CN113878603B - Palm structure of humanoid robot - Google Patents
Palm structure of humanoid robot Download PDFInfo
- Publication number
- CN113878603B CN113878603B CN202111222584.3A CN202111222584A CN113878603B CN 113878603 B CN113878603 B CN 113878603B CN 202111222584 A CN202111222584 A CN 202111222584A CN 113878603 B CN113878603 B CN 113878603B
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- finger
- thumb
- driving motor
- palm
- connecting rod
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
The invention relates to a palm structure of a humanoid robot, comprising: a palm skeleton; the connecting rod mechanisms are rotatably arranged on the palm framework and are used for simulating fingers; the driving motor is arranged on the palm framework and is in driving connection with the corresponding connecting rod mechanism through a spherical amplitude connecting rod; one of the five driving motors is arranged on the palm side, and the other driving motor is arranged on the palm side and is arranged closely up and down. The invention reduces the width, the length and the size in the height direction of the palm by reasonably distributing the driving motors of all the fingers, so that the size of the palm is more consistent with the size of the palm of a real person. And the driving motor drives the corresponding link mechanism to act through the spherical connecting rod, so that a motor shaft of the driving motor and a rotating shaft of the link mechanism are not on the same plane, the space problem of the layout of the driving motor can be solved, and the size of a palm is effectively reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a palm structure of a humanoid robot.
Background
In the field of robots, humanoid robots are rapidly developed, and humanoid palms are also rapidly iterated, so that the humanoid palms become more flexible; according to the technical analysis of the existing products, three ways of controlling the movement of fingers are provided, one way is through a connecting rod transmission, the second way is through a pull rope transmission, the third way is through a small joint motor, and the power source mainly comprises a steering engine and a linear motor. The control mode of stay cord cooperation linear electric motor or steering wheel wherein, its stability is relatively poor, and can not the passively crooked finger, the control mode of linear electric motor and connecting rod combination leads to the palm longer because linear electric motor size reason, the combination control mode of steering wheel and connecting rod, because the motor problem of arranging leads to the palm thicker, these two kinds of schemes are all big a little greatly in ordinary people hand size, and the scheme that uses joint motor can lead to the control of palm fairly complicated, and the size of palm is big a little.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a palm structure of a humanoid robot, and solves the problems of longer, thicker and larger palm size in the mode of controlling finger movement by the existing robot.
The technical scheme for realizing the purpose is as follows:
the invention provides a hand structure of a humanoid robot, comprising:
the palm framework is provided with a palm side and a back side which are oppositely arranged;
the thumb connecting rod mechanism is rotatably arranged on the palm framework;
the thumb driving motor is arranged on the palm side of the palm framework and is in driving connection with the thumb connecting rod mechanism through a thumb spherical connecting rod;
the forefinger connecting rod mechanism is rotatably arranged on the palm framework;
the forefinger driving motor is arranged on the back side of the palm framework, is close to the bottom of the palm framework, and is in driving connection with the forefinger connecting rod mechanism through a forefinger spherical amplitude connecting rod;
the middle finger connecting rod mechanism is rotatably arranged on the palm framework;
the middle finger driving motor is arranged close to the top of the palm framework and opposite to the index finger driving motor, and the middle finger driving motor is in driving connection with the middle finger connecting rod mechanism through a middle finger spherical width connecting rod;
The ring finger connecting rod mechanism is rotatably arranged on the palm framework;
the ring finger driving motor is arranged on the back side of the palm framework, is close to the top of the palm framework and is close to the middle finger driving motor, and is in driving connection with the ring finger connecting rod mechanism through a ring finger spherical amplitude connecting rod;
the thumb connecting rod mechanism is rotatably arranged on the palm framework; and
locate the dorsal little finger driving motor of hand of palm skeleton, little finger driving motor is close to the bottom of palm skeleton set up and with forefinger actuating mechanism is close to mutually, just little finger driving motor through little finger breadth of sphere connecting rod with little finger link mechanism drive is connected.
The palm structure of the humanoid robot reduces the width, length and height dimensions of the palm by reasonably distributing the driving motors of the fingers, so that the size of the palm is more consistent with the size of the palm of a real person. And the driving motor drives the corresponding connecting rod mechanism to act through the spherical connecting rod, so that a motor shaft of the driving motor and a rotating shaft of the connecting rod mechanism are not on the same plane, the space problem of the layout of the driving motor can be solved, and the size of a palm is effectively reduced.
The hand structure of the humanoid robot is further improved in that the thumb breadth connecting rod comprises a thumb force transfer rod, a first thumb connecting ball arranged at the end part of the thumb force transfer rod and a second thumb connecting ball arranged at the other end part of the thumb force transfer rod;
the first thumb connecting ball is freely rotatably arranged on the thumb connecting rod mechanism;
a motor shaft of the thumb driving motor is connected with a thumb swinging rod;
the second thumb connecting ball is freely rotatably arranged on the thumb swinging rod.
The hand structure of the humanoid robot is further improved in that the thumb swinging rod is arranged at the edge of the hand framework.
The palm structure of the humanoid robot hand is further improved in that a gap is formed between the middle finger driving motor and the ring finger driving motor;
a motor shaft of the middle finger driving motor is connected with a middle finger swinging rod;
a motor shaft of the ring finger driving motor is connected with a ring finger swinging rod;
the middle finger swing rod and the ring finger swing rod are both positioned in the gap;
the middle finger connecting rod comprises a middle finger dowel bar, a first middle finger connecting ball arranged at the end part of the middle finger dowel bar and a second middle finger connecting ball arranged at the other end part of the middle finger dowel bar;
The first middle finger connecting ball can be freely and rotatably arranged on the middle finger connecting rod mechanism;
the second middle finger connecting ball is freely rotatably arranged on the middle finger swinging rod;
the ring finger spherical connecting rod comprises a ring finger dowel bar, a first ring finger connecting ball arranged at the end part of the ring finger dowel bar and a second ring finger connecting ball arranged at the other end part of the ring finger dowel bar;
the first ring finger connecting ball is freely rotatably arranged on the ring finger connecting rod mechanism;
the second ring finger connecting ball is freely rotatably mounted on the ring finger swinging rod.
The palm structure of the humanoid robot is further improved in that a motor shaft of the forefinger driving motor is connected with a forefinger swinging rod, and the forefinger swinging rod is arranged at the edge of the palm framework;
the index finger spherical amplitude connecting rod comprises an index finger dowel bar, a first index finger connecting ball arranged at the end part of the index finger dowel bar and a second index finger connecting ball arranged at the other end part of the index finger dowel bar;
the first index finger connecting ball is freely rotatably arranged on the index finger connecting rod mechanism;
the second index finger connecting ball is freely rotatably arranged on the index finger swinging rod.
The hand structure of the humanoid robot is further improved in that a motor shaft of the little finger driving motor is connected with a little finger swinging rod which is arranged at the edge of the hand framework;
the small finger spherical connecting rod comprises a small finger force transmission rod, a first small finger connecting ball arranged at one end of the small finger force transmission rod and a second small finger connecting ball arranged at the other end of the small finger force transmission rod;
the first little finger connecting ball can be freely and rotatably arranged on the little finger connecting rod mechanism;
the second little finger connecting ball can be freely and rotatably arranged on the little finger swinging rod.
The palm skeleton is provided with a first mounting groove corresponding to the thumb drive motor, a second mounting groove corresponding to the index finger drive motor, a third mounting groove corresponding to the middle finger drive motor, a fourth mounting groove corresponding to the ring finger drive motor and a fifth mounting groove corresponding to the small finger drive motor.
The palm structure of the humanoid robot is further improved in that the ring finger driving motor and the little finger driving motor are partially overlapped, and the outer side of the ring finger driving motor is closer to the edge of the palm skeleton than the outer side of the little finger driving motor.
The palm structure of the humanoid robot is further improved in that the middle finger driving motor and the index finger driving motor are partially overlapped, and the outer side of the middle finger driving motor is arranged closer to the edge of the palm framework relative to the outer side of the index finger driving motor.
The palm framework of the humanoid robot is correspondingly provided with connecting ear seats corresponding to the thumb connecting rod mechanism, the index finger connecting rod mechanism, the middle finger connecting rod mechanism, the ring finger connecting rod mechanism and the little finger connecting rod mechanism.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a palm structure of a humanoid robot.
Fig. 2 is a side view of the hand structure of a humanoid robot of the present invention.
Fig. 3 is a front view of the palm side of a humanoid robot hand structure of the present invention.
Fig. 4 is a front view of the back side of a hand of a humanoid robot palm structure of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides a palm structure of a humanoid robot, which is used for solving the problems that the thickness of a palm is thicker than that of a normal person, the palm looks thicker and is not coordinated with the arm of the humanoid robot due to the arrangement mode that the existing steering engine is matched with a connecting rod to drive fingers to stretch and bend, and the palm is perpendicular to the palm and parallel to the fingers; the palm driving structure is also used for solving the problem that the palm size is larger due to the fact that the output direction of the motor is parallel to the direction of the fingers and the motors of the palm driving structure are distributed along with the adjustment direction of the fingers due to the fact that the fingers are opened at different angles. The palm structure reasonably arranges the driving motor to reduce the width, length and height dimension of the palm, so that the size of the palm is more consistent with the size of the palm of a real person. The invention connects the driving motor and the link mechanism through the spherical connecting rod, so that the output direction of the driving motor is not consistent with the movement direction of the fingers, and the finger link mechanism can be driven, thereby effectively reducing the size of the palm. The link mechanism of the invention increases physical limit, so that the finger joint has smaller play in the motion process, and the motion precision of the finger is improved. The palm structure of the humanoid robot of the invention is explained in the following with the attached drawings.
Referring to fig. 1, a schematic perspective view of a palm structure of a humanoid robot according to the present invention is shown. Referring to fig. 2, a side view of the palm structure of the humanoid robot of the present invention is shown. The palm structure of the humanoid robot of the present invention will be described with reference to fig. 1 and 2.
As shown in fig. 1 and 2, the palm structure of the humanoid robot hand of the present invention includes a palm skeleton 26, a thumb link mechanism 211, a thumb drive motor 212, a forefinger link mechanism 221, a forefinger drive motor 222, a middle finger link mechanism 231, a middle finger drive motor 232, a ring finger link mechanism 241, a ring finger drive motor 242, a little finger link mechanism 251, and a little finger drive motor 252, wherein the thumb link mechanism 211, the forefinger link mechanism 221, the middle finger link mechanism 231, the ring finger link mechanism 241, and the little finger link mechanism 251 are used for simulating fingers of a normal person. Palm skeleton 26 has oppositely disposed palm side 261 and back side 262; the thumb connecting rod mechanism 211 is rotatably arranged on the palm framework 26; as shown in fig. 3, the thumb drive motor 212 is disposed on the palm side 261 of the palm skeleton 26, the thumb drive motor 212 is drivingly connected to the thumb link mechanism 211 through the thumb ball link 213, and the thumb drive motor 212 can drive the thumb link mechanism 211 through the thumb ball link 213 to move. The index finger link mechanism 221 is rotatably arranged on the palm framework 26; referring to fig. 4, the index finger driving motor 222 is disposed on the back side 262 of the palm skeleton 26, the index finger driving motor 222 is disposed near the bottom of the palm skeleton 26, and the index finger driving motor 222 is drivingly connected to the index finger link mechanism 221 through the index finger spherical link 223 to drive the index finger link mechanism 221 to move. The middle finger link mechanism 231 is rotatably mounted on the palm framework 26; the middle finger driving motor 232 is disposed on the back side 262 of the palm skeleton 26, the middle finger driving motor 232 is disposed near the top of the palm skeleton 26 and opposite to the index finger driving motor 222, the middle finger driving motor 232 and the index finger driving motor 222 are preferably disposed in an up-down opposite arrangement, and the middle finger driving motor 232 is drivingly connected to the middle finger link mechanism 231 through the middle finger ball link 233 to drive the middle finger link mechanism 231 to move. The ring finger link mechanism 241 is rotatably mounted on the palm framework 26; the ring finger driving motor 242 is disposed on the back side 262 of the palm frame 26, the ring finger driving motor 242 is disposed near the top of the palm frame 26 and is close to the middle finger driving motor 232, and the ring finger driving motor 242 is drivingly connected to the ring finger link mechanism 241 through a ring finger spherical link 243 to drive the ring finger link mechanism 241 to move. The little finger link mechanism 251 is rotatably arranged on the palm framework 26; the little finger driving motor 252 is arranged on the back side 262 of the palm framework 26, the little finger driving motor 252 is arranged close to the bottom of the palm framework 26 and close to the forefinger driving motor 222, and the little finger driving motor 252 is in driving connection with the little finger link mechanism 251 through the little finger amplitude link 253 so as to drive the little finger link mechanism 251 to move. The thumb drive motor 252 and ring finger drive motor 242 are preferably disposed in an up-down opposing relationship.
The palm structure of the present invention has the thumb drive motor 212 disposed on the palm side 261 of the palm skeleton 26, and disposed near the thumb linkage 211, the position of the thumb drive motor 212 being similar to the position of the inner muscle of the thumb of the human palm. The forefinger driving motor 222 is disposed on the back 262 of the palm skeleton 26 and corresponds to the thumb driving motor 212, and the forefinger driving motor and the thumb driving motor are overlapped and disposed at the corresponding inner muscle position of the thumb, which is expanded and thicker on the palm of the human body, so that the arrangement of the forefinger driving motor and the thumb driving motor has little influence on the thickness of the palm. The forefinger driving motor 222, the middle finger driving motor 232, the ring finger driving motor 242 and the little finger driving motor 252 are arranged on the back side 262 of the palm framework 26, the four motors are arranged in a row in pairs and are arranged oppositely up and down in pairs, reasonable and compact arrangement effect can be achieved, and the driving motors are in driving connection with the link mechanisms through the spherical connecting rods, so that the output ends of the driving motors and the input ends of the link mechanisms are not on the same plane, the space problem of the arrangement of the driving motors can be solved, and the problem that palms of the robot are too thick and heavy is solved.
In one embodiment of the present invention, as shown in fig. 1 and 3, the thumb ball link 213 includes a thumb force lever 2131, a first thumb connecting ball disposed at one end of the thumb force lever 2131, and a second thumb connecting ball disposed at the other end of the thumb force lever 2131; the first thumb connecting ball is freely rotatably arranged on the thumb connecting rod mechanism 211; a motor shaft of the thumb driving motor 212 is connected with a thumb swinging rod 214; the second thumb engaging ball is freely rotatably mounted on the thumb sway bar 214.
The arrangement of the first thumb connecting ball and the second thumb connecting ball enables two ends of the thumb dowel bar 2131 to form ball joint connection, the output end (namely, a motor shaft) of the driving motor and the input end of the link mechanism can be allowed to have certain angle deviation, the driving motor drives the link mechanism to move more smoothly, and the layout of the driving motor is facilitated.
Specifically, a first spherical groove adapted to the first thumb connecting ball is formed in the thumb linkage 211, and the first thumb connecting ball is embedded in the first spherical groove and can freely rotate in the first spherical groove. The thumb swing lever 214 is provided with a second spherical groove adapted to the second thumb connector, and the second thumb connector is embedded in the second spherical groove and can freely rotate in the second spherical groove.
Further, thumb swing lever 214 is provided at the edge of palm skeleton 26. One end of the thumb swing lever 214 is sleeved and fixed on a motor shaft of the thumb driving motor 212, the other end of the thumb swing lever is connected with the second thumb connecting ball, the thumb driving motor 212 drives the motor shaft to rotate, so that the motor shaft drives the thumb swing lever 214 to rotate, the end of the thumb swing lever 214 connected with the second thumb connecting ball swings around the motor shaft, the thumb swing lever 214 pulls or pushes the thumb force transfer lever 2131, and the thumb force transfer lever 2131 drives the thumb connecting rod mechanism 211 to move. The thumb driving motor controls the movement of the connecting rod mechanism by controlling the swing angle of the thumb swing rod.
In one embodiment of the present invention, as shown in fig. 1 and 4, a gap is provided between the middle finger driving motor 232 and the ring finger driving motor 242; a middle finger swing rod 234 is connected to the motor shaft of the middle finger driving motor 232; a ring finger swing rod 244 is connected to a motor shaft of the ring finger driving motor 242; the middle finger swing lever 234 and the ring finger swing lever 244 are both located in the gap; the middle finger bail link 233 includes a middle finger force transmission rod 2331, a first middle finger connecting ball provided at an end of the middle finger force transmission rod 2331, and a second middle finger connecting ball provided at the other end of the middle finger link 2331; a first middle finger link ball is freely rotatably mounted on the middle finger link mechanism 231, and a second middle finger link ball is freely rotatably mounted on the middle finger swing lever 234; the ring finger spoke connecting rod 243 includes a ring finger force transmission rod 2431, a first ring finger connecting ball arranged at one end of the ring finger force transmission rod 2431 and a second ring finger connecting ball arranged at the other end of the ring finger force transmission rod 2431; the first ring finger connecting ball is rotatably attached to the ring finger link mechanism 241, and the second ring finger connecting ball is rotatably attached to the ring finger swing lever 244.
The first middle finger connecting ball and the second middle finger connecting ball are arranged so that two ends of the middle finger dowel bar form a ball hinge connection, and the first ring finger connecting ball and the second ring finger connecting ball are arranged so that two ends of the ring finger dowel bar form a ball hinge connection. The middle finger swing rod and the ring finger swing rod are positioned in a gap between the middle finger driving motor and the ring finger driving motor, so that the middle finger force transmission rod and the ring finger force transmission rod are also arranged at the gap between the middle finger driving motor and the ring finger driving motor, and the thickness of the palm structure can be reduced.
In one embodiment of the present invention, as shown in fig. 1 and 4, a motor shaft of the index finger driving motor 222 is connected to an index finger swing rod 224, the index finger swing rod 224 is disposed at an edge of the palm skeleton 26, and the index finger ball connecting rod 223 includes an index finger force transmission rod 2231, a first index finger connecting ball disposed at an end of the index finger force transmission rod 2231, and a second index finger connecting ball disposed at the other end of the index finger force transmission rod 2231; the first index finger connecting ball is freely rotatably mounted on the index finger link mechanism 221, and the second index finger connecting ball is freely rotatably mounted on the index finger swing lever 224.
Wherein the first forefinger is connected the ball and the setting that the ball was connected to the second forefinger for the both ends of forefinger dowel bar form the ball pivot and connect.
Further, a motor shaft of the small thumb driving motor 252 is connected with a small thumb swinging rod 254, and the small thumb swinging rod 254 is arranged at the edge of the palm skeleton 26; the small-thumb connecting rod 253 comprises a small-thumb dowel bar 2531, a first small-thumb connector arranged at the end part of the small-thumb dowel bar 2531 and a second small-thumb connecting ball arranged at the other end part of the small-thumb dowel bar 2531; the first thumb engaging ball is rotatably mounted on the thumb linkage 251 and the second thumb engaging ball is rotatably mounted on the thumb swing lever 254.
The first small finger connecting ball and the second small finger connecting ball are arranged, so that two ends of the small finger dowel bar are connected in a spherical hinge mode.
As shown in fig. 1, the index finger driving motor and the little finger driving motor are arranged at the bottom of the palm skeleton, and are arranged close to each other, the middle finger driving motor and the ring finger driving motor are arranged at the top of the palm skeleton, and are arranged far away from each other, so that the palm skeleton is in a shape that the width of the top is larger than that of the bottom, and is just matched with the shape of the palm of a human body. The clearance between middle finger driving motor and the ring finger driving motor can hold middle finger swinging arms and ring finger swinging arms, and the relative both sides of palm skeleton are located to forefinger swinging arms and little finger swinging arms to be located the edge, realized the reasonable space that utilizes on the palm skeleton and carried out the overall arrangement, can make the size of palm skeleton and the palm size looks adaptation of human body.
Specifically, the ring finger driving motor 242 is disposed to partially overlap the little finger driving motor 252, and the outer side of the ring finger driving motor 242 is disposed closer to the edge of the palm skeleton 26 than the outer side of the little finger driving motor 252. Further, the middle finger drive motor 232 partially overlaps the index finger drive motor 222, and the outer side of the middle finger drive motor 232 is disposed closer to the edge of the palm skeleton 26 than the outer side of the index finger drive motor 222.
In an embodiment of the present invention, as shown in fig. 1 and 2, the palm skeleton 26 is provided with a first mounting groove corresponding to the thumb driving motor 212, a second mounting groove corresponding to the index finger driving motor 222, a third mounting groove corresponding to the middle finger driving motor 232, a fourth mounting groove corresponding to the ring finger driving motor 242, and a fifth mounting groove corresponding to the little finger driving motor 252. Utilize five mounting grooves that set up on palm skeleton 26 to come the installation fixed driving motor who corresponds, driving motor can have the part to imbed in the mounting groove that corresponds, has improved the firm stability that driving motor is fixed. Due to the arrangement of the mounting groove, the driving motor can be effectively fixed by only one fixing screw.
In one embodiment of the present invention, as shown in fig. 1, the palm skeleton 26 is provided with connecting ear seats 263 corresponding to the thumb link mechanism 211, the index finger link mechanism 221, the middle finger link mechanism 231, the ring finger link mechanism 241 and the small finger link mechanism 251.
Specifically, the connecting lug 263 is provided with a pair of oppositely arranged lug plates, and the end of the link mechanism is inserted between the corresponding pair of lug plates and is rotatably connected between the pair of lug plates through a rotating shaft. The tail end of the connecting rod mechanism can rotate and be adjusted around the rotating shaft. When the connecting mechanism is connected with the spherical connecting rod at the tail end, the corresponding connecting ball on the spherical connecting rod is arranged close to the rotating shaft, a certain distance is reserved between the connecting ball and the corresponding rotating shaft, and preferably, the connecting line between the connecting ball and the corresponding rotating shaft is an oblique line which intersects with the horizontal plane. The spherical connecting rod pulls or pushes the tail end of the connecting rod mechanism so that the connecting rod mechanism can rotate around the rotating shaft, and the movement of the connecting rod mechanism is realized.
Further, as shown in fig. 1, the thumb linkage 211 includes a first thumb bar 2111, a second thumb bar 2112 and a third thumb bar 2113, wherein the end of the first thumb bar 2111 is rotatably mounted on the corresponding connecting ear seat 263 via a rotating shaft, the other end of the first thumb bar 2111 is rotatably connected to the second thumb bar 2112 via a shaft, and the end of the second thumb bar 2112 is rotatably connected to the end of the third thumb bar 2113. A first thumb restraint rod 2114 is provided at a connection between the first thumb rod 2111 and the second thumb rod 2112, one end of the first thumb restraint rod 2114 is rotatably connected to the corresponding connecting ear seat 263, the other end is rotatably connected to the second thumb rod 2112, and a rotation angle between the first thumb rod 2111 and the second thumb rod 2112 is restricted by the first thumb restraint rod 2114. As shown in fig. 3, a second thumb restraint bar 2115 is provided at a connection between the second thumb bar 2112 and the third thumb bar 2113, one end of the second thumb restraint bar 2115 is rotatably connected to the second thumb bar 2112, the other end is rotatably connected to the third thumb bar 2113, and a rotation angle between the second thumb bar 2112 and the third thumb bar 2113 is restricted by the second thumb restraint bar 2115.
The first thumb limiting rod and the second thumb limiting rod which are arranged play a limiting role, so that the thumb joint can have smaller play in the movement process, and the movement precision of the thumb is improved.
As shown in fig. 1, the index finger link mechanism 221 comprises a first index finger bar 2211, a second index finger bar 2212 and a third index finger bar 2213 which are hinged in sequence, and the end of the first index finger bar 2211 is rotatably connected to the corresponding connecting ear seat 263 through a rotating shaft. This forefinger link mechanism 221 still includes first forefinger gag lever post 2214 and second forefinger gag lever post 2215, and rotatable the connecting on corresponding connecting ear seat 263 of one end of first forefinger gag lever post 2214, the rotatable connection of the other end is on second forefinger pole 2212, through the turned angle between first forefinger gag lever post 2214 restriction second forefinger pole 2212 and first forefinger pole 2211. One end of the second forefinger bar 2215 is rotatably connected to the second forefinger bar 2212, and the other end is rotatably connected to the third forefinger bar 2213, so that the rotation angle between the third forefinger bar 2213 and the second forefinger bar 2212 is limited by the second forefinger bar 2215. The junction of second forefinger gag lever post and third forefinger pole and the junction of third forefinger pole and second forefinger pole stagger mutually and set up.
The middle finger link mechanism 231 includes a first middle finger lever 2311, a second middle finger lever 2312 and a third middle finger lever 2313 which are hinged in sequence, and the tail end of the first middle finger lever 2311 is rotatably connected to the corresponding connecting lug seat 263 through a rotating shaft. The middle finger link mechanism 231 further includes a first middle finger limiting rod 2314 and a second middle finger limiting rod 2315, one end of the first middle finger limiting rod 2314 is rotatably connected to the corresponding connecting lug seat 263, the other end of the first middle finger limiting rod 2314 is rotatably connected to the second middle finger rod 2312, and the first middle finger limiting rod 2314 limits the rotation angle between the second middle finger rod 2312 and the first middle finger rod 2311. One end of the second middle finger lever 2315 is rotatably connected to the second middle finger lever 2312, the other end is rotatably connected to the third middle finger lever 2313, and the rotation angle between the third middle finger lever 2313 and the second middle finger lever 2312 is limited by the second middle finger lever 2315. The joint of the second middle finger limiting rod and the third middle finger rod and the joint of the third middle finger rod and the second middle finger rod are arranged in a staggered mode.
The third ring finger link mechanism 241 includes a first ring finger 2411, a second ring finger 2412 and a third ring finger 2413, which are sequentially hinged, and the end of the first ring finger 2411 is rotatably connected to the corresponding connecting ear seat 263 through a rotating shaft. The third ring finger link mechanism 241 further includes a first third ring finger limit rod 2414 and a second third ring finger limit rod 2415, one end of the first third ring finger limit rod 2414 is rotatably connected to the corresponding connecting lug seat 263, the other end is rotatably connected to the second third ring finger rod 2412, and the rotation angle between the second third ring finger rod 2412 and the first third ring finger rod 2411 is limited by the first third ring finger limit rod 2414. One end of the second ring finger limit rod 2415 is rotatably connected to the second ring finger rod 2412, the other end is rotatably connected to the third ring finger rod 2413, and the rotation angle between the third ring finger rod 2413 and the second ring finger rod 2412 is limited by the second ring finger limit rod 2415. The joint of the second ring finger limiting rod and the third ring finger and the joint of the third ring finger and the second ring finger are arranged in a staggered mode.
The thumb linkage 251 comprises a first thumb lever 2511, a second thumb lever 2512 and a third thumb lever 2513 which are hinged in sequence, wherein the tail end of the first thumb lever 2511 is rotatably connected to the corresponding connecting lug 263 through a rotating shaft. The thumb linkage 251 further includes a first thumb limiting rod 2514 and a second thumb limiting rod 2515, one end of the first thumb limiting rod 2514 is rotatably connected to the corresponding connecting lug 263, the other end of the first thumb limiting rod 2514 is rotatably connected to the second thumb rod 2512, and the rotation angle between the second thumb rod 2512 and the first thumb rod 2511 is limited by the first thumb limiting rod 2514. The second thumb stop 2515 has one end rotatably connected to the second thumb lever 2512 and the other end rotatably connected to the third thumb lever 2513, and the rotation angle between the third thumb lever 2513 and the second thumb lever 2512 is limited by the second thumb stop 2515. The joint of the second little finger limiting rod and the third little finger and the joint of the third little finger and the second little finger are arranged in a staggered way.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (3)
1. A humanoid robot palm structure, characterized by, includes:
the palm framework is provided with a palm side and a back side which are oppositely arranged;
the thumb connecting rod mechanism is rotatably arranged on the palm framework;
the thumb driving motor is arranged on the palm side of the palm framework and is in driving connection with the thumb connecting rod mechanism through a thumb spherical connecting rod;
the index finger connecting rod mechanism is rotatably arranged on the palm framework;
the index finger driving motor is arranged on the back side of the palm framework, is close to the bottom of the palm framework, and is in driving connection with the index finger link mechanism through an index finger spherical amplitude link rod;
the middle finger connecting rod mechanism is rotatably arranged on the palm framework;
the middle finger driving motor is arranged close to the top of the palm framework and opposite to the index finger driving motor, and the middle finger driving motor is in driving connection with the middle finger connecting rod mechanism through a middle finger spherical width connecting rod;
the ring finger connecting rod mechanism is rotatably arranged on the palm framework;
The ring finger driving motor is arranged on the back side of the palm framework, is close to the top of the palm framework and is close to the middle finger driving motor, and is in driving connection with the ring finger connecting rod mechanism through a ring finger spherical amplitude connecting rod;
the thumb connecting rod mechanism is rotatably arranged on the palm framework; and
the thumb driving motor is arranged on the back side of the palm framework, is close to the bottom of the palm framework and is close to the forefinger driving mechanism, and is in driving connection with the thumb connecting rod mechanism through a thumb spherical connecting rod;
the thumb connecting rod comprises a thumb dowel bar, a first thumb connecting ball arranged at one end of the thumb dowel bar and a second thumb connecting ball arranged at the other end of the thumb dowel bar;
the first thumb connecting ball is freely rotatably arranged on the thumb connecting rod mechanism;
a motor shaft of the thumb driving motor is connected with a thumb swinging rod;
the second thumb connecting ball is freely and rotatably arranged on the thumb swinging rod;
The thumb swinging rod is arranged at the edge of the palm skeleton;
a gap is formed between the middle finger driving motor and the ring finger driving motor;
a motor shaft of the middle finger driving motor is connected with a middle finger swinging rod;
a motor shaft of the ring finger driving motor is connected with a ring finger swinging rod;
the middle finger swing rod and the ring finger swing rod are both positioned in the gap;
the middle finger connecting rod comprises a middle finger dowel bar, a first middle finger connecting ball arranged at the end part of the middle finger dowel bar and a second middle finger connecting ball arranged at the other end part of the middle finger dowel bar;
the first middle finger connecting ball can be freely and rotatably arranged on the middle finger connecting rod mechanism;
the second middle finger connecting ball is freely rotatably arranged on the middle finger swinging rod;
the ring finger spherical connecting rod comprises a ring finger dowel bar, a first ring finger connecting ball arranged at the end part of the ring finger dowel bar and a second ring finger connecting ball arranged at the other end part of the ring finger dowel bar;
the first ring finger connecting ball is freely rotatably arranged on the ring finger connecting rod mechanism;
the second ring finger connecting ball is freely rotatably arranged on the ring finger swinging rod;
The middle finger dowel bar and the ring finger dowel bar are also arranged in the gap;
a motor shaft of the forefinger driving motor is connected with a forefinger swinging rod, and the forefinger swinging rod is arranged at the edge of the palm framework;
the index finger spherical amplitude connecting rod comprises an index finger dowel bar, a first index finger connecting ball arranged at the end part of the index finger dowel bar and a second index finger connecting ball arranged at the other end part of the index finger dowel bar;
the first index finger connecting ball is freely rotatably arranged on the index finger connecting rod mechanism;
the second index finger connecting ball is freely and rotatably arranged on the index finger swinging rod;
a motor shaft of the little finger driving motor is connected with a little finger swinging rod which is arranged at the edge of the palm framework;
the small finger spherical connecting rod comprises a small finger force transmission rod, a first small finger connecting ball arranged at one end of the small finger force transmission rod and a second small finger connecting ball arranged at the other end of the small finger force transmission rod;
the first small finger connecting ball is freely rotatably arranged on the small finger connecting rod mechanism;
the second thumb connecting ball is freely rotatably arranged on the thumb swinging rod;
A first mounting groove corresponding to the thumb driving motor, a second mounting groove corresponding to the index finger driving motor, a third mounting groove corresponding to the middle finger driving motor, a fourth mounting groove corresponding to the ring finger driving motor and a fifth mounting groove corresponding to the little finger driving motor are formed in the palm framework;
the palm framework is correspondingly provided with connecting ear seats corresponding to the thumb connecting rod mechanism, the index finger connecting rod mechanism, the middle finger connecting rod mechanism, the ring finger connecting rod mechanism and the little finger connecting rod mechanism;
the thumb connecting rod mechanism, the index finger connecting rod mechanism, the middle finger connecting rod mechanism, the ring finger connecting rod mechanism and the small finger connecting rod mechanism are rotatably connected with corresponding connecting lug seats through rotating shafts, the first thumb connecting ball, the first middle finger connecting ball, the first index finger connecting ball, the first ring finger connecting ball and the first small finger connecting ball are arranged close to the corresponding rotating shafts and have a certain distance with the corresponding rotating shafts, and the connecting lines among the first thumb connecting ball, the first middle finger connecting ball, the first index finger connecting ball, the first ring finger connecting ball and the first small finger connecting ball and the corresponding rotating shafts are oblique lines intersected with the horizontal plane;
Forefinger driving motor overlaps with thumb driving motor and places in the inboard muscle position of the thumb that corresponds, and ring finger driving motor has partial coincidence setting with little finger driving motor, and ring finger driving motor's the outside and more be close to the edge setting of palm skeleton for little finger driving motor's the outside, and middle finger driving motor has partial coincidence setting with forefinger driving motor, and middle finger driving motor's the outside is more close to the edge setting of palm skeleton for forefinger driving motor's the outside.
2. The humanoid robot hand palm structure of claim 1, wherein the ring finger drive motor and the little finger drive motor are partially disposed in superposition, and an outer side of the ring finger drive motor is disposed closer to an edge of the palm skeleton than an outer side of the little finger drive motor.
3. The humanoid robot hand palm structure of claim 1, wherein the middle finger drive motor and the index finger drive motor are disposed partially in coincidence, and an outer side of the middle finger drive motor is disposed closer to an edge of the palm skeleton than an outer side of the index finger drive motor.
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| CN109773815A (en) * | 2019-03-29 | 2019-05-21 | 尹猛 | Based on the 19 freedom decoupling Dextrous Hands for improving flexible cable transmission |
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| JP3245095B2 (en) * | 1997-08-07 | 2002-01-07 | 川▲崎▼ 晴久 | Robot hand |
| JP2008264896A (en) * | 2007-04-17 | 2008-11-06 | Toyota Motor Corp | Robot hand |
| CN101244563A (en) * | 2008-02-23 | 2008-08-20 | 中国科学院合肥物质科学研究院 | Manipulator for imitating human hand household service |
| US8641114B2 (en) * | 2008-12-03 | 2014-02-04 | National University Corporation NARA Institute of Science and Technology | Robot hand |
| CN102085662B (en) * | 2010-12-18 | 2015-05-06 | 浙江理工大学 | Prosthetic electric smart manipulator |
| CN103284820B (en) * | 2013-03-14 | 2017-06-23 | 洛阳理工学院 | Imitating human algorithm |
| CN203390943U (en) * | 2013-07-24 | 2014-01-15 | 蔡继文 | Five-finger type human-simulated robot hand |
| JP6767093B2 (en) * | 2015-03-12 | 2020-10-14 | 株式会社岩田鉄工所 | Multi-finger hand device |
| CN213562568U (en) * | 2020-09-24 | 2021-06-29 | 南京大学 | Management robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205129886U (en) * | 2015-12-03 | 2016-04-06 | 西安蒜泥电子科技有限责任公司 | Imitative people underactuated manipulator based on 3D printing technique |
| CN109773815A (en) * | 2019-03-29 | 2019-05-21 | 尹猛 | Based on the 19 freedom decoupling Dextrous Hands for improving flexible cable transmission |
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Effective date of registration: 20221017 Address after: 200436 Area B, Floor 5, Building 1, No. 668, Shangda Road, Baoshan District, Shanghai Patentee after: Shanghai Qingbao Engine Robot Co.,Ltd. Address before: 200092 floor 1, 38 Tieling Road, Yangpu District, Shanghai Patentee before: Shanghai Qingyun robot Co.,Ltd. |
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Denomination of invention: The palm structure of humanoid robots Effective date of registration: 20230920 Granted publication date: 20220719 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Shanghai Yangpu Sub branch Pledgor: Shanghai Qingbao Engine Robot Co.,Ltd. Registration number: Y2023310000573 |