CN104802180A - Underactuation type anthropopathic three-finger manipulator - Google Patents
Underactuation type anthropopathic three-finger manipulator Download PDFInfo
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- CN104802180A CN104802180A CN201510164198.1A CN201510164198A CN104802180A CN 104802180 A CN104802180 A CN 104802180A CN 201510164198 A CN201510164198 A CN 201510164198A CN 104802180 A CN104802180 A CN 104802180A
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Abstract
The invention discloses an underactuation type anthropopathic three-finger manipulator. The underactuation type anthropopathic three-finger manipulator comprises a palm, two fingers and a thumb; each finger comprises four joints which are connected through a spring plate, a finger cover plate and screws; the palm comprises a bottom plate and a cover plate and is used for fixing a motor and the fingers. According to the underactuation type anthropopathic three-finger manipulator, a closed-loop feedback system composed of a force sensor and an angle sensor is used to achieve simple grasping and nipping action. The underactuation type anthropopathic three-finger manipulator is characterized in that single finger is controlled through one motor by a tendon transmission manner on the basis of the underactuation principle, so that the finger can adapt to hold an object while grasping different objects; the underactuation type anthropopathic three-finger manipulator has the advantages of being simple in structure, small in difficulty at grasping control, and high in reliability.
Description
Technical field
The present invention relates to a kind of robot device, particularly relate to a kind of multi-fingered robot hand, be applied to end clamper and apery prosthesis technique field.
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 advantage such as force-closed accurate, firm crawl.
Along with the development of manufacturing process and sensor and control technology, as the important step of machine man-environment interaction in intelligence manufacture application, its end execution unit gradually by original simple clamper to the transition of multitask intelligence multi-finger clever hand.Intelligence Dextrous Hand has multiple multi-joint finger, equally with staff can have very high dexterity and adaptability, perform different crawls and operation task.Therefore, intelligent Dextrous Hand can make industrial robot contact with object close-distance safety in non-structure environment, possesses the ability of unknown object being carried out to intelligent operation.Equally, intelligent apery type Dextrous Hand has significant application value for service type robot in fields such as particular surroundings such as hazardous material detection, overhaul of the equipments, underwater operation, space station article carrying and assembling, disability are auxiliary.Improving constantly of Dextrous Hand work capacity, its cost is the increase in complexity and the research difficulty of system.
Summary of the invention
In order to solve prior art problem, the object of the invention is to the deficiency overcoming prior art existence, a kind of drive lacking anthropomorphic three is provided to refer to manipulator, comprise palm, two fingers and a thumb, finger comprises four dactylus, use spring leaf, finger cover plate are connected with screw, and palm comprises base plate, cover plate, for fixed electrical machinery and finger.Two fingers have three degree of freedom respectively, and thumb has four frees degree, whole hand totally ten frees degree, use the closed loop feedback system of force snesor and angular transducer composition, can realize simply grabbing, pinching does.Finger structure, can envelope object adaptively when capturing different objects based on drive lacking principle design, have structure simple, capture and control the advantage that difficulty is low, reliability is high.
Create object for reaching foregoing invention, the present invention adopts following technical proposals:
A kind of drive lacking anthropomorphic three refers to manipulator, comprise palm section and 3 fingers, palm section is used for providing finger power source and itself and palm position relationship being fixed, there is the profile of apery simultaneously, palm section comprises the centre of the palm and the palm back of the body, wherein a finger is thumb, palm section inside arranges 3 and drives the DC micromotor of finger dactylogryposis action and the steering wheel of 1 swing thumb, the output shaft of DC micromotor fixedly mounts around son, every root finger all has finger unit part, for the execution unit as grasping movement, finger unit is successively by first knuckle, second knuckle, third knuckle and the 4th dactylus are formed by connecting, turning cylinder is provided with between adjacent two dactylus, finger unit is made to form the finger-joint system with three degree of freedom, 4th dactylus is fixedly connected on the edge of palm section, the position near finger unit free end is fixed in tendon rope one end, tendon rope is successively through the tendon cord hole in finger unit, tendon cord hole in second knuckle, tendon cord hole in tendon cord hole in third knuckle and the 4th dactylus, the other end of tendon rope is fixed on main shaft on son, be fixedly connected with the side of each dactylus of finger unit away from the centre of the palm while of spring leaf, when DC micromotor output rotates forward, main shaft tightens up tendon rope around son winding, thus it is interior bending to make finger unit carry out, when DC micromotor output rotates backward, rely on the elastic force of spring leaf, main shaft loosens tendon rope around son, finger unit relies on the elastic force of spring leaf that finger unit is stretched, 4th dactylus of thumb forms thumb and refers to root, point for connecting and provide thumb to refer to root rotational freedom, thumb refers to that the root of root forms cylindrical boss, the side, the centre of the palm of palm section is provided with and refers to thumb the draw-in groove that the shape of root adapts, thumb refers to that root unit refers to root primarily of thumb, thumb swings rotating shaft and thumb oscillation bearing composition, thumb oscillation bearing is installed on the cylindrical boss and rotating shaft that thumb refers to root root respectively, thumb swings rotating shaft and plays supporting role with thumb oscillation bearing when being connected with palm section, the adjacent two interphalangeal turning cylinders of thumb are vertical with the axial space that thumb swings rotating shaft, thumb refers to that rhizosphere swings axis of rotation around thumb, thus make thumb have 4 frees degree, the power output shaft of steering wheel drives thumb to swing axis of rotation, the power transmission of steering wheel is referred to root to thumb, realize thumb and refer to that root relatively and the swing in the centre of the palm, thumb is made to refer to the draw-in groove in the root turnover centre of the palm, and root turns to the setting space angle position relative to the centre of the palm to make thumb refer to, make 3 to point mutual mate-assist and realize corresponding bionical hand motion.
As the preferred technical scheme of the present invention, finger unit also comprises first knuckle cover plate, second knuckle cover plate and third knuckle cover plate, the outside that first knuckle cover plate, second knuckle cover plate and third knuckle cover plate are all positioned at spring leaf is installed, with first knuckle, second knuckle and third knuckle, spring leaf is fixed on the surface of finger unit respectively, 4th dactylus cooperation of except thumb two outer two fingers is installed in the edge draw-in groove in the centre of the palm, and finger unit and palm section are connected and fixed.
As the present invention's preferred technical scheme further, first knuckle, second knuckle, the surface of third knuckle and the 4th dactylus is respectively equipped with boss, each boss is embedded in the groove that spring leaf is offered respectively, each dactylus cover plate also offers the groove adapted with the boss shape on corresponding dactylus, namely, the groove of first knuckle cover plate coordinates with the boss of first knuckle, be positioned on spring leaf and be also connected with first knuckle with screw, the groove of second knuckle cover plate coordinates with the boss of second knuckle, also be positioned on spring leaf and be also connected with second knuckle with screw, the groove of third knuckle cover plate coordinates with the boss of third knuckle, also be positioned on spring leaf and be also connected with third knuckle with screw.
As the improvement of technique scheme, thumb refers to that root unit also comprises steering bearing and thumb internal support axle in thumb, thumb is used to refer to thumb, root cover plate and screw refer to that root and the 4th dactylus are fixed connection, thumb is made to refer to being fixedly connected with of root and finger unit, in thumb, steering bearing is installed and is matched with on thumb internal support axle, thumb internal support axle one end fits refers in thumb in the axis hole of root side, the other end is fixed it by bolster fixation clip, bolster fixation clip is matched with thumb and refers in the groove of root opposite side, the tendon rope of thumb refers to pass the tendon cord hole of root bottom part from thumb by turning to of steering bearing in thumb, be fixed on the main shaft of the DC micromotor driving the action of thumb dactylogryposis on son, thumb swings one end of rotating shaft and forms square axle head and be matched with in the square opening and prism that thumb refers in root, the power output shaft of the other end and steering wheel is coaxially fixedly linked.
As the improvement of technique scheme, DC micromotor is embedded in motor cover, motor cover is fixedly installed in palm section, tendon rope is entered in motor cover and around sub-connection by the tendon cord hole of motor cover side, the axle head that the clutch end of steering wheel is corresponding to rotating shaft coordinates installation, steering wheel is fixing to be also installed in palm section, prepollex is fixed briquetting and is installed on the thumb oscillation bearing place that thumb refers to the root cylindrical boss side of root, rear thumb is fixed briquetting and is installed on another thumb bearing place that thumb refers to the root cylindrical boss opposite side of root, prepollex fixed briquetting and rear thumb by screw to fix briquetting and be fixedly installed in respectively in palm section, two thumb bearings are fixed respectively, the side of making contact is by installing with coordinating of cylinder boss a series of in palm section, by each DC micromotor, each motor cover and steering wheel are fixedly installed in palm section, the opposite side of making contact arranges wire, at least can pass through motor wire simultaneously, sensor signal lines, play the separation by wire and understructure, be convenient to winding displacement.
As the improvement of technique scheme, when the size of DC micromotor can not meet the installation dimension requirement of palm section, the layout of at least one DC micromotor is needed to carry out special setting, the main shaft of at least one DC micromotor is made axially to save space-efficient needs with axial not parallel just can the reaching of the main shaft of other DC micromotors, when from the power output shaft out of plumb of the tendon rope section in finger unit and DC micromotor, palm internal support axle is provided with in palm section, in palm, steering bearing cooperation is installed on palm internal support axle, palm internal support axle coordinates in the axis hole be installed in the centre of the palm, the other end of palm internal support axle is fixing by making contact by steering bearing in palm, be connected with around son after tendon rope is turned to by steering bearing in palm, the object reduced wear.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
1. robot of the present invention is that drive lacking three refers to robot delicate, and two fingers have three degree of freedom respectively, and thumb has four frees degree, whole hand totally ten frees degree, its profile apery;
2. mechanical type of the present invention uses the closed loop feedback system of force snesor and angular transducer composition, can realize simply grabbing, pinching does;
3. the finger structure of manipulator of the present invention is based on drive lacking principle design, can envelope object adaptively when capturing different objects, have structure simple, capture and control the advantage that difficulty is low, reliability is high;
4. the three lack of driven robot Dextrous Hand referred to of manipulator of the present invention, not only structurally be reduced to three fingers, in type of drive, adopt the mode of drive lacking simultaneously, while ensure that the basic function of robot delicate, greatly reduce complexity and the research difficulty of system.
Accompanying drawing explanation
Fig. 1 is the isometric front view that preferred embodiment of the present invention drive lacking anthropomorphic three refers to manipulator.
Fig. 2 is the reverse side stereogram that preferred embodiment of the present invention drive lacking anthropomorphic three refers to manipulator.
Fig. 3 is the finger unit stereogram of preferred embodiment of the present invention Dextrous Hand.
Fig. 4 is the finger unit explosive view of preferred embodiment of the present invention Dextrous Hand.
Fig. 5 is that the thumb of preferred embodiment of the present invention Dextrous Hand refers to root stereogram.
Fig. 6 is that the thumb of preferred embodiment of the present invention Dextrous Hand refers to root explosive view.
Fig. 7 is the palm internal structure stereogram of preferred embodiment of the present invention Dextrous Hand.
Fig. 8 is the palm internal structure stereogram after the dismounting of preferred embodiment of the present invention Dextrous Hand is made contact.
Fig. 9 is the palm internal structure explosive view after the dismounting of preferred embodiment of the present invention Dextrous Hand is made contact.
Figure 10 is that preferred embodiment of the present invention robot delicate one captures exemplary plot.
Detailed description of the invention
Details are as follows for the preferred embodiments of the present invention:
In the present embodiment, see Fig. 1 ~ 10, a kind of drive lacking anthropomorphic three refers to manipulator, comprise palm section 3 and 3 fingers, palm section 3 comprises the centre of the palm 301 and the palm back of the body 302, wherein a finger is thumb, palm section 3 inside arranges 3 and drives the DC micromotor 303 of finger dactylogryposis action and the steering wheel 306 of 1 swing thumb, the output shaft of DC micromotor 303 fixedly mount around son 304, every root finger all has finger unit 1 part, finger unit 1 is successively by first knuckle 11, second knuckle 12, third knuckle 13 and the 4th dactylus 14 are formed by connecting, turning cylinder is provided with between adjacent two dactylus, finger unit 1 is made to form the finger-joint system with three degree of freedom, 4th dactylus 14 is fixedly connected on the edge of palm section 3, the position near finger unit 1 free end is fixed in tendon rope one end, tendon rope is successively through the tendon cord hole in finger unit 1, tendon cord hole in second knuckle 12, tendon cord hole in tendon cord hole in third knuckle 13 and the 4th dactylus 14, the other end of tendon rope is fixed on main shaft on son 304, be fixedly connected with the side of each dactylus of finger unit 1 away from the centre of the palm 301 while of spring leaf 15, when DC micromotor 303 output rotates forward, main shaft tightens up tendon rope around son 304 winding, thus it is interior bending to make finger unit 1 carry out, when DC micromotor 303 output rotates backward, rely on the elastic force of spring leaf 15, main shaft loosens tendon rope around son 304, finger unit 1 relies on the elastic force of spring leaf 15 that finger unit 1 is stretched, 4th dactylus 14 of thumb forms thumb and refers to root 21, thumb refers to that root 21 root forms cylindrical boss, the side, the centre of the palm 301 of palm section 3 is provided with and refers to thumb the draw-in groove that the shape of root 21 adapts, thumb refers to that root unit 2 refers to root 21 primarily of thumb, thumb swings rotating shaft 27 and thumb oscillation bearing 26 forms, thumb oscillation bearing 26 is installed on the cylindrical boss and rotating shaft 27 that thumb refers to root 21 root respectively, the adjacent two interphalangeal turning cylinders of thumb are vertical with the axial space that thumb swings rotating shaft 27, thumb refers to that root 21 swings rotating shaft 27 around thumb and rotates, thus make thumb have 4 frees degree, the power output shaft of steering wheel 306 drives thumb to swing rotating shaft 27 and rotates, the power transmission of steering wheel 306 is referred to root 21 to thumb, realize thumb and refer to that root 21 relatively and the swing in the centre of the palm 301, thumb is referred to, and root 21 passes in and out the draw-in groove in the centre of the palm 301, and root 21 turns to the setting space angle position relative to the centre of the palm 301 to make thumb refer to, make 3 to point mutual mate-assist and realize corresponding bionical hand motion.Figure 10 is that one of the present invention captures exemplary plot, and the present embodiment drive lacking anthropomorphic three refers to that manipulator comprises palm, two fingers and a thumb, its profile apery.Palm structure can hold 3 DC micromotors 303 and 1 steering wheel 306, points installation and winding displacement that each dactylus structure is convenient to force snesor, there is a turning cylinder, have certain radius of gyration and rotational angle between adjacent two dactylus.Thumb comprises four dactylus, has four frees degree, uses the rotation that micromachine drives the motion of finger, servo driving refers to root.Finger is moved by tendon rope band, and on the boss of tendon rope one ends wound in first knuckle 11, after the tendon cord hole through each dactylus bottom, the other end is wound on the rotor mechanism of DC micromotor 303.Pointing when capturing, relying on the rotation of DC micromotor 303 to tighten up tendon rope, thus make digital flexion, crawl object.Finger is when loosening, and tendon rope is loosened in DC micromotor 303 reversion, relies on the elastic force of spring leaf, thus makes finger extension, loosens object.In crawl process, steering wheel 306 controls after thumb refers to that root 21 turns to appropriate position, and DC micromotor 303 drives finger grip object, and finger-joint carries out the crawl of adaptivity according to the true form of object, has and controls the advantage that difficulty is low, reliability is high.The present embodiment adopts the mode of drive lacking in type of drive, and independent control variable number is less than degree of freedom in system number, and all more complete drive systems in aspect such as saving energy, reduction cost, weight reduction, enhancing system flexibility are superior.The closed loop feedback system that the present embodiment uses force snesor and angular transducer to form, can realize simply grabbing, pinching work.The present embodiment uses a motor to control single finger by the mode of tendon transmission based on drive lacking principle, makes finger can envelope object adaptively when capturing different objects, its have structure simple, capture and control the advantage that difficulty is low, reliability is high.In the present embodiment, see Fig. 2 ~ 4 and Figure 10, finger unit 1 also comprises first knuckle cover plate 16, second knuckle cover plate 17 and third knuckle cover plate 18, the outside that first knuckle cover plate 16, second knuckle cover plate 17 and third knuckle cover plate 18 are all positioned at spring leaf 15 is installed, with first knuckle 11, second knuckle 12 and third knuckle 13, spring leaf 15 is fixed on the surface of finger unit 1 respectively, 4th dactylus 14 cooperation of except thumb two outer two fingers is installed in the edge draw-in groove in the centre of the palm 301, and finger unit 1 and palm section 3 are connected and fixed.In the present embodiment, each finger comprises four dactylus respectively, has three degree of freedom, uses spring leaf 15 and finger cover plate to be installed in palm.
In the present embodiment, see Fig. 2 ~ 4 and Figure 10, first knuckle 11, second knuckle 12, the surface of third knuckle 13 and the 4th dactylus 14 is respectively equipped with boss, each boss is embedded in the groove that spring leaf 15 is offered respectively, each dactylus cover plate also offers the groove adapted with the boss shape on corresponding dactylus, namely, the groove of first knuckle cover plate 16 coordinates with the boss of first knuckle 11, be positioned on spring leaf 15 and be also connected with first knuckle 11 with screw, the groove of second knuckle cover plate 17 coordinates with the boss of second knuckle 12, also be positioned on spring leaf 15 and be also connected with second knuckle 12 with screw, the groove of third knuckle cover plate 18 coordinates with the boss of third knuckle 13, also be positioned on spring leaf 15 and be also connected with third knuckle 13 with screw.
In the present embodiment, see Fig. 5, Fig. 6 and Fig. 7 ~ 10, thumb refers to that root unit 2 also comprises steering bearing 24 and thumb internal support axle 25 in thumb, thumb is used to refer to thumb, root cover plate 22 and screw refer to that root 21 and the 4th dactylus 14 are fixed connection, thumb is made to refer to being fixedly connected with of root 21 and finger unit 1, in thumb, steering bearing 24 is installed and is matched with on thumb internal support axle 25, thumb internal support axle 25 one end fits refers in thumb in the axis hole of root 21 side, the other end is fixed it by bolster fixation clip 23, bolster fixation clip 23 is matched with thumb and refers in the groove of root 21 opposite side, the tendon rope of thumb is passed from the tendon cord hole that thumb refers to bottom root 21 by turning to of steering bearing in thumb 24, be fixed on the main shaft of the DC micromotor 303 driving the action of thumb dactylogryposis on son 304, thumb swings one end of rotating shaft 27 and forms square axle head and be matched with in the square opening and prism that thumb refers in root 21, the power output shaft of the other end and steering wheel 306 is coaxially fixedly linked.
In the present embodiment, see Fig. 7 ~ 10, DC micromotor 303 is embedded in motor cover 305, motor cover 305 is fixedly installed in palm section 3, tendon rope is entered in motor cover 305 with around son 304 by the tendon cord hole of motor cover 305 side and is connected, the clutch end of steering wheel 306 axle head corresponding to rotating shaft 27 coordinates to be installed, steering wheel 306 is fixing to be also installed in palm section 3, prepollex is fixed briquetting 309 and is installed on thumb oscillation bearing 26 place that thumb refers to the root cylindrical boss side of root 21, rear thumb is fixed briquetting 310 and is installed on another thumb bearing 26 place that thumb refers to the root cylindrical boss opposite side of root 21, prepollex fixed briquetting 309 and rear thumb by screw to fix briquetting 310 and be fixedly installed in palm section 3 respectively, two thumb bearings 26 are fixed respectively, make contact 311 side by installing with coordinating of a series of cylinder boss in palm section 3, by each DC micromotor 303, each motor cover 305 and steering wheel 306 are fixedly installed in palm section 3, make contact 311 opposite side wire is set, making contact of using in palm 311 is convenient to winding displacement, play the effect of parts in fixing palm simultaneously.
In the present embodiment, see Fig. 8 and Fig. 9, when from the power output shaft out of plumb of the tendon rope section in finger unit 1 and DC micromotor 303, palm internal support axle 308 is provided with in palm section 3, in palm, steering bearing 307 cooperation is installed on palm internal support axle 308, palm internal support axle 308 coordinates in the axis hole be installed in the centre of the palm 301, the other end of palm internal support axle 308 311 to be fixed by making contact by steering bearing in palm 307, is connected after tendon rope is turned to by steering bearing in palm 307 with around son 304.
By reference to the accompanying drawings the embodiment of the present invention is illustrated above; but the invention is not restricted to above-described embodiment; multiple change can also be made according to the object of innovation and creation of the present invention; change, the modification made under all Spirit Essences according to technical solution of the present invention and principle, substitute, combination, to simplify; all should be the substitute mode of equivalence; as long as goal of the invention according to the invention; only otherwise deviate from know-why and the inventive concept that drive lacking of the present invention anthropomorphic three refers to manipulators, all protection scope of the present invention is belonged to.
Claims (6)
1. a drive lacking anthropomorphic three refers to manipulator, comprise palm section (3) and 3 fingers, described palm section (3) comprises the centre of the palm (301) and the palm back of the body (302), wherein a finger is thumb, it is characterized in that: described palm section (3) inside arranges 3 and drives the DC micromotor (303) of finger dactylogryposis action and the steering wheel (306) of 1 swing thumb, the output shaft of described DC micromotor (303) fixedly mount around son (304), point described in every root and all there is finger unit (1) part, described finger unit (1) is successively by first knuckle (11), second knuckle (12), third knuckle (13) and the 4th dactylus (14) are formed by connecting, turning cylinder is provided with between adjacent two dactylus, described finger unit (1) is made to form the finger-joint system with three degree of freedom, described 4th dactylus (14) is fixedly connected on the edge of described palm section (3), the position near described finger unit (1) free end is fixed in tendon rope one end, described tendon rope is successively through the tendon cord hole in described finger unit (1), tendon cord hole in described second knuckle (12), tendon cord hole in tendon cord hole in described third knuckle (13) and described 4th dactylus (14), the other end of described tendon rope is fixed on described main shaft on son (304), be fixedly connected with the side of each dactylus of described finger unit (1) away from the described centre of the palm (301) while of spring leaf (15), when described DC micromotor (303) output rotates forward, described main shaft tightens up tendon rope around son (304) winding, thus it is interior bending to make described finger unit (1) carry out, when described DC micromotor (303) output rotates backward, rely on the elastic force of described spring leaf (15), described main shaft loosens tendon rope around son (304), described finger unit (1) relies on the elastic force of described spring leaf (15) that described finger unit (1) is stretched, 4th dactylus (14) of described thumb forms thumb and refers to root (21), described thumb refers to that root (21) root forms cylindrical boss, the described centre of the palm (301) side of described palm section (3) is provided with and refers to described thumb the draw-in groove that the shape of root (21) adapts, thumb refers to that root unit (2) refers to root (21) primarily of described thumb, thumb swings rotating shaft (27) and thumb oscillation bearing (26) composition, described thumb oscillation bearing (26) is installed on the cylindrical boss and rotating shaft (27) that described thumb refers to root (21) root respectively, the adjacent two interphalangeal turning cylinders of described thumb are vertical with the axial space that described thumb swings rotating shaft (27), described thumb refers to that root (21) swings rotating shaft (27) around described thumb and rotates, thus make thumb have 4 frees degree, the power output shaft of described steering wheel (306) drives described thumb to swing rotating shaft (27) and rotates, refer to root (21) to described thumb the power transmission of described steering wheel (306), realize described thumb refer to root (21) relatively with the swing in the described centre of the palm (301), described thumb is referred to, and root (21) passes in and out the draw-in groove of the described centre of the palm (301), and root (21) turns to the setting space angle position relative to the described centre of the palm (301) to make described thumb refer to, make 3 to point mutual mate-assist and realize corresponding bionical hand motion.
2. drive lacking anthropomorphic three refers to manipulator according to claim 1, it is characterized in that: described finger unit (1) also comprises first knuckle cover plate (16), second knuckle cover plate (17) and third knuckle cover plate (18), described first knuckle cover plate (16), the outside that described second knuckle cover plate (17) and described third knuckle cover plate (18) are all positioned at described spring leaf (15) is installed, respectively with described first knuckle (11), described spring leaf (15) is fixed on the surface of described finger unit (1) by described second knuckle (12) and described third knuckle (13), described 4th dactylus (14) cooperation of except thumb two outer two fingers is installed in the edge draw-in groove in the described centre of the palm (301), described finger unit (1) and described palm section (3) are connected and fixed.
3. drive lacking anthropomorphic three refers to manipulator according to claim 2, it is characterized in that: described first knuckle (11), described second knuckle (12), the surface of described third knuckle (13) and described 4th dactylus (14) is respectively equipped with boss, each described boss is embedded in the groove that described spring leaf (15) is offered respectively, each dactylus cover plate also offers the groove adapted with the boss shape on corresponding dactylus, namely, the groove of described first knuckle cover plate (16) coordinates with the boss of described first knuckle (11), be positioned over described spring leaf (15) go up and use screw to be connected with described first knuckle (11), the groove of described second knuckle cover plate (17) coordinates with the boss of described second knuckle (12), also be positioned over described spring leaf (15) go up and use screw to be connected with described second knuckle (12), the groove of described third knuckle cover plate (18) coordinates with the boss of described third knuckle (13), also be positioned over spring leaf (15) go up and use screw to be connected with described third knuckle (13).
4. refer to manipulator according to drive lacking described in any one in claims 1 to 3 anthropomorphic three, it is characterized in that: described thumb refers to that root unit (2) also comprises steering bearing in thumb (24) and thumb internal support axle (25), thumb is used to refer to described thumb, root cover plate (22) and screw refer to that root (21) and described 4th dactylus (14) are fixed connection, described thumb is made to refer to being fixedly connected with of root (21) and described finger unit (1), in described thumb, steering bearing (24) is installed and is matched with on described thumb internal support axle (25), described thumb internal support axle (25) one end fits refers in thumb in the axis hole of root (21) side, the other end is fixed it by described bolster fixation clip (23), described bolster fixation clip (23) is matched with described thumb and refers in the groove of root (21) opposite side, the tendon rope of described thumb refers to pass the tendon cord hole of root (21) bottom from described thumb by turning to of steering bearing (24) in described thumb, be fixed on the main shaft of the described DC micromotor (303) driving the action of thumb dactylogryposis on son (304), one end that described thumb swings rotating shaft (27) forms square axle head and is matched with in the square opening and prism that described thumb refers in root (21), the power output shaft of the other end and described steering wheel (306) is coaxially fixedly linked.
5. refer to manipulator according to drive lacking described in any one in claims 1 to 3 anthropomorphic three, it is characterized in that: described DC micromotor (303) is embedded in motor cover (305), described motor cover (305) is fixedly installed in described palm section (3), tendon rope is entered in described motor cover (305) by the tendon cord hole of described motor cover (305) side and is connected around son (304) with described, the clutch end of described steering wheel (306) coordinates with the corresponding axle head of described rotating shaft (27) to be installed, described steering wheel (306) is fixing to be also installed in described palm section (3), prepollex is fixed briquetting (309) and is installed on thumb oscillation bearing (26) place that described thumb refers to the root cylindrical boss side of root (21), rear thumb is fixed briquetting (310) and is installed on another thumb bearing (26) place that described thumb refers to the root cylindrical boss opposite side of root (21), described prepollex fixed briquetting (309) and described rear thumb by screw to fix briquetting (310) and be fixedly installed in described palm section (3) respectively, two described thumb bearings (26) are fixed respectively, make contact the side of (311) by installing with coordinating of a series of cylinder boss in described palm section (3), by each described DC micromotor (303), each described motor cover (305) and described steering wheel (306) are fixedly installed in described palm section (3), described opposite side of making contact (311) arranges wire.
6. drive lacking anthropomorphic three refers to manipulator according to claim 5, it is characterized in that: when from the power output shaft out of plumb of the tendon rope section in described finger unit (1) and described DC micromotor (303), palm internal support axle (308) is provided with in described palm section (3), in palm, steering bearing (307) cooperation is installed on described palm internal support axle (308), be installed on the cooperation of described palm internal support axle (308) in the axis hole in the described centre of the palm (301), the other end of described palm internal support axle (308) is fixed by described make contact (311) by steering bearing (307) in described palm, be connected around son (304) with described after tendon rope is turned to by steering bearing (307) in described palm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510164198.1A CN104802180B (en) | 2015-04-09 | 2015-04-09 | Drive lacking anthropomorphic three refers to manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164198.1A CN104802180B (en) | 2015-04-09 | 2015-04-09 | Drive lacking anthropomorphic three refers to manipulator |
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| CN104802180A true CN104802180A (en) | 2015-07-29 |
| CN104802180B CN104802180B (en) | 2017-06-06 |
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Cited By (9)
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| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN106335074A (en) * | 2016-10-12 | 2017-01-18 | 上海大学 | Robot five-finger dexterous hand executive device |
| CN106976101A (en) * | 2017-05-15 | 2017-07-25 | 福州大学 | A kind of drive lacking two refers to crawl Dextrous Hand and its method of work |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
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| CN109278061B (en) * | 2018-10-31 | 2020-09-29 | 深圳市优必选科技有限公司 | Robot and finger transmission structure thereof |
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| CN114290358B (en) * | 2022-01-14 | 2023-11-17 | 吉林大学 | Bionic four-degree-of-freedom robot finger with pulling and pressing body |
| CN114714383A (en) * | 2022-03-16 | 2022-07-08 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
| CN114714383B (en) * | 2022-03-16 | 2023-06-09 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
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