CN103009398B - Humanoid hand of underactuated exquisite transmission structure - Google Patents

Humanoid hand of underactuated exquisite transmission structure Download PDF

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Publication number
CN103009398B
CN103009398B CN201210551850.1A CN201210551850A CN103009398B CN 103009398 B CN103009398 B CN 103009398B CN 201210551850 A CN201210551850 A CN 201210551850A CN 103009398 B CN103009398 B CN 103009398B
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China
Prior art keywords
knuckle
gear
crown gear
finger
dactylus
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CN201210551850.1A
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CN103009398A (en
Inventor
张伟民
黄强
陈晓鹏
黄高
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping 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

The apery hand of the exquisite drive mechanism of a kind of drive lacking
Technical field
The invention belongs to anthropomorphic robot technical field, particularly the mechanism design of the apery hand of the exquisite transmission mechanism of a kind of drive lacking.
Background technology
Anthropomorphic robot is immediate a kind of robot with the mankind, compared with traditional wheeled robot or caterpillar robot, anthropomorphic robot, closer to mankind's everyday environments, is more convenient for using the various instruments designed for man invented simultaneously, therefore, anthropomorphic robot has vast potential for future development.
Similar with the mankind, a lot of functions of anthropomorphic robot all will be realized by operation by human hand, and therefore robot is the indispensable part of robot, relative to the other parts of robot, it is many that apery hand has the free degree, and volume is little, very dexterous, control feature and the difficult points such as complicated.Although current existing Dextrous Hand controls flexibly, structure is very complicated, and quality is overweight, controls difficulty quite large, manufacture and maintenance cost very high, these factors hinder 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 end segment, also comprises the transmission mechanism that realizes coupling and drive lacking rotation respectively and multiple spring part decoupling devices etc.Before finger touches object, realize the effect of multi-joint coupling rotational, after finger touches object, adopt multi-joint drive lacking mode to capture object.The weak point of this device is: this device realizes coupling and drive lacking crawl respectively owing to have employed two sets of transmission mechanism, makes whole finger structure complicated, manufactures processing cost high; Two sets of transmission mechanism of this device are arranged in parallel, add multiple spring part and install on joint shaft, make finger too thick.
Chinese invention patent CN 101941205 A, flexible slide block formula parallel coupling under-driving robot finger device, comprises pedestal, nearly joint shaft, the first segment, joint shaft, the second segment and motor far away, also comprises drive, slide block, spring part and flexible piece etc.Coupled drive is combined with drive lacking transmission, utilizes the slide block way of contact alive to make digital flexion pick up object.This device weak point is still that structure is more complicated, and overall dimension is also beaten much larger than staff.
Summary of the invention
The object of the invention is the weak point for apery hand and mechanical arm mechanism in above-mentioned prior art, the apery arm device of the exquisite transmission mechanism of a kind of drive lacking is provided, this apparatus structure is simply compact, transmitting accuracy is high, easy for installation, and quality is light, volume is little, required motor is few, and the similar size of common staff, is suitable as anthropomorphic robot hand or the use of mechanical arm hand.
The technical scheme that technical solution problem of the present invention is taked is as follows:
The apery arm device of the exquisite transmission mechanism of a kind of drive lacking 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.Described first knuckle is fixed with decelerator, and described decelerator is connected with motor below, and decelerator connects primary cylinder gear simultaneously, and described primary cylinder gear engages with a pair crown gear in the first joint; Connected by crown gear connecting axle in the middle of a pair described crown gear, outside is connected with the two ends, left and right of second knuckle respectively, and wherein left side ring gear is fixedly connected with root articulations digitorum manus, and idle wheel effect only got by the right ring gear, does not fix with second knuckle; One end relative with described primary cylinder gear, secondary roller gear engages with described crown gear, and this roller gear is connected with second knuckle column gear transmission axle; Described second knuckle column gear transmission axle is contained in the locating dowel of second knuckle joint; Described joint locating dowel is fixed on second knuckle articulation center; Third knuckle and the 4th dactylus structure all similar with second knuckle, but at third knuckle, the idle wheel position in crown gear is different with second knuckle idle wheel position.Three joint series connection are arranged in parallel.
The apery hand finger device of the exquisite transmission mechanism of a kind of drive lacking of the present invention, is characterized in that: the roller gear in described driving joint and crown gear can change conical gear into;
The apery hand finger device of the exquisite transmission mechanism of a kind of drive lacking of the present invention, is characterized in that: an osculum is opened in the position of described secondary roller gear and the engagement of movable crown gear, in order to avoid gear is stuck each other, makes Movement transmit more smooth.
The apery hand finger device of the exquisite transmission mechanism of a kind of drive lacking of the present invention, is characterized in that: can realize different angles, the bending rotation of different amplitude by regulating the gearratio between crown gear and roller gear with the length changing dactylus.
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 gearratio between described crown gear and roller gear can be regulated as required to realize the deflection of different angles with the length changing each dactylus, is suitable as anthropomorphic robot hand and the use of mechanical arm hand.
Accompanying drawing explanation
Fig. 1 is the front overall appearance figure of the apery hand of the exquisite transmission mechanism of a kind of drive lacking provided by the invention.
Fig. 2 is the front appearance figure of the finger of the present embodiment.
Fig. 3 is that the A-A of Fig. 2 is to sectional view.
Fig. 4 is the schematic diagram of the present embodiment articulations digitorum manus motion.
Fig. 5 is the isometric view of the finger-joint locating dowel (13) of the present embodiment.
In figure: 1 first knuckle, 2 second knuckles, 3 third knuckles, 4 the 4th sections, 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 is nameless, 19 little fingers of toe.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as a limitation of the invention.
See Fig. 1, an apery arm device for the exquisite transmission mechanism of drive lacking, is made up 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), fixing 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).Described first knuckle (1) is fixed with decelerator (10), described decelerator (10) is connected with motor (11) below, decelerator connects primary cylinder gear (5) simultaneously, and described primary cylinder gear (5) engages with a pair crown gear (6,7) in the first joint; Connected by crown gear connecting axle (9) in the middle of described a pair crown gear (6,7), outside is connected with the two ends, left and right of second knuckle (2) respectively, wherein fix ring gear (6) to be fixedly connected with second knuckle (2) left side, and movable ring gear (7) only plays idle wheel effect, be arranged on crown gear connecting axle (9); One end relative with described primary cylinder gear (5), secondary roller gear (8) engages with described crown gear (6,7), 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) all similar with second knuckle (2), but at third knuckle, the idle wheel position in crown gear is different with second knuckle (2) intermediary wheel position; Three joint series connection are arranged in parallel; Described each finger is fixed by first knuckle and palm (14).
The operation principle of the present embodiment, as shown in Figure 2, is now described below:
Motor (11) drives primary cylinder gear (5) to rotate by decelerator (10), as Fig. 2 hypothesis is rotated by direction as shown, the fixing crown gear (6) be then engaged with rotates thereupon, the rotation of fixing crown gear (6) drives second knuckle (2) to rotate around crown gear connecting axle (9) on the one hand, drive the secondary roller gear (8) be engaged with around direction rotation as shown in the figure on the other hand, thus realize while second knuckle (2) rotates, rotation to be passed to next stage again; Third knuckle (3) and the 4th dactylus (4) motion mode similar with it; The motion of each finger is also similar, drives by a motor, realizes this apery hand and captures object.
Above-described embodiment, the just one of the present invention's more preferably detailed description of the invention, the change that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.

Claims (1)

1. the apery hand of the exquisite drive mechanism of drive lacking, comprise 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), are connected by three driving joints;
Described thumb (15) comprises first knuckle (1), third knuckle (3), the 4th dactylus (4), is connected by two driving joints;
Each finger is fixed on described palm (14) by respective first knuckle (1);
Four fingers dactylus (1,2,3,4) of described forefinger (16), middle finger (17), nameless (18), little finger of toe (19) are rectangular configuration;
Driving joint described in each comprises primary cylinder gear (5), fixing crown gear (6), movable crown gear (7), secondary roller gear (8) respectively, and crown gear connecting axle (9);
Each described first knuckle (1) is fixed with decelerator (10) respectively, and each described decelerator connects motor (11) below respectively;
Described each dactylus center is fixed with joint locating dowel (13), and locating dowel (13) center, described joint is by cylindrical drive shaft (12);
Described primary cylinder gear (5) and described fixing crown gear (6) and movable crown gear (7) engagement, described fixing crown gear (6) and movable crown gear (7) also engage with secondary roller gear (8); Rotation is passed to described second knuckle (2) thus, then pass to described third knuckle (3) and the 4th dactylus (4);
Described second knuckle (2), by fixedly realizing self rotation with described fixing crown gear (6), and described movable crown gear (7) is not fixed with second knuckle (2);
An osculum is opened in the position that described secondary roller gear (8) and movable crown gear (7) engage, in order to avoid gear is stuck each other, makes transmission campaign more smooth;
Motor (11) drives primary cylinder gear (5) to rotate by decelerator (10), the fixing crown gear (6) be then engaged with rotates thereupon, the rotation of fixing crown gear (6) drives second knuckle (2) to rotate around crown gear connecting axle (9) on the one hand, the secondary roller gear (8) be engaged with is driven to rotate on the other hand, thus realize while second knuckle (2) rotates, rotation to be passed to next stage again; Third knuckle (3) and the 4th dactylus (4) motion mode similar with it; The motion of each finger is also similar, drives by a motor, realizes this apery hand and captures object;
Described apery hand can realize different angles, the bending rotation of different amplitude by regulating the gearratio between crown gear and roller gear with the length changing each dactylus (2,3,4).
CN201210551850.1A 2012-12-18 2012-12-18 Humanoid hand of underactuated exquisite transmission structure Active CN103009398B (en)

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
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
CN105773648B (en) * 2016-03-30 2017-10-27 昆明理工大学 A kind of bionical catching robot

Citations (5)

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Publication number Priority date Publication date Assignee Title
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
CN202572399U (en) * 2012-05-15 2012-12-05 郑州大学 Synchronous smart mechanical arm of robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3245095B2 (en) * 1997-08-07 2002-01-07 川▲崎▼ 晴久 Robot hand
WO2012039479A1 (en) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 Humanoid electric hand

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Publication number Priority date Publication date Assignee Title
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
CN202572399U (en) * 2012-05-15 2012-12-05 郑州大学 Synchronous smart mechanical arm of robot

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