CN104626185B - A kind of lack of driven robot Dextrous Hand - Google Patents
A kind of lack of driven robot Dextrous Hand Download PDFInfo
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- CN104626185B CN104626185B CN201310574100.0A CN201310574100A CN104626185B CN 104626185 B CN104626185 B CN 104626185B CN 201310574100 A CN201310574100 A CN 201310574100A CN 104626185 B CN104626185 B CN 104626185B
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- dactylus
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Abstract
The invention discloses a kind of lack of driven robot Dextrous Hand, comprising: palm seat (1), supporting base (2), single driving mechanism, Liang Tao bindiny mechanism and at least three fingers; Be fixedly connected on the supporting base (2) of palm seat (1) both sides, the driving mechanism be fixedly connected on palm seat (1); Lack of driven robot Dextrous Hand provided by the invention all more complete drive system in saving energy, reduction cost, weight reduction, enhancing system flexibility etc. is superior.The drive system of this novel lack of driven robot Dextrous Hand is integrated in palm, these palm parts are few, only with a steering wheel just can realize many fingers (finger quantity n >=3) linkage driving, structure is simple, control installation is convenient, have higher cost performance, expands practicality and the scope of application of multi-finger clever hand.
Description
Technical field
The invention belongs to mechanical field, be specifically related to a kind of novel lack of driven robot Dextrous Hand.
Background technology
Robot delicate, as effective extension of mankind's activity limbs, can complete flexible, meticulous grasping manipulation with it, from latter half in 20th century, as one of the popular research direction of robot field, study by the scientific and technical personnel of various countries.Relative to simple end-effector, robot delicate has highly versatile, perception enriches, can realize meeting geometric closes and the feature such as force-closed accurate, firm crawl.
Robot delicate technology, through long-time development, creates a large amount of representative mechanisms, as SHADOW hand getting five fingers, is controlled the motion of finger by pneumatic muscles; HIT/DLR hand and NASA hand all adopt multi-motor driving, and driver element is arranged on finger-joint and palm.
Inventor finds in the practice of the invention, and robot delicate project organization of the prior art is complicated, and Systematical control difficulty is high, and producing cost is huge, greatly reduces the practicality of robot delicate.
Summary of the invention
The present invention is complicated in order to solve robot delicate project organization, controls the problem of difficulty restriction practicality, provides a kind of novel lack of driven robot Dextrous Hand.It will be appreciated by persons skilled in the art that " drive lacking " refers to that the independent control variable number of system is less than a nonlinear systems of degree of freedom in system number; Specific in robot delicate, " drive lacking " refers to that the independent control variable of robot delicate drive system (typically refers to independently drive motors, hydraulic axis etc.) number is less than a nonlinear systems of the free degree number joint of relative motion (typically refer to can) of robot delicate, such as, robot delicate has 10 mobilizable joints, but only has 3 drive motors.
Lack of driven robot Dextrous Hand provided by the invention all more complete drive system in saving energy, reduction cost, weight reduction, enhancing system flexibility etc. is superior.The drive system of this novel lack of driven robot Dextrous Hand is integrated in palm, these palm parts are few, only with a steering wheel just can realize many fingers (finger quantity n >=3) linkage driving, structure is simple, control installation is convenient, have higher cost performance, expands practicality and the scope of application of multi-finger clever hand.
Lack of driven robot Dextrous Hand provided by the invention comprises: palm seat (1), supporting base (2), single driving mechanism, Liang Tao bindiny mechanism and at least three fingers; Be fixedly connected on the supporting base (2) of palm seat (1) both sides, the driving mechanism be fixedly connected on palm seat (1);
Wherein said driving mechanism comprises: be fixedly connected on the steering wheel (3) on palm seat (1); Steering wheel (4) is arranged on the output of steering wheel (3) by two columns (5), and two columns (5) are interted respectively in two chutes (11) of Liang Tao bindiny mechanism simultaneously;
Described bindiny mechanism comprises: the chute (11) being arranged with driving mechanism column (5); One end of slide bar (12) is connected with the termination of chute (11), and the other end of slide bar (12) is connected with the notch of supporting base (2) by bearing (6);
Described finger at least comprises: base dactylus (14), middle finger joint (15) and end dactylus (16) three dactylus; One end of base dactylus (14) is movably connected on the lug (31) of palm seat (1), and the other end is flexibly connected with middle finger joint (15); Middle finger joint (15) two ends are respectively with base dactylus (14) with hold dactylus (16) to be flexibly connected;
Drive rod (17) one end is movably connected on slide bar (12), and the other end is flexibly connected with the first auxiliary rod (18), and drive rod (17) middle part is flexibly connected with base dactylus (14) simultaneously; First auxiliary rod (18) one end is flexibly connected with drive rod (17), and the other end is flexibly connected with the second auxiliary rod (19), and the first auxiliary rod (18) middle part is flexibly connected with middle finger joint (15) simultaneously; Second auxiliary rod (19) is connected with end dactylus (16).
Wherein, described steering wheel (3) is fixedly connected on palm seat (1) middle part.
Wherein, two supporting bases (2) are fixedly connected on the relative both sides of palm seat (1) respectively, the lug (31) that the other both sides of palm seat (1) are provided with.
Wherein, described finger is staggered installation of on the lug (31) of described palm seat (1) both sides.
Wherein, offering slideway in the middle of described chute (11), for being connected with the column (5) of driving mechanism, column (5) can be free to slide in this slideway.
Wherein, described chute (11) two ends thread mill drilling is for connecting slide bar (12).
Wherein, processing boss in described slide bar (12) one end is used for connection bearing (6).
Wherein, when described driving mechanism drives Liang Tao bindiny mechanism close to each other, finger inward collapsible; Described driving mechanism drive Liang Tao bindiny mechanism mutually away from time, finger is outwards decontroled.
Wherein, when described driving mechanism drives and points inward collapsible, steering wheel (3) drives steering wheel (4) to rotate, chute (11) is made to be with moving slide-bar (12) to draw close to palm seat (1) center by column (5), drive rod (17) one end is driven to do rectilinear motion, lug (31) center inwardly (counter clockwise direction shown in figure) motion of base dactylus (14) thorny palm seat (1) under the drive of drive rod (17), first auxiliary rod (18) relatively drive rod (17) does inwardly (counter clockwise direction shown in figure) motion, middle finger joint (15) is driven to move with the joint shaft inside (counter clockwise direction shown in figure) of middle finger joint 15 with base dactylus (14), the subjoint axle of relative first auxiliary rod (18) and middle finger joint (15), first auxiliary rod (18) with this subjoint axle for axial rotary outer (clockwise direction shown in figure) motion, thus drive the second auxiliary rod (19) to move for (counter clockwise direction shown in figure) in axial rotary with the joint shaft of the first auxiliary rod (18) with the second auxiliary rod (19), further band moved end dactylus (16) is moved for (counter clockwise direction shown in figure) in axial rotary with the joint shaft of middle finger joint (15) to hold dactylus (16), makes finger be inward collapsible trend.
Wherein, when described driving mechanism drives finger outwards to decontrol, steering wheel (3) drives steering wheel (4) to rotate, chute (11) is made to be with moving slide-bar (12) to move to away from palm seat (1) direction by column (5), drive rod (17) one end is driven to do rectilinear motion, lug (31) center outwards (clockwise direction shown in figure) motion of base dactylus (14) thorny palm seat (1) under the drive of drive rod (17), first auxiliary rod (18) relatively drive rod (17) does outwards (clockwise direction shown in figure) motion, middle finger joint (15) is driven to move with the joint shaft outside (clockwise direction shown in figure) of middle finger joint 15 with base dactylus (14), the subjoint axle of relative first auxiliary rod (18) and middle finger joint (15), first auxiliary rod (18) with this subjoint axle in axial rotary (counter clockwise direction shown in figure) motion, thus drive the second auxiliary rod (19) to move for (clockwise direction shown in figure) outside axial rotary with the joint shaft of the first auxiliary rod (18) with the second auxiliary rod (19), further band moved end dactylus (16) is moved for axial rotary outer (clockwise direction shown in figure) with the joint shaft of middle finger joint (15) to hold dactylus (16), makes finger be outside relieving trend.
Lack of driven robot Dextrous Hand provided by the invention all more complete drive system in saving energy, reduction cost, weight reduction, enhancing system flexibility etc. is superior.The drive system of this novel lack of driven robot Dextrous Hand is integrated in palm, these palm parts are few, only with a steering wheel just can realize many fingers (finger quantity n >=3) linkage driving, structure is simple, control installation is convenient, have higher cost performance, expands practicality and the scope of application of multi-finger clever hand.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly introduced, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is lack of driven robot Dextrous Hand palm structural representation provided by the invention;
Fig. 2 be lack of driven robot clever hand finger structure provided by the invention and with palm connection diagram;
Fig. 3 is lack of driven robot clever hand finger location arrangements schematic diagram provided by the invention;
Fig. 4 is another layout schematic diagram of lack of driven robot clever hand finger position provided by the invention;
Fig. 5 is the structural representation of lack of driven robot Dextrous Hand supporting base provided by the invention.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Lack of driven robot Dextrous Hand provided by the invention mainly comprises palm seat, supporting base, driving mechanism, bindiny mechanism, package.Driving mechanism and bindiny mechanism are installed on palm, and this invention is the palm mechanism that can be used for connection three finger dexterity hand, and finger is symmetrical to be interspersed in the both sides of palm seat, is driven by single motor.But finger quantity is not limited thereto, finger quantity can be increased according to actual requirement.Finger is driven with the lug center on palm seat for rotating shaft realizes the interlock pointed more by bindiny mechanism under the driving of steering wheel.
See Fig. 1 ~ 5, Fig. 1 is lack of driven robot Dextrous Hand palm structural representation provided by the invention; Fig. 2 be lack of driven robot clever hand finger structure provided by the invention and with palm connection diagram; Fig. 3 is lack of driven robot clever hand finger location arrangements schematic diagram provided by the invention; Fig. 4 is another layout schematic diagram of lack of driven robot clever hand finger position provided by the invention; Fig. 5 is the structural representation of lack of driven robot Dextrous Hand supporting base provided by the invention.
It should be noted that; in robot delicate embodiment provided by the invention, three finger dexterity hands are that example is described all; it will be understood by those skilled in the art that; robot clever hand finger quantity provided by the invention is not limited thereto; finger quantity can be increased according to actual requirement, therefore can not limit protection scope of the present invention with this.
As shown in the figure, this lack of driven robot Dextrous Hand comprises: palm seat 1, supporting base 2, single driving mechanism, Liang Tao bindiny mechanism and at least three fingers; Be fixedly connected on the supporting base 2 of palm seat 1 both sides, the driving mechanism be fixedly connected on palm seat 1;
Wherein said driving mechanism comprises: be fixedly connected on the steering wheel 3 on palm seat 1; Steering wheel 4 is arranged on the output of steering wheel 3 by two columns 5, and two columns 5 intert respectively in two chutes 11 of Liang Tao bindiny mechanism simultaneously;
Described bindiny mechanism comprises: the chute 11 being arranged with driving mechanism column 5; One end of slide bar 12 is connected with the termination of chute 11, and the other end of slide bar 12 is connected with the notch of supporting base 2 by bearing 6;
Described finger at least comprises: base dactylus 14, middle finger joint 15 and end dactylus 16 3 dactylus; One end of base dactylus 14 is movably connected on the lug 31 of palm seat 1, and the other end is flexibly connected with middle finger joint 15; Middle finger joint 15 two ends are respectively with base dactylus 14 with hold dactylus 16 to be flexibly connected;
Drive rod 17 one end is movably connected on slide bar 12, and the other end is flexibly connected with the first auxiliary rod 18, is flexibly connected in the middle part of drive rod 17 with base dactylus 14 simultaneously; First auxiliary rod 18 one end is flexibly connected with drive rod 17, and the other end is flexibly connected with the second auxiliary rod 19, is flexibly connected in the middle part of the first auxiliary rod 18 with middle finger joint 15 simultaneously; Second auxiliary rod 19 is connected with end dactylus 16.
More specifically, above-mentioned palm seat 1 is processed with lug 31 structure for connecting finger, palm seat 1 size and lug 31 quantity adjustable, to be adapted to the finger mechanism installing varying number, installing hole is processed with for installing driving mechanism in the middle part of palm seat 1, driving mechanism is integrated on palm, saves space, easy to operate.
The both sides of palm seat 1 are provided with lug 31, and the other both sides of palm seat 1 are fixedly connected with two supporting bases 2 respectively.Offer notch inside supporting base 2, bindiny mechanism can slide along notch.
The finger of lack of driven robot Dextrous Hand is staggered installation of on the lug 31 of described palm seat 1 both sides.Finger and lug 31 one_to_one corresponding.Preferably, the lack of driven robot Dextrous Hand that the embodiment of the present invention provides not only drives many fingers by single steering engine, and structure of each finger and measure-alike.By the finger mechanism modularization of lack of driven robot Dextrous Hand in the embodiment of the present invention, make can directly replace between different finger.
Further, offering slideway in the middle of the chute 11 of this lack of driven robot Dextrous Hand, for being connected with the column 5 of driving mechanism, column 5 can be free to slide in this slideway.Described chute 11 two ends thread mill drilling is for connecting slide bar 12.Described slide bar 12 one end processing boss is used for connection bearing 6.When described driving mechanism drives Liang Tao bindiny mechanism close to each other, finger inward collapsible; Described driving mechanism drive Liang Tao bindiny mechanism mutually away from time, finger is outwards decontroled.
More specifically, the lack of driven robot Dextrous Hand that the embodiment of the present invention provides is after driving mechanism drives bindiny mechanism, and under the drive of bindiny mechanism, pointing with lug is that the detailed process that back shaft realization interlock is rotated is as follows:
Driving mechanism drives when pointing inward collapsible (solid line is toward dotted line direction), steering wheel 3 drives steering wheel 4 to rotate, chute 11 is made to be with moving slide-bar 12 to draw close to palm seat 1 center by column 5, drive rod 17 one end is driven to do rectilinear motion, the lug 31 center inwardly (counter clockwise direction shown in Fig. 3 of base dactylus 14 thorny palm seat 1 under the drive of drive rod 17, solid line is toward dotted line direction) (" inwardly " described in the present embodiment motion refers to that finger moves to palm seat center in motion, " outwards " described in the present embodiment motion refers to that finger is to the motion away from palm seat center, contrary with the track that " inwardly " moves), first auxiliary rod 18 relatively drive rod 17 does the counter clockwise direction shown in inside Fig. 3, solid line moves toward dotted line direction, drive middle finger joint 15 with joint shaft inwardly (counter clockwise direction Fig. 3 shown in of middle finger joint 15 with base dactylus 14, solid line is toward dotted line direction) motion, the subjoint axle of relative first auxiliary rod 18 and middle finger joint 15, first auxiliary rod 18 with this subjoint axle for moving clockwise shown in the outer Fig. 3 of axial rotary, thus drive the second auxiliary rod 19 with the joint shaft of the first auxiliary rod 18 and the second auxiliary rod 19 for the counter clockwise direction in axial rotary shown in Fig. 3, solid line moves toward dotted line direction, further band moved end dactylus 16 is to hold the joint shaft of dactylus 16 and middle finger joint 15 for the (counter clockwise direction shown in Fig. 3 in axial rotary, solid line is toward dotted line direction) motion, make finger be inward collapsible trend.
In like manner, when driving mechanism drives finger outwards to decontrol (dotted line is toward solid line direction), steering wheel 3 drives steering wheel 4 to rotate, chute 11 is made to be with moving slide-bar 12 to move to away from palm seat 1 direction by column 5, drive rod 17 one end is driven to do rectilinear motion, the lug 31 center outwards (clockwise direction shown in Fig. 3 of base dactylus 14 thorny palm seat 1 under the drive of drive rod 17, dotted line is toward solid line direction) motion, first auxiliary rod 18 relatively drive rod 17 does the outwards (clockwise direction shown in Fig. 3, dotted line is toward solid line direction) motion, drive middle finger joint 15 with joint shaft outwards (clockwise direction Fig. 3 shown in of middle finger joint 15 with base dactylus 14, dotted line is toward solid line direction) motion, the subjoint axle of relative first auxiliary rod 18 and middle finger joint 15, first auxiliary rod 18 with this subjoint axle in axial rotary (counter clockwise direction shown in Fig. 3) motion, thus drive the second auxiliary rod 19 with the joint shaft of the first auxiliary rod 18 and the second auxiliary rod 19 for the axial rotary (clockwise direction shown in Fig. 3 outward, dotted line is toward solid line direction) motion, further band moved end dactylus 16 is to hold the joint shaft of dactylus 16 and middle finger joint 15 for the outer (clockwise direction shown in Fig. 3 of axial rotary, dotted line is toward solid line direction) motion, make finger be outside relieving trend.
To sum up, the present invention proposes a kind of novel lack of driven robot Dextrous Hand mechanism, and structure is simple, saves space, and control system simplifies, and avoids design complexity.This novel lack of driven robot Dextrous Hand mechanism drives many fingers by single steering engine, finger mechanism modularization, can directly replace between different finger.Meanwhile, novel lack of driven robot Dextrous Hand whole mechanism cost is lower, is applicable to various environment, answers scope large.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a lack of driven robot Dextrous Hand, is characterized in that, comprising: palm seat (1), supporting base (2), driving mechanism, Liang Tao bindiny mechanism and at least three fingers; Supporting base (2) is fixedly connected on the both sides of palm seat (1), driving mechanism is fixedly connected on palm seat (1);
Wherein said driving mechanism comprises: be fixedly connected on the steering wheel (3) on palm seat (1); Steering wheel (4) is arranged on the output of steering wheel (3) by two columns (5), and two columns (5) are interted respectively in two chutes (11) of Liang Tao bindiny mechanism simultaneously;
Described bindiny mechanism comprises: the chute (11) being arranged with driving mechanism column (5); One end of slide bar (12) is connected with the termination of chute (11), and the other end of slide bar (12) is connected with the notch of supporting base (2) by bearing (6);
Described finger at least comprises: base dactylus (14), middle finger joint (15) and end dactylus (16) three dactylus; One end of base dactylus (14) is movably connected on the lug (31) of palm seat (1), and the other end is flexibly connected with middle finger joint (15); Middle finger joint (15) two ends are respectively with base dactylus (14) with hold dactylus (16) to be flexibly connected;
Drive rod (17) one end is movably connected on slide bar (12), and the other end is flexibly connected with the first auxiliary rod (18), and drive rod (17) middle part is flexibly connected with base dactylus (14) simultaneously; First auxiliary rod (18) one end is flexibly connected with drive rod (17), and the other end is flexibly connected with the second auxiliary rod (19), and the first auxiliary rod (18) middle part is flexibly connected with middle finger joint (15) simultaneously; Second auxiliary rod (19) is connected with end dactylus (16).
2. lack of driven robot Dextrous Hand as claimed in claim 1, is characterized in that, described steering wheel (3) is fixedly connected on palm seat (1) middle part.
3. lack of driven robot Dextrous Hand as claimed in claim 1, it is characterized in that, two supporting bases (2) are fixedly connected on the relative both sides of palm seat (1) respectively, the lug (31) that the other both sides of palm seat (1) are provided with.
4. lack of driven robot Dextrous Hand as claimed in claim 1, it is characterized in that, described finger is staggered installation of on the lug (31) of described palm seat (1) both sides.
5. lack of driven robot Dextrous Hand as claimed in claim 1, it is characterized in that, offering slideway in the middle of described chute (11), for being connected with the column (5) of driving mechanism, column (5) can be free to slide in this slideway.
6. lack of driven robot Dextrous Hand as claimed in claim 1, it is characterized in that, described chute (11) two ends thread mill drilling is for connecting slide bar (12).
7. lack of driven robot Dextrous Hand as claimed in claim 1, is characterized in that, described slide bar (12) one end processing boss is used for connection bearing (6).
8. the lack of driven robot Dextrous Hand according to any one of claim 1 to 7, is characterized in that, when described driving mechanism drives Liang Tao bindiny mechanism close to each other, and finger inward collapsible; Described driving mechanism drive Liang Tao bindiny mechanism mutually away from time, finger is outwards decontroled.
9. lack of driven robot Dextrous Hand as claimed in claim 8, it is characterized in that, when described driving mechanism drives and points inward collapsible, steering wheel (3) drives steering wheel (4) to rotate, chute (11) is made to be with moving slide-bar (12) to draw close to palm seat (1) center by column (5), drive rod (17) one end is driven to do rectilinear motion, inwardly move in lug (31) center of base dactylus (14) thorny palm seat (1) under the drive of drive rod (17), first auxiliary rod (18) relatively drive rod (17) does inside motion, middle finger joint (15) is driven inwardly to move with the joint shaft of middle finger joint (15) with base dactylus (14), the subjoint axle of relative first auxiliary rod (18) and middle finger joint (15), first auxiliary rod (18) with this subjoint axle for axial rotary moves outward, thus drive the second auxiliary rod (19) to be move in axial rotary with the first auxiliary rod (18) and the joint shaft of the second auxiliary rod (19), further band moved end dactylus (16) is move in axial rotary to hold dactylus (16) and the joint shaft of middle finger joint (15), makes finger be inward collapsible trend.
10. lack of driven robot Dextrous Hand as claimed in claim 8, it is characterized in that, when described driving mechanism drives finger outwards to decontrol, steering wheel (3) drives steering wheel (4) to rotate, chute (11) is made to be with moving slide-bar (12) to move to away from palm seat (1) direction by column (5), drive rod (17) one end is driven to do rectilinear motion, outwards move in lug (31) center of base dactylus (14) thorny palm seat (1) under the drive of drive rod (17), first auxiliary rod (18) relatively drive rod (17) does outside motion, middle finger joint (15) is driven outwards to move with the joint shaft of middle finger joint (15) with base dactylus (14), the subjoint axle of relative first auxiliary rod (18) and middle finger joint (15), first auxiliary rod (18) with this subjoint axle for moving in axial rotary, thus drive the second auxiliary rod (19) to be that axial rotary moves with the first auxiliary rod (18) and the joint shaft of the second auxiliary rod (19) outward, further band moved end dactylus (16), to hold the joint shaft of dactylus (16) and middle finger joint (15) to be that axial rotary moves outward, makes finger be outside relieving trend.
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| CN201310574100.0A CN104626185B (en) | 2013-11-13 | 2013-11-13 | A kind of lack of driven robot Dextrous Hand |
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| CN201310574100.0A CN104626185B (en) | 2013-11-13 | 2013-11-13 | A kind of lack of driven robot Dextrous Hand |
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| CN104626185B true CN104626185B (en) | 2016-03-16 |
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| US8424942B2 (en) * | 2009-12-21 | 2013-04-23 | Samsung Electronics Co., Ltd. | Industrial gripper with multiple degrees of freedom |
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| JP2009018390A (en) * | 2007-07-12 | 2009-01-29 | Toyota Auto Body Co Ltd | Mechanical hand |
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| JP4234547B2 (en) * | 2003-09-18 | 2009-03-04 | 博允 井上 | Hand device |
| CN101190528A (en) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | Under-actuated coupling transmission type imitation human finger mechanism |
| CN101648380A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Gripper with heavy load and wide range |
| CN101648381A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Multi-joint linked multi-finger dexterous hand |
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| CN202200300U (en) * | 2011-07-11 | 2012-04-25 | 浙江理工大学 | Underactuated end effector with feeling |
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