CN110076812B - Under-actuated dexterous hand finger - Google Patents
Under-actuated dexterous hand finger Download PDFInfo
- Publication number
- CN110076812B CN110076812B CN201910482207.XA CN201910482207A CN110076812B CN 110076812 B CN110076812 B CN 110076812B CN 201910482207 A CN201910482207 A CN 201910482207A CN 110076812 B CN110076812 B CN 110076812B
- Authority
- CN
- China
- Prior art keywords
- knuckle
- phalanx
- hole
- far
- adjusting block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an under-actuated dexterous hand finger which comprises a far knuckle, a far-end rotating joint, a middle knuckle, a middle rotating joint, a near knuckle, a near-end rotating joint, a base, an elastic restoring rope and a tendon rope. And the pre-tightening adjusting block integrated in the knuckle can adjust through the pre-tightening nut to realize the later multi-time pre-tightening of the tendon rope. The pretension adjusting block is adjusted through the pretension nut when the tendon rope is loosened in the later use process, so that the tendon rope is not required to be pretensioned again by disassembling and assembling the dexterous hand, the phenomenon that the tendon rope is loosened to cause a large motion transmission error is avoided, and the problem that the tendon rope is loosened in the long-term use process of the tendon rope transmission type dexterous hand is solved. The whole circumference of fixed pulley is replaced to the arc through-hole that adopts the pretension regulating block, has further saved finger inner space for dexterous hand finger's size further reduces, and has increased the orbital adjustable range of tendon rope transmission through the whole circumference that uses the arc through-hole to replace the pulley.
Description
Technical Field
The invention relates to the field of robots, in particular to an under-actuated dexterous hand finger.
Background
With the development of society, robots are gradually entering the daily lives of people, especially in the field of nursing robots, and at the moment, higher requirements are put on the flexibility of robot end effectors. The dexterous hand of the robot is a good implementation mode for achieving the requirement, and the anthropomorphic property of the dexterous hand endows the dexterous hand with more delicate operation capability.
The existing dexterous hand can be divided into a full-drive type dexterous hand and an under-drive type dexterous hand according to a driving mode, wherein the under-drive type dexterous hand saves the internal space of fingers so as to make the dexterous hand smaller and more exquisite and anthropomorphic, and the most common transmission mode adopts tendon rope transmission. The tendon rope needs to be considered in a reasonable arrangement mode during transmission so as to meet the pre-tightening requirement, and the tendon rope is ensured to be in a tensioning state all the time in the long-term use process of a dexterous hand. Chenyu Yu states in the literature "shallow analysis multi-finger bionic dexterous hand structure design" that when the rope of the tendon rope transmission type robot dexterous hand is used for a long time, the rope is loosened, the pretension needs to be carried out again, and the process of dismounting and mounting the dexterous hand is complex. Four rope pre-tightening modes proposed by Van Dapeng in the document 'State of research and analysis of precision Flexible Cable Transmission technology' are complex and difficult to realize, and a large internal space of a finger is occupied when a fixed pulley form is adopted inside the device to serve as a tendon rope transmission track.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an under-actuated dexterous finger.
The technical scheme for solving the technical problem is to provide an under-actuated dexterous hand finger which is characterized by comprising a far knuckle, a far rotary joint, a middle knuckle, a middle rotary joint, a near knuckle, a near rotary joint, a base, an elastic restoring rope and a tendon rope;
the far knuckle comprises a far knuckle left end phalanx, a far knuckle right end phalanx and a fingertip pressure sensor; the far-end rotating joint comprises a first stepped shaft and a first spring; the middle knuckle comprises a middle knuckle front end knuckle bone, a middle knuckle left end knuckle bone, a middle knuckle rear end knuckle bone, a middle knuckle right end knuckle bone, a middle knuckle pressure sensor, a first pre-tightening adjusting block and a first pre-tightening nut; the middle rotating joint comprises a second stepped shaft and a second spring; the near knuckle comprises a near knuckle front end phalanx, a near knuckle left end phalanx, a near knuckle rear end phalanx, a near knuckle right end phalanx, a near knuckle pressure sensor, a second pre-tightening adjusting block and a second pre-tightening nut; the near-end rotating joint comprises a third stepped shaft and a third spring; the base comprises a left petal base and a right petal base;
the phalanx at the left end of the distal knuckle is fixedly connected with the phalanx at the right end of the distal knuckle; the fingertip pressure sensor is fixed on the outer surface of the far knuckle; one end of the first stepped shaft is provided with a key and is matched and connected with a slotted hole with a key of the phalanx at the left end of the far knuckle through a key slot, and the end extends out of the phalanx at the left end of the far knuckle and is matched with a slotted hole without a key at the upper side of the phalanx at the left end of the middle knuckle; the other end of the first stepped shaft is provided with an axial circular groove, and the first spring is placed in the axial circular groove; the first stepped shaft is provided with a radial circular groove for placing a tendon rope; the other end of the first stepped shaft is provided with a round hole; the shaft on the upper side of the phalanx at the right end of the middle knuckle penetrates through the through hole of the phalanx at the right end of the far knuckle to be matched with the round hole at the other end of the first stepped shaft, so that the first stepped shaft rotates around the shaft on the upper side of the phalanx at the right end of the middle knuckle;
one side of the phalanx at the front end of the middle knuckle is fastened on the phalanx at the left end of the middle knuckle, and the other side of the phalanx at the right end of the middle knuckle is fastened on the phalanx at the right end of the middle knuckle; one side of the phalanx at the rear end of the middle knuckle is fastened on the phalanx at the left end of the middle knuckle, and the other side of the phalanx at the right end of the middle knuckle is fastened on the phalanx at the right end of the middle knuckle; a stepped hole is formed in the phalanx at the front end of the middle knuckle; the first pre-tightening adjusting block consists of a thin part and a thick part; the first pre-tightening adjusting block is clamped in a stepped hole of a phalanx at the front end of a middle knuckle, the shape of the first pre-tightening adjusting block is matched with that of the stepped hole, the first pre-tightening adjusting block and the stepped hole cannot rotate relative to each other, and the first pre-tightening adjusting block can slide linearly along the stepped hole; the thin part of the first pre-tightening adjusting block extends out of a phalanx at the front end of the middle knuckle, and the end part of the first pre-tightening adjusting block is provided with an arc-shaped through hole; the thick part of the first pre-tightening adjusting block is positioned inside a phalanx at the front end of the middle knuckle; the first pre-tightening nut is connected with the phalanx at the front end of the middle knuckle in a matched mode, and the first pre-tightening adjusting block is fastened and limited through a stepped hole in the phalanx at the front end of the middle knuckle and the first pre-tightening nut; the middle knuckle pressure sensor is fixed on the outer surface of the middle knuckle;
one end of the second stepped shaft is provided with a key and is matched and connected with a slotted hole with a key at the lower side of the phalanx at the left end of the middle knuckle through a key slot, and the end extends out of the phalanx at the left end of the middle knuckle and is matched with a slotted hole without a key at the upper side of the phalanx at the left end of the proximal knuckle; the other end of the second stepped shaft is provided with an axial circular groove, and the second spring is placed in the axial circular groove; the second stepped shaft is provided with a radial circular groove for placing a tendon rope; the other end of the second stepped shaft is provided with a round hole; the shaft on the upper side of the phalanx on the right end of the near knuckle penetrates through the through hole on the phalanx on the right end of the middle knuckle to be matched with the round hole on the other end of the second stepped shaft, so that the second stepped shaft rotates around the shaft on the upper side of the phalanx on the right end of the near knuckle;
one side of the phalanx at the front end of the proximal knuckle is fastened on the phalanx at the left end of the proximal knuckle, and the other side of the phalanx at the right end of the proximal knuckle is fastened on the phalanx at the right end of the proximal knuckle; one side of the phalanx at the rear end of the proximal knuckle is fastened on the phalanx at the left end of the proximal knuckle, and the other side of the phalanx at the right end of the proximal knuckle is fastened on the phalanx at the right end of the proximal knuckle; a stepped hole is formed in the phalanx at the front end of the proximal knuckle; the second pre-tightening adjusting block consists of a thin part and a thick part; the second pre-tightening adjusting block is clamped in a stepped hole of a phalanx at the front end of the proximal knuckle, the shape of the second pre-tightening adjusting block is matched with that of the stepped hole, the second pre-tightening adjusting block and the stepped hole cannot rotate relative to each other, and the second pre-tightening adjusting block can slide linearly along the stepped hole; the thin part of the second pre-tightening adjusting block extends out of the phalanx at the front end of the proximal knuckle, and the end part of the second pre-tightening adjusting block is provided with an arc-shaped through hole; the thick part of the second pre-tightening adjusting block is positioned inside a phalanx at the front end of the proximal knuckle; the second pre-tightening nut is connected with the phalanx at the front end of the proximal knuckle in a matched mode, and the second pre-tightening adjusting block is fastened and limited through a stepped hole in the phalanx at the front end of the proximal knuckle and the second pre-tightening nut; the proximal knuckle pressure sensor is fixed on the outer surface of the proximal knuckle;
one end of the third stepped shaft is provided with a key, is matched and connected with a slotted hole with a key of the left petal base through a key slot, extends out of the left petal base, and is matched with a slotted hole without a key on the lower side of a phalanx at the left end of the proximal knuckle; the other end of the third stepped shaft is provided with an axial circular groove, and the third spring is placed in the axial circular groove; the third stepped shaft is provided with a radial circular groove for placing a tendon rope; the other end of the third stepped shaft is provided with a round hole; the shaft on the lower side of the phalanx at the right end of the proximal knuckle penetrates through the through hole of the right petal base to be matched with the round hole at the other end of the third stepped shaft, so that the third stepped shaft rotates around the shaft on the lower side of the phalanx at the right end of the proximal knuckle;
the left petal base is fixedly connected with the right petal base;
one end of the elastic restoring rope is fixed in the far knuckle and sequentially passes through the through hole of the far knuckle, the through hole of the phalanx at the rear end of the middle knuckle, the through hole of the phalanx at the rear end of the near knuckle and the through hole of the base, and the other end of the elastic restoring rope is fixed on the base;
one end of the tendon rope is fixed inside the far knuckle, penetrates through a through hole of the far knuckle, is placed in a radial circular groove of the first stepped shaft, penetrates through an arc-shaped through hole of the first pre-tightening adjusting block, is placed in a radial circular groove of the second stepped shaft, penetrates through an arc-shaped through hole of the second pre-tightening adjusting block, is placed in a radial circular groove of the third stepped shaft, penetrates through a through hole of the base and then is connected with an external motor.
Compared with the prior art, the invention has the beneficial effects that:
1) and the pre-tightening adjusting block integrated in the knuckle can adjust through the pre-tightening nut to realize the later multi-time pre-tightening of the tendon rope. When the initial pre-tightening is installed, a pre-tightening space is reserved, the pre-tightening adjusting block is adjusted through the pre-tightening nut when the tendon rope is loosened in the later use process, the tendon rope is not required to be pre-tightened again by disassembling and assembling the dexterous hand, the phenomenon that the tendon rope is loosened due to the fact that the tendon rope is loosened and large movement transmission errors occur is avoided, and the problem that the tendon rope is loosened in the long-term use process of the tendon rope transmission type dexterous hand is solved.
2) The whole circumference of fixed pulley is replaced to the arc through-hole that adopts the pretension regulating block, has further saved finger inner space for dexterous hand finger's size further reduces, and has increased the orbital adjustable range of tendon rope transmission through the whole circumference that uses the arc through-hole to replace the pulley.
3) The finger adopts an underactuated mode and a separated structure, has simple structure, light weight, convenient assembly and small volume, and further saves the internal space of the finger.
4) The tendon rope arrangement of the dexterous hand finger adopts a non-winding type, so that the friction force in the rope transmission process is effectively reduced, and the fingertip force in the finger gripping process is increased.
5) The radial circular groove of the stepped shaft, namely the tendon rope track, adopts a partial convex design, so that the possibility of the tendon rope being separated from the track is reduced, and the action of fingers is more stable.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is an exploded view of the overall structure of the present invention;
FIG. 3 is a schematic cross-sectional view of the overall structure of the present invention;
FIG. 4 is a schematic diagram of the phalangeal axial measurement of the front end of the knuckle according to the present invention;
FIG. 5 is a cross-sectional view of the phalanx at the front end of the knuckle according to the present invention;
FIG. 6 is a schematic perspective view of a first pre-tightening adjusting block according to the present invention;
FIG. 7 is a perspective view of a first step shaft according to the present invention;
FIG. 8 is a perspective view of the left phalanx of the distal knuckle of the present invention;
FIG. 9 is a perspective view of the phalanx at the right end of the knuckle according to the present invention;
FIG. 10 is a schematic view of a base structure according to the present invention;
in the figure: 1. a distal knuckle; 11. distal knuckle left phalanx; 12. the upper phalanx at the right end of the distal knuckle; 13. the lower phalanx of the right end of the distal knuckle; 14. a fingertip pressure sensor;
2. a distal revolute joint; 21. a first stepped shaft; 22. a first spring;
3. a middle knuckle; 31. the front phalanx of the middle knuckle; 32. the phalanx of the left end of the middle knuckle; 33. the middle knuckle back phalanx; 34. the right phalanx of the middle knuckle; 35. a middle knuckle pressure sensor; 36. a first pre-tightening adjusting block; 37. a first pre-tightening nut;
4. a middle revolute joint; 41. a second stepped shaft; 42. a second spring;
5. a proximal knuckle; 51. the front phalanx of the proximal knuckle; 52. the phalanx of the left end of the proximal knuckle; 53. the proximal knuckle rear phalanx; 54. the right phalanx of the proximal knuckle; 55. a proximal knuckle pressure sensor; 56. a second pre-tightening adjusting block; 57. a second pre-tightening nut;
6. a proximal revolute joint; 61. a third stepped shaft; 62. a third spring;
7. a base; 71. a left petal base; 72. a right petal base;
8. an elastic return cord; 81. an elastic restoring rope; 82. a second elastic restoring rope;
9. a tendon rope.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides an under-actuated dexterous hand finger (for short, refer to fingers in figures 1-10), which is characterized in that the finger comprises a far knuckle 1, a far rotary joint 2, a middle knuckle 3, a middle rotary joint 4, a near knuckle 5, a near rotary joint 6, a base 7, an elastic restoring rope 8 and a tendon rope 9;
the far knuckle 1 comprises a far knuckle left end phalanx 11, a far knuckle right end phalanx and a fingertip pressure sensor 14; the distal rotary joint 2 comprises a first stepped shaft 21 and a first spring 22; the middle knuckle 3 comprises a middle knuckle front end phalanx 31, a middle knuckle left end phalanx 32, a middle knuckle rear end phalanx 33, a middle knuckle right end phalanx 34, a middle knuckle pressure sensor 35, a first pre-tightening adjusting block 36 and a first pre-tightening nut 37; the middle rotating joint 4 comprises a second stepped shaft 41 and a second spring 42; the proximal knuckle 5 comprises a proximal knuckle front end phalanx 51, a proximal knuckle left end phalanx 52, a proximal knuckle rear end phalanx 53, a proximal knuckle right end phalanx 54, a proximal knuckle pressure sensor 55, a second pre-tightening adjusting block 56 and a second pre-tightening nut 57; the proximal rotary joint 6 comprises a third stepped shaft 61 and a third spring 62; the base 7 is of a two-petal structure and comprises a left petal base 71 and a right petal base 72;
the left phalanx 11 of the far knuckle is fixedly connected with the right phalanx of the far knuckle through a screw; the fingertip pressure sensor 14 is fixed on the outer surface of the far knuckle 1; one end (thin end) of the first stepped shaft 21 is provided with a key which is matched and connected with a slotted hole with a key of the phalanx 11 at the left end of the far knuckle through a key slot; the end (thin end) extends out of the keyhole of the phalanx 11 at the left end of the far knuckle and is matched with the non-keyhole hole at the upper side of the phalanx 32 at the left end of the middle knuckle; an axial circular groove is formed in the other end (thick end) of the first stepped shaft 21, and a first spring 22 is placed in the axial circular groove, so that the first stepped shaft 21 keeps a certain distance from a phalanx at the right end of a far knuckle to reduce friction during rotation; the first stepped shaft 21 is provided with a radial circular groove for placing the tendon rope 9 and positioning the tendon rope 9; a round hole is formed in the other end (thick end) of the first stepped shaft 21; the shaft on the upper side of the middle knuckle right phalanx 34 penetrates through the through hole of the far knuckle right phalanx and is matched with the round hole at the other end (thick end) of the first stepped shaft 21, so that the first stepped shaft 21 rotates around the shaft on the upper side of the middle knuckle right phalanx 34;
one side of the middle knuckle front end phalanx 31 is fastened on the middle knuckle left end phalanx 32 through a fastening screw, and the other side is fastened on the middle knuckle right end phalanx 34 through a fastening screw; one side of the middle knuckle rear end phalanx 33 is fastened on the middle knuckle left end phalanx 32 through a fastening screw, and the other side of the middle knuckle rear end phalanx is fastened on the middle knuckle right end phalanx 34 through a fastening screw; a stepped hole is formed in the phalanx 31 at the front end of the middle knuckle; the first pre-tightening adjusting block 36 consists of a thin part and a thick part; the first pre-tightening adjusting block 36 is clamped in a stepped hole of the phalanx 31 at the front end of the middle knuckle, the shape of the first pre-tightening adjusting block 36 is matched with that of the stepped hole, the first pre-tightening adjusting block and the stepped hole cannot rotate relative to each other, and the first pre-tightening adjusting block 36 can only linearly slide along the stepped hole with one degree of freedom; the thin part of the first pre-tightening adjusting block 36 extends out of the phalanx 31 at the front end of the middle knuckle, and the end part is provided with an arc-shaped through hole; the thick part of the first pre-tightening adjusting block 36 is positioned in the phalanx 31 at the front end of the middle knuckle; the first pre-tightening nut 37 is connected with the middle knuckle front end phalanx 31 in a matched mode, and the first pre-tightening adjusting block 36 is fastened and limited through a stepped hole in the middle knuckle front end phalanx 31 and the first pre-tightening nut 37; the middle knuckle pressure sensor 35 is fixed on the outer surface of the middle knuckle 3;
one end (thin end) of the second stepped shaft 41 is provided with a key which is matched and connected with a slotted hole with a key at the lower side of the phalanx 32 at the left end of the middle knuckle through a key slot; the end (thin end) extends out of the keyhole hole of the phalanx 32 at the left end of the middle knuckle and is matched with the non-keyhole hole at the upper side of the phalanx 52 at the left end of the proximal knuckle; an axial circular groove is formed in the other end (thick end) of the second stepped shaft 41, and the second spring 42 is placed in the axial circular groove, so that a certain distance is kept between the second stepped shaft 41 and the phalanx 34 at the right end of the middle knuckle, and friction during rotation is reduced; the second stepped shaft 41 is provided with a radial circular groove for placing the tendon rope 9 and positioning the tendon rope 9; a round hole is formed in the other end (thick end) of the second stepped shaft 41; the shaft on the upper side of the near knuckle right phalanx 54 penetrates through the through hole on the lower side of the middle knuckle right phalanx 34 to be matched with the round hole at the other end (thick end) of the second stepped shaft 41, so that the second stepped shaft 41 rotates around the shaft on the upper side of the near knuckle right phalanx 54;
one side of the front phalanx 51 of the proximal knuckle is fastened on the left phalanx 52 of the proximal knuckle through a fastening screw, and the other side of the front phalanx is fastened on the right phalanx 54 of the proximal knuckle through a fastening screw; one side of the phalanx 53 at the rear end of the proximal knuckle is fastened on the phalanx 52 at the left end of the proximal knuckle through a fastening screw, and the other side of the phalanx at the right end of the proximal knuckle is fastened on the phalanx 54 through a fastening screw; a stepped hole is formed in the phalanx 51 at the front end of the proximal knuckle; the second pre-tightening adjusting block 56 is composed of a thin part and a thick part; the second pre-tightening adjusting block 56 is clamped in a stepped hole of the phalanx 51 at the front end of the proximal knuckle, the shape of the second pre-tightening adjusting block 56 is matched with that of the stepped hole, the second pre-tightening adjusting block and the stepped hole cannot rotate relative to each other, and the second pre-tightening adjusting block 56 can only linearly slide along one degree of freedom of the stepped hole; the thin part of the second pre-tightening adjusting block 56 extends out of the phalanx 51 at the front end of the proximal knuckle, and the end part is provided with an arc-shaped through hole; the thick part of the second pre-tightening adjusting block 56 is positioned inside the phalanx 51 at the front end of the proximal knuckle; the second pre-tightening nut 57 is connected with the proximal knuckle front end phalanx 51 in a matched mode, and the second pre-tightening adjusting block 56 is fastened and limited through a stepped hole in the proximal knuckle front end phalanx 51 and the second pre-tightening nut 57; the proximal knuckle pressure sensor 55 is fixed on the outer surface of the proximal knuckle 5;
one end (thin end) of the third stepped shaft 61 is provided with a key, and is matched and connected with a slotted hole with a key of the left valve base 71 through a key slot; the end (thin end) extends out of the slotted hole with the key of the left petal base 71 and is matched with the non-slotted hole at the lower side of the phalanx 52 at the left end of the proximal knuckle; an axial circular groove is formed in the other end (thick end) of the third stepped shaft 61, and the third spring 62 is placed in the axial circular groove, so that the third stepped shaft 61 and the right petal base 72 keep a certain distance to reduce friction during rotation; the third stepped shaft 61 is provided with a radial circular groove for placing the tendon rope 9 and positioning the tendon rope 9; a round hole is formed in the other end (thick end) of the third stepped shaft 61; the shaft on the lower side of the proximal knuckle right phalanx 54 penetrates through the through hole of the right petal base 72 to be matched with the round hole at the other end (thick end) of the third stepped shaft 61, so that the third stepped shaft 61 rotates around the shaft on the lower side of the proximal knuckle right phalanx 54;
the left petal base 71 is fixedly connected with the right petal base 72; mounting holes are reserved in the left petal base 71 and the right petal base 72;
one end of the elastic restoring rope 8 is fixed inside the far knuckle 1 through a knot, and after sequentially passing through the through hole of the far knuckle 1, the through hole of the middle knuckle rear end phalanx 33, the through hole of the near knuckle rear end phalanx 53 and the through hole of the base 7, the other end of the elastic restoring rope is fixed on the base 7 (outside) through a knot; the elastic force of the elastic restoring rope 8 realizes the restoring action of the bent fingers;
the tendon rope 9 is arranged in a non-winding manner, one end of the tendon rope is fixed inside the far knuckle 1 through knotting, the tendon rope penetrates through a through hole of the far knuckle 1, is placed in a radial circular groove of the first stepped shaft 21, penetrates through an arc-shaped through hole of the first pre-tightening adjusting block 36, is placed in a radial circular groove of the second stepped shaft 41, penetrates through an arc-shaped through hole of the second pre-tightening adjusting block 56, is placed in a radial circular groove of the third stepped shaft 61, and penetrates through a through hole of the base 7, and then the other end of the tendon rope is connected with an external motor to drive fingers to move.
Preferably, the radial circular grooves of the first stepped shaft 21, the second stepped shaft 41 and the third stepped shaft 61 are all provided with partial protrusions to prevent the tendon rope 9 from escaping from the radial circular grooves when installed.
Preferably, the first pre-tightening adjusting block 36 and the second pre-tightening adjusting block 56 are both formed by a thin part and a thick part; at least one of the thin part and the thick part is in a non-cylindrical shape, the thin part is in a cuboid shape with a round angle in the embodiment, and the thick part is in a cylindrical shape; due to the design, the arc-shaped through holes of the first pre-tightening adjusting block 36 and the second pre-tightening adjusting block 56 can be ensured to be in the same direction with the channel of the tendon rope 9.
Preferably, one end of the middle knuckle pressure sensor 35 is inserted into the rectangular groove of the right phalanx 34 of the middle knuckle, and the other end is adhered to the front phalanx 31 of the middle knuckle; one end of the proximal knuckle pressure sensor 55 is inserted into a rectangular groove of the proximal knuckle right phalanx 54, and the other end is bonded to the proximal knuckle front phalanx 51.
Preferably, the left petal base 71 is provided with a rectangular long groove, the right petal base 72 is provided with a protrusion with the same structure as the rectangular long groove of the left petal base 71, and the left petal base 71 and the right petal base 72 are fastened and connected through the mutual matching of the rectangular long groove of the left petal base 71 and the protrusion of the right petal base 72 and screws; the left petal base 71 and the right petal base 72 are provided with mounting holes at the sides far away from the finger tips.
Preferably, the far knuckle right phalanx is composed of a far knuckle right upper phalanx 12 and a far knuckle right lower phalanx 13; the phalanx 11 at the left end of the far knuckle is fixedly connected with the upper phalanx 12 at the right end of the far knuckle and the lower phalanx 13 at the right end of the far knuckle respectively; the fingertip pressure sensor 14 is fixed in a groove on the outer surface of the phalanx 11 at the left end of the far knuckle and the phalanx 12 at the right end of the far knuckle; the other end of the first stepped shaft 21 is provided with an axial circular groove, and the first spring 22 is placed in the axial circular groove, so that the first stepped shaft 21 keeps a certain distance from the lower phalanx 13 at the right end of the far knuckle to reduce friction during rotation; the other end of the first stepped shaft 21 is provided with a round hole; the shaft on the upper side of the middle knuckle right end phalanx 34 penetrates through the through hole of the far knuckle right end lower phalanx 13 to be matched with the round hole at the other end of the first stepped shaft 21, and therefore the first stepped shaft 21 rotates around the shaft on the upper side of the middle knuckle right end phalanx 34.
Preferably, said elastic restoring string 8 comprises a first elastic restoring string 81 and a second elastic restoring string 82; one end of the first elastic restoring rope 81 is fixed in the phalanx 11 at the left end of the distal knuckle through a knot, and after sequentially passing through a through hole at the rear side of the phalanx 11 at the left end of the distal knuckle, a through hole at the left side of the phalanx 33 at the rear end of the middle knuckle, a through hole at the left side of the phalanx 53 at the rear end of the proximal knuckle and a through hole of the left valve base 71, the other end is fixed on (outside) the left valve base 71 through a knot; one end of the second elastic restoring rope 82 is fixed in the upper phalanx 12 at the right end of the far knuckle through a knot, and after sequentially passing through a through hole at the rear side of the upper phalanx 12 at the right end of the far knuckle, a through hole at the rear side of the lower phalanx 13 at the right end of the far knuckle, a through hole at the right side of the phalanx 33 at the rear end of the middle knuckle, a through hole at the right side of the phalanx 53 at the rear end of the near knuckle and a through hole of the right petal base 72, the other end is fixed on (outside) the right petal base 72 through a knot. Or the other end of the first elastic restoring string 81 and the other end of the second elastic restoring string 82, which extend from the base 7, are tied together to fix the base 7 (outside).
Preferably, one end of the tendon rope 9 is fixed inside the upper phalanx 12 at the right end of the far knuckle, passes through a through hole of the lower phalanx 13 at the right end of the far knuckle, is placed in a radial circular groove of the first stepped shaft 21, passes through an arc-shaped through hole of the first pre-tightening adjusting block 36, is placed in a radial circular groove of the second stepped shaft 41, passes through an arc-shaped through hole of the second pre-tightening adjusting block 56, is placed in a radial circular groove of the third stepped shaft 61, and passes through a through hole in the right petal base 72, and then the other end of the tendon rope is connected with an external motor to drive fingers to move.
Preferably, when the finger is a thumb, the finger comprises a distal knuckle 1, a distal revolute joint 2, a proximal knuckle 5, a proximal revolute joint 6, a base 7, an elastic restoring string 8 and a tendon string 9; one end (thin end) of the first stepped shaft 21 is provided with a key which is matched and connected with a slotted hole with a key of the phalanx 11 at the left end of the far knuckle through a key slot; the end (thin end) extends out of the keyhole hole of the phalanx 11 at the left end of the far knuckle and is matched with the non-keyhole hole at the upper side of the phalanx 52 at the left end of the near knuckle; an axial circular groove is formed in the other end (thick end) of the first stepped shaft 21, and a first spring 22 is placed in the axial circular groove, so that the first stepped shaft 21 keeps a certain distance from a phalanx at the right end of a far knuckle to reduce friction during rotation; the first stepped shaft 21 is provided with a radial circular groove for placing the tendon rope 9 and positioning the tendon rope 9; a round hole is formed in the other end (thick end) of the first stepped shaft 21; the shaft on the upper side of the proximal knuckle right phalanx 54 penetrates through the through hole on the distal knuckle right phalanx and is matched with the round hole on the other end (thick end) of the first stepped shaft 21, so that the first stepped shaft 21 rotates around the shaft on the upper side of the proximal knuckle right phalanx 54.
The working principle and the working process of the invention are as follows:
when in use, the finger is respectively arranged on the corresponding positions of the index finger, the middle finger, the ring finger and the little finger of the palm of the dexterous hand through the mounting hole at the bottom of the base 7. The middle knuckle 3 and the middle revolute joint 4 of the finger are removed, and the corresponding thumb can be obtained by directly connecting the far knuckle 1 to the near knuckle 5. Under the drive of an external motor, the tendon rope 9 drives the three rotating joints to rotate, so that fingers generate bending and grabbing actions, the elastic restoring rope 8 is stretched, and pulling force in the direction of the elastic restoring rope 8 is generated. After the gripping action is completed, the external motor is turned around, and the elastic restoring rope 8 pulls the fingers to restore the straight state while the tendon rope 9 is relaxed.
The finger can lead the tendon rope 9 to be loosened and separated from the preset track inevitably under the action of the pulling force in the long-term movement process. The tension state of the tendon rope 9 is prevented from being separated from the preset track by adjusting the first pre-tightening nut 37 and the second pre-tightening nut 57.
Nothing in this specification is said to apply to the prior art.
Claims (9)
1. An under-actuated dexterous hand finger is characterized in that the finger comprises a far knuckle, a far rotary joint, a middle knuckle, a middle rotary joint, a near knuckle, a near rotary joint, a base, an elastic restoring rope and a tendon rope;
the far knuckle comprises a far knuckle left end phalanx, a far knuckle right end phalanx and a fingertip pressure sensor; the far-end rotating joint comprises a first stepped shaft and a first spring; the middle knuckle comprises a middle knuckle front end knuckle bone, a middle knuckle left end knuckle bone, a middle knuckle rear end knuckle bone, a middle knuckle right end knuckle bone, a middle knuckle pressure sensor, a first pre-tightening adjusting block and a first pre-tightening nut; the middle rotating joint comprises a second stepped shaft and a second spring; the near knuckle comprises a near knuckle front end phalanx, a near knuckle left end phalanx, a near knuckle rear end phalanx, a near knuckle right end phalanx, a near knuckle pressure sensor, a second pre-tightening adjusting block and a second pre-tightening nut; the near-end rotating joint comprises a third stepped shaft and a third spring; the base comprises a left petal base and a right petal base;
the phalanx at the left end of the distal knuckle is fixedly connected with the phalanx at the right end of the distal knuckle; the fingertip pressure sensor is fixed on the outer surface of the far knuckle; one end of the first stepped shaft is provided with a key and is matched and connected with a slotted hole with a key of the phalanx at the left end of the far knuckle through a key slot, and the end extends out of the phalanx at the left end of the far knuckle and is matched with a slotted hole without a key at the upper side of the phalanx at the left end of the middle knuckle; the other end of the first stepped shaft is provided with an axial circular groove, and the first spring is placed in the axial circular groove; the first stepped shaft is provided with a radial circular groove for placing a tendon rope; the other end of the first stepped shaft is provided with a round hole; the shaft on the upper side of the phalanx at the right end of the middle knuckle penetrates through the through hole of the phalanx at the right end of the far knuckle to be matched with the round hole at the other end of the first stepped shaft, so that the first stepped shaft rotates around the shaft on the upper side of the phalanx at the right end of the middle knuckle;
one side of the phalanx at the front end of the middle knuckle is fastened on the phalanx at the left end of the middle knuckle, and the other side of the phalanx at the right end of the middle knuckle is fastened on the phalanx at the right end of the middle knuckle; one side of the phalanx at the rear end of the middle knuckle is fastened on the phalanx at the left end of the middle knuckle, and the other side of the phalanx at the right end of the middle knuckle is fastened on the phalanx at the right end of the middle knuckle; a stepped hole is formed in the phalanx at the front end of the middle knuckle; the first pre-tightening adjusting block consists of a thin part and a thick part; the first pre-tightening adjusting block is clamped in a stepped hole of a phalanx at the front end of a middle knuckle, the shape of the first pre-tightening adjusting block is matched with that of the stepped hole, the first pre-tightening adjusting block and the stepped hole cannot rotate relative to each other, and the first pre-tightening adjusting block can slide linearly along the stepped hole; the thin part of the first pre-tightening adjusting block extends out of a phalanx at the front end of the middle knuckle, and the end part of the first pre-tightening adjusting block is provided with an arc-shaped through hole; the thick part of the first pre-tightening adjusting block is positioned inside a phalanx at the front end of the middle knuckle; the first pre-tightening nut is connected with the phalanx at the front end of the middle knuckle in a matched mode, and the first pre-tightening adjusting block is fastened and limited through a stepped hole in the phalanx at the front end of the middle knuckle and the first pre-tightening nut; the middle knuckle pressure sensor is fixed on the outer surface of the middle knuckle;
one end of the second stepped shaft is provided with a key and is matched and connected with a slotted hole with a key at the lower side of the phalanx at the left end of the middle knuckle through a key slot, and the end extends out of the phalanx at the left end of the middle knuckle and is matched with a slotted hole without a key at the upper side of the phalanx at the left end of the proximal knuckle; the other end of the second stepped shaft is provided with an axial circular groove, and the second spring is placed in the axial circular groove; the second stepped shaft is provided with a radial circular groove for placing a tendon rope; the other end of the second stepped shaft is provided with a round hole; the shaft on the upper side of the phalanx on the right end of the near knuckle penetrates through the through hole on the phalanx on the right end of the middle knuckle to be matched with the round hole on the other end of the second stepped shaft, so that the second stepped shaft rotates around the shaft on the upper side of the phalanx on the right end of the near knuckle;
one side of the phalanx at the front end of the proximal knuckle is fastened on the phalanx at the left end of the proximal knuckle, and the other side of the phalanx at the right end of the proximal knuckle is fastened on the phalanx at the right end of the proximal knuckle; one side of the phalanx at the rear end of the proximal knuckle is fastened on the phalanx at the left end of the proximal knuckle, and the other side of the phalanx at the right end of the proximal knuckle is fastened on the phalanx at the right end of the proximal knuckle; a stepped hole is formed in the phalanx at the front end of the proximal knuckle; the second pre-tightening adjusting block consists of a thin part and a thick part; the second pre-tightening adjusting block is clamped in a stepped hole of a phalanx at the front end of the proximal knuckle, the shape of the second pre-tightening adjusting block is matched with that of the stepped hole, the second pre-tightening adjusting block and the stepped hole cannot rotate relative to each other, and the second pre-tightening adjusting block can slide linearly along the stepped hole; the thin part of the second pre-tightening adjusting block extends out of the phalanx at the front end of the proximal knuckle, and the end part of the second pre-tightening adjusting block is provided with an arc-shaped through hole; the thick part of the second pre-tightening adjusting block is positioned inside a phalanx at the front end of the proximal knuckle; the second pre-tightening nut is connected with the phalanx at the front end of the proximal knuckle in a matched mode, and the second pre-tightening adjusting block is fastened and limited through a stepped hole in the phalanx at the front end of the proximal knuckle and the second pre-tightening nut; the proximal knuckle pressure sensor is fixed on the outer surface of the proximal knuckle;
one end of the third stepped shaft is provided with a key, is matched and connected with a slotted hole with a key of the left petal base through a key slot, extends out of the left petal base, and is matched with a slotted hole without a key on the lower side of a phalanx at the left end of the proximal knuckle; the other end of the third stepped shaft is provided with an axial circular groove, and the third spring is placed in the axial circular groove; the third stepped shaft is provided with a radial circular groove for placing a tendon rope; the other end of the third stepped shaft is provided with a round hole; the shaft on the lower side of the phalanx at the right end of the proximal knuckle penetrates through the through hole of the right petal base to be matched with the round hole at the other end of the third stepped shaft, so that the third stepped shaft rotates around the shaft on the lower side of the phalanx at the right end of the proximal knuckle;
the left petal base is fixedly connected with the right petal base;
one end of the elastic restoring rope is fixed in the far knuckle and sequentially passes through the through hole of the far knuckle, the through hole of the phalanx at the rear end of the middle knuckle, the through hole of the phalanx at the rear end of the near knuckle and the through hole of the base, and the other end of the elastic restoring rope is fixed on the base;
one end of the tendon rope is fixed inside the far knuckle, penetrates through a through hole of the far knuckle, is placed in a radial circular groove of the first stepped shaft, penetrates through an arc-shaped through hole of the first pre-tightening adjusting block, is placed in a radial circular groove of the second stepped shaft, penetrates through an arc-shaped through hole of the second pre-tightening adjusting block, is placed in a radial circular groove of the third stepped shaft, penetrates through a through hole of the base and then is connected with an external motor.
2. The under-actuated dexterous hand finger as claimed in claim 1, wherein the radial circular grooves of the first, second and third stepped shafts are all provided with partial protrusions to prevent the tendon rope from escaping the radial circular grooves during installation.
3. The under-actuated dexterous hand finger as claimed in claim 1, wherein the first pre-tightening adjusting block and the second pre-tightening adjusting block are both composed of a thin part and a thick part; at least one of the thin portion and the thick portion takes a non-cylindrical shape.
4. The under-actuated dexterous hand finger as claimed in claim 1, wherein one end of the middle knuckle pressure sensor is inserted into the rectangular groove of the middle knuckle right end phalanx, and the other end is adhered to the middle knuckle front end phalanx; one end of the proximal knuckle pressure sensor is inserted into the rectangular groove of the phalanx at the right end of the proximal knuckle, and the other end of the proximal knuckle pressure sensor is adhered to the phalanx at the front end of the proximal knuckle.
5. The under-actuated dexterous hand finger as claimed in claim 1, characterized in that the left valve base is provided with an elongated slot, the right valve base is provided with a projection with the same structure as the elongated slot of the left valve base, and the left valve base and the right valve base are fastened and connected by the elongated slot of the left valve base and the projection of the right valve base in a mutual matching way and a screw; and mounting holes are reserved on one sides of the left valve base and the right valve base far away from the finger tips.
6. The under-actuated dexterous hand finger of claim 1, wherein said distal knuckle right phalanx is comprised of a distal knuckle right upper phalanx and a distal knuckle right lower phalanx; the phalanx at the left end of the far knuckle is fixedly connected with the upper phalanx at the right end of the far knuckle and the lower phalanx at the right end of the far knuckle respectively; the fingertip pressure sensor is fixed in a groove on the outer surface of the phalanx at the left end of the far knuckle and the outer surface of the phalanx at the right end of the far knuckle; the other end of the first stepped shaft is provided with an axial circular groove, and the first spring is placed in the axial circular groove to keep a certain distance between the first stepped shaft and the lower phalanx at the right end of the far knuckle so as to reduce friction during rotation; the other end of the first stepped shaft is provided with a round hole; the shaft on the upper side of the phalanx at the right end of the middle knuckle penetrates through the through hole of the lower phalanx at the right end of the far knuckle to be matched with the round hole at the other end of the first stepped shaft, and the first stepped shaft rotates around the shaft on the upper side of the phalanx at the right end of the middle knuckle.
7. The under-actuated dexterous hand finger of claim 6, wherein said elastic return cords comprise a first elastic return cord and a second elastic return cord; one end of the first elastic restoring rope is fixed in a phalanx at the left end of the far knuckle, and after sequentially passing through a through hole at the rear side of the phalanx at the left end of the far knuckle, a through hole at the left side of a phalanx at the rear end of the middle knuckle, a through hole at the left side of a phalanx at the rear end of the near knuckle and a through hole of the left valve base, the other end of the first elastic restoring rope is fixed on the left valve base; one end of the second elastic restoring rope is fixed in the phalanx on the right end of the far knuckle, and after sequentially passing through the through hole on the rear side of the phalanx on the right end of the far knuckle, the through hole on the rear side of the phalanx under the right end of the far knuckle, the through hole on the right side of the phalanx at the rear end of the middle knuckle, the through hole on the right side of the phalanx at the rear end of the near knuckle and the through hole of the right petal base, the other end of the second elastic restoring rope is fixed on the right petal base.
8. The underactuated dexterous hand finger of claim 7, wherein the other end of the first elastic return string and the other end of the second elastic return string extending from the base are knotted together.
9. The under-actuated dexterous hand finger as claimed in claim 6, wherein one end of the tendon rope is fixed inside the upper phalanx at the right end of the far knuckle, passes through the through hole of the lower phalanx at the right end of the far knuckle, is placed in the radial circular groove of the first stepped shaft, passes through the arc-shaped through hole of the first pre-tightening adjusting block, is placed in the radial circular groove of the second stepped shaft, passes through the arc-shaped through hole of the second pre-tightening adjusting block, is placed in the radial circular groove of the third stepped shaft, and passes through the through hole in the right valve base, and then the other end of the tendon rope is connected with an external motor to drive the finger to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482207.XA CN110076812B (en) | 2019-06-04 | 2019-06-04 | Under-actuated dexterous hand finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482207.XA CN110076812B (en) | 2019-06-04 | 2019-06-04 | Under-actuated dexterous hand finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110076812A CN110076812A (en) | 2019-08-02 |
| CN110076812B true CN110076812B (en) | 2022-04-01 |
Family
ID=67423411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910482207.XA Active CN110076812B (en) | 2019-06-04 | 2019-06-04 | Under-actuated dexterous hand finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110076812B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168702A (en) * | 2020-01-10 | 2020-05-19 | 河北工业大学 | Under-actuated five-finger dexterous hand based on joint constraint |
| CN111070232B (en) * | 2020-01-16 | 2021-02-26 | 河北工业大学 | Pneumatic driven two-finger manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140126563A (en) * | 2013-04-23 | 2014-10-31 | 주식회사 로보멕 | Robot hand |
| CN105415388A (en) * | 2015-12-08 | 2016-03-23 | 哈尔滨工业大学 | Tendon-driving robot finger mechanism |
| CN106426238A (en) * | 2015-08-10 | 2017-02-22 | 北京空间飞行器总体设计部 | Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending |
| CN107953355A (en) * | 2017-12-29 | 2018-04-24 | 北京钢铁侠科技有限公司 | A kind of bionic finger |
| CN108312174A (en) * | 2018-04-11 | 2018-07-24 | 河北工业大学 | A kind of robot delicate |
| CN109015717A (en) * | 2018-09-14 | 2018-12-18 | 电子科技大学 | A kind of robot the five fingers under-actuated delicacy hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101685997B1 (en) * | 2010-01-07 | 2016-12-13 | 삼성전자주식회사 | Robot hand and robot having the same |
-
2019
- 2019-06-04 CN CN201910482207.XA patent/CN110076812B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140126563A (en) * | 2013-04-23 | 2014-10-31 | 주식회사 로보멕 | Robot hand |
| CN106426238A (en) * | 2015-08-10 | 2017-02-22 | 北京空间飞行器总体设计部 | Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending |
| CN105415388A (en) * | 2015-12-08 | 2016-03-23 | 哈尔滨工业大学 | Tendon-driving robot finger mechanism |
| CN107953355A (en) * | 2017-12-29 | 2018-04-24 | 北京钢铁侠科技有限公司 | A kind of bionic finger |
| CN108312174A (en) * | 2018-04-11 | 2018-07-24 | 河北工业大学 | A kind of robot delicate |
| CN109015717A (en) * | 2018-09-14 | 2018-12-18 | 电子科技大学 | A kind of robot the five fingers under-actuated delicacy hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110076812A (en) | 2019-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111098320B (en) | 12-degree-of-freedom five-finger manipulator | |
| JP5265635B2 (en) | Tendon-driven finger actuation system | |
| CN110076812B (en) | Under-actuated dexterous hand finger | |
| US6244644B1 (en) | Compact dexterous robotic hand | |
| RU2427348C2 (en) | Hand prosthesis | |
| US8910984B2 (en) | Robot hand and robot | |
| CN104400792B (en) | A kind of under-actuated finger closing internode flexible couplings | |
| US10618182B2 (en) | Underactuated mechanical finger capable of linear motion with compensatory displacement, mechanical gripper and robot containing the same | |
| US10857681B2 (en) | Finger of robotic hand and robot having the same | |
| CN104999470A (en) | All-driving three-finger ingenious mechanical arm | |
| CN104802180A (en) | Underactuation type anthropopathic three-finger manipulator | |
| CN106903710B (en) | Humanoid dexterous hand base joint mechanism | |
| CN109381285B (en) | Finger and artificial limb | |
| US11325264B1 (en) | Tendon-driven robotic hand | |
| US11034029B2 (en) | Joint structure for robot | |
| CN213005352U (en) | Novel humanoid dexterous hand | |
| CN111923067B (en) | Tendon transmission full-drive humanoid dexterous hand | |
| US8833195B2 (en) | Gear backlash adjusting mechanism and robot arm assembly having the same | |
| CN108274483B (en) | Single-drive shape self-adaptive mechanical finger | |
| CN113681584B (en) | Mechanical arm | |
| CN113101020B (en) | Rigid-flexible coupling dexterous prosthetic hand | |
| CN112656641B (en) | Wearing formula outer limb finger of cerebral apoplexy patient | |
| JP2012187426A (en) | Prosthetic hand | |
| JPS63102886A (en) | Rope drive type manipulator | |
| CN103009398B (en) | Humanoid hand of underactuated exquisite transmission structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |