CN1418765A - Clever hands mechanism of robot - Google Patents
Clever hands mechanism of robot Download PDFInfo
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- CN1418765A CN1418765A CN 02155646 CN02155646A CN1418765A CN 1418765 A CN1418765 A CN 1418765A CN 02155646 CN02155646 CN 02155646 CN 02155646 A CN02155646 A CN 02155646A CN 1418765 A CN1418765 A CN 1418765A
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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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Abstract
The present invention discloses a kind of flexible hand mechanism of robot. It is formed from anthropomorphic palm, four fingers and mechanical interface. The four finger respectivel are index finger, middle finger, ring finger and thumb, in which the thumb in opposite to other three fingers, the index finger, middle finger and ring finger have four joints respectively, front wo joints of every finger can be freely moved and coupled, every finger has three freedoms, the thumb has three joints and three freedoms. The fingers are mounted on the palm by means of mounting grooves, their spaced distance is 5 mm, the rotating motor of the thumb is mounted in mounting groove, the palm is equipped with cable hole, mechanical interface is used for connecting palm with robot, its drive and control system is formed from D.C. servo motor, driver, photoelectric coder, computer and control software.
Description
Technical field
The present invention relates to a kind of robot delicate, specifically be meant a kind of frame for movement with four fingers, ten binary robot delicates.
Background technology
Human research's hand and hand function start from the development of disabled person's artifucial limb and the degree of disability evaluation of medical science surgical field.Along with the development of modern science and technology, various types of clampers, manipulator continue to bring out.Earlier 1860s, Yugoslavia Tomovic and Boni have been developed first manipulator, and it has five fingers and five frees degree.Late nineteen seventies has produced the design of multiple universal gripper.The eighties, Salisbury, people such as Jacobsen propose the design of universal gripper should simulate the research idea of staff, and develops model machine, and such is held device and adopts many fingers, multi-joint, multiple degrees of freedom structure, is called Dextrous Hand.Enter twentieth century, have several Dextrous Hand to come out again, design philosophy has also had new development, is particularly proposing new thinking aspect the value of free degree number and the free degree distribution.So far, comparatively famous Dextrous Hand has: Okada hand, Belgrade/USC hand, Stanford/JPL hand, UTAH/MIT hand, Barret hand, U.B. hand, NASA hand, DLR hand and Gifu hand etc.
Late 1880s, carried out of robot of BJ University of Aeronautics ﹠ Astronautics be to the Dextrous Hand important function for of research, till 2000, finished the development of BH-1, BH-2, BH-3, the various hand of BH-4 respectively.
Summary of the invention
The objective of the invention is: replace human hand with mechanical hand, carry out work under environment or the hazardous environment can't coming to personally, simultaneously, provide the instruments used for education of research motion control for university and scientific research institutions.
A kind of Dexterous Robot Hand Mechanism of the present invention, by an anthropomorphic palm, four the finger and mechanical interface constitute, four fingers are respectively forefinger, middle finger, the third finger and thumb, on the layout thumb with other three fingers relative.Forefinger, middle finger, nameless each finger respectively have four joints, each the autokinesis coupling of preceding two joints, and each finger has three degree of freedom, and thumb has three joint three degree of freedoms.Anthropomorphic palm is provided with mounting groove, forefinger, middle finger, the third finger are fixedly mounted in the mounting groove respectively, three refer to that spacing is 5mm, avoid three to refer to move interference, the electric rotating machine of thumb is installed in the mounting groove, and palm is provided with the cable hole that current supply cable is drawn, the cable bunch is drawn from the root of anthropomorphic palm, simultaneously, also be provided with intensity in the palm and strengthen gusset, for the pedestal of thumb axis of rotation support.Mechanical interface is used to connect palm and robot.Driving and control system are made up of DC servo motor, driver, photoelectric encoder, control card and computer and control software, and measuring system is made of photoelectric encoder, potentiometer, power sensor.
Forefinger, middle finger, the nameless structure of described Dextrous Hand mechanism are identical, have four dactylus and four joints respectively, and four dactylus are last dactylus, middle finger joint, dactylus and metacarpal bone joint down, and the metacarpal bone joint is installed on the anthropomorphic palm, includes two motors.Four joints are joint I, joint II, joint III and joint IV, preceding two joints in four joints, be that joint I, joint II utilize steel wire rope transmission campaign coupling, joint I, joint II and joint III are curvature movement, joints axes is parallel to each other, joint IV is the side-sway motion, joint III and joint IV intersect vertical axis, joint III and joint VI motion coupling, in grasping when operation, can decoupling zero, each finger has three degree of freedom, last dactylus and middle finger joint flexing coupling one degree of freedom, following dactylus flexing and two frees degree of side-sway.
The last dactylus of described Dextrous Hand mechanism is made of finger tip cap, dactylus body, flexion axis and roller, and finger tip cap inboard has blind hole, has shoulder hole in the middle of the dactylus body, and finger tip cap and dactylus body are to be threaded, and dactylus body, flexion axis and roller are connected mutually.
The middle finger joint of described Dextrous Hand mechanism is made of dactylus body, two movable auricles, flexion axis, roller, two bevel gears, one movable auricle is installed on the dactylus body, be connected mutually with dactylus body together support flexion axis and with flexion axis, bevel gear, another movable auricle is installed on the dactylus body, and by pair of bearings rolling and dactylus body together support flexion axis, roller and bevel gear are connected, and rolling bearing is installed on the flexion axis.
The following dactylus of described Dextrous Hand mechanism is made of dactylus body, two movable auricles, motor, motor gear, two potentiometers, one movable auricle is installed on the dactylus body and by pair of bearings and rolls, with dactylus body together support flexion axis, another movable auricle is installed on the dactylus body and dactylus body together support flexion axis, and is connected mutually with flexion axis, bevel gear.Motor places down in the dactylus, and motor gear drives two bevel gears on the flexion axis simultaneously, and a bevel gear drives the middle finger joint rotation, and another bevel gear drives roller, is transmitted in roller and drives through steel wire rope and go up dactylus realization coupled motions.
The metacarpal bone joint of described Dextrous Hand mechanism adopts two-freedom degree joint mechanism, have two frees degree of flexing and side-sway simultaneously, this mechanism is made of an intersecting axle, five bevel gears, two drive motors and dactylus body, two motors are placed in the dactylus body, one motor is connected by motor gear, driven wheel, gear and following dactylus, and gear driven gear and following dactylus are realized the motion around flexion axis; Another motor is fixed on the side-sway axle by motor gear, driven wheel, gear, and drives dactylus realization down around the motion of side-sway axle.
Roller, travelling gear on the middle finger joint of described Dextrous Hand mechanism link into an integrated entity, and, go up, middle finger joint is connected with steel wire rope by roller, roller on flexion axis with the rolling bearing kink; Flexion axis, bevel gear are connected mutually with middle finger joint, and middle finger joint is connected by flexion axis with following dactylus, and flexion axis is connected with auricle with following dactylus with bearing; Following dactylus is connected with the metacarpal bone joint by flexion axis, and flexion axis is connected with auricle with following dactylus with bearing, and flexion axis is connected with the metacarpal bone joint by intersecting axle.
The thumb of described Dextrous Hand mechanism has three joints of two dactylus, two dactylus are following dactylus and last dactylus, three joints are rotation joint, flexing joint, three joints are corresponding to three degree of freedom, following dactylus is around self axis rotation free degree and the flexing free degree, the middle finger joint flexing free degree, thumb is connected with palm with the T oblique crank Z, two square crossing axles of T oblique crank Z are the axis of rotation and flexion axis, the axis of rotation is driven by bevel-gear sett by the electric motor units that is put in the palm that crouches perpendicular to palm; Flexion axis is driven by bevel-gear sett by a motor that is put in down in the dactylus; Middle finger joint drives by another motor in the following dactylus and realizes, thumb intersecting axle intersection point and its excess-three refer to intersecting axle intersection point coplane, thumb by rotate can realize with its excess-three refer to the grasping of kneading, joint I is a spinning motion, joint II and III are curvature movement, joint I and II intersect vertical axis, joint II is parallel with the III axis.
Advantage of the present invention is: compact conformation, and flexible operation, processing, assembling and easy maintenance, cost is lower.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
Fig. 2 is a palm structural representation of the present invention.
Fig. 3 (a, b, c) is forefinger of the present invention, middle finger, nameless structural representation.
Fig. 4 is the dactylus structural representation of going up of the present invention.
Fig. 5 is the side view of Fig. 4.
Fig. 6 is a middle finger joint structural representation of the present invention.
Fig. 7 is the side view of Fig. 6.
Fig. 8 is a dactylus structural representation down of the present invention.
Fig. 9 be Fig. 8 side view.
Figure 10 is a metacarpal bone joint structural representation of the present invention.
Figure 11 is the A-A view of Figure 10.
Figure 12 (a, b, c) is a thumb structural representation of the present invention.
Among the figure: 1. 16. times dactylus 17. metacarpal bones of dactylus 15. middle finger joints save 18. finger tip caps, 19. dactylus bodies, 20. flexion axis, 21. rollers, 22. dactylus bodies, 23. movable auricle 24. rollers 25. bevel gears 26. movable auricle 27. flexion axis 28. bevel gears 29. motors 30. movable auricle 31. potentiometers 32. motor gears 33. potentiometers 34. movable auricle 35. dactylus bodies 36. side-sway axles 37. flexion axis 38. movable auricle 39. dactylus bodies 40. motors 41. installing plates 42. motors 43. gears 44. gears 45. gears 46. gears 47. gears 48. potentiometers 49. finger tip caps 50. dactylus bodies 51. gears 52. gears 53. motors 54. dactylus bodies 55. gears 56. axis of rotation 57. flexion axis 58. movable auricle 59. motors 60. gears 61. flexion axis 62. gears 63. motors on forefinger 2. middle fingers 3. nameless 4. thumbs, 5. anthropomorphic palm 6. mechanical interfaces 7. mounting grooves 8. mounting grooves 9. mounting grooves 10. mounting grooves 11. cable holes 12. gussets 13. pedestals 14.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
Dexterous Robot Hand Mechanism of the present invention is made of an anthropomorphic palm 5, four fingers and mechanical interface 6, four fingers are respectively forefinger 1, middle finger 2, the third finger 3 and thumb 4, thumb 4 is relative with other three fingers on the layout, forefinger 1, middle finger 2, nameless 3 each finger respectively have four joints, each the autokinesis coupling of preceding two joints, each finger has three degree of freedom, and thumb has three joint three degree of freedoms, and mechanical interface 6 is used to connect palm 5 and robot (seeing also shown in Figure 1).Driving and control system are made up of DC servo motor, driver, photoelectric encoder, control card and computer and control software, and measuring system is made of photoelectric encoder, potentiometer, power sensor.
As shown in Figure 2, palm 5 is provided with for the fixing mounting groove of finger, forefinger 1, middle finger 2, nameless 3 are fixedly mounted on respectively in mounting groove 7, mounting groove 8, the mounting groove 9, three refer to that spacing is 5mm, for avoiding three to refer to move interference, the electric rotating machine 53 of thumb 4 is installed in the mounting groove 10, and palm 5 is provided with the cable hole 11 that current supply cable is drawn, and the cable bunch is drawn from the root of palm 5.Simultaneously, also be provided with intensity in the palm 5 and strengthen gusset 12, for the pedestal 13 of 56 supports of the axis of rotation on the thumb 4.
As shown in Figure 3, the structures of forefinger 1, middle finger 2, nameless 3 three fingers are identical, have four dactylus and four joints respectively.Four dactylus are meant dactylus 14, middle finger joint 15, following dactylus 16 and metacarpal bone joint 17, and metacarpal bone joint 17 is installed in the anthropomorphic palm 5, includes two motors 40 and 42.Four joints are articulations digitorum manus I, joint II, joint III and joint IV, preceding two joints in four joints, and promptly joint I, joint II utilize steel wire rope transmission campaign coupling.Roller 24, travelling gear 25 on the middle finger joint 15 link into an integrated entity, and, go up, middle finger joint is connected with steel wire rope by roller 21, roller 24 on flexion axis 27 with the rolling bearing kink.Flexion axis 27, bevel gear 28 are connected mutually with middle finger joint 15, and middle finger joint 15 is connected by flexion axis 27 with following dactylus 16, and flexion axis 27 is connected with auricle 34 with following dactylus 16 with bearing.Following dactylus 16 is connected with metacarpal bone joint 17 by flexion axis 37, and flexion axis 37 is connected with auricle 30 with following dactylus 16 with bearing, and flexion axis 37 is connected with metacarpal bone joint 17 by intersecting axle.Utilize that the steel wire rope transmission is promptly gone up, middle finger joint is connected with steel wire rope by roller 21, roller 24, flexion axis 27, bevel gear 28 are connected mutually with middle finger joint, motor 29 places down in the dactylus, motor gear 32 drives bevel gear 25 and the bevel gear 28 on the flexion axis 27 simultaneously, bevel gear 28 drives middle finger joint and rotates, bevel gear 25 drives roller 24, is transmitted in roller 21 through steel wire rope, and dactylus is realized coupled motions in the drive.Joint I, joint II and joint III are curvature movement, and joints axes is parallel to each other, and joint IV is the side-sway motion, joint III and joint IV intersect vertical axis.Joint III and joint VI motion coupling can decoupling zeros during the grasping operation.Each finger has three degree of freedom, last dactylus and middle finger joint flexing coupling one degree of freedom, two frees degree of following dactylus flexing and side-sway.Each joint rotation angle scope sees Table 1.
Table 1 articulations digitorum manus range of movement
| The joint | ??θ 1 | ??θ 2 | ??θ 3 | ??θ 4 |
| Corner | ??-30°～30° | ??-10o～90o | ??0°～90° | ??0°～90° |
As Fig. 4, shown in Figure 5, last dactylus 14 is made of finger tip cap 18, dactylus body 19, flexion axis 20 and roller 21.Finger tip cap 18 inboards have blind hole, have shoulder hole in the middle of the dactylus body 19.Finger tip cap 18 and dactylus body 19 are to be threaded, and dactylus body 19, flexion axis 20 and roller 21 are connected mutually.
As Fig. 6, shown in Figure 7, middle finger joint 15 is made of dactylus body 22, movable auricle 23, movable auricle 26, flexion axis 27, roller 24, bevel gear 25, bevel gear 28.Movable auricle 23 is installed on the dactylus body, with dactylus body 22 together support flexion axis 27, and is connected mutually with flexion axis 27, bevel gear 28.Movable auricle 26 is installed on the dactylus body, and rolls by pair of bearings, with dactylus body 22 together support flexion axis 20.Roller 24 is connected with bevel gear 25, is installed on the flexion axis 27 with rolling bearing.
As Fig. 8, shown in Figure 9, following dactylus 16 is made of dactylus body 35, movable auricle 30,34, motor 29, motor gear 32, potentiometer 31,33.Movable auricle 34 is installed on the dactylus body, and rolls by pair of bearings, and with dactylus body 35 together support flexion axis 27, movable auricle 30 is installed on the dactylus body 35, with dactylus body 35 together support flexion axis 37, and is connected mutually with flexion axis 37, bevel gear 45.
Shown in Figure 10,11, have flexing and two frees degree of side-sway simultaneously for making down dactylus 16, adopt two-freedom degree joint mechanism, this mechanism is made of an intersecting axle, five bevel gears, two drive motors and dactylus body 39.Motor 40,42 is placed in the dactylus body 39, motor 40 is by motor gear 44, driven wheel 43, gear 45 is connected with following dactylus 16, the motion that gear 43 driven gears 45 and following dactylus 16 are realized around flexion axis 37, motor 42 is by motor gear 47, driven wheel 46, gear 46 is fixed on side-sway axle 36, drives dactylus 16 realizations down around the motion of side-sway axle 36.
As shown in figure 12, thumb 4 has three joints of two dactylus, and two dactylus are following dactylus and last dactylus, three joints are rotation joint, flexing joint, three joints are corresponding to three degree of freedom, and following dactylus is around self the axis rotation free degree and the flexing free degree, the middle finger joint flexing free degree.Thumb 4 is connected with palm 5 with the T oblique crank Z, and two square crossing axles of T oblique crank Z are the axis of rotation 56 and flexion axis 61.The axis of rotation 56 is driven by bevel-gear sett by the electric motor units that is put in the palm 5 that crouches perpendicular to palm 5; Flexion axis is driven by bevel-gear sett by a motor 59 that is put in down in the dactylus 16; Middle finger joint 15 drives by another motor 53 in the following dactylus 16 and realizes.Thumb 4 intersecting axle intersection points and its excess-three refer to intersecting axle intersection point coplane.Thumb 4 by rotate can realize with its excess-three refer to the grasping of kneading.Joint I is a spinning motion, and joint II and III are curvature movement, joint I and II intersect vertical axis, and joint II is parallel with the III axis.Each joint rotation angle scope part subordinate list 1.
Pointing each joint is driven by the electric motor units that comprises DC servo motor, planetary reduction gear and optical code disk.The parameter of motor, decelerator and code-disc sees attached list 2.
Robot delicate should have many fingers, multi-joint, multivariant architectural feature as the platform of research motion control on the frame for movement; Replace human hand to carry out work under environment or the hazardous environment can't coming to personally, require Dextrous Hand to have higher operation flexibility and adaptability, and can be well controlled.
Robot delicate can be divided into anthropomorphic hand and non-anthropomorphic hand by the distribution of finger with respect to palm.The finger of anthropomorphic hand is similar to staff with the palm layout, and non-anthropomorphic hand palm layout and staff then have than big difference.Dexterous Robot Hand Mechanism of the present invention is anthropomorphic hand, is made of an anthropomorphic palm, four fingers and mechanical interface, and four fingers are respectively forefinger, middle finger, the third finger and thumb, and thumb is relative with other three fingers on the layout.Consider the convenience of process and assemble, forefinger, middle finger, the same modular design of nameless employing, thumb structure and motion mode and other three refer to differ greatly, thereby design separately.Forefinger, middle finger, nameless each finger respectively have four joints, each the autokinesis coupling of preceding two joints, and each points three degree of freedom.Thumb has three joint three degree of freedoms.
According to anatomical knowledge, human hand thumb and all the other four fingers have than big-difference on structure and motion mode, and thumb has three dactylus, has 4 frees degree at least.Following dactylus is wrapped in the palm, has flexing and rotates two frees degree around self axis; Middle finger joint has a flexing free degree; Last dactylus has a flexing free degree.Need in conjunction with designing requirement and practical operation, the structure and the freedom of motion of thumb are accepted or rejected: retain the dactylus flexing and, keep the middle finger joint flexing free degree, dactylus in the cancellation around two frees degree of self axis rotation.Like this, the thumb that visualizes has two dactylus three degree of freedoms.
Driving and control system are made up of DC servo motor, driver, photoelectric encoder, control card and computer and control software.Measuring system is made of photoelectric encoder, potentiometer, power sensor.Photoelectric encoder is matched with servomotor by Switzerland Maxon company to be provided; Six-dimension force sensor is developed according to instructions for use by University On The Mountain Of Swallows; Potentiometer is selected the U.S. 10k of Bourns company potentiometer.Optical code disk is measured the motor shaft relative rotation; The absolute corner of potentiometer measurement joint shaft; Force sensor measuring finger tip power and moment.
Table 2 electric motor units type selecting
| Motor type | |||||||||
| The motor model | Rated power (W) | External diameter (mm) | Rated voltage (V) | Idling speed n 0(rpm) | Stall Mh (mNm) | Continuous N cmax(mNm) | Stall Ih (mA) | Continuous I cmax(mA) | Efficiency eta max(％) |
| ??118391 | ??0.75 | ??φ10 | ??12 | ??11400 | 1.01 | ??0.775 | ??106 | 81.1 | ????59.7 |
| ??118563 | ??1.50 | ??φ13 | ??12 | ??12300 | 3.00 | ??1.29 | ??367 | 157 | ????44.7 |
| Decelerator | |||||||||
| The decelerator model | External diameter (mm) | Speed reducing ratio | Efficient (%) η max | Length L (mm) | |||||
| ??110312 | ??φ10 | ??1024 | ??55 | 26.60 | |||||
| ??110317 | ??φ13 | ??1118.75 | ??62 | 31.60 | |||||
| Motor, decelerator, optical code disk coupling | |||||||||
| The motor model | The decelerator model | The optical code disk model | ??Lmax(mm) | Use the joint | |||||
| ??118391 | ??110312 | ??138061 | ??51.50 | One, three | |||||
| ??118563 | ??110317 | ??110778 | ??61.50 | Two | |||||
Claims (8)
1, a kind of Dexterous Robot Hand Mechanism, it is characterized in that, be made of an anthropomorphic palm (5), four fingers and mechanical interface (6), four fingers are respectively forefinger (1), middle finger (2), nameless (3) and thumb (4), and thumb on the layout (4) is relative with other three fingers; Forefinger (1), middle finger (2), nameless (3) each finger respectively have four joints, each the autokinesis coupling of preceding two joints, and each finger has three degree of freedom, and thumb has three joint three degree of freedoms; Anthropomorphic palm (5) is provided with mounting groove, forefinger (1), middle finger (2), nameless (3) are fixedly mounted on respectively in mounting groove (7), mounting groove (8), the mounting groove (9), three refer to that spacing is 5mm, avoid three to refer to move interference, the electric rotating machine of thumb (4) is installed in the mounting groove (10), palm 5 is provided with the cable hole (11) that current supply cable is drawn, and the cable bunch is drawn from the root of anthropomorphic palm (5); Simultaneously, also be provided with intensity in the palm (5) and strengthen gusset (12), for the pedestal (13) of the thumb axis of rotation (56) support; Mechanical interface (6) is used to connect palm and robot; Driving and control system are made up of DC servo motor, driver, photoelectric encoder, control card and computer and control software, and measuring system is made of photoelectric encoder, potentiometer, power sensor.
2, Dexterous Robot Hand Mechanism according to claim 1, it is characterized in that: forefinger (1), middle finger (2), nameless (3) structure are identical, have four dactylus and four joints respectively, four dactylus are last dactylus (14), middle finger joint (15), following dactylus (16) and metacarpal bone joint (17), metacarpal bone joint (17) is installed on the anthropomorphic palm (5), includes two motors (40,42); Four joints are joint I, joint II, joint III and joint IV, preceding two joints in four joints, be that joint I, joint II utilize steel wire rope transmission campaign coupling, joint I, joint II and joint III are curvature movement, joints axes is parallel to each other, joint IV is the side-sway motion, joint III and joint IV intersect vertical axis, joint III and joint VI motion coupling, in grasping when operation, can decoupling zero, each finger has three degree of freedom, last dactylus and middle finger joint flexing coupling one degree of freedom, following dactylus flexing and two frees degree of side-sway.
3, robot according to claim 1, it is characterized in that: go up dactylus (14) and constitute by finger tip cap (18), dactylus body (19), flexion axis (20) and roller (21), finger tip cap (18) inboard has blind hole, have shoulder hole in the middle of the dactylus body (19), finger tip cap (18) and dactylus body (19) are to be threaded, and dactylus body (19), flexion axis (20) and roller (21) are connected mutually.
4, robot according to claim 1, it is characterized in that: middle finger joint (15) is by dactylus body (22), movable auricle (23,26), flexion axis (27), roller (24), bevel gear (25,28) constitute, movable auricle (23) is installed on the dactylus body (22), with dactylus body (22) together support flexion axis (27) and with flexion axis (27), bevel gear (28) is connected mutually, movable auricle (26) is installed on the dactylus body (22), and by pair of bearings rolling and dactylus body (22) together support flexion axis (20), roller (24) is connected with bevel gear (25), and rolling bearing is installed on the flexion axis (27).
5, robot according to claim 1, it is characterized in that: following dactylus (16) is made of dactylus body (35), movable auricle (30,34), motor (29), motor gear (32), potentiometer (31,33), movable auricle (34) is installed on dactylus body (35) and upward and by pair of bearings rolls, with dactylus body (35) together support flexion axis (27), movable auricle (30) is installed on dactylus body (35) and goes up and dactylus body (35) together support flexion axis (37), and is connected mutually with flexion axis (37), bevel gear (45); Motor (29) places down in the dactylus (16), motor gear (32) drives bevel gear (25) and the bevel gear (28) on the flexion axis (27) simultaneously, bevel gear (28) drives middle finger joint (15) and rotates, bevel gear (25) drives roller (24), is transmitted in roller (21) and drives through steel wire rope and go up dactylus (14) realization coupled motions.
6, robot according to claim 1, it is characterized in that: metacarpal bone joint (17) adopts two-freedom degree joint mechanism, have two frees degree of flexing and side-sway simultaneously, this mechanism is made of an intersecting axle, five bevel gears, two drive motors and dactylus body (39), motor (40,42) is placed in the dactylus body (39), motor (40) is connected with following dactylus (16) by motor gear (44), driven wheel (43), gear (45), and gear (43) driven gear (45) and following dactylus (16) are realized the motion around flexion axis (37); Motor (42) is fixed on the side-sway axle (36) by motor gear (47), driven wheel (46), gear (46), and drives dactylus (16) realization down around the motion of side-sway axle (36).
7, robot according to claim 1, it is characterized in that: roller (24), travelling gear (25) on the middle finger joint (15) link into an integrated entity, on flexion axis (27), last, middle finger joint is connected with steel wire rope by roller (21), roller (24) with the rolling bearing kink; Flexion axis (27), bevel gear (28) are connected mutually with middle finger joint (15), and middle finger joint (15) is connected by flexion axis (27) with following dactylus (16), and flexion axis (27) is connected with auricle (34) with following dactylus (16) with bearing; Following dactylus (16) is connected with metacarpal bone joint (17) by flexion axis (37), and flexion axis (37) is connected with auricle (30) with following dactylus (16) with bearing, and flexion axis (37) is connected with metacarpal bone joint (17) by intersecting axle.
8, robot according to claim 1, it is characterized in that: thumb (4) has three joints of two dactylus, two dactylus are following dactylus and last dactylus, three joints are the rotation joint, the flexing joint, three joints are corresponding to three degree of freedom, following dactylus is around self the axis rotation free degree and the flexing free degree, the middle finger joint flexing free degree, thumb (4) is connected with palm (5) with the T oblique crank Z, two square crossing axles of T oblique crank Z are the axis of rotation (56) and flexion axis (61), the axis of rotation (56) is driven by bevel-gear sett by the electric motor units that is put in the palm (5) that crouches perpendicular to palm (5); Flexion axis is driven by bevel-gear sett by a motor (59) that is put in down in the dactylus; Middle finger joint drives by another motor (53) in the following dactylus and realizes, thumb intersecting axle intersection point and its excess-three refer to intersecting axle intersection point coplane, thumb by rotate can realize with its excess-three refer to the grasping of kneading, joint I is a spinning motion, joint II and III are curvature movement, joint I and II intersect vertical axis, joint II is parallel with the III axis.
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|---|---|---|---|
| CN 02155646 CN1284655C (en) | 2002-12-13 | 2002-12-13 | Clever hands mechanism of robot |
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|---|---|---|---|
| CN 02155646 CN1284655C (en) | 2002-12-13 | 2002-12-13 | Clever hands mechanism of robot |
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| CN1418765A true CN1418765A (en) | 2003-05-21 |
| CN1284655C CN1284655C (en) | 2006-11-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1299393C (en) * | 2004-04-20 | 2007-02-07 | 哈尔滨工业大学 | Stylus connector between smart hands circuit board of robot |
| CN1322962C (en) * | 2005-01-26 | 2007-06-27 | 浙江理工大学 | Robot pneumatic shillful hand |
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| CN103286784A (en) * | 2013-06-17 | 2013-09-11 | 北方工业大学 | Control system of under-actuated self-adaption multi-fingered dexterous hand |
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| CN104571477A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Straight rod type ring finger movement detection device |
| CN104802181A (en) * | 2015-04-09 | 2015-07-29 | 上海大学 | Three-finger flexible hand performing device of robot |
| CN105643267A (en) * | 2014-11-11 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm force control assembling device and method |
| CN106002995A (en) * | 2016-05-28 | 2016-10-12 | 上海大学 | Grabbing control system for five-finger anthropomorphic manipulator |
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| CN107745391A (en) * | 2017-11-07 | 2018-03-02 | 西北农林科技大学 | A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor |
| CN107901060A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Screw drives and the finger mechanism of worm and gear driving |
| CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
| CN108098825A (en) * | 2018-02-08 | 2018-06-01 | 西北农林科技大学 | A kind of nine-degree of freedom picking mechanical arm |
| CN108284455A (en) * | 2018-04-28 | 2018-07-17 | 哈尔滨工业大学 | A kind of humanoid dexterous hand finger driven based on SMA |
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| CN108972605A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic hand for simulating hand exercise |
| CN109322972A (en) * | 2018-12-10 | 2019-02-12 | 广西玉柴机器股份有限公司 | Double balance shaft structure |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
Families Citing this family (1)
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| CN100450730C (en) * | 2007-06-07 | 2009-01-14 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
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2002
- 2002-12-13 CN CN 02155646 patent/CN1284655C/en not_active Expired - Fee Related
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| CN1299393C (en) * | 2004-04-20 | 2007-02-07 | 哈尔滨工业大学 | Stylus connector between smart hands circuit board of robot |
| CN1322962C (en) * | 2005-01-26 | 2007-06-27 | 浙江理工大学 | Robot pneumatic shillful hand |
| CN100528494C (en) * | 2007-07-25 | 2009-08-19 | 哈尔滨工业大学 | Reconstruction robot multi-finger clever hand palm |
| CN101434268B (en) * | 2008-12-24 | 2010-06-02 | 哈尔滨工业大学 | Dual-purpose double-arm mobile robot for moving on ground and climbing on space truss |
| CN101486191B (en) * | 2009-02-26 | 2012-11-21 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN101633170B (en) * | 2009-07-31 | 2011-02-16 | 清华大学 | Finger device of coupling three-joint robot |
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN102085661B (en) * | 2010-12-18 | 2012-05-09 | 浙江理工大学 | All-drive type smart manipulator |
| CN102806564A (en) * | 2012-09-11 | 2012-12-05 | 浙江大学 | Arc-shaped basal articulation for humanized flexible hand |
| CN102806564B (en) * | 2012-09-11 | 2014-10-15 | 浙江大学 | Arc-shaped basal articulation for humanized flexible hand |
| CN103128744A (en) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | Humanoid flexible mechanical arm device |
| CN103286784A (en) * | 2013-06-17 | 2013-09-11 | 北方工业大学 | Control system of under-actuated self-adaption multi-fingered dexterous hand |
| CN104571477A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Straight rod type ring finger movement detection device |
| CN104552315A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Straight rod type little finger movement detection device |
| CN105643267A (en) * | 2014-11-11 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm force control assembling device and method |
| CN104802181A (en) * | 2015-04-09 | 2015-07-29 | 上海大学 | Three-finger flexible hand performing device of robot |
| CN106002995A (en) * | 2016-05-28 | 2016-10-12 | 上海大学 | Grabbing control system for five-finger anthropomorphic manipulator |
| WO2018170644A1 (en) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | Robot hand with artificial intelligence |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN106826899A (en) * | 2017-04-11 | 2017-06-13 | 东南大学 | A kind of Apery manipulator based on axle transmission refers to structure |
| CN107901060A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Screw drives and the finger mechanism of worm and gear driving |
| CN107745391A (en) * | 2017-11-07 | 2018-03-02 | 西北农林科技大学 | A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor |
| CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
| CN108098825A (en) * | 2018-02-08 | 2018-06-01 | 西北农林科技大学 | A kind of nine-degree of freedom picking mechanical arm |
| CN108284455A (en) * | 2018-04-28 | 2018-07-17 | 哈尔滨工业大学 | A kind of humanoid dexterous hand finger driven based on SMA |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN108972605A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic hand for simulating hand exercise |
| CN108972605B (en) * | 2018-09-10 | 2024-04-16 | 河南翔宇医疗设备股份有限公司 | Bionic hand simulating hand movement |
| CN109322972A (en) * | 2018-12-10 | 2019-02-12 | 广西玉柴机器股份有限公司 | Double balance shaft structure |
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
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