CN1231332C - Robot anthropomorphic multi finger band device - Google Patents
Robot anthropomorphic multi finger band device Download PDFInfo
- Publication number
- CN1231332C CN1231332C CN 02153490 CN02153490A CN1231332C CN 1231332 C CN1231332 C CN 1231332C CN 02153490 CN02153490 CN 02153490 CN 02153490 A CN02153490 A CN 02153490A CN 1231332 C CN1231332 C CN 1231332C
- Authority
- CN
- China
- Prior art keywords
- finger
- joint
- root
- thumb
- forefinger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000003811 finger Anatomy 0.000 claims abstract description 128
- 210000003813 thumb Anatomy 0.000 claims abstract description 95
- 210000004932 little finger Anatomy 0.000 claims abstract description 67
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 17
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 17
- 210000005224 forefinger Anatomy 0.000 claims description 103
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 6
- 229920000305 Nylon 6,10 Polymers 0.000 claims description 3
- 210000002435 tendon Anatomy 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 7
- 210000004247 hand Anatomy 0.000 abstract 2
- 230000010354 integration Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 description 13
- 230000009471 action Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000014616 translation Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 229910000639 Spring steel Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to a robot anthropomorphic band device with multiple fingers, which belongs to the technical field of anthropomorphic robots and mainly comprises palms, thumbs, index fingers, middle fingers, third fingers, little fingers, thumb root joints and fourth finger root joints, wherein the index fingers, the middle fingers, the third fingers and the little fingers are respectively sheathed with the same fourth finger root joint and are connected with the palms. Each thumb root joint and each fourth finger root joint are a motor-driven drive joint respectively, a middle under-actuated drive joint, an end under-actuated drive joint and a thumb end under-actuated drive joint of each index finger, each middle finger, each third finger and each little finger use an under-actuated drive joint with the same structure. The whole device has the similar appearance, dimension and operation with those of human's hands. The whole device has five fingers each of which has 3 joints, and the total joint has 11 degrees of freedom; the integration level is high, but the robot only needs 2 motor drivers hidden in the hands. The robot anthropomorphic band device with multiple fingers has the advantages of easy control, small size and light weight, can realize the functions for beckoning, making a fist and stably grasping objects with different shapes and dimensions, and is suitable for anthropomorphic robots.
Description
Technical field
The present invention relates to a kind of mechanical finger device with functions, particularly a kind of structural design of multi-finger hand simulating human hand for robot device.
Background technology
People in research to intelligent robot, the tidemark of anthropomorphic robot as robot research, also always the behavior that realizes the class people as the target of dreaming of.With the mankind seemingly, most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.Anthropomorphic robot's power-supply system, drive system, information processing system are unified control system etc. fully by self-contained, thereby very strict requirement has been proposed the design of its hand, the weight of requirement terminal device is little, volume is little, and in order to alleviate the difficulty of control, requirement reduces the driver number of hand as far as possible under satisfying certain function and realizing trying one's best the high prerequisite that personalizes.
A kind of structure of existing multi-finger hand simulating human hand for robot device, as domestic patent of invention CN1136988A, comprise independently 3 fingers, each finger has 3 joints, whole hand has 9 joint freedom degrees, employing affects steel wire rope by motor, affects three joint driving mechanisms of finger dactylus to combine by steel wire rope.Its weak point is: this device joint number is many, and control is complicated; In the outside of hand a driving box that volume is very big is arranged, be used for installation of driver and coiling steel wire rope; On no matter this device still be volume from control, outward appearance, weight, all be not suitable for being installed on the anthropomorphic robot and go up use.
A kind of existing multi-finger hand simulating human hand for robot device as domestic patent of invention CN1365877A, comprises that a palm, an outer image staff four refer to the forefinger of (forefinger, middle finger, the third finger, little finger of toe), a thumb.Forefinger has the joint freedom degrees of 2 active drive, and thumb has joint freedom degrees and 1 joint freedom degrees of owing to drive of 1 active drive.Its weak point is: this hand reality only has 2 fingers, and its forefinger is 2 joints only, and whole hand only has 4 joint freedom degrees, and these and staff all differ bigger on outward appearance, finger number, joint freedom degrees number, dexterity of action.
Summary of the invention
The objective of the invention is to design a kind of multi-finger hand simulating human hand for robot device for overcoming the weak point of prior art.This device finger is many, joint freedom degrees is many, integrated level is high, the motor that needs is few, in motor and driver thereof are all hidden and are started with, volume is little, in light weight, control is easy, staff is all imitated in outward appearance, size and action more, can realize waving, clench fist, stablizing the function of the object that grasps difformity, size, be fit to be installed in the anthropomorphic robot and go up use.
The present invention adopts following technical scheme: a kind of multi-finger hand simulating human hand for robot device comprises that mainly palm, thumb, forefinger, middle finger, the third finger, little finger of toe, thumb root joint body, four refer to the root joint body; Said thumb comprises that thumb root dactylus, thumb end owe to drive the terminal dactylus in joint, thumb; It is characterized in that: said forefinger, middle finger, the third finger and little finger of toe comprise that respectively root dactylus, middle part owe to drive joint, middle part dactylus, end and owe to drive joint, terminal dactylus; Said forefinger, middle finger, the third finger and little finger of toe are socketed in same four respectively and refer to link to each other with palm on the root joint body, said thumb root joint body and four refers to that the root joint bodies are motor-driven active joint, and the middle part of said forefinger, middle finger, the third finger, little finger of toe is owed to drive joint, end and owed to drive joint and thumb end and owe to drive the joint and all adopt identical a kind of of structure to owe to drive the joint.
Saidly owe to drive the joint and comprise active sliding block, tooth bar, joint gear axle, spring, its annexation is: said joint gear axle sleeve is located between two dactylus, and it is affixed with a dactylus away from palm, said active sliding block is embedded near in the dactylus of palm, said tooth bar be fixed on the active sliding block and with the joint gear axle on gears engaged, said spring is arranged between the dactylus and active sliding block near palm.
Said four refer to that the root joint body comprises motor and driver thereof, the decelerator that links to each other with motor, the transmission mechanism that links to each other with decelerator, the joint shaft that links to each other with transmission mechanism, forefinger sheet spring, middle finger sheet spring, nameless sheet spring, little finger of toe sheet spring, its annexation is: said joint shaft is sheathed on palm and forefinger, middle finger, nameless, between the root dactylus of little finger of toe, said motor and driver thereof, decelerator and transmission mechanism are arranged in the palm, said forefinger sheet spring, middle finger sheet spring, nameless sheet spring, one end of little finger of toe sheet spring is affixed with joint shaft respectively, and its other end inserts forefinger respectively, middle finger, the root dactylus of the third finger and little finger of toe.
Said transmission mechanism adopts in gear drive, rack and pinion drive mechanism, belt wheel transmission mechanism, chain wheel driving mechanism, tendon network transmission mechanism, jointed gear unit or the ball-screw transmission mechanism any one.
Four refer to that the root joint body also comprises torsion spring, and its two ends link to each other with said joint shaft, palm respectively.
In order to realize speed closed loop control, on said motor, encoder is installed as velocity sensor; In order to realize the closed-loop control of turned position, joint, potentiometer is installed as position sensor at joint shaft one end; The joint rotational angle is excessive when rotating in order to prevent to point dactylus, causes hand machinery and electrical damage, on said palm, thumb, forefinger, middle finger, the third finger, little finger of toe limit switch is installed, restriction joint rotational angle range.
In order to realize the action of clenching fist, owe to drive the joint and comprise that also is fixed in a plectrum on the said active slip piece.
Sensation when grasping object in order to increase multi-finger hand simulating human hand for robot, in the part or all of surface of said palm, thumb, forefinger, middle finger, the third finger, little finger of toe is installed near sense sensor, pressure sensor, sliding feeling sensor, temperature sensor one or more.
The surface coverage industry rubber material of said palm, thumb, forefinger, middle finger, the third finger, little finger of toe.Like this when grasping object, will form soft finger face between finger surface and the object and contact, increased the degree of restraint of finger on the one hand to object, also can increase frictional force on the other hand, thus the stability of increase extracting object.
The main material of multi-finger hand simulating human hand for robot adopts NYLON610, weight reduction largely.
The present invention has the following advantages and the high-lighting effect: this device has 5 human-imitated fingers, 11 joint freedom degrees, initiatively joints and 9 owe to drive the joint comprising 2, the integrated level height, but only need 2 motors, motor and driver thereof all hide palm inside, owe to drive the joint and all adopt the identical a kind of modular construction of structure, whole device volume is little, in light weight, control easily, take into account and realize most extracting tasks and profile, the action imitation staff, can realize waving, clench fist, the stable difformity that grasps, the function of the object of size is fit to be installed in the anthropomorphic robot and goes up use.
Description of drawings
Fig. 1 is the embodiment side outside drawing of a kind of multi-finger hand simulating human hand for robot of the present invention, this moment thumb swung to palm over against the position.
Fig. 2 is the front appearance figure of present embodiment multi-finger hand simulating human hand for robot, and this moment, thumb swung to the side of palm.
Fig. 3 is the outside drawing of overlooking of present embodiment multi-finger hand simulating human hand for robot, and this moment, thumb swung to the side of palm.(two-dot chain line partly represents to forward to the thumb outward appearance signal of palm right opposite.)
Fig. 4 is the construction profile of present embodiment multi-finger hand simulating human hand for robot, is the A-A view among Fig. 5, this moment thumb swung to palm over against the position.
Fig. 5 is the Facad structure figure of present embodiment multi-finger hand simulating human hand for robot, is the B-B view among Fig. 4, and this moment, thumb swung to the side of palm.
Fig. 6 is the side outside drawing of the middle finger of present embodiment multi-finger hand simulating human hand for robot.
Fig. 7 is the front appearance figure of the middle finger of present embodiment multi-finger hand simulating human hand for robot.
Fig. 8 is the side outside drawing of the third finger of present embodiment multi-finger hand simulating human hand for robot.
Fig. 9 is the front appearance figure of the third finger of present embodiment multi-finger hand simulating human hand for robot.
Figure 10 is the side outside drawing of the little finger of toe of present embodiment multi-finger hand simulating human hand for robot.
Figure 11 is the front appearance figure of the little finger of toe of present embodiment multi-finger hand simulating human hand for robot.
Figure 12 is the schematic diagram that the present embodiment multi-finger hand simulating human hand for robot grips cylindrical object.
In Fig. 1 to Fig. 6:
The 1st, palm, the 2nd, thumb, the 3rd, forefinger,
The 4th, middle finger, the 5th, nameless, the 6th, little finger of toe,
The 7th, thumb root joint body, 8 is four finger root joint bodies,
The 11st, the palm surface plate, the 12nd, the palmar side cover plate, the 13rd, the palm back cover plate,
The 14th, the wrist connecting plate, the 15th, palm bottom bearing plate, the 16th, the palm skeleton,
The 17th, the palmar side shaft bearing plate,
The 21st, thumb root dactylus, the 22nd, thumb root slider table face shield,
The 23rd, thumb root slider table panel, the 24th, the terminal dactylus of thumb,
The 25th, the thumb connecting plate, the 26th, thumb tripe slider table face shield,
The 27th, thumb root backplate, the 28th, thumb root side panel, the 29th, the terminal tooth bar of thumb,
The 210th, the terminal joint gear axle of thumb, the 211st, taper bolt,
The 212nd, spring, the 213rd, thumb tripe surface plate, the 214th, the thumb end owes to drive the joint,
The 31st, forefinger root surface plate, the 32nd, forefinger root slide body, the 33rd, forefinger middle part plectrum,
The 34th, forefinger middle part surface plate, the 35th, forefinger middle part slide body, the 36th, forefinger root plectrum,
The 38th, forefinger root backplate, the 39th, spring, the 310th, taper bolt,
The 311st, forefinger middle part backplate, the 312nd, spring, the 313rd, the terminal skeleton of forefinger,
The 314th, forefinger root skeleton, the 315th, forefinger middle part tooth bar,
The 316th, forefinger middle part joint gear axle, the 317th, forefinger middle part skeleton,
The 318th, the terminal tooth bar of forefinger, the 319th, the terminal joint gear axle of forefinger,
The 320th, forefinger root slider table face shield, the 321st, forefinger root side panel,
The 322nd, forefinger middle part slider table face shield, the 323rd, forefinger medial side panel, the 324th, taper bolt,
The 325th, forefinger end surface piece, the 326th, the joint is owed to drive in the forefinger middle part, and the 327th, the forefinger end owes to drive the joint,
The 41st, middle finger root dactylus, the 42nd, middle finger middle part dactylus, the 43rd, the terminal dactylus of middle finger,
The 44th, the joint is owed to drive in the middle finger middle part, and the 45th, the middle finger end owes to drive the joint, and the 46th, middle finger root active slip piece,
The 47th, middle finger middle part active slip piece,
The 51st, nameless root dactylus, the 52nd, nameless middle part dactylus, the 53rd, nameless terminal dactylus,
The 54th, the joint is owed to drive in nameless middle part, and the 55th, nameless end owes to drive the joint,
The 56th, nameless root active slip piece, the 57th, nameless middle part active slip piece,
The 61st, little finger of toe root dactylus, the 62nd, little finger of toe middle part dactylus, the 63rd, the terminal dactylus of little finger of toe,
The 64th, the joint is owed to drive in the little finger of toe middle part, and the 65th, the little finger of toe end owes to drive the joint, and the 66th, little finger of toe root active slip piece,
The 67th, little finger of toe middle part active slip piece,
The 71st, thumb root keyhole piece, the 72nd, thumb root pinion, the 73rd, thumb root decelerator,
The 74th, taper bolt, the 75th, thumb root motor, the 76th, thumb root joint body gear shaft,
The 77th, torsion spring, the 78th, sliding bearing,
The 81st, encoder, 82 is four finger root motors, 83 is four finger root decelerators,
84 is four finger root keyhole pieces, and 85 is four finger root gears, and 86 is four finger root joint body gear shafts,
The 87th, sliding bearing, the 88th, forefinger root shifting block, the 89th, taper bolt,
The 810th, forefinger sheet spring, the 811st, middle finger sheet spring, the 812nd, nameless sheet spring,
The 813rd, little finger of toe sheet spring.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of multi-finger hand simulating human hand for robot device embodiment outward appearance of the present invention's design comprises that mainly palm 1, thumb 2, forefinger 3, middle finger 4, the third finger 5, little finger of toe 6, thumb root joint body 7, four refer to root joint bodies 8 as shown in Figure 1, 2, 3; The profile of whole device and the appearance similar of staff.The detailed structure view of present embodiment is shown in Fig. 4,5.Said thumb 2 comprises that thumb root dactylus 21, thumb end owe to drive the terminal dactylus 24 in joint 214, thumb; Said forefinger 3, middle finger 4, nameless 5 and little finger of toe 6 comprise that respectively root dactylus, middle part owe to drive joint, middle part dactylus, end and owe to drive joint, terminal dactylus; Said forefinger, middle finger, the third finger and little finger of toe are socketed in same four respectively and refer to link to each other with palm 1 on the root joint body 8, said thumb root joint body 7 and four refers to that root joint bodies 8 are motor-driven active joint, and the middle part of said forefinger, middle finger, the third finger, little finger of toe is owed to drive joint, end and owed to drive joint and thumb end and owe to drive the joint and all adopt identical a kind of of structure to owe to drive the joint.
Of the present inventionly owe to drive the joint and comprise active sliding block, tooth bar, joint gear axle, spring, its annexation is: said joint gear axle sleeve is located between two dactylus, and it is affixed with a dactylus away from palm, said active sliding block is embedded near in the dactylus of palm, said tooth bar be fixed on the active sliding block and with the joint gear axle on gears engaged, said spring is arranged between the dactylus and active sliding block near palm.Be that example is introduced (referring to Fig. 1,2,4,5) in detail to contain 2 forefingers of owing to drive the joint like this below:
Root skeleton 314 is socketed in four and refers on the root joint body gear shaft 86, can be around joint shaft 86 rotations, root skeleton 314 and root backplate 38, root side panel 321 is fixed together, wherein inlaying can free straight-line root slide body 32, spring 39 is arranged between root slide body 32 and the root backplate 321, make the root slide body rely on the outside all the time, the affixed root slider table of root slide body outer surface face shield 320 and root surface plate 31, affixed middle part tooth bar 315 and root plectrum 36 on the root slide body, middle part tooth bar 315 and 316 engagements of middle part joint gear axle, middle part joint gear axle 316 is set between root skeleton 314 and the middle part skeleton 317, and it is affixed by taper bolt 310 and middle part skeleton 317, middle part skeleton 317 and middle part backplate 311, medial side panel 323 is fixed together, wherein inlaying can free straight-line middle part slide body 35, spring 312 is arranged between middle part slide body 35 and the middle part backplate 311, make the middle part slide body rely on the outside all the time, middle part slide body 35 outer surfaces affixed middle part slider table face shield 322 and middle part surface plate 34, affixed terminal tooth bar 318 and middle part plectrum 33 on the slide body 35 of middle part, terminal tooth bar 318 and terminal joint gear axle 319 engagements, terminal joint gear axle 319 is set between middle part skeleton 317 and the terminal skeleton 313, and affixed by taper bolt 324 and terminal skeleton 313, end surface piece 325 and terminal skeleton 313 are affixed.
The structure and forefinger 3 structural similarities of middle finger 4, the third finger 5, little finger of toe 6 are the locational difference of arranging of size, part, thereby only introduce its general structure below these three fingers, repeat no more.
Shown in Fig. 6,7, middle finger 4 comprises that joint 44 is owed to drive in middle finger root dactylus 41, middle finger middle part dactylus 42, the terminal dactylus 43 of middle finger, middle finger middle part, the middle finger end owes to drive joint 45, middle finger root active slip piece 46, middle finger middle part active slip piece 47.Its annexation is: middle finger root dactylus 41 is set in four and refers on the root joint body gear shaft 86, wherein inlay middle finger root active slip piece 46, the middle finger middle part is owed to drive joint 44 and is set between middle finger root dactylus 41 and the middle finger middle part dactylus 44, inlay middle finger middle part active slip piece 47 in the dactylus 44 of middle finger middle part, center end is owed to drive joint 43 and is set between middle finger middle part dactylus 44 and the terminal dactylus 45 of middle finger.
Shown in Fig. 8,9, nameless 5 comprise that joint 54 is owed to drive in nameless root dactylus 51, nameless middle part dactylus 52, nameless terminal dactylus 53, nameless middle part, nameless end owes to drive joint 55, nameless root active slip piece 56, nameless middle part active slip piece 57.Its annexation is: nameless root dactylus 51 is set in four and refers on the root joint body gear shaft 86, wherein inlay nameless root active slip piece 56, nameless middle part is owed to drive joint 54 and is set between nameless root dactylus 51 and the nameless middle part dactylus 54, inlay nameless middle part active slip piece 57 in the dactylus 54 of nameless middle part, center end is owed to drive joint 53 and is set between nameless middle part dactylus 54 and the nameless terminal dactylus 55.
Shown in Figure 10,11, little finger of toe 6 comprises that joint 64 is owed to drive in little finger of toe root dactylus 61, little finger of toe middle part dactylus 62, the terminal dactylus 63 of little finger of toe, little finger of toe middle part, the little finger of toe end owes to drive joint 65, little finger of toe root active slip piece 66, little finger of toe middle part active slip piece 67.Its annexation is: little by 23, the terminal dactylus 24 of thumb, thumb connecting plate 25, thumb tripe slider table face shield 26, thumb root backplate 27, thumb root side panel, the thumb terminal teeth refers to that root dactylus 61 is set in four and refers on the root joint body gear shaft 86, wherein inlay little finger of toe root active slip piece 66, the little finger of toe middle part is owed to drive joint 64 and is set between little finger of toe root dactylus 61 and the little finger of toe middle part dactylus 64, inlay little finger of toe middle part active slip piece 67 in the dactylus 64 of little finger of toe middle part, center end is owed to drive joint 63 and is set between little finger of toe middle part dactylus 64 and the terminal dactylus 65 of little finger of toe.
The thumb root joint body 7 of multi-finger hand simulating human hand for robot rotates for side-sway, and promptly side and the right opposite at palm comes back rotation, and the thumb end is owed to drive joint 214 and rotated or backward rotation to forefinger 3, middle finger 4 directions.Four refer to root joint body 8, and the middle part of other fingers 3,4,5,6 except that thumb owes to drive joint 326,44,54,64 and end owes to drive joint 327,45,55,65 all to rotation of palm 1 direction or backward rotation.Arrange the joint like this, taken into account most characteristics that personalize that grasp function and hand that realize.
Said four refer to that root joint body 8 comprises encoder 81, motor 82, the decelerator 83 that links to each other with motor, what link to each other with decelerator refers to root keyhole piece 84 by four, four refer to the transmission mechanism that root gear 85 is formed, the joint shaft 86 that links to each other with transmission mechanism, sliding bearing 87, forefinger root shifting block 88, taper bolt 89, forefinger sheet spring 810, middle finger sheet spring 811, nameless sheet spring 812, little finger of toe sheet spring 813, its annexation is: said joint shaft 86 is sheathed on palm and forefinger, middle finger, nameless, between the root dactylus of little finger of toe, said motor and driver thereof, decelerator and transmission mechanism are arranged in the palm, motor 82 is arranged in the palm with decelerator 83, the output shaft of motor 82 links to each other with decelerator 83, decelerator 83 output shafts and keyhole piece 84, gear 85 links to each other, and gear 85 links to each other with joint gear axle 86.Forefinger root shifting block 88 is affixed by taper bolt 89 and joint gear axle 86, one end and the shifting block 88 of forefinger sheet spring 810 are affixed, the other end inserts in the forefinger 3, middle finger sheet spring 811, nameless sheet spring 812, little finger of toe sheet spring 813 are affixed according to the mode and the joint gear axle 86 of similar forefinger sheet spring 810 with joint gear axle 86 respectively, and their other end inserts middle finger 4, the third finger 5, little finger of toe 6 respectively.Encoder 81 is affixed with motor 82, measures rotating speed of motor and uses.
Said transmission mechanism has adopted gear drive, also can adopt in rack and pinion drive mechanism, belt wheel transmission mechanism, chain wheel driving mechanism, tendon network transmission mechanism, jointed gear unit or the ball-screw transmission mechanism any one.Said four refer to that the root joint body also can comprise torsion spring, and its two ends link to each other with said joint shaft, palm respectively, are used for eliminating the gap that the transmission mechanism transmission process produces.
Thumb root joint body 7 is motor-driven active joint, comprises thumb root keyhole piece 71, thumb root pinion 72, thumb root decelerator 73, taper bolt 74, thumb root motor 75, thumb root joint body gear shaft 76, torsion spring 77, sliding bearing 78.Its annexation is: joint gear axle 76 is sheathed between palm 1 and the thumb connecting plate 25, and is fixed together by taper bolt 74 with thumb connecting plate 25.Sliding bearing 78 is arranged between joint gear axle 76 and the palm 1.Motor 75 is arranged in the palm 1 with said decelerator 73, the output shaft of motor 75 links to each other with decelerator 73, decelerator 73 output shafts and keyhole piece 71, pinion 72 are affixed, pinion 72 and 76 engagements of joint gear axle, and torsion spring 77 two ends link to each other with palm 1 with joint gear axle 76 respectively.
In order to realize speed closed loop control, encoder 81 is installed on motor 82 as velocity sensor; In order to realize the closed-loop control of turned position, joint, potentiometer can be installed as position sensor at joint shaft one end; The joint rotational angle is excessive when rotating in order to prevent to point dactylus, causes hand machinery and electrical damage, on said palm, thumb, forefinger, middle finger, the third finger, little finger of toe limit switch can be installed, restriction joint rotational angle range.
Sensation when grasping object in order to increase multi-finger hand simulating human hand for robot, in the part or all of surface of said palm, thumb, forefinger, middle finger, the third finger, little finger of toe is installed near sense sensor, pressure sensor, sliding feeling sensor, temperature sensor one or more.
The surface coverage industry rubber material of said palm, thumb, forefinger, middle finger, the third finger, little finger of toe.Like this when grasping object, will form soft finger face between finger surface and the object and contact, increased the degree of restraint of finger on the one hand to object, also can increase frictional force on the other hand, thus the stability of increase extracting object.
The main material of multi-finger hand simulating human hand for robot adopts NYLON610, the minority vital part (7,27,34 etc.) employing duralumin, hard alumin ium alloy LY12, gear and gear shaft adopt 45 steel (modified back), spring steel plate, torsion spring, spring adopt spring steel, palm, finger watch panel adopt industrial rubber, thereby have alleviated weight largely.
Introduce the operation principle of this device below:
The operation principle of thumb root joint body 7 is:
Four refer to that the operation principle of root joint body 8 is:
After motor 82 slows down by decelerator 83, driven gear 85 rotates, driving joint gear axle 86 rotates, the sheet spring 810,811,812,813 that drives each finger rotates around the axis of joint gear axle 86, and the other end of these sheet springs is stirred and respectively pointed 3,4,5,6 rotations simultaneously, all contacts object up to finger, joint gear axle 86 is rotated further a low-angle then, each sheet spring suitably is out of shape, stops motor 82 this moment, the distortion elastic force of these sheet springs makes finger keep certain grasp force to object.During if joint gear axle 86 rotates, certain finger stops operating behind the contact object earlier, at this moment, the corresponding sheet spring of this finger begins flexural deformation, and other fingers still are rotated further, up to second finger contact object,, so continue, all contact object up to four fingers.So on the one hand because the root joint of each finger seems independently general, increase and grasp difformity, the adaptability of big wisp and the personification of hand outward appearance, on the other hand, because grasp force increases with the increase that the sheet spring is out of shape, can realize the control of grasp force.
The thumb end owe to drive joint 214, forefinger middle part owe to drive joint 326, forefinger end owe to drive joint 327, middle finger middle part owe to drive joint 44, middle finger end owe to drive joint 45, nameless middle part owe to drive joint 54, nameless end owe to drive joint 55, little finger of toe middle part owe to drive joint 64, little finger of toe end owe to drive joint 65 for without motor direct-drive owe to drive all adopted modular construction in the joint.Be that example is introduced its operation principle with forefinger 3 below.
The situation that the present embodiment simulating human hand for robot grasps object as shown in figure 12, the operation principle that grasps object is (being example with forefinger 3 mainly):
When grasping object, thumb 2 turns to the position of palm right opposite under motor 75 drives, under motor 82 drives, four refer to that root joint body 8 rotates, each points 3,4,5,6 compressing objects, at this moment, object extruding forefinger root slide block 31,320,32, root slide block 31,320, the vertical finger surface in 32 edges is to root dactylus 314,321,38 li translations, affixed middle part tooth bar 315 drives middle part joint gear axle 316 with bigger amplitude rotation on it, owing to drive joints axes 326 around the middle part with the affixed middle part dactylus skeleton 317 also corresponding wide-angles of joint gear axle 316 rotates, up to middle part sliding shoe 34,35,322 contacts and compressing object, the reaction force of object makes middle part sliding shoe 34,35, the vertical finger surface in 322 edges is to middle part dactylus 323,317,311 li translations, affixed terminal tooth bar 318 drives terminal joint gear axle 319 with bigger amplitude rotation on it, owing to drive joints axes 327 with affixed terminal dactylus skeleton 313 of joint gear axle 319 and the also corresponding wide-angle of terminal dactylus surface piece 325 around end rotates, up to fast contact in terminal dactylus surface and compressing object, this moment, motor 82 was rotated further an angle again, make angle of forefinger sheet spring 810 flexural deformations, thereby realize that 3 pairs of objects of forefinger produce certain thrust, after motor 82 stops operating, the distortion of sheet spring is held, thereby forefinger 3 has maintained the thrust to object.Thereby this structure has the automatic adaptability to object size, shape.Because the design of gears on middle part joint gear axle 316 and the terminal joint gear axle 319 is less reference diameter, make less active sliding block displacement cause bigger second knuckle rotational angle, thereby when grasping object, middle part dactylus 317,323,311 and terminal dactylus 313,325 have motor-driven general when rotating seemingly, can fasten object fast, realized that finger self without motor-driven, but can have the purpose of a plurality of joint freedom degrees; When decontroling object, each points 3,4,5,6 leave object under the drive that motor 82 rotates, object is also just no longer oppressed middle part sliding shoe 34,35,322, spring 312 bounces back into the position of original far from middle part dactylus backplate with the middle part slide block, owe to drive the rack-and-pinion transmission in joint 327 by end, drive terminal dactylus 313,325 rotations return to the position that original finger stretches, object is no longer oppressed root slide block 31,320,32, spring 39 bounces back into the position of original far from root dactylus backplate with the root slide block, owe to drive the rack-and-pinion transmission in joint 326 by the middle part, drive middle part dactylus 317,323, rotations such as 311 return to the position that original finger stretches.
In order to realize the action of clenching fist, on each sliding shoe 32,35 etc., need affixed plectrum 36,33 respectively.The realization principle of the action of clenching fist of present embodiment simulating human hand for robot is (is example with forefinger 3):
When not grasping object, when forefinger 3 rotates under motor 82 drives, because forefinger is not run into object in the rotation process, turn to bigger certain angle up to it, boss on its root plectrum 36 and the palm skeleton 16 interferes, root plectrum 36 and the root sliding shoe 31 affixed under reaction force with it, 32,320 translations in finger, owe to drive rack-and-pinion transmission in the joint 326 by the middle part, drive middle part dactylus 311,317,323 owe to drive joint shaft 326 around the middle part rotates significantly, in rotation, forefinger is not run into object, so up to middle part dactylus 311,317,323 turn to bigger certain angle, boss on its middle part plectrum 33 and the root dactylus skeleton 314 interferes, middle part plectrum 33 and the middle part sliding shoe 34 affixed under reaction force with it, 35,322 translations in finger, by other parts of middle part " compressing " plectrum, thereby driving sliding shoe slides, owe to drive rack-and-pinion transmission in the joint 237 by end, drive terminal dactylus 313,325 owe to drive joint shaft 327 around end rotates significantly, crooked fully up to whole finger.So just, realized the action of clenching fist of anthropomorphic hand.
Claims (7)
1, a kind of multi-finger hand simulating human hand for robot device, mainly comprise palm, thumb, forefinger, middle finger, nameless, little finger of toe, thumb root joint body, four refer to the root joint body, said thumb comprises thumb root dactylus, the thumb end owes to drive the joint, the terminal dactylus of thumb, it is characterized in that: said forefinger, middle finger, nameless and little finger of toe comprises the root dactylus respectively, the joint is owed to drive in the middle part, the middle part dactylus, end owes to drive the joint, terminal dactylus, said forefinger, middle finger, nameless being socketed in respectively on the same four finger root joint bodies with little finger of toe links to each other with palm, said thumb root joint body and four refers to that the root joint body is a motor-driven active joint body, said forefinger, middle finger, nameless, the joint is owed to drive in the middle part of little finger of toe, end is owed to drive joint and thumb end and is owed to drive the joint and all adopt identical a kind of of structure to owe to drive the joint; Said four refer to that the root joint body comprises motor and driver thereof, the decelerator that links to each other with motor, the transmission mechanism that links to each other with decelerator, the joint shaft that links to each other with transmission mechanism, forefinger sheet spring, middle finger sheet spring, nameless sheet spring, little finger of toe sheet spring, said joint shaft is sheathed on palm and forefinger, middle finger, nameless, between the root dactylus of little finger of toe, said motor and driver thereof, decelerator and transmission mechanism are arranged in the palm, said forefinger sheet spring, middle finger sheet spring, nameless sheet spring, one end of little finger of toe sheet spring is affixed with joint shaft respectively, and its other end inserts forefinger respectively, middle finger, the root dactylus of the third finger and little finger of toe; Said transmission mechanism adopts in gear drive, rack and pinion drive mechanism, belt wheel transmission mechanism, chain wheel driving mechanism, tendon network transmission mechanism, jointed gear unit or the ball-screw transmission mechanism any one.
2, multi-finger hand simulating human hand for robot device as claimed in claim 1, it is characterized in that: saidly owe to drive the joint and comprise active sliding block, tooth bar, joint gear axle, spring, said joint gear axle sleeve is located between two dactylus, and it is affixed with a dactylus away from palm, said active sliding block is embedded near in the dactylus of palm, said tooth bar be fixed on the active sliding block and with the joint gear axle on gears engaged, said spring is arranged between the dactylus and active sliding block near palm.
3, multi-finger hand simulating human hand for robot device as claimed in claim 1 is characterized in that: four refer to that the root joint body also comprises torsion spring, and its two ends link to each other with said joint shaft, palm respectively.
4, multi-finger hand simulating human hand for robot device as claimed in claim 1, it is characterized in that: on said motor, encoder is installed, at joint shaft one end potentiometer is installed, on said palm, thumb, forefinger, middle finger, the third finger, little finger of toe, limit switch is installed.
5, multi-finger hand simulating human hand for robot device as claimed in claim 1 or 2 is characterized in that: owe to drive the joint and also comprise a plectrum that is fixed on the said active sliding block.
6, multi-finger hand simulating human hand for robot device as claimed in claim 1 is characterized in that: in the surface of said palm, thumb, forefinger, middle finger, the third finger, little finger of toe is installed near sense sensor, pressure sensor, sliding feeling sensor, temperature sensor one or more.
7, multi-finger hand simulating human hand for robot device as claimed in claim 1 is characterized in that: the surface coverage industry rubber material of said palm, thumb, forefinger, middle finger, the third finger, little finger of toe, all the other materials adopt NYLON610.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02153490 CN1231332C (en) | 2002-11-29 | 2002-11-29 | Robot anthropomorphic multi finger band device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02153490 CN1231332C (en) | 2002-11-29 | 2002-11-29 | Robot anthropomorphic multi finger band device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1410234A CN1410234A (en) | 2003-04-16 |
| CN1231332C true CN1231332C (en) | 2005-12-14 |
Family
ID=4752284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02153490 Expired - Fee Related CN1231332C (en) | 2002-11-29 | 2002-11-29 | Robot anthropomorphic multi finger band device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1231332C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100439048C (en) * | 2007-01-26 | 2008-12-03 | 清华大学 | Under-actuated multi-finger device of robot humanoid finger |
| CN100450730C (en) * | 2007-06-07 | 2009-01-14 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
Families Citing this family (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100351056C (en) * | 2006-01-27 | 2007-11-28 | 哈尔滨工业大学 | Linkage mechanism of drive-free self-adapting artificial hand |
| CN100528494C (en) * | 2007-07-25 | 2009-08-19 | 哈尔滨工业大学 | Reconstruction robot multi-finger clever hand palm |
| CN101941207B (en) * | 2010-03-12 | 2012-06-27 | 清华大学 | Double-rack slider type parallel finger device integrating coupling and under-actuation |
| CN101941204B (en) * | 2010-03-12 | 2012-05-30 | 清华大学 | Double-slider-type parallel coupling under-actuated robot finger device |
| CN101941205B (en) * | 2010-03-12 | 2012-05-30 | 清华大学 | Flexible part and slider type parallel coupled under-actuation robot finger device |
| CN101941206B (en) * | 2010-03-12 | 2012-05-02 | 清华大学 | Flexible part and rack type parallel finger device integrating coupling and under-actuation |
| CN101829993B (en) * | 2010-04-30 | 2012-05-02 | 清华大学 | Rack crank slide block type parallel coupling under-driving robot finger device |
| CN102039598B (en) * | 2010-11-04 | 2012-05-02 | 清华大学 | Dual-connecting rod slider type coupling adaptive under-actuated robot finger device |
| EP2732937A4 (en) * | 2011-07-12 | 2015-05-27 | Yaskawa Denki Seisakusho Kk | Robotic hand and robot |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| WO2013126048A1 (en) * | 2012-02-21 | 2013-08-29 | Amazon Technologies, Inc. | System and method for automatic picking of products in a materials handling facility |
| CN103101055B (en) * | 2013-02-28 | 2016-08-03 | 何广平 | A kind of tendon formula under-driven adaptive multi-finger hand device |
| CN103495981A (en) * | 2013-09-29 | 2014-01-08 | 中山大学 | Manipulator based on touch sensor |
| CN104552315A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Straight rod type little finger movement detection device |
| CN104015196B (en) * | 2014-05-29 | 2016-08-24 | 南开大学 | Mechanical hand and drive mechanism thereof |
| CN104802180B (en) * | 2015-04-09 | 2017-06-06 | 上海大学 | Drive lacking anthropomorphic three refers to manipulator |
| CN105171760B (en) * | 2015-06-01 | 2017-10-20 | 刘学勇 | Robot |
| CN105415394A (en) * | 2015-12-29 | 2016-03-23 | 浙江工业大学 | Multi-fingered dexterous hand based on FPA drive |
| CN105726173B (en) * | 2016-02-02 | 2018-11-20 | 黑龙江大学 | Remote control electric manipulator |
| CN105666518B (en) * | 2016-03-18 | 2017-11-03 | 杜宇 | A kind of humanoid dextrous hand of drive lacking |
| CN105965535B (en) * | 2016-05-04 | 2019-01-18 | 上海科生假肢有限公司 | Bionic hand carpomaetacarpal joint of thumb |
| CN106003129B (en) * | 2016-06-17 | 2018-01-05 | 西安交通大学 | A kind of adaptive anthropomorphic manipulator of drive lacking |
| CN106038007B (en) * | 2016-07-04 | 2017-11-07 | 中国科学院深圳先进技术研究院 | Bionical prosthetic hand |
| CN106564063B (en) * | 2016-10-12 | 2019-09-20 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of rack gear parallel connection is set in motor |
| CN108602192B (en) * | 2016-10-28 | 2020-02-04 | 深圳蓝胖子机器人有限公司 | Manipulator and robot |
| CN108214520B (en) * | 2016-12-13 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Under-actuated light human-simulated five-finger dexterous hand |
| CN106625729A (en) * | 2016-12-19 | 2017-05-10 | 浙江大学 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
| CN107081785A (en) * | 2017-03-16 | 2017-08-22 | 杭州若比邻机器人科技有限公司 | Bilayer turns back the multi-stage rotary mechanism of driving |
| CN106808461B (en) * | 2017-03-16 | 2019-03-19 | 合肥工业大学 | The method of its realization remote operation of magnetorheological force feedback type data glove and application |
| CN106826899A (en) * | 2017-04-11 | 2017-06-13 | 东南大学 | A kind of Apery manipulator based on axle transmission refers to structure |
| WO2018227402A1 (en) * | 2017-06-14 | 2018-12-20 | 深圳鼎极智慧科技有限公司 | Robotic hand |
| CN107186756A (en) * | 2017-06-16 | 2017-09-22 | 北京理工大学 | It is a kind of for five-needle pines blister rust adaptively capture in advance close to feel Sensor Network |
| CN107139192A (en) * | 2017-06-16 | 2017-09-08 | 北京理工大学 | A kind of tactile and slip sense Sensor Network for five-needle pines blister rust self-adapting grasping |
| CN108621144A (en) * | 2018-04-26 | 2018-10-09 | 北京空间飞行器总体设计部 | A kind of multiple degrees of freedom of tendon-connecting rod mixed drive refers to formula manipulator |
| CN109397317B (en) * | 2018-11-26 | 2023-10-10 | 内蒙古工业大学 | Under-actuated manipulator and operation method thereof |
| CN109674562B (en) * | 2019-01-22 | 2024-03-12 | 王宇光 | Gear train type under-actuated bionic artificial finger |
| CN111745668A (en) * | 2019-03-26 | 2020-10-09 | 新加坡国立大学 | Modularization manipulator |
| CN114770586A (en) * | 2022-04-07 | 2022-07-22 | 胡俊 | Multi-axis numerical control robot for industrial production |
| CN114888832B (en) * | 2022-05-05 | 2023-09-15 | 大连理工大学 | Tendon rope under-actuated humanoid multi-finger dexterous hand device |
-
2002
- 2002-11-29 CN CN 02153490 patent/CN1231332C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100439048C (en) * | 2007-01-26 | 2008-12-03 | 清华大学 | Under-actuated multi-finger device of robot humanoid finger |
| CN100450730C (en) * | 2007-06-07 | 2009-01-14 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1410234A (en) | 2003-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1231332C (en) | Robot anthropomorphic multi finger band device | |
| CN1169656C (en) | Multi-finger hand simulating human hand for robot | |
| CN1215926C (en) | Under driving mechanical finger device capable of shape self adaptation | |
| CN100450731C (en) | Tendon-channel under-driven mechanical finger device | |
| CN101049696A (en) | Under drive mechanical finger device of connecting rod | |
| CN101214653B (en) | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device | |
| CN100340379C (en) | Space robot paw | |
| CN101474794B (en) | Bionic robot under-actuated delicacy hand device | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN101214660A (en) | Chiasma tendon rope under-driven modularization anthropomorphic robot hand device | |
| CN101049695A (en) | Underactuated drive finger device of imitating cascaded connection of hand of robot | |
| CN101518903A (en) | Crank block type under-actuated robot finger device | |
| CN100551638C (en) | The rack bar under-driven modularization anthropomorphic robot multi-finger hand device | |
| CN101941205A (en) | Flexible part and slider type parallel robot finger device integrating coupling and under-actuation | |
| CN101367209A (en) | Five-finger type human simulating manipulator mechanism | |
| CN101829994B (en) | Flexible part crank block type parallel coupling underactuated robot finger device | |
| CN101829995B (en) | Crank block type flexible piece parallel coupled under-actuated finger device | |
| CN101829993A (en) | Rack crank slide block type parallel coupling under-driving robot finger device | |
| CN100537157C (en) | Gear belt wheel under-driven anthropomorphic robot hand device | |
| CN1406560A (en) | Simulated electronic artificial hand | |
| CN101941204B (en) | Double-slider-type parallel coupling under-actuated robot finger device | |
| CN2616125Y (en) | Multifunctional body-building chair mounted with sports device | |
| CN1289269C (en) | Under-driven adaptive mechanical finger | |
| CN101941207B (en) | Double-rack slider type parallel finger device integrating coupling and under-actuation | |
| CN1202890C (en) | Rotating bar of game table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20051214 Termination date: 20111129 |