CN107756426A - Robot delicate, robot arm and robot - Google Patents
Robot delicate, robot arm and robot Download PDFInfo
- Publication number
- CN107756426A CN107756426A CN201711114861.2A CN201711114861A CN107756426A CN 107756426 A CN107756426 A CN 107756426A CN 201711114861 A CN201711114861 A CN 201711114861A CN 107756426 A CN107756426 A CN 107756426A
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- finger
- drive device
- root
- thumb
- slightly
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Classifications
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot delicate, robot arm and robot, it is related to robotic technology field, it is more complicated and be unfavorable for the stabilization of the realization of function and action to solve existing robot delicate structure, while dexterity and the relatively low technical problem of crawl precision.Robot delicate of the present invention, each finger only includes two finger joints, and little finger of toe and the third finger drive digital flexion by a drive device, forefinger and middle finger drive digital flexion by a drive device respectively, thumb is driven by two drive devices, one bending of drive device driving thumb, another drive device driving thumb rotate around root is referred to, and metacarpal bone individually rotates by a drive device driving；The rotation shaft end of metacarpal bone is provided with the turned position that position sensor is used to feed back metacarpal bone, the four finger roots referred to are provided with the position detection that position sensor is used to realize two neighboring finger, and the rotary joint end of thumb is provided with rotational angle and bending position that position sensor is used to feed back thumb.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot delicate, robot arm and robot.
Background technology
Traditional industrial robot end gripper can only carry out some simple tasks.It is however, increasing actual
Application requirement robot end can realize more complicated and more intelligent operation, and simple end gripper can not meet reality
The requirement of complex operations task.Robot delicate has the advantages that versatile, grasping precision is high, and dexterity, stability are good,
As solving the effective scheme of complex operations task, one popular research side of robot field is turned into since 20 th century laters
One of to.
Robot delicate design structure of the prior art is complicated, and Dextrous Hand design is mostly that overall dimension is bigger than human hand
A lot, finger is excessively thick, heavy, it is difficult to captures small objects；To solve the above problems, the robot delicate after improving,
Generally each finger sets three joints to be closed by three groups of quadric chain lotus roots, is driven by a motor, but running part part mistake
It is more, it is unfavorable for the stabilization of realization and the action of function, and dexterity is relatively low.
Therefore, how a kind of robot delicate, robot arm and robot are provided, structure can not only be simplified, and
And the stabilization of realization and the action of function can be beneficial to, and effectively improve dexterity and crawl precision, it has also become art technology
The technical problem of personnel's urgent need to resolve.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of robot delicate, robot arm and robot
The usual structure of robot delicate is more complicated and is unfavorable for the stabilization of the realization of function and action, while dexterity and crawl precision
Relatively low technical problem.
The present invention provides a kind of robot delicate, including：Metacarpal bone, thumb and four refer to, and four finger includes：Forefinger, in
Refer to, nameless and little finger of toe；Rotary joint is fixed with the metacarpal bone, the finger root of the thumb passes through the first connecting shaft and the rotation
Turn joint connection, the finger of the thumb is slightly connected by the second connecting shaft with the finger root of the thumb；It is solid on the rotary joint
Surely there are first driving means, the first driving means to drive the thumb bending, the second driving dress is fixed with the metacarpal bone
Put, second drive device drives the thumb wheel；Pedestal is fixed with the metacarpal bone, the described four finger roots referred to lead to respectively
Cross four the 3rd connecting shafts to be connected with the pedestal, described four fingers referred to are slightly referred to by four the 4th connecting shafts and described four respectively
Finger root connection；The 3rd drive device, four-drive device and the 5th drive device are fixed with the metacarpal bone, the described 3rd drives
Dynamic device and the four-drive device drive the forefinger and the middle finger to bend respectively, and the 5th drive device drives institute
State nameless and described streblomicrodactyly；The end of the rotary joint of the thumb is provided with first position sensor, described the
The rotational angle and bending position of thumb described in one position sensor feedback, the root of the described four finger roots referred to are respectively equipped with
The relative position of the four finger roots referred to described in second place sensor, the second place sensor feedback；On the metacarpal bone
The 6th drive device, the 6th drive device driving metacarpal bone rotation are fixed with, the rotation shaft end of the metacarpal bone is provided with
The turned position of metacarpal bone described in 3rd position sensor, the 3rd position sensor feedback.
Wherein, the first driving means are bending motor, and second drive device is rotary drive motor, institute
State the output shaft end gear of rotary drive motor and the root meshed transmission gear of the rotary joint；The first position sensing
The excircle of device is provided with tooth, and the tooth is meshed with the tooth on the first driving means shell.
Specifically, the second place sensor includes two index finger location sensors of matching, two middle finger positions pass
Sense, two nameless position sensors and two little finger of toe position sensors；Between the forefinger and the pedestal of the middle finger,
And described nameless position sensor control panel, the position sensing are respectively arranged between the pedestal of the little finger of toe
The both sides of device control panel match provided with the different second place sensors and the different second place sensors respectively
Heterogeneous Permutation, the position sensor control panel identical side matching are provided with second place sensor described in two identicals；
Corresponding with one in second place sensor described in match and identical when the described four finger roots referred to stretch, described four refer to
Finger root bend to during extreme position with matching and identical described in the sensor of the second place another is corresponding.
During practical application, the finger root and described refer to slightly are hollow tubular structure, are worn in the hollow tubular structure
There is hawser；One end of the hawser of the thumb and the end of the finger of the thumb slightly are fixed, the other end and described the
Two drive devices are fixed, and the fingers end slightly that one end of described four hawsers referred to refers to described four respectively is fixed, separately
One end is fixed with the 3rd drive device, the four-drive device and the 5th drive device respectively；It is described finger slightly with
It is provided between the finger root, between the finger root and the pedestal and between the finger root and the rotary joint multiple
Position spring；The finger root and the finger slightly pivoting in the state of hawser pulling, the back-moving spring is in the cable
Rope makes the finger slightly be resetted with the finger root in the state of unclamping.
Wherein, second drive device is rotary drive motor, the 3rd drive device, the four-drive device
It is respectively the 3rd motor, the 4th motor and the 5th motor with the 5th drive device；The corresponding thumb
One end of the hawser be fixed on the finger slightly end of the thumb, and through hollow tubular structure the finger slightly and institute
Finger root is stated, and the output of the rotary drive motor is fixed on around the finger root and the roller of the rotary joint, the other end
On wheel；One end of the hawser of the corresponding forefinger is fixed on the finger slightly end of the forefinger, and passes through hollow tubular
The finger of structure is slightly with the finger root, and around the finger root and the roller of the pedestal, the other end is fixed on the described 3rd
On the output wheel of motor；One end of the hawser of the corresponding middle finger is fixed on the finger slightly end of the middle finger,
And through hollow tubular structure the finger slightly with the finger root, and around the rolling of the finger root, the pedestal and the metacarpal bone
Wheel, the other end are fixed on the output wheel of the 4th motor；The hawser of corresponding described nameless and described little finger of toe
It is each passed through the output wheel of the 5th motor, and the both ends of the hawser are each passed through the finger root and the pedestal
Roller, and it is separately fixed at the finger slightly end of described nameless and described little finger of toe.
Specifically, the face of cylinder of the roller is provided with groove, the groove limits the axial displacement of the hawser, and described
Between the face of cylinder of roller has between the rotary joint, the pedestal and the finger root and the adjacent surface of the metacarpal bone respectively
Gap, the gap are less than the diameter of the hawser.
Further, coupling part of the finger slightly with the finger root is ramp structure, and the ramp structure limits institute
State the rotational angle referred to slightly with the finger root.
Further, the finger root is provided with the first projection, and the described first raised limitation finger root rotates backward；It is described
Refer to and be slightly provided with the second projection, the described second raised limitation finger slightly rotates backward.
During practical application, the elastomer for being used for increasing frictional force is provided with the finger pulp of the finger slightly.
Relative to prior art, robot delicate of the present invention has the advantage that：
In robot delicate provided by the invention, including：Metacarpal bone, thumb and four refer to, and four fingers include：Forefinger, middle finger, nothing
Name refers to and little finger of toe；Wherein, rotary joint is fixed with metacarpal bone, the finger root of thumb is connected by the first connecting shaft with rotary joint,
The finger of thumb is slightly connected by the finger root of the second connecting shaft and thumb；First driving means, the first drive are fixed with rotary joint
Dynamic device driving thumb is bent, and the second drive device, the second drive device driving thumb wheel are fixed with metacarpal bone；Specifically,
Pedestal is fixed with metacarpal bone, the four finger roots referred to are connected by four the 3rd connecting shafts with pedestal respectively, and four fingers referred to slightly lead to respectively
Four the 4th connecting shafts are crossed to be connected with the four finger roots referred to；The 3rd drive device, four-drive device and the 5th are fixed with metacarpal bone
Drive device, the 3rd drive device and four-drive device drive forefinger and middle finger to bend respectively, the 5th drive device driving nothing
Name refers to and streblomicrodactyly；Further, the end of the rotary joint of thumb is provided with first position sensor, first position sensor
The rotational angle and bending position of thumb are fed back, the root of the four finger roots referred to is respectively equipped with second place sensor, the second place
The relative position for the finger root that sensor feedback four refers to；Further, the 6th drive device, the 6th driving dress are fixed with metacarpal bone
Put driving metacarpal bone to rotate, turn for rotating shaft end and being provided with the 3rd position sensor, the 3rd position sensor feedback metacarpal bone of metacarpal bone
Dynamic position.Thus analysis is understood, in robot delicate provided by the invention, each finger (thumb and four refers to) only includes two
Finger joint, and little finger of toe and the third finger drive digital flexion by a drive device, and forefinger and middle finger are respectively by a driving dress
Driving digital flexion is put, thumb is driven by two drive devices, the bending of drive device driving thumb, another drive device
Thumb is driven to be rotated around root is referred to, metacarpal bone individually rotates by a drive device driving；Meanwhile the rotation shaft end of metacarpal bone is provided with position
The turned position that sensor is used to feed back metacarpal bone is put, the four finger roots referred to are provided with position sensor and are used to realize two neighboring finger
Position is detected, and the rotary joint end of thumb is provided with rotational angle and bending position that position sensor is used to feed back thumb.It is comprehensive
On, not only structure simplifies robot delicate provided by the invention, and can be beneficial to the stabilization of realization and the action of function, and
Dexterity and crawl precision can be effectively improved.
The present invention also provides a kind of robot arm, including：Robot delicate described in any one as described above, and it is described
End gripper of the robot delicate as the robot arm.
The present invention provides a kind of robot again, including：Robot delicate described in any one as described above, and the machine
End gripper of people's Dextrous Hand as the robot.
The robot arm and robot are with above-mentioned robot delicate relative to Dominant Facies possessed by prior art
Together, will not be repeated here.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the first state configuration schematic diagram of robot delicate provided in an embodiment of the present invention；
Fig. 2 is the second state explosion structural representation of robot delicate provided in an embodiment of the present invention；
Fig. 3 is the first viewing angle constructions schematic diagram of robot delicate provided in an embodiment of the present invention；
Fig. 4 is the second viewing angle constructions schematic diagram of robot delicate provided in an embodiment of the present invention；
Fig. 5 is four structural representation referred in robot delicate provided in an embodiment of the present invention.
In figure：1- metacarpal bones；2- thumbs；3- tetra- refers to；The connecting shafts of 31- the 3rd；The connecting shafts of 32- the 4th；11- rotations are closed
Section；12- pedestals；40- position sensor control panels；41- first positions sensor；42- second places sensor；51- is curved
Bent motor；52- rotary drive motors；The motors of 53- the 3rd；The motors of 54- the 4th；The driving electricity of 55- the 5th
Machine；The motors of 56- the 6th；6- hawsers；7- back-moving springs.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the first state configuration schematic diagram of robot delicate provided in an embodiment of the present invention；Fig. 2 is this hair
Second state explosion structural representation of the robot delicate that bright embodiment provides；Fig. 3 is machine provided in an embodiment of the present invention
First viewing angle constructions schematic diagram of device people's Dextrous Hand；Fig. 4 is the second visual angle of robot delicate provided in an embodiment of the present invention
Structural representation；Fig. 5 is four structural representation referred in robot delicate provided in an embodiment of the present invention.
As Figure 1-Figure 5, the embodiment of the present invention provides a kind of robot delicate, including：Metacarpal bone 1, thumb 2 and four
Refer to 3, four, which refer to 3, includes：Forefinger, middle finger, the third finger and little finger of toe；Rotary joint 11 is fixed with metacarpal bone 1, the finger root of thumb 2 passes through
First connecting shaft is connected with rotary joint 11, and the finger of thumb 2 is slightly connected by the second connecting shaft with the finger root of thumb 2；Rotation is closed
Section 11 on be fixed with first driving means, first driving means driving thumb 2 bend, be fixed with metacarpal bone 1 second drive device,
Second drive device driving thumb 2 rotates；Pedestal 12 is fixed with metacarpal bone 1, the four finger roots for referring to 3 are connected by four the 3rd respectively
Axle 31 is connected with pedestal 12, and four fingers for referring to 3 are slightly connected by four the 4th connecting shafts 32 with the finger root of four fingers 3 respectively；On metacarpal bone 1
It is fixed with the 3rd drive device, four-drive device and the 5th drive device, the 3rd drive device and four-drive device difference
Drive forefinger and middle finger bending, the 5th drive device driving third finger and streblomicrodactyly；The end of the rotary joint 11 of thumb 2 is set
There are first position sensor 41, first position sensor 41 to feed back the rotational angle and bending position of thumb 2, four refer to 3 finger root
Root be respectively equipped with second place sensor 42, second place sensor 42 feedback four refer to 3 finger root relative positions；Metacarpal bone
Be fixed with 1 the 6th drive device, the 6th drive device driving metacarpal bone 1 rotate, the rotation shaft end of metacarpal bone 1 is provided with the 3rd position
The turned position of sensor, the 3rd position sensor feedback metacarpal bone 1.
Relative to prior art, the robot delicate described in the embodiment of the present invention has the advantage that：
In robot delicate provided in an embodiment of the present invention, as Figure 1-Figure 5, including：Metacarpal bone 1, thumb 2 and four
Refer to 3, four, which refer to 3, includes：Forefinger, middle finger, the third finger and little finger of toe；Wherein, (the rotary joint 11 of rotary joint 11 is fixed with metacarpal bone 1
The protruding shaft at both ends can be relied on to be fixed on metacarpal bone 1), the finger root of thumb 2 is connected by the first connecting shaft with rotary joint 11, thumb
The finger of finger 2 is slightly connected by the second connecting shaft with the finger root of thumb 2；First driving means, first are fixed with rotary joint 11
Drive device driving thumb 2 is bent, and the second drive device is fixed with metacarpal bone 1, the second drive device driving thumb 2 rotates；Tool
Body, pedestal 12 is fixed with metacarpal bone 1, the four finger roots for referring to 3 are connected by four the 3rd connecting shafts 31 with pedestal 12 respectively, and four refer to
3 finger is slightly connected by four the 4th connecting shafts 32 with the finger root of four fingers 3 respectively；The 3rd drive device, are fixed with metacarpal bone 1
Four-drive device and the 5th drive device, the 3rd drive device and four-drive device drive forefinger and middle finger to bend respectively, the
The five drive devices driving third finger and streblomicrodactyly；Further, the end of the rotary joint 11 of thumb 2 passes provided with first position
Sensor 41, first position sensor 41 feed back the rotational angle and bending position of thumb 2, and four roots for referring to 3 finger root are set respectively
There is the relative position that second place sensor 42, the feedback of second place sensor 42 four refer to 3 finger root；Further, metacarpal bone 1
On be fixed with the 6th drive device, the 6th drive device driving metacarpal bone 1 rotate, the rotation shaft end of metacarpal bone 1 is provided with the 3rd position
The turned position of sensor, the 3rd position sensor feedback metacarpal bone 1.Thus analysis is understood, machine provided in an embodiment of the present invention
In people's Dextrous Hand, each finger (thumb 2 and four refers to 3) only includes two finger joints, and little finger of toe and nameless driven by one fill
Driving digital flexion is put, forefinger and middle finger drive digital flexion by a drive device respectively, and thumb 2 is by two drive devices
Driving, a drive device driving thumb 2 is bent, another drive device driving thumb 2 rotates around root is referred to, and metacarpal bone 1 individually leans on
One drive device driving rotates；Meanwhile the rotation shaft end of metacarpal bone 1 is provided with the rotation that position sensor is used to feed back metacarpal bone 1
Position, the four finger roots for referring to 3 are provided with the position detection that position sensor is used to realize two neighboring finger, the rotary joint of thumb 2
11 ends are provided with the rotational angle and bending position that position sensor is used to feed back thumb 2.To sum up, it is provided in an embodiment of the present invention
Not only structure simplifies robot delicate, and can be beneficial to the stabilization of realization and the action of function, and can effectively improve spirit
Skilful property and crawl precision.
It should be added that, the drive device of remaining four finger 3 in addition to thumb 2 can laterally be arranged in the palm herein
On bone 1, and each drive device is equipped with encoder.
Wherein, above-mentioned first driving means can be bending motor 51, and above-mentioned second drive device can be rotation
Motor 52, the output shaft end gear of rotary drive motor 52 and the root meshed transmission gear of rotary joint 11；On also,
The excircle for stating first position sensor 41 is provided with tooth, and the tooth is meshed with the tooth on first driving means shell.
Specifically, said second position sensor 42 can include two index finger location sensors, two middle fingers of matching
Position sensing, two nameless position sensors and two little finger of toe position sensors；Between forefinger and the pedestal 12 of middle finger and
Position sensor control panel 40, the both sides of position sensor control panel 40 are respectively arranged between the nameless and pedestal 12 of little finger of toe
Matching respectively is provided with different second place sensor 42 (such as the both sides of position sensor control panel 40 matches provided with food respectively
Refer to position sensor and middle finger position sensor) and the different Heterogeneous Permutations of second place sensor 42 (such as index finger location passes
Sensor and middle finger position sensor Heterogeneous Permutation), the matching of the identical side of position sensor control panel 40 is provided with two identicals
Second place sensor 42 (such as the side matching of position sensor control panel 40 is provided with two index finger location sensors, another
Side matching is provided with two middle finger position sensors)；The four finger roots for referring to 3 sense when stretching with the match and identical second place
A correspondence (such as corresponding with an index finger location sensor) in device 42, four refer to 3 finger root bend to during extreme position with
Matching and in identical second place sensor 42 another is corresponding (such as with another index finger location sensor pair
Should).
Further, in four fingers 3 by taking forefinger as an example (its excess-three refers to similarly), two foods being arranged above and below of the finger root of forefinger
Two boss for referring to sensor with the finger root of forefinger are corresponding, when forefinger stretches, refer to the boss at root back and food above
It is corresponding to refer to sensor, when forefinger bends to extreme position, refers to another boss at root back and underlying forefinger sensor pair
Should.
During practical application, above-mentioned finger root and finger are slightly hollow tubular structure, and hawser is equipped with the hollow tubular structure
6, the motion of finger-joint is driven by hawser 6 and every finger can rotate 0-90 degree (0 degree and 90 degree of opening position has
It is spacing)；The end of the finger of one end of the hawser 6 of thumb 2 and thumb 2 slightly fix (fixed form can be tie up to finger slightly end or
Fixed by screw), the other end fix with the second drive device, four one end for referring to 3 hawser 6 refer to 3 finger slightly with four respectively
End is fixed, the other end is fixed with the 3rd drive device, four-drive device and the 5th drive device respectively；Also, refer to slightly with
Refer between root, refer between root and pedestal 12 and refer to root back-moving spring 7 is provided between rotary joint 11；In use, refer to
Root and refer to slightly hawser 6 pulling in the state of pivoting, back-moving spring 7 hawser 6 release in the state of make finger slightly with refer to root
Reset (during driving hawser 6, the narrow Cao bottom of inwall of hawser 6 and hollow tubular structure is fulcrum).
Wherein, the second drive device is rotary drive motor 52, and the 3rd drive device, four-drive device and the 5th drive
Device can be respectively the 3rd motor 53, the 4th motor 54 and the 5th motor 55, and the 6th drive device can be with
For the 6th motor 56；One end of the hawser 6 of corresponding thumb 2 is fixed on the finger slightly end of thumb 2, and passes through hollow tubular knot
The finger of structure slightly with refer to root, and around the roller of root and rotary joint 11 is referred to, the other end is fixed on the output of rotary drive motor 52
On wheel；One end of the hawser 6 of corresponding forefinger is fixed on the finger slightly end of forefinger, and passes through the finger of hollow tubular structure slightly and refer to
Root, and around the roller of root and pedestal 12 is referred to, the other end is fixed on the output wheel of the 3rd motor 53；The cable of corresponding middle finger
One end of rope 6 is fixed on the finger slightly end of middle finger, and through hollow tubular structure finger slightly with refer to root, and around referring to root, pedestal
12 and the roller of metacarpal bone 1, the other end be fixed on the output wheel of the 4th motor 54；Corresponding nameless and little finger of toe hawser 6
The output wheel of the 5th motor 55 is each passed through, and the both ends of hawser 6 are each passed through the roller for referring to root and pedestal 12, and respectively
It is fixed on nameless and little finger of toe finger slightly end.
Specifically, the face of cylinder of above-mentioned rollers is provided with the axial displacement of groove, the groove for limiting hawser 6, and roller
The face of cylinder respectively with rotary joint 11, pedestal 12 and referring between the adjacent surface of root and metacarpal bone 1 there is gap, the gap is less than cable
The diameter of rope 6, so as to effectively prevent hawser 6 from departing from groove.
Further, coupling part of the above-mentioned finger slightly with finger root can be ramp structure, and the ramp structure can be used in
Limitation refers to the rotational angle slightly with finger root.
Further, above-mentioned finger root can be provided with first raised, and first projection can be used in limitation and refer to root reversely turning
It is dynamic；Similarly, above-mentioned finger can be slightly provided with second raised, and second projection can be used in limitation and refer to slightly to rotate backward.
During practical application, the elastomer for being used for increasing frictional force can be provided with the finger pulp of above-mentioned finger slightly, so as to be more convenient for
Robot delicate captures article.
The embodiment of the present invention also provides a kind of robot arm, including：Robot delicate described in any one as described above,
And the robot delicate can be as the end gripper of robot arm.
Specifically, the output shaft end gear and robot of the 6th motor 56 on the metacarpal bone 1 of robot delicate
The connection gear engaged transmission at arm end.
The embodiment of the present invention provides a kind of robot again, including：Robot delicate described in any one as described above, and should
Robot delicate can be as the end gripper of robot.
Specifically, the output shaft end gear of the 6th motor 56 on the metacarpal bone 1 of robot delicate and robot
The connection gear engaged transmission at arm end.
Robot delicate, robot arm and robot provided in an embodiment of the present invention have the advantage that：Robot
Dextrous Hand is with ten ones degree of freedom (thumb refers to respectively with two frees degree with three degree of freedom, four), and each finger
Only two joints (refer to root and refer to slightly and be coupled by axle)；All drive devices are integrated in metacarpal bone；Can adaptively it capture
Variform article；Finger pulp is provided with the elastomer that can increase frictional force, is easy to capture article；Each finger by hawser and
Roller is driven, and can rotate 0-90 degree；Finger joint is provided with back-moving spring, realizes the reseting movement of finger joint；Refer to root and refer to connecing slightly
Contacting surface respectively has an inclined-plane；Little finger of toe and the third finger drive by a motor, and middle finger and forefinger drive by a motor respectively
Dynamic, thumb drives (motor driving bending, a motor-driven rotation) by two motors, and metacarpal bone drives by a motor
Rotate；Metacarpal bone rotates shaft end and is provided with position sensor, and the rotary joint of thumb is provided with position sensor, and the four finger roots referred to are provided with
Position sensor is used for the position detection for realizing two neighboring finger.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (10)
1. a kind of robot delicate, including：Metacarpal bone, thumb and four refer to, and four finger includes：Forefinger, middle finger, the third finger and small
Refer to；Characterized in that,
Rotary joint is fixed with the metacarpal bone, the finger root of the thumb is connected by the first connecting shaft with the rotary joint,
The finger of the thumb is slightly connected by the second connecting shaft with the finger root of the thumb；The first driving is fixed with the rotary joint
Device, the first driving means drive the thumb bending, and the second drive device, second drive are fixed with the metacarpal bone
Dynamic device drives the thumb wheel；
Pedestal is fixed with the metacarpal bone, the described four finger roots referred to are connected by four the 3rd connecting shafts with the pedestal respectively,
Described four fingers referred to are slightly connected by four the 4th connecting shafts with the described four finger roots referred to respectively；The 3rd is fixed with the metacarpal bone
Drive device, four-drive device and the 5th drive device, the 3rd drive device and the four-drive device drive respectively
The forefinger and middle finger bending are moved, the 5th drive device drives described nameless and described streblomicrodactyly；
The end of the rotary joint of the thumb is provided with described in first position sensor, the first position sensor feedback
The rotational angle and bending position of thumb, the root of the described four finger roots referred to are respectively equipped with second place sensor, described
The relative position of the four finger roots referred to described in the sensor feedback of the second place；
The 6th drive device, the 6th drive device driving metacarpal bone rotation are fixed with the metacarpal bone, the metacarpal bone
Rotate turned position of the shaft end provided with metacarpal bone described in the 3rd position sensor, the 3rd position sensor feedback.
2. robot delicate according to claim 1, it is characterised in that the first driving means are bending driving electricity
Machine, second drive device are rotary drive motor, and the output shaft end gear of the rotary drive motor closes with the rotation
The root meshed transmission gear of section；
The excircle of the first position sensor is provided with tooth, and the tooth is mutually nibbled with the tooth on the first driving means shell
Close.
3. robot delicate according to claim 1, it is characterised in that the second place sensor includes matching
Two index finger location sensors, two middle finger position sensings, two nameless position sensors and two little finger of toe position sensors；
It is between the forefinger and the pedestal of the middle finger and described nameless between the pedestal of the little finger of toe point
Not She Zhi position sensor control panel, the both sides of the position sensor control panel match provided with different described second respectively
Position sensor and the different second place sensor Heterogeneous Permutations, the position sensor control panel identical side
Matching is provided with second place sensor described in two identicals；
It is corresponding with one in second place sensor described in match and identical when the described four finger roots referred to stretch, it is described
Four the fingers roots referred to bend to during extreme position with described in match and identical in the sensor of the second place another is corresponding.
4. according to the robot delicate any one of claim 1-3, it is characterised in that the finger root and the finger
Slightly it is hollow tubular structure, hawser is equipped with the hollow tubular structure；
One end of the hawser of the thumb is fixed with the end of the finger of the thumb slightly, the other end drives with described second
Dynamic device is fixed, and the fingers end slightly that one end of described four hawsers referred to refers to described four respectively is fixed, the other end
Fixed respectively with the 3rd drive device, the four-drive device and the 5th drive device；
The finger is slightly between the finger root, between the finger root and the pedestal and finger root and the rotary joint
Between be provided with back-moving spring；The finger root and the finger slightly pivoting in the state of hawser pulling, it is described multiple
Position spring makes the finger slightly be resetted with the finger root in the state of hawser release.
5. robot delicate according to claim 4, it is characterised in that second drive device is rotation driving electricity
Machine, the 3rd drive device, the four-drive device and the 5th drive device are respectively the 3rd motor, the 4th
Motor and the 5th motor；
One end of the hawser of the corresponding thumb is fixed on the finger slightly end of the thumb, and passes through hollow tubular knot
The finger of structure is slightly with the finger root, and around the finger root and the roller of the rotary joint, the other end is fixed on the rotation
Turn on the output wheel of motor；
One end of the hawser of the corresponding forefinger is fixed on the finger slightly end of the forefinger, and passes through hollow tubular knot
The finger of structure slightly with the finger root, and around it is described finger root and the pedestal roller, the other end be fixed on it is described 3rd drive
On the output wheel of dynamic motor；
One end of the hawser of the corresponding middle finger is fixed on the finger slightly end of the middle finger, and passes through hollow tubular knot
The finger of structure slightly with the finger root, and is fixed on institute around the finger root, the roller of the pedestal and the metacarpal bone, the other end
On the output wheel for stating the 4th motor；
The hawser of corresponding described nameless and described little finger of toe is each passed through the output wheel of the 5th motor, and described
The both ends of hawser are each passed through the roller of the finger root and the pedestal, and are separately fixed at described nameless and described little finger of toe
The finger slightly end.
6. robot delicate according to claim 5, it is characterised in that the face of cylinder of the roller is provided with groove, institute
State the axial displacement that groove limits the hawser, and the face of cylinder of the roller respectively with the rotary joint, the pedestal and
Described refer to has gap between root and the adjacent surface of the metacarpal bone, the gap is less than the diameter of the hawser.
7. robot delicate according to claim 4, it is characterised in that coupling part of the finger slightly with the finger root
It is ramp structure, rotational angle of the ramp structure limitation finger slightly with the finger root.
8. robot delicate according to claim 4, it is characterised in that the finger root be provided with it is first raised, described the
The one raised limitation finger root rotates backward；
The finger is slightly provided with the second projection, and the described second raised limitation finger slightly rotates backward.
A kind of 9. robot arm, it is characterised in that including：Robot spirit as any one of above-mentioned claim 1-8
Dab hand, and end gripper of the robot delicate as the robot arm.
A kind of 10. robot, it is characterised in that including：Such as the dexterous robot any one of above-mentioned claim 1-8
Hand, and end gripper of the robot delicate as the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711114861.2A CN107756426B (en) | 2017-11-13 | 2017-11-13 | Dexterous robot hand, robot arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711114861.2A CN107756426B (en) | 2017-11-13 | 2017-11-13 | Dexterous robot hand, robot arm and robot |
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| CN107756426A true CN107756426A (en) | 2018-03-06 |
| CN107756426B CN107756426B (en) | 2019-12-17 |
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| CN110142791A (en) * | 2019-05-29 | 2019-08-20 | 浙江大学 | Highly integrated bionic mechanical hand |
| CN111376285A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Dexterous hand |
| CN112659167A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Palm folding structure of simulation manipulator |
| CN114536380A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Five-freedom-degree full-drive humanoid thumb and humanoid dexterous hand |
| CN114536381A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
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| CN114536381A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
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| CN107756426B (en) | 2019-12-17 |
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Address after: Building 65, No. 17, Jiujiang Road, Tongji New Economic Zone, Jimo District, Qingdao City, Shandong Province, 266200 Patentee after: Qingdao Evolver xiaopang Robot Technology Co.,Ltd. Address before: 1005-008, floor 1, building 27, No. 25, North Third Ring West Road, Haidian District, Beijing 100086 Patentee before: BEIJING EVOLVER ROBOTICS Co.,Ltd. |
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Denomination of invention: Robot dexterous hand, robot arm and robot Effective date of registration: 20221201 Granted publication date: 20191217 Pledgee: Societe Generale Limited by Share Ltd. Qingdao branch Pledgor: Qingdao Evolver xiaopang Robot Technology Co.,Ltd. Registration number: Y2022980024401 |
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