CN106426233A - Palm joint assembly of simulated intelligent robot - Google Patents
Palm joint assembly of simulated intelligent robot Download PDFInfo
- Publication number
- CN106426233A CN106426233A CN201610901424.4A CN201610901424A CN106426233A CN 106426233 A CN106426233 A CN 106426233A CN 201610901424 A CN201610901424 A CN 201610901424A CN 106426233 A CN106426233 A CN 106426233A
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- CN
- China
- Prior art keywords
- joint
- bone
- joints
- thumb
- motor
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a palm joint assembly of a simulated intelligent robot. The palm joint assembly is characterized in that four fingers are arranged at the front end of a metacarpus plate, a thumb is arranged at the lateral end of the metacarpus plate and is composed of a thumb metacarpus, a middle thumb bone and a distal thumb bone, the other four fingers are respectively composed of three knuckle bones, each knuckle bone joint is provided with a corresponding knuckle bone joint motor, knuckle bone joints are connected to winding wheels on the knuckle bone joint motors through flexible pull wires, and wire sleeves are designed at the exposed parts of the pull wires for covering the exposed parts. Hinge pin lugs are hinged together through hinge holes and hinge pins, a thumb metacarpus joint motor corresponding to the thumb metacarpus is placed into a groove of the metacarpus plate, the metacarpus plate and the joint hinge pin lugs are provided with pull wire grooves, the male and female hinge pin lugs are hinged together through the hinge pins, and each hinge pin is provided with a reset spring. The palm joint assembly has the advantages that the structure is simple, control is flexible, the simulation degree is high and the grasping force is large.
Description
Technical field
The present invention relates to robot field, be related specifically to the palm joint assembly of a kind of artificial intelligence robot.
Background technology
In existing robot field, the structure with regard to palm joint has various, is summed up below existing
Not enough：1st, palm artis is few and unwieldy structure is complicated, flexibility ratio difference；2 differ greatly with the structure in the palm joint of true man,
Although have has five fingers, but unlike true man every finger each seventh thoracic vertebra can activity freely, say, that imitative
True degree is poor；3rd, each artis of palm uses micromachine power to strengthen, and grip force when causing each finger of palm to draw in is little.
How to overcome the deficiencies in the prior art, a kind of artificial intelligence robot that a kind of simple and flexible, high emulation, grip force are big is provided
Palm joint assembly, has just become the major subjects of the present invention.
Content of the invention
Present invention aim to overcome the deficiencies in the prior art, provide a kind of simple and flexible, high emulation, grip force big
The palm joint assembly of a kind of artificial intelligence robot.In order to realize the above object, the present invention is by techniques below side
Case realizes.The palm joint assembly of a kind of artificial intelligence robot, it is characterised in that the front end of metacarpal bone plate is provided with four
Finger side is provided with thumb, and wherein thumb is far saved bone formed by joint bone, big thumb in big thumb metacarpal bone, big thumb, remaining four
By three joints, finger refers to that joint bone forms, big thumb metacarpal bone and big thumb save between bone and in big thumb joint bone and big thumb far save between bone and
Yu Sigen refers to be equipped with male and female swivel pin ear that is that cooperate and that be provided with hinge hole between joint bone, and each male and female swivel pin ear passes through
Respective hinge hole joint Bones and joints bearing pin is mutually hinged, and every refers to that being provided with embolia on joint Bones and joints bearing pin turns round
Spring, every refers to that joint Bones and joints is designed with an aperture on the hinge joints pin ear in metacarpal bone plate direction, is fixed with one in aperture
Joint bracing wire, the other end of joint bracing wire is connected with the corresponding finger joint Bones and joints elevator wheel referring on joint Bones and joints motor
Connecing, often joint refers to that joint Bones and joints is both provided with corresponding a finger and saves Bones and joints motor, the wherein corresponding big thumb with big thumb metacarpal bone
Metacarpal joint motor is positioned in the groove of metacarpal bone plate, and metacarpal bone plate, hinge joints pin ear are provided with bracing wire groove, and every joint is drawn
The wired set of part design that line is exposed to outer surface is wrapped up, and with Saving cortilage bracing wire, prevents joint bracing wire stuck, it is simple to close
The proper motion of joint bracing wire.Often joint refers to that there is phase in joint bone, palm of the hand face and the back of the hand face of big thumb metacarpal bone according to ergonomic designs respectively
Confined planes is received in the joint answered, to control the maximum deflection of each finger-joint, to stretch angle.When each joint of finger performs flexure operation
When, each finger joint style motor and thumb metacarpal joint motor tighten up joint bracing wire by the elevator wheel on motor thus drive right
The finger-joint answered completes flexure operation, when each joint of finger performs stretching, and each finger joint style motor and big thumb metacarpal bone
Joint motor loosens joint bracing wire by elevator on motor wheel, meanwhile, reduction torsion spring on each finger-joint bearing pin, drive each
Finger-joint completes to stretch homing action.The metacarpal bone plate other end is fixed on the shell of wrist joint motor, and wrist joint motor is two
End center output shaft, wrist joint reverses motor and is connected with wrist joint fork, and whole palm is defeated by the center at wrist joint motor two ends
Shaft is positioned in wrist joint fork, and wrist joint reverses and is positioned with arm bone bar on motor output shaft.Stretch when palm performs bending
During action, wrist joint electric machine rotation simultaneously drives metacarpal bone plate benging to stretch by wrist joint motor housing, when palm execution is reversed dynamic
When making, wrist joint reverses motor and drives metacarpal bone plate to reverse by the wrist joint fork on its shell.Described thumb saves Bones and joints
The intracardiac bracing wire hole, joint that is provided with in bearing pin and big thumb metacarpal joint bearing pin, respectively in order to arrange the big thumb of control far save Bones and joints and
The bracing wire of big thumb metacarpal joint.
Further, in order to make each joint refer to that joint Bones and joints has enough grip forces to increase power of motor when drawing in as far as possible
Namely increasing motor volume, described finger joint Bones and joints motor is in addition to big thumb metacarpal joint motor, and remaining is placed in metacarpal bone plate
In the arm bone bar of the other end.Because in arm bone bar, arrangement space is big, hidden again.
Further, above-described motor all uses the multi-stage planetary gear speed reducer with built-in encoder or cycloid tooth
The big retarding of wheel decelerator than permanent-magnet alternating current servo motor, slowing down motor speed, allow the movement velocity in each joint and human body
Engineering is consistent, and increases moment of torsion simultaneously.
Further, joint bracing wire uses flexibility, and such as fishing line, to ensure its toughness, pulling force all meets ergonomics.
Further, the above palm respectively saves bone bone piece and all uses carbonic acid fiber or aluminium alloy to make hollow structure, with
It is easy to mitigate weight.
It can be seen that the present invention compared with prior art has remarkable advantage from above technical scheme：Structure letter
Single, manipulation emulation flexible, high, grip force are big.
For the present invention is better described, make further below in conjunction with specific embodiment and embodiment accompanying drawing
Bright.
Brief description
Fig. 1 is the front view of the specific embodiment of the invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the A-A sectional view of Fig. 1.
Fig. 4 is the B-B sectional view of Fig. 1.
Fig. 5 is the C-C sectional view of Fig. 1.
Fig. 6 is the D-D sectional view of Fig. 1.
Fig. 7 is the E-E sectional view of Fig. 1.
Fig. 8 is the F-F sectional view of Fig. 1.
Fig. 9 is the A partial enlarged drawing of Fig. 1.
In figure：1-metacarpal bone plate；2-big thumb metacarpal bone elevator is taken turns；3-big thumb metacarpal joint motor；4-wrist joint reverses motor；5-
Sheath；6-wrist joint reverses motor output shaft；7-refers to joint Bones and joints elevator wheel；8-refers to save Bones and joints motor；9-arm bone bar；
10-reverses motor shaft sleeve；11-bracing wire set；12-wrist joint is pitched；13-wrist joint motor；14-big thumb metacarpal joint bearing pin 15-is big
Thumb metacarpal bone；The big thumb of 16-saves Bones and joints bearing pin；The big thumb of 17-saves bone；The big thumb of 18-far saves bone；19-embolia torsion spring；20-
Refer to joint Bones and joints bearing pin；21-forefinger closely saves bone；22-forefinger saves bone；23-forefinger far saves bone；24-middle finger saves bone；In 25-
Refer to remote joint bone；The nameless remote joint bone of 26-；Joint bone during 27-is nameless；28-little finger of toe far saves bone；29-middle finger closely saves bone；30-little finger of toe
Middle joint bone；31-little finger of toe closely saves bone；32-palm silica gel profile；33-wrist joint motor output shaft；Fixed plate is overlapped in 34-bracing wire；35-
Bracing wire；36-swivel pin ear；37-big thumb bracing wire tank cover plate；38-bracing wire tank cover plate；Confined planes is received in 39-joint；40-middle finger far saves
Bone；41-aperture.
Detailed description of the invention
It can be seen that the front end of the metacarpal bone plate 1 of the present invention is respectively arranged with food from the specific embodiment shown in Fig. 1 ~ Fig. 9
Four fingers such as finger, middle finger, the third finger, little finger of toe, its side is provided with thumb, and wherein thumb is by big thumb metacarpal bone the 15th, big thumb
Middle joint bone the 17th, big thumb far saves bone 18 and forms, four fingers such as forefinger, middle finger, the third finger, little finger of toe by remote, in, nearly three joints refer to joint
Bone forms, in big thumb metacarpal bone 15 and big thumb between joint bone 17 and in big thumb joint bone 17 and big thumb far saves between bone 18 and forefinger, in
Finger, the third finger, little finger of toe etc. four refer to be equipped with male and female swivel pin ear 36 that is that cooperate and that be provided with hinge hole, respectively between joint bone
Male and female swivel pin ear 36 is mutually hinged by respective hinge hole joint Bones and joints bearing pin 20, and every refers to joint Bones and joints pin
Being provided with embolia torsion spring 19 on axle 20, every refers to that joint Bones and joints sets on the hinge joints pin ear 36 in metacarpal bone plate 1 direction
In respect of an aperture, be fixed with a joint bracing wire 35 in aperture, with corresponding, the other end of joint bracing wire 35 refers to that joint bone closes
Saving the joint Bones and joints elevator wheel of the finger on motor 87 to be connected, often joint refers to that joint Bones and joints is both provided with a corresponding finger joint bone and closes
Joint motor 8, wherein big thumb metacarpal joint motor 3 corresponding with big thumb metacarpal bone 15 is positioned in the groove of metacarpal bone plate 1, and metacarpal bone plate is the 1st,
Being provided with bracing wire groove on hinge joints pin ear 36, joint bracing wire 35 has the trough of wire casing, is exposed to partially passing through of outer surface
Bracing wire set 11, with Saving cortilage bracing wire 35, prevents joint bracing wire 35 stuck, it is simple to the proper motion of joint bracing wire 35.Often joint refers to
Joint bone, the palm of the hand face of big thumb metacarpal bone 15 have corresponding joint to receive confined planes 39 according to ergonomic designs with the back of the hand face respectively, with
Control the maximum deflection of each finger-joint, stretch angle.When each joint of finger performs flexure operation, each finger joint style motor 8
And the 7th, thumb metacarpal joint motor 3 by elevator on motor wheel 2 is tightened up joint bracing wire 35 thus drives corresponding finger to close
Joint completes flexure operation, when each joint of finger performs stretching, and each finger joint style motor 8 and big thumb metacarpal joint motor 3
Loosen joint bracing wire 35 by elevator on motor wheel, meanwhile, reduction torsion spring 19 on each finger-joint bearing pin 20, drive each hand
Articulations digitorum manus completes to stretch homing action.Metacarpal bone plate 1 other end is fixed on the shell of wrist joint motor 13, and wrist joint motor 13 is
Center, two ends output shaft, wrist joint reverses motor 4 and is connected with wrist joint fork 12, and whole palm is by wrist joint motor 13 two ends
Center output shaft 33 is positioned in wrist joint fork 12, and wrist joint reverses and is positioned with arm bone bar 9 on motor output shaft 6.Work as palm
When performing bending stretching, wrist joint motor 13 rotates and passes through wrist joint motor 13 shell and drives metacarpal bone plate 1 bending to stretch,
When palm performs twisting action, wrist joint is reversed motor 4 and is reversed by the wrist joint fork 12 drive metacarpal bone plate 1 on its shell.
Described thumb saves the intracardiac bracing wire hole, joint that is provided with in Bones and joints bearing pin 16 and big thumb metacarpal joint bearing pin 14, respectively in order to
Arrange that the big thumb of control far saves bone 18 joint and the bracing wire 35 in big thumb metacarpal bone 15 joint.In order to make each joint refer to, joint Bones and joints is drawing in
When have enough grip forces to try one's best to increase power of motor and namely increase motor volume, described finger saves Bones and joints motor 8（Except big thumb
Metacarpal joint motor 3）Outward, remaining is placed in the arm bone bar 9 of metacarpal bone plate 1 other end.Because arranging in arm bone bar 9
Space is big, hidden again.Above-described motor all uses multi-stage planetary gear speed reducer or cycloid gear with built-in encoder
The big retarding of decelerator than permanent-magnet alternating current servo motor, slowing down motor speed, allow the movement velocity in each joint and human body work
Be consistent, and increases moment of torsion simultaneously.The each bone piece of described palm all uses carbonic acid fiber to make hollow structure.
From above specific embodiment, it can be seen that the present invention compared with prior art has remarkable advantage：Structure
Simply, manipulation stretch draw in nimbly and freely, mix that emulation silica gel profile simulation degree is high, grip force is big.
Specific embodiment enumerated above is only the one of numerous embodiment, it is impossible to enumerate.All according to the present invention
The improvement modification made of protection domain and modification belong to protection scope of the present invention, ought to be protected.
Claims (5)
1. the palm joint assembly of an artificial intelligence robot, it is characterised in that the front end of metacarpal bone plate is provided with four finger sides
End is provided with thumb, and wherein thumb is far saved bone formed by joint bone, big thumb in big thumb metacarpal bone, big thumb, remaining four finger by
Three joints refer to joint bone composition, save between bone and in big thumb, joint bone and big thumb far save between bone and remaining four in big thumb metacarpal bone and big thumb
Referring to be equipped with male and female swivel pin ear that is that cooperate and that be provided with hinge hole between joint bone, each male and female swivel pin ear passes through respective
Hinge hole joint Bones and joints bearing pin is mutually hinged, and every refers to be provided with embolia torsion spring, often on joint Bones and joints bearing pin
Root refers to that joint Bones and joints is designed with an aperture on the hinge joints pin ear in metacarpal bone plate direction, is fixed with a joint and draws in aperture
Line, the other end of joint bracing wire is connected with the corresponding finger joint Bones and joints elevator wheel referring on joint Bones and joints motor, often saves
Refer to that joint Bones and joints is both provided with corresponding a finger and saves Bones and joints motor, wherein big thumb metacarpal joint corresponding with big thumb metacarpal bone
Motor is positioned in the groove of metacarpal bone plate, and metacarpal bone plate, hinge joints pin ear are provided with bracing wire groove, and every joint bracing wire is exposed to
The wired set of part design of outer surface is wrapped up；Often joint refers to that joint bone, palm of the hand face and the back of the hand face of big thumb metacarpal bone are respectively designed with
Confined planes is received in corresponding joint；The metacarpal bone plate other end is fixed on the shell of wrist joint motor, and wrist joint motor is centers, two ends
Output shaft, wrist joint reverses motor housing and is connected with wrist joint fork, the center output by wrist joint motor two ends for the whole palm
Axle is positioned in wrist joint fork, and wrist joint reverses and is positioned with arm bone bar on motor output shaft；Described thumb saves Bones and joints
The intracardiac bracing wire hole, joint that is provided with in bearing pin and big thumb metacarpal joint bearing pin, respectively in order to arrange the big thumb of control far save Bones and joints and
The bracing wire of big thumb metacarpal joint.
2. the palm joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that described each finger
Joint Bones and joints motor is in addition to big thumb metacarpal joint motor, and remaining may be contained within the arm bone bar of the metacarpal bone plate other end.
3. the palm joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that described electricity
Machine all use the big retarding of the multi-stage planetary gear speed reducer with built-in encoder or cycloidal gear speed reducer than permanent magnet AC
Servomotor.
4. the palm joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that described pass
Joint bracing wire uses flexible fishing line.
5. the palm joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that described palm
Each joint bone bone piece all uses carbonic acid fiber or aluminium alloy to make hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610901424.4A CN106426233A (en) | 2016-10-16 | 2016-10-16 | Palm joint assembly of simulated intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610901424.4A CN106426233A (en) | 2016-10-16 | 2016-10-16 | Palm joint assembly of simulated intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426233A true CN106426233A (en) | 2017-02-22 |
Family
ID=58175050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610901424.4A Pending CN106426233A (en) | 2016-10-16 | 2016-10-16 | Palm joint assembly of simulated intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426233A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019153752A1 (en) * | 2018-02-09 | 2019-08-15 | 南京阿凡达机器人科技有限公司 | Humanoid robotic finger |
| CN113524248A (en) * | 2019-05-29 | 2021-10-22 | 浙江大学 | High-integration thumb of bionic manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2847678A (en) * | 1951-07-24 | 1958-08-19 | Opuszenski Theodore | System for controlled actuation of an artificial hand |
| US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| US20110040408A1 (en) * | 2009-07-22 | 2011-02-17 | The Shadow Robot Company Limited | Robotic hand |
| CN205272026U (en) * | 2016-01-13 | 2016-06-01 | 宋纪元 | Flexible bionic manipulator of underactuated |
| CN105881530A (en) * | 2016-06-12 | 2016-08-24 | 深圳博美德机器人股份有限公司 | Manipulator |
| CN206123685U (en) * | 2016-10-16 | 2017-04-26 | 福州幻科机电科技有限公司 | Emulation intelligent robot's palm joint assembly |
-
2016
- 2016-10-16 CN CN201610901424.4A patent/CN106426233A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2847678A (en) * | 1951-07-24 | 1958-08-19 | Opuszenski Theodore | System for controlled actuation of an artificial hand |
| US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| US20110040408A1 (en) * | 2009-07-22 | 2011-02-17 | The Shadow Robot Company Limited | Robotic hand |
| CN205272026U (en) * | 2016-01-13 | 2016-06-01 | 宋纪元 | Flexible bionic manipulator of underactuated |
| CN105881530A (en) * | 2016-06-12 | 2016-08-24 | 深圳博美德机器人股份有限公司 | Manipulator |
| CN206123685U (en) * | 2016-10-16 | 2017-04-26 | 福州幻科机电科技有限公司 | Emulation intelligent robot's palm joint assembly |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019153752A1 (en) * | 2018-02-09 | 2019-08-15 | 南京阿凡达机器人科技有限公司 | Humanoid robotic finger |
| CN113524248A (en) * | 2019-05-29 | 2021-10-22 | 浙江大学 | High-integration thumb of bionic manipulator |
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| PB01 | Publication | ||
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Application publication date: 20170222 |