CN110202600A - The profiling hand of anthropomorphic robot - Google Patents
The profiling hand of anthropomorphic robot Download PDFInfo
- Publication number
- CN110202600A CN110202600A CN201910562581.0A CN201910562581A CN110202600A CN 110202600 A CN110202600 A CN 110202600A CN 201910562581 A CN201910562581 A CN 201910562581A CN 110202600 A CN110202600 A CN 110202600A
- Authority
- CN
- China
- Prior art keywords
- finger
- pulling plate
- traction rope
- palm
- rope
- 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.)
- Pending
Links
- 210000001037 metacarpus Anatomy 0.000 claims abstract description 12
- 210000004247 hand Anatomy 0.000 claims abstract description 3
- 210000001145 finger joint Anatomy 0.000 claims description 36
- 210000000707 wrist Anatomy 0.000 claims description 26
- 244000060701 Kaempferia pandurata Species 0.000 claims description 9
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 9
- 238000006386 neutralization reaction Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000005452 bending Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000005299 abrasion Methods 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 210000000784 arm bone Anatomy 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the profiling hands of anthropomorphic robot a kind of, including palm, finger component, the metacarpus of palm to be fixedly connected with the metacarpus of finger component；The finger fingertip of finger component connects upper layer pulling plate by upper finger tip traction rope；The finger fingertip of finger component connects lower layer's pulling plate by lower finger tip traction rope；Upper layer pulling plate is located at the top of lower layer's pulling plate；First motor connects the input terminal of the first deceleration mechanism, is wound with traction rope on the output gear shaft of the first deceleration mechanism；One end of traction rope is as overlap, and the other end of traction rope is as lower rope stretching；Overlap connects the upper layer pulling plate, and lower rope stretching connects lower layer's pulling plate；The first motor can drive output gear shaft to rotate, so that tractive force is transferred to finger fingertip by upper layer pulling plate or lower layer's pulling plate, to realize finger grip freedom degree.The present invention can be realized synchronizing for five fingers and stretch and flexure operation, grasp to complete the five fingers linkage.
Description
Technical field
The present invention relates to the parts of anthropomorphic robot a kind of, and in particular to a kind of profiling hand of anthropomorphic robot.
Background technique
The hand of existing anthropomorphic robot is divided into decoration finger substantially, singly refers to grasping and three finger grasping, not close enough
The mankind, and stability is insufficient when crawl.
Chinese invention patent document CN101919755B discloses a kind of imitative humanoid robot hand of joint traction type, although its
There are five fingers for tool, but only wherein four fingers can be realized in the effect of the reset torsion of the pulling force and torsional spring of drawing silk 3
Flattened and bending.Also, according to Fig. 3 of its Figure of description, the bending in each joint must be by means of drawing silk 3
The effect of the reset torsion of pulling force and torsional spring.
Not only structure is complicated for the imitative humanoid robot hand, but also its each finger joint can only be rotated successively from the front to the back, finally
The pulling force of drawing silk 3 can be transferred to finger tip, realize movement of the entire hand from flattened state to grip state.This finger is stretched
Directly cause the hand motion of robot slow with bending control principle, efficient occasion can not be applied to.
In addition, its finger also has a fatal defect, when it is under grip state, the bending state of finger is only by leading
The reset torsion of the pulling force of wire drawing 3 and torsional spring is kept, once finger by abnormal external force, is such as pulled finger, energy outward
It is enough easy to destroy the bending state of finger, to destroy curable grip caused by finger.Therefore, this imitative humanoid robot hand
Gripping stability it is very poor, substantially can not be applied to practice.
Summary of the invention
Technical problem to be solved by the invention is to provide the profiling hands of anthropomorphic robot a kind of, it can be more steadily
Realize grasping movement.
In order to solve the above technical problems, the technical solution of the profiling hand of anthropomorphic robot of the present invention are as follows:
Including palm, finger component 5, the metacarpus of palm is fixedly connected with the metacarpus of finger component 5；The finger of finger component 5
Finger tip connects upper layer pulling plate 16 by upper finger tip traction rope 18；The finger fingertip of finger component 5 is connected by lower finger tip traction rope 19
Connect lower layer's pulling plate 17；Upper layer pulling plate 16 is located at the top of lower layer's pulling plate 17；First motor 9 connects the input of the first deceleration mechanism
It holds, is wound with traction rope on the output gear shaft 13 of the first deceleration mechanism；One end of traction rope as overlap 14, traction rope
The other end is as lower rope stretching 15；Overlap 14 connects the upper layer pulling plate 16, and lower rope stretching 15 connects lower layer's pulling plate 17；It is described
First motor 9 can drive output gear shaft 13 to rotate, to be transmitted tractive force by upper layer pulling plate 16 or lower layer's pulling plate 17
To finger fingertip, to realize finger grip freedom degree.
In another embodiment, the wrist of the palm connects the second motor 6 by the second deceleration mechanism；Second motor 6
It is able to drive palm rotation, to realize wrist rotary freedom.
In another embodiment, traction rope fixed block 20 is fixedly installed in the finger fingertip；The upper finger tip traction
Rope 18 extends forwardly into finger tip from the finger root of finger, and is fixedly connected with the top of traction rope fixed block 20；The lower finger tip traction
Rope 19 extends forwardly into finger tip from the finger root of finger, and is fixedly connected with the lower part of traction rope fixed block 20；Upper finger tip traction rope 18
It is arranged in parallel with lower about 19 finger tip traction rope.
In another embodiment, the finger component 5 includes five fingers, wherein four hand roots have finger tip, refer to neutralization
Refer to three section finger joint of root, another finger has finger tip and refer to two section finger joint of root.
In another embodiment, the finger joint forms two wire rope handling channels up and down, and wire rope handling channel extends from the finger root of finger
To finger tip.
In another embodiment, it is sequentially connected between the adjacent finger joint by pin shaft；The top of the adjacent face of finger joint
Right angle end face 5-20 is formed, inclined-plane 5-21 is formed at lower part；Right angle end face 5-20 in top stretches confined planes, lower bevel as finger
5-21 is as digital flexion confined planes.
In another embodiment, the angle between two inclined-plane 5-21 of the adjacent finger joint is 50 ± 5 °.
In another embodiment, the rear end lower of the finger joint is formed with arc guide piece, finger joint front end adjacent thereto
Lower part is formed with guide groove or cavity.
In another embodiment, the metacarpus inner cavity of the palm, which is fixedly installed, grasps gear housing 12, grasps gear-box
Spur gear group 11 is provided in body 12, the input terminal of spur gear group 11 connects the first motor 9；The output gear of spur gear group 11
Output gear shaft 13 of the wheel shaft 13 as first deceleration mechanism.
In another embodiment, when the first motor 9 drives output gear shaft 13 to revolve clockwise by spur gear group 11
When turning, overlap 14 drives upper layer pulling plate 16 to move back to wrist direction, unclamps with rope stretching at present 15, and lower layer's pulling plate 17 does not stress,
Palm unclamps；Conversely, when output gear shaft 13 rotates counterclockwise, lower rope stretching 15 drives lower layer's pulling plate 17 to behind wrist direction
It moves, while overlap 14 unclamps, upper layer pulling plate 16 does not stress, palm grip.
In another embodiment, the wrist of the palm is fixedly connected with the output panel of planetary gear set 7, planetary gear set 7
Input terminal connect second motor 6.
In another embodiment, pass through internal layer wear-resisting ring 10 and outer layer between the wrist shell and arm shell of the palm
Wear-resisting ring 8, which is realized, to be cooperatively connected；By the relative rotation between internal layer wear-resisting ring 10 and outer abrasion resistant circle 8, the wrist of palm is realized
Rotary freedom of the portion relative to arm.
What the present invention can achieve has the technical effect that
The present invention be provided in finger up and down two traction ropes, and make upper and lower two traction ropes from the root of finger always
Tip is extended to, and does not have any intermediate connector on two traction ropes, pulling force suffered by haulage cable can be made directly to pass
It is handed to finger tip, the tractive force from motor can drive whole finger joints of five fingers to move together simultaneously；As long as motor opens
Dynamic, finger is made at once to be stretched or flexure operation, and finger reaction is immediately, rapidly.
The present invention can be realized the guiding to traction rope by forming two wire rope handling channels up and down in each finger joint.
The present invention can be realized synchronizing for five fingers and stretch and flexure operation, grasp to complete the five fingers linkage.And
Finger of the invention complete to stretch or flexure operation after, it is constant to be able to maintain finger gesture, stablizes so as to enhance to grasp
Property.
There are two freedom degrees for profiling hand tool of the invention, and one is wrist rotary freedom, the other is finger grip is certainly
By spending, so as to realize the hand motion closer to the mankind, make anthropomorphic robot that there is the hand more to personalize.
Detailed description of the invention
It should be understood by those skilled in the art that following explanation is only schematically to illustrate the principle of the present invention, the principle
It can apply in many ways, to realize many different alternative embodiments.These explanations are only used for showing religion of the invention
Lead the General Principle of content, it is not intended to which limitation is conceived in this disclosed invention.
It is incorporated in the present specification and forms part of this specification that accompanying drawing shows embodiment of the present invention, and
And the principle for explaining the present invention together with the detailed description of general description and following drawings above.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
Fig. 1 is the schematic diagram of the profiling hand of anthropomorphic robot of the present invention；
Fig. 2 is the schematic diagram of another angle of profiling hand of the invention；
Fig. 3 is the decomposition diagram of profiling hand of the invention；
Fig. 4 is the schematic diagram of finger component of the invention；
Fig. 5 is the diagrammatic cross-section of single finger of the invention；
Fig. 6 is the local assembling schematic diagram of finger component of the invention；
Fig. 7 is the partially exploded diagram of single finger of the invention；
Fig. 8 is the decomposition diagram of single finger of the invention；
Fig. 9 is the schematic diagram of right liner in finger of the invention；
Figure 10 is the assembling schematic diagram of right outer lining and right liner in finger in finger of the invention；
Figure 11 is the maximum deflection status diagram of right liner and the finger right liner of root in finger of the invention.
Description of symbols in figure:
1 is arm skeleton lower casing, and 2 be arm skeleton upper casing,
3 be palm upper casing, and 4 be palm lower casing,
5 be finger, and 6 be the second motor,
7 be planetary gear set, and 8 be outer abrasion resistant circle,
9 be first motor, and 10 be internal layer wear-resisting ring,
11 be spur gear group, and 12 is grasp gear housing,
13 be output gear, and 14 be overlap,
15 be lower rope stretching, and 16 be upper layer pulling plate,
17 be lower layer's pulling plate, and 18 be upper finger tip traction rope,
19 be lower finger tip traction rope, and 20 be traction rope fixed block,
21 be palm back board, and 22 be centre of the palm plate,
23 be finger connector,
5-1 is to refer to the right outer lining of root, and 5-2 is to refer to the right liner of root,
5-3 is to refer to root lid, and 5-4 is right liner in referring to,
5-5 is right outer lining in referring to, 5-6 is the right outer lining of finger tip,
5-7 is to refer to the left outside lining of root, and 5-8 is the right liner of finger tip,
5-9 is to refer to the left inside lining of root, and 5-10 is the left inside lining of finger tip,
5-11 is left inside lining in referring to, 5-12 is to refer to middle cover,
5-13 is left outside lining in referring to, 5-14 is the left outside lining of finger tip,
5-15 is finger tip lid,
5-20 is right angle end face, and 5-21 is inclined-plane,
5-22 is arc guide piece, and 18-1 is upper finger tip traction rope wire rope handling slot,
19-1 is lower finger tip traction rope wire rope handling slot.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, ordinary skill
Personnel's every other embodiment obtained under the premise of being not necessarily to creative work, shall fall within the protection scope of the present invention.It removes
Non- other definition, the technical term or scientific term used herein are should be in fields of the present invention with general technical ability
The ordinary meaning that personage is understood." first " used herein, " second " and similar word be not offered as any sequence,
Quantity or importance, and be used only to distinguish different component parts.The similar word such as " comprising " means before there is the word
The element or object in face are covered the element for appearing in the word presented hereinafter or object and its are equal, and are not excluded for other elements
Or object." connection " either the similar word such as " connected " is not limited to physics or mechanical connection, but can be with
It is either direct or indirect including electrical connection."upper", "lower", "left", "right" etc. are only used for indicating relative position
Relationship, after the absolute position for being described object changes, then the relative positional relationship may also correspondingly change.
As shown in Figure 1 to Figure 3, under the profiling hand of anthropomorphic robot of the present invention, including arm skeleton upper casing 2, arm skeleton
Shell 1, palm upper casing 3, palm lower casing 4, finger component 5, arm skeleton upper casing 2 are fixedly connected with arm bone by more self-tapping screws
Frame lower casing 1, arm skeleton upper casing 2 and arm skeleton lower casing 1 form arm；
Palm upper casing 3 is fixedly connected with palm lower casing 4, and palm upper casing 3 and palm lower casing 4 form palm；Palm includes wrist
And metacarpus, the wrist of palm are fixedly connected with the front end of arm, the metacarpus of palm is fixedly connected with the metacarpus of finger component 5.
The inner cavity of arm shell composed by arm skeleton upper casing 2 and arm skeleton lower casing 1 is fixedly installed the second motor
6, the second motor 6 connects planetary gear set 7 (i.e. the second deceleration mechanism), and the output panel of planetary gear set 7 is fixedly connected on palm
Wrist shell composed by shell 3 and palm lower casing 4；Slowed down by the torque increase of planetary gear set 7, the second motor 6 can drive hand
Palm rotation, to realize wrist rotary freedom；
Arm skeleton upper casing 2 is fixedly connected with outer abrasion resistant circle with the front end of arm shell composed by arm skeleton lower casing 1
8；Outer abrasion resistant circle 8 is fixedly installed on the inner wall of arm shell；There are four three corner angle joints, outer layers for the front end formation of outer abrasion resistant circle 8
Wear-resisting ring 8 is fixedly connected by four three corner angle joints realizations with the mortise and tenon type of arm skeleton upper casing 2 and arm skeleton lower casing 1, and outer
The front end of layer wear-resisting ring 8 makes a stretch of the arm shell；
Wrist housing exterior walls composed by palm upper casing 3 and palm lower casing 4 are fixedly installed internal layer wear-resisting ring 10；Internal layer is resistance to
Grinding ring 10 is fixedly connected with palm upper casing 3 and palm lower casing 4 by more self-tapping screws；
Internal layer wear-resisting ring 10 is set in outer abrasion resistant circle 8, is connected by the cooperation of internal layer wear-resisting ring 10 and outer abrasion resistant circle 8
It connects, realizes the mating connection between the wrist shell of palm and arm shell, when the driving palm rotation of the second motor 6, drive
Internal layer wear-resisting ring 10 rotates in outer layer wear-resisting ring 8, so as to increase the flexibility of wrist rotation.
It is fixedly installed in metacarpus shell composed by palm upper casing 3 and palm lower casing 4 and grasps gear housing 12, grasp tooth
It is provided with spur gear group 11 (i.e. the first deceleration mechanism) in wheel cabinet 12, the input terminal of spur gear group 11 connects first motor 9；It is logical
The torque increase for crossing spur gear group 11 is slowed down, and first motor 9 can be realized finger grip freedom degree；
A haulage cable is wound on the output gear shaft 13 of spur gear group 11；Haulage cable is in output gear shaft
After winding on 13, necessarily there is a rope-out end to be located above (i.e. overlap 14), and another rope-out end is located below and (goes out under i.e.
Rope is 15)；As shown in figure 4, the overlap 14 of haulage cable connects upper layer pulling plate 16, under the lower rope stretching 15 of haulage cable connects
Layer pulling plate 17；Upper layer pulling plate 16 is located at the top of lower layer's pulling plate 17；Upper layer pulling plate 16 is distinguished by five upper finger tip traction ropes 18
Five fingertip ends of finger component 5 are connected, lower layer's pulling plate 17 is separately connected finger component 5 by five lower finger tip traction ropes 19
Five fingertip ends；
As shown in figure 5, be fixedly installed traction rope fixed block 20 in the finger tip of finger, upper finger tip traction rope 18 is from finger
Refer to that root extends forwardly into finger tip, and is fixedly connected with the top of traction rope fixed block 20；One end connection of i.e. upper finger tip traction rope 18
Upper layer pulling plate 16, the other end connect the top of traction rope fixed block 20；
Lower finger tip traction rope 19 extends forwardly into finger tip from the finger root of finger, and is fixedly connected under traction rope fixed block 20
Portion；One end of finger tip traction rope 19 is descended to connect lower layer's pulling plate 17, the other end connects the lower part of traction rope fixed block 20；Then above refer to
Sharp traction rope 18 and lower about 19 finger tip traction rope are arranged in parallel；
Rotation direction regardless of haulage cable, when first motor 9 drives 13 turns of output gear shaft by spur gear group 11
When dynamic, necessarily there is one end tightening, and the other end unclamps；When output gear shaft 13 rotates clockwise, overlap 14 drives upper layer
Pulling plate 16 moves back (tightening) to wrist direction, unclamps with rope stretching at present 15, and lower layer's pulling plate 17 does not stress, then finger stretches, palm
It unclamps；Conversely, lower rope stretching 15 drives lower layer's pulling plate 17 to move back to wrist direction and (receives when output gear shaft 13 rotates counterclockwise
Tightly), while overlap 14 unclamps, and upper layer pulling plate 16 does not stress, then digital flexion, palm grip, to realize that finger grip is dynamic
Make.
Preferably, the second motor 6 and first motor 9 use the hollow-cup motor of high-energy density.
As shown in fig. 6, finger component 5 includes palm back board 21 and centre of the palm plate 22, palm back board 21 is fixedly connected with centre of the palm plate 22
Five finger connectors 23, five finger connectors 23 are separately connected five fingers；As shown in Figure 7, Figure 8, every hand root includes
Three section finger joints, i.e. finger tip refer to that neutralization refers to root, and finger tip is by finger tip lid 5-15, the right outer lining 5-6 of finger tip, the right liner 5-8 of finger tip, finger tip
The left inside lining 5-10 composition of left outside lining 5-14, finger tip；In finger by finger middle cover 5-12, refer to middle right outer lining 5-5, refer to middle right liner 5-4, refer to
In left outside lining 5-13, refer in left inside lining 5-11 composition；Refer to root by finger root lid 5-3, refer to the right outer lining 5-1 of root, refer to the right liner 5-2 of root,
Refer to the left outside lining 5-7 of root, refer to the left inside lining 5-9 composition of root；
It is achieved a fixed connection between the left inside lining and right liner of each finger joint by screw；In left outside lining and right outer lining are wrapped in
Lining is outer, and by referring to that lid grips left and right outer lining together, to realize the assembling of finger joint；Bone of the liner as finger
Frame can use the biggish material of hardness, such as plastics；External protection of the outer lining as finger can use elastic material, such as silicon
Glue, to increase grasping frictional force；
Two wire rope handling channels up and down are formed between the left and right liner of each finger joint, draw finger tip traction rope 18 and lower finger tip
Rope 19 extends to tip from the root of finger joint；The main function of liner is to wear finger tip traction rope 18 and lower finger tip traction rope
19；Liner is two valves of left and right in this embodiment；Certainly, liner may be to be integrally formed, and can equally open up two edges up and down
The wire rope handling channel that finger joint length direction extends；
As shown in figure 9, referring to that the upper inside wall of middle right liner 5-4 offers the upper finger tip traction extended along finger joint length direction
Restrict wire rope handling slot 18-1, and lower inner wall offers lower finger tip traction rope wire rope handling slot 19-1；Right liner 5-4 and left inside lining 5- in finger in finger
11 upper finger tip traction rope wire rope handling slot 18-1 is corresponding, wire rope handling channel on composition, refers to left inside lining 5-11 in middle right liner 5-4 and finger
Lower finger tip traction rope wire rope handling slot 19-1 it is corresponding, form lower wire rope handling channel.
It is sequentially connected between adjacent finger joint by pin shaft；As shown in Figure 9, Figure 10, the adjacent face of finger joint, top are formed directly
Inclined-plane 5-21 is formed at angle end face 5-20, lower part；The top right angle end face 5-20 of finger joint adjacent face stretches confined planes as finger,
Lower bevel 5-21 is as digital flexion confined planes；Refer to the connection of the connection type and adjacent finger joint between root and finger connector
Mode is identical；
When overlap 14 drives upper layer pulling plate 16 to move back, upper finger tip traction rope 18 is tensed, and upper finger tip traction rope 18 is by power
It is transferred to finger tip, adjacent face top due to finger tip and in referring to and with the adjacent face top for referring to root be right angle end in referring to
Face 5-20, therefore finger can be made to stretch after the tension of upper finger tip traction rope 18；When finger is in straight configuration, upper finger tip traction
Rope 18 is in tension, and finger tip is in contact with the right angle end face 5-20 on the adjacent face top in finger, at the same in referring to finger
The right angle end face 5-20 on the adjacent face top of root is in contact, therefore to be able to maintain the posture stretched constant for finger；
Instantly rope stretching 15 drives lower layer's pulling plate 17 when moving back, and lower finger tip traction rope 19 tenses, and lower finger tip traction rope 19 is by power
It is transferred to finger tip, adjacent face lower part due to finger tip and in referring to and with the adjacent face lower part for referring to root be inclined-plane 5- in referring to
21, therefore finger can be made to be bent downwardly after the tension of lower finger tip traction rope 19；And the maximum bend angle of finger is by adjacent face
Two inclined-plane 5-21 between angle determine；When finger is in maximum deflection state, lower finger tip traction rope 19, which is in, to be tensed
State, and finger tip is in contact with the inclined-plane 5-21 of the adjacent face lower part in finger, at the same in referring to the adjacent face lower part that refers to root
Inclined-plane 5-21 be in contact, therefore finger be able to maintain maximum deflection posture it is constant.
It is oriented to for the bending to finger, the rear end lower of every finger joint could be formed with arc guide piece；Correspondingly,
In finger, refer to that the front lower portion of root and finger connector is formed with guide groove or cavity, so that arc guide piece can be along guide groove
Or cavity movement；As shown in figure 9, arc guide piece 5-22 is set to the rear end of right liner 5-4 in finger；Meanwhile left inside lining in referring to
The rear end of 5-11 is also equipped with arc guide piece 5-22；And the rear end of the right liner 5-8 of finger tip and the left inside lining 5-10 of finger tip, and refer to
The rear end of the right liner 5-2 of root and the left inside lining 5-9 of finger root are also equipped with arc guide piece 5-22；Certainly, arc guide piece 5-22
It can be set in the rear end of outer lining；
Instantly when finger tip traction rope 19 tenses, each finger joint of finger is pulled, makes the arc guide piece of each finger joint to guide groove
Or cavity, to drive finger tip, refer to that neutralization refers to that root is rotated rotating around pin shaft, realizes the bending of finger to movement；When adjacent finger joint
Two inclined-plane 5-21 when being in contact, reach the maximum bend angle of finger, as shown in figure 11.
Preferably, the angle between two inclined-plane 5-21 of adjacent finger joint is 50 ± 5 °, to realize grip function.
Preferably, wherein four fingers have finger tip, refer to that neutralization refers to that three section of root, another finger only have finger tip and refer to root
Two sections, to form the hand more to personalize.
Working principle of the present invention is as follows:
The second motor 6 is driven, the second motor 6 drives the output panel of planetary gear set 7 to rotate clockwise or counter-clockwise, row
The output panel of star gear set 7 drives palm composed by palm upper casing 3 and palm lower casing 4 to rotate by internal layer wear-resisting ring 10, from
And realize wrist rotary freedom；
First motor 9 is driven, the output gear shaft 13 of 9 turn spur group 11 of first motor rotates clockwise, and drive is led
Drawing two end motions of wirerope, overlap 14 is tightened, and it drives upper layer pulling plate 16 close to wrist direction, is unclamped with rope stretching at present 15,
Drive lower layer's pulling plate 17 far from wrist direction, then finger stretches；
The output gear shaft 13 of 9 turn spur group 11 of first motor rotates counterclockwise, drives the both ends of haulage cable
Movement, lower rope stretching 15 are tightened, and are driven lower layer's pulling plate 17 close to wrist direction, while overlap 14 unclamps, are driven upper layer pulling plate 16
Far from wrist direction, then digital flexion.
Confined planes and digital flexion confined planes are stretched since the present invention is provided with finger, when the tension of overlap 14 stretches finger
When straight, the finger of adjacent finger joint stretches confined planes and is in contact, even if finger, by abnormal external force, finger can be remained and be stretched
State；Similarly, when the tension of rope stretching instantly 15 makes digital flexion, the digital flexion confined planes of adjacent finger joint are in contact, even if finger
By abnormal external force, finger can remain bending state.Therefore, finger grip stability of the invention is more preferable.
Obviously, those skilled in the art can carry out various changes and deformation to the present invention, without departing from of the invention
Spirit and scope.In this way, if these modifications of the invention belong within the scope of the claims in the present invention and its equivalent technology,
Then the present invention is also intended to encompass including these changes and deformation.
Claims (10)
1. the profiling hand of anthropomorphic robot a kind of, it is characterised in that: including palm, finger component (5), the metacarpus of palm is fixed to be connected
Take over the metacarpus of finger assembly (5)；The finger fingertip of finger component (5) connects upper layer pulling plate by upper finger tip traction rope (18)
(16)；The finger fingertip of finger component (5) connects lower layer's pulling plate (17) by lower finger tip traction rope (19)；Upper layer pulling plate (16) position
In the top of lower layer's pulling plate (17)；First motor (9) connects the input terminal of the first deceleration mechanism, the output gear of the first deceleration mechanism
Wheel shaft is wound with traction rope on (13)；One end of traction rope is as overlap (14), and the other end of traction rope is as lower rope stretching
(15)；Overlap (14) connects the upper layer pulling plate (16), and lower rope stretching (15) connects lower layer's pulling plate (17)；First electricity
Machine (9) can drive output gear shaft (13) to rotate, to be passed tractive force by upper layer pulling plate (16) or lower layer's pulling plate (17)
It is handed to finger fingertip, to realize finger grip freedom degree.
2. the profiling hand of anthropomorphic robot according to claim 1, it is characterised in that: the wrist of the palm passes through second
Deceleration mechanism connects the second motor (6)；Second motor (6) is able to drive palm rotation, to realize wrist rotary freedom.
3. the profiling hand of anthropomorphic robot according to claim 1, it is characterised in that: fixed setting in the finger fingertip
There are traction rope fixed block (20)；The upper finger tip traction rope (18) extends forwardly into finger tip from the finger root of finger, and is fixedly connected
The top of traction rope fixed block (20)；The lower finger tip traction rope (19) extends forwardly into finger tip from the finger root of finger, and fixed
Connect the lower part of traction rope fixed block (20)；Upper finger tip traction rope (18) is arranged in parallel up and down with lower finger tip traction rope (19).
4. the profiling hand of anthropomorphic robot according to claim 1, it is characterised in that: the finger component (5) includes five
Root finger, wherein four hand roots have finger tip, refer to that neutralization refers to three section finger joint of root, another finger has finger tip and refers to that two section of root refers to
Section.
5. the profiling hand of anthropomorphic robot according to claim 4, it is characterised in that: the finger joint forms upper and lower two and wears
Rope channel, wire rope handling channel extends to finger tip from the finger root of finger.
6. the profiling hand of anthropomorphic robot according to claim 4 or 5, it is characterised in that: lead between the adjacent finger joint
Pin shaft is crossed to be sequentially connected；Right angle end face (5-20) is formed at the top of the adjacent face of finger joint, and inclined-plane (5-21) is formed at lower part；Top
Confined planes are stretched as finger in right angle end face (5-20), and lower bevel (5-21) is used as digital flexion confined planes.
7. the profiling hand of anthropomorphic robot according to claim 6, it is characterised in that: two inclined-planes of the adjacent finger joint
Angle between (5-21) is 50 ± 5 °.
8. the profiling hand of anthropomorphic robot according to claim 6, it is characterised in that: the rear end lower of the finger joint is formed
There is arc guide piece, finger joint front lower portion adjacent thereto is formed with guide groove or cavity.
9. the profiling hand of anthropomorphic robot according to claim 1, it is characterised in that: the metacarpus inner cavity of the palm is fixed
Be provided with grasp gear housing (12), grasp gear housing (12) in is provided with spur gear group (11), spur gear group (11) it is defeated
Enter end and connects the first motor (9)；The output gear shaft (13) of spur gear group (11) is as the defeated of first deceleration mechanism
Gear shaft (13) out.
10. the profiling hand of anthropomorphic robot according to claim 1, it is characterised in that: when the first motor (9) passes through
When spur gear group (11) drives output gear shaft (13) to rotate clockwise, overlap (14) drives upper layer pulling plate (16) to wrist side
It moves back, is unclamped with rope stretching at present (15), lower layer's pulling plate (17) does not stress, and palm unclamps；Conversely, when output gear shaft (13) are inverse
When hour hands rotate, lower rope stretching (15) drives lower layer's pulling plate (17) to move back to wrist direction, while overlap (14) unclamps, and upper layer is drawn
Plate (16) does not stress, palm grip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910562581.0A CN110202600A (en) | 2019-06-26 | 2019-06-26 | The profiling hand of anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910562581.0A CN110202600A (en) | 2019-06-26 | 2019-06-26 | The profiling hand of anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202600A true CN110202600A (en) | 2019-09-06 |
Family
ID=67794672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910562581.0A Pending CN110202600A (en) | 2019-06-26 | 2019-06-26 | The profiling hand of anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202600A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682322A (en) * | 2019-09-23 | 2020-01-14 | 华中科技大学 | Bidirectional flexible transmission mechanism for manipulator |
| CN112809719A (en) * | 2021-02-02 | 2021-05-18 | 珞石（北京）科技有限公司 | Flexible underactuated dexterous manipulator based on linear transmission and modular fingers |
| CN113715045A (en) * | 2021-09-01 | 2021-11-30 | 宿州赛尔沃德物联网科技有限公司 | Bionic manipulator driving structure and driving method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61500531A (en) * | 1983-10-05 | 1986-03-27 | モネスチエ ジヤツク | Improvement of human prosthetics |
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
| US20160325437A1 (en) * | 2014-01-22 | 2016-11-10 | Aldebaran Robotics | Actuation of a hand intended for being provided on a humanoid robot |
| CN205799562U (en) * | 2016-07-05 | 2016-12-14 | 旗瀚科技有限公司 | A kind of mechanical hand moved by torque spring and servos control |
| CN207104932U (en) * | 2017-12-27 | 2018-03-16 | 陈豪翔 | The manipulator driven by reducing motor |
| CN210361349U (en) * | 2019-06-26 | 2020-04-21 | 上海恒元界机器人科技有限公司 | Copying hand of anthropomorphic robot |
-
2019
- 2019-06-26 CN CN201910562581.0A patent/CN110202600A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61500531A (en) * | 1983-10-05 | 1986-03-27 | モネスチエ ジヤツク | Improvement of human prosthetics |
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
| US20160325437A1 (en) * | 2014-01-22 | 2016-11-10 | Aldebaran Robotics | Actuation of a hand intended for being provided on a humanoid robot |
| CN106457574A (en) * | 2014-01-22 | 2017-02-22 | 奥尔德巴伦机器人公司 | Actuation of a hand intended for being provided on a humanoid robot |
| CN205799562U (en) * | 2016-07-05 | 2016-12-14 | 旗瀚科技有限公司 | A kind of mechanical hand moved by torque spring and servos control |
| CN207104932U (en) * | 2017-12-27 | 2018-03-16 | 陈豪翔 | The manipulator driven by reducing motor |
| CN210361349U (en) * | 2019-06-26 | 2020-04-21 | 上海恒元界机器人科技有限公司 | Copying hand of anthropomorphic robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682322A (en) * | 2019-09-23 | 2020-01-14 | 华中科技大学 | Bidirectional flexible transmission mechanism for manipulator |
| CN112809719A (en) * | 2021-02-02 | 2021-05-18 | 珞石（北京）科技有限公司 | Flexible underactuated dexterous manipulator based on linear transmission and modular fingers |
| CN113715045A (en) * | 2021-09-01 | 2021-11-30 | 宿州赛尔沃德物联网科技有限公司 | Bionic manipulator driving structure and driving method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110202600A (en) | The profiling hand of anthropomorphic robot | |
| US10799372B2 (en) | Prosthetic finger | |
| US10675160B2 (en) | Prosthetic thumb | |
| US8052185B2 (en) | Robot hand with humanoid fingers | |
| CN111098320B (en) | 12-degree-of-freedom five-finger manipulator | |
| CN101945739B (en) | Robot hand and robot arm | |
| CN104942818B (en) | Seven-freedom-degree five-finger mechanical arm | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN205870568U (en) | Dexterous cell -phone of imitative people's five fingers of light constructs | |
| CN110171011A (en) | A kind of three finger robot delicates of coordinated drive | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| JP2006247805A (en) | Hand mechanism | |
| CN106695853B (en) | A kind of single driving anthropomorphic manipulator | |
| CN108621144A (en) | A kind of multiple degrees of freedom of tendon-connecting rod mixed drive refers to formula manipulator | |
| US20240173873A1 (en) | Multi-degree-of-freedom instrument for robot | |
| CN102161204A (en) | Double joint and equidirectional drive hybrid under-actuated robot finger device | |
| TW201345676A (en) | Robotic hand mechanism | |
| CN106272526A (en) | A kind of Dextrous Hand | |
| CN101633170B (en) | Finger device of coupling three-joint robot | |
| CN112809721B (en) | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration | |
| CN102328316B (en) | Double-joint inclined belt type transmission compound underactuated robot finger device | |
| CN210361349U (en) | Copying hand of anthropomorphic robot | |
| CN102873691B (en) | Dexterous manipulator aiding in gluing diving mittens | |
| CN108274483B (en) | Single-drive shape self-adaptive mechanical finger |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230721 Address after: 19-1, Building 19, No. 468, Suyuan Road, Zhoucun District, Zibo City, Shandong Province, 255300 Applicant after: ZIBO HENGZHI WEITONG MEDICAL DEVICE TECHNOLOGY Co.,Ltd. Address before: 201207 Pudong New Area, Shanghai, China (Shanghai) free trade trial area, No. 3, 1 1, Fang Chun road. Applicant before: Shanghai Hengyuanjie Robot Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right |