CN102363302B - Anthropomorphic dexterous hand device driven by single motor - Google Patents
Anthropomorphic dexterous hand device driven by single motor Download PDFInfo
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- CN102363302B CN102363302B CN 201110327160 CN201110327160A CN102363302B CN 102363302 B CN102363302 B CN 102363302B CN 201110327160 CN201110327160 CN 201110327160 CN 201110327160 A CN201110327160 A CN 201110327160A CN 102363302 B CN102363302 B CN 102363302B
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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 beadopted, 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 dexterous arm device of a kind of list.
Background technology
Most functions of anthropomorphic robot need to realize by operation by human hand, and hand organization research is the important component part that the anthropomorphic robot studies, and its design is one of key technology of anthropomorphic robot's technology.Progress along with technology, people wish 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 refers to that the Standalone Drives number is less than number of degrees of freedom, purpose mechanism, owing drives structure finger more has superiority than the multi-joint finger of pure active drive, it can adapt to the shape and size size of object automatically, reach 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 the object of crawl difformity, size, also reduced the requirement to 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 electric machine rotation by 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 for using the anthropomorphic robot.
Chinese invention patent CN101234489A has introduced a kind of activation lacking mechanical finger device of belt wheel, 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 by belt wheel transmission mechanism and rotates, and when certain segment was run into object and can not be rotated, other segments still can be rotated around the center line of joint shaft, thereby realizes that multi-joint points the process of crooked envelope crawl object.
This installs weak point: each is pointed respectively by a motor-driven, and this is so that finger size is 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 dexterous arm device.
Technical solution of the present invention is as follows: the motor-driven humanoid dexterous arm 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 that profile designs with reference to staff, 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 direct current generator.
Described four finger structures are identical, vary in size.Take forefinger as example, comprise 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 by 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 by bearing pin respectively with joint far away with middle joint, middle joint with nearly joint, nearly joint, cover has sleeve on the bearing pin, cover has torsion spring on the sleeve, the torsion spring two ends are separately fixed on two joints that are connected, wherein palm and closely 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, motor-driven unit.The motor-driven cellular installation is in the middle of inner bottom plating, and thumb forefinger gear unit, middle finger little finger of toe gear unit are installed in respectively the left side and the right of inner bottom plating, and inner bottom plating is fixed on palm inside.
Thumb forefinger gear unit is comprised of thumb directive wheel, forefinger directive wheel, the first guide rail movable pulley, middle finger little finger of toe gear unit is comprised of middle finger directive wheel, little finger of toe directive wheel, the second guide rail movable pulley, and the motor-driven unit is comprised 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 thumb directive wheel and the first guide rail movable pulley, between middle finger directive wheel and the second guide rail movable pulley, between 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, formed 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, formed by the first guide rail bearing, the second guide rail bearing, upper straight pin, lower straight pin, movable pulley slide block and movable pulley belt wheel, the movable pulley slide block set is on two straight pins, can smooth and easyly slide, 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 moving sliding greater than the first guide rail rail length and the rail length in the second guide rail movable pulley and 1/2nd; Described 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 level.Medial surface in joint and junction, joint is equipped with the first limit switch, at the back side of joint and junction, joint the second limit switch is installed.
Described driver element is a direct current motor, is screwed in palm inside by electric machine support, and driver element is on the top of gear unit.
Described palm lid is fixed by screws on the palm, 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 by the single motor-driven in the palm structure and tendon rope formula owe four fingers of drives structure and link to each other more, has realized the personification crawl that originally needs 4-5 drive motors just can finish.4 finger structures of this device are identical, and thumb just varies in size, and adopt modularized design, structure assembly degree high, and part universality is strong, makes maintenance cost low; The material selection high-intensity resin, lightweight, crawl is 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 to staff, owe the drives structure finger owing to having adopted, and Dextrous Hand can adapt to the grasping body of various shapes, size automatically, and requires low to control system.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 dexterous arm 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 the first state diagram of finger self-adapting grasping;
Fig. 5 (b) is finger self-adapting grasping the second state;
Fig. 5 (c) is finger self-adapting grasping third state figure;
Fig. 6 (a) points accurately to pinch to get the first state diagram;
Fig. 6 (b) points accurately to pinch to get the 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 gear unit schematic diagram in the palm;
Figure 11 is the directive wheel schematic diagram;
Figure 12 is guide rail movable pulley schematic diagram;
Figure 13 is fixed pulley belt wheel schematic diagram;
Figure 14 is the operation principle schematic diagram of whole Dextrous Hand;
Figure 15 is motor and electric machine support schematic diagram;
Figure 16 is palm lid and sensor schematic diagram;
Figure 17 is Dextrous Hand crawl front view;
Figure 18 is the side view of Figure 17.
The specific embodiment
The motor-driven humanoid dexterous arm 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, as shown in Figure 1 and Figure 2: finger is comprised of nearly joint 8, middle joint 13 and 18 3 joints, joint far away, each joint correspondence has the joint lid, the joint links to each other by 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 by bearing pin with the joint, and cover has sleeve 11,16,21 on the bearing pin, and bush outer sleeve has torsion spring 12,17, and the torsion spring two ends are separately fixed on two continuous joints.As shown in Figure 3, use a flexible rope, one end is fixed on the joint far away lid 19, the other end passes the through hole on middle joint lid 14, the nearly joint lid 9 successively, when the pulling flexible rope other end, because employed three torsion spring stiffness are different, 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 crawl object, if the nearly joint 8 of finger touches first object 60, its motion will be restricted, this moment is because the effect of joint far away torsion spring 22, the middle joint 13 of finger, joint 18 far away will be rotated around middle joint bearing pin 15 with the form of rigid body, until middle joint 13 touches object 60; Motor is rotated further, and drives go the long way round joint bearing pin 20 of joint 18 far away and rotates, until joint 18 far away also touches object 60, 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 crawl process, three joints are after little angle of prebuckling, nearly joint 8 and middle joint 13 all do not touch first wisp, at this moment, whole finger will rotate around nearly joint bearing pin 10 with the form of rigid body, stop bending until joint 18 far away touches wisp 61, and Here it is accurately pinches and get.
Four fingers can depend primarily on 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.In the first 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 be made traveling priority along guide rail 51, and does not rotate around self, and the result is that movable pulley 50 moves together with passive flexible rope 52, and A, B two ends movement velocity are identical, and also identical with movable pulley 50 translational speeds; In the second situation as shown in Figure 9, when passive flexible rope 52 1 ends (such as A end) fixedly the time, pulling is flexible rope 53 initiatively, movable pulley 50 is not only made traveling priority also around self axle rotation along guide rail 51, and passive flexible rope 52 other ends (B end) move with 2 times of speed to movable pulley 50.
Gear unit in the palm as shown in figure 10, thumb forefinger gear unit is positioned at inner bottom plating 23 left sides, thumb forefinger gear unit is comprised of thumb directive wheel, forefinger directive wheel 25, the first guide rail movable pulley; The first flexible rope 54 is used for making thumb 3 and forefinger 4 bendings, and 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 the second flexible rope 55 is used for making 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 motor-driven unit is positioned in the middle of the inner bottom plating 23, the 3rd flexible rope 56 is used for connecting 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 for transmitting 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 less, between 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 be 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 be 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.Such as Figure 11, Figure 12, Figure 13 shows that directive wheel, guide rail movable pulley, fixed pulley structure, thumb directive wheel, forefinger directive wheel, middle finger directive wheel, little finger of toe directive wheel and motor directive wheel 30 are identical, such as Figure 11, formed by directive wheel bearing 33, upper pin 34, lower bearing pin 35, directive wheel sleeve 36, directive wheel belt wheel 37, 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, is comprised of the first guide rail bearing 38, the second guide rail bearing 39, upper straight pin 40, lower straight pin 41, movable pulley slide block 42 and movable pulley belt wheel 43.Fixed pulley is all identical, such as Figure 13, on the fixing inner bottom plating of fixed pulley pin 44.
The operation principle of whole Dextrous Hand is as shown in figure 14: direct current generator 7 drives the gear unit motion in the palms, thereby the finger that band is dynamically connected is crooked, the object resistance that finger is subject to when being subject to torsion spring power that frictional force, camber of spring causes and crawl object in BENDING PROCESS, gear unit will be adjusted the motion of finger constantly automatically; When a finger was run into object, this finger can not continue bending, and all the other fingers still can continue bending, two fingers, three fingers, until all fingers all touch object can not be crooked, Dextrous Hand is finished the crawl to object.Such as Figure 17, shown in Figure 180, when Dextrous Hand is caught object, when object was pressed on the pressure sensor 46, 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, and pressure sensor 46 is installed on the palm as shown in figure 16.Such as Figure 15, Figure 16 shows that the structure of electric machine support 45 and direct current generator 7, palm lid 2 and pressure sensor 46.
As shown in Figure 4, do not catching in 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 flexible rope is broken, at joint and junction, the joint medial surface of each finger the 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 stalling.Behind the Dextrous Hand crawl object, decontrol object and prepare crawl next time, this moment motor reversal, finger can return to original state under each joint shaft place torsion spring restoring force effect, get back to the original state rear motor and still be rotated further in order to prevent finger, and being relaxed, flexible rope breaks away from fixed pulley, directive wheel or guide rail movable pulley, the back side, joint far away at each finger is equipped with the second limit switch 59, as shown in Figure 3, each limit switch connects with the series connection form, and when all fingers all returned to initial position, all limit switches were all closed, circuit is by the flexible road of open circuit, motor stalling.
Claims (1)
1. the motor-driven humanoid dexterous arm device of list comprises four fingers, palm, gear unit, driver element and palm lid; Described four fingers are thumb, forefinger, middle finger and little finger of toe; Described palm is the hollow housing that profile designs with reference to staff, 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 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 sleeve far away and joint far away torsion spring, the joint links to each other by 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 by bearing pin respectively with joint far away with middle joint and middle joint with nearly joint, nearly joint, cover has sleeve on the bearing pin, cover has torsion spring on the sleeve, the torsion spring two ends are separately fixed on two joints that are connected, wherein palm and closely 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 and motor-driven unit, the motor-driven cellular installation is in the middle of inner bottom plating, thumb forefinger gear unit, middle finger little finger of toe gear unit are installed in respectively the left side and the right of inner bottom plating, and inner bottom plating is fixed on palm inside;
Thumb forefinger gear unit is comprised of thumb directive wheel, forefinger directive wheel and the first guide rail movable pulley, middle finger little finger of toe gear unit is comprised of middle finger directive wheel, little finger of toe directive wheel and the second guide rail movable pulley, and the motor-driven unit is comprised of motor directive wheel and the 3rd guide rail movable pulley; Thumb directive wheel, forefinger directive wheel, middle finger directive wheel and little finger of toe directive wheel are installed on the inner bottom plating with screw according to the staff finger position respectively; Between thumb directive wheel and the first guide rail movable pulley, between middle finger directive wheel and the second guide rail movable pulley, between 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 and the fixed pulley that is separately installed with 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, formed by directive wheel bearing, upper pin, lower bearing pin, directive wheel sleeve and 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, formed by the first guide rail bearing, the second guide rail bearing, upper straight pin, lower straight pin, movable pulley slide block and movable pulley belt wheel, the movable pulley slide block set is on two straight pins, can smooth and easyly slide, 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; Described 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 and movable pulley belt wheel central horizontal face are on same level, medial surface in joint and junction, joint is equipped with the first limit switch, at the back side of joint and junction, joint the second limit switch is installed;
Described driver element is a direct current motor, is screwed in palm inside by electric machine support, and driver element is on the top of gear unit;
Described palm lid is fixed by screws on the palm, and covers at palm pressure sensor is housed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110327160 CN102363302B (en) | 2011-10-25 | 2011-10-25 | Anthropomorphic dexterous hand device driven by single motor |
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| CN 201110327160 CN102363302B (en) | 2011-10-25 | 2011-10-25 | Anthropomorphic dexterous hand device driven by single motor |
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| CN102363302A CN102363302A (en) | 2012-02-29 |
| CN102363302B true CN102363302B (en) | 2013-09-18 |
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| CN 201110327160 Expired - Fee Related CN102363302B (en) | 2011-10-25 | 2011-10-25 | Anthropomorphic dexterous hand device driven by single motor |
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| CN102363302A (en) | 2012-02-29 |
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