CN103009398A - Humanoid hand in underactuation exquisite transmission structure - Google Patents
Humanoid hand in underactuation exquisite transmission structure Download PDFInfo
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- CN103009398A CN103009398A CN2012105518501A CN201210551850A CN103009398A CN 103009398 A CN103009398 A CN 103009398A CN 2012105518501 A CN2012105518501 A CN 2012105518501A CN 201210551850 A CN201210551850 A CN 201210551850A CN 103009398 A CN103009398 A CN 103009398A
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- knuckle
- gear
- crown gear
- finger
- dactylus
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- 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
Abstract
The invention discloses a humanoid hand in an underactuation exquisite transmission structure. The hand consists of five fingers, the thumb is composed of two joints, and other fingers respectively consist of three joints. The fingers except the thumb mainly consist of crown gears, cylindrical gears, crown gears connecting shaft and other relevant parts, all the joints are tightly connected into a whole, and the rotation of each finger can be realized through one motor: firstly, the first cylindrical gear is driven by a motor, the left crown gear and the right crown gear engaged with the first cylindrical gear rotate in the opposite direction, the finger joint rotation is realized, and meanwhile, the other cylindrical gear engaged with the finger joints is driven to rotate, so the transmission is transmitted to the next finger joint; and the transmission mode of the next two joints is similar to the former transmission mode. The humanoid hand in the exquisite transmission structure has the advantages that the structure is simple and compact, the transmission precision is high, the installation is convenient, the weight is light, the size is small, the required motors are few, and the humanoid hand is suitable for being used as the humanoid hand or being used on a mechanical arm.
Description
Technical field
The invention belongs to the anthropomorphic robot technical field, particularly a kind of mechanism design of owing to drive the apery hand of exquisite transmission mechanism.
Background technology
Anthropomorphic robot is and the immediate a kind of robot of the mankind, compare with traditional wheeled robot or caterpillar robot, anthropomorphic robot is more convenient for using the various tool as the man invented design simultaneously more near human daily life environment, therefore, anthropomorphic robot has vast potential for future development.
Similar with the mankind, a lot of functions of anthropomorphic robot all will realize by operation by human hand, so robot is the indispensable part of robot, with respect to the other parts of robot, it is many that the apery hand has the free degree, and volume is little, very dexterous, characteristics and the difficult points such as control complexity.Although present existing Dextrous Hand control flexibly, structure is very complicated, and quality is overweight, and the control difficulty is quite large, and manufacturing and maintenance cost are very high, and these factors have hindered the wide popularization and application of Dextrous Hand on anthropomorphic robot.
Chinese invention patent CN 101633171A comprises pedestal, motor, nearly joint shaft, joint shaft far away and terminal segment, also comprises realizing respectively coupling and owing to drive the transmission mechanism of rotation and a plurality of spring spare decoupling devices etc.Before finger touches object, realize the effect that the multi-joint coupling is rotated, after finger touches object, adopt multi-joint to owe type of drive crawl object.The weak point of this device is: this device is owing to adopted two sets of transmission mechanism to realize respectively coupling and owe driving crawl, so that whole finger structure is complicated, it is high to make processing cost; Two sets of transmission mechanism of this device are arranged in parallel, and add a plurality of spring spares and install at joint shaft, make finger too thick.
Chinese invention patent CN 101941205A, flexible slide block formula parallel coupling under-driving robot finger device comprises pedestal, nearly joint shaft, the first segment, joint shaft far away, the second segment and motor, also comprises drive, slide block, spring spare, reaches flexible piece etc.With coupled drive with owe to drive transmission and combine, utilize the slide block loose joint to touch mode and make the finger bending pick up object.This device weak point still is that structure is complicated, and overall dimension is also beaten much larger than staff.
Summary of the invention
The objective of the invention is the weak point for apery hand and mechanical arm mechanism in the above-mentioned prior art, a kind of apery arm device of owing to drive exquisite transmission mechanism is provided, this apparatus structure is simply compact, transmitting accuracy is high, and easy for installation, quality is light, volume is little, required motor is few, and common staff is almost big or small, is suitable as anthropomorphic robot hand or mechanical arm hand and uses.
The technical scheme that technical solution problem of the present invention is taked is as follows:
A kind of apery arm device of owing to drive exquisite transmission mechanism of the present invention comprises palm, five fingers; Wherein, finger comprises first knuckle, second knuckle, third knuckle, the 4th dactylus, driving joint, roller gear, crown gear, column gear transmission axle, crown gear connecting axle, joint locating dowel, motor and decelerator etc.Be fixed with decelerator on the described first knuckle, described decelerator bottom is connected with motor, and decelerator connects primary cylinder gear simultaneously, and a pair of crown gear in described primary cylinder gear and the first joint meshes; Connect by the crown gear connecting axle in the middle of the described a pair of crown gear, the outside is connected with the two ends, the left and right sides of second knuckle respectively, and wherein left side ring gear is fixedly connected with the root articulations digitorum manus, and the right ring gear is only got the idle wheel effect, and is unfixing with second knuckle; An end relative with described primary cylinder gear, secondary roller gear and the engagement of described crown gear, this roller gear is connected with second knuckle column gear transmission axle; Described second knuckle column gear transmission axle is contained on the locating dowel of second knuckle joint; Described joint locating dowel is fixed on the second knuckle articulation center; Third knuckle and the 4th dactylus structure are all similar with second knuckle, but at third knuckle, the idle wheel position in the crown gear is different with second knuckle idle wheel position.The series connection of three joints is arranged in parallel.
A kind of apery hand finger device of owing to drive exquisite transmission mechanism of the present invention, it is characterized in that: the roller gear in the described driving joint and crown gear can change conical gear into;
A kind of apery hand finger device of owing to drive exquisite transmission mechanism of the present invention is characterized in that: an osculum is opened in the position of described secondary roller gear and movable crown gear engagement, in order to avoid gear is stuck each other, it is more smooth that motion is transmitted.
A kind of apery hand finger device of owing to drive exquisite transmission mechanism of the present invention, it is characterized in that: can realize different angles by regulating by the gearratio of regulating between crown gear and the roller gear with the length that changes dactylus, the bending of different amplitudes is rotated.
Beneficial effect of the present invention and advantage are:
The apery hand of this exquisite transmission mechanism is simple and compact for structure, transmitting accuracy is high, easy for installation, quality is light, volume is little, required motor is few, and the length that can regulate as required the gearratio between described crown gear and the roller gear and change each dactylus realizes the deflection of different angles, is suitable as anthropomorphic robot hand and mechanical arm hand and uses.
Description of drawings
Fig. 1 is a kind of positive overall appearance figure that owes to drive the apery hand of exquisite transmission mechanism provided by the invention.
Fig. 2 is the front appearance figure of the finger of present embodiment.
Fig. 3 is that the A-A of Fig. 2 is to cutaway view.
Fig. 4 is the schematic diagram of present embodiment articulations digitorum manus motion.
Fig. 5 is that the axle that waits of the finger-joint locating dowel (13) of present embodiment is surveyed view.
Among the figure: 1 first knuckle, 2 second knuckles, 3 third knuckles, 4 the 4th joints, 5 primary cylinder gears, 6 fixing crown gears, 7 movable crown gears, 8 secondary roller gears, 9 crown gear connecting axles, 10 decelerators, 11 motors, 12 roller gear connecting axles, 13 joint locating dowels, 14 palms, 15 thumbs, 16 forefingers, 17 middle fingers, 18 third fingers, 19 little fingers of toe.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Referring to Fig. 1, a kind of apery arm device of owing to drive exquisite transmission mechanism is comprised of palm (14), thumb (15), forefinger (16), middle finger (17), nameless (18), little finger of toe (19) generally; Wherein said finger comprises first knuckle (1), second knuckle (2), third knuckle (3), the 4th dactylus (4), primary cylinder gear (5), movable crown gear (6), fixing crown gear (7), secondary roller gear (8), column gear transmission axle (12), crown gear connecting axle (9), motor (11), decelerator (10) and joint locating dowel (13).Be fixed with decelerator (10) on the described first knuckle (1), described decelerator (10) bottom is connected with motor (11), decelerator connects primary cylinder gear (5) simultaneously, a pair of crown gear (6, the 7) engagement in described primary cylinder gear (5) and the first joint; Connect by crown gear connecting axle (9) in the middle of the described a pair of crown gear (6,7), the outside is connected with the two ends, the left and right sides of second knuckle (2) respectively, wherein fixedly ring gear (6) is fixedly connected with second knuckle (2) left side, and movable ring gear (7) only plays the idle wheel effect, is installed on the crown gear connecting axle (9); An end relative with described primary cylinder gear (5), secondary roller gear (8) and described crown gear (6,7) engagement, this secondary roller gear (8) is connected with second knuckle column gear transmission axle (12), and described second knuckle column gear transmission axle (12) is located by second knuckle locating dowel (13); Described second knuckle locating dowel (13) is fixed on second knuckle (2) center; Third knuckle (3) and the 4th dactylus (4) are all similar with second knuckle (2), but at third knuckle, the idle wheel position in the crown gear is different with second knuckle (2) intermediary wheel position; The series connection of three joints is arranged in parallel; Described each finger is fixing by first knuckle and palm (14).
The operation principle of present embodiment as shown in Figure 2, now is described below:
Motor (11) drives primary cylinder gear (5) by decelerator (10) and rotates, rotate by direction as shown such as Fig. 2 hypothesis, the movable crown gear (6) that then is engaged with rotates thereupon, the rotation of movable crown gear (6) drives on the one hand second knuckle (2) and rotates around crown gear connecting axle (9), driving on the other hand the secondary roller gear (8) be engaged with rotates around direction as shown in the figure, thereby when realizing that second knuckle (2) rotates, rotation can be passed to next stage again; Third knuckle (3) and the 4th dactylus (4) motion mode are similar with it; The motion of each finger is also similar, by a motor-driven, realizes this apery hand crawl object.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the variation that those skilled in the art carries out in the technical solution of the present invention scope and replacing all should be included in protection scope of the present invention.
Claims (5)
1. an apery hand of owing to drive exquisite drive mechanism comprises palm (14), thumb (15), forefinger (16), middle finger (17), nameless (18) and little finger of toe (19), it is characterized in that:
Described forefinger (16), middle finger (17), nameless (18), little finger of toe (19) include first knuckle (1), second knuckle (2), third knuckle (3) and the 4th dactylus (4), link to each other by three driving joints;
Described thumb (15) comprises first knuckle (1), third knuckle (3), the 4th dactylus (4), links to each other by two driving joints;
Each finger is fixed on the described palm (14) by first knuckle (1) separately;
Four finger dactylus (1,2,3,4) of described forefinger (16), middle finger (17), nameless (18), little finger of toe (19) are rectangular configuration;
Each described driving joint comprises respectively primary cylinder gear (5), fixedly crown gear (6), movable crown gear (7), secondary roller gear (8), and crown gear connecting axle (9);
Be fixed with respectively decelerator (10) on each described first knuckle (1), each described decelerator bottom connects respectively motor (11);
Described each dactylus center is fixed with joint locating dowel (13), and described joint locating dowel (13) center is by cylindrical drive shaft (12).
2. apery hand according to claim 1, it is characterized in that, described primary cylinder gear (5) and described fixedly crown gear (6) and movable crown gear (7) engagement, described fixedly crown gear (6) and movable crown gear (7) also mesh with secondary roller gear (8); Thus rotation is passed to described second knuckle (2), pass to again described third knuckle (3) and the 4th dactylus (4).
3. apery hand according to claim 1 is characterized in that, described second knuckle (2), by with the fixing rotation that realizes self of described fixedly crown gear (6), and described movable crown gear (7) is fixing with second knuckle (2).
4. apery hand according to claim 1 is characterized in that, an osculum is opened in the position of described secondary roller gear (8) and movable crown gear (7) engagement, in order to avoid gear is stuck each other, makes the transmission motion more smooth.
5. apery hand according to claim 1 is characterized in that, described apery hand can be realized different angles with the length that changes each dactylus (2,3,4) by the gearratio of regulating between crown gear and the roller gear, and the bending of different amplitudes is rotated.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210551850.1A CN103009398B (en) | 2012-12-18 | 2012-12-18 | Humanoid hand of underactuated exquisite transmission structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210551850.1A CN103009398B (en) | 2012-12-18 | 2012-12-18 | Humanoid hand of underactuated exquisite transmission structure |
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| CN103009398A true CN103009398A (en) | 2013-04-03 |
| CN103009398B CN103009398B (en) | 2015-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN105773648A (en) * | 2016-03-30 | 2016-07-20 | 昆明理工大学 | Bionic grabbing manipulator |
Citations (7)
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| JPH11156778A (en) * | 1997-08-07 | 1999-06-15 | Haruhisa Kawasaki | Robot hand |
| CN1557268A (en) * | 2004-02-11 | 2004-12-29 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
| CN101214653A (en) * | 2008-01-04 | 2008-07-09 | 清华大学 | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101288954A (en) * | 2008-06-13 | 2008-10-22 | 清华大学 | Double bevel wheel under-driven robot finger |
| CN102092049A (en) * | 2011-01-04 | 2011-06-15 | 天津大学 | Humanoid dexterous hand with variable-shape palm |
| WO2012039479A1 (en) * | 2010-09-24 | 2012-03-29 | 国立大学法人岐阜大学 | Humanoid electric hand |
| CN202572399U (en) * | 2012-05-15 | 2012-12-05 | 郑州大学 | Synchronous smart mechanical arm of robot |
-
2012
- 2012-12-18 CN CN201210551850.1A patent/CN103009398B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11156778A (en) * | 1997-08-07 | 1999-06-15 | Haruhisa Kawasaki | Robot hand |
| CN1557268A (en) * | 2004-02-11 | 2004-12-29 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
| CN101214653A (en) * | 2008-01-04 | 2008-07-09 | 清华大学 | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101288954A (en) * | 2008-06-13 | 2008-10-22 | 清华大学 | Double bevel wheel under-driven robot finger |
| WO2012039479A1 (en) * | 2010-09-24 | 2012-03-29 | 国立大学法人岐阜大学 | Humanoid electric hand |
| CN102092049A (en) * | 2011-01-04 | 2011-06-15 | 天津大学 | Humanoid dexterous hand with variable-shape palm |
| CN202572399U (en) * | 2012-05-15 | 2012-12-05 | 郑州大学 | Synchronous smart mechanical arm of robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN105773648A (en) * | 2016-03-30 | 2016-07-20 | 昆明理工大学 | Bionic grabbing manipulator |
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| CN103009398B (en) | 2015-02-11 |
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