CN113021389B - Detachable modularized six-driver humanoid manipulator - Google Patents
Detachable modularized six-driver humanoid manipulator Download PDFInfo
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- CN113021389B CN113021389B CN202110282966.9A CN202110282966A CN113021389B CN 113021389 B CN113021389 B CN 113021389B CN 202110282966 A CN202110282966 A CN 202110282966A CN 113021389 B CN113021389 B CN 113021389B
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- 210000003811 finger Anatomy 0.000 claims abstract description 201
- 210000003813 thumb Anatomy 0.000 claims abstract description 184
- 238000005452 bending Methods 0.000 claims abstract description 43
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 28
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 28
- 230000009471 action Effects 0.000 claims description 27
- 210000004932 little finger Anatomy 0.000 claims description 26
- 210000005224 forefinger Anatomy 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 23
- 238000000926 separation method Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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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
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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Abstract
The detachable modularized six-driver humanoid manipulator is applied to a prosthetic hand. Including the four fingers, thumb and palm. The four fingers and thumb can be separated from the palm and also can be hinged on the palm. The four fingers and the thumb are driven by wires to realize bending, and the driver is arranged in the motor base and drives the four fingers and the thumb to extend by the pressure spring. Three fingers of the four fingers can realize coupling bending, namely, the finger root is bent, and the finger and the fingertip are bent at the same time. The two knuckles of the thumb are coupled and bent through a built-in connecting rod, namely, the middle of the finger is bent, and the finger tips are bent at the same time. The thumb can also realize rotation, and the motor drives the input disc, and the output disc drives the output disc through the torque spring to realize the rotation of the thumb. The four fingers (except the middle finger) can realize passive abduction/adduction through a pressure spring fixed in the palm. The manipulator can simulate 19 degrees of freedom of a human hand, adopts 6 drivers, introduces compliance, and can perform quick replacement, maintenance and upgrading on fingers and thumbs.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a detachable modularized six-driver humanoid manipulator.
Background
In recent decades, in order to simulate the functions of human hands, many research institutes at home and abroad make highly effective researches on the aspects of design, analysis, control and the like of human-simulated manipulators. Few manipulators are capable of modular design, especially separable modular design. For an inseparable manipulator, difficulties and costs are added to user customization and maintenance. Meanwhile, the prosthetic hand using a single driver for a part of single fingers only retains two bendable joints of each finger, and the performance of grabbing an object is reduced. Although three bendable joints similar to a human hand are reserved in a prosthetic hand with a single driver for a part of single fingers, an underactuated mode is adopted, namely, the bending angle of the joints is uncertain, accurate movement cannot be performed, and the grabbing performance is influenced. Almost all prosthetic hands using a single driver for a single finger do not realize abduction/adduction of the finger, and the function of the hand has important significance for grabbing objects similar to a sphere.
Disclosure of Invention
In order to solve the problems, the invention provides a detachable modularized six-driver humanoid manipulator.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention includes four fingers, a thumb and a palm. The four fingers and the thumb can be separated from the palm and are hinged on the palm through screws and nuts. The four fingers and the thumb are driven by wires to realize bending, and the driver is arranged in a motor base in the module and drives the four fingers and the thumb to extend by the pressure spring. Three knuckles of the four fingers are coupled and bent through two built-in connecting rods, namely, the base of the finger is bent, and the middle finger and the fingertip of the finger are bent at the same time. The two knuckles of the thumb are coupled and bent through a built-in connecting rod, namely, the middle of the finger is bent, and the finger tips are bent at the same time. The thumb can also realize rotation, and the motor drives the input disc, and the output disc drives the output disc through the torque spring to realize the rotation of the thumb. After the four fingers (except the middle finger) and the thumb are hinged on the palm, passive abduction or adduction can be realized through the pressure spring fixed in the palm.
The invention comprises four fingers, a thumb and a palm;
the four fingers comprise index finger, middle finger, ring finger and little finger;
the index finger, the ring finger and the little finger are completely the same, the ring finger and the little finger are mirror images of the index finger, and the length sizes of the index finger, the ring finger and the little finger are different;
the middle finger does not contain passive abduction freedom, and other structures of the middle finger are completely the same as those of the index finger, the ring finger and the little finger; the structure of the four fingers is described by taking an index finger as an example, the index finger comprises a finger root, a finger middle, a finger tip and a motor base, the finger root, the finger middle and the finger tip are hinged by a first short shaft, a second short shaft and a third short shaft respectively to form three bendable joints, and the first short shaft, the second short shaft and the third short shaft respectively penetrate through bearings built in the finger root, the finger middle and the finger tip and are fixed by a first screw, a second screw and a third screw respectively.
The first connecting rod is connected between the motor base and the finger across the finger root, and when the finger root is bent, the finger root is simultaneously bent under the action of the first connecting rod.
The second link spans the middle of the finger to connect the base of the finger and the tip of the finger, and when the finger is bent, the tip of the finger is bent simultaneously under the action of the second link. Under the action of the first connecting rod and the second connecting rod, when the finger root bends, the finger middle and the finger tip bend simultaneously. The first connecting rod and the second connecting rod are positioned inside the fingers and are respectively close to the left side and the right side.
One end of the bending driving rope penetrates through a first pressure spring arranged in the finger root and is fixed at one end of the first pressure spring. The other end of the bending driving rope crosses the lower part of the knuckle and is connected to a wire spool arranged in the motor base. The wire spool is connected to the output shaft of the motor; when the motor rotates, the drive wire spool rotates to pull crooked drive rope and make the root joint of the finger crooked, under the effect of first connecting rod and second connecting rod, the three joints of forefinger can be crooked simultaneously. When the index finger is not subjected to an external force, the first pressure spring is hardly compressed. When the bending of the index finger is limited by an external force, the first pressure spring is compressed.
One end of the extension driving rope penetrates through a second pressure spring arranged in the finger root, the elastic coefficient of the second pressure spring is smaller than that of the first pressure spring, and the extension driving rope is fixed at one end of the second pressure spring; the other end of the extension driving rope crosses over the upper part of the knuckle and is fixed on the motor base; when the forefinger bends, the second pressure spring is compressed; when the motor releases the bending driving rope, the stretching driving rope drives the three joints of the index finger to stretch back to be positive at the same time under the action of the second pressure spring.
The index finger, the middle finger, the ring finger and the little finger can be separated or connected through the motor base and are hinged with the palm through a first screw nut, a second screw nut, a third screw nut and a fourth screw nut respectively, and the index finger, the ring finger and the little finger can be unfolded under the action of external force; a third pressure spring, a fourth pressure spring and a fifth pressure spring of which the exposed parts are fixed on the palm; when the fingers are unfolded, the third pressure spring, the fourth pressure spring and the fifth pressure spring are compressed; when the external force is released, the third pressure spring, the fourth pressure spring and the fifth pressure spring recover to the original length. So that the index finger, ring finger and little finger retract positively.
The thumb comprises a thumb motor base, a thumb finger and a thumb finger tip; the thumb finger and the thumb finger tip are hinged by a fourth short shaft and a fifth short shaft respectively to form two bendable joints, and the fourth short shaft and the fifth short shaft penetrate through the bearing and are fixed by a fourth screw and a fifth screw respectively.
The third connecting rod is connected with the base of the thumb motor and the tip of the thumb finger across the middle of the thumb finger, and when the thumb finger bends, the tip of the thumb finger bends simultaneously under the action of the third connecting rod.
One end of the thumb bending driving rope penetrates through a sixth pressure spring built in the thumb and is fixed at one end of the sixth pressure spring. The other end of the thumb bending driving rope crosses over the lower part of the middle joint of the thumb and is connected to a thumb wire spool arranged in a thumb motor base; the thumb wire spool is connected to the output shaft of the thumb bending motor; when the thumb bending motor rotates, the thumb wire spool is driven to rotate, so that the thumb bending driving rope is pulled to bend the middle joint of the thumb, and under the action of the third connecting rod, two joints of the thumb can be bent simultaneously. When the thumb is not subjected to an external force, the sixth pressure spring is hardly compressed. When the thumb is restrained from bending by an external force, the sixth pressure spring is compressed.
One end of the thumb extension driving rope penetrates through a seventh pressure spring which is arranged in the thumb, the elasticity coefficient of the seventh pressure spring is smaller than that of the sixth pressure spring, and the seventh pressure spring is fixed at one end of the seventh pressure spring. The other end of the thumb stretching driving rope crosses over the upper part of the knuckle in the finger and is fixed on the thumb motor base. When the thumb is bent, the seventh pressure spring is compressed. When the thumb bending motor releases the thumb to bend the driving rope, the thumb extends the driving rope to drive the two joints of the thumb to extend back to be positive at the same time under the action of the seventh pressure spring.
The thumb rotates and is driven by a thumb rotating motor to rotate an input disc, and the rotation of the input disc is realized by driving a rotation output disc through a torque spring. When the rotation of the thumb is limited by external force, the torque spring generates torsional deformation to absorb the external force.
The thumb motor base is hinged with the rotary output disc, and passive abduction/adduction is realized by utilizing an eighth pressure spring; the thumb can be detached and attached.
The working process of the invention is as follows:
1. separation and installation of four fingers and thumb.
The four fingers can be hinged on the palm through screws, and the thumb can be hinged on the rotary output disc through screws. The nut corresponding to the screw is arranged in the motor base.
2. The curvature of the four fingers and thumb.
When the drivers of the four fingers and the thumb receive the rotation signal, the drivers rotate to drive the wire spool to rotate, and the wire spool pulls the bending driving rope, so that the four fingers and the thumb are bent. Under the action of the connecting rod, all the bending joints of the four fingers and the thumb of the hand bend simultaneously. Each finger and thumb can be individually flexed. When the four fingers and the thumb bend to receive external force, the built-in pressure spring is compressed to absorb the external force.
3. Rotation of the thumb.
When the rotary driver of the thumb receives the rotation signal, the driver rotates to drive the rotary input disc to rotate, and the rotary input disc drives the rotary output disc to rotate through the torque spring. Thereby driving a thumb attached to the rotary output disc to rotate. When the thumb rotates and receives external force, the torque spring generates rotary deformation to absorb the external force.
4. Passive abduction of four fingers and thumb
When the forefinger, the ring finger, the little finger and the thumb are subjected to external force, the abduction is realized through the hinged structure with the palm. When the external force is released, the alignment is realized by the pressure spring in the palm.
The invention has the beneficial effects that:
1. the manipulator minimizes the number of drivers, further minimizes the size of the manipulator, and reserves more space for electrical equipment such as batteries and the like. Motion independence of each finger and thumb is ensured with fewer drivers. A total of 6 drives fulfill the basic functions of the human hand. This design can reduce cost, adopts the bigger driver of size to realize great output power. Compared with an artificial hand with each finger only realizing bending of two knuckle joints, the manipulator realizes linkage of three finger joints by utilizing a multi-connecting rod coupling mode, and is closer to hand motion.
2. The manipulator realizes passive abduction, and the degree of freedom has advantages when the manipulator is adopted to grab a spherical object. When the manipulator grabs the spherical object, the spherical surface will generate acting force to separate the two contacted fingers, namely passively outwards extending. This function will improve the gripping ability of the ball. In addition, the user can passively clip objects into the finger for viewing, such as cigarettes.
3. The fingers and the thumb of the manipulator are bent by adopting the pressure spring for absorbing external force and improving the safety and the durability.
4. In the modularized humanoid manipulator, a separable finger and thumb design is adopted, the fingers and the thumb can be easily separated and installed, and the electronic equipment positioned in the separated part of the fingers and the thumb can be connected to the palm through a joint. The design has the following advantages:
1. when a single finger or thumb is damaged, the replacement and maintenance can be carried out quickly;
2. the sizes and the number of the fingers and the thumbs can be flexibly changed according to specific requirements;
3. because the motors driving the middle knuckle and the far knuckle of the thumb of the finger are arranged on the separation part, the motors with different output torques and speeds can be replaced according to requirements;
4. if the manipulator is sold as a product, when the finger is updated, only the separable part needs to be replaced, and the upgrading cost is reduced.
Drawings
FIG. 1 is a side view of an index finger of the present invention.
Fig. 2 is a rear view of the index finger of the present invention.
Fig. 3 is a sectional view a-a in fig. 2.
Fig. 4 is a sectional view taken along line B-B in fig. 2.
Fig. 5 is a four-finger, thumb separation view of the present invention.
Fig. 6 is a combination view of a four finger and thumb of the present invention.
Fig. 7 is a thumb side view of the present invention.
Fig. 8 is a cross-sectional view taken along line C-C of fig. 7.
Fig. 9 is a front view of the present invention in a state of adduction of four fingers and thumb.
Fig. 10 is a rear view of the present invention in a four-finger and thumb extended state.
Fig. 11 is a view of the four fingers and thumb in flexion of the present invention.
Detailed Description
As shown in fig. 1 to 8, the present invention includes four fingers, a thumb and a palm;
as shown in fig. 5 and 6, the four fingers include an index finger 19, a middle finger 20, a ring finger 21, and a little finger 22;
the index finger 19, the ring finger 21 and the little finger 22 are identical, the ring finger 21 and the little finger 22 are mirror images of the index finger 19, and the length sizes of the index finger 19, the ring finger 21 and the little finger 22 are different;
the middle finger 20 does not contain passive abduction freedom, and other structures of the middle finger 20 are completely the same as those of the index finger 19, the ring finger 21 and the little finger 22; the structure of the four fingers is illustrated by taking an index finger 19 as an example, as shown in fig. 1, 2, 3 and 4, the index finger comprises a base 1, a middle finger 2, a fingertip 3 and a motor base 4, the base 1, the middle finger 2 and the fingertip 3 are hinged by a first short shaft 5, a second short shaft 6 and a third short shaft 7 respectively to form three bendable joints, and the first short shaft 5, the second short shaft 6 and the third short shaft 7 respectively penetrate through bearings built in the base 1, the middle finger 2 and the fingertip 3 and are fixed by a first screw 8, a second screw 9 and a third screw 10 respectively.
The first connecting rod 11 is connected with the motor base 4 and the middle finger 2 across the finger root 1, and when the finger root 1 is bent, the middle finger 2 is simultaneously bent under the action of the first connecting rod 11.
The second link 12 is connected to the base 1 and the tip 3 of the finger across the middle 2 of the finger, and when the middle 2 of the finger is bent, the tip 3 of the finger is simultaneously bent by the second link 12. Under the action of the first connecting rod 11 and the second connecting rod 12, when the finger root 1 bends, the finger middle 2 and the finger tip 3 bend simultaneously; as shown in fig. 2, 3 and 4, the first link 11 and the second link 12 are located inside the finger and on the left and right sides, respectively.
One end of the bending driving rope 13 passes through a first pressure spring 14 arranged in the finger root 1 and is fixed at one end of the first pressure spring 14. The other end of the bending driving rope 13 crosses the lower part of the knuckle of the phalange 1 and is connected with a wire spool 15 arranged in the motor base 4. The wire spool 15 is connected to the output shaft of the motor 16; when the motor 16 rotates, the wire spool 15 is driven to rotate, so that the bending driving rope 13 is pulled to bend the joints of the phalanges 1, and the three joints of the index finger 19 can be bent simultaneously under the action of the first link 11 and the second link 12. When the index finger 19 is not subjected to an external force, the first pressure spring 14 is hardly compressed. When the bending of the index finger 19 is restricted by an external force, the first pressure spring 14 is compressed.
One end of the extension driving rope 17 passes through a second pressure spring 18 which is arranged in the finger root 1, the elastic coefficient of the second pressure spring 18 is smaller than that of the first pressure spring 14, and the extension driving rope is fixed at one end of the second pressure spring 18; the other end of the extension driving rope 17 crosses the upper part of the joint of the finger root 1 and is fixed on the motor base 4; when the index finger 19 is bent, the second pressure spring 18 is compressed; when the motor 16 releases the bending drive cord 13, the extension drive cord 17 drives the three joints of the index finger 19 to extend back to the positive at the same time under the action of the second compression spring 18.
As shown in fig. 5, the index finger 19, the middle finger 20, the ring finger 21 and the little finger 22 can be separated or connected through the motor base 4 and are hinged with the palm 23 by a first screw nut 24, a second screw nut 25, a third screw nut 26 and a fourth screw nut 27 respectively, as shown in fig. 6; the forefinger 19, the ring finger 21 and the little finger 22 can realize abduction under the action of external force; a third pressure spring 28, a fourth pressure spring 29 and a fifth pressure spring 30 are fixed on the palm 23; when the finger is extended, the third pressure spring 28, the fourth pressure spring 29 and the fifth pressure spring 30 are compressed; when the external force is released, the third pressure spring 28, the fourth pressure spring 29, and the fifth pressure spring 30 are restored to their original lengths. So that the index finger 19, ring finger 21 and little finger 22 are retracted inside.
As shown in fig. 6, 7 and 8, the thumb comprises a thumb motor base 31, a thumb middle 32 and a thumb tip 33; the thumb middle 32 and the thumb tip 33 are hinged by a fourth stub shaft 34 and a fifth stub shaft 35 respectively to form two bendable joints, and the fourth stub shaft 34 and the fifth stub shaft 35 both penetrate through the bearing and are fixed by a fourth screw 44 and a fifth screw 45 respectively.
The third link 36 is connected to the thumb motor base 31 and the thumb tip 33 across the thumb middle 32, and when the thumb middle 32 is bent, the thumb tip 33 is simultaneously bent under the action of the third link 36.
One end of the thumb bending driving rope passes through a sixth pressure spring which is arranged in the thumb finger 32 and is fixed at one end of the sixth pressure spring. The other end of the thumb bending driving rope crosses the lower part of the middle joint 32 of the thumb and is connected with a thumb wire spool 37 arranged in the thumb motor base 31; the thumb wire spool 37 is connected to the output shaft of the thumb bending motor 38; when the thumb bending motor 38 rotates, the thumb wire spool 37 is driven to rotate, so that the thumb bending driving rope is pulled to bend the 32 joints in the thumb, and under the action of the third connecting rod 36, two joints of the thumb can be bent simultaneously. When the thumb is not subjected to an external force, the sixth pressure spring is hardly compressed. When the thumb is restrained from bending by an external force, the sixth pressure spring is compressed.
One end of the thumb extension driving rope penetrates through a seventh pressure spring which is arranged in the thumb and the finger 32, the elasticity coefficient of the seventh pressure spring is smaller than that of the sixth pressure spring, and the seventh pressure spring is fixed at one end of the seventh pressure spring. The other end of the thumb stretching driving rope crosses the upper part of the middle finger joint 32 and is fixed on the thumb motor base 31. When the thumb is bent, the seventh pressure spring is compressed. When the thumb bend motor 38 releases the thumb bend drive cord, the thumb extends the drive cord to drive both joints of the thumb to simultaneously extend back to positive under the action of the seventh compression spring.
As shown in fig. 6, 7 and 8, the thumb rotation is achieved by the thumb-rotating motor 42 driving the rotary input disc 39, and the rotary input disc 39 drives the rotary output disc 41 through the torsion spring 40. When the rotation of the thumb is restricted by an external force, the torsion spring 41 generates a torsional deformation to absorb the external force.
The thumb motor base 31 is hinged with the rotary output disc 40, and passive abduction/adduction is realized by using an eighth pressure spring 43; the thumb can be detached and attached.
The four fingers and thumb remain fully extended and retracted as shown in fig. 9.
The four fingers and thumb remain fully extended as shown in fig. 10.
The four fingers are flexed, the thumb is fully rotated and flexed, and the fingers and thumb are fully retracted as shown in fig. 11.
The working process of the embodiment:
1. separation and installation of four fingers and thumb.
The four fingers can be hinged on the palm through screws, and the thumb can be hinged on the rotary output disc through screws. The nut corresponding to the screw is arranged in the motor base.
2. The curvature of the four fingers and thumb.
When the drivers of the four fingers and the thumb receive the rotation signal, the drivers rotate to drive the wire spool to rotate, and the wire spool pulls the bending driving rope, so that the four fingers and the thumb are bent. Under the action of the connecting rod, all the bending joints of the four fingers and the thumb of the hand bend simultaneously. Each finger and thumb can be individually flexed. When the four fingers and the thumb bend to receive external force, the built-in pressure spring is compressed to absorb the external force.
3. Rotation of the thumb.
When the rotary driver of the thumb receives the rotation signal, the driver rotates to drive the rotary input disc to rotate, and the rotary input disc drives the rotary output disc to rotate through the torque spring. Thereby driving a thumb attached to the rotary output disc to rotate. When the thumb rotates and receives external force, the torque spring generates rotary deformation to absorb the external force.
4. Passive abduction of four fingers and thumb
When the forefinger, the ring finger, the little finger and the thumb are subjected to external force, the abduction is realized through the hinged structure with the palm. When the external force is released, the alignment is realized by the pressure spring in the palm.
Claims (1)
1. The utility model provides a six driver humanoid manipulators of detachable modularization which characterized in that: comprises four fingers, a thumb and a palm;
the four fingers comprise an index finger (19), a middle finger (20), a ring finger (21) and a little finger (22);
the index finger (19), the ring finger (21) and the little finger (22) are completely the same, the ring finger (21) and the little finger (22) are mirror images of the index finger (19), and the length sizes of the index finger (19), the ring finger (21) and the little finger (22) are different;
the middle finger (20) does not contain passive abduction freedom, and other structures of the middle finger (20) are completely the same as the index finger (19), the ring finger (21) and the little finger (22); the structure of the four fingers is described by taking an index finger (19) as an example, wherein the index finger comprises a finger root (1), a middle finger (2), a fingertip (3) and a motor base (4), the finger root (1), the middle finger (2) and the fingertip (3) are hinged by a first short shaft (5), a second short shaft (6) and a third short shaft (7) respectively to form three bendable joints, and the first short shaft (5), the second short shaft (6) and the third short shaft (7) respectively penetrate through bearings built in the finger root (1), the middle finger (2) and the fingertip (3) and are fixed by a first screw (8), a second screw (9) and a third screw (10);
the first connecting rod (11) is connected with the motor base (4) and the middle finger (2) across the finger root (1), and when the finger root (1) is bent, the middle finger (2) is simultaneously bent under the action of the first connecting rod (11);
the second connecting rod (12) is connected with the finger root (1) and the finger tip (3) across the middle finger (2), and when the middle finger (2) is bent, the finger tip (3) is simultaneously bent under the action of the second connecting rod (12); under the action of the first connecting rod (11) and the second connecting rod (12), when the finger root (1) bends, the finger middle (2) and the finger tip (3) bend simultaneously; the first connecting rod (11) and the second connecting rod (12) are positioned inside the fingers and are respectively close to the left side and the right side;
one end of the bending driving rope (13) penetrates through a first pressure spring (14) arranged in the finger root (1) and is fixed at one end of the first pressure spring (14); the other end of the bending driving rope (13) strides over the lower part of the joint of the finger root (1) and is connected to a wire spool (15) arranged in the motor base (4); the wire spool (15) is connected to an output shaft of the motor (16); when the motor (16) rotates, the wire spool (15) is driven to rotate, so that the bending driving rope (13) is pulled to bend joints of the finger root (1), and under the action of the first connecting rod (11) and the second connecting rod (12), three joints of the forefinger (19) can be bent simultaneously; when the index finger (19) is not subjected to external force, the first pressure spring (14) is hardly compressed; when the bending of the index finger (19) is limited by external force, the first pressure spring (14) is compressed;
one end of the extension driving rope (17) penetrates through a second pressure spring (18) which is arranged in the finger root (1), and the elastic coefficient of the second pressure spring (18) is smaller than that of the first pressure spring (14) and is fixed at one end of the second pressure spring (18); the other end of the extension driving rope (17) crosses over the upper part of the joint of the finger root (1) and is fixed on the motor base (4); when the index finger (19) is bent, the second pressure spring (18) is compressed; when the motor (16) releases the bending driving rope (13), the stretching driving rope (17) drives the three joints of the forefinger (19) to stretch back to the positive at the same time under the action of the second pressure spring (18);
the forefinger (19), the middle finger (20), the ring finger (21) and the little finger (22) can be separated and also can be connected through the motor base (4) and are respectively hinged with the palm (23) through a first screw nut (24), a second screw nut (25), a third screw nut (26) and a fourth screw nut (27); the index finger (19), the ring finger (21) and the little finger (22) can be abducted under the action of external force; a third pressure spring (28), a fourth pressure spring (29) and a fifth pressure spring (30) of which the exposed parts are fixed on the palm (23); when the fingers are extended, the third pressure spring (28), the fourth pressure spring (29) and the fifth pressure spring (30) are compressed; when the external force is released, the third pressure spring (28), the fourth pressure spring (29) and the fifth pressure spring (30) recover to the original length; the index finger (19), the ring finger (21) and the little finger (22) are retracted to be positive;
the thumb comprises a thumb motor base (31), a thumb middle (32) and a thumb finger tip (33); the middle thumb (32) and the finger tip (33) of the thumb are hinged by a fourth short shaft (34) and a fifth short shaft (35) respectively to form two bendable joints, and the fourth short shaft (34) and the fifth short shaft (35) both penetrate through the bearing and are fixed by a fourth screw (44) and a fifth screw (45) respectively;
the third connecting rod (36) is connected with the thumb motor base (31) and the thumb finger tip (33) across the thumb middle (32), and when the thumb middle (32) is bent, the thumb finger tip (33) is simultaneously bent under the action of the third connecting rod (36);
one end of the thumb bending driving rope passes through a sixth pressure spring arranged in the thumb (32) and is fixed at one end of the sixth pressure spring; the other end of the thumb bending driving rope crosses the lower part of the joint of the thumb middle (32) and is connected to a thumb wire spool (37) arranged in a thumb motor base (31); the thumb wire spool (37) is connected to an output shaft of the thumb bending motor (38); when the thumb bending motor (38) rotates, the thumb wire spool (37) is driven to rotate, so that the thumb bending driving rope is pulled to bend the joint (32) in the thumb, and under the action of the third connecting rod (36), two joints of the thumb can be bent simultaneously; when the thumb is free from external force, the sixth pressure spring is hardly compressed; when the thumb is bent by the external force, the sixth pressure spring is compressed;
one end of the thumb extension driving rope penetrates through a seventh pressure spring arranged in the thumb (32), the elasticity coefficient of the seventh pressure spring is smaller than that of the sixth pressure spring, and the seventh pressure spring is fixed at one end of the seventh pressure spring; the other end of the thumb stretching driving rope crosses over the upper part of the knuckle in the finger (32) and is fixed on a thumb motor base (31); when the thumb is bent, the seventh pressure spring is compressed; when the thumb bending motor (38) releases the thumb bending driving rope, the thumb extends the driving rope to drive the two joints of the thumb to extend back to be positive at the same time under the action of the seventh pressure spring;
the thumb rotates and is driven by a thumb rotating motor (42) to rotate an input disc (39), and the rotation of the input disc (39) is realized by driving a rotation output disc (40) through a torque spring (41); when the rotation of the thumb is limited by external force, the torque spring (41) generates torsional deformation to absorb the external force;
the thumb motor base (31) is hinged with the rotary output disc (40), and passive abduction or adduction is realized by using an eighth pressure spring (43); the thumb can be detached and attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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