CN105881566B - A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism - Google Patents
A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism Download PDFInfo
- Publication number
- CN105881566B CN105881566B CN201610371609.9A CN201610371609A CN105881566B CN 105881566 B CN105881566 B CN 105881566B CN 201610371609 A CN201610371609 A CN 201610371609A CN 105881566 B CN105881566 B CN 105881566B
- Authority
- CN
- China
- Prior art keywords
- palm
- finger
- lead screw
- thumb
- link mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
Abstract
The content of present invention devise a kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to palm mechanism, while meeting the movement of each finger dexterity, with the pose holding capacity to cut off self-lock, the crawl function of five-needle pines blister rust is significantly improved, the different demands reliably grabbed are realized to different articles suitable for five-needle pines blister rust.With to palm mechanism, basic structure is mainly made of power part N20 lead screw decelerating motor, sliding block, connecting rod pair, palm mainboard, thumb D shaft holder, hinge and its attachment the side-swing mechanism designed using lead screw link mechanism as core component.Thumb D shaft holder is the D axis for referring to root joint for fixing thumb.The pedestal that palm mainboard is lead screw decelerating motor and finger, is connected to palm platelet with hinge.Connecting rod is connection sliding block and finger root and palm mainboard and the movement transfer member to palm platelet, palm mainboard and thumb D shaft holder.Hinge, which is used to connect, can be improved rotational efficienty and kinematic dexterity in terms of bearing is used primarily in the transmission of finger side-sway with axis to palm platelet and rack.
Description
Technical field
The invention belongs to mechanical Dextrous Hand technical fields, and in particular to application of the screw mechanism in humanoid dextrous hand mentions
A kind of novel finger side-sway is gone out to meet to palm mechanism, has optimized the structure of entire Dextrous Hand, cut off self-lock using screw mechanism
Characteristic realizes the holding capacity of original pose after Dextrous Hand power-off.
Background technique
With being constantly progressive for scientific and technological level and continuing to bring out for emerging cross discipline, space probation, nuclear energy exploitation, medical treatment
All to robot technology, more stringent requirements are proposed in the fields such as instrument, and there are some for traditional industrial robot end gripper
Significant drawback, as flexibility is poor, perception is low, the control precision of position and power is not high.In recent years, compel due to engineer application
It is essential and wants, the research of multi-finger clever hand is rapidly developed, and has been increasingly becoming a particular study field, has been covered from space
Explore some key subjects in the fields such as medical instrument.Therefore, no matter theoretically or from engineer application, energetically
The research for reinforcing multi-finger clever hand all seems especially urgent.But the domestic and international Dextrous Hand overwhelming majority is driven using cotton rope, few
Number Dextrous Hand can not interfere in place a big torque by motor performance and power limit using motor Bevel Gear Transmission
Appearance holding capacity, causes reliability to reduce.Reality is badly in need of changing this deficiency.
Summary of the invention
The content of present invention devise a kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to palm mechanism,
While meeting the movement of each finger dexterity, there is the pose holding capacity to cut off self-lock, significantly improve grabbing for five-needle pines blister rust
Function is taken, the different demands reliably grabbed are realized to different articles suitable for five-needle pines blister rust.Using lead screw link mechanism as core
The side-swing mechanism of component design is with to palm mechanism, and basic structure is mainly by power part N20 lead screw decelerating motor, sliding block, company
Bar pair, palm mainboard, thumb D shaft holder, hinge and its attachment are constituted.Thumb D shaft holder is for fixed big
Thumb refers to the D axis in root joint.The pedestal that palm mainboard is lead screw decelerating motor and finger, is connected to palm platelet with hinge.Connecting rod
It is that connection sliding block and finger root and palm mainboard are transmitted with the movement to palm platelet, palm mainboard and thumb D shaft holder
Component.Hinge, which is used to connect, can be improved rotation in terms of bearing is used primarily in the transmission of finger side-sway with axis to palm platelet and rack
Efficiency and kinematic dexterity.
Technology is realized：
In order to achieve the above-mentioned object of the invention, our working principles based on lead screw transmission and link mechanism, devise the five fingers
The finger side-sway of Dextrous Hand substantially reduces palm machinery dynamic structure while guaranteeing its work torque with to palm mechanism
Spatial volume.
This five-needle pines blister rust finger side-sway based on lead screw link mechanism is divided into thumb U-shaped fixing groove with to palm structure
Structure, Nei Shou outreach mechanism, index finger side-swing mechanism, nameless little finger linkage side-swing mechanism, palm are to palm mechanism.Thumb refers to
The output D axis 1 of root motor module is fixed on thumb U-shaped fixing groove, and thumb U-shaped fixing groove is hinged on palm by D axis 2
On mainboard.Thumb U-shaped fixing groove is to pass through bolt by thumb U-shaped fixing groove part one, thumb U-shaped fixing groove part two
Connection.The thumb spindle motor being secured transverse on palm mainboard makes U-shaped fixing groove around D axis 2 by thumb slide connecting rod one
Rotation.Index finger spindle motor pushes index finger root motor retaining element around by upper by connecting rod two hinged on index finger sliding block
The index finger axis rotation that next group of bolt combination is formed.Palm mainboard is hingedly fixed with to palm platelet by a pair of of hinge.It is laterally fixed
In the opposition spindle motor on palm mainboard by pushing connecting rod three hinged above palm mechanism sliding block to palm platelet
It is rotated around hinge.The articulated nameless root motor fixture of connecting rod five and little finger root motor fixture.It is fixed on vertically
Connecting rod four hinged above nameless little finger catenating slider is passed through to the spindle motor on palm platelet and pushes nameless root
Motor retaining element is rotated around unknown spindle.Little finger root motor fixture is rotated around little finger axis.
The invention has the advantages that：
(1) it is sufficiently fitted the characteristics of motion of manpower, there is very high flexibility；
(2) the various open and close movements of apery palm may be implemented；
(3) it runs smoothly, noise is small, durable；
(4) have the function of to cut off self-lock, controllability is good；
Detailed description of the invention
Attached drawing 1 is the overall schematic of five-needle pines blister rust；
Attached drawing 2 is the schematic diagram of five-needle pines blister rust palm structure；
Attached drawing 3 is the schematic diagram of index finger side-swing mechanism；
Attached drawing 4 is the schematic diagram of the nameless side-swing mechanism that links with little finger；
Attached drawing 5 is palm to palm structural scheme of mechanism；
Attached drawing 6 is the schematic diagram of thumb Nei Shou abduction exercise mechanism；
Attached drawing 7 is thumb U-shaped groove structure schematic diagram；
In attached drawing：1-thumb root joint D axis, 2-thumbs rotation D axis, 3-index finger axis, 4-unknown spindles,
5-little finger axis, 6-connecting rods one, 7-connecting rods two, 8-connecting rods three, 9-connecting rods four, 10-connecting rods five, 11-thumb slides,
12-index finger sliding blocks, 13-fix palm mechanism sliding block, 14-nameless little finger catenating sliders, 15-index finger root motors
Part, 16-nameless root motor fixtures, 17-little finger root motor fixtures, 18-thumb spindle motors, 19-
Index finger spindle motor, 20-opposition spindle motors, 21-nameless little finger ganged movement spindle motors, 22-hinges,
23-palm mainboards, 24-to palm platelet, 25-thumb U-shaped fixing groove parts one, 26-thumb U-shaped fixing groove parts
Two.
Specific embodiment
Attached drawing 2 is the schematic diagram of five-needle pines blister rust palm structure.Fixed thumb spindle motor on palm mainboard (23)
(18), it is connected with thumb slide (11) by lead screw pair.Thumb rotates D axis (2) and is tied by cylindrical pair and palm mainboard (23)
It closes, thumb U-shaped fixing groove is connected by holding screw with thumb rotation D axis (2).Opposition spindle motor (20) is horizontal
To being fixed on palm mainboard (23), by the way that palm mechanism sliding block (13), hinged connecting rod three (8) is pushed to palm platelet above
(24) it is rotated around the axis of hinge (22).
Attached drawing 4 is the schematic diagram of the nameless side-swing mechanism that links with little finger.It is fixed on vertically on palm platelet (24)
Spindle motor (21) passes through nameless little finger catenating slider (14), and hinged connecting rod four (9) pushes nameless root electricity above
Machine fixing piece (16) is rotated around unknown spindle (4).Little finger root motor fixture (17) is rotated around little finger axis (5).
The articulated nameless root motor fixture (16) of connecting rod five (10) and little finger root motor fixture (17).The length of connecting rod five
Degree at a distance from little finger axis (5), constitutes a link linkage mechanism, realizes by a lead screw slightly shorter than unknown spindle (4)
The motion mode that the third finger and the little finger of motor control open and close simultaneously.
Attached drawing 7 is thumb U-shaped groove structure schematic diagram.Thumb U-lag by thumb U-shaped fixing groove part one (25),
Thumb U-shaped fixing groove part two (26) has D type hole by the two sides that the bolt of 3 M1.6 connects U-lag, is used to fixed big
Thumb refers to the output D axis of root motor.
Claims (4)
1. a kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism, which is characterized in that sufficiently fitting
The characteristics of motion of manpower, farthest optimizes the space structure of palm machinery power unit, lead screw driving motor is closed
Reason is placed in narrow palm space structure, and has position lock function；Based on ergonomic designs to the palm platelet
The flexibility of each finger of the Dextrous Hand has been expanded, it is nameless that traditional Dextrous Hand redundancy can be removed by link mechanism with little finger of toe
Freedom degree realizes the accurate linkage controlled by single spindle motor；On the basis of the sufficiently research thumb characteristics of motion, if
A kind of motion mode being driven with spatial intersecting axis is counted, motion range is big, and motion mode is very flexible；
It is vertically fixed on and the third finger-little finger of toe link mechanism is controlled by slide block connecting rod to the lead screw decelerating motor on palm platelet
Compound motion；
The spindle motor that index finger is laterally fixed by one pushes slide block movement, and the connecting rod on sliding block pushes index finger root end to produce
Raw movement, to realize the side-sway of index finger；
The motion mode and fixed form of thumb be：The joint motor block inversion of thumb, output D axis downward, are fixed on
In dismountable U-shaped fixing groove；The sliding block on spindle motor being secured transverse on palm mainboard is connected to U-type groove by connecting rod
The rocker arm of upper fixation realizes U-type groove around the rotation of fixing axle.
2. the five-needle pines blister rust finger side-sway according to claim 1 based on lead screw link mechanism with to palm mechanism, it is special
Sign is, is connected by hinge to palm platelet with palm mainboard, the lead screw of lateral fixed control opposition on palm mainboard
Motor realizes Dextrous Hand to the freedom degree of the palm by connecting rod connection sliding block with to palm platelet.
3. the five-needle pines blister rust finger side-sway according to claim 1 based on lead screw link mechanism with to palm mechanism, it is special
Sign is, by link mechanism, the nameless side-sway redundant degree of freedom with little finger of toe becomes one after reducing.
4. the five-needle pines blister rust finger side-sway according to claim 1 based on lead screw link mechanism with to palm mechanism, it is special
Sign is that middle finger is screwed motionless.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610371609.9A CN105881566B (en) | 2016-05-30 | 2016-05-30 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610371609.9A CN105881566B (en) | 2016-05-30 | 2016-05-30 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881566A CN105881566A (en) | 2016-08-24 |
| CN105881566B true CN105881566B (en) | 2018-11-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610371609.9A Expired - Fee Related CN105881566B (en) | 2016-05-30 | 2016-05-30 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
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| Country | Link |
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| CN (1) | CN105881566B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335074A (en) * | 2016-10-12 | 2017-01-18 | 上海大学 | Robot five-finger dexterous hand executive device |
| CN107378920B (en) * | 2017-09-07 | 2018-09-07 | 吉林大学 | A kind of outer skeleton precision data gloves |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN112659164A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Cross-stretch structure between fingers of simulation manipulator |
| CN112659165B (en) * | 2021-01-26 | 2024-02-13 | 韩靖 | Simulation manipulator |
| CN114734469B (en) * | 2021-06-07 | 2023-08-29 | 深圳蓝胖子机器智能有限公司 | Multi-free overload-preventing multi-finger smart hand |
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| EP1457294A1 (en) * | 2001-12-17 | 2004-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| CN101045300A (en) * | 2006-03-31 | 2007-10-03 | 北京理工大学 | Human imitating clever hands driven by artificial pneumatic muscle |
| CN201109115Y (en) * | 2007-12-14 | 2008-09-03 | 华南理工大学 | Anthropomorphic manipulator having distribution tactility |
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN101491900A (en) * | 2009-03-02 | 2009-07-29 | 清华大学 | Man-like robot finger side-swaying device |
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN202572399U (en) * | 2012-05-15 | 2012-12-05 | 郑州大学 | Synchronous smart mechanical arm of robot |
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2016
- 2016-05-30 CN CN201610371609.9A patent/CN105881566B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1457294A1 (en) * | 2001-12-17 | 2004-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| CN101045300A (en) * | 2006-03-31 | 2007-10-03 | 北京理工大学 | Human imitating clever hands driven by artificial pneumatic muscle |
| CN201109115Y (en) * | 2007-12-14 | 2008-09-03 | 华南理工大学 | Anthropomorphic manipulator having distribution tactility |
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN101491900A (en) * | 2009-03-02 | 2009-07-29 | 清华大学 | Man-like robot finger side-swaying device |
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN202572399U (en) * | 2012-05-15 | 2012-12-05 | 郑州大学 | Synchronous smart mechanical arm of robot |
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| CN105881566A (en) | 2016-08-24 |
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| CB03 | Change of inventor or designer information |
Inventor after: Luo Qingsheng Inventor after: Liu Xingdong Inventor after: Zhao Jiahang Inventor after: Wang Changjin Inventor after: Liang Guanhao Inventor after: Sun Yao Inventor before: Luo Qingsheng Inventor before: Wang Changjin Inventor before: Sun Yao Inventor before: Liu Xingdong Inventor before: Xu Jiafeng Inventor before: Zhou Xinbing |
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Granted publication date: 20181120 Termination date: 20200530 |