CN201913642U - Electric-mechanical humanoid dexterous hand - Google Patents

Abstract

The utility model discloses an anthropomorphic electric mechanical dexterous hand. It includes an electric thumb, four electric fingers and a mechanical palm; the electric thumb and four electric fingers include upper, middle, lower knuckles and base bodies in turn; the lower knuckles of the four electric fingers pass through their respective base bodies Installed in the same direction in the mechanical palm, the lower knuckle of the electric thumb is installed in the mechanical palm through the base body of the electric thumb, the electric thumb is located on the other side of the mechanical palm, and the five electric fingers are in the same plane as the mechanical palm; the electric thumb has Four active degrees of freedom, each electric finger has three active degrees of freedom and one slave degree of freedom; a total of sixteen active degrees of freedom and four slave degrees of freedom, which are consistent with the degrees of freedom of the human hand, are master-slave control of the manipulator Provide hardware equipment. The utility model has the appearance arrangement of the bionic human hand, the bone structure of the human finger and the design of the motion function of the human finger, which can not only be applied to the industrial field, but also be used as a prosthesis of the human hand.

Description

An anthropomorphic electromechanical dexterous hand

technical field

The utility model relates to a robot manipulator, in particular to an anthropomorphic electromechanical dexterous hand with sixteen active degrees of freedom and four driven degrees of freedom consistent with human hands.

Background technique

With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, a dexterous manipulator (referred to as dexterous hand) came into being. The dexterous hand has multiple degrees of freedom, can grasp objects of various shapes and materials, and can also perform fine manipulations on the grasped objects. Using it instead of a special gripper and installing it at the end of the robot manipulator can not only expand the working range of the robot, but also improve the working quality of the robot.

In the early 1860s, Tomovic and Boni of Yugoslavia developed the first mechanical hand with five fingers and five degrees of freedom. In the 1970s, a variety of universal grippers were invented. For example, Japan Hanafusa developed a three-finger hand mechanism, each finger has one degree of freedom; American Crossley developed a three-finger eight-degree-of-freedom mechanism, one of which has two degrees of freedom , and the other two fingers have three degrees of freedom respectively. In the 1980s, Salisbury, Jacobsen and others proposed the research idea of imitating the human hand to design a universal gripper, and developed a multi-finger, multi-joint, multi-degree-of-freedom JPL dexterous hand mechanism; Japanese scholar T.Okada developed a three-finger ten A dexterous hand with one degree of freedom; the MIT hand was developed by Utah University in the United States. At the end of the 1990s and the beginning of the 21st century, the research and development of the dexterous hand entered a new stage. The number of joints and the index of the hand gradually approached that of the human hand. Among them, the more representative ones are: the NASA dexterous hand successfully developed in 1999, consisting of four The finger and an opposite thumb are composed of 14 degrees of freedom, driven by 14 DC brushless motors, which are very similar to the size of the human hand and have good flexibility; in 2003, Haruhisa, Kawasaki, Gifu University, Japan developed the Gifu III dexterous hand. The Gifu Ⅲ hand is an anthropomorphic electric dexterous hand, slightly larger in size and closer in shape to a human hand. It has five fingers and 16 degrees of freedom, with high dexterity and precise control. The BH-3 hand developed by the Institute of Robotics, Beihang University has three fingers, and each finger has three joints, with a total of 9 degrees of freedom. In 2008, Harbin Institute of Technology developed the HIT/DLRⅡ multi-fingered dexterous hand, each finger has 3 degrees of freedom, a total of 15 degrees of freedom.

Contents of the invention

The purpose of the utility model is to provide a dexterous hand with multiple degrees of freedom and multiple joints, capable of grabbing objects of different shapes and materials. It can replace human hands and work in environments where humans cannot be present or in harsh environments.

The technical scheme that the utility model solves its technical problem adopts is:

The utility model comprises an electric thumb, four electric fingers and a mechanical palm; the electric thumb and the four electric fingers all sequentially include an upper knuckle, a middle knuckle, a lower knuckle and a base body; the lower knuckles of the four electric fingers are respectively The lower knuckle of the electric thumb is installed in the palm of the robot through the base body of the electric thumb in the same direction through their respective base bodies. The electric thumb is located on the other side of the mechanical palm, and the electric thumb and four electric fingers Coplanar with the mechanical palm; the size and structure of the four electric fingers are the same; the electric thumb has four active degrees of freedom, and each electric finger has three active degrees of freedom and one driven degree of freedom; the anthropomorphic electromechanical dexterous hand has a total of sixteen active degrees of freedom and four driven degrees of freedom, which are consistent with the degrees of freedom of the human hand.

The electric finger includes an upper knuckle body, an upper transmission shaft, an upper link rod, a connecting rod, a crank, a middle knuckle body, a left driven bevel gear of the middle knuckle, a right driven bevel gear of the middle knuckle, and a left drive shaft of the middle knuckle , Middle knuckle right transmission shaft, middle knuckle driving bevel gear, middle knuckle motor, lower knuckle body, square block, base bending drive shaft, base bending motor, base bending driving bevel gear, base transition bevel gear, base bending driven cone Gear, side-expanded motor, side-expanded driving bevel gear, side-expanded driven bevel gear and side-expanded shaft.

The upper knuckle body is connected to the middle knuckle body through the upper transmission shaft, and the middle knuckle body is connected to the lower knuckle body through the left transmission shaft of the middle knuckle and the right transmission shaft of the middle knuckle; the square block is installed on the lower knuckle body through the base bending transmission shaft. Bottom; the middle knuckle motor is installed in the lower knuckle body, and the base bending motor and side extension motor are installed in the base body.

A driven degree of freedom of the electric finger is located at the connection between the upper knuckle body and the middle knuckle body; the middle knuckle motor drives the middle knuckle driving bevel gear, and through the middle knuckle left driven bevel gear and the middle knuckle left transmission shaft, the crank Rotate, and then drive the connecting rod, the connecting rod pushes the upper link rod connected with the upper knuckle body, so that the upper knuckle body rotates around the upper transmission shaft, thus forming a bending driven degree of freedom with the middle knuckle body; the middle knuckle body The left driven bevel gear and the crank are fixedly connected to the left transmission shaft of the middle knuckle, and the left transmission shaft of the middle knuckle is slidingly connected with the lower knuckle body and the middle knuckle body; the upper link rod, the connecting rod, the crank and the upper knuckle body constitute a Crank linkage mechanism; the upper transmission shaft is slidingly connected with the upper knuckle body and the middle knuckle body.

The connection between the middle knuckle body and the lower knuckle body of the electric finger constitutes an active degree of freedom; the middle knuckle motor drives the middle knuckle active bevel gear, and drives the middle knuckle through the right driven bevel gear of the middle knuckle and the right transmission shaft of the middle knuckle. The body rotates, thereby forming a bending active degree of freedom with the lower knuckle body; the right transmission shaft of the middle knuckle is fixedly connected with the middle knuckle body and the right driven bevel gear of the middle knuckle, and is slidingly connected with the lower knuckle body.

The connection between the lower knuckle body and the base body of the electric finger constitutes two active degrees of freedom; the base bending motor installed in the base body drives the base bending active bevel gear, drives the base transition bevel gear, and passes through the base bending driven The bevel gear and the base bending transmission shaft make the lower knuckle body rotate, thus forming a bending active degree of freedom with the base body; the side-expansion motor installed in the base body drives the side-expansion active bevel gear, and the side-expansion driven cone The gear, the side extension shaft and the square block drive the lower knuckle body to swing, thus forming a side extension active degree of freedom with the base body; the base curved transmission shaft is fixedly connected with the lower knuckle body and the base curved driven bevel gear, and The square block is slidingly connected; the side extension driven bevel gear, the side extension shaft and the square block are fixedly connected.

An active degree of freedom of the electric thumb is located at the connection between the upper knuckle body of the thumb and the middle knuckle body of the thumb. The upper knuckle motor of the thumb passes through the active bevel gear on the thumb, the driven bevel gear on the thumb and the transmission shaft on the thumb. Drive the rotation of the upper knuckle body of the thumb, thereby forming a bending active degree of freedom with the middle knuckle body of the thumb; The other three active degrees of freedom are the same as those of the electric finger.

Compared with the background technology, the utility model has the beneficial effects of:

1. The appearance layout of the bionic human hand, the skeletal structure of the human finger and the design of the motion function of the human finger in this utility model can not only be applied in the industrial field, but also can be used as a prosthesis for the human hand.

2. The utility model designs a bevel gear train composed of five bevel gears, which realizes that the degree of freedom of bending and lateral extension of the finger base are located in the same motion center, so that the movement of the finger base is more precise.

3. The utility model has a total of sixteen active degrees of freedom and four slave degrees of freedom, which are consistent with the degrees of freedom of the human hand, thus providing hardware equipment for the master-slave control of the manipulator.

Therefore, the utility model can satisfy the performance of the dexterous manipulator of the robot.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is the electric finger front view of the utility model;

Fig. 3 is a side view of the electric finger of the present utility model;

Fig. 4 is a schematic diagram of the upper knuckle structure of the electric finger of the present utility model;

Fig. 5 is a schematic diagram A of the structure of the finger base of the present invention;

Fig. 6 is a structural schematic diagram B of the finger base of the present utility model;

Fig. 7 is a structural schematic diagram of the electric thumb of the present invention.

In the figure: 1. Electric thumb, 2. Electric finger, 3. Mechanical palm, 4. Upper knuckle, 5. Middle knuckle, 6. Lower knuckle, 7. Base body, 8. Upper knuckle body, 9. Upper drive shaft, 10. Upper link rod, 11. Connecting rod, 12. Crank, 13. Middle knuckle body, 14. Middle knuckle left driven bevel gear, 15. Middle knuckle right driven bevel gear, 16. Middle knuckle Left transmission shaft, 17. middle knuckle right transmission shaft, 18. middle knuckle driving bevel gear, 19. middle knuckle motor, 20. lower knuckle body, 21. square block, 22. base bending transmission shaft, 23. base bending motor , 24. base curved driving bevel gear, 25. base transition bevel gear, 26. base curved driven bevel gear, 27. side development motor, 28. side development driving bevel gear, 29. side development driven bevel gear, 30. Side extension shaft, 31. upper knuckle body of the thumb, 32. middle knuckle body of the thumb, 33. upper knuckle motor of the thumb, 34. driving bevel gear on the thumb, 35. driven bevel gear on the thumb, 36. transmission shaft on the thumb .

Detailed ways

The utility model will be further described below in conjunction with accompanying drawings and examples

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 5 and Fig. 7, the utility model is composed of an electric thumb 1, four electric fingers 2 and a mechanical palm 3; Knuckle 4, middle knuckle 5, lower knuckle 6 and base body 7; electric thumb 1 has four active degrees of freedom, each electric finger 2 has three active degrees of freedom and one driven degree of freedom; anthropomorphic electromechanical dexterity The hand has sixteen active degrees of freedom and four driven degrees of freedom, which are consistent with the degrees of freedom of the human hand.

As shown in Figure 1, the electric thumb 1 and four electric fingers 2 are installed in the mechanical palm 3 at a certain angle through the base body 7, and are coplanar with the mechanical palm 3; the four electric fingers 2 have the same size and structure .

As shown in Figure 1, Figure 2, Figure 3, Figure 4, and Figure 5, the electric finger 2 includes an upper knuckle body 8, an upper transmission shaft 9, an upper link rod 10, a connecting rod 11, a crank 12, a middle finger Joint body 13, middle knuckle left driven bevel gear 14, middle knuckle right driven bevel gear 15, middle knuckle left drive shaft 16, middle knuckle right drive shaft 17, middle knuckle driving bevel gear 18, middle knuckle motor 19, lower finger Section body 20, square block 21, base bending transmission shaft 22, base bending motor 23, base bending driving bevel gear 24, base transition bevel gear 25, base bending driven bevel gear 26, side extension motor 27, side extension driving bevel gear 28. Side extension driven bevel gear 29 and side extension shaft 30; the upper knuckle body 8 is connected to the middle knuckle body 13 through the upper transmission shaft 9, and the middle knuckle body 13 is connected through the left transmission shaft 16 of the middle knuckle and the right transmission shaft 17 of the middle knuckle The lower knuckle body 20; the square block 21 is installed on the bottom of the lower knuckle body 20 through the base bending transmission shaft 22; the middle knuckle motor 19 is installed in the lower knuckle body 20, and the base bending motor 23 and the side extension motor 27 are installed on the base body within 7.

As shown in Fig. 2, Fig. 3 and Fig. 4, a driven degree of freedom of the electric finger 2 is located at the junction of the upper knuckle body 8 and the middle knuckle body 13; the middle knuckle motor 19 drives the middle knuckle driving bevel gear 18, Through the left driven bevel gear 14 of the middle knuckle and the left drive shaft 16 of the middle knuckle, the crank 12 is rotated, and then the connecting rod 11 is driven, and the connecting rod 11 pushes the upper link rod 10 connected with the upper knuckle body 8, so that the upper finger The joint body 8 rotates around the upper transmission shaft 9, thereby forming a curved driven degree of freedom with the middle knuckle body 13; the left driven bevel gear 15 and crank 12 of the middle knuckle are fixedly connected on the left transmission shaft 16 of the middle knuckle, and the left knuckle of the middle knuckle Transmission shaft 16 is slidingly connected with lower knuckle body 20 and middle knuckle body 13; upper connecting frame rod 10, connecting rod 11, crank 12 and upper knuckle body 8 constitute a crank linkage mechanism; upper transmission shaft 9 and upper knuckle body Body 8 and middle knuckle body 13 are slidingly coupled.

As shown in Fig. 2, Fig. 3 and Fig. 4, the middle knuckle body 13 and the lower knuckle body 20 joint of the electric finger 2 constitute an active degree of freedom; the middle knuckle motor 19 drives the middle knuckle active bevel gear 18, and Middle phalanx right driven bevel gear 15 and middle phalanx right transmission shaft 17 drive middle phalanx body 13 to rotate, thereby form a bending active degree of freedom with lower phalanx body 20; Middle phalanx right transmission shaft 17 and middle phalanx body 13 and The right driven bevel gear 15 of the middle phalanx is fixedly connected, and is slidably connected with the lower phalanx body 20 .

As shown in Fig. 2, Fig. 3, Fig. 5 and Fig. 6, the connection between the lower knuckle body 20 of the electric finger 2 and the base body 7 constitutes two active degrees of freedom; the base installed in the base body 7 is bent The motor 23 drives the base bending active bevel gear 24, drives the base transition bevel gear 25, passes through the base bending driven bevel gear 26 and the base bending transmission shaft 22, and makes the lower knuckle body 20 rotate, thereby forming a curved shape with the base body 7. Active degree of freedom: the side extension motor 27 installed in the base body 7 drives the side extension driving bevel gear 28, through the side extension driven bevel gear 29, the side extension shaft 30 and the square block 21, the lower knuckle body 20 is driven to swing, Thereby forming a lateral active degree of freedom with the base body 7; the base curved transmission shaft 22 is fixedly connected with the lower knuckle body 20 and the base curved driven bevel gear 26, and is slidably connected with the square block 21; the side spread driven bevel gear 29, the side extension shaft 30 and the square block 21 are fixedly connected.

As shown in Fig. 1 and Fig. 7, an active degree of freedom of the electric thumb 1 is located at the junction of the upper knuckle body 31 of the thumb and the middle knuckle body 32 of the thumb, and the upper knuckle motor 33 of the thumb passes through the active bevel gear on the thumb 34. The upper thumb driven bevel gear 35 and the thumb upper transmission shaft 36 drive the thumb upper knuckle body 31 to rotate, thereby forming a bending active degree of freedom with the thumb middle knuckle body 32; the other three active degrees of freedom of the electric thumb 1 Same as the three active degrees of freedom of the electric finger 2.

Claims (3)

1. An anthropomorphic electric mechanical dexterous hand is characterized in that: comprise an electric thumb (1), four electric fingers and mechanical palm (3); Electric thumb (1) and four electric fingers all comprise upper knuckle, The middle knuckle, the lower knuckle and the base body; the lower knuckles of the four electric fingers (2) are respectively installed in the mechanical palm (3) through their respective base bodies in the same direction, and the lower knuckles of the electric thumb (1) pass through The base body of the electric thumb is installed in the mechanical palm (3), the electric thumb (1) is located on the other side of the mechanical palm (3), and the electric thumb (1) and four electric fingers are coplanar with the mechanical palm (3); The size and structure of the four electric fingers are the same; the electric thumb (1) has four active degrees of freedom, and each electric finger (2) has three active degrees of freedom and one driven degree of freedom; the anthropomorphic electromechanical dexterous hand has sixteen active degrees of freedom. degrees of freedom and four driven degrees of freedom, which are consistent with the degrees of freedom of the human hand. 2. A kind of anthropomorphic electromechanical dexterous hand according to claim 1, characterized in that: said electric finger comprises an upper knuckle body (8), an upper transmission shaft (9), an upper link rod (10), Connecting rod (11), crank (12), middle knuckle body (13), left driven bevel gear of middle knuckle (14), right driven bevel gear of middle knuckle (15), left transmission shaft of middle knuckle (16), middle finger Joint right transmission shaft (17), middle knuckle driving bevel gear (18), middle knuckle motor (19), lower knuckle body (20), square block (21), base bending transmission shaft (22), base bending motor ( 23), base curved driving bevel gear (24), base transition bevel gear (25), base curved driven bevel gear (26), side extension motor (27), side extension driving bevel gear (28), side extension driven Bevel gear (29) and side extension shaft (30); The upper knuckle body (8) is connected to the middle knuckle body (13) through the upper transmission shaft (9), and the middle knuckle body (13) is connected through the middle knuckle left transmission shaft (16) and the middle knuckle right transmission shaft (17) The lower knuckle body (20); the square block (21) is installed on the bottom of the lower knuckle body (20) through the base bending transmission shaft (22); the middle knuckle motor (19) is installed in the lower knuckle body (20), and the base is bent Motor (23) and side extension motor (27) are installed in the base body (7); A driven degree of freedom of the electric finger is located at the connection between the upper knuckle body (8) and the middle knuckle body (13); the middle knuckle motor (19) drives the middle knuckle driving bevel gear (18), and the left slave The movable bevel gear (14) and the middle knuckle left transmission shaft (16) make the crank (12) rotate, and then drive the connecting rod (11), and the connecting rod (11) pushes the upper connecting rod (11) connected with the upper knuckle body (8). The frame rod (10) makes the upper knuckle body (8) rotate around the upper transmission shaft (9), thereby forming a curved driven degree of freedom with the middle knuckle body (13); the middle knuckle left driven bevel gear (15) and crank (12) are fixedly connected on the middle knuckle left transmission shaft (16), and the middle knuckle left transmission shaft (16) is slidably connected with the lower knuckle body (20) and the middle knuckle body (13); the upper connecting frame rod (10 ), connecting rod (11), crank (12) and upper knuckle body (8) constitute a crank linkage; upper transmission shaft (9) is slidingly connected with upper knuckle body (8) and middle knuckle body (13) ; The joint between the middle knuckle body (13) and the lower knuckle body (20) of the electric finger constitutes an active degree of freedom; the middle knuckle motor (19) drives the middle knuckle active bevel gear (18), and the middle knuckle right driven The bevel gear (15) and the right transmission shaft of the middle knuckle (17) drive the rotation of the middle knuckle body (13), thereby forming a bending active degree of freedom with the lower knuckle body (20); the right transmission shaft of the middle knuckle (17) and The middle knuckle body (13) is fixedly connected with the right driven bevel gear (15) of the middle knuckle, and is slidably connected with the lower knuckle body (20); The joint between the lower knuckle body (20) and the base body (7) of the electric finger constitutes two active degrees of freedom; the base bending motor (23) installed in the base body (7) drives the base bending active bevel gear (24), drives the base transition bevel gear (25), through the base bending driven bevel gear (26) and the base bending transmission shaft (22), the lower knuckle body (20) is rotated, thereby connecting with the base body (7) Constitute a bending active degree of freedom; the side extension motor (27) installed in the base body (7) drives the side extension driving bevel gear (28), through the side extension driven bevel gear (29), the side extension shaft (30 ) and the square block (21), drive the lower knuckle body (20) to swing, thereby forming an active degree of freedom of side extension with the base body (7); the base bending transmission shaft (22) and the lower knuckle body (20) The driven bevel gear (26) is fixedly connected with the base bending, and is slidably connected with the square block (21); the driven bevel gear (29), the side-expanded shaft (30) and the square block (21) are fixedly connected. 3. A kind of anthropomorphic electromechanical dexterous hand according to claim 1, characterized in that: an active degree of freedom of the electric thumb (1) is located at the thumb upper knuckle body (31) and the thumb middle knuckle body (32) ) joint, the knuckle motor (33) on the thumb drives the knuckle body (31) on the thumb through the driving bevel gear (34), the driven bevel gear (35) and the transmission shaft (36) on the thumb ) rotation, thereby forming a bending active degree of freedom with the middle knuckle body (32) of the thumb; the structure at the middle knuckle and the base seat of the electric thumb (1) is the same as the structure at the middle knuckle and the base seat of the electric finger, and the electric thumb The other three active degrees of freedom of (1) are the same as the three active degrees of freedom of the electric finger.

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