CN205552566U - Underactuated's dexterous hand of imitative people - Google Patents

Abstract

The utility model discloses a dexterous hand of the imitative people of underactuated, this dexterity hand comprises thumb, forefinger, middle finger, the third finger, little finger of toe and palm. Five finger mutual independence in the dexterous hand, 17 total joint degrees of freedom are by 12 micro motor drives. All the other every fingers have 3 degrees of freedom the degree of freedom except that the thumb has 4, and dexterous hand wholly can be rotated by motor drive. Every finger possess two coupling joints, and the thumb is driven by three micro motor, and all the other four fingers all have two micro motor drives. Imitative people is dexterous, and the hand flexibility ratio is high, and simple structure, compactness can realize effectively that the self -adaptation of equidimension, shape object does not pick.

Description

A kind of humanoid dextrous hand of drive lacking

Technical field

This utility model belongs to bio-robot field, is the humanoid dextrous hand of a kind of drive lacking.

Background technology

Along with the mankind seek knowledge to the most constantly exploring, work space becomes increasingly complex, danger, and simple mechanical hand cannot be complete Full replacement people completes complexity, accurate operation, it is desirable to occur that the mechanical hand of a kind of apery can complete what staff can be done by All working.So flexibility ratio is high, simple in construction, humanoid dextrous hand workable, that adapt to various crawl task become One of robot field's study hotspot.

Traditional end effector poor universality, degree of freedom is few, and motility is low, it is impossible to carry out the object of Multiple Shape, many sizes Motility captures.Humanoid dextrous hand is the advanced representative of end effector, and Modern Significance mechanical hand is collection sensing technology, controls skill The multinomial technology such as art multi-joint, multiple degrees of freedom, the end effector of high flexibility ratio.At present, to humanoid dextrous hand Research, has been achieved for Shadow hands, the Elu-2 of Elumotion company that certain achievement has SHADOW company to release Hand, the Harada hands of California Institute of Technology, the HIT/DLR hands etc. of Harbin Institute of Technology.

A kind of existing humanoid dexterous arm device, such as Chinese utility model patent CN103128744, including palm, thumb, food Finger, middle finger, the third finger and little finger of toe.In addition to thumb, four refer to all use identical structure, each finger to arrange three joints by three group four Linkage couples, a motor drive.Its weak point be this device in addition to thumb four refer to three joints by the motion of 1:1:1 Speed is bent by fixed angle simultaneously, and joint can not be operated alone, and dexterity and staff difference are relatively big, to difformity during crawl Body self-adaptation poor.Another kind of existing humanoid dextrous hand, such as Chinese utility model patent CN1283429C, including Palm and five fingers, totally 12 joint freedom degrees, the bending of its finger unactuated joint is stretched by multi-stage gear driving system real Existing, involved gear train assembly has from decoupling effect, and wherein the joint of active drive only has three, and except thumb, Three fingers outside forefinger use a motor to be driven, and independent finger can not carry out actively bending, relatively big with staff difference, Dexterity is the highest.

At present, the research Major Difficulties of humanoid dextrous hand and key technology concentrate on structure design, drive, sensor, and In control.Simple and reliable drive mechanism and reasonably layout are the keys of flexibility ratio；Drive subject matter be cannot in size and Meeting requirement in moment, small size, high-torque are driven into the key reducing humanoid dextrous hand size simultaneously；Sensor is apery The vital technology of Dextrous Hand, the delayed of apery class tactile sensor technology limits mechanical hand Function.On controlling, Model is complicated, and control algolithm is immature and the multiformity of operation object and uncertainty are also its Research Challenges.

Utility model content

This utility model purpose is to provide a kind of drive lacking humanoid dextrous hand, this humanoid dextrous hand size and staff sizableness, Simple in construction, reliable, multiple degrees of freedom, multi-joint, can realize Multiple Shape, many size objects self-adapting grasping.It is suitable as each Class mechanical arm end effector use, crawl task can be completed with cooperative mechanical arm it can also be used to help the elderly, help the disabled, the clothes such as food delivery Business robot.

The humanoid dexterous arm device of a kind of drive lacking of this utility model, described humanoid dextrous hand, include a palm and five Finger, five fingers include thumb, forefinger, middle finger, the third finger, little finger of toe.Thumb is under straight configuration, with palm installed surface Angled installation, four fingers of remaining in addition to thumb press suitable position distribution on palm.Installation circuit is had on palm The installation groove of plate, finger and motor.Four finger structure layouts of remaining in addition to thumb are identical, four finger main bodys all by Four part compositions, are respectively designated as finger base, Fingers root, Fingers joint, finger fingertip four parts；Four portions Divide and be connected by three axles, by being respectively designated as finger axle one, finger axle two, finger axle three from the near to the remote from palm, three rotations Shaft axis is parallel, and finger axle one connects finger base and Fingers root, and finger axle two connects Fingers root and Fingers joint, hands Spindle three connects Fingers joint and finger fingertip.Thumb comprises four parts, and four parts are respectively designated as thumb pedestal, thumb refers to Root, thumb refer to joint, thumb tip.Thumb element four part is connected by four axles, in the direction that thumb stretches, by from palm It is respectively designated as thumb axle one, thumb axle two, thumb axle three, thumb axle four from the near to the remote.Its middle finger axle three and thumb axle four Axis is parallel to each other；Thumb axle two is mutually perpendicular to the axis of thumb axle three, four；Thumb axle one axis becomes one with palm installed surface Determine angle, and it is parallel to stretch direction with thumb.Thumb axle one connects thumb pedestal and palm, and thumb axle two connects thumb pedestal Referring to that root, thumb axle three connect thumb and refer to that root and thumb refer to joint with thumb, thumb axle four connects thumb and refers to joint and thumb tip.Five It is fitted with force transducer on finger and palm, Dextrous Hand can be carried out force feedback during capturing.

Palm described in the utility model, palm main body is combined by the palm of the hand, the back of the hand, palm rotating mechanism three part, the palm of the hand Part includes motor, decelerator and finger mounted groove, and internally installed have motor one and decelerator one；Additionally palm of the hand part is also Including engaging each other roller gear one and roller gear two.Described motor one and decelerator one are arranged on palm motor reducer peace In tankage, motor shaft direction is angled with palm installed surface, and roller gear one is arranged on decelerator one output shaft, cylinder Gear one engages with roller gear two, and motor one power, by decelerator one and two roller gears of engagement, drives thumb pedestal Rotating around axle one, final driving thumb rotates around palm.Hand back part has circuit board and a finger mounted groove, signals collecting, driving, Control circuit is arranged in circuit board mounting groove；Palm and the back of the hand have four groups of semicircle finger mounted grooves, limited in each half slot Position block, often group half slot can be mutually combined is a circular port, by the cooperation of limited block and finger base upper limit position groove except thumb Four finger fingers in addition are fixedly mounted on palm.The palm of the hand, the back of the hand, rotating mechanism three part are fixing to be connected.

Palm rotating mechanism described in the utility model, palm rotating mechanism include motor two, decelerator two, encoder, bearing, Standing part, the rotating part with internal gear, one group of roller gear.Motor standing part is connected by bearing with rotating part, Palm is fixedly connected on rotating part；Motor two, decelerator two, encoder are fixedly mounted on standing part；Roller gear Three with the internal gear internal messing of rotating part, the motor gear by this group internal messing, drive rotating part and whole palm around Standing part central rotation；Roller gear three engages with roller gear on encoder four, and encoder can carry out position feedback.

Four finger structure layouts of remaining in addition to thumb described in the utility model are identical, and four finger main bodys all include finger Pedestal, Fingers root, Fingers joint, finger fingertip four part.Finger axle one connects finger base and Fingers root, finger axle Two connect Fingers root and Fingers joint；Finger axle three connects Fingers joint and finger fingertip.Finger comprises three rotatable passes Joint, is driven by two motors.Wherein motor three and decelerator three are arranged on inside finger base, and motor three is by one group of engagement Bevel gear passes to Fingers root power, makes the Fingers root can be relative to finger base thorny spindle one rotation, outside finger base Portion's stopper slot can make whole finger be fixed on palm with the coordinating of palm limited block.Additionally motor four and decelerator four are arranged on Inside Fingers root, motor four drives " receive _ put " line gear group to work, and " receive _ put " line gear group is by bevel gear three, bevel gear Four, bevel gear five forms." receive _ put " the line gear group driven by motor four utilizes gear drive feature, to passing through finger fingertip Two bracing wires internal with Fingers joint synchronize to carry out coiling, unwrapping wire action, and wherein Fingers joint inner spring slide block is passed through in bracing wire one Mechanism, and be fixedly connected with a slide block, make slide block can move with bracing wire, bracing wire one end is fixed on finger fingertip, is guided by pulley After support, the other end is fixed on bevel gear four.Bracing wire two one end is fixed on finger fingertip, solid after becoming guide support by pulley It is scheduled on bevel gear five." receive _ put " line gear to assemble conjunction bracing wire, spring_slide structure and realize finger fingertip, Fingers joint forward Bending, reset, back-flexing.

Thumb main body described in the utility model comprises thumb pedestal, thumb refers to root, thumb refers to joint, thumb tip four part.Thumb Spindle one connects thumb pedestal and palm, thumb axle two connects thumb pedestal and thumb refer to root, thumb axle three connect thumb refer to root and Thumb refers to joint, and thumb axle four connects thumb and refers to joint and thumb tip.Thumb comprises four rotatable joint, three motors drive. Motor one and decelerator one are arranged in the palm of the hand, and power passes through one group of mesh cylindrical gear, drive thumb overall around one turn of thumb axle Dynamic.Motor five and decelerator five are arranged in thumb pedestal, and decelerator five is provided with reel, and reel and thumb refer to foundation Being wound with the bracing wire of two cross-distribution between portion, motor drives thumb to refer to that root enters around thumb axle two relative to thumb pedestal by bracing wire Row rotates；Thumb refers to equipped with motor six and decelerator six inside root, and is made up of bevel gear six, bevel gear seven, bevel gear eight " receive _ put " line gear group, motor six " receive _ put " the line gear group driven utilizes gear drive feature, to passing through thumb Finger tip refers to that with thumb two bracing wires within joint Tong Bu carry out coiling, unwrapping wire action.Bracing wire three refers to save inner spring slide block by thumb Mechanism, and in the fixing connection of slide block, make slide block can move with bracing wire, bracing wire three one end is fixed on thumb tip, and the other end is fixed Bevel gear seven around on.Bracing wire four one end is fixed on thumb tip, by being fixed on bevel gear eight after pulley break-in." receive _ put " Line gear assembles conjunction bracing wire and spring_slide structure realizes thumb tip, thumb refers to save forward bending, reset, back-flexing.

Thumb structure is identical with the spring_slide structure structure described in remaining four finger structure, and global shape is a helical spring Slide block mechanism includes a shell, a slide block, spring one, spring two, closure one, closure two, end cap one, end cap two. Closure one, blocks two, and slide block can slide in chamber in the enclosure.Spring one, spring two a certain amount of is individually positioned in envelope by compression Stifled one with end cap one, between closure two and end cap one, and two springs can be by Free Compression.Bracing wire is by spring_slide structure Portion, and be fixedly connected with a slide block, the movement of left and right end bracing wire can be moved in respective direction by band movable slider, and compresses respective direction Spring.Being placed on thumb and refer to that joint and Fingers save in mounting groove, its position is along stayguy direction, and spring one is at remote palm end, spring Two at nearly palm end.

Effect of the present utility model and benefit:

This utility model one drive lacking humanoid dextrous hand, this mechanical hand is similar with staff, by thumb, forefinger, middle finger, unknown Finger, little finger of toe and palm composition.This mechanical hand has 17 degree of freedom, 12 micromachines provide power.Wherein, often Two joints of individual finger tip are coupling joint, and thumb has 4 degree of freedom, 3 motors drive；Remaining in addition to thumb 4 finger structures are similar to, and each finger has 3 degree of freedom, two motors drive；Additionally by a motor-driven palm Root rotary joint can realize mechanical hand integral-rotation.This utility model finger contains drive lacking version, and flexibility ratio is high, knot Structure is simple, compact, and total amount is light, easily installs, it is possible to effectively implement difformity, the self-adapting grasping of big wisp.

Accompanying drawing explanation

Fig. 1 is this utility model overall structure schematic diagram.

Fig. 2 is this utility model palm structural representation.

Fig. 3 is this utility model palm of the hand structural representation.

Fig. 4 is this utility model the back of the hand structural representation.

Fig. 5 is palm rotational structure schematic diagram.

Fig. 6 is this utility model finger structure schematic diagram.

Fig. 7 is internal structure schematic diagram on the left of this utility model finger.

Fig. 8 is internal structure schematic diagram on the right side of this utility model finger.

Fig. 9 is this utility model thumb structural representation.

Figure 10 is internal structure schematic diagram on the left of this utility model thumb.

Figure 11 is internal structure schematic diagram on the right side of this utility model thumb.

Figure 12 is spring_slide structure schematic diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing, concrete structure of the present utility model and operation principle are described further.

Hereinafter described articulation angle is all stretched with each finger, and thumb and remaining finger in the same plane time, the phase of finger Para-position is set to articulation zero point.

The humanoid dexterous arm device of a kind of drive lacking of this utility model, as it is shown in figure 1, described humanoid dextrous hand, includes one Individual palm 6 and five fingers, five finger units include thumb 1, forefinger 2, middle finger 3, the third finger 4, little finger of toe 5.Thumb Under straight configuration, angled with palm installed surface 7 being arranged on palm, four fingers of remaining in addition to thumb are by suitable Position distribution on palm；Palm of the hand surface and five fingers are being fitted with force transducer, Fig. 1 on palm of the hand side surface Middle dash area is expressed as force transducer, and force transducer can feed back when object is captured by Dextrous Hand and be applied object and contact The force information in face.

Described palm, as shown in Figure 2,3, 4, palm main body is by the palm of the hand 61, the back of the hand 62, the combination of rotating mechanism 63 3 part Form, the palm of the hand 61 part have motor 1 and decelerator 1, roller gear 1, roller gear 2 614 and Thumb axle 1.Described motor 1 and decelerator 1 are arranged in palm motor reducer mounting groove, motor shaft side To becoming proper angle, roller gear 2 614 to engage with roller gear 1 with palm installed surface 7, motor 611 power passes through Decelerator 1 and two roller gears of engagement, drive the thumb pedestal that be connected fixing with roller gear 2 614 around thumb axle One 15 rotate, thus drive thumb 1 to rotate around palm.The back of the hand 62 part has circuit board and a finger mounted groove, signals collecting, Drive, control circuit is arranged in circuit board mounting groove；Palm 61 and the back of the hand 62 have four groups of semicircle finger mounted grooves, Mei Geban All limited location block in circular groove, often group half slot can be mutually combined is a circular port, by two grooves on limited block and finger base Cooperation four fingers in addition to thumb are fixedly mounted on palm.Rotating mechanism 63, can realize whole palm at installed surface Rotating on 7, the palm of the hand 61, the back of the hand 62, rotating mechanism 63 3 part part are fixing to be connected.

Described palm rotating mechanism, as it is shown in figure 5, palm rotating mechanism include motor, decelerator, encoder, bearing 633, Standing part 631,632, one group of mesh cylindrical gear of rotating part with internal gear.Motor standing part leads to rotating part Crossing bearing 633 to connect, palm is fixedly connected on rotating part 632, and motor, decelerator and encoder are arranged on standing part On 631, motor two power drives roller gear 3 634 to engage with the internal gear on rotating part 632 by decelerator two, makes Fix the palm being connected to rotate with rotating part.Additionally roller gear 4 635 is fixedly mounted on encoder axle, and and Cylinder Gear Taking turns 3 634 engagements, position of rotation can be fed back by encoder, realizes rotating part and whole palm around standing part with this Center accurately rotates.

Four finger structure layouts of remaining in addition to thumb described are identical, and as shown in Fig. 6,7,8, four finger main bodys are all wrapped Include finger base 31, Fingers root 32, Fingers joint 33, finger fingertip 34 4 part.Finger axle 1 connects finger base Seat 31 and Fingers root 32, finger axle 2 36 connects Fingers root 32 and Fingers joint 33；Finger axle 3 37 connects Fingers Joint 33 and finger fingertip 34.Finger axle one, finger axle two, the joint at finger axle three place, class staff can realize-15 ° ～the rotation of+90 ° of scopes.Finger fingertip 34 is driven by the motor 4 322 within Fingers root 32 with Fingers joint 33, Fingers root 32 motor 4 322 power gives " receive _ put " line gear group, " receive _ put " line gear by decelerator 4 323 output Finger fingertip and Fingers can be saved internal two bracing wires by rotary motion and be wound and play back by group respectively.Bracing wire 1 One end and finger fingertip 34 fix, the other end is fixed on bevel gear 4 325 winding slot, middle is entered by pulley 332,341 Row supports and guides；Bracing wire 1 is passed through inside spring_slide structure, and slide block is fixed in bracing wire, can be with the fortune of bracing wire Move and slide.One end of bracing wire 2 344 is fixed with finger fingertip, and the other end is fixed on bevel gear 5 326, middle only by sliding Wheel 342,334,333 support and guiding.Bevel gear 4 325, cone tooth in motor 4 322 drives " receive _ put " line gear group Take turns 5 326 rotations, bracing wire 1 take-up can be realized and bracing wire 2 344 unwrapping wire, or bracing wire 1 unwrapping wire and bracing wire 2 344 Take-up, two actions synchronize to carry out.Article two, the two states of " put-receive " " is received-is put " in bracing wire, coordinates on Fingers joint 33 Spring_slide structure 331, makes finger fingertip 34 and Fingers joint 33 realize forward bending, reset, back-flexing.And hands Referring to save 33 with the motion of finger fingertip 34 is drive lacking form, Fingers joint when no contact object, finger fingertip 34 not phase To Fingers joint 33 motion, after encountering object, finger fingertip 34 just thorny spindle 3 37 rotates relative to Fingers joint 33.Hands Refer to that base interior motor 3 311, by intermeshing bevel gear 1 and the bevel gear 2 321 of engagement, drives whole finger Thorny spindle 1 rotates；The outside stopper slot of finger base 31, can make whole finger be fixed on the coordinating of palm limited block On palm.

Described thumb structure, as shown in Fig. 9,10,11, thumb main body comprises thumb pedestal 11, thumb refers to that root 12, thumb refer to Joint 13, thumb tip 15 4 part.Thumb axle 1 connects thumb pedestal 11 and palm 6, and thumb axle 2 16 connects thumb Pedestal 11 and thumb refer to root 12, and thumb axle 3 17 connects thumb and refers to that root 12 and thumb refer to save 13, and thumb axle 4 18 connects thumb Refer to joint 13 and thumb tip 14.Pass, thumb axle one place is energy-conservation realizes 0 °～120 ° of scopes rotations, and thumb axle two place is closed energy-conservation Realizing-90 °～+90 ° of scopes rotate, thumb axle three and thumb axle four place are closed-15 °～+90 ° scopes of energy-conservation realization and are rotated.Thumb Refer to that root 12 is internal equipped with motor 6 121 and decelerator 6 122, and by bevel gear 6 123, bevel gear 7 124, cone tooth Taking turns " receive _ put " line gear group of 8 125 compositions, motor 6 121 drives " receive _ put " line gear group to work can be respectively to two Bar bracing wire synchronizes to be wound and play back.One end of bracing wire 3 143 is fixed with thumb tip 14, and the other end is fixed on bevel gear seven On 124, centre is supported by pulley 132,141 and is guided；Bracing wire 3 143 is passed through inside spring_slide structure, slide block 1314 are fixed in bracing wire 3 143, and can slide with the motion of bracing wire 3 143.One end of bracing wire 4 144 refers to thumb Point 14 is fixed, and the other end is fixed on bevel gear 8 125, middle by pulley 133,134,142 support and guiding.Work as motor 121 drive bevel gear 7 124 in " receive _ put " line gear groups, bevel gear 8 125 to rotate, can realize bracing wire 3 143 take-up and Bracing wire 4 144 unwrapping wire, or bracing wire 3 143 unwrapping wire and bracing wire 4 144 take-up, two actions synchronize to carry out.Article two, bracing wire " is received -put " and the two states of " put-receive ", coordinate thumb to refer to the spring_slide structure 131 saving on 13, make finger fingertip 14 and hands Refer to save 13 forward bendings, reset, back-flexing.And Fingers joint 13 is drive lacking form with the motion of finger fingertip 14, Making when no contact object, finger fingertip 14 is not relative to Fingers joint 13 motion, and after encountering object, finger fingertip 14 is the most thorny Spindle 4 18 rotates relative to Fingers joint 13.One group of motor 5 111 and decelerator 5 112 are installed in thumb pedestal 11, subtract Being provided with reel 113, reel and thumb on speed device 5 112 to refer to be wound with two bracing wires between root, two bracing wires are by intersection Mode one is fixed on thumb and refers to root root side, and other end is fixed on reel 113, and motor five drives two by reel Bar bracing wire realizes thumb and refers to that root rotates around thumb axle 2 16；Thumb pedestal 11 is fixedly mounted on the roller gear 2 614 of palm, Thumb pedestal 11 can rotate around thumb axle 1 with roller gear 2 614, it is achieved thumb 1 rotates around palm 6.

Thumb structure is identical with the spring_slide structure structure described in remaining four finger structure, and as shown in figure 12, global shape is one Individual cylinder, including a shell 1311, a slide block 1314, spring 1, spring 2 1316, blocks 1, Block 2 1333, end cap 1, end cap 2 1318.Block 1, block 2 1333, slide block 1314, can be at shell Slide in inner chamber.Spring 1 and spring 2 1316 are individually positioned in closure 1 and end cap one by compression is a certain amount of 1317, between closure 2 1333 and end cap 1, and two springs can be by Free Compression.Spring block is passed through in bracing wire 143 In-house, and be fixedly connected with a slide block, the movement of left and right end bracing wire can be slided by band movable slider in the corresponding direction, and compresses phase Answering the spring in direction, spring_slide structure is placed on thumb and refers to that joint and Fingers save in mounting groove, and its position is along stayguy direction, bullet Spring one is at remote palm end, and spring two is at nearly palm end.

Described drive lacking embodiment, due to four handss of thumb and remaining, to realize drive lacking mode identical, so choose as Fig. 6,7, Shown in 8, finger structure illustrates.Finger is divided into 4 parts, finger base 31, Fingers root 32, Fingers joint 33, Finger fingertip 34.The finger-joint being made up of finger base 31, Fingers root 32, finger axle 1, is driven by motor 3 311 Dynamic, and Fingers root 32 can be relative to finger base 31-15 °～+90 ° of scopes rotations；By Fingers root 32, Fingers The finger-joint of joint 33, finger axle 2 36 composition and the hands being made up of Fingers joint 33, finger fingertip 34, finger axle 3 37 Articulations digitorum manus intercouples, motor 3 311 drive, and Fingers joint 33 can be relative to Fingers root 32 at-15 °～+90 ° of models Enclosing rotation, finger fingertip 34 can rotate at-15 °～+90 ° of scopes relative to Fingers joint 33.Drive lacking realizes main by finger Finger tip 34, Fingers joint 33, Fingers root 34 3 part composition realize, it is achieved drive lacking critical piece has in Fingers joint 33 Spring_slide structure 331, " receive _ put " coiling gear train of Fingers root 32 and be present in finger fingertip and save with Fingers In the combination of two groups of pull wire pulley.Operation principle is presented herein below: 1, when motor drives bevel gear 4 325 coiling, bevel gear five simultaneously 326 unwrapping wire, owing in spring_slide structure, spring has certain pretightning force, so bracing wire 1 drives Fingers joint and Fingers Point rotates together, and finger fingertip does not relatively rotates with Fingers joint.When Fingers joint 33 encounters crawl object, finger Referring to that joint 33 positions are limited, bevel gear 4 325 continues coiling, and the bevel gear 5 326 of synchronization continues unwrapping wire, when there being bracing wire one 143 when acting on power on slide block more than spring 2 1316 pretightning force, and bracing wire 143 pulls slide block compression spring 1316, and position Move and transmit finger fingertip 34 with power by bracing wire, pull finger fingertip 34 to save 33 rotations relative to Fingers, finally power effect In not capturing on object.2, bevel gear 4 325 unwrapping wire, during bevel gear 5 326 coiling simultaneously, bracing wire are driven when motor 3 311 2 344 drive finger fingertip 34 to return to straight configuration with Fingers joint 33, when bevel gear 4 325 continues pay-off wire, bore simultaneously Gear 5 326 continues coiling, and bracing wire 2 344 is identical with bracing wire 1 described in principle 1, and bracing wire 2 344 first drives Fingers Joint 33 rotates relative to Fingers root 32, and after reaching the limit of position, then band movable slider 1314 compresses bullet under bracing wire 1 acts on Spring 1315, and realize finger fingertip 34 and 33 rotate relative to Fingers joint.

Claims (6)

1. the humanoid dextrous hand of a drive lacking, it is characterized in that: described humanoid dextrous hand is with the mankind seemingly, including a palm (6) and five fingers, five finger units are thumb (1), forefinger (2), finger (3), nameless (4), little finger of toe (5)；Thumb is under straight configuration, angled with palm installed surface (7) it is arranged on palm, four fingers of remaining in addition to thumb press palm position distribution, palm of the hand surface and five fingers are being fitted with force transducer on palm of the hand side surface, and force transducer can feed back when object is captured by Dextrous Hand and the force information being applied object contact surface；All motors and control circuit are arranged on palm or finger interior；

Described palm main body is combined by the palm of the hand (61), the back of the hand (62), rotating mechanism (63) three part, the palm of the hand (61) part has motor one (611) and decelerator one (612), one group of meshed gears and thumb axle one (15)；Described motor one (611) and decelerator one (612) are angled with palm installed surface (7) on motor shaft direction to be arranged in palm；Motor one (611) power, by decelerator one (612) and one group of gear of engagement, drives thumb pedestal to rotate around thumb axle one (15), thus drives thumb (1) to rotate around palm；The back of the hand (62) part has circuit board and finger mounted groove, signals collecting, driving, control circuit to be arranged in circuit board mounting groove；Palm (61) and the back of the hand (62) have four groups of semicircle finger mounted grooves, limited location block in each half slot, often group half slot is mutually combined is a circular port, by the cooperation of two grooves on limited block and finger base, four fingers in addition to thumb is fixedly mounted on palm；Rotating mechanism (63), it is achieved whole palm rotates on installed surface (7), the palm of the hand (61), the back of the hand (62), rotating mechanism (63) three part are fixing to be connected.

The humanoid dextrous hand of a kind of drive lacking the most according to claim 1, it is characterized in that: described in addition to thumb, remaining four finger structure all includes finger base (31), Fingers root (32), Fingers joint (33), finger fingertip (34) four part, finger four part is attached by three axles, three axles are finger axle one (35), finger axle two (36), finger axle three (37), three rotating shaft axis are parallel, finger axle one (35) connects finger base (31) and Fingers root (32), finger axle two (36) connects Fingers root (32) and Fingers joint (33), finger axle three (37) connects Fingers joint (33) and finger fingertip (34)；Finger base (31) is internally installed one group of motor three (311) and decelerator three (312), motor three (331) makes Fingers root (32) rotate relative to finger base (31) thorny spindle one (35) by the bevel gear of one group of engagement, the outside limited location groove of finger base, outside stopper slot coordinates with palm limited block, makes finger can be fixedly connected on palm；It is internal that one group of motor four (322) and decelerator four (323) are arranged on Fingers root (32), Fingers root (32) is internally installed to be had and can synchronize that finger fingertip (34) and Fingers save (33) internal two bracing wires and carry out take-up, the gear train of unwrapping wire function, and motor four realizes winding and the playback of two bracing wires by driving this gear train；Additionally Fingers joint (33) is provided with a spring_slide structure (331), one end of bracing wire one (343) is fixed on finger fingertip, bracing wire one (343) is fixedly connected with a slide block by inside spring block, slide block is enable to move with bracing wire one (343), being guided by pulley and support, bracing wire one (343) other end is wound on the gear in gear train；Bracing wire two (344) one end is fixed on finger fingertip, is guided by pulley and supports, and bracing wire two (344) other end is wound on the gear in gear train.

The humanoid dextrous hand of a kind of drive lacking the most according to claim 1 and 2, it is characterised in that: thumb (1) includes that thumb pedestal (11), thumb refer to that root (12), thumb refer to save (13), thumb tip (14)；Thumb (1) four part is connected by rotary shaft, thumb axle one (15), thumb axle two (16), thumb axle three (17), thumb axle four (18)；Its middle finger axle three (17) and thumb axle four (18) rotation axis are parallel to each other；Thumb axle two (16) is mutually perpendicular to the rotation axis of thumb axle three (16), thumb axle four (17)；Thumb axle one (15) rotation axis is angled with palm installed surface (7), and it is parallel to stretch direction with thumb；Thumb axle one (15) connects thumb pedestal (11) and palm (6), thumb axle two (16) connects thumb pedestal (11) and thumb refers to root, thumb axle three (17) connects thumb and refers to that root (12) and thumb refer to save (13), and thumb axle four (18) connects thumb and refers to save (13) and thumb tip (14)；One group of motor five (111) and decelerator five (112) are installed in thumb pedestal (11), reel (113) is installed on decelerator (112), motor five (111) drives two bracing wire campaigns by reel (113), it is achieved thumb refers to that root (12) rotates around thumb joint two (16)；Motor one (611) drives thumb to rotate around thumb axle one (15) by one group of mesh cylindrical gear；Thumb refers to that root (12) is internal equipped with one group of motor six (121) and decelerator six (122), and one realize coiling function gear train, motor five refers to save two groups of pull wire pulley work in combination that (13) are internal by thumb tip (14) and thumb by this gear set drive, thumb refers to be provided with a spring_slide structure (331) in joint (33), wherein one end of bracing wire three is fixed on thumb tip, bracing wire three is internal and slide block fixed-link by spring block, enable slide block with three movements of bracing wire, guided by pulley and support, bracing wire three other end is on the gear of gear train；One end of bracing wire four is fixed on thumb tip, is guided by pulley and supports, on the gear of winding gear group.

The humanoid dextrous hand of a kind of drive lacking the most according to claim 3, it is characterised in that: described palm rotating mechanism includes motor two, decelerator two, encoder, bearing (633), standing part (631), the rotating part (632) with internal gear, one group of mesh cylindrical gear；Motor standing part is connected by bearing (633) with rotating part, palm is fixedly connected on rotating part (632), motor, decelerator and encoder are arranged on standing part (631), roller gear three (634) and the internal gear internal messing on rotating part (632), motor two power is driven the roller gear three (634) of internal messing and the roller gear on rotating part (632) by decelerator two, is made to fix the palm rotation being connected with rotating part；Additionally roller gear four (635) is fixedly mounted on encoder axle, and engages with roller gear three (634), and position of rotation can be fed back by encoder, it is achieved rotating part and whole palm accurately rotate around standing part center.

5. according to the humanoid dextrous hand of a kind of drive lacking described in claim 2 or 4, it is characterized in that: described spring_slide structure, be mainly made up of spring one (1315) and spring two (1316), slide block (1314) and shell；Spring one (1315) and spring two (1316), slide block (1314) are placed in enclosure cavity, and slide block is placed in the middle of two springs, can be by moving left and right spring in slide block compression respective direction；Bracing wire (143) is passed through inside spring_slide structure, and is fixedly connected with a slide block, and the movement of left and right end bracing wire can be slided by band movable slider in the corresponding direction, and compresses the spring of respective direction.

nullThe humanoid dextrous hand of a kind of drive lacking the most according to claim 5，It is characterized in that: each finger has a drive lacking version，Described underactuatuated drive form is by finger fingertip (34)、Fingers joint (33)、Fingers root (32)、Spring_slide structure (331)、Bevel gear three (324)、Bevel gear four (325)、Bevel gear five (316)、Axle two (327)、Motor four (322)、Decelerator four (323)、Bracing wire one (343)、Bracing wire two (344) and the drive lacking version of multiple assembly pulley synthesis，This version is driven bevel gear three (324) by motor、Bevel gear four (325)、" receive _ put " line gear group that bevel gear five (316) forms，To bracing wire one (343)、Bracing wire two (344) synchronizes the action carrying out receiving _ putting or put _ receive，Bracing wire simultaneously one (343)、Bracing wire two (344) drives slide block sliding compression spring in spring_slide structure (331)，Finally realize the drive lacking of finger.