CN104802180B - Drive lacking anthropomorphic three refers to manipulator - Google Patents
Drive lacking anthropomorphic three refers to manipulator Download PDFInfo
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- CN104802180B CN104802180B CN201510164198.1A CN201510164198A CN104802180B CN 104802180 B CN104802180 B CN 104802180B CN 201510164198 A CN201510164198 A CN 201510164198A CN 104802180 B CN104802180 B CN 104802180B
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Abstract
Refer to manipulator, including palm, two fingers and a thumb the invention discloses a kind of drive lacking anthropomorphic three, finger includes four finger joints, using spring leaf, finger cover plate and mode connects for screw, palm includes base plate, cover plate, for fixing motor and finger.The closed loop feedback system that the present invention is constituted using force snesor and angular transducer, can realize simply grabbing, pinching work.It is characteristic of the invention that controlling single finger by way of tendon is driven using a motor based on drive lacking principle so that finger when different objects are captured can adaptively envelope object, it has the advantages that, and simple structure, crawl control difficulty be low, reliability is high.
Description
Technical field
The present invention relates to a kind of robot device, more particularly to a kind of multi-fingered robot hand, be applied to end gripper and
Apery prosthesis technique field.
Background technology
Robot delicate can complete flexible, fine crawl and grasp as effective extension of mankind's activity limbs with it
Make, since latter half in 20th century, as one of the popular research direction of robot field, ground by the scientific and technical personnel of various countries
Study carefully.Relative to simple end-effector, robot delicate there is highly versatile, perception to enrich, can realize meeting
Geometry is closed and the advantages of force-closed accurate, firm crawl.
With the development of manufacturing process and sensor and control technology, as robot and ring in intelligence manufacture application field
The important step that border interacts, its end execution unit gradually refers to spirit more from original simple clamper to multitask intelligence
Dab hand transition.Intelligent Dextrous Hand has multiple multi-joint fingers, can have dexterity and adaptability very high as staff,
Perform different crawl and operation tasks.Therefore, intelligent Dextrous Hand can make industrial robot in non-structure environment with target
Thing close-distance safety is contacted, and possesses the ability that intelligent operation is carried out to unknown object.Equally, intelligent apery type Dextrous Hand is for clothes
Business humanoid robot is in particular surroundings such as hazardous material detection, overhaul of the equipments, underwater operation, space station article carrying and assembling, residual
The fields such as barrier auxiliary have significant application value.The continuous improvement of Dextrous Hand work capacity, its cost is the increase in answering for system
Polygamy and research difficulty.
The content of the invention
In order to solve prior art problem, it is an object of the invention to overcome the shortcomings of that prior art is present, there is provided a kind of
Drive lacking anthropomorphic three refers to manipulator, including palm, two fingers and a thumb, and finger includes four finger joints, using spring leaf,
Finger cover plate and mode connects for screw, palm include base plate, cover plate, for fixing motor and finger.Two fingers have three certainly respectively
By spending, thumb has four frees degree, and whole hand totally ten frees degree use the closed loop that force snesor and angular transducer are constituted
Reponse system, can realize simply grabbing, pinching is made.Finger structure is based on drive lacking principle design, when different objects are captured
Can adaptively envelope object, have the advantages that simple structure, crawl control difficulty be low, reliability is high.
Purpose is created to reach foregoing invention, the present invention uses following technical proposals：
A kind of drive lacking anthropomorphic three refers to manipulator, including palm section and 3 fingers, and palm section is moved for providing finger
Power source simultaneously makes it be fixed with palm position relationship, while having the profile of apery, palm section includes that the centre of the palm and the palm are carried on the back, wherein one
Root finger is that 3 DC micromotors for driving the action of finger dactylogryposis and 1 swing thumb are set inside thumb, palm section
Steering wheel, fixedly mounts around son on the output shaft of DC micromotor, and every finger all has finger unit part, for as grabbing
The execution unit of action is taken, finger unit is formed by connecting by first knuckle, second knuckle, third knuckle and the 4th finger joint successively,
Rotary shaft is provided between adjacent two finger joint, finger unit is formed the finger-joint system with three degree of freedom, the 4th finger joint is consolidated
Surely the edge of palm section is connected to, tendon rope one end is fixed at the position of finger unit free end, and tendon rope is sequentially passed through
The tendon cord hole in tendon cord hole and the 4th finger joint in tendon cord hole, third knuckle in tendon cord hole, second knuckle in finger unit,
The other end of tendon rope is fixed on main shaft on son, and spring leaf is fixed away from the side in the centre of the palm with each finger joint of finger unit and connected simultaneously
Connect, when DC micromotor output rotate forward when, main shaft tightens up tendon rope around sub- winding so that finger unit carry out it is interior curved
Song, when DC micromotor output is rotated backward, by the elastic force of spring leaf, main shaft loosens tendon rope around son, finger unit according to
Elastic force by spring leaf stretches finger unit, and the 4th finger joint of thumb forms thumb and refers to root, for connecting finger and providing thumb
Refer to root rotational freedom, thumb refers to that the root of root forms cylindrical boss, and the centre of the palm side of palm section is provided with and refers to thumb
The adaptable draw-in groove of the shape of root, thumb refers to that root unit is main and refers to that root, thumb swing rotating shaft and thumb oscillation bearing group by thumb
Into thumb oscillation bearing is respectively arranged in thumb and refers on the cylindrical boss and rotating shaft of root root, and thumb swings rotating shaft and thumb
Oscillation bearing plays supporting role when being connected with palm section, and the adjacent two interphalangeal rotary shaft of thumb swings with thumb and turns
The axial space of axle is vertical, and thumb refers to that rhizosphere swings axis of rotation around thumb, so that thumb has 4 frees degree, steering wheel
Power output shaft drives thumb to swing axis of rotation, the power of steering wheel is passed into thumb and refers to root, realize thumb refer to root it is relative with
The swing in the centre of the palm, makes thumb refer to that root passes in and out the draw-in groove in the centre of the palm, and thumb is referred to that root turns to the setting Space Angle relative to the centre of the palm
Degree position, makes 3 mutual mate-assists of finger realize corresponding bionical hand motion.
Used as currently preferred technical scheme, finger unit also includes first knuckle cover plate, second knuckle cover plate and the
Three finger joint cover plates, first knuckle cover plate, second knuckle cover plate and third knuckle cover plate are all installed positioned at the outside of spring leaf, respectively
Spring leaf is fixed on the surface of finger unit with first knuckle, second knuckle and third knuckle, outside two in addition to thumb
The 4th finger joints cooperation of two fingers is installed in the edge draw-in groove in the centre of the palm, finger unit is connected with palm section.
As the further preferred technical scheme of the present invention, first knuckle, second knuckle, third knuckle and the 4th finger joint
Surface is respectively equipped with boss, and each boss is embedded in the groove opened up on spring leaf respectively, also offered on each finger joint cover plate with it is right
The groove that the projection shape in finger joint answered is adapted, i.e. the groove of first knuckle cover plate coordinates with the boss of first knuckle, puts
It is placed on spring leaf and is connected with first knuckle with screw, the groove of second knuckle cover plate coordinates with the boss of second knuckle,
It is positioned on spring leaf and is connected with second knuckle with screw, the groove of third knuckle cover plate coordinates with the boss of third knuckle,
Also it is positioned on spring leaf and is connected with third knuckle with screw.
Used as the improvement of above-mentioned technical proposal, thumb refers to that root unit also includes being supported in steering bearing and thumb in thumb
Axle, refers to that root cover plate and screw refer to that thumb root and the 4th finger joint are fixedly connected using thumb, thumb is referred to root and finger list
Unit is fixedly connected, and steering bearing is installed and is matched with thumb in support shaft in thumb, and support shaft one end fits are in thumb in thumb
Refer in the axis hole of root side, the other end is fixed by support shaft fixation clip to it, and support shaft fixation clip is matched with
Thumb refers in the groove of root opposite side that the tendon rope of thumb refers to the tendon rope of root bottom part by the steering of steering bearing in thumb from thumb
Passed in hole, be fixed on a main shaft for DC micromotor for driving thumb dactylogryposis to act on son, thumb swings rotating shaft
In the square opening and prism that one end forms square shaft end and is matched with during thumb refers to root, the other end is coaxially solid with the power output shaft of steering wheel
It is fixed to be connected.
Used as the improvement of above-mentioned technical proposal, DC micromotor is embedded in motor cover, and motor cover is fixedly installed in palm
In unit, tendon rope by the tendon cord hole of motor cover side enter in motor cover with around sub- connection, the clutch end of steering wheel with turn
The corresponding shaft end of axle coordinates is installed, and steering wheel is fixed and is also installed in palm section, and prepollex fixation briquetting is installed on thumb and refers to root
Root cylindrical boss side thumb oscillation bearing at, rear thumb fixes briquetting and is installed on the root cylinder that thumb refers to root
At another thumb bearing of boss opposite side, prepollex fixation briquetting and rear thumb are fixed by briquetting by screw and is fixed respectively
It is installed in palm section, two thumb bearings is fixed respectively, the side made contact is by a series of with palm section
The cooperation of cylinder boss is installed, and each DC micromotor, each motor cover and steering wheel are fixedly installed in palm section, is made contact
Opposite side wire is set, while can be played wire and understructure at least through motor wire, sensor signal lines
Separate, be easy to winding displacement.
As the improvement of above-mentioned technical proposal, when the size of DC micromotor can not meet the installation dimension of palm section
It is required that when, it is necessary to the layout of at least one DC micromotor carries out special setting, make the master of at least one DC micromotor
Axle axially with the main shaft of other DC micromotors axially it is not parallel can be only achieved save space the need for, when from finger unit
Tendon rope section and DC micromotor power output shaft out of plumb when, support shaft in palm, hand are provided with palm section
Steering bearing coordinates and is installed in palm in support shaft in the palm, and support shaft coordinates and is installed in the axis hole in the centre of the palm in palm, hand
The other end of support shaft makes tendon rope by after steering bearing steering in palm by steering bearing in palm by fixation of making contact in the palm
It is connected with around son, reduces the purpose of abrasion.
The present invention compared with prior art, substantive distinguishing features and remarkable advantage is obviously protruded with following：
1. robot of the present invention is that drive lacking three refers to robot delicate, and two fingers have three degree of freedom, thumb respectively
Refer to that there are four frees degree, whole hand totally ten frees degree, its profile apery；
2. the mechanical closed loop feedback system constituted using force snesor and angular transducer of the present invention, can realize letter
It is single grab, pinching is made；
3. the finger structure of manipulator of the invention is based on drive lacking principle design, can be certainly when different objects are captured
Adaptively envelope object, has the advantages that simple structure, crawl control difficulty be low, reliability is high；
4. the lack of driven robot Dextrous Hand of three fingers of manipulator of the invention, is not only reduced to three fingers, together in structure
When in type of drive by the way of drive lacking, while ensure that the basic function of robot delicate, substantially reduce
The complexity and research difficulty of system.
Brief description of the drawings
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 a kind of crawl exemplary plot of preferred embodiment of the present invention robot delicate.
Specific embodiment
Details are as follows for the preferred embodiments of the present invention：
In the present embodiment, referring to Fig. 1~10, a kind of drive lacking anthropomorphic three refers to manipulator, including palm section 3 and 3
Finger, palm section 3 includes the centre of the palm 301 and the palm back of the body 302, wherein a finger is thumb, the inside of palm section 3 sets 3 drives
Start to refer to the DC micromotor 303 and 1 steering wheel 306 of swing thumb that dactylogryposis is acted, the output shaft of DC micromotor 303
Upper fixed installation all has the part of finger unit 1 around son 304, every finger, and finger unit 1 is successively by first knuckle 11, second
Finger joint 12, the finger joint 14 of third knuckle 13 and the 4th are formed by connecting, and rotary shaft is provided between adjacent two finger joint, form finger unit 1
Finger-joint system with three degree of freedom, the 4th finger joint 14 is fixedly connected on the edge of palm section 3, and tendon rope one end is fixed
In at the position of the free end of finger unit 1, tendon rope is sequentially passed through in tendon cord hole, second knuckle 12 in finger unit 1
The tendon cord hole in tendon cord hole and the 4th finger joint 14 in tendon cord hole, third knuckle 13, the other end of tendon rope is fixed on main shaft around son
On 304, spring leaf 15 is fixedly connected with each finger joint of finger unit 1 away from the side in the centre of the palm 301 simultaneously, works as DC micromotor
When 303 outputs are rotated forward, main shaft tightens up tendon rope around the winding of son 304, so that finger unit 1 carries out interior bending, when miniature
The output of direct current generator 303 is when rotating backward, and by the elastic force of spring leaf 15, main shaft loosens tendon rope around son 304, finger unit 1 according to
Elastic force by spring leaf 15 stretches finger unit 1, and the 4th finger joint 14 of thumb forms thumb and refers to root 21, and thumb refers to the root of root 21
Cylindrical boss is formed, the side of the centre of the palm 301 of palm section 3 is provided with and refers to the adaptable draw-in groove of the shape of root 21, thumb with thumb
Refer to that root unit 2 is main and refer to that root 21, thumb swings rotating shaft 27 and thumb oscillation bearing 26 is constituted, 26 points of thumb oscillation bearing by thumb
It is not installed on thumb to refer on the cylindrical boss and rotating shaft 27 of the root of root 21, the adjacent two interphalangeal rotary shaft and thumb of thumb
The axial space for swinging rotating shaft 27 is vertical, and thumb refers to that root 21 swings rotating shaft 27 and rotates around thumb, so that thumb has 4 certainly
By spending, the power output shaft of steering wheel 306 drives thumb to swing rotating shaft 27 and rotates, and the power of steering wheel 306 is passed into thumb refers to root
21, realize that thumb refers to the relative swing with the centre of the palm 301 of root 21, thumb is referred to that root 21 passes in and out the draw-in groove in the centre of the palm 301, and refer to thumb
Root 21 turns to the setting space angle position relative to the centre of the palm 301,3 mutual mate-assists of finger is realized corresponding bionic hand
Portion acts.Figure 10 is a kind of crawl exemplary plot of the invention, the present embodiment drive lacking anthropomorphic three refer to manipulator include palm, two
Finger and a thumb, its profile apery.Palm structure can accommodate 3 DC micromotors 303 and 1 steering wheel 306, and finger is each
Finger joint structure is easy to the presence of a rotary shaft between installation and the winding displacement of force snesor, adjacent two finger joint, there is certain radius of gyration
And rotational angle.Thumb includes four finger joints, with four frees degree, drives the motion of finger, steering wheel to drive using micromachine
The dynamic rotation for referring to root.Finger is moved by tendon rope band, and tendon rope one ends wound is on the boss in first knuckle 11, through under each finger joint
After the tendon cord hole in portion, the other end is wound on the rotor mechanism of DC micromotor 303.Finger in crawl, by miniature straight
Tendon rope is tightened up in the rotation for flowing motor 303, so that digital flexion, crawl object.Finger when loosening, DC micromotor
Tendon rope is loosened in 303 reversions, by the elastic force of spring leaf, so that finger extension, loosening object.In crawl process, steering wheel 306
After control thumb refers to that root 21 turns to appropriate position, DC micromotor 303 drives finger grip object, and finger-joint is according to thing
The true form of body carries out the crawl of adaptivity, and difficulty is low, reliability is high control.The present embodiment is in type of drive
Upper independent control variable number is less than degree of freedom in system number by the way of drive lacking, saves energy, reduces cost, mitigates
The all more complete drive system of the aspects such as weight, strengthening system flexibility ratio is superior.The present embodiment uses force snesor and angle sensor
The closed loop feedback system of device composition, can realize simply grabbing, pinching work.The present embodiment is based on drive lacking principle and uses an electricity
Machine controls single finger by way of tendon is driven so that finger when different objects are captured can adaptively envelope object,
It has the advantages that simple structure, difficulty is low, reliability is high for crawl control.In the present embodiment, referring to Fig. 2~4 and Figure 10, finger
Unit 1 also includes first knuckle cover plate 16, second knuckle cover plate 17 and third knuckle cover plate 18, first knuckle cover plate 16, second
Finger joint cover plate 17 and third knuckle cover plate 18 are all installed positioned at the outside of spring leaf 15, respectively with first knuckle 11, second knuckle
12 and third knuckle 13 spring leaf 15 is fixed on the surface of finger unit 1, the of outer two fingers of two in addition to thumb
The cooperation of four finger joint 14 is installed in the edge draw-in groove in the centre of the palm 301, finger unit 1 is connected with palm section 3.In this implementation
In example, each finger includes four finger joints respectively, with three degree of freedom, palm is installed on using spring leaf 15 and finger cover plate
In.
In the present embodiment, referring to Fig. 2~4 and Figure 10, first knuckle 11, second knuckle 12, third knuckle 13 and the 4th
The surface of finger joint 14 is respectively equipped with boss, and each boss is embedded in the groove opened up on spring leaf 15 respectively, on each finger joint cover plate
Offer the groove adaptable with the projection shape in corresponding finger joint, i.e. the groove and first knuckle of first knuckle cover plate 16
11 boss coordinates, and is positioned on spring leaf 15 and is connected with first knuckle 11 with screw, the groove of second knuckle cover plate 17 and
The boss of second knuckle 12 coordinates, and is also positioned on spring leaf 15 and is connected with second knuckle 12 with screw, third knuckle cover plate
18 groove coordinates with the boss of third knuckle 13, is also positioned on spring leaf 15 and is connected with third knuckle 13 with screw.
In the present embodiment, referring to Fig. 5, Fig. 6 and Fig. 7~10, thumb refers to that root unit 2 also includes steering bearing 24 in thumb
With support shaft 25 in thumb, refer to that root cover plate 22 and screw refer to thumb root 21 and the company of being fixed of the 4th finger joint 14 using thumb
Connect, thumb is referred to being fixedly connected for root 21 and finger unit 1, steering bearing 24 is installed and is matched with support shaft 25 in thumb in thumb
On, in the axis hole that thumb refers to the side of root 21, the other end passes through support shaft fixation clip 23 to the one end fits of support shaft 25 in thumb
It is fixed, support shaft fixation clip 23 is matched with the groove that thumb refers to the opposite side of root 21, the tendon rope of thumb passes through thumb
Passed in the tendon cord hole that the steering of steering bearing 24 refers to the bottom of root 21 from thumb in referring to, be fixed on and drive the one of the action of thumb dactylogryposis
On son 304, one end that thumb swings rotating shaft 27 forms square shaft end and is matched with thumb the main shaft of individual DC micromotor 303
Refer in the square opening and prism in root 21, the other end is coaxially fixedly linked with the power output shaft of steering wheel 306.
In the present embodiment, referring to Fig. 7~10, DC micromotor 303 is embedded in motor cover 305, and motor cover 305 is fixed
It is installed in palm section 3, tendon rope is entered in motor cover 305 by the tendon cord hole of the side of motor cover 305 and is connected with around sub 304,
The clutch end of steering wheel 306 coordinates with the corresponding shaft end of rotating shaft 27 to be installed, and steering wheel 306 fixed and be also installed in palm section 3,
Prepollex fixation briquetting 309 is installed on thumb and refers at the thumb oscillation bearing 26 of root cylindrical boss side of root 21, rear thumb
Refer to that fixed briquetting 310 is installed on thumb and refers at another thumb bearing 26 of root cylindrical boss opposite side of root 21, pass through
Are fixed into briquetting 309 by prepollex for screw and rear thumb is fixed briquetting 310 and is fixedly installed in respectively in palm section 3, to two thumbs
Spindle holds 26 and is fixed respectively, make contact 311 side by with palm section 3 a series of cylinder boss cooperation install,
Each DC micromotor 303, each motor cover 305 and steering wheel 306 are fixedly installed in palm section 3, make contact 311 it is another
Side sets wire, and making contact for being used in palm 311 is easy to winding displacement, while playing a part of parts in fixed palm.
In the present embodiment, referring to Fig. 8 and Fig. 9, when from the tendon rope section in finger unit 1 and DC micromotor 303
Power output shaft out of plumb when, support shaft 308 in palm are provided with palm section 3, in palm steering bearing 307 coordinate peace
Loaded in support shaft in palm 308, support shaft 308 coordinates and is installed in the axis hole in the centre of the palm 301 in palm, support shaft in palm
308 other end, by 311 fixations of making contact, is made tendon rope pass through steering bearing 307 in palm and turned to by steering bearing 307 in palm
It is connected with around son 304 afterwards.
The embodiment of the present invention is illustrated above in conjunction with accompanying drawing, but the invention is not restricted to above-described embodiment, can be with
The purpose of innovation and creation of the invention makes various changes, under all Spirit Essence and principle according to technical solution of the present invention
Change, modification, replacement, combination, the simplification made, should be equivalent substitute mode, as long as meeting goal of the invention of the invention, only
Otherwise refer to know-why and the inventive concept of manipulator away from drive lacking of the present invention anthropomorphic three, belong to protection model of the invention
Enclose.
Claims (4)
1. a kind of drive lacking anthropomorphic three refers to manipulator, including palm section（3）With 3 fingers, the palm section（3）Including the palm
The heart（301）Carried on the back with the palm（302）, wherein a finger is thumb, it is characterised in that：The palm section（3）Inside sets 3 drives
Start to refer to the DC micromotor that dactylogryposis is acted（303）With 1 steering wheel of swing thumb（306）, the DC micromotor
（303）Output shaft on fixedly mount around son（304）, the every finger is all with finger unit（1）Part, the finger list
Unit（1）Successively by first knuckle（11）, second knuckle（12）, third knuckle（13）With the 4th finger joint（14）It is formed by connecting, it is adjacent
Rotary shaft is provided between two finger joints, makes the finger unit（1）Form the finger-joint system with three degree of freedom, the described 4th
Finger joint（14）It is fixedly connected on the palm section（3）Edge, tendon rope one end is fixed near the finger unit（1）Freely
At the position at end, the tendon rope sequentially passes through the finger unit（1）In tendon cord hole, the second knuckle（12）In tendon rope
Hole, the third knuckle（13）In tendon cord hole and the 4th finger joint（14）In tendon cord hole, the other end of the tendon rope consolidates
Due to described around son（304）On, spring leaf（15）Simultaneously with the finger unit（1）Each finger joint away from the centre of the palm（301）
Side be fixedly connected, when the DC micromotor（303）It is described around son when output is rotated forward（304）Winding tightens up tendon
Rope, so that the finger unit（1）Interior bending is carried out, when the DC micromotor（303）When output is rotated backward, according to
By the spring leaf（15）Elastic force, it is described around son（304）Loosen tendon rope, the finger unit（1）By the spring leaf
（15）Elastic force make the finger unit（1）Stretch, the 4th finger joint of the thumb（14）Form thumb and refer to root（21）, the thumb
Refer to root（21）Root forms cylindrical boss, the palm section（3）The centre of the palm（301）Side is provided with and the thumb
Refer to root（21）The adaptable draw-in groove of shape, thumb refers to root unit（2）Root is mainly referred to by the thumb（21）, thumb swing rotating shaft
（27）With thumb oscillation bearing（26）Composition, the thumb oscillation bearing（26）It is respectively arranged in the thumb and refers to root（21）Root
Cylindrical boss and rotating shaft（27）On, adjacent two interphalangeal rotary shaft and the thumb of the thumb swing rotating shaft（27）
Axial space it is vertical, the thumb refers to root（21）Rotating shaft is swung around the thumb（27）Rotate, so that thumb has 4
The free degree, the steering wheel（306）Power output shaft drive the thumb to swing rotating shaft（27）Rotate, by the steering wheel（306）
Power pass to the thumb and refer to root（21）, realize that the thumb refers to root（21）Relatively with the centre of the palm（301）Swing, make
The thumb refers to root（21）Pass in and out the centre of the palm（301）Draw-in groove, and the thumb is referred to root（21）Turn to relative to described
The centre of the palm（301）Setting space angle position, the mutual mate-assists of 3 fingers is realized corresponding bionical hand motion；
The finger unit（1）Also include first knuckle cover plate（16）, second knuckle cover plate（17）With third knuckle cover plate（18）,
The first knuckle cover plate（16）, the second knuckle cover plate（17）With the third knuckle cover plate（18）All it is located at the spring
Piece（15）Outside install, respectively with the first knuckle（11）, the second knuckle（12）With the third knuckle（13）Will
The spring leaf（15）It is fixed on the finger unit（1）Surface on, the described 4th of two fingers in addition to thumb refer to
Section（14）Cooperation is installed on the centre of the palm（301）Edge draw-in groove in, make the finger unit（1）With the palm section（3）
It is connected；The first knuckle（11）, the second knuckle（12）, the third knuckle（13）With the 4th finger joint（14）
Surface be respectively equipped with boss, each boss is embedded in the spring leaf respectively（15）On in the groove that opens up, each finger joint cover plate
On also offer the groove adaptable with the projection shape in corresponding finger joint, i.e. the first knuckle cover plate（16）Groove
With the first knuckle（11）Boss coordinate, be positioned over the spring leaf（15）Screw is gone up and used with the first knuckle（11）
It is connected, the second knuckle cover plate（17）Groove and the second knuckle（12）Boss coordinate, be also positioned over the spring
Piece（15）Screw is gone up and used with the second knuckle（12）It is connected, the third knuckle cover plate（18）Groove and the described 3rd refer to
Section（13）Boss coordinate, be also positioned over spring leaf（15）Screw is gone up and used with the third knuckle（13）It is connected.
2. drive lacking anthropomorphic three refers to manipulator according to claim 1, it is characterised in that：The thumb refers to root unit（2）Also
Including steering bearing in thumb（24）With support shaft in thumb（25）, root cover plate is referred to using thumb（22）With screw to the thumb
Refer to root（21）With the 4th finger joint（14）It is fixedly connected, the thumb is referred to root（21）With the finger unit（1）'s
It is fixedly connected, steering bearing in the thumb（24）Installation is matched with support shaft in the thumb（25）On, branch in the thumb
Hold axle（25）One end fits refer to root in thumb（21）In the axis hole of side, the other end is by the support shaft fixation clip（23）It is right
It is fixed, the support shaft fixation clip（23）It is matched with the thumb and refers to root（21）In the groove of opposite side, the thumb
The tendon rope of finger is by steering bearing in the thumb（24）Steering refer to root from the thumb（21）Passed in the tendon cord hole of bottom,
It is fixed on a DC micromotor for driving the action of thumb dactylogryposis（303）Around son（304）On, the thumb swings and turns
Axle（27）One end form square shaft end and be matched with the thumb and refer to root（21）In square opening and prism in, the other end and the rudder
Machine（306）Power output shaft be coaxially fixedly linked.
3. drive lacking anthropomorphic three refers to manipulator according to claim 1, it is characterised in that：The DC micromotor（303）
It is embedded in motor cover（305）In, the motor cover（305）It is fixedly installed in the palm section（3）In, tendon rope passes through the motor
Lid（305）The tendon cord hole of side enters the motor cover（305）In with described around son（304）Connection, the steering wheel（306）It is dynamic
Power output end and the rotating shaft（27）Corresponding shaft end coordinates installs, the steering wheel（306）Fixation is also installed on the palm list
Unit（3）In, prepollex fixes briquetting（309）It is installed on the thumb and refers to root（21）Root cylindrical boss side thumb pendulum
Dynamic bearing（26）Place, rear thumb fixes briquetting（310）It is installed on the thumb and refers to root（21）Root cylindrical boss opposite side
Another thumb bearing（26）Place, briquetting is fixed by screw by the prepollex（309）Briquetting is fixed with the rear thumb
（310）The palm section is fixedly installed in respectively（3）In, to two thumb bearings（26）It is fixed respectively, makes contact
（311）Side by with the palm section（3）In a series of cylinder boss cooperation install, by each micro DC
Machine（303）, each motor cover（305）With the steering wheel（306）It is fixedly installed in the palm section（3）In, it is described to make contact
（311）Opposite side set wire.
4. drive lacking anthropomorphic three refers to manipulator according to claim 3, it is characterised in that：When from the finger unit（1）In
Tendon rope section and the DC micromotor（303）Power output shaft out of plumb when, in the palm section（3）In be provided with
Support shaft in palm（308）, steering bearing in palm（307）Cooperation is installed on support shaft in the palm（308）On, the hand
Support shaft in the palm（308）Cooperation is installed on the centre of the palm（301）In axis hole in, support shaft in the palm（308）It is another
End is by steering bearing in the palm（307）Made contact by described（311）It is fixed, tendon rope is passed through steering bearing in the palm
（307）With described around son after steering（304）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164198.1A CN104802180B (en) | 2015-04-09 | 2015-04-09 | Drive lacking anthropomorphic three refers to manipulator |
Applications Claiming Priority (1)
| 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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| CN105583829B (en) * | 2015-12-24 | 2017-11-10 | 泉州市泉港智源商贸有限公司 | A kind of simulation manipulator pulled based on steel wire is referred to |
| 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 |
| 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 |
| CN110842966A (en) * | 2019-12-23 | 2020-02-28 | 北京海益同展信息科技有限公司 | Bionic hand and bionic robot |
| CN111152247B (en) * | 2020-01-22 | 2021-09-07 | 北京海益同展信息科技有限公司 | Mechanical arm |
| CN114290358B (en) * | 2022-01-14 | 2023-11-17 | 吉林大学 | Bionic four-degree-of-freedom robot finger with pulling and pressing body |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1231332C (en) * | 2002-11-29 | 2005-12-14 | 清华大学 | Robot anthropomorphic multi finger band device |
| JP2006247805A (en) * | 2005-03-14 | 2006-09-21 | Hitachi Ltd | Hand mechanism |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| JP4643429B2 (en) * | 2005-12-13 | 2011-03-02 | 本田技研工業株式会社 | Hand device |
| CN100336639C (en) * | 2006-01-20 | 2007-09-12 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
| US8641114B2 (en) * | 2008-12-03 | 2014-02-04 | National University Corporation NARA Institute of Science and Technology | Robot hand |
| US8424941B2 (en) * | 2009-09-22 | 2013-04-23 | GM Global Technology Operations LLC | Robotic thumb assembly |
| CN101716767B (en) * | 2009-11-27 | 2011-03-30 | 清华大学 | Coupling underactuated integrated bionic hand device |
| WO2012129254A2 (en) * | 2011-03-21 | 2012-09-27 | Sri International | Mobile robotic manipulator system |
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