CN201283575Y - Multi-finger dexterous hand of robot based on pneumatic flexible driver - Google Patents
Multi-finger dexterous hand of robot based on pneumatic flexible driver Download PDFInfo
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- CN201283575Y CN201283575Y CNU2008201667775U CN200820166777U CN201283575Y CN 201283575 Y CN201283575 Y CN 201283575Y CN U2008201667775 U CNU2008201667775 U CN U2008201667775U CN 200820166777 U CN200820166777 U CN 200820166777U CN 201283575 Y CN201283575 Y CN 201283575Y
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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
A robot multiple-finger smart hand based on pneumatic flexible drivers comprises five fingers and a palm, and is characterized in that five finger mounting seats are arranged in the palm, the five fingers are respectively a thumb, a index finger, a middle finger, a ring finger and a little finger, a tortuous joint is composed of a pneumatic flexible driver, a joint revolute pair and two locating plates, two sides of the joint revolute pair are fixedly connected with the two locating plates, a front and a rear two end caps of the pneumatic flexible driver are fixedly connected with the two locating plates, a side-sway knuckle is composed of two pneumatic flexible drivers and an axially telescopic hinge which forms a telescopic revolute pair by two moveable components through a gain structure, the moveable components are connected with the front and the rear end caps of the pneumatic flexible driver, and axial cords of the two pneumatic flexible drivers are in parallel and perpendicular to the axial cord of a hinge pin shaft. The robot multiple-finger smart hand has the advantages of simple structure, good flexible and applicable performances.
Description
Technical field
The utility model relates to a kind of robot delicate.
Background technology
End effector is the interactional execution unit of robot and external environment.Along with the develop rapidly of modern science and technology, the application of robot not merely is confined to industrial circle, but progressively is applied to fields such as agricultural, medical treatment and service.The variation and complicated that becomes gradually more of the operand of robot, this just require the end effector of robot will be as staff flexible and safety.And traditional industrial robot end effector often specificity is strong, action is simple, very flexible and lack perception or the like, these shortcomings make traditional end effector of robot can not satisfy current social demand.Multi-finger dexterous hand of robot is prototype with the staff, from 26S Proteasome Structure and Function patrix apery hand, has 3-5 finger and a plurality of free degree, can realize the dexterous manipulation of difformity and big wisp and accurately grasps.Multi-finger dexterous hand of robot can replace traditional special purpose robot's end effector, thereby can enlarge the application of robot.
At present, scientific research institution has developed multiple multi-finger clever hand both at home and abroad, and wherein with motor-driven, and Pneumatic artificial muscle is in the majority by the Dextrous Hand that artificial tendon drives.
Start from the seventies in 20th century with the research of motor-driven multi-finger clever hand, wherein tool representative be the Okada Dextrous Hand of Japan's " electronic technology laboratory " development.Early 1980s, Stanford Univ USA has succeeded in developing the Stanford/JPL hand; Massachusetts Institute Technology and University of Utah's joint research and development the Utah/MIT hand.So far, comparatively famous motor-driven multi-finger clever hand has: the BH series Dextrous Hand of the NASA hand of the DLR-I of the Hitachi Dextrous Hand of Japan, Germany and DLR-II Dextrous Hand, the U.S., the DLR/HIT Dextrous Hand of Harbin Institute of Technology and Beijing space flight and aviation university.Rely on rotatablely move each joint of simulation staff of motor to rotate based on motor-driven multi-finger clever hand, often size is greater than staff, complex structure, grasping force little (being generally less than 20N) and restive.
The 1950's, the U.S. nuclear physicist Joseph L.McKibben utility model Pneumatic artificial muscle.Enter 21 century, the multi-finger clever hand that drives with Pneumatic artificial muscle is born in succession.Wherein, more famous is the development Shadow of company of Britain Shadow robot Dextrous Hand, and this Dextrous Hand exactly likes staff, has 5 fingers and a palm, has 19 frees degree, drives each joint by 36 Pneumatic artificial muscles by artificial tendon and rotates.Angular transducer has been installed in each joint of Shadow Dextrous Hand, and finger fingertip is equipped with the power sensor, operation such as can grab, hold.At home, Beijing Institute of Technology has also designed the multi-finger clever hand based on Pneumatic artificial muscle.The Dextrous Hand that Pneumatic artificial muscle drives by artificial tendon, its appearance and size and staff are similar, but also have following 2 deficiencies: (1) driver separates with hand, drive each joint by artificial tendon and rotate, exist friction, problem lax and energy loss to avoid in the tendon transmission system; (2) too much Pneumatic artificial muscle makes that the forearm of Dextrous Hand is thick too fat to move, makes troubles for the fit applications of Dextrous Hand and other machines robot system.
The utility model content
For the complex structure that overcomes existing robot delicate, flexible deficiency poor, poor for applicability, the utility model provide a kind of simple in structure, have good flexibility, a multi-finger dexterous hand of robot that applicability is good based on Pneumatic flexible actuator.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of multi-finger dexterous hand of robot based on Pneumatic flexible actuator comprises five fingers and a palm, and palm inside is provided with five finger mounted seats; Five fingers are respectively thumb, forefinger, middle finger, the third finger and little finger, wherein:
Forefinger, middle finger, the third finger and little finger structure are identical, and 4 joints, 4 dactylus, carpal bone,first and first finger tips are arranged respectively, and described 4 joints comprise three bending joints and first side-sway joint; Described 4 dactylus are respectively first dactylus far away, first middle finger joint, the first nearly dactylus and first metacarpal bone joint, the upper end of first dactylus far away is connected with first finger tip, the lower end of first dactylus far away is connected with the upper end of first bending joint, the lower end of described first bending joint is connected with the upper end of first middle finger joint, the lower end of described first middle finger joint is connected with the upper end of second bending joint, the lower end of described second bending joint is connected with the upper end of the first nearly dactylus, the lower end of the described first nearly dactylus is connected with the upper end of the 3rd bending joint, the lower end of described the 3rd bending joint is connected with the upper end of first metacarpal bone joint, the lower end of described first metacarpal bone joint is connected with the upper end of first side-sway joint, the lower end of described first side-sway joint is connected with the upper end of carpal bone,first, and described carpal bone,first is installed on the finger mounted seat of palm;
Described thumb comprises 4 joints, 4 dactylus, carpal bone,second and second finger tips, and described 4 joints are respectively three bending joints and second side-sway joint; Described 4 dactylus are respectively second dactylus far away, second middle finger joint, the second nearly dactylus and second metacarpal bone joint, the upper end of second dactylus far away is connected with second finger tip, the lower end of second dactylus far away is connected with the upper end of the 4th bending joint, the lower end of described the 4th bending joint is connected with the upper end of second middle finger joint, the lower end of described second middle finger joint is connected with the upper end of the 5th bending joint, the lower end of described the 5th bending joint is connected with the upper end of the second nearly dactylus, the lower end of the described second nearly dactylus is connected with the upper end of the 6th bending joint, the lower end of described the 6th bending joint is connected with the upper end of second metacarpal bone joint, the lower end of described second metacarpal bone joint is connected with the upper end of second side-sway joint, the lower end of described second side-sway joint is connected with the upper end of carpal bone,second, and described carpal bone,second is installed on the finger mounted seat of palm;
Described bending joint comprises Pneumatic flexible actuator, hinge through is secondary and two location-plates, fixedlys connected with two location-plates in the both sides of described hinge through pair, and former and later two end caps of Pneumatic flexible actuator are fixedlyed connected with two location-plates;
Described Pneumatic flexible actuator comprises former and later two end caps, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of rubber tube along the radially spiral of rubber tube being nested with spiral wire and spiral wire in the described rubber tube tube wall;
Described side-sway joint comprises two Pneumatic flexible actuators and an axial extendible hinge, the telescopic revolute pair that described axial extendible hinge is formed by the gain structure by two movable parts; Described movable part is connected with the Pneumatic flexible actuator front and rear cover, and the axis of described two Pneumatic flexible actuators is parallel and perpendicular to the hinge pin axis;
In described forefinger, middle finger, the third finger and little finger, the axis of three bending joints is parallel, and first side-sway joint is vertically placed, the axis of first side-sway joint and three bending joint axis normal;
In described thumb, the axis between the 4th bending joint and the 5th bending joint is parallel, and the axis of the axis of the 6th bending joint and preceding two bending joints is the angle of 20～45 degree; Described second side-sway joint is a horizontal positioned, the axis of second side-sway joint and the 6th bending joint axis normal.
As preferred a kind of scheme: described hinge through pair comprises two pairs of rigid plate-like revolving members and a rotating pin, connecting by described rotating pin between the inboard two ends of every pair of rigid plate-like revolving member, fixedlys connected with two location-plates in the two ends, the outside of described two pairs of rigid plate-like parts.
As preferred another kind of scheme: described axial extendible hinge comprises two T type rigid connectors and a bearing pin, fixedly connected with the end cap of Pneumatic flexible actuator in last T type rigid connector upper end, last T type rigid connector lower end is provided with circular hole, on the described circular hole bearing pin is installed, the upper end of following T type rigid connector is provided with slotted hole, described bearing pin passes described slotted hole, fixedlys connected with another end cap of Pneumatic flexible actuator in the lower end of following T type rigid connector.
As preferred another kind of again scheme: in described forefinger, middle finger, the third finger and little finger, secondary upper end, first dactylus far away, first middle finger joint and the first nearly dactylus with the first metacarpal bone joint of the hinge through of described bending joint is one, and lower end, the carpal bone,first of the axial extendible hinge of described side-sway joint and first metacarpal bone joint are one;
In described thumb, secondary upper end, second dactylus far away, second middle finger joint and the second nearly dactylus with the second metacarpal bone joint of the hinge through of described bending joint is one, and lower end, the carpal bone,second of the axial extendible hinge of described side-sway joint and second metacarpal bone joint are one.
Further, be respectively equipped with the step axle on the described front and rear cover, Pneumatic flexible actuator is installed in the centre of two fixed heads by the step axle on former and later two end caps.
Further, be respectively equipped with the step axle on the described front and rear cover, on the T type rigid connector respectively left-right symmetry be provided with two locating holes, positioning step axle on described locating hole and the Pneumatic flexible actuator front and rear cover cooperates.
Further again, described finger mounted seat comprises thumb mount pad, forefinger mount pad, middle finger mount pad, nameless mount pad and little finger mount pad, be respectively equipped with the finger mounted locating hole that cooperates with locating shaft on the described finger carpal bone on described 5 finger mounted seats, described forefinger mount pad, middle finger mount pad, nameless mount pad and little finger mount pad are respectively equipped with two through holes, the pipe joint of Pneumatic flexible actuator is provided with tracheae with the respective finger side-sway joint and is communicated with, and described tracheae is communicated with through hole.
Spacing between forefinger, middle finger, the third finger and little finger four refer to is 10mm, and with respect to the palm root, middle finger is than nameless high 10mm, and nameless forefinger is than the high 20mm of little finger than the high 5mm of forefinger, and the angle of thumb and forefinger can be 30-45 °
Technical conceive of the present utility model is: based on the multi-finger dexterous hand of robot of Pneumatic flexible actuator, its appearance and size and ordinary people's palmistry are imitative, have five fingers and a palm, have 20 frees degree.Than with motor-driven multi-finger clever hand, the multi-finger clever hand size is little, have good flexibility and compliance, simple in structure, grasping force big and be easy to characteristics such as control.Than the Dextrous Hand that Pneumatic artificial muscle drives, multi-finger clever hand adopts Pneumatic flexible actuator directly to drive, and driver is directly installed on the Dextrous Hand body, do not need to drive by artificial tendon, frictional force is little, and energy loss is little, has also avoided simultaneously defectives such as the Dextrous Hand forearm is thick.
Multi-finger dexterous hand of robot comprises five fingers and a palm; Five fingers are respectively thumb, forefinger, middle finger, the third finger and little finger.According to bionics principle, the variation of robot manipulating task environment and for fear of moving interference, spacing between forefinger, middle finger, the third finger and little finger four refer to is 10mm, and with respect to the palm root, middle finger is than nameless high 10mm, nameless forefinger is than the high 20mm of little finger than the high 5mm of forefinger, and the angle of thumb and forefinger can be 30-45 °.
The forefinger of described multi-finger clever hand, middle finger, the third finger and little finger structure, measure-alike have 4 joints, 4 dactylus and carpal bone respectively, and each finger has 4 frees degree, can realize the motion of flexing and side-sway.Described 4 joints comprise three bending joints and a side-sway joint; Described 4 dactylus are respectively dactylus far away, middle finger joint, nearly dactylus and metacarpal bone joint.Described three bending joint structures are identical, and each joints axes is parallel to each other, and comprise a Pneumatic flexible actuator (hereinafter to be referred as Pneumatic flexible actuator) respectively, secondary and two fixed heads (hereinafter to be referred as fixed head) of hinge through; Described Pneumatic flexible actuator comprises former and later two end caps, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, be respectively equipped with the step axle on the front and rear cover, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of rubber tube along the radially spiral of rubber tube being nested with spiral wire and spiral wire in the described rubber tube tube wall; Described dactylus can be around the secondary rotation of hinge through under Pneumatic flexible actuator driving effect; Described two fixed heads are fixed on the dactylus of hinge both sides by thread connection respectively, be respectively arranged with locating hole on each fixed head, Pneumatic flexible actuator is installed in the centre of two fixed heads by the step axle on former and later two end caps, and the replacing of Pneumatic flexible actuator is convenient in such design.Described side-sway joint comprises two Pneumatic flexible actuators and an axial extendible hinge, its joints axes and foregoing three bending joint axis normal; Described two Pneumatic flexible actuators are identical with the Pneumatic flexible actuator structure described in the bending joint of front; Described axial extendible hinge is a telescopic revolute pair that is formed by the gain structure by two movable parts; Be respectively equipped with two installing holes of left-right symmetry on the described movable part, connect with the step axle interference fit on the Pneumatic flexible actuator end cap, thereby two Pneumatic flexible actuators are fixed between two mobiles, the axis of two Pneumatic flexible actuators in the described side-sway joint is parallel, perpendicular to the hinge pin axis.Described side-sway joint is vertical placement, and its movable part constitutes the metacarpal bone joint and the carpal bone of finger respectively.
The thumb of described multi-finger clever hand four refers to that structure is different with other, comprises 4 joints, 4 dactylus and carpal bone, has 4 frees degree simultaneously, when grasping is handled, can realize the motion of flexing and side-sway.Described 4 joints are respectively three bending joints, and a side-sway joint; Described 4 dactylus are respectively dactylus far away, middle finger joint, nearly dactylus and metacarpal bone joint.Three bending joints of described thumb are the same with other four structural principle of bending joint in referring to noted earlier, according to human finger's structure, in three bending joints of thumb, preceding two bending joints (near two bending joints of finger tip) axis is parallel, and being 30 degree left and right sides angles with the axis of the 3rd bending joint, these are different with other four finger; The side-sway joint of described thumb is a horizontal positioned, its axis and the 3rd bending joint axis normal.
The palm of described multi-finger dexterous hand of robot comprises the palm of the hand, the back of the hand; Palm inside is provided with five finger mounted seats, and design can be strengthened palm intensity like this, and each finger mounted seat is fixedly connected by screw with palm of the hand the back of the hand respectively; Each finger mounted seat is provided with the finger mounted locating hole, and be respectively equipped with the finger mounted locating shaft on the metacarpal bone joint of described five fingers and cooperate the location with the locating hole of finger mounted seat, and then by thread connection that palm and finger is fixing; Described palm root is provided with the tracheae fairlead, and forefinger, middle finger, the third finger and 8 tracheaes of little finger 4 fingers side-sway joint will be drawn from the palm root.
The beneficial effects of the utility model mainly show: 1, have the size with the general size of staff, have five fingers and 20 frees degree, each finger has all comprised three flexing joints and a side-sway joint, thereby can realize the motion of curvature movement and side-sway, therefore can simulate the major part action of staff; 2, adopt Pneumatic flexible actuator directly to drive, driver is directly installed on the multi-finger dexterous hand of robot body, does not need additional any transmission speed reducer structure, and frictional force is little, and energy loss is low; 3, the easier little propertyization of size, simple and compact for structure, easy to process, assembling and repair easy maintenance, with low cost; 4, adopt Pneumatic flexible actuator to drive and make it have good flexibility and adaptability, it is big to point power output simultaneously, and control easily; 5, applicability is good.
Description of drawings
Fig. 1 is the multi-finger dexterous hand of robot stereogram.
Fig. 2 is that the multi-finger dexterous hand of robot palm of the hand is to structural representation.
Fig. 3 is that multi-finger dexterous hand of robot the back of the hand is to structural representation.
Fig. 4 is the bending joint stereogram in the multi-finger dexterous hand of robot finger.
Fig. 5 is the bending joint structural principle schematic diagram in the multi-finger dexterous hand of robot finger.
Fig. 6 is the upward view of Fig. 5.
Fig. 7 is a certain working state structure schematic diagram of bending joint.
Fig. 8 is a side-sway joint stereogram in the multi-finger dexterous hand of robot finger.
Fig. 9 is that each member of side-sway joint connects schematic diagram.
Figure 10 is the structural principle schematic diagram of side-sway joint.
Figure 11 is the side-sway joint structural representation during a certain duty of side-sway to the right.
Figure 12 is the stereogram of forefinger, middle finger, the third finger and little finger.
Figure 13 is the structural representation of forefinger, middle finger, the third finger and little finger.
Figure 14 is the left view of Figure 13.
Figure 15 is the structural representation of forefinger, middle finger, the third finger and a certain duty of little finger.
Figure 16 is the left view of Figure 15.
Figure 17 is the structural representation of metacarpal bone joint in forefinger, middle finger, the third finger and the little finger.
Figure 18 is the stereogram of thumb.
Figure 19 is that each member of thumb connects schematic diagram.
Figure 20 is the structural representation of a certain duty of thumb.
Figure 21 is the structural representation of palm.
Figure 22 is Figure 21 full sectional view.
Figure 23 is that each member of palm connects schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1～Figure 23, a kind of multi-finger dexterous hand of robot based on Pneumatic flexible actuator comprises five fingers and a palm 6, and palm inside is provided with five finger mounted seats; Five fingers are respectively thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger 5, wherein: forefinger 2, middle finger 3, the third finger 4 and little finger 5 structures are identical, 4 joints, 4 dactylus, carpal bone,first 23 and first finger tips 18 are arranged respectively, and described 4 joints comprise three bending joints and the first side-sway joint IV; Described 4 dactylus are respectively first dactylus 19 far away, first middle finger joint 20, the first nearly dactylus 21 and first metacarpal bone joint 22, the upper end of first dactylus 19 far away is connected with first finger tip 18, the lower end of first dactylus 19 far away is connected with the upper end of the first bending joint I, the lower end of the described first bending joint I is connected with the upper end of first middle finger joint 20, the lower end of described first middle finger joint 20 is connected with the upper end of the second bending joint II, the lower end of the described second bending joint II is connected with the upper end of the first nearly dactylus 21, the lower end of the described first nearly dactylus 21 is connected with the upper end of the 3rd bending joint III, the lower end of described the 3rd bending joint III is connected with the upper end of first metacarpal bone joint 22, the lower end of described first metacarpal bone joint 22 is connected with the upper end of the first side-sway joint IV, the lower end of the described first side-sway joint IV is connected with the upper end of carpal bone,first 23, and described carpal bone,first 23 is installed on the finger mounted seat of palm; Described thumb 1 comprises 4 joints, 4 dactylus, carpal bone,second 28 and second finger tips 29, and described 4 joints are respectively three bending joints and the second side-sway joint VIII; Described 4 dactylus are respectively second dactylus 24 far away, second middle finger joint 25, the second nearly dactylus 26 and second metacarpal bone joint 27, the upper end of second dactylus 24 far away is connected with second finger tip 29, the lower end of second dactylus 24 far away is connected with the upper end of the 4th bending joint V, the lower end of described the 4th bending joint V is connected with the upper end of second middle finger joint 25, the lower end of described second middle finger joint 25 is connected with the upper end of the 5th bending joint VI, the lower end in the described the 5th crooked VI joint is connected with the upper end of the second nearly dactylus 26, the lower end of the described second nearly dactylus 26 is connected with the upper end of the 6th bending joint VII, the lower end of described the 6th bending joint VII is connected with the upper end of second metacarpal bone joint 27, the lower end of described second metacarpal bone joint 27 is connected with the upper end of the second side-sway joint VIII, the lower end of the described second side-sway joint VIII is connected with the upper end of carpal bone,second 28, and described carpal bone,second 28 is installed on the finger mounted seat of palm;
Described bending joint comprises Pneumatic flexible actuator 7, hinge through is secondary and two location- plates 8,12, fixedly connected with two location-plates in the both sides of described hinge through pair, former and later two end caps of Pneumatic flexible actuator 7 are fixedlyed connected with two location- plates 8,12;
Described Pneumatic flexible actuator comprises 73,74, rubber tubes 71 of former and later two end caps and a pipe joint 16, described rubber tube 71 two ends respectively with drive end bearing bracket 73, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket 73, described pipe joint 16 is installed on the drive end bearing bracket 73, and it is close in the inwall of rubber tube along the radially spiral of rubber tube 71 being nested with spiral wire 72 and spiral wire 72 in described rubber tube 71 tube walls;
Described side-sway joint comprises two Pneumatic flexible actuators 7 and an axial extendible hinge, the telescopic revolute pair that described axial extendible hinge is formed by the gain structure by two movable parts 14,15; Described movable part 14,15 is connected with Pneumatic flexible actuator 7 front and rear covers 73,74, and the axis of described two Pneumatic flexible actuators 7 is parallel and perpendicular to the axis of hinge pin 10;
In described forefinger 2, middle finger 3, the third finger 4 and little finger 5, the axis of three bending joints is parallel, and the first side-sway joint IV vertically places, the axis of the first side-sway joint IV and three bending joint axis normal;
In described thumb 1, parallel near the axis between preceding two bending joints of finger tip 29, promptly the axis between the 4th bending joint V and the 5th bending joint VI is parallel, and the axis of the axis of the 6th bending joint VII and preceding two bending joints is the angle of 20～45 degree; The described second side-sway joint VIII is a horizontal positioned, the axis of the second side-sway joint VIII and the 6th bending joint VII axis normal.
In described forefinger 2, middle finger 3, the third finger 4 and little finger 5, secondary upper end, first dactylus 19 far away, first middle finger joint 20 and the first nearly dactylus 21 with first metacarpal bone joint 22 of the hinge through of described bending joint is one, and lower end, the carpal bone,first 23 of the axial extendible hinge of described side-sway joint and first metacarpal bone joint 22 are one;
In described thumb 1, secondary upper end, second dactylus 24 far away, second middle finger joint 25 and the second nearly dactylus 26 with second metacarpal bone joint 27 of the hinge through of described bending joint is one, and lower end, the carpal bone,second 28 of the axial extendible hinge of described side-sway joint and second metacarpal bone joint 27 are one.
The multi-finger dexterous hand of robot of present embodiment comprises five fingers and a palm 6.Described five fingers comprise thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger 5.The finger layout of multi-finger dexterous hand of robot of the present utility model is a foundation with the staff structure, forefinger 2, middle finger 3, nameless 4 and little finger 5 is parallel to each other and spacing is 10mm, wear artificial skin to finger and stay adequate space, this four fingers finger tip is with respect to the height difference of palm 6 roots simultaneously, wherein middle finger 3 is than forefinger 4 high 15mm, than nameless high 10mm, and nameless than the high 25mm of little finger; Angle between thumb 1 and the forefinger 2 is 45 °.
15 bending joints (abbreviation bending joint) that drive based on Pneumatic flexible actuator have been used in five fingers altogether.Bending joint can be realized the curvature movement pointed, is important composition parts of the present utility model, so bending joint is described in detail.With reference to Fig. 4～Fig. 6, described bending joint comprises 9,11, one rotating pins of 8,12, two pairs of rigid plate-like revolving members of 7, two fixed heads of a Pneumatic flexible actuator 10, pipe joint 16 and 4 hexagon socket head cap screws 13.Described Pneumatic flexible actuator 7 comprises drive end bearing bracket 73, rear end cap 74 and rubber tube 71, the two ends of described rubber tube 71 respectively with drive end bearing bracket 73, rear end cap 74 sealed attachment, wherein front and rear cover is respectively equipped with the positioning step axle, and drive end bearing bracket 73 is provided with a through hole that is connected with atmosphere and pipe joint 16 is fixed by threaded connection, it is close in the inwall of rubber tube 71 along the radially spiral of rubber tube 71 being nested with spiral wire 72 and spiral wire 72 in described rubber tube 71 tube walls, when gases at high pressure enter rubber tube 71 inner chambers by pipe joint 16, because the radially restriction of spiral wire 72, under the pressure of Compressed Gas, axial deformation takes place with spiral wire 72 in rubber tube 71, and its radial deformation can be ignored, and drives effect thereby produce; Described two fixed heads 8,12 are fixedly connected in the middle of two pairs of rigid plate-like revolving members 9,11 by four hexagon socket head cap screws 13, wherein be provided with the positioning step axle interference fit on the front and rear cover of locating hole and Pneumatic flexible actuator 7 in the fixed head 8,12, thereby driver 7 is assemblied on the bending joint; Described two pairs of rigid plate-like revolving members 9,11 and bearing pin 10 constitute a hinge through pair.With reference to Fig. 7, the operation principle of the bending joint that drives based on Pneumatic flexible actuator is: compressed air is fed in the inner chamber of Pneumatic flexible actuator 7 by pipe joint 16, under compressed-air actuated pressure effect, because about the restriction of spiral wire 72, axial deformation takes place in driver 7, thereby driver fixed head 8,12 is produced certain thrust, and thrust produces torque to bearing pin 10 center lines, rotates around bearing pin 10 center lines thereby make fixed head 8,12 drive rigidity rotation member 9,11; When reducing compressed-air actuated pressure, because the rebound effect of rubber tube 71 and spiral wire 72, Pneumatic flexible actuator 7 shrinks, thereby drive fixed head 8,12 around bearing pin 10 revolutions, thereby the realization bending effect, because the rotation of bending joint, rubber tube 71 can produce arc-shaped deformation.The angle range of the bending joint that drives based on Pneumatic flexible actuator is 0 °～100 °, and it is simple in structure, and good rigidly is easy to miniaturization, and flexible movements have bigger implementary value.
Each finger not only can be realized flexing (bending) motion, and can realize the side-sway motion.Based on the Pneumatic flexible actuator utility model side-sway joint.With reference to Fig. 8～Figure 11, comprise 14,15, one bearing pins 10 of 7, two T types of two Pneumatic flexible actuators rigid connector and two pipe joints 16 based on the side-sway joint of Pneumatic flexible actuator.Described Pneumatic flexible actuator 7 operation principles have been set forth clear in front, and its front and rear cover 73,74 is respectively equipped with the positioning step axle, and drive end bearing bracket 73 is provided with the through hole and the pipe joint 16 that are connected with atmosphere and is fixed by threaded connection; Described T type rigid connector 14,15 upper ends left-right symmetry respectively are provided with two locating holes, be used for Pneumatic flexible actuator 7 end caps on the positioning step axle cooperate, cooperate and be interference fit, the lower end of T type rigid connector 14 is provided with circular hole and bearing pin 10 interference fit, the lower end of T type rigid connector 15 is arranged with two slotted holes, so the hinge through pair that T type rigid connector 14,15 and bearing pin 10 become can stretch up and down by a gain structure row.With reference to Figure 11, the operation principle of the side-sway joint that drives based on Pneumatic flexible actuator is: before the side-sway motion takes place, because the Incoercibility of rubber tube 71, the compressed air that will be in advance in the inner chamber of two Pneumatic flexible actuators 7 of side-sway joint, feeds uniform pressure, under the effect of isobaric gas, identical axial elongation takes place in two Pneumatic flexible actuators 7, again because T type rigid connector 14, it between 15 axial telescopic hinge through pair, so two Pneumatic flexible actuators 7 will promote T type rigid connector axial elongation till end in contact on the slotted hole of bearing pin 10 two ends and T type rigid connector 15, the purpose of pre-inflation is to make that the rubber tube 71 of two Pneumatic flexible actuators 7 has certain pre-elongation to be convenient to the motion of side-sway joint generation side-sway respectively; Behind the depressed bundle of preliminary filling, by changing the compressed-air actuated pressure of two Pneumatic flexible actuator 7 inner chambers, make the rubber tube 71 of two drivers 7 that different elongations take place, thereby can realize swinging of side-sway joint, when the inner chamber air pressure of left side driver during greater than the inner chamber air pressure of the right driver, side-sway joint is swung to the right, on the contrary swing left; When reducing compressed-air actuated pressure, the Pneumatic flexible actuator 7 on both sides shrinks under the screen resilience effect of rubber tube 71 and spiral wire 72, restores to the original state thereby drive side-sway joint.The angle range of the side-sway joint that drives based on Pneumatic flexible actuator is-20 °～20 °, and its good rigidly is simple in structure, is easy to miniaturization, and dismounting is easy to maintenance, and flexible movements have bigger implementary value.
Forefinger 2, middle finger 3, the third finger 4 and little finger 5 structures, measure-alike have 4 dactylus, 4 joints, carpal bone,first 23 and first finger tips 18 respectively.With reference to Figure 12～Figure 14, described 4 dactylus are respectively first dactylus 19 far away, first middle finger joint, 20, the first nearly dactylus 21 and first metacarpal bone joint 22, are that the hinge movable part by each joint is constituted, and first metacarpal bone saves 22 structure as shown in figure 17; 4 joints are respectively the first bending joint I, the second bending joint II, the 3rd bending joint III and the first side-sway joint IV, and wherein detailed narration has been done in the operation principle of bending joint and side-sway joint and structure composition front; The axis of the first bending joint I, the second bending joint II and the 3rd bending joint III is parallel to each other; The first side-sway joint IV vertically places, and its axis is vertical mutually with three joints axes noted earlier; Described carpal bone,first 23 is provided with finger assembling and positioning axle and two installing holes that are fixedly connected with palm; Described first finger tip 18 is parts of first dactylus 19 far away, is a five-dimensional force sensor, is used for detecting in real time the grasping force of finger.Each finger has 4 frees degree, and first dactylus 19 far away, first middle finger joint 20 and the first nearly dactylus 21 have a flexing free degree respectively, and first metacarpal bone joint 22 has a side-sway free degree.The operation principle of described forefinger 2, middle finger 3, the third finger 4 and little finger 5 is: with reference to Figure 15～Figure 16, by controlling the first bending joint I, the second bending joint II, the compressed-air actuated pressure of inner chamber of Pneumatic flexible actuator 7 among the 3rd bending joint III and the first side-sway joint IV, drive the motion of corresponding dactylus, thereby can realize bending and the side-sway pointed.
Thumb 1 has 4 dactylus, 4 joints, carpal bone,second 28 and second finger tips 29, and structure is different with other 4 fingers.With reference to Figure 18～Figure 20, described 4 dactylus are respectively second dactylus 24 far away, second middle finger joint, 25, the second nearly dactylus 26 and second metacarpal bone joint 27, are that the hinge movable part by each joint is constituted; Described 4 joints are respectively the 4th bending joint V, the 5th bending joint VI, the 6th bending joint VII and the second side-sway joint VIII, and wherein the structural principle in joint repeats no more here; The 4th bending joint V and the 5th bending joint VI axially are parallel to each other, and according to the structure of staff, the axis of the axis of the 6th bending joint VII and preceding two bending joints is 20～45 degree (being preferably 30 degree) angle; The second side-sway joint VIII horizontal positioned, the axis normal of its axis and the 6th bending joint VII; Described carpal bone,second 28 is provided with the location of pointing assembling and puts axle and install and fix the hole with palm; Described second finger tip 29 is parts of second dactylus 24 far away, is a five-dimensional force sensor, is used for detecting in real time the grasping force of finger.Thumb 1 has 4 frees degree, and second dactylus 24 far away, second middle finger joint 25 and the second nearly dactylus 26 have a flexing free degree respectively, and second metacarpal bone joint 27 has a side-sway free degree.By controlling the 4th bending joint V, the 5th bending joint VI, the compressed-air actuated pressure of inner chamber of Pneumatic flexible actuator among the 6th bending joint VII and the second side-sway joint VIII, drive corresponding dactylus motion, realize the bending and the side-sway of thumb 1, thus can realize thumb 1 with other four refer to the grasping of kneading.
The palm 6 of multi-finger dexterous hand of robot comprises the palm of the hand 31,32,5 finger mounted seats of the back of the hand and some trip bolts 30.With reference to Figure 21～Figure 23, the described palm of the hand 31, the back of the hand 32 are rigid plate-like materials, are provided with finger mount hole above; Described finger mounted seat comprises thumb mount pad 33, forefinger mount pad 34, middle finger mount pad 35, nameless mount pad 36 and little finger mount pad 37, is fixedly connected by trip bolt 30 and the palm of the hand 31, the back of the hand 32 respectively, strengthens the intensity of palm 6; Be respectively equipped with the finger mounted locating hole on described 5 finger mounted seats, cooperate with locating shaft on the described finger carpal bone, thus adversary's specific bit; Described forefinger mount pad 34, middle finger mount pad 35, nameless mount pad 36 and little finger mount pad 37 are respectively equipped with two through holes, and the tracheae of respective finger side-sway joint is drawn from the hole; According to anatomical knowledge, human finger's metacarpal bone joint is wrapped in the palm, so the metacarpal bone of all fingers of the present utility model joint also is arranged in the palm.
The drive system of present embodiment and control survey system comprise air pump, control card, industrial computer, five-dimensional force sensor and computer software, and wherein five-dimensional force sensor is to be developed according to instructions for use by intelligent robot research institute of the Hefei Chinese Academy of Sciences.
Claims (9)
1, a kind of multi-finger dexterous hand of robot based on Pneumatic flexible actuator comprises five fingers and a palm, and palm inside is provided with five finger mounted seats; Five fingers are respectively thumb, forefinger, middle finger, the third finger and little finger, wherein:
Forefinger, middle finger, the third finger and little finger structure are identical, and 4 joints, 4 dactylus, carpal bone,first and first finger tips are arranged respectively, and described 4 joints comprise three bending joints and first side-sway joint; Described 4 dactylus are respectively first dactylus far away, first middle finger joint, the first nearly dactylus and first metacarpal bone joint, the upper end of first dactylus far away is connected with first finger tip, the lower end of first dactylus far away is connected with the upper end of first bending joint, the lower end of described first bending joint is connected with the upper end of first middle finger joint, the lower end of described first middle finger joint is connected with the upper end of second bending joint, the lower end of described second bending joint is connected with the upper end of the first nearly dactylus, the lower end of the described first nearly dactylus is connected with the upper end of the 3rd bending joint, the lower end of described the 3rd bending joint is connected with the upper end of first metacarpal bone joint, the lower end of described first metacarpal bone joint is connected with the upper end of first side-sway joint, the lower end of described first side-sway joint is connected with the upper end of carpal bone,first, and described carpal bone,first is installed on the finger mounted seat of palm;
Described thumb comprises 4 joints, 4 dactylus, carpal bone,second and second finger tips, and described 4 joints are respectively three bending joints and second side-sway joint; Described 4 dactylus are respectively second dactylus far away, second middle finger joint, the second nearly dactylus and second metacarpal bone joint, the upper end of second dactylus far away is connected with second finger tip, the lower end of second dactylus far away is connected with the upper end of the 4th bending joint, the lower end of described the 4th bending joint is connected with the upper end of second middle finger joint, the lower end of described second middle finger joint is connected with the upper end of the 5th bending joint, the lower end of described the 5th bending joint is connected with the upper end of the second nearly dactylus, the lower end of the described second nearly dactylus is connected with the upper end of the 6th bending joint, the lower end of described the 6th bending joint is connected with the upper end of second metacarpal bone joint, the lower end of described second metacarpal bone joint is connected with the upper end of second side-sway joint, the lower end of described second side-sway joint is connected with the upper end of carpal bone,second, and described carpal bone,second is installed on the finger mounted seat of palm;
It is characterized in that: described bending joint comprises Pneumatic flexible actuator, hinge through is secondary and two location-plates, fixedly connected with two location-plates in the both sides of described hinge through pair, former and later two end caps of Pneumatic flexible actuator are fixedlyed connected with two location-plates;
Described Pneumatic flexible actuator comprises former and later two end caps, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of crude rubber pipe along the radially spiral of crude rubber pipe being nested with spiral wire and spiral wire in the described rubber tube tube wall;
Described side-sway joint comprises two Pneumatic flexible actuators and an axial extendible hinge, the telescopic revolute pair that described axial extendible hinge is formed by the gain structure by two movable parts; Described movable part is connected with the Pneumatic flexible actuator front and rear cover, and the axis of described two Pneumatic flexible actuators is parallel and perpendicular to the hinge pin axis;
In described forefinger, middle finger, the third finger and little finger, the axis of three bending joints is parallel, and first side-sway joint is vertically placed, the axis of first side-sway joint and three bending joint axis normal;
In described thumb, the axis between the 4th bending joint and the 5th bending joint is parallel, and the axis of the axis of the 6th bending joint and preceding two bending joints is the angle of 20～45 degree; Described second side-sway joint is a horizontal positioned, the axis of second side-sway joint and the 6th bending joint axis normal.
2, the multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 1, it is characterized in that: described hinge through pair comprises two pairs of rigid plate-like revolving members and a rotating pin, connecting by described rotating pin between the inboard two ends of every pair of rigid plate-like revolving member, fixedlys connected with two location-plates in the two ends, the outside of described two pairs of rigid plate-like parts.
3, the multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 1, it is characterized in that: described axial extendible hinge comprises two T type rigid connectors and a bearing pin, fixedly connected with the end cap of Pneumatic flexible actuator in last T type rigid connector upper end, last T type rigid connector lower end is provided with circular hole, on the described circular hole bearing pin is installed, the upper end of following T type rigid connector is provided with slotted hole, described bearing pin passes described slotted hole, fixedlys connected with another end cap of Pneumatic flexible actuator in the lower end of following T type rigid connector.
4, the multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 2, it is characterized in that: described axial extendible hinge comprises two T type rigid connectors and a bearing pin, fixedly connected with the end cap of Pneumatic flexible actuator in last T type rigid connector upper end, last T type rigid connector lower end is provided with circular hole, on the described circular hole bearing pin is installed, the upper end of following T type rigid connector is provided with slotted hole, described bearing pin passes described slotted hole, fixedlys connected with another end cap of Pneumatic flexible actuator in the lower end of following T type rigid connector.
5, as the described multi-finger dexterous hand of robot of one of claim 1-4 based on Pneumatic flexible actuator, it is characterized in that: in described forefinger, middle finger, the third finger and little finger, secondary upper end, first dactylus far away, first middle finger joint and the first nearly dactylus with the first metacarpal bone joint of the hinge through of described bending joint is one, and lower end, the carpal bone,first of the axial extendible hinge of described side-sway joint and first metacarpal bone joint are one;
In described thumb, secondary upper end, second dactylus far away, second middle finger joint and the second nearly dactylus with the second metacarpal bone joint of the hinge through of described bending joint is one, and lower end, the carpal bone,second of the axial extendible hinge of described side-sway joint and second metacarpal bone joint are one.
6, the multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 5, it is characterized in that: be respectively equipped with the step axle on the described front and rear cover, Pneumatic flexible actuator is installed in the centre of two fixed heads by the step axle on former and later two end caps.
7, the multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 5, it is characterized in that: be respectively equipped with the step axle on the described front and rear cover, on the T type rigid connector respectively left-right symmetry be provided with two locating holes, positioning step axle on described locating hole and the Pneumatic flexible actuator front and rear cover cooperates.
8, multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 5, it is characterized in that: described finger mounted seat comprises the thumb mount pad, the forefinger mount pad, the middle finger mount pad, nameless mount pad and little finger mount pad, be respectively equipped with the finger mounted locating hole that cooperates with locating shaft on the described finger carpal bone on described 5 finger mounted seats, described forefinger mount pad, the middle finger mount pad, nameless mount pad and little finger mount pad are respectively equipped with two through holes, the pipe joint of Pneumatic flexible actuator is provided with tracheae with the respective finger side-sway joint and is communicated with, and described tracheae is communicated with through hole.
9, the multi-finger dexterous hand of robot based on Pneumatic flexible actuator as claimed in claim 8, it is characterized in that: the spacing between described forefinger, middle finger, the third finger and little finger four refer to is 10mm, and with respect to the palm root, middle finger is than nameless high 10mm, nameless than the high 5mm of forefinger, forefinger is than the high 20mm of little finger, and the angle of thumb and forefinger can be 30-45 °.
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| CNU2008201667775U CN201283575Y (en) | 2008-11-03 | 2008-11-03 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
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| CN102189556A (en) * | 2011-05-18 | 2011-09-21 | 中国计量学院 | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
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| CN109968338A (en) * | 2019-03-24 | 2019-07-05 | 北京工业大学 | A kind of humanoid dextrous hand of 18 freedom degrees by pneumatic muscles driving |
| WO2021078183A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市中安动力科技有限公司 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
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| CN114536380A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Five-freedom-degree full-drive humanoid thumb and humanoid dexterous hand |
| CN114536381A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
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| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN107791266A (en) * | 2017-10-24 | 2018-03-13 | 李习勇 | A kind of robot hydraulic-driven five-needle pines blister rust |
| CN107791266B (en) * | 2017-10-24 | 2020-10-27 | 磐安县寅磐机械有限公司 | Hydraulic drive five-finger dexterous hand of robot |
| CN107811809A (en) * | 2017-12-04 | 2018-03-20 | 肖玉美 | A kind of postoperative hand grip of orthopaedics resumes training device |
| US11123254B2 (en) | 2018-08-31 | 2021-09-21 | Beijing Boe Optoelectronics Technology Co., Ltd. | Finger exoskeleton robot |
| CN109172265A (en) * | 2018-08-31 | 2019-01-11 | 京东方科技集团股份有限公司 | Finger exoskeleton robot |
| CN109968338A (en) * | 2019-03-24 | 2019-07-05 | 北京工业大学 | A kind of humanoid dextrous hand of 18 freedom degrees by pneumatic muscles driving |
| WO2021078183A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市中安动力科技有限公司 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| WO2021110058A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳忆海原识科技有限公司 | Tendon transmission system with composite tendon sheath and tendon sheath restraining element |
| CN113319876A (en) * | 2021-06-28 | 2021-08-31 | 北京邮电大学 | Multi-finger humanoid dexterous hand driven by fluid |
| CN113407032A (en) * | 2021-06-30 | 2021-09-17 | 哈尔滨商业大学 | Computer vision recognition device |
| CN113407032B (en) * | 2021-06-30 | 2022-01-11 | 哈尔滨商业大学 | Computer vision recognition device |
| CN113787509A (en) * | 2021-09-13 | 2021-12-14 | 江南大学 | Multi-pneumatic muscle cooperatively driven crustacean-imitated arthropod finger |
| CN114536380A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Five-freedom-degree full-drive humanoid thumb and humanoid dexterous hand |
| CN114536381A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
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