CN102363302A - Anthropomorphic dexterous hand device driven by single motor - Google Patents
Anthropomorphic dexterous hand device driven by single motor Download PDFInfo
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- CN102363302A CN102363302A CN2011103271603A CN201110327160A CN102363302A CN 102363302 A CN102363302 A CN 102363302A CN 2011103271603 A CN2011103271603 A CN 2011103271603A CN 201110327160 A CN201110327160 A CN 201110327160A CN 102363302 A CN102363302 A CN 102363302A
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Abstract
The invention discloses an anthropomorphic dexterous hand device driven by a single motor. The device is mainly used for grabbing by using four under-actuated structure fingers with shape self-adaptive functions and a transmission unit which is arranged in a palm and is used for driving a plurality of fingers to move with a single motor. The device is driven by a single motor and is used for transmitting motion and power through the transmission unit which is connected with each finger, so that the fingers are bent for realizing a grabbing action. A dexterous hand consists of a thumb, an index finger, a middle finger, a litter finger and a palm, 12 joint freedom degrees are provided, and four fingers have the same structure and different sizes. The device has the advantages of compact design, high integration degree and grabbing flexibility and stability. Due to the adoption of the under-actuated structures, the controlling difficulty is lowered; in the device, a modular design can be adopted, so that the structural integration level is high, the element generality is high, and the manufacturing and maintaining costs are low; and high-intensity resin is taken as a material, so that the weight is light and grabbing is reliable.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, relate to the motor-driven humanoid dextrous hand device of a kind of list.
Background technology
Most functions of anthropomorphic robot need realize that hand organization research is the important component part that the anthropomorphic robot studies through operation by human hand, and its design is one of key technology of anthropomorphic robot's technology.Along with development of technology; People hope that manipulator personalizes more; This just needs to increase the free degree of manipulator, but for the volume and weight of controlling hand and the control difficulty that reduces anthropomorphic robot's hand, will reduce the driver number; The two has certain contradiction, and has owing drive unit and just in time can solving this contradiction of form adaptive function.So-called lack of driven structure is meant that the Standalone Drives number is less than number of degrees of freedom, purpose mechanism; Owe Drive Structure finger and more have superiority than the multi-joint finger of pure active drive, it can adapt to the shape and size size of object automatically, reaches the purpose of self-adapting grasping; Under-actuated delicacy hand with form adaptive function has more joint freedom degrees; Less driver number has stronger adaptability when grasping the object of difformity, size, also reduced the requirement to the control system simultaneously.
U.S. patent of invention US5762390 comprises finger, motor, belt wheel transmission mechanism, lead-screw drive mechanism, base, linkage, the spring in three joints.This patent is pointed between two joints, joint and base are cascaded, and the centre is provided with spring, forms 3 continuous quadric chains, and motor, belt wheel, belt wheel transmission mechanism, lead-screw drive mechanism are installed in the base.This device is converted into motor through belt wheel, lead-screw drive mechanism the motion of linkage by motor-driven.
This device weak point: a plurality of quadric chains that realization finger dactylus rotates successively are complicated, manufacturing cost is high; The finger of four link design is not suitable on the anthropomorphic robot, using.
Chinese invention patent CN101234489A has introduced a kind of activation lacking mechanical finger device of belt wheel formula, mainly comprises pedestal, motor, nearly joint shaft, belt wheel transmission mechanism, middle part finger tip, joint shaft far away, terminal finger tip and spring.Motor drives finger through the belt wheel transmission mechanism and rotates, and when certain section of finger was run into object and can not be rotated, other sections of finger still can be around the center line rotation of joint shaft, thus the process of realization multi-joint finger bend envelope grasping objects.
This installs weak point: each is pointed respectively by a motor-driven, and this makes finger size excessive, and outward appearance and staff have very big difference.
Summary of the invention
The objective of the invention is for overcoming the weak point of prior art, provide a kind of list motor-driven humanoid dextrous hand device.
Technical scheme of the present invention is following: the motor-driven humanoid dextrous hand device of a kind of list of the present invention comprises four fingers, palm, gear unit, driver element, palm lid.Described four fingers are thumb, forefinger, middle finger and little finger of toe; Described palm is the hollow housing of profile with reference to the staff design, and thumb and other three finger simulation staff are arranged on the palm; Described gear unit is installed in palm inside, and described driver element is a direct current generator.
Described four finger structures are identical, vary in size.With the forefinger is example, comprises nearly joint, nearly joint lid, nearly joint bearing pin, nearly joint sleeve, nearly joint torsion spring, middle joint, middle joint lid, middle joint bearing pin, middle joint sleeve, middle joint torsion spring, joint far away, joint far away lid, joint far away bearing pin, joint far away sleeve, joint far away torsion spring.The joint links to each other through screw with corresponding joint lid, covers in each joint and is provided with the through hole that flexible rope can pass; Palm links to each other through bearing pin respectively with joint far away with middle joint, middle joint with nearly joint, nearly joint; Be with sleeve on the bearing pin; Be with torsion spring on the sleeve, the torsion spring two ends are separately fixed on two joints that are connected, wherein palm and nearly junction, joint; Torsion spring one end is fixed on the palm, and an end is fixed on the nearly joint.
Described gear unit is installed in palm inside, comprises thumb forefinger gear unit, middle finger little finger of toe gear unit, drive of motor unit.The drive of motor unit is installed in the middle of the inner bottom plating, and thumb forefinger gear unit, middle finger little finger of toe gear unit are installed in the left side and the right of inner bottom plating respectively, and inner bottom plating is fixed on palm inside.
Thumb forefinger gear unit is made up of thumb directive wheel, forefinger directive wheel, the first guide rail movable pulley; Middle finger little finger of toe gear unit is made up of middle finger directive wheel, little finger of toe directive wheel, the second guide rail movable pulley, and the drive of motor unit is made up of motor directive wheel and the 3rd guide rail movable pulley; Thumb directive wheel, forefinger directive wheel, middle finger directive wheel, little finger of toe directive wheel are installed on the inner bottom plating with screw according to the staff finger position respectively; Between the thumb directive wheel and the first guide rail movable pulley; Between the middle finger directive wheel and the second guide rail movable pulley; Between the little finger of toe directive wheel and the second guide rail movable pulley; Between the first guide rail movable pulley and the 3rd guide rail movable pulley, be separately installed with the fixed pulley of some between the second guide rail movable pulley and the 3rd guide rail movable pulley.
Thumb directive wheel, forefinger directive wheel, middle finger directive wheel, little finger of toe directive wheel and motor directive wheel are identical; Form by directive wheel bearing, upper pin, lower bearing pin, directive wheel sleeve, directive wheel belt wheel; The directive wheel belt wheel is enclosed within on the upper pin; The directive wheel jacket casing on lower bearing pin, between all be matched in clearance; The first guide rail movable pulley, the second guide rail movable pulley, the 3rd guide rail movable pulley structure are identical; Just rail length is different; Be made up of first guide rail bearing, second guide rail bearing, last straight pin, following straight pin, movable pulley slide block and movable pulley belt wheel, the movable pulley slide block set can smooth and easyly slide on two straight pins; Be matched in clearance between movable pulley slide block and two straight pins, the movable pulley belt wheel is enclosed within on the outstanding cylinder on the movable pulley slide block; Rail length in the first guide rail movable pulley should greater than thumb from original state to complete crooked flexible rope displacement and forefinger from original state to complete crooked flexible rope displacement and 1/2nd; Rail length in the second guide rail movable pulley should greater than middle finger from original state to complete crooked flexible rope displacement and little finger of toe from original state to complete crooked flexible rope displacement and the 1/2nd, the 3rd guide rail movable pulley in rail length in should be greater than first guide rail moving sliding rail length and the rail length in the second guide rail movable pulley and 1/2nd; Said fixed pulley is all identical, on the fixing inner bottom plating of fixed pulley pin; Directive wheel sleeve and directive wheel belt wheel central horizontal face, fixed pulley belt wheel central horizontal face, movable pulley belt wheel central horizontal face are on same horizontal plane.Medial surface in joint and junction, joint is equipped with first limit switch, at the back side of joint and junction, joint second limit switch is installed.
Described driver element is a direct current motor, is screwed in palm inside through electric machine support, and driver element is on the top of gear unit.
Described palm lid is fixed on the palm through screw, and covers at palm pressure sensor is housed.
The present invention has the following advantages and the high-lighting effect:
This device has 4 fingers and 12 joint freedom degrees, by a motor-driven, refers to that through the single motor-driven in the palm structure and tendon rope formula owe four fingers of Drive Structure and link to each other more, has realized that the personification that needs 4-5 drive motors to accomplish originally grasps.4 finger structures of this device are identical, and thumb just varies in size, and adopt modularized design, structure integrated level height, and part universality is strong, and it is low to make maintenance cost; The material selection high-intensity resin, in light weight, grasp reliable; Finger and palm adopt rapid prototyping technology processing, and the cycle is short, and precision is high.This apparatus structure is compact, volume is little, form is similar with staff, owe the Drive Structure finger owing to having adopted, and Dextrous Hand can adapt to the grasping body of different shape, size automatically, and low to the control system requirements.This device can use the interface that designs directly to link to each other with arm, as anthropomorphic robot's end-effector, both can be used in the robot of some specific functions, also can be applied on the medical machinery of auxiliary disabled person's life.
Description of drawings
Fig. 1 is the front appearance figure of the motor-driven humanoid dextrous hand device finger of a kind of list provided by the invention;
Fig. 2 is the left side view of Fig. 1;
Fig. 3 is the mid section figure of Fig. 2;
Fig. 4 is that Fig. 1 is at B-B place cutaway view;
Fig. 5 (a) is first state diagram of finger self-adapting grasping;
Fig. 5 (b) is finger self-adapting grasping second state;
Fig. 5 (c) is finger self-adapting grasping third state figure;
Fig. 6 (a) points accurately to pinch to get first state diagram;
Fig. 6 (b) points accurately to pinch to get second state diagram;
Fig. 6 (c) points accurately to pinch to get third state figure;
Fig. 6 (d) points accurately to pinch to get the 4th state diagram;
Fig. 7 is movable pulley structure working principle figure;
Fig. 8 is the front view when the flexible rope two ends are free among Fig. 7;
Fig. 9 is when the front view of flexible rope one end fixedly the time among Fig. 7;
Figure 10 is a gear unit sketch map in the palm;
Figure 11 is the directive wheel sketch map;
Figure 12 is a guide rail movable pulley sketch map;
Figure 13 is a fixed pulley belt wheel sketch map;
Figure 14 is the operation principle sketch map of whole Dextrous Hand;
Figure 15 is motor and electric machine support sketch map;
Figure 16 is palm lid and sensor sketch map;
Figure 17 is that Dextrous Hand grasps front view;
Figure 18 is the side view of Figure 17.
The specific embodiment
The motor-driven humanoid dextrous hand device of a kind of list that the present invention relates to, below in conjunction with description of drawings concrete structure of the present invention and operation principle:
The under-actuated finger operation principle: four fingers design with reference to staff; Structure is identical; Thumb just varies in size, and like Fig. 1, shown in Figure 2: finger is made up of nearly joint 8, middle joint 13 and 18 3 joints, joint far away, and each joint all correspondence has the joint to cover; The joint links to each other through screw with the joint lid, covers in each joint and is provided with the through hole that flexible rope can pass.The joint links to each other through bearing pin with the joint, is with sleeve on the bearing pin, and bush outer sleeve has torsion spring, and the torsion spring two ends are separately fixed on two continuous joints.As shown in Figure 3, use a flexible rope, an end is fixed on the joint far away lid 19; Through hole during the other end passes successively on joint lid 14, the nearly joint lid 9; When the pulling flexible rope other end, because employed three torsion spring stiffness have nothing in common with each other, finger will be simulated the flexure operation of staff; And when flexible rope ran out of steam, finger was got back to original state under the effect of torsion spring restoring force.
Under-actuated delicacy hand can be realized self-adapting grasping, also can realize accurately pinching and get.Self-adapting grasping is shown in Fig. 5 (a) Fig. 5 (b) Fig. 5 (c): Dextrous Hand is in the process of grasping objects; If the nearly joint 8 of finger touches object 60 earlier; Its motion will be restricted; The middle joint 13 of finger, joint 18 far away will touch object 60 up to middle joint 13 with form bearing pin 15 rotations around middle joint of rigid body owing to the effect of joint far away torsion spring 22 this moment; Motor is rotated further, and drives go the long way round joint bearing pin 20 of joint 18 far away and rotates, and also touches object 60 up to joint 18 far away, and final 3 joints all touch object 60, Here it is self-adapting grasping.Accurately pinch and get: Dextrous Hand is pinched and is got wisp 61 shown in Fig. 6 (a) Fig. 6 (b) Fig. 6 (c) Fig. 6 (d); In the extracting process, three joints are after little angle of prebuckling, and nearly joint 8 does not all touch wisp earlier with middle joint 13; At this moment; Whole finger will bearing pin 10 rotates around nearly joint with the form of rigid body, touches wisp 61 up to joint 18 far away and stops bending, and Here it is accurately pinches and get.
Four fingers can depend primarily on the gear unit in the palm by a motor-driven; I.e. three guide rail movable pulley structures; The guide rail movable pulley can be reduced to movable pulley structure as shown in Figure 7; Its operation principle is: movable pulley 50 can be done rectilinear motion along guide rail 51, also can rotate around self axle.Under first kind of situation as shown in Figure 8, passive flexible rope 52 is enclosed within on the movable pulley 50, when passive flexible rope 52 ends A, when B is free; Pulling is flexible rope 53 initiatively; Movable pulley 50 will move as straight line along guide rail 51, and does not rotate around self, and the result is that movable pulley 50 is being with passive flexible rope 52 to move together; And A, B two ends movement velocity are identical, and also identical with movable pulley 50 translational speeds; Under second kind of situation as shown in Figure 9; When passive flexible rope 52 1 ends (like A end) fixedly the time; Pulling is flexible rope 53 initiatively; Movable pulley 50 not only moves also around self axle as straight line along guide rail 51 and rotates, and passive flexible rope 52 other ends (B end) move with 2 times of speed to movable pulley 50.
Gear unit in the palm is shown in figure 10; Thumb forefinger gear unit is positioned at inner bottom plating 23 left sides; First flexible rope 54 is used to make thumb 3 and forefinger 4 bendings; The joint far away that its two ends are separately fixed at thumb 3 and forefinger 4 covers, and intermediate sleeve is on the movable pulley belt wheel of the first guide rail movable pulley 26; Middle finger little finger of toe gear unit is positioned at inner bottom plating 23 right sides, and second flexible rope 55 is used to make middle finger 5 and little finger of toe 6 bendings, and the joint far away that its two ends are separately fixed at middle finger 5 and little finger of toe 6 covers, and intermediate sleeve is on the movable pulley belt wheel of the second guide rail movable pulley 29; The drive of motor unit is positioned in the middle of the inner bottom plating 23; The 3rd flexible rope 56 is used to connect thumb forefinger gear unit and middle finger little finger of toe gear unit; Its two ends are separately fixed on the movable pulley slide block of the first guide rail movable pulley 26, the second guide rail movable pulley 29, and intermediate sleeve is on the movable pulley belt wheel of the 3rd guide rail movable pulley 31; The motion that the 4th flexible rope 57 is used to transmit direct current generator 7, its end links to each other with direct current generator 7, and the other end is fixed on the movable pulley slide block of the 3rd guide rail movable pulley 31; Because the palm inner space is smaller; Between the thumb directive wheel 24 and the first guide rail movable pulley 26; Between middle finger directive wheel 27, little finger of toe directive wheel 28 and the second guide rail movable pulley 29; Be separately installed with the fixed pulley 32 of some between the first guide rail movable pulley 26, the second guide rail movable pulley 29 and the 3rd guide rail movable pulley 31, change the flexible rope direction or guarantee that flexible rope moves smooth and easy with it.Rail length in the first guide rail movable pulley 26 should greater than thumb from original state to complete crooked flexible rope displacement and forefinger from original state to complete crooked flexible rope displacement and 1/2nd; Rail length in the second guide rail movable pulley 29 should greater than middle finger from original state to complete crooked flexible rope displacement and little finger of toe from original state to complete crooked flexible rope displacement and the 1/2nd, the 3rd guide rail movable pulley 31 in rail length should greater than the rail length in the rail length in the first guide rail movable pulley 26 and the second guide rail movable pulley 29 and 1/2nd.As Figure 11, Figure 12, shown in Figure 13 be directive wheel, guide rail movable pulley, fixed pulley structure.
The operation principle of whole Dextrous Hand is shown in figure 14: direct current generator 7 drives the gear unit motion in the palm; Thereby drive the finger bend that connects; The object resistance that finger receives when in BENDING PROCESS, receiving torsion spring power that frictional force, camber of spring causes and grasping objects, the gear unit motion of adjustment finger automatically constantly; When a finger was run into object, this finger can not continue bending, and all the other fingers still can continue bending, two fingers, and three fingers, all touching object up to all fingers can not be crooked, and Dextrous Hand is accomplished the extracting to object.Like Figure 17, shown in Figure 180; When Dextrous Hand is caught object, object is pressed in 46 last times of pressure sensor, and pressure sensor 46 can change the change of pressure into the change of the signal of telecommunication; Thereby control linear electric motors 7 stop operating pressure sensor 46 shown in figure 16 being installed on the palm.As Figure 15, shown in Figure 16 be electric machine support 45 and direct current generator 7, palm lid 2 structure with pressure sensor 46.
As shown in Figure 4, not catch under the object situation in order to prevent Dextrous Hand, four fingers all reach max bend position and direct current generator 7 still is rotated further; Thereby break flexible rope, at the joint and junction, the joint medial surface of each finger first limit switch 58 is installed, each limit switch connects with the series connection form; When four fingers all reach max bend position; All limit switches are closed, and circuit is by the flexible road of open circuit, motor stall.After the Dextrous Hand grasping objects, decontrol object and prepare extracting next time, motor counter-rotating this moment; Finger can return to original state under each joint shaft place torsion spring restoring force effect, gets back to the original state rear motor and still is rotated further in order to prevent finger, and make lax fixed pulley, directive wheel or the guide rail movable pulley of breaking away from of flexible rope; The back side, joint far away at each finger is equipped with second limit switch 59, and is as shown in Figure 3, and each limit switch connects with the series connection form; When all fingers all return to initial position; All limit switches are all closed, and circuit is by the flexible road of open circuit, motor stall.
Claims (1)
1. the motor-driven humanoid dextrous hand device of list comprises four fingers, palm, gear unit, driver element, palm lid; Described four fingers are thumb, forefinger, middle finger and little finger of toe; Described palm is the hollow housing of profile with reference to the staff design, and thumb and other three finger simulation staff are arranged on the palm; Described gear unit is installed in palm inside; Described driver element is a direct current generator; It is characterized in that: described four finger structures are identical; Vary in size; Each finger comprises nearly joint, nearly joint lid, nearly joint bearing pin, nearly joint sleeve, nearly joint torsion spring, middle joint, middle joint lid, middle joint bearing pin, middle joint sleeve, middle joint torsion spring, joint far away, joint far away lid, joint far away bearing pin, joint far away sleeve, joint far away torsion spring, and the joint links to each other through screw with corresponding joint lid, covers in each joint and is provided with the through hole that flexible rope can pass; Palm links to each other through bearing pin respectively with joint far away with middle joint, middle joint with nearly joint, nearly joint; Be with sleeve on the bearing pin; Be with torsion spring on the sleeve, the torsion spring two ends are separately fixed on two joints that are connected, wherein palm and nearly junction, joint; Torsion spring one end is fixed on the palm, and an end is fixed on the nearly joint;
Described gear unit is installed in palm inside; Comprise thumb forefinger gear unit, middle finger little finger of toe gear unit, drive of motor unit; The drive of motor unit is installed in the middle of the inner bottom plating; Thumb forefinger gear unit, middle finger little finger of toe gear unit are installed in the left side and the right of inner bottom plating respectively, and inner bottom plating is fixed on palm inside;
Thumb forefinger gear unit is made up of thumb directive wheel, forefinger directive wheel, the first guide rail movable pulley; Middle finger little finger of toe gear unit is made up of middle finger directive wheel, little finger of toe directive wheel, the second guide rail movable pulley, and the drive of motor unit is made up of motor directive wheel and the 3rd guide rail movable pulley; Thumb directive wheel, forefinger directive wheel, middle finger directive wheel, little finger of toe directive wheel are installed on the inner bottom plating with screw according to the staff finger position respectively; Between the thumb directive wheel and the first guide rail movable pulley; Between the middle finger directive wheel and the second guide rail movable pulley; Between the little finger of toe directive wheel and the second guide rail movable pulley; Between the first guide rail movable pulley and the 3rd guide rail movable pulley, be separately installed with the fixed pulley of some between the second guide rail movable pulley and the 3rd guide rail movable pulley;
Thumb directive wheel, forefinger directive wheel, middle finger directive wheel, little finger of toe directive wheel and motor directive wheel are identical; Form by directive wheel bearing, upper pin, lower bearing pin, directive wheel sleeve, directive wheel belt wheel; The directive wheel belt wheel is enclosed within on the upper pin; The directive wheel jacket casing on lower bearing pin, between all be matched in clearance; The first guide rail movable pulley, the second guide rail movable pulley, the 3rd guide rail movable pulley structure are identical; Just rail length is different; Be made up of first guide rail bearing, second guide rail bearing, last straight pin, following straight pin, movable pulley slide block and movable pulley belt wheel, the movable pulley slide block set can smooth and easyly slide on two straight pins; Be matched in clearance between movable pulley slide block and two straight pins, the movable pulley belt wheel is enclosed within on the outstanding cylinder on the movable pulley slide block; Rail length in the first guide rail movable pulley should greater than thumb from original state to complete crooked flexible rope displacement and forefinger from original state to complete crooked flexible rope displacement and 1/2nd; Rail length in the second guide rail movable pulley should greater than middle finger from original state to complete crooked flexible rope displacement and little finger of toe from original state to complete crooked flexible rope displacement and the 1/2nd, the 3rd guide rail movable pulley in rail length should greater than the rail length in the rail length in the first guide rail movable pulley and the second guide rail movable pulley and 1/2nd; Said fixed pulley is all identical, on the fixing inner bottom plating of fixed pulley pin; Directive wheel sleeve and directive wheel belt wheel central horizontal face, fixed pulley belt wheel central horizontal face, movable pulley belt wheel central horizontal face are on same horizontal plane; Medial surface in joint and junction, joint is equipped with first limit switch, at the back side of joint and junction, joint second limit switch is installed;
Described driver element is a direct current motor, is screwed in palm inside through electric machine support, and driver element is on the top of gear unit;
Described palm lid is fixed on the palm through screw, and covers at palm pressure sensor is housed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110327160 CN102363302B (en) | 2011-10-25 | 2011-10-25 | Anthropomorphic dexterous hand device driven by single motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110327160 CN102363302B (en) | 2011-10-25 | 2011-10-25 | Anthropomorphic dexterous hand device driven by single motor |
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| CN102363302A true CN102363302A (en) | 2012-02-29 |
| CN102363302B CN102363302B (en) | 2013-09-18 |
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