CN110076812A - A kind of under-actuated delicacy hand finger - Google Patents
A kind of under-actuated delicacy hand finger Download PDFInfo
- Publication number
- CN110076812A CN110076812A CN201910482207.XA CN201910482207A CN110076812A CN 110076812 A CN110076812 A CN 110076812A CN 201910482207 A CN201910482207 A CN 201910482207A CN 110076812 A CN110076812 A CN 110076812A
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- Prior art keywords
- finger joint
- phalanges
- hole
- nearly
- remote
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a kind of under-actuated delicacy hand fingers, including remote finger joint, distal end cradle head, middle finger joint, central rotational joint, nearly finger joint, proximal end cradle head, pedestal, elastic recovery rope and tendon rope.The preload adjusting block being integrated in finger joint can be adjusted by pre-load nut and realize that the later period of tendon rope repeatedly pre-tightens.It is adjusted when the relaxation of tendon rope by pre-load nut in later period use process and pre-tightens adjusting block, Dextrous Hand, which need not be dismounted, pre-tightens tendon rope again, it avoids biggish motion transmission error occur because tendon rope is loose, solves the problems, such as tendon rope relaxation in tendon rope drive type Dextrous Hand long-term use process.The whole circumference of fixed pulley is replaced using the arc-shaped through-hole for pre-tightening adjusting block, further save finger interior space, so that the size of clever hand finger further reduces, and the whole circumference of pulley is replaced to increase the adjustable extent of tendon rope drive track by using arc-shaped through-hole.
Description
Technical field
The present invention relates to robot field, specifically a kind of under-actuated delicacy hand finger.
Background technique
With the development of society, robot just gradually comes among daily life, especially in nursing robot
Field proposes higher requirement to the flexibility of end effector of robot at this time.Robot delicate is to reach this
One desired fine implementation, the personification of Dextrous Hand assign its finer operational capacity.
Existing Dextrous Hand can be divided into full drive formula Dextrous Hand and deficient drive formula Dextrous Hand according to driving method, wherein drive lacking
Dextrous Hand is to save finger interior space, and so as to the more compact personification for doing Dextrous Hand, the most common kind of drive is to use
Tendon rope drive.It needs to consider its reasonable arrangement when tendon rope drive to realize its requirement pre-tightened, makes it in Dextrous Hand
Guarantee that the tendon rope moment is in tensioning state in long-term use process.In document, " simple analysis refers to that bionical clever hands are set to Chen Yuyu more
Meter " in point out the rope of tendon rope drive humanoid robot Dextrous Hand have when used for a long time line relaxation situation appearance, need to carry out
Again it pre-tightens and dismounts Dextrous Hand process complexity.Model roc mentions in document " accurate flexible cable drive technology present Research and analysis "
The implementation that four kinds of ropes out pre-tighten is complex, is not easy to realize, and inside is made in the form of fixed pulley
To occupy biggish finger interior space when tendon rope drive track.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of under-actuated delicacy hand finger.
The technical solution that the present invention solves the technical problem is to provide a kind of under-actuated delicacy hand finger, and feature exists
In the finger include remote finger joint, distal end cradle head, middle finger joint, central rotational joint, nearly finger joint, proximal end cradle head, pedestal,
Elastic recovery rope and tendon rope；
The remote finger joint includes remote finger joint left end phalanges, remote finger joint right end phalanges and fingertip pressure sensor；The distal end
Cradle head includes No.1 multi-diameter shaft and No.1 spring；The middle finger joint include middle finger joint front end phalanges, middle finger joint left end phalanges,
Middle finger joint rear end phalanges, middle finger joint right end phalanges, middle finger joint pressure sensor, No.1 pre-tighten adjusting block and No.1 pre-load nut；
The central rotational joint includes No. two multi-diameter shafts and No. two springs；The nearly finger joint includes nearly finger joint front end phalanges, nearly finger joint
Left end phalanges, nearly finger joint rear end phalanges, nearly finger joint right end phalanges, nearly finger joint pressure sensor, No. two preload adjusting blocks and No. two
Pre-load nut；The proximal end cradle head includes No. three multi-diameter shafts and No. three springs；The pedestal includes left valve pedestal and right valve
Pedestal；
The remote finger joint left end phalanges is fixedly connected with remote finger joint right end phalanges；Fingertip pressure sensor is fixed on remote finger joint
Outer surface；There is key in one end of the No.1 multi-diameter shaft, is cooperatively connected with the band dowel hole of remote finger joint left end phalanges by keyway,
This end is stretched out outside the phalanges of remote finger joint left end, with cooperating on the upside of the phalanges of middle finger joint left end without dowel hole；No.1 multi-diameter shaft it is another
End is equipped with axial circular groove, and No.1 spring is placed in axial circular groove；The No.1 multi-diameter shaft is equipped with radial round recessed
Slot, for placing tendon rope；The other end of the No.1 multi-diameter shaft is provided with circular hole；Axis on the upside of middle finger joint right end phalanges passes through remote
The through-hole of finger joint right end phalanges and the circular hole of the No.1 multi-diameter shaft other end cooperate, and realize No.1 multi-diameter shaft around middle finger joint right end phalanges
The rotation of the axis of upside；
The side of middle finger joint front end phalanges is fastened on the phalanges of middle finger joint left end, and the other side is fastened on middle finger joint right end
On phalanges；The side of middle finger joint rear end phalanges is fastened on the phalanges of middle finger joint left end, and the other side is fastened on middle finger joint right end
On phalanges；Stepped hole is provided with inside the phalanges of the middle finger joint front end；The No.1 pre-tightens adjusting block and is made of thin portion and thick portion；One
Number pre-tighten adjusting block be installed in the stepped hole of middle finger joint front end phalanges, No.1 pre-tighten adjusting block shape and stepped hole shape
It matches, the two is unable to relative rotation, and No.1 pre-tightens adjusting block can be along stepped hole linear slide；The thin portion of No.1 preload adjusting block
Middle finger joint front end phalanges is stretched out, end is provided with arc-shaped through-hole；The thick portion that No.1 pre-tightens adjusting block is located in the phalanges of middle finger joint front end
Portion；No.1 pre-load nut and middle finger joint front end phalanges are cooperatively connected, and pass through the stepped hole and No.1 inside the phalanges of middle finger joint front end
Pre-load nut realizes the fastening and limit that adjusting block is pre-tightened to No.1；The middle finger joint pressure sensor is fixed on middle finger joint appearance
Face；
There is key in one end of No. two multi-diameter shafts, is cooperated with the band dowel hole on the downside of the phalanges of middle finger joint left end by keyway and is connected
It connects, this end is stretched out outside the phalanges of middle finger joint left end, with cooperating on the upside of the phalanges of nearly finger joint left end without dowel hole；No. two multi-diameter shafts it is another
One end is equipped with axial circular groove, and No. two springs are placed in axial circular groove；No. two multi-diameter shafts are equipped with radial round
Groove, for placing tendon rope；The other end of No. two multi-diameter shafts is provided with circular hole；Axis on the upside of nearly finger joint right end phalanges passes through
The circular hole of the through-hole of middle finger joint right end phalanges and No. two multi-diameter shaft other ends cooperates, and realizes that No. two multi-diameter shafts refer to around nearly finger joint right end
The rotation of axis on the upside of bone；
The side of the nearly finger joint front end phalanges is fastened on the phalanges of nearly finger joint left end, and the other side is fastened on nearly finger joint right end
On phalanges；The side of the nearly finger joint rear end phalanges is fastened on the phalanges of nearly finger joint left end, and the other side is fastened on nearly finger joint right end
On phalanges；Stepped hole is provided with inside the nearly finger joint front end phalanges；No. two preloads adjusting block is made of thin portion and thick portion；Two
Number pre-tighten adjusting block be installed in the stepped hole of nearly finger joint front end phalanges, No. two preload adjusting block shape and stepped hole shape
It matches, the two is unable to relative rotation, and No. two preload adjusting blocks can be along stepped hole linear slide；The thin portion of No. two preload adjusting blocks
Nearly finger joint front end phalanges is stretched out, end is provided with arc-shaped through-hole；The thick portion of No. two preload adjusting blocks is located in the phalanges of nearly finger joint front end
Portion；No. two pre-load nuts and nearly finger joint front end phalanges are cooperatively connected, and pass through stepped hole inside the phalanges of nearly finger joint front end and No. two
Pre-load nut realizes the fastening and limit that No. two are pre-tightened with adjusting block；The nearly finger joint pressure sensor is fixed on nearly finger joint appearance
Face；
There is key in one end of No. three multi-diameter shafts, is cooperatively connected with the band dowel hole of left valve pedestal by keyway, this end is stretched
Out outside left valve pedestal, with cooperating on the downside of the phalanges of nearly finger joint left end without dowel hole；The other end of No. three multi-diameter shafts is equipped with axial circular
Connected in star, No. three springs are placed in axial circular groove；No. three multi-diameter shafts are equipped with radial circular groove, for placing tendon
Rope；The other end of No. three multi-diameter shafts is provided with circular hole；Axis on the downside of nearly finger joint right end phalanges passes through the through-hole of right valve pedestal
Cooperate with the circular hole of No. three multi-diameter shaft other ends, realizes the rotation of axis of No. three multi-diameter shafts on the downside of nearly finger joint right end phalanges；
Left valve pedestal is fastenedly connected with right valve pedestal；
One end of the elastic recovery rope is fixed on inside remote finger joint, and through-hole, the middle finger joint rear end of remote finger joint are sequentially passed through
After the through-hole of the through-hole of phalanges, the through-hole of nearly finger joint rear end phalanges and pedestal, the other end is fixed on pedestal；
Tendon rope one end is fixed on inside remote finger joint, across remote finger joint through-hole, be placed in the radial direction of No.1 multi-diameter shaft
In the arc-shaped through-hole for pre-tightening adjusting block in circular groove, across No.1, the radial circular groove for being placed in No. two multi-diameter shafts, pass through
The arc-shaped through-hole of No. two preload adjusting blocks is placed in the radial circular groove of No. three multi-diameter shafts, after the through-hole of pedestal, separately
One end is connect with external motor.
Compared with prior art, the beneficial effects of the invention are that:
1) the preload adjusting block being integrated in finger joint can be adjusted by pre-load nut and realize that the later period of tendon rope repeatedly pre-tightens.
When initial preload installation, there are pre- compact space, is adjusted when the relaxation of tendon rope by pre-load nut in later period use process and pre-tighten adjusting
Block, it is not necessary to dismount Dextrous Hand and tendon rope is pre-tightened again, avoid biggish motion transmission error occur because tendon rope is loose, solve
The problem of tendon rope relaxation in tendon rope drive type Dextrous Hand long-term use process.
2) whole circumference that fixed pulley is replaced using the arc-shaped through-hole for pre-tightening adjusting block, further saves finger
Inner space so that the size of clever hand finger further reduces, and replaces the entire of pulley by using arc-shaped through-hole
Circumference increases the adjustable extent of tendon rope drive track.
3) finger uses drive lacking mode and separate structure, and structure is simple, light weight, easy to assembly, small in size,
Further save finger interior space.
4) the tendon rope arrangement of clever hand finger uses non-twined formula, effectively reduces the frictional force in rope transmission process,
And then increase the finger tip power during finger grip.
5) the radial circular groove of multi-diameter shaft, that is, tendon rope track uses part convex design, and what reduction tendon rope de-orbited can
Energy property, keeps the movement of finger more stable.
Detailed description of the invention
Fig. 1 is overall structure stereoscopic schematic diagram of the present invention；
Fig. 2 is overall structure exploded view of the present invention；
Fig. 3 is overall structure diagrammatic cross-section of the present invention；
Fig. 4 is middle finger joint front end phalanges axonometric schematic diagram of the present invention；
Fig. 5 is middle finger joint front end phalanges diagrammatic cross-section of the present invention；
Fig. 6 is that No.1 of the present invention pre-tightens adjusting block stereoscopic schematic diagram；
Fig. 7 is No.1 multi-diameter shaft stereoscopic schematic diagram of the present invention；
Fig. 8 is the remote finger joint left end phalanges stereoscopic schematic diagram of the present invention；
Fig. 9 is middle finger joint right end phalanges stereoscopic schematic diagram of the present invention；
Figure 10 is base construction schematic diagram of the present invention；
In figure: 1, remote finger joint；11, remote finger joint left end phalanges；12, phalanges on remote finger joint right end；13, refer under remote finger joint right end
Bone；14, fingertip pressure sensor；
2, distal end cradle head；21, No.1 multi-diameter shaft；22, No.1 spring；
3, middle finger joint；31, middle finger joint front end phalanges；32, middle finger joint left end phalanges；33, middle finger joint rear end phalanges；34, in
Finger joint right end phalanges；35, middle finger joint pressure sensor；36, No.1 pre-tightens adjusting block；37, No.1 pre-load nut；
4, central rotational joint；41, No. two multi-diameter shafts；42, No. two springs；
5, nearly finger joint；51, nearly finger joint front end phalanges；52, nearly finger joint left end phalanges；53, nearly finger joint rear end phalanges；54, close
Finger joint right end phalanges；55, nearly finger joint pressure sensor；56, No. two preload adjusting blocks；57, No. two pre-load nuts；
6, proximal end cradle head；61, No. three multi-diameter shafts；62, No. three springs；
7, pedestal；71, left valve pedestal；72, right valve pedestal；
8, elastic recovery rope；81, No.1 elastic recovery rope；82, No. two elastic recovery ropes；
9, tendon rope.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of under-actuated delicacy hand finger (abbreviation fingers, referring to Fig. 1-10), it is characterised in that the hand
Refer to include remote finger joint 1, distal end cradle head 2, middle finger joint 3, central rotational joint 4, nearly finger joint 5, proximal end cradle head 6, pedestal
7, elastic recovery rope 8 and tendon rope 9；
The remote finger joint 1 includes remote finger joint left end phalanges 11, remote finger joint right end phalanges and fingertip pressure sensor 14；It is described
Distal end cradle head 2 includes No.1 multi-diameter shaft 21 and No.1 spring 22；The middle finger joint 3 include middle finger joint front end phalanges 31, in
Finger joint left end phalanges 32, middle finger joint rear end phalanges 33, middle finger joint right end phalanges 34, middle finger joint pressure sensor 35, No.1 pre-tighten
Adjusting block 36 and No.1 pre-load nut 37；The central rotational joint 4 includes No. two multi-diameter shafts 41 and No. two springs 42；It is described close
Finger joint 5 include nearly finger joint front end phalanges 51, nearly finger joint left end phalanges 52, nearly finger joint rear end phalanges 53, nearly finger joint right end phalanges 54,
Nearly 55, No. two preload adjusting blocks 56 of finger joint pressure sensor and No. two pre-load nuts 57；The proximal end cradle head 6 includes No. three
Multi-diameter shaft 61 and No. three springs 62；The pedestal 7 is two-flap type structure, including left valve pedestal 71 and right valve pedestal 72；
The remote finger joint left end phalanges 11 is fixedly connected by screw with remote finger joint right end phalanges；Fingertip pressure sensor 14
It is fixed on remote 1 outer surface of finger joint；There is key in one end (taper end) of the No.1 multi-diameter shaft 21, keyed with remote finger joint left end phalanges 11
Slot is cooperatively connected by keyway；This end (taper end) is stretched out outside the band dowel hole of remote finger joint left end phalanges 11, with middle finger joint left end
32 upside of phalanges cooperates without dowel hole；The other end (butt end) of No.1 multi-diameter shaft 21 is equipped with axial circular groove, No.1 spring
22 are placed in axial circular groove, and No.1 multi-diameter shaft 21 and remote finger joint right end phalanges is made to keep certain distance, to reduce rotation
When friction；The No.1 multi-diameter shaft 21 is equipped with radial circular groove, is that the installation of tendon rope 9 positions for placing tendon rope 9；Institute
The other end (butt end) for stating No.1 multi-diameter shaft 21 is provided with circular hole；The axis of 34 upside of middle finger joint right end phalanges passes through remote finger joint right end
The through-hole of phalanges and the circular hole of 21 other end of No.1 multi-diameter shaft (butt end) cooperate, and realize that No.1 multi-diameter shaft 21 refers to around middle finger joint right end
The rotation of the axis of 34 upside of bone；
The side of middle finger joint front end phalanges 31 is fastened on middle finger joint left end phalanges 32 by fastening screw, the other side
It is fastened on middle finger joint right end phalanges 34 by fastening screw；The side of middle finger joint rear end phalanges 33 is tight by fastening screw
Gu the other side is fastened on middle finger joint right end phalanges 34 by fastening screw on middle finger joint left end phalanges 32；The middle finger joint
Stepped hole is provided with inside front end phalanges 31；The No.1 pre-tightens adjusting block 36 and is made of thin portion and thick portion；No.1 pre-tightens adjusting block
36 are installed in the stepped hole of middle finger joint front end phalanges 31, and No.1 pre-tightens the shape of adjusting block 36 and the shape of stepped hole matches
It closes, the two is unable to relative rotation, and No.1 pre-tightens adjusting block 36 can only be along stepped hole single-degree-of-freedom linear slide；No.1, which pre-tightens, to be adjusted
The thin portion of block 36 stretches out middle finger joint front end phalanges 31, and end is provided with arc-shaped through-hole；During the thick portion that No.1 pre-tightens adjusting block 36 is located at
Inside finger joint front end phalanges 31；No.1 pre-load nut 37 and middle finger joint front end phalanges 31 are cooperatively connected, and are referred to by middle finger joint front end
Stepped hole and No.1 pre-load nut 37 inside bone 31 realize the fastening and limit that adjusting block 36 is pre-tightened to No.1；The middle finger joint
Pressure sensor 35 is fixed on 3 outer surface of middle finger joint；
There is key in one end (taper end) of No. two multi-diameter shafts 41, passes through with the band dowel hole of 32 downside of middle finger joint left end phalanges
Keyway is cooperatively connected；This end (taper end) is stretched out outside the band dowel hole of middle finger joint left end phalanges 32, on nearly finger joint left end phalanges 52
Side cooperates without dowel hole；The other end (butt end) of No. two multi-diameter shafts 41 is equipped with axial circular groove, and No. two springs 42 are placed in
In axial circular groove, No. two multi-diameter shafts 41 and middle finger joint right end phalanges 34 are made to keep certain distance, rubbing when reducing rotation
It wipes；No. two multi-diameter shafts 41 are equipped with radial circular groove, are that the installation of tendon rope 9 positions for placing tendon rope 9；Described No. two
The other end (butt end) of multi-diameter shaft 41 is provided with circular hole；The axis of nearly 54 upside of finger joint right end phalanges passes through middle finger joint right end phalanges 34
The through-hole of downside and the circular hole of No. two 41 other ends of multi-diameter shaft (butt end) cooperate, and realize that No. two multi-diameter shafts 41 refer to around nearly finger joint right end
The rotation of the axis of 54 upside of bone；
The side of the nearly finger joint front end phalanges 51 is fastened on nearly finger joint left end phalanges 52 by fastening screw, the other side
It is fastened on nearly finger joint right end phalanges 54 by fastening screw；The side of the nearly finger joint rear end phalanges 53 is tight by fastening screw
Gu the other side is fastened on nearly finger joint right end phalanges 54 by fastening screw on nearly finger joint left end phalanges 52；The nearly finger joint
Stepped hole is provided with inside front end phalanges 51；No. two preloads adjusting block 56 is made of thin portion and thick portion；No. two preload adjusting blocks
56 are installed in the stepped hole of nearly finger joint front end phalanges 51, and the shape of No. two shapes for pre-tightening adjusting block 56 and stepped hole matches
It closes, the two is unable to relative rotation, and No. two preload adjusting blocks 56 can only be along stepped hole single-degree-of-freedom linear slide；No. two preloads are adjusted
The thin portion of block 56 stretches out nearly finger joint front end phalanges 51, and end is provided with arc-shaped through-hole；The thick portion of No. two preload adjusting blocks 56 is located at close
Inside finger joint front end phalanges 51；No. two pre-load nuts 57 and nearly finger joint front end phalanges 51 are cooperatively connected, and are referred to by nearly finger joint front end
Stepped hole and No. two pre-load nuts 57 inside bone 51 realize the fastening and limit that No. two are pre-tightened with adjusting block 56；The nearly finger joint
Pressure sensor 55 is fixed on nearly 5 outer surface of finger joint；
There is key in one end (taper end) of No. three multi-diameter shafts 61, is cooperated with the band dowel hole of left valve pedestal 71 by keyway and is connected
It connects；This end (taper end) is stretched out outside the band dowel hole of left valve pedestal 71, with cooperating without dowel hole for 52 downside of nearly finger joint left end phalanges；
The other end (butt end) of No. three multi-diameter shafts 61 is equipped with axial circular groove, and No. three springs 62 are placed in axial circular groove, make
No. three multi-diameter shafts 61 and right valve pedestal 72 keep certain distance, to reduce friction when rotation；No. three multi-diameter shafts 61 are equipped with
Radial circular groove is that the installation of tendon rope 9 positions for placing tendon rope 9；The other end (butt end) of No. three multi-diameter shafts 61 is set
It is equipped with circular hole；The through-hole and No. three 61 other ends of multi-diameter shaft that the axis of nearly 54 downside of finger joint right end phalanges passes through right valve pedestal 72 are (slightly
End) circular hole cooperation, realize No. three multi-diameter shafts 61 around the rotation of the axis of 54 downside of nearly finger joint right end phalanges；
Left valve pedestal 71 is fastenedly connected with right valve pedestal 72；There are installations with right valve pedestal 72 for the left valve pedestal 71
Hole；
One end of the elastic recovery rope 8 by knot is fixed on inside remote finger joint 1, sequentially pass through remote finger joint 1 through-hole,
After the through-hole of middle finger joint rear end phalanges 33, the through-hole of nearly finger joint rear end phalanges 53 and the through-hole of pedestal 7, the other end is solid by knotting
Due to (outside) on pedestal 7；Reply movement after realizing digital flexion by the elastic force of elastic recovery rope 8；
The tendon rope 9 arranges that one end is fixed on inside remote finger joint 1 by knotting, across remote finger joint 1 using non-twined formula
Through-hole is placed in the radial circular groove of No.1 multi-diameter shaft 21, the arc-shaped through-hole of adjusting block 36 is pre-tightened across No.1, is placed in
In the radial circular groove of No. two multi-diameter shafts 41, across No. two pre-tighten adjusting block 56 arc-shaped through-holes, be placed in No. three multi-diameter shafts
In 61 radial circular groove, after the through-hole of pedestal 7, the other end is connect with external motor, drive finger movement.
Preferably, the radial circular groove of 21, No. two multi-diameter shafts 41 of No.1 multi-diameter shaft and No. three multi-diameter shafts 61 is provided with
Part protrusion, tendon rope 9 is detached from radial circular groove when preventing installation.
Preferably, No.1 pre-tightens adjusting block 36 and No. two preload adjusting blocks 56 are made of thin portion and thick portion；Thin portion and thick
At least one of portion uses non-cylinder shape, and the present embodiment is that thin portion is cuboid with rounded corners, and thick portion is cylindrical body
Shape；Such design can guarantee that No.1 pre-tightens adjusting block 36 and No. two arc-shaped through-holes of preload adjusting block 56 and leading to for tendon rope 9
Road is in same direction.
Preferably, in the rectangular channel of one end insertion middle finger joint right end phalanges 34 of the middle finger joint pressure sensor 35, separately
One end is adhered in middle finger joint front end phalanges 31；The rectangle of nearly finger joint right end phalanges 54 is inserted into nearly 55 one end of finger joint pressure sensor
In slot, the other end is adhered in nearly finger joint front end phalanges 51.
Preferably, left valve pedestal 71 is equipped with rectangle elongated slot, and right valve pedestal 72 is equipped with the rectangle elongated slot knot with left valve pedestal 71
The identical protrusion of structure is cooperated by the rectangle elongated slot of left valve pedestal 71 and the protrusion of right valve pedestal 72 and screw realizes a left side
Valve pedestal 71 and right valve pedestal 72 are fastenedly connected；The left valve pedestal 71 and right valve pedestal 72 are equal in the side far from finger tip
There are mounting holes.
Preferably, the remote finger joint right end phalanges is by 13 structure of phalanges under phalanges 12 on remote finger joint right end and remote finger joint right end
At；The remote finger joint left end phalanges 11 is fixedly connected with phalanges 13 under phalanges 12 on remote finger joint right end and remote finger joint right end respectively；
Fingertip pressure sensor 14 is fixed on remote finger joint left end phalanges 11 and remote finger joint right end in the groove of the outer surface of phalanges 12；One
The other end of number multi-diameter shaft 21 is equipped with axial circular groove, and No.1 spring 22 is placed in axial circular groove, makes No.1 ladder
Phalanges 13 keeps certain distance under axis 21 and remote finger joint right end, to reduce friction when rotation；The No.1 multi-diameter shaft 21 it is another
One end is provided with circular hole；The axis of 34 upside of middle finger joint right end phalanges passes through the through-hole and No.1 ladder of phalanges 13 under remote finger joint right end
The circular hole of 21 other end of axis cooperates, and realizes No.1 multi-diameter shaft 21 around the rotation of the axis of 34 upside of middle finger joint right end phalanges.
Preferably, the elastic recovery rope 8 includes No.1 elastic recovery rope 81 and No. two elastic recovery ropes 82；No.1 elasticity
The one end for replying rope 81 is fixed in remote finger joint left end phalanges 11 by knotting, and sequentially passes through 11 rear side of remote finger joint left end phalanges
The through-hole of through-hole, the PATENT left side via of middle finger joint rear end phalanges 33, the PATENT left side via of nearly finger joint rear end phalanges 53 and left valve pedestal 71
Afterwards, the other end is fixed on left valve pedestal 71 (outside) by knotting；One end of No. two elastic recovery ropes 82 is fixed by knotting
On remote finger joint right end in phalanges 12, phalanges under the through-hole of 12 rear side of phalanges on remote finger joint right end, remote finger joint right end is sequentially passed through
Through-hole, the right side through-hole of middle finger joint rear end phalanges 33, the right side through-hole of nearly finger joint rear end phalanges 53 and the right valve pedestal of 13 rear sides
After 72 through-hole, the other end is fixed on right valve pedestal 72 (outside) by knotting.Or the No.1 bullet that will be stretched from pedestal 7
Property reply the other end of rope 81 and the other ends of No. two elastic recovery ropes 82 is knotted together, realize on fixed pedestal 7 (outside).
Preferably, one end of the tendon rope 9 is fixed on remote finger joint right end inside phalanges 12, is referred under remote finger joint right end
The through-hole of bone 13, be placed in the radial circular groove of No.1 multi-diameter shaft 21, across No.1 pre-tighten adjusting block 36 arc-shaped through-hole,
Be placed in the radial circular groove of No. two multi-diameter shafts 41, across No. two pre-tighten adjusting block 56 arc-shaped through-holes, be placed in No. three
In the radial circular groove of multi-diameter shaft 61, after the through-hole in right valve pedestal 72, the other end is connect with external motor, and band is started
Refer to movement.
Preferably, when finger is thumb, which includes remote finger joint 1, distal end cradle head 2, nearly finger joint 5, proximal end turn
Movable joint 6, pedestal 7, elastic recovery rope 8 and tendon rope 9；There is key in one end (taper end) of the No.1 multi-diameter shaft 21, left with remote finger joint
The band dowel hole of phalanges 11 is held to be cooperatively connected by keyway；The band dowel hole of remote finger joint left end phalanges 11 is stretched out at this end (taper end)
Outside, with 52 upside of nearly finger joint left end phalanges without dowel hole cooperation；The other end (butt end) of No.1 multi-diameter shaft 21 is equipped with axial circular
Connected in star, No.1 spring 22 are placed in axial circular groove, and No.1 multi-diameter shaft 21 and remote finger joint right end phalanges is made to keep certain
Distance, to reduce friction when rotation；The No.1 multi-diameter shaft 21 is equipped with radial circular groove, is tendon rope for placing tendon rope 9
9 installation positioning；The other end (butt end) of the No.1 multi-diameter shaft 21 is provided with circular hole；The axis of nearly 54 upside of finger joint right end phalanges
Cooperate across the through-hole of remote finger joint right end phalanges and the circular hole of 21 other end of No.1 multi-diameter shaft (butt end), realizes No.1 multi-diameter shaft 21
Around the rotation of the axis of nearly 54 upside of finger joint right end phalanges.
The working principle of the invention and workflow are:
In use, by this finger by the mounting hole of 7 bottom of pedestal be respectively arranged in the index finger of Dextrous Hand palm, middle finger,
On nameless and little finger of toe corresponding position.The middle finger joint 3 of this finger and this two parts of central rotational joint 4 are deleted, directly will
Remote finger joint 1 is connected to nearly finger joint 5 and corresponding thumb can be obtained.Under the driving of external motor, the transmission of tendon rope 9 drives three to turn
Movable joint generates rotation, and finger is made to generate the movement of bending crawl, and elastic recovery rope 8 is stretched at this time, generates along elastic recovery
It restricts the pulling force in 8 directions.After completing grasp motion, external motor revolution, while loosening, elastic recovery rope 8 is drawn tendon rope 9
It starts to refer to and restores straight configuration.
This finger inevitably will cause the relaxation of tendon rope 9 under the action of pulling force, disengage it from long-term motion process
Scheduled track.Tensioning state at the time of by adjusting No.1 pre-load nut 37 and No. two pre-load nuts 57 to realize tendon rope 9, keeps away
Exempt from it and is detached from planned orbit.
The present invention does not address place and is suitable for the prior art.
Claims (10)
1. a kind of under-actuated delicacy hand finger, it is characterised in that the finger include remote finger joint, distal end cradle head, middle finger joint, in
Between cradle head, nearly finger joint, proximal end cradle head, pedestal, elastic recovery rope and tendon rope；
The remote finger joint includes remote finger joint left end phalanges, remote finger joint right end phalanges and fingertip pressure sensor；The distal end rotation
Joint includes No.1 multi-diameter shaft and No.1 spring；The middle finger joint includes middle finger joint front end phalanges, middle finger joint left end phalanges, middle finger
It saves rear end phalanges, middle finger joint right end phalanges, middle finger joint pressure sensor, No.1 and pre-tightens adjusting block and No.1 pre-load nut；It is described
Central rotational joint includes No. two multi-diameter shafts and No. two springs；The nearly finger joint includes nearly finger joint front end phalanges, nearly finger joint left end
Phalanges, nearly finger joint rear end phalanges, nearly finger joint right end phalanges, nearly finger joint pressure sensor, No. two preload adjusting blocks and No. two preloads
Nut；The proximal end cradle head includes No. three multi-diameter shafts and No. three springs；The pedestal includes left valve pedestal and right valve pedestal；
The remote finger joint left end phalanges is fixedly connected with remote finger joint right end phalanges；Fingertip pressure sensor is fixed on the outer of remote finger joint
Surface；There is key in one end of the No.1 multi-diameter shaft, is cooperatively connected with the band dowel hole of remote finger joint left end phalanges by keyway, this end
It stretches out outside the phalanges of remote finger joint left end, with cooperating on the upside of the phalanges of middle finger joint left end without dowel hole；The other end of No.1 multi-diameter shaft is set
There is axial circular groove, No.1 spring is placed in axial circular groove；The No.1 multi-diameter shaft is equipped with radial circular groove, uses
In placement tendon rope；The other end of the No.1 multi-diameter shaft is provided with circular hole；Axis on the upside of middle finger joint right end phalanges passes through remote finger joint
The through-hole of right end phalanges and the circular hole of the No.1 multi-diameter shaft other end cooperate, and realize No.1 multi-diameter shaft on the upside of middle finger joint right end phalanges
Axis rotation；
The side of middle finger joint front end phalanges is fastened on the phalanges of middle finger joint left end, and the other side is fastened on middle finger joint right end phalanges
On；The side of middle finger joint rear end phalanges is fastened on the phalanges of middle finger joint left end, and the other side is fastened on middle finger joint right end phalanges
On；Stepped hole is provided with inside the phalanges of the middle finger joint front end；The No.1 pre-tightens adjusting block and is made of thin portion and thick portion；No.1 is pre-
Tight adjusting block is installed in the stepped hole of middle finger joint front end phalanges, and No.1 pre-tightens the shape of adjusting block and the shape of stepped hole matches
It closes, the two is unable to relative rotation, and No.1 pre-tightens adjusting block can be along stepped hole linear slide；The thin portion that No.1 pre-tightens adjusting block is stretched out
Middle finger joint front end phalanges, end is provided with arc-shaped through-hole；The thick portion that No.1 pre-tightens adjusting block is located inside the phalanges of middle finger joint front end；One
Number pre-load nut and middle finger joint front end phalanges are cooperatively connected, and pass through stepped hole and No.1 inside the phalanges of middle finger joint front end and pre-tighten spiral shell
Mother realizes the fastening and limit that adjusting block is pre-tightened to No.1；The middle finger joint pressure sensor is fixed on middle finger joint outer surface；
There is key in one end of No. two multi-diameter shafts, is cooperatively connected with the band dowel hole on the downside of the phalanges of middle finger joint left end by keyway,
This end is stretched out outside the phalanges of middle finger joint left end, with cooperating on the upside of the phalanges of nearly finger joint left end without dowel hole；No. two multi-diameter shafts it is another
End is equipped with axial circular groove, and No. two springs are placed in axial circular groove；No. two multi-diameter shafts are equipped with radial round recessed
Slot, for placing tendon rope；The other end of No. two multi-diameter shafts is provided with circular hole；During axis on the upside of nearly finger joint right end phalanges passes through
The circular hole of the through-hole of finger joint right end phalanges and No. two multi-diameter shaft other ends cooperates, and realizes No. two multi-diameter shafts around nearly finger joint right end phalanges
The rotation of the axis of upside；
The side of the nearly finger joint front end phalanges is fastened on the phalanges of nearly finger joint left end, and the other side is fastened on nearly finger joint right end phalanges
On；The side of the nearly finger joint rear end phalanges is fastened on the phalanges of nearly finger joint left end, and the other side is fastened on nearly finger joint right end phalanges
On；Stepped hole is provided with inside the nearly finger joint front end phalanges；No. two preloads adjusting block is made of thin portion and thick portion；No. two pre-
Tight adjusting block is installed in the stepped hole of nearly finger joint front end phalanges, and the shape of No. two shapes for pre-tightening adjusting block and stepped hole matches
It closes, the two is unable to relative rotation, and No. two preload adjusting blocks can be along stepped hole linear slide；The thin portion of No. two preload adjusting blocks is stretched out
Nearly finger joint front end phalanges, end is provided with arc-shaped through-hole；The thick portion of No. two preload adjusting blocks is located inside the phalanges of nearly finger joint front end；Two
Number pre-load nut and nearly finger joint front end phalanges are cooperatively connected, and pass through the stepped hole and No. two preload spiral shells inside the phalanges of nearly finger joint front end
Mother realizes the fastening and limit that No. two are pre-tightened with adjusting block；The nearly finger joint pressure sensor is fixed on nearly finger joint outer surface；
There is key in one end of No. three multi-diameter shafts, is cooperatively connected with the band dowel hole of left valve pedestal by keyway, this end is stretched out left
Outside valve pedestal, with cooperating on the downside of the phalanges of nearly finger joint left end without dowel hole；The other end of No. three multi-diameter shafts is equipped with axial round recessed
Slot, No. three springs are placed in axial circular groove；No. three multi-diameter shafts are equipped with radial circular groove, for placing tendon rope；
The other end of No. three multi-diameter shafts is provided with circular hole；Axis on the downside of nearly finger joint right end phalanges passes through the through-hole and three of right valve pedestal
The circular hole cooperation of number multi-diameter shaft other end, realizes the rotation of axis of No. three multi-diameter shafts on the downside of nearly finger joint right end phalanges；
Left valve pedestal is fastenedly connected with right valve pedestal；
One end of the elastic recovery rope is fixed on inside remote finger joint, and through-hole, the middle finger joint rear end phalanges of remote finger joint are sequentially passed through
Through-hole, after the through-hole of nearly finger joint rear end phalanges and the through-hole of pedestal, the other end is fixed on pedestal；
Tendon rope one end is fixed on inside remote finger joint, across remote finger joint through-hole, be placed in the radial round of No.1 multi-diameter shaft
In the arc-shaped through-hole for pre-tightening adjusting block in groove, across No.1, the radial circular groove for being placed in No. two multi-diameter shafts, pass through No. two
It pre-tightens the arc-shaped through-hole of adjusting block, be placed in the radial circular groove of No. three multi-diameter shafts, after the through-hole of pedestal, the other end
It is connect with external motor.
2. under-actuated delicacy hand finger according to claim 1, it is characterised in that No.1 multi-diameter shaft, No. two multi-diameter shafts and three
The radial circular groove of number multi-diameter shaft is provided with part protrusion, and tendon rope is detached from radial circular groove when preventing installation.
3. under-actuated delicacy hand finger according to claim 1, it is characterised in that No.1 pre-tightens adjusting block and No. two preloads
Adjusting block is made of thin portion and thick portion；At least one of thin portion and thick portion use non-cylinder shape.
4. under-actuated delicacy hand finger according to claim 1, it is characterised in that the one of the middle finger joint pressure sensor
In the rectangular channel of end insertion middle finger joint right end phalanges, the other end is adhered in the phalanges of middle finger joint front end；Nearly finger joint pressure sensor
One end is inserted into the rectangular channel of nearly finger joint right end phalanges, and the other end is adhered in the phalanges of nearly finger joint front end.
5. under-actuated delicacy hand finger according to claim 1, it is characterised in that left valve pedestal is equipped with elongated slot, right valve pedestal
Equipped with protrusion identical with the long slot structure of left valve pedestal, cooperated by the elongated slot of left valve pedestal and the protrusion of right valve pedestal
And screw realizes being fastenedly connected for left valve pedestal and right valve pedestal；The left valve pedestal and right valve pedestal are in separate finger tip
There are mounting holes for side.
6. under-actuated delicacy hand finger according to claim 1, it is characterised in that the remote finger joint right end phalanges is by far referring to
Save on right end that phalanges is constituted under phalanges and remote finger joint right end；The remote finger joint left end phalanges respectively with phalanges on remote finger joint right end and
Phalanges is fixedly connected under remote finger joint right end；Fingertip pressure sensor is fixed on phalanges on remote finger joint left end phalanges and remote finger joint right end
Outer surface groove in；The other end of No.1 multi-diameter shaft is equipped with axial circular groove, and No.1 spring is placed in axial round recessed
In slot, phalanges under No.1 multi-diameter shaft and remote finger joint right end is made to keep certain distance, to reduce friction when rotation；The No.1 rank
The other end of terraced axis is provided with circular hole；Axis on the upside of middle finger joint right end phalanges passes through the through-hole and No.1 of phalanges under remote finger joint right end
The circular hole of the multi-diameter shaft other end cooperates, and realizes the rotation of axis of the No.1 multi-diameter shaft on the upside of middle finger joint right end phalanges.
7. under-actuated delicacy hand finger according to claim 6, it is characterised in that the elastic recovery rope includes No.1 bullet
Property reply rope and No. two elastic recovery ropes；One end of No.1 elastic recovery rope is fixed in the phalanges of remote finger joint left end, is sequentially passed through
Through-hole, the PATENT left side via of middle finger joint rear end phalanges, the PATENT left side via of nearly finger joint rear end phalanges on rear side of remote finger joint left end phalanges and
After the through-hole of left valve pedestal, the other end is fixed on left valve pedestal；One end of No. two elastic recovery ropes is fixed on remote finger joint right end
In upper phalanges, through-hole on remote finger joint right end on rear side of phalanges, the through-hole under remote finger joint right end on rear side of phalanges, middle finger joint are sequentially passed through
After the through-hole of the right side through-hole of rear end phalanges, the right side through-hole of nearly finger joint rear end phalanges and right valve pedestal, the other end is fixed on the right side
On valve pedestal.
8. under-actuated delicacy hand finger according to claim 7, it is characterised in that by the No.1 stretched from pedestal elasticity
The other end of the other end and No. two elastic recovery ropes of replying rope is knotted together.
9. under-actuated delicacy hand finger according to claim 6, it is characterised in that remote finger is fixed in one end of the tendon rope
It saves on right end inside phalanges, in the through-hole of phalanges under remote finger joint right end, the radial circular groove for being placed in No.1 multi-diameter shaft,
Across No.1 pre-tighten the arc-shaped through-hole of adjusting block, in the radial circular groove for being placed in No. two multi-diameter shafts, pass through No. two preload tune
The arc-shaped through-hole of locking nub is placed in the radial circular groove of No. three multi-diameter shafts, after the through-hole in right valve pedestal, the other end
It is connect with external motor, drives finger movement.
10. under-actuated delicacy hand finger according to claim 1, it is characterised in that when finger is thumb, the finger packet
Include remote finger joint, distal end cradle head, nearly finger joint, proximal end cradle head, pedestal, elastic recovery rope and tendon rope；The No.1 ladder
There is key in one end of axis, is cooperatively connected with the band dowel hole of remote finger joint left end phalanges by keyway, this end is stretched out remote finger joint left end and referred to
Outside bone, with cooperating on the upside of the phalanges of nearly finger joint left end without dowel hole；The other end of No.1 multi-diameter shaft is equipped with axial circular groove, and one
Number spring is placed in axial circular groove；The No.1 multi-diameter shaft is equipped with radial circular groove, for placing tendon rope；Described one
The other end of number multi-diameter shaft is provided with circular hole；Axis on the upside of nearly finger joint right end phalanges passes through the through-hole and one of remote finger joint right end phalanges
The circular hole cooperation of number multi-diameter shaft other end, realizes the rotation of axis of the No.1 multi-diameter shaft on the upside of nearly finger joint right end phalanges.
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| CN201910482207.XA CN110076812B (en) | 2019-06-04 | 2019-06-04 | Under-actuated dexterous hand finger |
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| CN201910482207.XA CN110076812B (en) | 2019-06-04 | 2019-06-04 | Under-actuated dexterous hand finger |
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| CN111070232A (en) * | 2020-01-16 | 2020-04-28 | 河北工业大学 | Pneumatic driven two-finger manipulator |
| CN111168702A (en) * | 2020-01-10 | 2020-05-19 | 河北工业大学 | Under-actuated five-finger dexterous hand based on joint constraint |
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| CN110076812B (en) | 2022-04-01 |
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