CN102085666B - Humanoid manipulator - Google Patents
Humanoid manipulator Download PDFInfo
- Publication number
- CN102085666B CN102085666B CN 201010620611 CN201010620611A CN102085666B CN 102085666 B CN102085666 B CN 102085666B CN 201010620611 CN201010620611 CN 201010620611 CN 201010620611 A CN201010620611 A CN 201010620611A CN 102085666 B CN102085666 B CN 102085666B
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- Prior art keywords
- fixedly connected
- decelerator
- thumb
- gear
- forefinger
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- 210000003811 finger Anatomy 0.000 claims abstract description 35
- 210000003813 thumb Anatomy 0.000 claims abstract description 33
- 210000005224 forefinger Anatomy 0.000 claims abstract description 29
- 210000004932 little finger Anatomy 0.000 claims abstract description 9
- 210000001145 finger joint Anatomy 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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Classifications
-
- 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)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a humanoid manipulator, belonging to a hand component of a performance robot. A forefinger, a middle finger, a ring finger and a little finger which are respectively provided with two sway pairs as well as a thumb provided with three sway pairs are respectively fixedly connected with a palm shell, wherein the forefinger, the middle finger, the ring finger and the little finger are in the same structure, and the sway pair of each joint comprises an electric motor. The humanoid manipulator provided by the invention has the advantages that the structure is novel, simple and compact, the volume is small, the weight is light, the joints are reliably connected and are convenient to dismount, the fingers are reserved with spaces for mounting sensors, and the transmission relation is simple and clear; the motion ranges of the fingers are wide and flexible; and the safety is high, the reachability is strong, the fingers are flexible when in coordinated movement, and the application range is wide.
Description
Technical field
The invention belongs to hand member, the particularly pointer manipulator in the instrument playing field piano being played of performance robot.
Background technology
Continuous progress along with science and technology, science and education and control research field have certain demand to the performance humanoid robot, the performance humanoid robot can allow people that anthropomorphic robot is had deep understanding directly perceived, promote the teenager to the interest in this field, Apery manipulator is such performance humanoid robot critical component.
Summary of the invention
The invention provides a kind of Apery manipulator, can imitate the function of staff and carry out simple operations, finish the finger bending motion, and realize certain movement and simple crawl motion by the Cooperation And Coordination action of finger.
The technical scheme that the present invention takes is: forefinger, middle finger, the third finger, little finger with two swinging pairs, thumb with three swinging pairs is fixedly connected with the palm housing respectively, wherein forefinger, middle finger, the third finger, little finger structure are identical, and the swinging pair in each joint comprises a motor.
One embodiment of the present invention is that the forefinger structure is: the first motor is fixedly connected with the first decelerator, and the first decelerator is fixedly connected with middle finger joint, and the output shaft of the first decelerator is fixedly connected with finger; The second motor is fixedly connected with the second decelerator, and the second decelerator is fixedly connected with basic dactylus, and the output shaft of the second decelerator is fixedly connected with middle finger joint.
One embodiment of the present invention is that the thumb structure is: the first motor the first decelerator is fixedly connected with, and the first decelerator is fixedly connected with middle finger joint, and the output shaft of the first decelerator is fixedly connected with finger; The second motor is fixedly connected with the second decelerator, and the second decelerator is fixedly connected with lower dactylus, and the output shaft of the second decelerator is fixedly connected with middle finger joint; Three-motor is installed on the 3rd decelerator, and the 3rd decelerator is fixedly connected with thumb base dactylus, and the output shaft of the 3rd decelerator is fixedly connected with lower dactylus.
One embodiment of the present invention is, reducer structure is: motor is fixedly connected with middle fixed head, axle three two ends are fixedly connected with bottom plate with middle fixed head respectively, axle two two ends respectively with upper mounted plate, bottom plate is fixedly connected with, axle one two ends respectively with upper mounted plate, middle fixed head is fixedly connected with, output shaft is rotationally connected by bearing and upper mounted plate, gear one is fixedly connected with the output shaft of motor, gear two empty sets are on axle three, and gear three empty sets are on axle two, and gear five empty sets are on axle one, gear four empty sets are on output shaft, gear six is fixedly connected with output shaft, gear one and gear two engagements, gear two and gear three engagements, gear three and gear four engagements, gear four and gear five engagements, gear five and gear six engagements, motor is servomotor.
One embodiment of the present invention is that the palm housing is gone to the bottom and is fixedly connected with ring flange.
Forefinger of the present invention has two joints, upper joint and hypozygal, upper joint has 1 free degree: motor drives finger by the gear pair transmission and turns round around gear reduction unit output shaft axis, range of movement-15 °～+ 105 °, hypozygal has 1 free degree: motor drives middle finger joint around the revolution of gear reduction unit output shaft axis by the gear pair transmission, range of movement-90 °～+ 90 °; Thumb has three joints, upper joint, middle joint and hypozygal, upper joint has 1 free degree: motor drives finger by the gear pair transmission and turns round around gear reduction unit output shaft axis, range of movement-15 °～+ 105 °, there is 1 free degree in middle joint: motor drives middle finger joint by the gear pair transmission and turns round around gear reduction unit output shaft axis, range of movement-90 °～+ 90 °, hypozygal has 1 free degree: motor drives lower dactylus around the revolution of gear reduction unit output shaft axis, 0 °～+ 90 ° of range of movement by the gear pair transmission.Thumb, forefinger, middle finger, the third finger, little finger are mounted on the palm housing by screw.
The present invention can be installed on the robotic arm by ring flange, and its each finger-joint is the tunable action under computer control, cooperatively interacts.Finger adopts the apery structure, and for reducing mechanism's complexity weight reduction, each finger reduces by a joint under the prerequisite that realizes basic function, and length and staff are similar.
Advantage of the present invention is novel structure, and simple and compact, volume are little, lightweight, and each joint connects reliable, convenient disassembly, but finger headspace sensor installation, and drive connection is simple and clear; All the other fingers have the characteristics of 2DOF except thumb has 3DOF, and the finger motion scope is large, flexible; High safety, strong, the individual finger coordinated movement of various economic factors of accessibility are flexible, applied range; Operation consumption is low, adopts direct current 24V power supply; Grasp force is large.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the corner schematic diagram of forefinger of the present invention;
Fig. 3 is the corner schematic diagram of thumb of the present invention;
Fig. 4 is the structural representation of forefinger of the present invention;
Fig. 5 is the structural representation of thumb of the present invention;
Fig. 6 is the structural representation of decelerator of the present invention.
The specific embodiment
Forefinger 2, middle finger 3, the third finger 4, little finger 5 with two swinging pairs, thumb 1 with 3 swinging pairs is fixedly connected with palm housing 6 respectively, wherein forefinger, middle finger, the third finger, little finger structure are identical, and the swinging pair in each joint comprises a motor.
One embodiment of the present invention is that the forefinger structure is: the first motor 203 is fixedly connected with the first decelerator 202, and the first decelerator 202 is fixedly connected with middle finger joint 204, and the output shaft of the first decelerator 202 is fixedly connected with finger 201; The second motor 206 is fixedly connected with the second decelerator 205, and the second decelerator 205 is fixedly connected with basic dactylus 207, and the output shaft of the second decelerator 205 is fixedly connected with middle finger joint.
One embodiment of the present invention is that the thumb structure is: the first motor 103 first decelerators 102 are fixedly connected with, and the first decelerator 102 is fixedly connected with middle finger joint 104, and the output shaft of the first decelerator 102 is fixedly connected with finger 101; The second motor 106 is fixedly connected with the second decelerator 105, and the second decelerator 105 is fixedly connected with lower dactylus 107, and the output shaft of the second decelerator 105 is fixedly connected with middle finger joint 104; Three-motor 109 is installed on the 3rd decelerator 108, and the 3rd decelerator 108 is fixedly connected with thumb base dactylus 110, and the output shaft of the 3rd decelerator 108 is fixedly connected with lower dactylus.
One embodiment of the present invention is, reducer structure is: motor 809 is fixedly connected with middle fixed head 813, axle 3 811 two ends are fixedly connected with bottom plate 814 with middle fixed head 813 respectively, axle 2 808 two ends respectively with upper mounted plate 812, bottom plate 814 is fixedly connected with, axle one 804 two ends respectively with upper mounted plate 812, middle fixed head 813 is fixedly connected with, output shaft 801 is rotationally connected by bearing 807 and upper mounted plate 812, gear 1 is fixedly connected with the output shaft of motor 809, gear 2 815 empty sets are on axle 3 811, gear 3 806 empty sets are on axle 2 808, gear 5 803 empty sets are on axle 1, gear 4 805 empty sets are on output shaft 801, gear 6 802 is fixedly connected with output shaft 801, gear one and gear two engagements, gear two and gear three engagements, gear three and gear four engagements, gear four and gear five engagements, gear five and gear six engagements, motor is servomotor.
One embodiment of the present invention is that the palm housing is gone to the bottom and is fixedly connected with ring flange 7.
Claims (2)
1. Apery manipulator, it is characterized in that: forefinger, middle finger, the third finger, little finger with two swinging pairs, thumb with three swinging pairs is fixedly connected with the palm housing respectively, wherein forefinger, middle finger, the third finger, little finger structure are identical, and the swinging pair in each joint comprises a motor;
Described forefinger structure is: forefinger the first motor is fixedly connected with forefinger the first decelerator, and forefinger the first decelerator is fixedly connected with the forefinger middle finger joint, and the output shaft of forefinger the first decelerator is fixedly connected with the forefinger finger; Forefinger the second motor is fixedly connected with forefinger the second decelerator, and forefinger the second decelerator is fixedly connected with forefinger base dactylus, and the output shaft of forefinger the second decelerator is fixedly connected with the forefinger middle finger joint;
Described thumb structure is: thumb the first motor is fixedly connected with thumb the first decelerator, and thumb the first decelerator is fixedly connected with the thumb middle finger joint, and the output shaft of thumb the first decelerator is fixedly connected with the thumb finger; Thumb the second motor is fixedly connected with thumb the second decelerator, and thumb the second decelerator is fixedly connected with lower dactylus, and the output shaft of thumb the second decelerator is fixedly connected with the thumb middle finger joint; The thumb three-motor is installed on thumb the 3rd decelerator, and thumb the 3rd decelerator is fixedly connected with thumb base dactylus, and the output shaft of thumb the 3rd decelerator is fixedly connected with lower dactylus;
Described forefinger the first decelerator, forefinger the second decelerator, thumb the first decelerator, thumb the second decelerator is identical with thumb the 3rd reducer structure, described each reducer structure is: motor is fixedly connected with middle fixed head, axle three two ends are fixedly connected with bottom plate with middle fixed head respectively, axle two two ends respectively with upper mounted plate, bottom plate is fixedly connected with, axle one two ends respectively with upper mounted plate, middle fixed head is fixedly connected with, output shaft is rotationally connected by bearing and upper mounted plate, gear one is fixedly connected with the output shaft of motor, gear two empty sets are on axle three, gear three empty sets are on axle two, gear five empty sets are on axle one, gear four empty sets are on output shaft, gear six is fixedly connected with output shaft, gear one and gear two engagements, gear two and gear three engagements, gear three and gear four engagements, gear four and gear five engagements, gear five and gear six engagements, motor is servomotor.
2. Apery manipulator according to claim 1, it is characterized in that: the palm housing is gone to the bottom and is fixedly connected with ring flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010620611 CN102085666B (en) | 2010-12-29 | 2010-12-29 | Humanoid manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010620611 CN102085666B (en) | 2010-12-29 | 2010-12-29 | Humanoid manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102085666A CN102085666A (en) | 2011-06-08 |
| CN102085666B true CN102085666B (en) | 2013-05-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010620611 Active CN102085666B (en) | 2010-12-29 | 2010-12-29 | Humanoid manipulator |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103000055B (en) * | 2012-11-28 | 2014-12-31 | 苏州工业园区职业技术学院 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device system |
| CN103000066A (en) * | 2012-11-28 | 2013-03-27 | 苏州工业园区职业技术学院 | Lyre-playing, chess, calligraphy and painting mechanical arm teaching device |
| CN105773648B (en) * | 2016-03-30 | 2017-10-27 | 昆明理工大学 | A kind of bionical catching robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1803413A (en) * | 2006-01-20 | 2006-07-19 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
| CN101104267A (en) * | 2007-07-31 | 2008-01-16 | 哈尔滨工业大学 | Robot clever hand modular finger |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN201970314U (en) * | 2010-12-29 | 2011-09-14 | 长春工业大学 | Humanoid mechanical hand |
-
2010
- 2010-12-29 CN CN 201010620611 patent/CN102085666B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1803413A (en) * | 2006-01-20 | 2006-07-19 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
| CN101104267A (en) * | 2007-07-31 | 2008-01-16 | 哈尔滨工业大学 | Robot clever hand modular finger |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN201970314U (en) * | 2010-12-29 | 2011-09-14 | 长春工业大学 | Humanoid mechanical hand |
Non-Patent Citations (1)
| Title |
|---|
| 张文增等.拟人机器人手的设计与实现.《机械工程学报》.2005,第41卷(第5期),123-126. * |
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| Publication number | Publication date |
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| CN102085666A (en) | 2011-06-08 |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Bangcheng Inventor after: Gao Zhi Inventor after: Chen Liyan Inventor after: Liu Hongliang Inventor after: Cai Bin Inventor after: Fei Shuming Inventor after: Yao Yu Inventor after: Jiang Dawei Inventor after: Tian Yuan Inventor after: Wang Zhanli Inventor after: Pang Zaixiang Inventor after: Zhu Lifeng Inventor after: Li Xueguang Inventor after: Zhao Yun Inventor after: Xie Han Inventor before: Jiang Dawei Inventor before: Gao Zhi Inventor before: Chen Liyan Inventor before: Liu Hongliang Inventor before: Cai Bin Inventor before: Fei Shuming Inventor before: Yao Yu Inventor before: Wang Zhanli Inventor before: Zhang Bangcheng Inventor before: Pang Zaixiang Inventor before: Zhu Lifeng Inventor before: Li Xueguang Inventor before: Tian Yuan Inventor before: Zhao Yun Inventor before: Xie Han |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: JIANG DAWEI WANG ZHANLI ZHANG BANGCHENG PANG ZAIXIANG ZHU LIFENG LI XUEGUANG TIAN YUAN ZHAO YUN XIE HAN GAO ZHI CHEN LIYAN LIU JIANGLIANG CAI YUN FEI SHUMING YAO YU TO: ZHANG BANGCHENG JIANG DAWEI TIAN YUAN WANG ZHANLI PANG ZAIXIANG ZHU LIFENG LI XUEGUANG ZHAO YUN XIE HAN GAO ZHI CHEN LIYAN LIU JIANGLIANG CAI YUN FEI SHUMING YAO YU |
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| ASS | Succession or assignment of patent right |
Owner name: ELECTRIC POWER RESEARCH INSTITUTE OF JILIN ELECTRI Effective date: 20130322 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20130322 Address after: 130012 Yanan street, Jilin, No. 2055, No. Applicant after: Changchun Polytechnic Univ. Applicant after: Electric Power Research Institute of Jilin Electric Power Company Applicant after: State Grid Corporation of China Address before: 130012 Yanan street, Jilin, No. 2055, No. Applicant before: Changchun Polytechnic Univ. |
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