CN103009400B - Mechanical hand thumb joint component, joint supporting member and joint - Google Patents
Mechanical hand thumb joint component, joint supporting member and joint Download PDFInfo
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- CN103009400B CN103009400B CN201210590197.XA CN201210590197A CN103009400B CN 103009400 B CN103009400 B CN 103009400B CN 201210590197 A CN201210590197 A CN 201210590197A CN 103009400 B CN103009400 B CN 103009400B
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- joint component
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- protuberance
- recess
- bearing member
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Abstract
The invention provides a mechanical hand thumb joint component, a joint supporting member and a joint. The joint component comprises two end faces in the axis direction, an outer contour face for connecting the two end faces and a through-hole penetrating the outer contour face. When the cross cutting of the joint component is perpendicular to the axial line, all the cross sections of the joint component are circular and the centers of the all cross sections are the same. The mechanical hand thumb joint provided by the invention is more in line with a real hand, easy to control and high in strength and has low probability of damage.
Description
Technical field
The present invention relates to a kind of manipulator thumb joint, be connected joint in particular to a kind of manipulator thumb phalanx with the saddle type between metacarpal bone.
Background technology
Along with the development of science and technology, the application of manipulator is more and more extensive.In order to make manipulator more flexible, imitating the action of staff more accurately, being necessary to study the structure of staff and action mechanism.
Research finds, the action of staff realizes primarily of bone, joint and skeletal muscle.Connected by joint between bone, make skeleton motion by the contraction and diastole being attached to the skeletal muscle of bone, thus realize the various actions of staff.
Cited paper 1 ~ 2 pair of staff is studied, and found that, staff bone can be divided into carpal bone, metacarpal bone and phalanges.Between metacarpal bone and phalanges, and between phalanges respectively saves, connected by joint.These joints can be divided three classes: saddle type connects (saddle joint), as shown in Fig. 1 (a); Condyle shape connects (condyloid joint), as shown in Fig. 1 (b); And chain connection (hinge joint), as shown in Fig. 1 (c).Phalanges uses chain connection between respectively saving.All the other except thumb four refer to, between phalanges and metacarpal bones, use condyle shape to connect.Between thumb phalanx and metacarpal bone, saddle type is used to connect.
On this basis, cited paper 1 ~ 2 proposes a kind of manipulator, between metacarpal bone and phalanges and phalanges respectively save between use above-mentioned joint, and make the fine rule through hole passed on each joint be fixed on each bone, to imitate skeletal muscle.Rotate biaxial tension fine rule by motor, imitate Skeletal Muscle Contraction and diastole.
Wherein, as shown in Figure 2, the saddle type of thumb connects the side face of joint component 10 in getting over the closer to centre towards the recessed curved surface of axis, that is, the closer to centre, diameter is less.Therefore, saddle type connects joint component 10 and both freely can rotate on the X of direction around axis, and can freely rotate in direction y again, the motion in both direction is all unrestricted.
But unrestricted motion was not both inconsistent with the staff of reality in direction y, be not easy again to control.In addition, because the diameter of middle is little, causes the intensity of middle low, and there is in middle the through hole for making fine rule pass, therefore, easily damage.
Cited paper 1:Markus Grebenstein, Maxime Chalon, GerdHirzinger and Roland Siegwart, Antagonistically DrivenFinger Design for the Anthropomorphic DLR Hand Arm System, 2010 IEEE-RAS International Conference on HumanoidRobots, Nashville, TN, USA, December6-8,2010
Cited paper 2:Markus Grebenstein and Patrick van derSmagt, Antagonism for a Highly Anthropomorphic Hand-ArmSystem, Advanced Robotics 22 (2008) 39-55
Summary of the invention
In view of this, one object of the present invention is to provide a kind of manipulator thumb joint, and both more realistic staff, easily controls, and has high strength again, is not easy to damage.
To achieve these goals, the invention provides a kind of joint component of manipulator thumb, comprising: two end faces in the axial direction; Connect the outer surface of two described end faces; And through hole, it runs through described outer surface, and when described joint component cross-sectional perpendicular to described axis, each cross section of described joint component is all rounded, and the center of circle in each described cross section is identical.
To achieve these goals, the present invention also provides a kind of articular bearing member of manipulator thumb, in column, comprising: bearing-surface, for contacting with the joint component of manipulator thumb; And non-bearing surface, described bearing-surface has the shape corresponding with the outer surface of described joint component.
To achieve these goals, the invention provides also a kind of manipulator thumb joint, comprising: above-mentioned joint component; And above-mentioned articular bearing member.
Accompanying drawing explanation
Fig. 1 illustrates the classification of finger joint style, and wherein, (a) is chain connection, and (b) is that condyle shape connects, and (c) is that saddle type connects.
Fig. 2 illustrates that the saddle type of thumb connects joint.
Fig. 3 is the stereogram of the manipulator thumb joint component according to one embodiment of the present invention.
Fig. 4 is the profile of the manipulator thumb joint component shown in Fig. 3.
Fig. 5 is the profile of the manipulator thumb joint supporting member matched with the manipulator thumb joint component shown in Fig. 3.
Detailed description of the invention
Manipulator thumb joint according to one embodiment of the present invention is made up of joint component (Fig. 3,4) and articular bearing member (Fig. 5) two parts.
As shown in Figure 3, joint component is roughly hour-glass in shape, and high by both sides, middle low curve rotates around axis and forms.That is, when cuing open perpendicular to axis, each section of joint component is all in concentric circle.And joint component is about the plane symmetry with axes normal.
Fig. 4 is the profile of joint component, and the outline (that is, high, the middle low curve in above-mentioned both sides) of joint component side face is shown.As shown in Figure 4, outline is comprised to centre successively by both sides: rake 20, first recess 30, protuberance 40, second recess 50.
Rake 20, from the end of outline, more tilts to middle (more away from end) the closer to axis.
First recess 30 is continuous with rake 20 phase, takes the shape of the letter U.The quantity of the first recess 30 is two.
Protuberance 40 is continuous with the first recess 30 phase, in inverted U-shaped.The quantity of protuberance 40 is two.
Second recess 50 is continuous with two protuberance 40 phases, takes the shape of the letter U.The quantity of the second recess 50 is one.
Fig. 5 is the profile of the articular bearing member matched with joint component.Articular bearing member is column, has the bearing-surface contacted with joint component and the non-bearing surface do not contacted with joint component.As required, non-bearing surface can have any shape.
As shown in Figure 5, the bearing-surface of articular bearing member has the shape corresponding with the outline of joint component.Specifically, bearing-surface is comprised to centre successively by both sides: rake 20a, the first protuberance 30a, recess 40a, the second protuberance 50a.
Rake 20a, from the end of bearing-surface, more more tilts away from non-bearing surface to middle (more away from end).
First protuberance 30a and rake 20a phase are continuous, in inverted U-shaped (when bearing-surface upper, non-bearing surface under time).The quantity of the first protuberance 30a is two.
Recess 40a and the first protuberance 30a phase are continuous, take the shape of the letter U (when bearing-surface upper, non-bearing surface under time).The quantity of recess 40 is two.
Second protuberance 50a and two recess 40a phases are continuous, in inverted U-shaped (when bearing-surface upper, non-bearing surface under time).The quantity of the second protuberance 50a is one.
Like this, joint component is installed to articular bearing member, the bearing-surface of articular bearing member is contacted with the outline of joint component.Specifically, the rake 20a of the corresponding articular bearing member of rake 20 of joint component, first protuberance 30a of the corresponding articular bearing member of the first recess 30 of joint component, the recess 40a of the corresponding articular bearing member of protuberance 40 of joint component, the second protuberance 50a of the corresponding articular bearing member of the second recess 50 of joint component.
It should be noted that the size of the outline of joint component is not completely the same with the size of the bearing-surface of articular bearing member, but be similar to matched in clearance.Specifically, first recess 30 width in the axial direction of joint component is greater than the first protuberance 30a width in the axial direction of articular bearing member, the first recess 30 of joint component is greater than articular bearing member the first protuberance 30a along the height in the direction with axes normal along and the height in the direction of axes normal.Protuberance 40 width in the axial direction of joint component is less than the recess 40a width in the axial direction of articular bearing member, the protuberance 40 of joint component is less than articular bearing member recess 40a along the height in the direction with axes normal along and the height in the direction of axes normal.Second recess 50 width in the axial direction of joint component is greater than the second protuberance 50a width in the axial direction of articular bearing member, the second recess 50 of joint component is greater than articular bearing member the second protuberance 50a along the height in the direction with axes normal along and the height in the direction of axes normal.
Because the outline of joint component is circular, therefore, after joint component is installed to articular bearing member, joint component can rotate around its axis, that is, have one degree of freedom.In addition, because have gap between joint component and articular bearing member on the axis direction of joint component, therefore, joint component can rotate in the plane of the axes normal with joint component, that is, have another free degree.
Simultaneously, because the protuberance of joint component 40 inserts the recess 40a of articular bearing member, and the first protuberance 30a of articular bearing member inserts the first recess 30 of joint component, and therefore, the rotation of joint component in the plane of the axes normal with joint component is restricted.
In addition, because joint component has protuberance 40, therefore, compared with when not having a protuberance 40, the diameter of the middle of joint component is larger, thus intensity is larger, even if having the through hole for making fine rule pass in middle, is also not easy to damage.And through hole can be arranged on protuberance 40 place, because the diameter at protuberance 40 place is larger than the diameter at the second recess 50 place, therefore intensity is larger, more difficult damage.
In addition, in the above-described embodiment, joint component has two protuberances, and correspondingly, articular bearing member has two recesses.Because the quantity of the protuberance of joint component is more than one, therefore, more easily through hole is set.But the quantity of the protuberance of joint component and the recess of articular bearing member is not limited thereto, but can be other quantity.Such as, joint component has a protuberance, and articular bearing member has a recess corresponded, or three protuberances and recess.
Claims (8)
1. a joint component for manipulator thumb, comprising:
Two end faces in the axial direction;
Connect the outer surface of two described end faces; And
Through hole, it runs through described outer surface,
When described joint component cross-sectional perpendicular to described axis, each cross section of described joint component is all rounded, and the center of circle in each described cross section is identical,
Described outer surface comprises: from described end face, more away from described end face the closer to the rake that tilts of described axis ground, recess consecutive with described rake, and protuberance consecutive with described recess.
2. joint component according to claim 1, is characterized in that, described joint component is about the plane symmetry with described axes normal.
3. joint component according to claim 1, is characterized in that, described through hole is positioned at described protuberance.
4. joint component according to claim 1, is characterized in that, the quantity of described protuberance is two or more.
5. an articular bearing member for manipulator thumb, in column, comprising:
Bearing-surface, for contacting with the joint component of manipulator thumb; And
Non-bearing surface,
Described bearing-surface has the shape corresponding with the outer surface of described joint component,
Described bearing-surface comprises: from the end of described bearing-surface, more away from described end more away from the rake that tilts of described non-bearing surface ground, protuberance consecutive with described rake, and recess consecutive with described protuberance.
6. articular bearing member according to claim 5, is characterized in that, the quantity of described recess is two or more.
7. a manipulator thumb joint, comprising:
Joint component according to any one of Claims 1 to 4; And
Articular bearing member according to any one of claim 5 ~ 6.
8. manipulator thumb joint according to claim 7, is characterized in that, described joint component and described articular bearing member have gap on described axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210590197.XA CN103009400B (en) | 2012-12-28 | 2012-12-28 | Mechanical hand thumb joint component, joint supporting member and joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210590197.XA CN103009400B (en) | 2012-12-28 | 2012-12-28 | Mechanical hand thumb joint component, joint supporting member and joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103009400A CN103009400A (en) | 2013-04-03 |
| CN103009400B true CN103009400B (en) | 2015-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210590197.XA Expired - Fee Related CN103009400B (en) | 2012-12-28 | 2012-12-28 | Mechanical hand thumb joint component, joint supporting member and joint |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872973A (en) * | 2020-08-01 | 2020-11-03 | 蔡世勋 | Compact and firm multi-degree-of-freedom bionic joint and manufacturing method thereof |
| CN111844125A (en) * | 2020-08-01 | 2020-10-30 | 蔡世勋 | Compact and firm single-degree-of-freedom bionic joint and manufacturing method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4156944A (en) * | 1976-11-15 | 1979-06-05 | Sulzer Brothers Limited | Total ankle prosthesis |
| EP2364674A1 (en) * | 2010-03-10 | 2011-09-14 | Aequos Endoprothetik Gmbh | Saddle-shaped mechanical joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050251265A1 (en) * | 2004-05-07 | 2005-11-10 | Calandruccio James H | Trapezium implant for thumb and method |
-
2012
- 2012-12-28 CN CN201210590197.XA patent/CN103009400B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4156944A (en) * | 1976-11-15 | 1979-06-05 | Sulzer Brothers Limited | Total ankle prosthesis |
| EP2364674A1 (en) * | 2010-03-10 | 2011-09-14 | Aequos Endoprothetik Gmbh | Saddle-shaped mechanical joint |
Non-Patent Citations (5)
| Title |
|---|
| Antagonistically Driven Finger Design for the Anthropomorphic DLR Hand Arm System;Markus Grebenstein, et al.;《2010 IEEE-RAS International Conference on Humanoid Robots》;20101208;第609-616页、图11,13 * |
| Derivation and Verification of Synergy Coordinates for the DLR Hand Arm System;Thomas W. et al.;《8th IEEE International Conference on Automation Science and Engineering》;20120824;全文 * |
| Experimental Study on Dynamic Reactionless Motions with DLR"s Humanoid Robot Justin;Thomas W. et al.;《The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems》;20091015;全文 * |
| Maxime Chalon,et al..The thumb: Guidelines for a robotic design.《The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems》.2010, * |
| The DLR Hand Arm System;Markus Grebenstein and Alin A. et al.;《2011 IEEE International Conference on Robotics and Automation》;20110513;全文 * |
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| Publication number | Publication date |
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| CN103009400A (en) | 2013-04-03 |
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