CN112518780A - Dexterous hand - Google Patents
Dexterous hand Download PDFInfo
- Publication number
- CN112518780A CN112518780A CN202011284973.4A CN202011284973A CN112518780A CN 112518780 A CN112518780 A CN 112518780A CN 202011284973 A CN202011284973 A CN 202011284973A CN 112518780 A CN112518780 A CN 112518780A
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- China
- Prior art keywords
- steering engine
- thumb
- connecting rod
- finger
- shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
Abstract
The invention provides a dexterous hand which comprises a thumb structure and a plurality of four-finger structures, wherein the thumb structure comprises a first linear steering engine, a first transmission piece connected to the first linear steering engine, a second transmission piece connected to the second linear steering engine and a thumb shell, the first transmission piece and the second transmission piece are both connected to the thumb shell, the motion directions of push rods of the first linear steering engine and the second linear steering engine form an included angle, and each four-finger structure comprises a four-finger linear steering engine, a third transmission piece connected to the four-finger linear steering engine and a four-finger shell driven by the third transmission piece. According to the dexterous hand provided by the invention, the first linear steering engine and the second linear steering engine are matched, so that the motion of the thumb shell in all directions can be realized, and the motion of the thumb shell is more similar to that of a human thumb.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a dexterous hand.
Background
Robots are of various types, such as humanoid robots, industrial robots, service robots, and the like. The humanoid robot has higher similarity with human actions, so that the hand of the humanoid robot moves more finely, various actions can be realized, and dexterous hands are provided. The finger motion of the dexterous hand simulates the motion of human fingers, but the current dexterous hand has simple finger motion, less realizable actions and poorer humanoid property.
Disclosure of Invention
The embodiment of the invention aims to provide a dexterous hand to solve the technical problems that the movement of fingers is simple and the realized actions are few in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a dexterous hand, indicates the structure including thumb structure and a plurality of four, the thumb structure includes first straight line steering wheel, connect in first transmission piece, the second straight line steering wheel of first straight line steering wheel, connect in the second driving medium and the thumb casing of second straight line steering wheel, first transmission piece with the second driving medium all connect in the thumb casing, first straight line steering wheel with the steering wheel push rod direction of motion of second straight line steering wheel is the contained angle setting, four indicate the structure include four indicate straight line steering wheel, connect in four indicate the third driving medium of straight line steering wheel and by the casing is pointed to third driving medium driven four.
In one embodiment, the included angle between the motion directions of the steering engine push rods of the first linear steering engine and the second linear steering engine is 70-100 degrees.
In one embodiment, the first transmission member is a first connecting rod, one end of the first connecting rod is connected with a steering engine push rod ball pair of the first linear steering engine, and the other end of the first connecting rod is connected with or hinged to the thumb shell ball pair.
In one embodiment, when one end of the first connecting rod, which is far away from the first linear steering engine, is connected with the thumb casing ball pair, the thumb structure further comprises a supporting seat for supporting the thumb casing, the supporting seat is connected with the thumb casing ball pair, and the supporting seat and the first connecting rod are respectively arranged on two opposite sides of the thumb casing.
In one embodiment, the second transmission part is a second connecting rod, one end of the second connecting rod is connected with a steering engine push rod ball pair of the second linear steering engine, and the other end of the second connecting rod is connected with or hinged to the thumb shell ball pair.
In one embodiment, when the second link is hinged to the thumb housing, the hinge of the thumb housing to the second link is located at the root of the thumb housing.
In one embodiment, the four-finger linear steering engines are sequentially arranged along the arrangement direction of the four-finger shells, the first linear steering engine is arranged between two adjacent four-finger linear steering engines, and the second linear steering engine is arranged at one end of each four-finger linear steering engine, which faces away from the four-finger shells.
In one embodiment, the first transmission part is a first connecting rod, one end of the first connecting rod is connected with a steering engine push rod ball pair of the first linear steering engine, the other end of the first connecting rod is connected with a thumb shell ball pair, the thumb structure further comprises a supporting seat for supporting the thumb shell, the supporting seat is connected with the thumb shell ball pair, and the supporting seat and the first connecting rod are respectively arranged on two opposite sides of the thumb shell; the second transmission part is a second connecting rod, one end of the second connecting rod is connected with a steering engine push rod ball pair of the second linear steering engine, and the other end of the second connecting rod is hinged with the thumb shell.
In one embodiment, the four-finger shell comprises a finger base shell, a finger middle shell hinged to the finger base shell and a fingertip shell hinged to the finger middle shell, the third transmission part comprises a third connecting rod and a fourth connecting rod, one end of the third connecting rod is connected with a steering engine push rod ball pair of the four-finger linear steering engine, the other end of the third connecting rod is hinged to the finger middle shell, one end of the fourth connecting rod is hinged to the finger base shell, and the other end of the fourth connecting rod is hinged to the fingertip shell.
In one embodiment, at least one of the first linear steering engine, the second linear steering engine and the four-finger linear steering engine comprises a steering engine push rod, a magnet fixed on the steering engine push rod and a magnetic field sensor used for detecting the position of the magnet.
The dexterous hand provided by the invention has the beneficial effects that: compared with the prior art, the dexterous hand comprises a thumb structure and a plurality of four-finger structures, in the thumb structure, the motion directions of push rods of the first linear steering engine and the second linear steering engine are different, and the motion of a thumb shell in all directions can be realized through the matching of the first linear steering engine and the second linear steering engine, so that the thumb shell is more similar to the motion of a human thumb; in the four-finger structure, the four-finger linear steering engine drives the third transmission piece, and the third transmission piece enables the four-finger shell to be bent or straightened, so that the four-finger shell is more similar to the motion of four human fingers.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a perspective view of a dexterous hand according to an embodiment of the present invention;
FIG. 2 is a perspective view of a thumb structure provided in an embodiment of the present invention;
FIG. 3 is an exploded view of a thumb construction provided in accordance with an embodiment of the present invention;
fig. 4 is a perspective structural view of a four-finger structure provided in an embodiment of the present invention;
fig. 5 is an internal structure diagram of a first linear steering engine provided in the embodiment of the present invention;
fig. 6 is a cross-sectional view of a first linear actuator according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
1-thumb configuration; 11-a first linear steering engine; 111-steering engine housing; 112-a motor; 113-a reducer; 114-a gear assembly; 1141 — an input gear; 1142-output gear; 115-a screw rod; 116-a steering engine push rod; 117 a magnetic field sensor; 118-a magnet; 119-a controller; 12-a first transmission member; 13-a second linear steering engine; 14-a second transmission member; 15-thumb shell; 16-a support seat; 2-four-finger structure; 21-four-finger linear steering engine; 22-four finger shell; 221-finger root shell; 222-finger middle shell; 223-fingertip shells.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The dexterous hand provided by the embodiment of the invention will now be explained. The dexterous hand can be applied to various humanoid robots.
In one embodiment of the present invention, referring to fig. 1 and 2, the dexterous hand comprises a thumb structure 1 and a plurality of four-finger structures 2, wherein the movement of the thumb structure 1 is used for simulating the movement of the thumb of the human hand, and the movement of the four-finger structures 2 is used for simulating the movement of the other four fingers of the human hand. The number of the four-finger structures 2 can be two, three, four, etc., and the number is not limited herein. The thumb structure 1 comprises a first linear steering gear 11, a first transmission piece 12, a second linear steering gear 13, a second transmission piece 14 and a thumb shell 15. The first transmission piece is connected to the first linear steering engine 11, the thumb shell 15 is connected to the first transmission piece 12, and when the first linear steering engine 11 works, the thumb shell 15 is driven to move in the first direction through the first transmission piece 12. The second transmission piece 14 is connected to the second linear steering gear 13, the thumb shell 15 is connected to the second transmission piece 14, and when the second linear steering gear 13 works, the thumb shell 15 is driven to move in the second direction through the second transmission piece 14. The movement directions of the steering engine push rods of the first linear steering engine 11 and the second linear steering engine 13 are arranged at an included angle, namely the movement directions of the first linear steering engine 11 and the second linear steering engine 13 are different, when the first linear steering engine 11 and the second linear steering engine 13 work simultaneously, the thumb shell 15 can move in the direction between the first direction and the second direction, in addition, the movement direction and the movement speed of the thumb shell 15 can be adjusted by adjusting the movement speeds of the first linear steering engine 11 and the second linear steering engine 13, so that the multi-directional movement of the thumb shell 15 can be realized, and further more actions can be realized. The four-finger structure 2 comprises four-finger linear steering engines 21, a third transmission piece and four-finger shells 22, the third transmission piece is connected to the four-finger linear steering engines 21, the four-finger shells 22 are driven to bend or straighten through the third transmission piece, and the third transmission piece can be arranged inside the four-finger shells 22.
The dexterous hand in the embodiment comprises a thumb structure 1 and a plurality of four-finger structures 2, in the thumb structure 1, the motion directions of push rods of a first linear steering engine 11 and a second linear steering engine 13 are different, and the motion of a thumb shell 15 in all directions can be realized through the matching of the first linear steering engine 11 and the second linear steering engine 13, so that the thumb shell 15 is more similar to the motion of a human thumb; in the four-finger structure 2, the four-finger linear steering engine 21 drives the third transmission element, and the third transmission element bends or straightens the four-finger shell 22, so that the four-finger shell 22 is more similar to the motion of four human fingers.
In one embodiment of the present invention, referring to fig. 2, an included angle a between the motion directions of the steering engine push rods of the first linear steering engine 11 and the second linear steering engine 13 is 70 ° to 100 °, such as 70 °, 80 °, 90 °, 100 °, and the like. More specifically, an included angle a between the movement direction of the steering engine push rod of the first linear steering engine 11 and the movement direction of the steering engine push rod of the second linear steering engine 13 may be any value from 70 ° to 90 °. When the included angle A is too large or too small, the movement of adjusting any linear steering engine is small for the combined movement of the thumb shell 15, so that the movement direction and speed of the thumb shell 15 cannot be changed, and the angle A is set between 70 degrees and 100 degrees. Optionally, a is 90 °, and the first linear steering engine 11 and the second linear steering engine 13 are orthogonal, so that the combined motion of the two is more convenient to calculate and control.
In one embodiment of the present invention, referring to fig. 1, each four-finger shell 22 is arranged according to the arrangement of human fingers, and since one four-finger linear steering engine 21 correspondingly drives one four-finger shell 22, the arrangement direction of each four-finger linear steering engine 21 is the same as that of each four-finger shell 22.
Optionally, the first linear steering engine 11, the second linear steering engine 13 and the four-finger linear steering engines 21 are all rectangular, the pushing direction of the push rod of each steering engine is parallel to the length direction of the corresponding steering engine, and the first linear steering engine 11 is used for driving the thumb shell 15 to move back and forth (back and forth movement is towards or away from the four-finger shell 22 to swing), so that the first linear steering engines 11 can be arranged between two adjacent four-finger linear steering engines 21. The length directions of the first straight line steering engine 11 and the four-finger straight line steering engine 21 are parallel, and the directions of the steering engine push rods of the first straight line steering engine 11 and the four-finger straight line steering engine 21 are opposite, so that the steering engine push rod of the first straight line steering engine 11 is close to the thumb shell 15, and the steering engine push rod of the four-finger straight line steering engine 21 is close to the four-finger shell 22. The second linear steering engines 13 are used for driving the thumb shell 15 to move left and back (the left and right movement is perpendicular or nearly perpendicular to the direction of the front and back movement), so that the second linear steering engines 13 can be arranged at one end of each four-finger linear steering engine 21, which faces away from the four-finger shell 22. Therefore, the space of the palm part can be fully utilized, and the first linear steering engine 11, the second linear steering engine 13 and the four-finger linear steering engine 21 are reasonably distributed.
In one embodiment of the present invention, referring to fig. 2 and fig. 3, in the thumb structure 1, the first transmission member 12 is a first connecting rod, one end of the first connecting rod is connected to a push rod ball pair of the steering engine of the first linear steering engine 11, the other end of the first connecting rod is connected to a ball pair of the thumb casing 15, and the other end of the first connecting rod may also be hinged to the thumb casing 15. Like this, when first straight line steering wheel 11 during operation, the motion of steering wheel push rod drive first connecting rod, and first connecting rod makes thumb casing 15 swing back and forth.
One end of the first connecting rod is connected with a steering engine push rod ball pair of the first linear steering engine 11, the first connecting rod can rotate universally relative to the steering engine push rod of the first linear steering engine 11, the joint of the first connecting rod and the first linear steering engine 11 can be prevented from being blocked, the first connecting rod is connected with the steering engine push rod ball pair of the first linear steering engine 11, the position of the first linear steering engine 11 can be further flexible, and a central shaft of the steering engine push rod of the first linear steering engine 11 can deviate from a swing plane when the thumb shell 15 swings back and forth. In other embodiments, the steering engine push rod of the first linear steering engine 11 may also be hinged to the first link, and the space occupied by the hinge is small, which is beneficial to the layout of the thumb structure 1.
In one embodiment of the present invention, referring to fig. 2 and fig. 3, the other end of the first connecting rod is connected to the ball pair of the thumb casing 15, so that the joint between the first connecting rod and the thumb casing 15 can be prevented from being locked, the arrangement positions of the first linear steering engine 11 and the first connecting rod can be more flexible, and the swing plane of the first connecting rod and the front-back swing plane of the thumb casing 15 may not be on the same plane. Furthermore, the thumb structure 1 further comprises a support base 16, the support base 16 is used for supporting the thumb shell 15, the support base 16 is connected with the thumb shell 15 through a ball pair, the support base 16 and the first connecting rod are respectively arranged on two opposite sides of the thumb shell 15, the two sides of the thumb shell 15 are provided with limiting structures, when the first connecting rod is connected with the thumb shell 15 through the ball pair, the thumb shell 15 swings easily, and the support base 16 is arranged to enable the motion of the thumb shell 15 to be more stable. The first link and the support base 16 can be arranged at two sides of the thumb casing 15 in a staggered manner, so that the two ball pairs are prevented from being arranged at the same position of the thumb casing 15, and the thumb casing 15 is thin in wall thickness and weak in strength. The support base 16 is connected with the ball pair of the thumb shell 15, so that the thumb shell 15 can rotate universally relative to the support base 16, and the support base 16 only has a supporting function on the thumb shell 15, and the movement of the thumb shell 15 cannot be influenced.
In another embodiment of the present invention, the other end of the first link is hinged to the thumb casing 15, when the thumb casing 15 is hinged to the first link, the front-back swing of the first link is stable, and the position occupied by the connection between the first link and the thumb casing 15 is small, which is beneficial to the layout of the thumb structure 1.
In one embodiment of the present invention, referring to fig. 2 and fig. 3, the second transmission component 14 is a second connecting rod, one end of the second connecting rod is connected to the push rod ball pair of the second linear steering engine 13, the other end of the second connecting rod is connected to the thumb casing 15 ball pair, and the other end of the second connecting rod may also be hinged to the thumb casing 15. Therefore, when the second linear steering engine 13 works, the steering engine push rod drives the second connecting rod to move, and the second connecting rod enables the thumb shell 15 to swing left and right.
One end of the second connecting rod is connected with a steering engine push rod ball pair of the second linear steering engine 13, the second connecting rod can rotate universally relative to the steering engine push rod of the second linear steering engine 13, the joint of the second connecting rod and the second linear steering engine 13 can be prevented from being blocked, the second connecting rod is connected with the steering engine push rod ball pair of the second linear steering engine 13, the position of the second linear steering engine 13 can be more flexible, and the central shaft of the steering engine push rod of the second linear steering engine 13 can deviate from the swing plane of the thumb shell 15 during left-right swing. In other embodiments, the steering engine push rod of the second linear steering engine 13 may also be hinged to the second connecting rod, and the space occupied by the hinge is small, which is beneficial to the layout of the thumb structure 1.
In one embodiment of the present invention, referring to fig. 2 and 3, the other end of the second connecting rod is hinged to the thumb casing 15, the hinge structure is simpler, and the structural size of the connecting position between the second connecting rod and the steering engine push rod of the second linear steering engine 13 can be reduced. Optionally, the hinge joint of the second link and the thumb casing 15 is located at the root of the thumb casing 15, and the rest positions on the thumb casing 15 are used for connecting the first link and the support seat 16, so that the first link, the second link and the support seat 16 are reasonably arranged.
In another embodiment of the present invention, the other end of the second connecting rod is connected to the thumb casing 15 through a ball pair, so that the joint between the second connecting rod and the thumb casing 15 can be prevented from being locked, the arrangement positions of the second linear steering engine 13 and the second connecting rod can be more flexible, and the swing plane of the second connecting rod and the left-right swing plane of the thumb casing 15 can be not on the same plane.
In one embodiment of the present invention, referring to fig. 2 and 3, the first transmission member 12 is a first connecting rod, one end of the first connecting rod is connected to a ball pair of a push rod of the first linear steering engine 11, the other end of the first connecting rod is connected to a ball pair of a thumb casing 15, the thumb structure 1 further includes a support base 16 for supporting the thumb casing 15, the support base 16 is connected to the ball pair of the thumb casing 15, and the support base 16 and the first connecting rod are respectively disposed on two opposite sides of the thumb casing 15. Meanwhile, the second transmission part 14 is a second connecting rod, one end of the second connecting rod is connected with a steering engine push rod ball pair of the second linear steering engine 13, and the other end of the second connecting rod is hinged with the thumb shell 15. In this embodiment, the first link is connected to the ball pair of the thumb housing 15, and the second link is hinged to the thumb housing 15, so that the motion stability of the thumb housing 15 is ensured even when the thumb structure 1 occupies a small space. If the first connecting rod and the second connecting rod are connected with the ball pair of the thumb shell 15, the space occupied by the connecting structure at the position of the thumb shell 15 is too large, and the connecting structure cannot be arranged in the narrow space of the palm; if both the first and second links are hinged to the thumb housing 15, it may cause the thumb housing 15 to jam during movement.
In other embodiments, the first transmission member 12 and the second transmission member 14 may also be a cam, a disc, or other structures as long as they can transmit the linear motion of the first linear steering engine 11 and the second linear steering engine 13, and the first transmission member 12 and the second transmission member 14 do not necessarily have to be rod-shaped, but may also be in other shapes.
In one embodiment of the present invention, referring to fig. 4, the four-finger case 22 includes a finger base case 221, a finger middle case 222 and a finger tip case 223, the finger middle case 222 is hinged to the finger base case 221, and the finger tip case 223 is hinged to the finger middle case 222, and has three joints similar to a human finger, so that the four-finger case 22 can be bent and straightened like a human finger. The third transmission member includes a third link and a fourth link. One end of the third connecting rod is connected with a steering engine push rod ball pair of the four-finger linear steering engine 21, so that the joint of the third connecting rod and the steering engine push rod of the four-finger linear steering engine 21 can be prevented from being blocked. The other end of the third link is hinged to the finger center housing 222. One end of the fourth link is hinged to the finger base housing 221, and the other end of the fourth link is hinged to the fingertip housing 223. When the four-finger linear steering engine 21 works, a steering engine push rod of the four-finger linear steering engine 21 moves linearly to push a third connecting rod to swing, when the third connecting rod swings, the finger middle shell 222 correspondingly rotates relative to the finger root shell 221, and when the finger middle shell 222 rotates, the finger tip shells 223 are driven to move together, even if the fourth connecting rod swings correspondingly, so that the four-finger shell 22 is bent and straightened. Furthermore, when the steering engine push rod of the four-finger linear steering engine 21 is pushed out, the four-finger shell 22 is bent, and when the steering engine push rod of the four-finger linear steering engine 21 is retracted, the four-finger shell 22 is straightened.
In other embodiments, the third link and the fourth link may have other shapes than a rod shape.
In one embodiment of the invention, at least one of the first linear steering engine 11, the second linear steering engine 13 and the four-finger linear steering engine 21 is a non-contact sensor linear servo motor 112. More specifically, at least one of the first linear steering engine 11, the second linear steering engine 13 and the four-finger linear steering engine 21 comprises a steering engine push rod, a magnet 115 and a magnetic field sensor 117, the magnet 115 is fixed on the steering engine push rod, the magnetic field sensor 117 is used for detecting the position of the magnet 115, and the detection of the displacement of the steering engine push rod is realized through the detection of the position of the magnet 115. When the position of the magnet 115 is changed, the magnetic field intensity corresponding to each part is also changed, and the magnetic field sensor 117 can calculate the position of the magnet 115 by detecting the change of the magnetic field, so that the displacement of the push rod of the steering engine can be obtained. In this embodiment, need not adopt brush and carbon film structure, adopt this kind of non-contact sensor of magnetic induction, thoroughly solved when using the brush assemble the difficulty, the assembly degree of difficulty is big, the assembly cost is high problem, also solved the problem that frictional noise appears in the use, more can not appear short circuit and bad contact's condition.
Optionally, the first linear steering engine 11, the second linear steering engine 13 and the four-finger linear steering engine 21 have the same structure.
Optionally, referring to fig. 5 and 6, the first linear actuator 11 includes an actuator housing 111, a motor 112, a speed reducer 113, a screw rod 115, an actuator push rod 116, a magnet 115, a magnetic field sensor 117, and a controller 119. The steering engine shell 111 is used for protecting and supporting internal components, and the motor 112, the speed reducer 113, the lead screw 115, the steering engine push rod 116, the magnet 115, the magnetic field sensor 117 and the controller 119 are all arranged in the steering engine shell 111. The reducer 113 is connected to the output end of the motor 112, the screw rod 115 is driven by the reducer 113 to rotate, the steering engine push rod 116 is connected to the screw rod 115 in a threaded mode, and the steering engine push rod 116 is the output end of the linear servo steering engine. When the motor 112 works, the motor 112 outputs rotary motion, the screw rod 115 is driven by the output end of the speed reducer 113 to rotate after the speed of the speed reducer 113 is reduced, and the steering engine push rod 116 moves linearly under the drive of the screw rod 115 to serve as the motion output end of the first linear steering engine 11.
It should be noted that the motor 112 may be a servo motor, and the type of the motor is not limited herein as long as it can output a rotational motion. The reducer 113 may be selected from a planetary reducer, a harmonic reducer, an RV reducer, a cycloidal pin gear reducer, etc., and the type of the reducer 113 is not limited herein. The motor 112 and the reducer 113 can be packaged in the same shell, and arranged in a modularized manner, or arranged in a split manner.
Alternatively, the magnetic field sensor 117 is a hall sensor, and virtually any sensor capable of detecting the intensity of a magnetic field may be used. The magnet 115 is arranged to place the hall sensor in a magnetic field, the hall sensor is energized, and when the current in the hall sensor is not in accordance with the direction of the magnetic field, an electromotive force, that is, a hall voltage, is generated on the semiconductor sheet of the hall sensor. The Hall voltage changes along with the change of the magnetic field intensity, the stronger the magnetic field, the higher the voltage, the weaker the magnetic field, and the lower the voltage. Therefore, when the magnet 115 moves synchronously with the steering engine push rod 116, the magnetic field intensity at the position corresponding to the hall sensor changes, and the hall voltage also changes, so that the displacement of the steering engine push rod 116 is calculated from the change value of the hall voltage.
In one embodiment of the present invention, referring to fig. 5 and fig. 6, the linear servo steering engine further includes a gear assembly 114, and the gear assembly 114 is configured to change a position of a rotation axis of the screw 115, so that the rotation axis of the screw 115 and the rotation axis of the motor 112 are arranged in parallel, and do not need to be arranged on the same axis, thereby saving an axial space of the linear servo motor 112. The gear assembly 114 includes an input gear 1141 and an output gear 1142, the input gear 1141 is fixed to the output end of the speed reducer 113, and the output gear 1142 is fixed to the screw 115. Alternatively, the central axis of the speed reducer 113 is coaxial with the central axis of the input gear 1141, and the central axis of the lead screw 115 is coaxial with the central axis of the output gear 1142. In this way, the gear assembly 114 drivingly connects the reducer 113 and the lead screw 115, so that the lead screw 115 can be rotated by the reducer 113. Furthermore, the motor 112 and the steering engine push rod 116 are arranged on the same side of the gear assembly 114, so that the axial length of the linear servo steering engine can be reduced, and the internal structure of the linear servo steering engine can be more reasonably arranged.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A dexterous hand is characterized in that: including thumb structure and a plurality of four finger structures, the thumb structure include first straight line steering wheel, connect in first driving medium, the second straight line steering wheel of first straight line steering wheel, connect in the second driving medium and the thumb casing of second straight line steering wheel, first driving medium with the second driving medium all connect in the thumb casing, first straight line steering wheel with the steering wheel push rod direction of motion of second straight line steering wheel is the contained angle setting, four finger structures include four finger straight line steering wheel, connect in the third driving medium of four finger straight line steering wheels and by the casing is pointed to third driving medium driven four.
2. A dexterous hand according to claim 1, wherein: the included angle between the motion directions of the steering engine push rods of the first linear steering engine and the second linear steering engine is 70-100 degrees.
3. A dexterous hand according to claim 1, wherein: the first transmission piece is a first connecting rod, one end of the first connecting rod is connected with a steering engine push rod ball pair of the first linear steering engine, and the other end of the first connecting rod is connected with or hinged to a thumb shell ball pair.
4. A dexterous hand according to claim 3, wherein: when the end of the first connecting rod, far away from the first linear steering engine, is connected with the thumb shell ball pair, the thumb structure further comprises a supporting seat for supporting the thumb shell, the supporting seat is connected with the thumb shell ball pair, and the supporting seat and the first connecting rod are respectively arranged on two opposite sides of the thumb shell.
5. A dexterous hand according to claim 1, wherein: the second transmission part is a second connecting rod, one end of the second connecting rod is connected with a steering engine push rod ball pair of the second linear steering engine, and the other end of the second connecting rod is connected with or hinged to the thumb shell ball pair.
6. A dexterous hand according to claim 5, wherein: when the second connecting rod is hinged with the thumb shell, the hinged position of the thumb shell and the second connecting rod is located at the root of the thumb shell.
7. A dexterous hand according to claim 1, wherein: the four-finger linear steering engines are sequentially arranged along the arrangement direction of the four-finger shells, the first linear steering engines are arranged between every two adjacent four-finger linear steering engines, and the second linear steering engines are arranged at one ends of the four-finger linear steering engines back to the four-finger shells.
8. A dexterous hand according to claim 7, wherein: the first transmission piece is a first connecting rod, one end of the first connecting rod is connected with a steering engine push rod ball pair of the first linear steering engine, the other end of the first connecting rod is connected with a thumb shell ball pair, the thumb structure further comprises a supporting seat for supporting the thumb shell, the supporting seat is connected with the thumb shell ball pair, and the supporting seat and the first connecting rod are respectively arranged on two opposite sides of the thumb shell; the second transmission part is a second connecting rod, one end of the second connecting rod is connected with a steering engine push rod ball pair of the second linear steering engine, and the other end of the second connecting rod is hinged with the thumb shell.
9. A dexterous hand according to claim 1, wherein: the four-finger shell comprises a finger base shell, a finger middle shell hinged to the finger base shell and a fingertip shell hinged to the finger middle shell, the third transmission piece comprises a third connecting rod and a fourth connecting rod, one end of the third connecting rod is connected with a steering engine push rod ball pair of the four-finger linear steering engine, the other end of the third connecting rod is hinged to the finger middle shell, one end of the fourth connecting rod is hinged to the finger base shell, and the other end of the fourth connecting rod is hinged to the fingertip shell.
10. A dexterous hand according to any one of claims 1-9, wherein: at least one of the first linear steering engine, the second linear steering engine and the four-finger linear steering engine comprises a steering engine push rod, a magnet fixed on the steering engine push rod and a magnetic field sensor used for detecting the position of the magnet.
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| CN202011284973.4A CN112518780A (en) | 2020-11-17 | 2020-11-17 | Dexterous hand |
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| CN202011284973.4A CN112518780A (en) | 2020-11-17 | 2020-11-17 | Dexterous hand |
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