节经拇指安装调整结构4上的圆形固定块10垂直安装在滑槽式手掌1上,拇指安装调整结构4安装在滑槽式手掌1下部的滑槽内,拇指3的安装位置和朝向手动调整后固定;五个手指分别构成三个主动弯曲自由度和一个主动侧摆自由度;全驱动式灵巧机械手共有二十个主动自由度。 [0026] As shown in FIG 1, FIG 2, FIG. 7, the present invention includes a sliding guide a palm, thumb and four fingers 3 2; 3 thumb and four fingers 2 each comprise successively on the knuckle 5, middle finger joints 6 , the knuckle joint 7 and the base 8, four groups of fingers are mounted parallel to the joint in the chute 1 by the palm of formula 9 in the same direction are each fixed to a rectangular block; basal joint of the thumb 3 is attached by restructuring the circle 4 shaped fixing block 10 mounted vertically on a sliding guide the palm, thumb adjustment mounting structure 4 installed in the chute a lower portion of the sliding guide the palm, thumb mounting positions 3 and fixed toward the rear manual adjustment; five fingers constitute three and an active bending freedom degree of freedom in an active side to side; all-driven dexterous robotic total of twenty active degrees of freedom.

[0027] 如图2、图3所示,所述的上指关节包括上指节体11、上从动螺旋锥齿轮12、上传动轴13、上主动螺旋锥齿轮14、上步进电机15和中指节体16。 [0027] As shown in FIG 2, FIG. 3, the upper knuckle 11 includes a knuckle member, the driven bevel gear 12, the drive shaft 13, bevel gear 14 on the driving, the stepper motor 15 and the middle section 16. 安装在中指节体16内的上步进电机15驱动上主动螺旋锥齿轮14,经上从动螺旋锥齿轮12和上传动轴13,带动上指节体11转动,形成上指关节的弯曲自由度;上传动轴13与上指节体11和上从动螺旋锥齿轮12固联,与中指节体16滑动联接。 Driving the stepping motor 15 is mounted in the middle section 16 of the driving helical bevel gear 14, driven by the bevel gear 12 and the drive shaft 13, the drive member 11 is rotated knuckles formed on the bendable joint means degree; transmission shaft 13 with the upper knuckle 11 and the driven bevel gear 12 is fixedly connected with the middle section of the coupling member 16 slides.

[0028] 如图2、图4所示,所述的中指关节包括中指节体16、中从动螺旋锥齿轮17、中传动轴18、中主动螺旋锥齿轮19、中步进电机20和下指节体21。 [0028] As shown in FIG 2, FIG. 4, the middle finger joint comprises 16, the driven bevel gear 17, the drive shaft 18, the driving helical bevel gear 19, the stepping motor 20 and the middle section member knuckle body 21. 安装在下指节体21内的中步进电机20驱动中主动螺旋锥齿轮19,经中从动螺旋锥齿轮17和中传动轴18,带动中指节体16转动,形成中指关节的弯曲自由度;中传动轴18与中指节体16和中从动螺旋锥齿轮17固联,与下指节体21滑动联接。 Means mounting the lower bending degree of freedom of driving the stepping motor 20 in the body 21 of spiral bevel gear 19, driven by the bevel gear 17 and the drive shaft 18, driven by rotation of the middle section 16, the middle finger joint is formed; shaft 18 in the middle section 16 and the driven bevel gear 17 is fixedly connected with the lower section of the coupling member 21 slides finger.

[0029] 如图2、图5所示,所述的下指关节包括下指节体21、下传动轴22、连轴块23、下步进电机对、下主动螺旋锥齿轮25和下从动螺旋锥齿轮沈;安装在下指节体21内的下步进电机M驱动下主动螺旋锥齿轮25,经下从动螺旋锥齿轮沈和下传动轴22,带动下指节体21转动,形成下指关节的侧摆自由度;下传动轴22与下指节体21和下从动螺旋锥齿轮沈固联,与连轴块23滑动联接。 Gear 25 and the lower [0029] As shown in FIG 2, FIG. 5, the lower knuckle member 21 includes a lower knuckle, the shaft 22, coupling block 23, the stepping motor pair of spiral bevel from the movable bevel gear sink; lower mounting means 21 is rotated at the knuckles of the stepping motor M in the drive member 21 driving helical bevel gear 25, bevel gear driven by the sink and the lower shaft 22, driven by the body, is formed It refers to a lower side of the swing joint degrees of freedom; lower shaft 22 and the lower knuckle 21 and the lower spiral bevel gear driven Shen fixedly connected with the coupling block 23 slidably coupled.

[0030] 如图2、图6所示,所述的基关节包括连轴块23、基传动轴M、基主动螺旋锥齿轮25、基从动螺旋锥齿轮沈、基步进电机27和矩形固定块9 ;安装在矩形固定块9内的基步进电机27驱动基主动螺旋锥齿轮25,经基从动螺旋锥齿轮沈和基传动轴24,带动连轴块23 转动,形成基指关节的弯曲自由度;基传动轴M与连轴块23和基从动螺旋锥齿轮沈固联, 与矩形固定块9滑动联接。 [0030] As shown in FIG 2, FIG 6, said base comprising a joint coupling block 23, shaft M group, the active group of spiral bevel gear 25, driven bevel gear group sink, the stepping motor 27 and a rectangular base fixed block 9; 27 drives the stepping motor yl group mounted in the fixed block 9 is a rectangular active bevel gear 25, driven by the group of spiral bevel gear shaft 24 and the base sink, rotatable drive coupling block 23, a curved base knuckles freedom; M-yl shaft 23 with the coupling block and the driven bevel gear yl sink is fixedly connected with the fixed block 9 slidably coupled rectangular.

[0031] 如图2、图7所示,所述的拇指安装调整结构包括圆形固定块10、左挡杠观和右挡杠四;拇指3的基关节安装在圆形固定块10内,沿圆形固定块10的侧面弧槽旋转拇指基传动轴31,调整拇指3的安装朝向,圆形固定块10安装在滑槽式手掌1的滑槽中,沿滑槽式手掌1的滑槽移动圆形固定块10,调整拇指3的安装位置,并由左挡杠观和右挡杠四经螺栓30固定在滑槽式手掌1上。 [0031] As shown in FIG 2, FIG. 7, the thumb mounting structure comprises a circular fixing adjustment block 10, left door and right door bumper bar four concept; basal joint 3 is mounted within the circular fixing block 10, along the circular arc groove side fixing block 10 of the rotary shaft 31 of the thumb base, adjusting the mounting direction 3 of the thumb, fixed block 10 is mounted on a circular slide chute 1 in formula palm, palm slide along the sliding guide 1 the circular movement of the fixing block 10, the position of the adjustment thumb mounting 3 by left and right stopper bar concept by four bolts stopper bar 30 is fixed to the sliding guide 1 palm.

Claims (6)

  1. 1. 一种全驱动式灵巧机械手,其特征在于:包括滑槽式手掌(1)、四个手指和拇指(3); 拇指(3)和四个手指均依次包括上指关节、中指关节、下指关节和基关节,四个手指的基关节分别通过各自的矩形固定块同一方向平行安装在滑槽式手掌(1)内;拇指(3)的基关节经拇指安装调整结构(4)上的圆形固定块(10)垂直安装在滑槽式手掌(1)上,拇指安装调整结构(4)安装在滑槽式手掌(1)下部的滑槽内,拇指(3)的安装位置和朝向手动调整后固定;五个手指分别构成三个主动弯曲自由度和一个主动侧摆自由度;全驱动式灵巧机械手共有二十个主动自由度。 1. An all-driven smart robots, characterized by: a chute palm formula (1), four fingers and a thumb (3); the thumb (3) and in turn comprising four fingers on each knuckle, middle finger joint, the knuckles and joints group, four parallel fingers are mounted on a joint base (1) by sliding in the same direction as palm respective fixed rectangular block; thumb (3) by a base joint of the thumb adjusted mounting structure (4) (10) vertically installed fixed circular slide block palm of formula (1), adjustment of the thumb mounting structure (4) mounted on the palm of formula chute (1) within the lower portion of the chute, the thumb (3) and the mounting position fixed toward the rear manual adjustment; five fingers are bent to form three active degrees of freedom and a degree of freedom in the active side to side; all-driven dexterous robotic total of twenty active degrees of freedom.
  2. 2.根据权利要求1所述的一种全驱动式灵巧机械手,其特征在于:所述的上指关节包括上指节体(11)、上从动螺旋锥齿轮(12)、上传动轴(13)、上主动螺旋锥齿轮(14)、上步进电机(15)和中指节体(16);安装在中指节体(16)内的上步进电机(15)驱动上主动螺旋锥齿轮(14),经上从动螺旋锥齿轮(12)和上传动轴(13),带动上指节体(11)转动,形成上指关节的一个主动弯曲自由度;上传动轴(13)与上指节体(11)和上从动螺旋锥齿轮(12) 固联,与中指节体(16)滑动联接。 The all-drive one of the formula 1 as claimed in claim smart robots, wherein: said knuckle upper section including means (11), the driven bevel gear (12), the shaft ( 13), the driving helical bevel gear (14), the stepping motor (15) and middle section (16); mounted on the stepping motor (15) in the middle section (16) drives the drive bevel gear (14), driven via the spiral bevel gear (12) and the drive shaft (13), the drive means (11) rotatable body section is formed on a knuckle of the active bending degree of freedom; the drive shaft (13) and (11) and the driven bevel gear (12) fixedly connected with the middle section of the knuckle body (16) slidably coupled.
  3. 3.根据权利要求1所述的一种全驱动式灵巧机械手,其特征在于:所述的中指关节包括中指节体(16)、中从动螺旋锥齿轮(17)、中传动轴(18)、中主动螺旋锥齿轮(19)、中步进电机(20)和下指节体(21);安装在下指节体(21)内的中步进电机(20)驱动中主动螺旋锥齿轮(19),经中从动螺旋锥齿轮(17)和中传动轴(18),带动中指节体(16)转动,形成中指关节的一个主动弯曲自由度;中传动轴(18)与中指节体(16)和中从动螺旋锥齿轮(17) 固联,与下指节体(21)滑动联接。 3. An all according to a hand-driven mechanical dexterity claim, wherein: said finger comprises a finger joint section (16), the driven bevel gear (17), the shaft (18) , the active spiral bevel gear (19), stepping motor (20) and a lower knuckle (21); means mounted on the lower body section a stepping motor (20) (21) driving the driving helical bevel gear ( 19), driven by the spiral bevel gear (17) and the drive shaft (18), driven by the middle section (16) is rotated, middle finger form a joint degree of freedom in the active bending; the shaft (18) and the middle section member (21) a sliding coupling (16) and the driven bevel gear (17) fixedly connected with the knuckle body.
  4. 4.根据权利要求1所述的一种全驱动式灵巧机械手,其特征在于:所述的下指关节包括下指节体(21)、下传动轴(22)、连轴块(23)、下步进电机(24)、下主动螺旋锥齿轮(25) 和下从动螺旋锥齿轮(26);安装在下指节体(21)内的下步进电机(24)驱动下主动螺旋锥齿轮(25),经下从动螺旋锥齿轮(26)和下传动轴(22),带动下指节体(21)转动,形成下指关节的一个主动侧摆自由度;下传动轴(22)与下指节体(21)和下从动螺旋锥齿轮(26)固联,与连轴块(23)滑动联接。 1, according to one of the all-driven dexterous robotic claim, wherein: said knuckle lower section includes a lower body means (21), the shaft (22), coupling (23), the stepping motor (24), the driving helical bevel gear (25) and a lower spiral bevel driven gear (26); the lower knuckle member mounted at the stepping motor (24) inside (21) drives the drive bevel gear (25), driven via the spiral bevel gear (26) and a lower shaft (22), driven by knuckle body (21) is rotated, the active side refers to a degree of freedom in the swing joint is formed; the shaft (22) lower finger (23) fixedly connected slidably coupled with the coupling section of the block body (21) and a lower spiral bevel driven gear (26).
  5. 5.根据权利要求1所述的一种全驱动式灵巧机械手,其特征在于:所述的基关节包括连轴块(23)、基传动轴(24)、基主动螺旋锥齿轮(25)、基从动螺旋锥齿轮(26)、基步进电机(27)和矩形固定块(9);安装在矩形固定块(9)内的基步进电机(27)驱动基主动螺旋锥齿轮(25),经基从动螺旋锥齿轮(26)和基传动轴(24),带动连轴块(23)转动,形成基关节的一个主动弯曲自由度;基传动轴(24)与连轴块(23)和基从动螺旋锥齿轮(26)固联,与矩形固定块(9)滑动联接。 According to claim dexterous a fully driven robot to claim 1, wherein: said base includes a coupling joint (23), the base drive shaft (24), the active group spiral bevel gear (25), yl driven spiral bevel gear (26), the stepping motor group (27) and a rectangular fixed block (9); a stepping motor mounted on the base (27) fixed within a rectangular block (9) to drive the base of spiral bevel gear (25 ), spiral bevel gear driven by the base (26) and the base drive shaft (24), drive coupling (23) is rotated to form a joint degree of freedom in the active bending group; yl shaft (24) and the coupling block ( 23) and the driven spiral bevel gear group (26) is fixedly connected with the fixed rectangular block (9) slidably coupled.
  6. 6.根据权利要求1所述的一种全驱动式灵巧机械手,其特征在于:所述的拇指安装调整结构包括圆形固定块(10)、左挡杠(28)和右挡杠(29);拇指(3)的基关节安装在圆形固定块(10)内,沿圆形固定块(10)的侧面弧槽旋转拇指基传动轴(31),调整拇指(3)的安装朝向,圆形固定块(10)安装在滑槽式手掌(1)的滑槽中,沿滑槽式手掌(1)的滑槽移动圆形固定块(10),调整拇指(3)的安装位置,并由左挡杠(28)和右挡杠(29)经螺栓(30)固定在滑槽式手掌(1)上。 1, according to one of the all-driven dexterous robotic claim, wherein: said adjustment structure comprises a circular mounting thumb fixed block (10), a left lever stop (28) and a right stop bars (29) ; thumb (3) a base mounted within the circular joint fixing block (10), along a circular fixing block (10) is an arc groove side rotational shaft of the thumb group (31), adjustment of the thumb (3) of the mounting direction, the circle shaped fixed block (10) mounted on the palm of formula chute (1) of the chute, the chute along the palm of formula (1) is a circular sliding movement of the fixed block (10), adjustment of the thumb (3) mounting position, and the left stop bar (28) and a right stop bar (29) through the bolt (30) fixed to the slide-in palm (1).
CN 201010594218 2010-12-18 2010-12-18 All-drive type smart manipulator CN102085661B (en)

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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
CN105881536A (en) * 2016-05-30 2016-08-24 北京理工大学 Knuckle movement module of five-finger dextrous hande based on worm wheel and worm mechanism
CN105881566A (en) * 2016-05-30 2016-08-24 北京理工大学 Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism
CN106994694A (en) * 2017-03-02 2017-08-01 上海岭先机器人科技股份有限公司 Personate full-driving five-finger smart mechanical hand

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