CN203344060U - Rope-driven flexible finger and flexible hand comprising same - Google Patents
Rope-driven flexible finger and flexible hand comprising same Download PDFInfo
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- CN203344060U CN203344060U CN 201320241098 CN201320241098U CN203344060U CN 203344060 U CN203344060 U CN 203344060U CN 201320241098 CN201320241098 CN 201320241098 CN 201320241098 U CN201320241098 U CN 201320241098U CN 203344060 U CN203344060 U CN 203344060U
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- fingerboard
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- 230000007704 transition Effects 0.000 claims abstract description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 2
- 238000011160 research Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
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Abstract
The utility model relates to a rope-driven flexible finger and a flexible hand comprising the same, and belongs to the technical field of robotics and bionics. The flexible finger mainly comprises a base (1), first segment finger plates, second segment finger plates, a finger end (11), a steering engine (2), a first joint shaft (6), a second joint shaft (8), a third joint shaft (10), a first transition shaft (7) and a second transition shaft (9). The flexible finger has the advantages that the structure is simple, an under-actuated structure is used, so that the number of power sources is reduced, and a modularization deign is used.
Description
Technical field
The utility model relates to a kind of dexterity driven of restricting and refers to and Dextrous Hand, belongs to robotics and bionics technical field.
Background technology
External research aspect multi-finger clever hand launches relatively early, and Japan, the U.S., Germany successively release its corresponding multi-finger clever hand model.Japan has successfully developed the Okada Dextrous Hand as far back as 1974, Massachusetts Institute Technology and University of Utah in joint research and development success in 1980 Utah/MIT.After this, Stanford Univ USA succeeds in developing the Stanford/JPL multi-finger clever hand nineteen eighty-three.In order to carry out robot for space operation task in complicated cabin, German Aerospace Center develops three finger Dextrous Hand and the first generation, the second generation four finger Dextrous Hand.At present, domestic main research multi-finger clever hand has colleges and universities units such as Harbin Institute of Technology, Harbin Engineering University, BJ University of Aeronautics & Astronautics.Wherein, early carry out the Dextrous Hand aspect research be Harbin Institute of Technology, they have carried out the dexterous correlative study referred in 1999, its model is HIT/DLR.Robot research institute of BJ University of Aeronautics & Astronautics has also successively developed a series of BH Dextrous Hand.
The patent (number of patent application is 200920222603.0) of BJ University of Aeronautics & Astronautics of take is reference, because the mode driven is owed in employing, the problems such as expensive, the large volume of having avoided that each joint settles respectively drive motors to bring, control complexity, have more lighting and practical characteristics, the utility model is more focused in addition perfect in this regard, also use rope drive at base joint servo driving, reduced the complexity of transmission system.In addition, the Beijing Institute of Aeronautics patent is still needed perfect at the end joint for the adaptive characteristic that captures object, envelope, by grabbing object, is prone to the distortion extended out along the body surface normal direction well, and the utility model is processed the requirement that can better meet this respect by rational rope yarn transmission.
The utility model content
The purpose of this utility model is to provide a kind of simple in structure, and the three joint dexterities that the rope of highly versatile drives refer to.
A kind of rope drives dexterity to refer to, it is characterized in that: comprise pedestal, first paragraph fingerboard, second segment fingerboard, finger tip, steering wheel, the first joint shaft, second joint axle, the 3rd joint shaft, First Transition axle, the second transition axis; Above-mentioned first paragraph fingerboard bottom is connected by the first joint shaft with pedestal top, and wherein the first joint shaft and first paragraph fingerboard bottom interference fit, coordinate with the pedestal upper gap; Above-mentioned second segment fingerboard bottom is connected by the second joint axle with first paragraph fingerboard top, and wherein second joint axle and second segment fingerboard bottom interference fit, coordinate with first paragraph fingerboard upper gap; Above-mentioned finger tip is connected by the 3rd joint shaft with second segment fingerboard top, and wherein the 3rd joint shaft and finger tip interference fit, coordinate with second segment fingerboard upper gap; Above-mentioned First Transition axle adopts interference fit to be installed on first paragraph fingerboard middle part; Above-mentioned the second transition axis adopts interference fit to be installed on second segment fingerboard middle part; Steering wheel is installed on pedestal, and the steering wheel connecting rod is fixedly installed on the steering wheel output shaft; The first No. one, joint shaft connecting rod is fixedly mounted on an end of the first joint shaft; The first No. two, joint shaft connecting rod adopts gap fiting mode to be arranged on the first joint shaft, and is fixedly connected with pedestal; First Transition axle connecting rod and First Transition shaft gear are fixed together, and adopt gap fiting mode to be arranged on the First Transition axle; The second joint shaft gear adopts interference fit to be arranged on the second joint axle; Second joint axle connecting rod adopts gap fiting mode to be arranged on the second joint axle, and is fixedly connected with first paragraph fingerboard top; The second transition axis connecting rod and the second transition axis gear are fixed together, and adopt gap fiting mode to be arranged on the second transition axis; The 3rd joint shaft gear adopts interference fit to be arranged on the 3rd joint shaft; Connecting rod of steering wheel connecting rod and the first joint shaft is connected by a cocainine rope; The first No. two, joint shaft connecting rod is connected by a cocainine rope with First Transition axle connecting rod; First Transition shaft gear and second joint shaft gear are meshed; Second joint axle connecting rod is connected by a cocainine rope with the second transition axis connecting rod; The second transition axis gear and the 3rd joint shaft gear are meshed.
Described rope drives dexterity to refer to, it is characterized in that: above-mentioned first paragraph fingerboard consists of the left fingerboard of first paragraph and the right fingerboard of first paragraph, and the second segment fingerboard is comprised of the left fingerboard of second segment and the right fingerboard of second segment.
A kind of Dextrous Hand drives dexterity to refer to form by palm pedestal and the described rope of a n claim 1, and n rope drives dexterity to refer to that n is between 3-6 along circumferentially being uniformly distributed and being installed on the palm pedestal.
The utlity model has following advantage: 1) simple in structure, adopt and owe drives structure, reduced power source quantity.2) adopt modularized design.
Dexterity refers to increase dexterous index order by the redesign pedestal, changes dexterity and refers to relative position relation, realizes different operations and crawl.
The accompanying drawing explanation
Fig. 1 is the utility model single-unit finger schematic diagram;
Fig. 2 is the utility model Dextrous Hand schematic diagram;
The number in the figure title:
1, pedestal, 2, steering wheel, 3.1, the steering wheel connecting rod, 3.2, the first No. one, joint shaft connecting rod, 3.3, the first No. two, joint shaft connecting rod, 3.4, First Transition axle connecting rod, 3.5, second joint axle connecting rod, 3.6, the second transition axis connecting rod, 4.1, the left fingerboard of first paragraph, 4.2 the right fingerboard of first paragraph, 4.3, the left fingerboard of second segment, 4.4, the right fingerboard of second segment, 5.1, the First Transition shaft gear, 5.2, the second joint shaft gear, 5.3, the second transition axis gear, 5.4, the 3rd joint shaft gear, 6, the first joint shaft, 7, the First Transition axle, 8, the second joint axle, 9, the second transition axis, 10, the 3rd joint shaft, 11, finger tip, 12, the palm pedestal.
The specific embodiment
Owe to drive three finger dexterities to refer to, it is characterized in that:
(1) adopted and owed drives structure, three joints are driven by a motor
(2) adopted the modularization meter
(3) adopt reversing gear mechanism
Expanded function
This gentle dexterity refers to visual function demand difference, can be expanded: can design pedestal by improvement, increase dexterous exponential quantity.
And, can adopt the SMA silk to replace steel wire, because the SMA silk has the flexible performance of being heated, by controlling temperature, can realize the fine setting to actual motion, and the expansion of the free degree.
Claims (3)
1. a rope drives dexterity to refer to, it is characterized in that: comprise pedestal (1), first paragraph fingerboard, second segment fingerboard, finger tip (11), steering wheel (2), the first joint shaft (6), second joint axle (8), the 3rd joint shaft (10), First Transition axle (7), the second transition axis (9);
Above-mentioned first paragraph fingerboard bottom is connected by the first joint shaft (6) with pedestal (1) top, and wherein the first joint shaft (6) and first paragraph fingerboard bottom interference fit, coordinate with pedestal (1) upper gap; Above-mentioned second segment fingerboard bottom is connected by second joint axle (8) with first paragraph fingerboard top, and wherein second joint axle (8) and second segment fingerboard bottom interference fit, coordinate with first paragraph fingerboard upper gap; Above-mentioned finger tip (11) is connected by the 3rd joint shaft with second segment fingerboard top, and wherein the 3rd joint shaft (10) and finger tip (11) interference fit, coordinate with second segment fingerboard upper gap;
Above-mentioned First Transition axle (7) adopts interference fit to be installed on first paragraph fingerboard middle part; Above-mentioned the second transition axis (9) adopts interference fit to be installed on second segment fingerboard middle part;
It is upper that steering wheel (2) is installed on pedestal (1), and steering wheel connecting rod (3.1) is fixedly installed on steering wheel (2) output shaft; The first No. one, joint shaft connecting rod (3.2) is fixedly mounted on an end of the first joint shaft (6);
It is upper that the first No. two, joint shaft connecting rod (3.3) adopts gap fiting mode to be arranged on the first joint shaft (6), and be fixedly connected with pedestal (1); First Transition axle connecting rod (3.4) is fixed together with First Transition shaft gear (5.1), and adopts gap fiting mode to be arranged on First Transition axle (7);
Second joint shaft gear (5.2) adopts interference fit to be arranged on second joint axle (8); It is upper that second joint axle connecting rod (3.5) adopts gap fiting mode to be arranged on second joint axle (8), and be fixedly connected with first paragraph fingerboard top;
The second transition axis connecting rod (3.6) is fixed together with the second transition axis gear (5.3), and adopts gap fiting mode to be arranged on the second transition axis (9);
The 3rd joint shaft gear (5.4) adopts interference fit to be arranged on the 3rd joint shaft (10);
Steering wheel connecting rod (3.1) is connected by a cocainine rope with a connecting rod of the first joint shaft (3.2); The first No. two, joint shaft connecting rod (3.3) is connected by a cocainine rope with First Transition axle connecting rod (3.4); First Transition shaft gear (5.1) and second joint shaft gear (5.2) are meshed; Second joint axle connecting rod (3.5) is connected by a cocainine rope with the second transition axis connecting rod (3.6); The second transition axis gear (5.3) and the 3rd joint shaft gear (5.4) are meshed.
2. rope according to claim 1 drives dexterity to refer to, it is characterized in that: above-mentioned first paragraph fingerboard consists of the left fingerboard of first paragraph (4.1) and the right fingerboard of first paragraph (4.2), and the second segment fingerboard is comprised of the left fingerboard of second segment (4.3) and the right fingerboard of second segment (4.4).
3. a Dextrous Hand drives dexterity to refer to form by palm pedestal (12) and the described rope of a n claim 1, and n rope drives dexterity to refer to be installed on palm pedestal (12) above along circumferentially being uniformly distributed, and n is between 3-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320241098 CN203344060U (en) | 2013-05-07 | 2013-05-07 | Rope-driven flexible finger and flexible hand comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320241098 CN203344060U (en) | 2013-05-07 | 2013-05-07 | Rope-driven flexible finger and flexible hand comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203344060U true CN203344060U (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320241098 Expired - Fee Related CN203344060U (en) | 2013-05-07 | 2013-05-07 | Rope-driven flexible finger and flexible hand comprising same |
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| CN (1) | CN203344060U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231385A (en) * | 2013-05-07 | 2013-08-07 | 南京航空航天大学 | Rope-driving dexterous finger and dexterous hand thereof |
-
2013
- 2013-05-07 CN CN 201320241098 patent/CN203344060U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231385A (en) * | 2013-05-07 | 2013-08-07 | 南京航空航天大学 | Rope-driving dexterous finger and dexterous hand thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20150507 |
|
| EXPY | Termination of patent right or utility model |