CN105415388B - The robot finger mechanism that a kind of tendon drives - Google Patents
The robot finger mechanism that a kind of tendon drives Download PDFInfo
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- CN105415388B CN105415388B CN201510895661.XA CN201510895661A CN105415388B CN 105415388 B CN105415388 B CN 105415388B CN 201510895661 A CN201510895661 A CN 201510895661A CN 105415388 B CN105415388 B CN 105415388B
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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
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- 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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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The robot finger mechanism that a kind of tendon drives, belongs to robotics.Joint is rotated forward and is driven using tendon, reversely replys type of drive using torsion spring power, and simple structure, reliability disclosure satisfy that the needs for grasping operation.The axle sleeve outer cover in base joint replys torsion spring equipped with base joint, and base joint is replied torsion spring two ends and is connected with nearly finger joint force transmission element and pedestal；End joint tendon wheel is connected with end finger joint force transmission element, and end joint shaft is supported on nearly finger joint left and right side plate by end joint axle end bearing；End finger joint left and right side plate is supported on nearly finger joint left and right side plate by end finger joint spring bearing, and end joint is replied torsion spring two ends and is connected with end finger joint force transmission element and nearly finger joint left plate；Base joint tendon one end is fixed and is wrapped in the race of base joint tendon wheel, and the other end passes base joint stndon sheath；End joint tendon one end is fixed and is wrapped in the race of end joint tendon wheel, and the other end passes end joint stndon sheath.The present invention is used for capturing object.
Description
Technical field
The present invention relates to a kind of finger mechanism of robot hand, belongs to robotics.
Background technology
Performance element of the finger as robot hand, its structure, operational capacity and reliability etc. have important to paw
Impact.
Existing robot finger joint adopts positive and negative two-way type of drive, and drive mechanism is complicated, reduce finger
Reliability, but the structure with reference to bionics staff, only with positive, to grasp direction be the direction that needs driving and power output, and
Reverse power output very little, it is only capable of providing return motion, and needs in terms of angle from the actual grasping operation of mechanical hand, this list
To the needs for driving, reversely disclosure satisfy that from the mode that replys grasping operation.
It is aluminium alloy that the material of existing manipulator is wide variety of, has the disadvantage that weight is big, machining cost is high.And it is mechanical
, installed in the end of mechanical arm, the power carried needed for which is less, specific on finger, due to structure, the difference of position, finger for handss
Also difference is very big for the stress of each part, and providing application using nonmetallic materials in a large number for finger may.
Content of the invention
It is an object of the invention to provide the robot finger mechanism that a kind of tendon drives, its joint is rotated forward and is driven using tendon
Mode, reversely replys type of drive using torsion spring power, and simple structure, reliability disclosure satisfy that the needs for grasping operation.
The goal of the invention of the present invention is achieved through the following technical solutions：
The robot finger mechanism that a kind of tendon drives, closes including pedestal, nearly finger joint, end finger joint and two pitch rotations
Section, two described pitch rotation joints are base joint and end joint respectively；Described nearly finger joint includes nearly finger joint shell, near
Finger joint force transmission element and two nearly finger joint spring bearings, described nearly finger joint shell include nearly finger joint left plate, nearly finger joint right plate,
Nearly finger joint front shroud and nearly finger joint back shroud, described nearly finger joint back shroud and nearly finger joint front shroud respectively with nearly finger joint left plate
Connect with nearly finger joint right plate；The upper end of described pedestal is arranged on the bottom of described nearly finger joint inside the shell；Described end
Finger joint includes end finger joint shell, end finger joint force transmission element and two end finger joint spring bearings, described end finger joint shell
Including end finger joint left plate, end finger joint right plate and two end finger joint cover plates, described end finger joint left plate and end
End finger joint right plate is connected with two end finger joint cover plates respectively；The top of described nearly finger joint shell is arranged on described end
The bottom of finger joint inside the shell；Described base joint includes base joint shaft, axle sleeve and two base joint axle end bearings；Described end
Joint includes end joint shaft and two ends joint axle end bearing；
The robot finger mechanism that described tendon drives also includes that stndon sheath drive mechanism, described stndon sheath drive mechanism include
Base joint tendon, base joint stndon sheath, end joint tendon and end joint stndon sheath, described base joint also includes base joint tendon wheel and base
Torsion spring is replied in joint, and described end joint also includes that torsion spring is replied in end joint tendon wheel and end joint；
Described axle sleeve is sleeved on base joint shaft admittedly, and described nearly finger joint force transmission element is provided with through hole, and axle sleeve is fixed and set
Put in the through hole of nearly finger joint force transmission element, described base joint tendon wheel is set in the outside of axle sleeve and is consolidated with nearly finger joint force transmission element
Even, the two ends of described base joint shaft are respectively supported on pedestal by a base joint axle end bearing, and the outer cover of axle sleeve is equipped with
Torsion spring is replied in base joint, and described base joint is replied one end and is connected with nearly finger joint force transmission element, and it is another that torsion spring is replied in base joint
End is connected with pedestal；
Described nearly finger joint left plate and nearly finger joint right plate are respectively supported on pedestal by a nearly finger joint spring bearing,
Nearly finger joint force transmission element is by nearly finger joint left plate, nearly finger joint right plate, nearly finger joint front shroud and nearly finger joint bonnet board clamping；
Described end finger joint force transmission element is provided with the sleeve one and raised sleeve two of projection, described sleeve one and set
Cylinder two is coaxial and communicates, and described end joint shaft is fixed and penetrated in the sleeve one and sleeve two of end finger joint force transmission element, end
Joint shaft is be arranged in parallel with base joint shaft, and described end joint tendon wheel is sleeved on the outer of the sleeve two of end finger joint force transmission element
Portion, end joint tendon wheel are connected with end finger joint force transmission element, and the two ends of end joint shaft respectively pass through end joint shaft end axle
Hold and be supported on nearly finger joint left plate and nearly finger joint right plate；Described end finger joint left plate and end finger joint right plate are each logical
Cross an end finger joint spring bearing to be supported on nearly finger joint left plate and nearly finger joint right plate, end finger joint force transmission element is by end
End finger joint left plate, end finger joint right plate and two end finger joint cover plates are clamped, and the outer cover of sleeve one is equipped with end joint
Torsion spring is replied, described end joint is replied one end and is connected with end finger joint force transmission element, and it is another that torsion spring is replied in end joint
End is connected with nearly finger joint left plate；
Described base joint tendon one end is fixed and is wrapped in the race of base joint tendon wheel, and described base joint stndon sheath is fixed on
On pedestal, the base joint tendon other end from top to bottom passes base joint stndon sheath；Fix and be wrapped in end in described end joint tendon one end
In the race of end joint tendon wheel, described end joint stndon sheath is fixed on nearly finger joint force transmission element, the end joint tendon other end by
End joint stndon sheath is up to passed down.
The invention has the advantages that：
1st, robot finger mechanism of the invention, number of parts are few, and simple structure, reliability are high, and finger-joint has power
Square perception.
2nd, finger-joint pitch orientation, operative orientation, grasping direction are driven using tendon, and inoperative direction in contrast
Using spring-return, the driving and transmission of finger is simplified.
3rd, realize that digital flexion joint is separated with driver using stndon sheath drive mechanism, be conducive to the space cloth in finger
Put, mitigate finger weight, improve the reliability of finger-joint.
4th, in the present invention pedestal, nearly finger joint shell and end finger joint shell are made by polyimides nonmetallic materials,
The employing of nonmetallic materials, alleviates the weight of robot finger mechanism, reduces the manufacturing cost of robot finger mechanism.
Description of the drawings
Fig. 1 is the integrally-built main parallax stereogram of robot finger mechanism that a kind of tendon of the present invention drives；
Fig. 2 is the rear perspective view of Fig. 1；
Fig. 3 is the integrally-built main sectional view of robot finger mechanism that a kind of tendon of the present invention drives；
Fig. 4 is the axonometric chart of stndon sheath drive mechanism (also referred to as power driving-chain)；
Fig. 5 is the front view of the nearly finger joint torque sensor of integrated moment overload protection block one；
Fig. 6 is the front view of the end finger joint torque sensor of integrated 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 portion of Fig. 4；
Figure 10 is the partial enlarged drawing of the D parts of Fig. 4.
In figure：Pedestal 1, nearly finger joint 2, nearly finger joint left plate 2-1, nearly finger joint right plate 2-2, nearly finger joint front shroud 2-3, near
Finger joint back shroud 2-4, nearly finger joint header board rubber cushion 2-5, nearly finger joint force transmission element 2-6, nearly finger joint strain beam 2-6-1, integrated moment
The nearly finger joint torque sensor 2-7 of overload protection block one, nearly finger joint spring bearing 2-8, end finger joint 3, end finger joint left plate
3-1, end finger joint right plate 3-2, end finger joint cover plate 3-3, end finger joint contact rubber cushion 3-4, end finger joint force transmission element 3-5,
End finger joint strain beam 3-5-1, one 3-5-2 of sleeve, two 3-5-3 of sleeve, the end finger joint of integrated moment overload protection block two
Torque sensor 3-6, end finger joint spring bearing 3-7, base joint 4, base joint shaft 4-1, axle sleeve 4-2, base joint tendon wheel 4-3,
Reply torsion spring 4-4, base joint axle end bearing 4-5, base joint cover plate 4-7, end joint 5, end joint shaft 5-1, end in base joint
Reply torsion spring 5-3, end joint axle end bearing 5-4, base joint tendon 6-1, base joint stndon sheath in end joint tendon wheel 5-2, end joint
6-2, end joint tendon 6-3, end joint stndon sheath 6-4.
Specific embodiment
Specific embodiment one：As shown in Fig. 1～Figure 10, what present embodiment was recorded is the robot that a kind of tendon drives
Refer to mechanism, including pedestal 1, nearly finger joint 2, end finger joint 3 and two pitch rotation joints, described two pitch rotation joints point
It is not base joint 4 and end joint 5；Described nearly finger joint 2 includes that nearly finger joint shell, nearly finger joint force transmission element 2-6 and two closely refer to
Section spring bearing 2-8, described nearly finger joint shell include nearly finger joint left plate 2-1, nearly finger joint right plate 2-2, nearly finger joint protecgulum
Plate 2-3 and nearly finger joint back shroud 2-4, described nearly finger joint back shroud 2-4 and nearly finger joint front shroud 2-3 respectively with nearly finger joint on the left of
Plate 2-1 and nearly finger joint right plate 2-2 (by screw) connections；The upper end of described pedestal 1 is arranged on described nearly finger joint shell
Interior bottom；Described end finger joint 3 includes that end finger joint shell, end finger joint force transmission element 3-5 and two end finger joints are supported
Bearing 3-7, described end finger joint shell include that end finger joint left plate 3-1, end finger joint right plate 3-2 and two ends refer to
Section cover plate 3-3, described end finger joint left plate 3-1 and end finger joint right plate 3-2 respectively with two end finger joint cover plate 3-3
(by screw) connection；The top of described nearly finger joint shell is arranged on the bottom of described end finger joint inside the shell；Described
Base joint 4 includes base joint shaft 4-1, axle sleeve 4-2 and two base joint axle end bearing 4-5；Described end joint 5 includes end
Joint shaft 5-1 and two ends joint axle end bearing 5-4；
The robot finger mechanism that described tendon drives also includes that stndon sheath drive mechanism, described stndon sheath drive mechanism include
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 includes
Torsion spring 4-4 is replied in base joint tendon wheel 4-3 and base joint, and described end joint 5 also includes that end joint tendon wheel 5-2 and end are closed
Section replys torsion spring 5-3；Described axle sleeve 4-2 is sleeved on base joint shaft 4-1 admittedly, and described nearly finger joint force transmission element 2-6 is provided with
Through hole, axle sleeve 4-2 are fixedly installed in the through hole of nearly finger joint force transmission element 2-6, and described base joint tendon wheel 4-3 is set in axle sleeve 4-
2 outside is simultaneously connected with nearly finger joint force transmission element 2-6, and the two ends of described base joint shaft 4-1 respectively pass through base joint shaft end axle
Hold 4-5 to be supported on pedestal 1, the outer cover of axle sleeve 4-2 replys torsion spring 4-4 equipped with base joint, and torsion spring is replied in described base joint
4-4 one end is connected with nearly finger joint force transmission element 2-6, and base joint is replied the torsion spring 4-4 other ends and is connected with pedestal 1；Described nearly finger joint
Left plate 2-1 and nearly finger joint right plate 2-2 are respectively supported on pedestal 1 by a nearly finger joint spring bearing 2-8, nearly finger joint power transmission
Part 2-6 by nearly finger joint left plate 2-1, nearly finger joint right plate 2-2, nearly finger joint front shroud 2-3 and nearly finger joint back shroud 2-4 (
On four direction) clamp；Described end finger joint force transmission element 3-5 is provided with the sleeve two of one 3-5-2 of sleeve of projection and projection
3-5-3, described one 3-5-2 of sleeve and two 3-5-3 of sleeve are coaxial and communicate, and described end joint shaft 5-1 is fixed and penetrated end
In two 3-5-3 of one 3-5-2 of sleeve and sleeve of end finger joint force transmission element 3-5, end joint shaft 5-1 is parallel with base joint shaft 4-1 to be set
Put, described end joint tendon wheel 5-2 is sleeved on the outside of two 3-5-3 of sleeve of end finger joint force transmission element 3-5, end joint tendon
Wheel 5-2 is connected with end finger joint force transmission element 3-5, and the two ends of end joint shaft 5-1 respectively pass through end joint axle end bearing 5-4
It is supported on nearly finger joint left plate 2-1 and nearly finger joint right plate 2-2；Described end finger joint left plate 3-1 and end finger joint are right
Side plate 3-2 is respectively supported on nearly finger joint left plate 2-1 and nearly finger joint right plate 2-2 by an end finger joint spring bearing 3-7
(i.e. end finger joint left plate 3-1 by two described end finger joint spring bearing 3-7 in one of end finger joint support
Bearing 3-7 is supported on nearly finger joint left plate 2-1, and end finger joint right plate 3-2 is by remaining end finger joint support shaft
Hold 3-7 to be supported on nearly finger joint right plate 2-2), end finger joint force transmission element 3-5 passes through end finger joint left plate 3-1, end finger joint
Right plate 3-2 and two ends finger joint cover plate 3-3 (on four direction) clamp, and the outer cover of one 3-5-2 of sleeve is equipped with end
Torsion spring 5-3 is replied in joint, and described end joint is replied torsion spring 5-3 one end and is connected with end finger joint force transmission element 3-5, end joint
Reply the torsion spring 5-3 other ends to be connected with nearly finger joint left plate 2-1；Fix and be wrapped in base joint in described base joint tendon 6-1 one end
In the race of tendon wheel 4-3, described base joint stndon sheath 6-2 is fixed on pedestal 1, and the base joint tendon 6-1 other ends are from top to bottom worn
Go out base joint stndon sheath 6-2；Described end joint tendon 6-3 one end is fixed and is wrapped in the race of end joint tendon wheel 5-2, described
End joint stndon sheath 6-4 be fixed on nearly finger joint force transmission element 2-6, the end joint tendon 6-3 other ends from top to bottom pass end
Joint stndon sheath 6-4.
Pedestal 1 provides support for the stndon sheath of stndon sheath drive mechanism, and 1 lower end of pedestal is provided with and is connect for the installation being connected with palm
Mouthful.
The upper end of pedestal 1 is provided with base joint cover plate 4-7.
Specific embodiment two：As shown in FIG. 1 to 3, the robot that a kind of tendon described in specific embodiment one drives
Finger mechanism, described pedestal 1, nearly finger joint shell and end finger joint shell are made by polyimides nonmetallic materials.
Specific embodiment three：As shown in figure 3, robot finger's machine that a kind of tendon described in specific embodiment two drives
Structure, described nearly finger joint force transmission element 2-6 and end finger joint force transmission element 3-5 are made by aluminum alloy materials.
Specific embodiment four：As shown in Figure 1 to 4, a kind of tendon described in specific embodiment one, two or three drives
Robot finger mechanism, the range of movement in two described pitch rotation joints are -90 °～+90 °.The fortune on a large scale in joint
The dynamic grasping enveloping space for being conducive to increasing mechanical hand, can realize the crawl to more large sized object.
Specific embodiment five：As shown in figure 1, robot finger's machine that a kind of tendon described in specific embodiment one drives
Structure, described nearly finger joint 2 also include nearly finger joint header board rubber cushion 2-5；Before described nearly finger joint header board rubber cushion 2-5 is pasted onto nearly finger joint
On the outer surface of cover plate 2-3.Nearly finger joint header board rubber cushion 2-5 is set, be conducive to improving mechanical hand with by the contact between operation object
Characteristic, more soft, friction are bigger.
Specific embodiment six：As depicted in figs. 1 and 2, the machine that a kind of tendon described in specific embodiment one or five drives
Device finger mechanism, described end finger joint 3 also include end finger joint contact rubber cushion 3-4；Described end finger joint contact rubber cushion
3-4 is pasted onto on the outer surface of the end finger joint cover plate 3-3 that two end finger joint cover plate 3-3 are located at front side.End finger joint contact
Rubber cushion 3-4, is conducive to improving mechanical hand and by the contact performance between operation object, and more soft, friction is bigger.
Specific embodiment seven：As shown in Fig. 1～Fig. 3 and Fig. 5, the machine that a kind of tendon described in specific embodiment one drives
Device finger mechanism, described nearly finger joint 2 also include the nearly finger joint torque sensor of two integrated moment overload protection blocks one
2-7；The two relative side (i.e. the two relative side of pitch orientation) of described nearly finger joint force transmission element 2-6 is each provided with one and closely refers to
Section strain beam 2-6-1, each nearly finger joint strain beam 2-6-1 is by nearly finger joint foil gauge and integrated moment overload protection block one
Nearly finger joint torque sensor 2-7 connection (i.e. two near finger joint strain beam 2-6-1 are respectively positioned at nearly finger joint force transmission element 2-6 pitching
On the two relative side in direction, on two nearly finger joint strain beam 2-6-1, nearly finger joint foil gauge is pasted with respectively, each nearly finger joint should
Become piece to be connected by screw with the nearly finger joint torque sensor 2-7 of integrated moment overload protection block one, the overload protection block one
It is 0.1mm with the gap between nearly finger joint strain beam 2-6-1).In the range of juxta-articular work torque, nearly finger joint strain beam becomes
Shape is less than 0.1mm, and overload protection block one is not in contact with nearly finger joint strain beam, when nearly joint moment transships, overload protection block
One is contacted with nearly finger joint strain beam, protects nearly finger joint strain beam to be deformed into 0.1mm, nearly finger joint strain beam still in elastic range,
Prevent from nearly finger joint strain beam from deforming excessive, generation plastic deformation to cause to damage.
Specific embodiment eight：As shown in Fig. 1～Fig. 3 and Fig. 6, the machine that a kind of tendon described in specific embodiment seven drives
Device finger mechanism, described end finger joint 3 also include that the end finger joint torque of two integrated moment overload protection blocks two is passed
Sensor 3-6；The two relative side (i.e. the two relative side of pitch orientation) of described end finger joint force transmission element 3-5 is each provided with one
Individual end finger joint strain beam 3-5-1, each end finger joint strain beam 3-5-1 are by end finger joint foil gauge and integrated moment
(i.e. two end finger joint strain beam 3-5-1 are located at end respectively for the end finger joint torque sensor 3-6 connections of overload protection block two
On the two relative side of finger joint force transmission element 3-5 pitch orientations, end is pasted with respectively on two end finger joint strain beam 3-5-1 and is referred to
Section foil gauge, each end finger joint foil gauge are logical with the end finger joint torque sensor 3-6 of integrated moment overload protection block two
Mode connects for screw is crossed, the gap between the overload protection block two and end finger joint strain beam 3-5-1 is 0.1mm).In end joint
In the range of work torque, end finger joint strain beam deforms less than 0.1mm, and overload protection block two is not connect with end finger joint strain beam
Touch, when end joint moment transships, overload protection block two is contacted with end finger joint strain beam, protection end finger joint strain beam becomes
Shape is 0.1mm, and finger joint strain beam in end prevents that end finger joint strain beam deformation is excessive, plasticity occurs becomes still in elastic range
Shape causes to damage.
The nearly finger joint torque sensor 2-7's and integrated moment overload protection block two of integrated moment overload protection block one
End finger joint torque sensor 3-6 is outsourcing piece, and model is selected as needed.
Operation principle：As shown in Figure 1 and Figure 2, the robot finger mechanism that tendon of the invention drives, two pitching of finger
The elevating movement of cradle head (i.e. base joint 4 and end joint 5), positive curvature movement are driven using tendon, and reverse reverting is equal
Driven using torsion spring；Specially：
As shown in Fig. 1～Figure 10, stretching base joint tendon 6-1 drive base joint tendon wheel 4-3, base joint shaft 4-1, axle sleeve 4-2,
Nearly finger joint force transmission element 2-6 and nearly finger joint 2 bend, while compressing base joint replys torsion spring 4-4；During lax base joint tendon 6-1, base
Reply torsion spring 4-4 and drive base joint tendon wheel 4-3, base joint shaft 4-1, axle sleeve 4-2, nearly finger joint force transmission element 2-6 and closely refer in joint
Save 2 return motions；
Stretching end joint tendon 6-3 drives end joint tendon wheel 5-2, end joint shaft 5-1, end finger joint force transmission element 3-5
And end finger joint 3 bends, while torsion spring 5-3 is replied in compressed ends joint；During lax end joint tendon 6-3, end joint is returned
Multiple torsion spring 5-3 drives end joint tendon wheel 5-2, end joint shaft 5-1, end finger joint force transmission element 3-5 and end finger joint 3 to reply
Motion.
Claims (8)
1. the robot finger mechanism that a kind of tendon drives, including pedestal（1）, nearly finger joint（2）, end finger joint（3）And two pitching
Cradle head, two described pitch rotation joints are base joint respectively（4）With end joint（5）；Described nearly finger joint（2）Bag
Include nearly finger joint shell, nearly finger joint force transmission element（2-6）And two nearly finger joint spring bearings（2-8）, described nearly finger joint shell includes
Nearly finger joint left plate（2-1）, nearly finger joint right plate（2-2）, nearly finger joint front shroud（2-3）And nearly finger joint back shroud（2-4）, described
Nearly finger joint back shroud（2-4）With nearly finger joint front shroud（2-3）Respectively with nearly finger joint left plate（2-1）With nearly finger joint right plate
（2-2）Connection；Described pedestal（1）Upper end be arranged on the bottom of described nearly finger joint inside the shell；Described end finger joint（3）
Including end finger joint shell, end finger joint force transmission element（3-5）And two end finger joint spring bearings（3-7）, described end refers to
Section shell includes end finger joint left plate（3-1）, end finger joint right plate（3-2）And two end finger joint cover plates（3-3）, described
End finger joint left plate（3-1）And end finger joint right plate（3-2）Respectively with two end finger joint cover plates（3-3）Connection；Institute
The top of the nearly finger joint shell that states is arranged on the bottom of described end finger joint inside the shell；Described base joint（4）Including Ji Guan
Nodal axisn（4-1）, axle sleeve（4-2）And two base joint axle end bearings（4-5）；Described end joint（5）Including end joint shaft
（5-1）And two ends joint axle end bearing（5-4）；It is characterized in that：
The robot finger mechanism that described tendon drives also includes that stndon sheath drive mechanism, described stndon sheath drive mechanism include Ji Guan
Section tendon（6-1）, base joint stndon sheath（6-2）, end joint tendon（6-3）With end joint stndon sheath（6-4）, described base joint（4）
Also include base joint tendon wheel（4-3）Torsion spring is replied with base joint（4-4）, described end joint（5）Also include end joint tendon
Wheel（5-2）Torsion spring is replied with end joint（5-3）；Described axle sleeve（4-2）It is fixedly set in base joint shaft（4-1）On, described
Nearly finger joint force transmission element（2-6）It is provided with through hole, axle sleeve（4-2）It is fixedly installed on nearly finger joint force transmission element（2-6）Through hole in, institute
The base joint tendon wheel that states（4-3）It is set in axle sleeve（4-2）Outside and with nearly finger joint force transmission element（2-6）Connected, described Ji Guan
Nodal axisn（4-1）Two ends respectively pass through a base joint axle end bearing（4-5）It is supported on pedestal（1）On, axle sleeve（4-2）Outer cover
Torsion spring is replied equipped with base joint（4-4）, torsion spring is replied in described base joint（4-4）One end and nearly finger joint force transmission element（2-6）Connection,
Reply torsion spring in base joint（4-4）The other end and pedestal（1）Connection；Described nearly finger joint left plate（2-1）With nearly finger joint right plate
（2-2）Respectively pass through a nearly finger joint spring bearing（2-8）It is supported on pedestal（1）On, nearly finger joint force transmission element（2-6）By nearly finger joint
Left plate（2-1）, nearly finger joint right plate（2-2）, nearly finger joint front shroud（2-3）And nearly finger joint back shroud（2-4）Clamp；Described
End finger joint force transmission element（3-5）It is provided with the sleeve one of projection（3-5-2）With raised sleeve two（3-5-3）, described sleeve
One（3-5-2）With sleeve two（3-5-3）Coaxial and communicate, described end joint shaft（5-1）Fixation penetrates end finger joint power transmission
Part（3-5）Sleeve one（3-5-2）With sleeve two（3-5-3）Interior, end joint shaft（5-1）With base joint shaft（4-1）Parallel set
Put, described end joint tendon wheel（5-2）It is sleeved on end finger joint force transmission element（3-5）Sleeve two（3-5-3）Outside, end
Joint tendon wheel（5-2）With end finger joint force transmission element（3-5）It is connected, end joint shaft（5-1）Two ends respectively closed by end
Nodal axisn end bearing（5-4）It is supported on nearly finger joint left plate（2-1）And nearly finger joint right plate（2-2）On；Described end finger joint is left
Side plate（3-1）With end finger joint right plate（3-2）Respectively pass through an end finger joint spring bearing（3-7）It is supported on the left of nearly finger joint
Plate（2-1）With nearly finger joint right plate（2-2）On, end finger joint force transmission element（3-5）By end finger joint left plate（3-1）, end
Finger joint right plate（3-2）And two end finger joint cover plates（3-3）Clamp, sleeve one（3-5-2）Outer cover be equipped with end joint
Reply torsion spring（5-3）, torsion spring is replied in described end joint（5-3）One end and end finger joint force transmission element（3-5）Connection, end are closed
Section replys torsion spring（5-3）The other end and nearly finger joint left plate（2-1）Connection；Described base joint tendon（6-1）Fix winding in one end
In base joint tendon wheel（4-3）Race in, described base joint stndon sheath（6-2）It is fixed on pedestal（1）On, base joint tendon（6-1）
The other end from top to bottom passes base joint stndon sheath（6-2）；Described end joint tendon（6-3）Fix and be wrapped in end joint in one end
Tendon wheel（5-2）Race in, described end joint stndon sheath（6-4）It is fixed on nearly finger joint force transmission element（2-6）On, end joint tendon
（6-3）The other end from top to bottom passes end joint stndon sheath（6-4）.
2. the robot finger mechanism that a kind of tendon according to claim 1 drives, it is characterised in that：Described pedestal（1）、
Nearly finger joint shell and end finger joint shell are made by polyimides nonmetallic materials.
3. the robot finger mechanism that a kind of tendon according to claim 2 drives, it is characterised in that：Described nearly finger joint is passed
Power part（2-6）And end finger joint force transmission element（3-5）Made by aluminum alloy materials.
4. the robot finger mechanism that a kind of tendon according to claim 1,2 or 3 drives, it is characterised in that：Described two
The range of movement in individual pitch rotation joint is -90 ° ~+90 °.
5. the robot finger mechanism that a kind of tendon according to claim 1 drives, it is characterised in that：Described nearly finger joint
（2）Also include nearly finger joint header board rubber cushion（2-5）；Described nearly finger joint header board rubber cushion（2-5）It is pasted onto nearly finger joint front shroud（2-3）
Outer surface on.
6. the robot finger mechanism that a kind of tendon drives according to claim 1 or 5, it is characterised in that：Described end
Finger joint（3）Also include end finger joint contact rubber cushion（3-4）；Described end finger joint contact rubber cushion（3-4）It is pasted onto two ends
Finger joint cover plate（3-3）It is located at the end finger joint cover plate of front side（3-3）Outer surface on.
7. the robot finger mechanism that a kind of tendon according to claim 1 drives, it is characterised in that：Described nearly finger joint
（2）Also include the nearly finger joint torque sensor of two integrated moment overload protection blocks one（2-7）；Described nearly finger joint force transmission element
（2-6）Two relative side be each provided with a nearly finger joint strain beam（2-6-1）, each nearly finger joint strain beam（2-6-1）Lead to
Cross the nearly finger joint torque sensor of nearly finger joint foil gauge and integrated moment overload protection block one（2-7）Connection.
8. the robot finger mechanism that a kind of tendon according to claim 7 drives, it is characterised in that：Described end finger joint
（3）Also include the end finger joint torque sensor of two integrated moment overload protection blocks two（3-6）；Described end finger joint is passed
Power part（3-5）Two relative side be each provided with an end finger joint strain beam（3-5-1）, each end finger joint strain beam（3-
5-1）By the end finger joint torque sensor of end finger joint foil gauge and integrated moment overload protection block two（3-6）Even
Connect.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN105415388A CN105415388A (en) | 2016-03-23 |
| CN105415388B true CN105415388B (en) | 2017-03-15 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105751232B (en) * | 2016-05-20 | 2017-08-25 | 哈尔滨工业大学 | The imitation human finger that base joint each independently drives with interphalangeal 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 |
| CN107825452A (en) * | 2017-12-26 | 2018-03-23 | 陈宇昕 | Link bionic mechanical hand in a kind of joint |
| CN110076812B (en) * | 2019-06-04 | 2022-04-01 | 河北工业大学 | Under-actuated dexterous 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4865376A (en) * | 1987-09-25 | 1989-09-12 | Leaver Scott O | Mechanical fingers for dexterity and grasping |
| CN100542505C (en) * | 2007-01-08 | 2009-09-23 | 张为众 | A kind of artificial simulation arm |
| CN101073520A (en) * | 2007-06-27 | 2007-11-21 | 哈尔滨工业大学 | Sinew-driven pseudohand finger mechanism |
| CN100551642C (en) * | 2008-01-18 | 2009-10-21 | 清华大学 | The Chiasma tendon rope under-driven robot finger device |
| GB2496335A (en) * | 2009-07-22 | 2013-05-08 | Shadow Robot Company Ltd | Finger digit for robotic hand |
| US9039057B2 (en) * | 2009-09-22 | 2015-05-26 | Ariel-University Research And Development Company Ltd. | Orientation controller, mechanical arm, gripper and components thereof |
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