CN105415388A - Tendon-driving robot finger mechanism - Google Patents
Tendon-driving robot finger mechanism Download PDFInfo
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- CN105415388A CN105415388A CN201510895661.XA CN201510895661A CN105415388A CN 105415388 A CN105415388 A CN 105415388A CN 201510895661 A CN201510895661 A CN 201510895661A CN 105415388 A CN105415388 A CN 105415388A
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- dactylus
- joint
- nearly
- tendon
- nearly dactylus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a tendon-driving robot finger mechanism and belongs to the technical field of robots. Tendon driving is adopted for forward joint rotation, a torsional spring force reset driving manner is adopted for backward rotation, the structure is simple and reliable, and the requirement for grasping operation can be met. A shaft sleeve of a base joint is sleeved with a base joint reset torsional spring, and the two ends of the base joint reset torsional spring are connected with a knuckle-approaching force transmission part and a base. A tail end joint tendon wheel is fixedly connected with a tail end knuckle force transmission part. The tail end joint shaft is supported on a knuckle-approaching left side plate and a knuckle-approaching right side plate through tail end joint shaft end bearings. A tail end knuckle left side plate and a tail end knuckle right side plate are supported on the knuckle left side plate and the knuckle right side plate through tail end knuckle supporting bearings. The two ends of a tail end joint reset torsional spring are connected with the tail end knuckle force transmission part and the knuckle-approaching left side plate. One end of a base joint tendon is fixedly wound in a groove wheel of a base joint tendon wheel, and the other end of the base joint tendon penetrates out of a base joint tendon sheath. One end of a tail end joint tendon is fixedly wound in the wheel groove of the tail end joint tendon wheel, and the other end of the tail end joint tendon penetrates out of a tail end joint tendon sheath. The tendon-driving robot finger mechanism is used for grabbing articles.
Description
Technical field
The present invention relates to a kind of finger mechanism of robot hand, belong to robotics.
Background technology
Point the performance element as robot hand, its structure, operational capacity and reliability etc. have important impact to paw.
Existing robot finger joint all adopts positive and negative two-way type of drive, the reliability that drive mechanism is complicated, reduce finger, but with reference to the structure of bionics staff, it is only the direction of needs driving and power output with forward, grasping direction, and reverse power output is very little, only can provide return motion, and from the actual grasping action need angle of manipulator, this unidirectional drive, the mode of oppositely certainly replying can meet the needs of grasping operation.
The material extensive use of existing machinery hand be aluminium alloy, shortcoming is that weight is large, machining cost is high.And manipulator is arranged on the end of mechanical arm, the power of its required carrying is less, and on pointing, due to the difference of structure, position, the stressed also difference pointing each part is very large, provides application possibility for pointing a large amount of nonmetallic materials that adopt.
Summary of the invention
The object of this invention is to provide the robot finger mechanism that a kind of tendon drives, its joint rotates forward and adopts tendon type of drive, oppositely adopts torsion spring power to reply type of drive, and structure is simple, reliable, can meet the needs of grasping operation.
Goal of the invention of the present invention is achieved through the following technical solutions:
The robot finger mechanism that tendon drives, comprise pedestal, nearly dactylus, end dactylus and two pitch rotation joints, two described pitch rotation joints are base joint and end joint respectively; Described nearly dactylus comprises nearly dactylus shell, nearly dactylus force transmission element and two nearly dactylus spring bearings, described nearly dactylus shell comprises nearly dactylus left plate, nearly dactylus right plate, nearly dactylus front shroud and nearly dactylus back shroud, and described nearly dactylus back shroud is connected with nearly dactylus left plate and nearly dactylus right plate respectively with nearly dactylus front shroud; The upper end of described pedestal is arranged on the bottom in described nearly dactylus shell; Described end dactylus comprises end dactylus shell, end dactylus force transmission element and two end dactylus spring bearings, described end dactylus shell comprises end dactylus left plate, end dactylus right plate and two end dactylus cover plates, and described end dactylus left plate and end dactylus right plate are connected with two end dactylus cover plates respectively; The top of described nearly dactylus shell is arranged on the bottom in described end dactylus shell; Described base joint comprises base joint shaft, axle sleeve and two base joint shaft end bearings; Described end joint comprises end joint shaft and two end joint shaft end bearings;
The robot finger mechanism that described tendon drives also comprises stndon sheath driving mechanism, described stndon sheath driving mechanism comprises base joint tendon, base joint stndon sheath, end joint tendon and end joint stndon sheath, described base joint also comprises base joint tendon wheel and torsion spring is replied in base joint, and described end joint also comprises end joint tendon wheel and torsion spring is replied in end joint;
Described axle sleeve is sleeved on base joint shaft admittedly, described nearly dactylus force transmission element is provided with through hole, axle sleeve is fixedly installed in the through hole of nearly dactylus force transmission element, described base joint tendon wheel is set in the outside of axle sleeve and is connected with nearly dactylus force transmission element, the two ends of described base joint shaft are respectively supported on pedestal by a base joint shaft end bearing, the outer cover of axle sleeve is equipped with base joint replys torsion spring, described base joint is replied one end and is connected with nearly dactylus force transmission element, and base joint is replied the torsion spring other end and is connected with pedestal;
Described nearly dactylus left plate and nearly dactylus right plate are respectively supported on pedestal by a nearly dactylus spring bearing, and nearly dactylus force transmission element is by nearly dactylus left plate, nearly dactylus right plate, nearly dactylus front shroud and nearly dactylus back shroud clamping;
Described end dactylus force transmission element is provided with protruding sleeve one and protruding sleeve two, described sleeve one and sleeve two are coaxial and communicate, in the sleeve one that described end joint shaft fixedly penetrates end dactylus force transmission element and sleeve two, end joint shaft and base joint shaft be arranged in parallel, described end joint tendon wheel is sleeved on the outside of the sleeve two of end dactylus force transmission element, end joint tendon wheel is connected with end dactylus force transmission element, and the two ends of end joint shaft are respectively supported on nearly dactylus left plate and nearly dactylus right plate by an end joint shaft end bearing; Described end dactylus left plate and end dactylus right plate are respectively supported on nearly dactylus left plate and nearly dactylus right plate by an end dactylus spring bearing, end dactylus force transmission element is by end dactylus left plate, end dactylus right plate and two end dactylus cover plate clampings, the outer cover of sleeve one is equipped with end joint replys torsion spring, described end joint is replied one end and is connected with end dactylus force transmission element, and end joint is replied the torsion spring other end and is connected with nearly dactylus left plate;
Described tendon one end, base joint is fixedly wrapped in the race of base joint tendon wheel, and described base joint stndon sheath is fixed on pedestal, and the base joint tendon other end passes base joint stndon sheath from top to bottom; Described tendon one end, end joint is fixedly wrapped in the race of end joint tendon wheel, and described end joint stndon sheath is fixed on nearly dactylus force transmission element, and the end joint tendon other end passes end joint stndon sheath from top to bottom.
The present invention has following beneficial effect:
1, robot finger mechanism of the present invention, number of parts is few, and structure is simple, and reliability is high, and finger-joint has torque sensing ability.
2, finger-joint pitch orientation, operative orientation, grasping direction adopt tendon transmission, and inoperative direction in contrast adopts spring-return, simplifies driving and the transmission of finger.
3, utilize stndon sheath driving mechanism to realize being separated of digital flexion joint and driver, the space be conducive in pointing is arranged, alleviates finger weight, improves the reliability of finger-joint.
4, the pedestal in the present invention, nearly dactylus shell and end dactylus shell are made by polyimides nonmetallic materials, and the employing of nonmetallic materials, alleviates the weight of robot finger mechanism, reduces the manufacturing cost of robot finger mechanism.
Accompanying drawing explanation
Fig. 1 is the main parallax stereogram of robot finger's whole mechanism structure that a kind of tendon of the present invention drives;
Fig. 2 is the rear perspective view of Fig. 1;
Fig. 3 is the main sectional view of robot finger's whole mechanism structure that a kind of tendon of the present invention drives;
Fig. 4 is the stereogram of stndon sheath driving mechanism (also claiming power driving-chain);
Fig. 5 is the front view of the nearly dactylus torque sensor being integrated with moment overload protection block one;
Fig. 6 is the front view of the end dactylus torque sensor being integrated with moment overload protection block two;
Fig. 7 is the partial enlarged drawing of the part A of Fig. 4;
Fig. 8 is the partial enlarged drawing of the part B of Fig. 4;
Fig. 9 is the partial enlarged drawing of the C part of Fig. 4;
Figure 10 is the partial enlarged drawing of the D part of Fig. 4.
In figure: pedestal 1, nearly dactylus 2, nearly dactylus left plate 2-1, nearly dactylus right plate 2-2, nearly dactylus front shroud 2-3, nearly dactylus back shroud 2-4, nearly dactylus header board rubber cushion 2-5, nearly dactylus force transmission element 2-6, nearly dactylus strain beam 2-6-1, be integrated with the nearly dactylus torque sensor 2-7 of moment overload protection block one, nearly dactylus spring bearing 2-8, end dactylus 3, end dactylus left plate 3-1, end dactylus right plate 3-2, end dactylus cover plate 3-3, end dactylus contact rubber cushion 3-4, end dactylus force transmission element 3-5, end dactylus strain beam 3-5-1, sleeve one 3-5-2, sleeve two 3-5-3, be integrated with the end dactylus torque sensor 3-6 of moment overload protection block two, end dactylus spring bearing 3-7, base joint 4, base joint shaft 4-1, axle sleeve 4-2, base joint tendon wheel 4-3, torsion spring 4-4 is replied in base joint, base joint shaft end bearing 4-5, base joint cover plate 4-7, end joint 5, end joint shaft 5-1, end joint tendon wheel 5-2, torsion spring 5-3 is replied in end joint, end joint shaft end bearing 5-4, base joint tendon 6-1, base joint stndon sheath 6-2, end joint tendon 6-3, end joint stndon sheath 6-4.
Detailed description of the invention
Detailed description of the invention one: as shown in Fig. 1 ~ Figure 10, what present embodiment was recorded is the robot finger mechanism that a kind of tendon drives, comprise pedestal 1, nearly dactylus 2, end dactylus 3 and two pitch rotation joints, two described pitch rotation joints are base joint 4 and end joint 5 respectively; Described nearly dactylus 2 comprises nearly dactylus shell, nearly dactylus force transmission element 2-6 and two nearly dactylus spring bearing 2-8, described nearly dactylus shell comprises nearly dactylus left plate 2-1, nearly dactylus right plate 2-2, nearly dactylus front shroud 2-3 and nearly dactylus back shroud 2-4, and described nearly dactylus back shroud 2-4 is connected with nearly dactylus left plate 2-1 and nearly dactylus right plate 2-2 (passing through screw) respectively with nearly dactylus front shroud 2-3; The upper end of described pedestal 1 is arranged on the bottom in described nearly dactylus shell; Described end dactylus 3 comprises end dactylus shell, an end dactylus force transmission element 3-5 and two end dactylus spring bearing 3-7, described end dactylus shell comprises end dactylus left plate 3-1, end dactylus right plate 3-2 and two end dactylus cover plate 3-3, and described end dactylus left plate 3-1 and end dactylus right plate 3-2 is connected with two end dactylus cover plates 3-3 (passing through screw) respectively; The top of described nearly dactylus shell is arranged on the bottom in described end dactylus shell; Described base joint 4 comprises base joint shaft 4-1, axle sleeve 4-2 and two base joint shaft end bearing 4-5; Described end joint 5 comprises end joint shaft 5-1 and two end joint shaft end bearing 5-4;
The robot finger mechanism that described tendon drives also comprises stndon sheath driving mechanism, described stndon sheath driving mechanism comprises base joint tendon 6-1, base joint stndon sheath 6-2, end joint tendon 6-3 and end joint stndon sheath 6-4, described base joint 4 also comprises base joint tendon wheel 4-3 and torsion spring 4-4 is replied in base joint, and described end joint 5 also comprises end joint tendon wheel 5-2 and torsion spring 5-3 is replied in end joint, described axle sleeve 4-2 is sleeved on base joint shaft 4-1 admittedly, described nearly dactylus force transmission element 2-6 is provided with through hole, axle sleeve 4-2 is fixedly installed in the through hole of nearly dactylus force transmission element 2-6, described base joint tendon wheel 4-3 is set in the outside of axle sleeve 4-2 and is connected with nearly dactylus force transmission element 2-6, the two ends of described base joint shaft 4-1 are respectively supported on pedestal 1 by a base joint shaft end bearing 4-5, the outer cover of axle sleeve 4-2 is equipped with base joint replys torsion spring 4-4, described base joint is replied torsion spring 4-4 one end and is connected with nearly dactylus force transmission element 2-6, base joint is replied the torsion spring 4-4 other end and is connected with pedestal 1, described nearly dactylus left plate 2-1 and nearly dactylus right plate 2-2 is respectively supported on pedestal 1 by a nearly dactylus spring bearing 2-8, and nearly dactylus force transmission element 2-6 is by nearly dactylus left plate 2-1, nearly dactylus right plate 2-2, nearly dactylus front shroud 2-3 and nearly dactylus back shroud 2-4 (on four direction) clamping, described end dactylus force transmission element 3-5 is provided with protruding sleeve one 3-5-2 and protruding sleeve two 3-5-3, described sleeve one 3-5-2 and sleeve two 3-5-3 is coaxial and communicate, in sleeve one 3-5-2 that described end joint shaft 5-1 fixedly penetrates end dactylus force transmission element 3-5 and sleeve two 3-5-3, end joint shaft 5-1 and base joint shaft 4-1 be arranged in parallel, described end joint tendon wheel 5-2 is sleeved on the outside of sleeve two 3-5-3 of end dactylus force transmission element 3-5, end joint tendon wheel 5-2 and end dactylus force transmission element 3-5 is connected, the two ends of end joint shaft 5-1 are respectively supported on nearly dactylus left plate 2-1 and nearly dactylus right plate 2-2 by an end joint shaft end bearing 5-4, described end dactylus left plate 3-1 and end dactylus right plate 3-2 is respectively supported on nearly dactylus left plate 2-1 and nearly dactylus right plate 2-2 by an end dactylus spring bearing 3-7 that (namely end dactylus left plate 3-1 is supported on nearly dactylus left plate 2-1 by one of them the end dactylus spring bearing 3-7 in described two end dactylus spring bearing 3-7, end dactylus right plate 3-2 is supported on nearly dactylus right plate 2-2 by a remaining end dactylus spring bearing 3-7), end dactylus force transmission element 3-5 is by end dactylus left plate 3-1, end dactylus right plate 3-2 and two end dactylus cover plate 3-3 (on four direction) clamping, the outer cover of sleeve one 3-5-2 is equipped with end joint replys torsion spring 5-3, described end joint is replied torsion spring 5-3 one end and is connected with end dactylus force transmission element 3-5, end joint is replied the torsion spring 5-3 other end and is connected with nearly dactylus left plate 2-1, described tendon 6-1 one end, base joint is fixedly wrapped in the race of base joint tendon wheel 4-3, and described base joint stndon sheath 6-2 is fixed on pedestal 1, and the base joint tendon 6-1 other end passes base joint stndon sheath 6-2 from top to bottom, described tendon 6-3 one end, end joint is fixedly wrapped in the race of end joint tendon wheel 5-2, and described end joint stndon sheath 6-4 is fixed on nearly dactylus force transmission element 2-6, and the end joint tendon 6-3 other end passes end joint stndon sheath 6-4 from top to bottom.
Pedestal 1 is that the stndon sheath of stndon sheath driving mechanism provides support, and pedestal 1 lower end is provided with the mounting interface for being connected with palm.
The upper end of pedestal 1 is provided with base joint cover plate 4-7.
Detailed description of the invention two: as shown in FIG. 1 to 3, the robot finger mechanism that a kind of tendon described in detailed description of the invention one drives, described pedestal 1, nearly dactylus shell and end dactylus shell are made by polyimides nonmetallic materials.
Detailed description of the invention three: as shown in Figure 3, the robot finger mechanism that a kind of tendon described in detailed description of the invention two drives, described nearly dactylus force transmission element 2-6 and end dactylus force transmission element 3-5 makes by aluminum alloy materials.
Detailed description of the invention four: as shown in Figure 1 to 4, the robot finger mechanism that a kind of tendon described in detailed description of the invention one, two or three drives, the range of movement in two described pitch rotation joints is-90 ° ~+90 °.The grand movement in joint is conducive to the grasping enveloping space increasing manipulator, can realize the crawl to more large sized object.
Detailed description of the invention five: as shown in Figure 1, the robot finger mechanism that a kind of tendon described in detailed description of the invention one drives, described nearly dactylus 2 also comprises nearly dactylus header board rubber cushion 2-5; Described nearly dactylus header board rubber cushion 2-5 is pasted onto on the outer surface of nearly dactylus front shroud 2-3.Nearly dactylus header board rubber cushion 2-5 is set, is conducive to improving manipulator and by the contact performance between operation object, more soft, friction is larger.
Detailed description of the invention six: as depicted in figs. 1 and 2, the robot finger mechanism that a kind of tendon described in detailed description of the invention one or five drives, described end dactylus 3 also comprises end dactylus contact rubber cushion 3-4; Described end dactylus contact rubber cushion 3-4 is pasted onto two end dactylus cover plate 3-3 and is positioned on the outer surface of the end dactylus cover plate 3-3 of front side.End dactylus contact rubber cushion 3-4, is conducive to improving manipulator and by the contact performance between operation object, more soft, friction is larger.
Detailed description of the invention seven: as shown in Fig. 1 ~ Fig. 3 and Fig. 5, the robot finger mechanism that a kind of tendon described in detailed description of the invention one drives, described nearly dactylus 2 also comprises the nearly dactylus torque sensor 2-7 that two are integrated with moment overload protection block one, the two relative side (i.e. the two relative side of pitch orientation) of described nearly dactylus force transmission element 2-6 is respectively provided with a nearly dactylus strain beam 2-6-1, each nearly dactylus strain beam 2-6-1 is all connected with the nearly dactylus torque sensor 2-7 being integrated with moment overload protection block one by nearly dactylus foil gauge that (namely two nearly dactylus strain beam 2-6-1 lay respectively on the two relative side of nearly dactylus force transmission element 2-6 pitch orientation, two nearly dactylus strain beam 2-6-1 are pasted with nearly dactylus foil gauge respectively, each nearly dactylus foil gauge is connected by screw with the nearly dactylus torque sensor 2-7 being integrated with moment overload protection block one, gap between this overload protection block one and nearly dactylus strain beam 2-6-1 is 0.1mm).Within the scope of juxta-articular work moment; nearly dactylus strain beam distortion is less than 0.1mm; overload protection block one does not contact with nearly dactylus strain beam; when nearly joint moment overload; overload protection block one contacts with nearly dactylus strain beam; protect nearly dactylus strain beam to be deformed into 0.1mm, nearly dactylus strain beam still in elastic range, prevent nearly dactylus strain beam be out of shape excessive, occur plastic deformation cause damage.
Detailed description of the invention eight: as shown in Fig. 1 ~ Fig. 3 and Fig. 6, the robot finger mechanism that a kind of tendon described in detailed description of the invention seven drives, described end dactylus 3 also comprises the end dactylus torque sensor 3-6 that two are integrated with moment overload protection block two, the two relative side (i.e. the two relative side of pitch orientation) of described end dactylus force transmission element 3-5 is respectively provided with an end dactylus strain beam 3-5-1, each end dactylus strain beam 3-5-1 is all connected with the end dactylus torque sensor 3-6 being integrated with moment overload protection block two by end dactylus foil gauge that (namely two end dactylus strain beam 3-5-1 lay respectively on the two relative side of end dactylus force transmission element 3-5 pitch orientation, two end dactylus strain beam 3-5-1 are pasted with end dactylus foil gauge respectively, each end dactylus foil gauge is connected by screw with the end dactylus torque sensor 3-6 being integrated with moment overload protection block two, gap between this overload protection block two and end dactylus strain beam 3-5-1 is 0.1mm).Within the scope of the work moment in end joint; the distortion of end dactylus strain beam is less than 0.1mm; overload protection block two does not contact with end dactylus strain beam; when end joint moment transships; overload protection block two contacts with end dactylus strain beam; protection end dactylus strain beam is deformed into 0.1mm, end dactylus strain beam still in elastic range, prevent end dactylus strain beam be out of shape excessive, there is plastic deformation and cause damage.
The nearly dactylus torque sensor 2-7 being integrated with moment the overload protection block one and end dactylus torque sensor 3-6 being integrated with moment overload protection block two is outsourcing piece, and model is selected as required.
Operation principle: as shown in Figure 1 and Figure 2, the robot finger mechanism that tendon of the present invention drives, the elevating movement in two pitch rotation joints (i.e. base joint 4 and end joint 5) of finger, forward bending motion all adopts tendon to drive, and reverse reverting all adopts torsion spring to drive; Be specially:
As shown in Fig. 1 ~ Figure 10, stretching base joint tendon 6-1 drives base joint tendon wheel 4-3, base joint shaft 4-1, axle sleeve 4-2, nearly dactylus force transmission element 2-6 and nearly dactylus 2 to bend, and compresses base joint simultaneously and replys torsion spring 4-4; During lax base joint tendon 6-1, base joint is replied torsion spring 4-4 and is driven base joint tendon wheel 4-3, base joint shaft 4-1, axle sleeve 4-2, nearly dactylus force transmission element 2-6 and nearly dactylus 2 return motion;
Stretching end joint tendon 6-3 drives end joint tendon wheel 5-2, end joint shaft 5-1, end dactylus force transmission element 3-5 and end dactylus 3 to bend, and torsion spring 5-3 is replied in compressed ends joint simultaneously; During lax end joint tendon 6-3, end joint is replied torsion spring 5-3 and is driven end joint tendon wheel 5-2, end joint shaft 5-1, end dactylus force transmission element 3-5 and end dactylus 3 return motion.
Claims (8)
1. the robot finger mechanism of a tendon driving, comprise pedestal (1), nearly dactylus (2), end dactylus (3) and two pitch rotation joints, two described pitch rotation joints are base joint (4) and end joint (5) respectively; Described nearly dactylus (2) comprises nearly dactylus shell, nearly dactylus force transmission element (2-6) and two nearly dactylus spring bearings (2-8), described nearly dactylus shell comprises nearly dactylus left plate (2-1), nearly dactylus right plate (2-2), nearly dactylus front shroud (2-3) and nearly dactylus back shroud (2-4), and described nearly dactylus back shroud (2-4) is connected with nearly dactylus left plate (2-1) and nearly dactylus right plate (2-2) respectively with nearly dactylus front shroud (2-3); The upper end of described pedestal (1) is arranged on the bottom in described nearly dactylus shell; Described end dactylus (3) comprises end dactylus shell, end dactylus force transmission element (3-5) and two end dactylus spring bearings (3-7), described end dactylus shell comprises end dactylus left plate (3-1), end dactylus right plate (3-2) and two end dactylus cover plates (3-3), and described end dactylus left plate (3-1) and end dactylus right plate (3-2) are connected with two end dactylus cover plates (3-3) respectively; The top of described nearly dactylus shell is arranged on the bottom in described end dactylus shell; Described base joint (4) comprises base joint shaft (4-1), axle sleeve (4-2) and two base joint shaft end bearings (4-5); Described end joint (5) comprises end joint shaft (5-1) and two end joint shaft end bearings (5-4); It is characterized in that:
The robot finger mechanism that described tendon drives also comprises stndon sheath driving mechanism, described stndon sheath driving mechanism comprises base joint tendon (6-1), base joint stndon sheath (6-2), end joint tendon (6-3) and end joint stndon sheath (6-4), described base joint (4) also comprises base joint tendon wheel (4-3) and base joint and replys torsion spring (4-4), and described end joint (5) also comprises end joint tendon wheel (5-2) and end joint and replys torsion spring (5-3), described axle sleeve (4-2) is sleeved on base joint shaft (4-1) admittedly, described nearly dactylus force transmission element (2-6) is provided with through hole, axle sleeve (4-2) is fixedly installed in the through hole of nearly dactylus force transmission element (2-6), described base joint tendon wheel (4-3) is set in the outside of axle sleeve (4-2) and is connected with nearly dactylus force transmission element (2-6), the two ends of described base joint shaft (4-1) are respectively supported on pedestal (1) by a base joint shaft end bearing (4-5), the outer cover of axle sleeve (4-2) is equipped with base joint replys torsion spring (4-4), described base joint is replied torsion spring (4-4) one end and is connected with nearly dactylus force transmission element (2-6), base joint is replied torsion spring (4-4) other end and is connected with pedestal (1), described nearly dactylus left plate (2-1) and nearly dactylus right plate (2-2) are respectively supported on pedestal (1) by a nearly dactylus spring bearing (2-8), and nearly dactylus force transmission element (2-6) is by nearly dactylus left plate (2-1), nearly dactylus right plate (2-2), nearly dactylus front shroud (2-3) and nearly dactylus back shroud (2-4) clamping, described end dactylus force transmission element (3-5) is provided with protruding sleeve one (3-5-2) and protruding sleeve two (3-5-3), described sleeve one (3-5-2) and sleeve two (3-5-3) are coaxial and communicate, in the sleeve one (3-5-2) that described end joint shaft (5-1) fixedly penetrates end dactylus force transmission element (3-5) and sleeve two (3-5-3), end joint shaft (5-1) and base joint shaft (4-1) be arranged in parallel, described end joint tendon wheel (5-2) is sleeved on the outside of the sleeve two (3-5-3) of end dactylus force transmission element (3-5), end joint tendon wheel (5-2) and end dactylus force transmission element (3-5) are connected, the two ends of end joint shaft (5-1) are respectively supported on nearly dactylus left plate (2-1) and nearly dactylus right plate (2-2) by an end joint shaft end bearing (5-4), described end dactylus left plate (3-1) and end dactylus right plate (3-2) are respectively supported on nearly dactylus left plate (2-1) and nearly dactylus right plate (2-2) by an end dactylus spring bearing (3-7), end dactylus force transmission element (3-5) is by end dactylus left plate (3-1), end dactylus right plate (3-2) and two end dactylus cover plate (3-3) clampings, the outer cover of sleeve one (3-5-2) is equipped with end joint replys torsion spring (5-3), described end joint is replied torsion spring (5-3) one end and is connected with end dactylus force transmission element (3-5), end joint is replied torsion spring (5-3) other end and is connected with nearly dactylus left plate (2-1), described base joint tendon (6-1) one end is fixedly wrapped in the race in base joint tendon wheel (4-3), described base joint stndon sheath (6-2) is fixed on pedestal (1), and base joint tendon (6-1) other end passes base joint stndon sheath (6-2) from top to bottom, described end joint tendon (6-3) one end is fixedly wrapped in the race in end joint tendon wheel (5-2), described end joint stndon sheath (6-4) is fixed on nearly dactylus force transmission element (2-6), and end joint tendon (6-3) other end passes end joint stndon sheath (6-4) from top to bottom.
2. the robot finger mechanism of a kind of tendon driving according to claim 1, is characterized in that: described pedestal (1), nearly dactylus shell and end dactylus shell are made by polyimides nonmetallic materials.
3. the robot finger mechanism of a kind of tendon driving according to claim 2, is characterized in that: described nearly dactylus force transmission element (2-6) and end dactylus force transmission element (3-5) are made by aluminum alloy materials.
4. the robot finger mechanism that a kind of tendon according to claim 1,2 or 3 drives, is characterized in that: the range of movement in two described pitch rotation joints is-90 ° ~+90 °.
5. the robot finger mechanism of a kind of tendon driving according to claim 1, is characterized in that: described nearly dactylus (2) also comprises nearly dactylus header board rubber cushion (2-5); Described nearly dactylus header board rubber cushion (2-5) is pasted onto on the outer surface of nearly dactylus front shroud (2-3).
6. the robot finger mechanism of a kind of tendon driving according to claim 1 or 5, is characterized in that: described end dactylus (3) also comprises end dactylus contact rubber cushion (3-4); Described end dactylus contact rubber cushion (3-4) is pasted onto two end dactylus cover plates (3-3) and is positioned on the outer surface of the end dactylus cover plate (3-3) of front side.
7. the robot finger mechanism of a kind of tendon driving according to claim 1, is characterized in that: described nearly dactylus (2) also comprises the nearly dactylus torque sensor (2-7) that two are integrated with moment overload protection block one; The two relative side of described nearly dactylus force transmission element (2-6) is respectively provided with a nearly dactylus strain beam (2-6-1), and each nearly dactylus strain beam (2-6-1) is all connected with the nearly dactylus torque sensor (2-7) being integrated with moment overload protection block one by nearly dactylus foil gauge.
8. the robot finger mechanism of a kind of tendon driving according to claim 7, is characterized in that: described end dactylus (3) also comprises the end dactylus torque sensor (3-6) that two are integrated with moment overload protection block two; The two relative side of described end dactylus force transmission element (3-5) is respectively provided with an end dactylus strain beam (3-5-1), and each end dactylus strain beam (3-5-1) is all connected with the end dactylus torque sensor (3-6) being integrated with moment overload protection block two by end dactylus foil gauge.
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| CN201510895661.XA CN105415388B (en) | 2015-12-08 | 2015-12-08 | The robot finger mechanism that a kind of tendon drives |
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| CN201510895661.XA CN105415388B (en) | 2015-12-08 | 2015-12-08 | The robot finger mechanism that a kind of tendon drives |
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| CN105415388B CN105415388B (en) | 2017-03-15 |
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| CN105751232A (en) * | 2016-05-20 | 2016-07-13 | 哈尔滨工业大学 | Human-simulated finger with base joint and interphalangeal joint respectively and independently driven |
| CN107825452A (en) * | 2017-12-26 | 2018-03-23 | 陈宇昕 | Link bionic mechanical hand in a kind of joint |
| CN109391091A (en) * | 2017-08-11 | 2019-02-26 | 科沃斯商用机器人有限公司 | Intelligent robot and motor connect protection mechanism |
| CN110076812A (en) * | 2019-06-04 | 2019-08-02 | 河北工业大学 | A kind of under-actuated delicacy hand finger |
| CN110758590A (en) * | 2019-12-02 | 2020-02-07 | 深圳忆海原识科技有限公司 | Tendon transmission system with composite tendon sheath and tendon sheath restraining element |
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