CN205799571U - The multi-finger clever hand driven based on FPA - Google Patents
The multi-finger clever hand driven based on FPA Download PDFInfo
- Publication number
- CN205799571U CN205799571U CN201521118151.3U CN201521118151U CN205799571U CN 205799571 U CN205799571 U CN 205799571U CN 201521118151 U CN201521118151 U CN 201521118151U CN 205799571 U CN205799571 U CN 205799571U
- Authority
- CN
- China
- Prior art keywords
- finger
- palm
- joint
- block
- thumb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
A kind of multi-finger clever hand driven based on FPA, including five fingers and a palm, palm includes thumb palm block, forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block, thumb palm block includes pallet, thumb mounting seat and the spindle portion that can rotate around forefinger palm block, pallet is used to hold object and facilitates the square of finger grip, thumb mounting seat is used for fixing thumb, and spindle portion is installed in rotation on forefinger palm block；Each palm block all includes that palm body, both sides are furnished with mounting seat, rotating shaft pin and the finger mounted seat coordinated with adjacent finger；On finger mounted seat, finger is installed, the left and right sides of palm body have inclination angle, and mounting seat is positioning baffle or boss, for the assembly space inserted for boss between adjacent two positioning baffles, rotating shaft bearing pin is installed in rotation between two positioning baffles, and boss is fixed on rotating shaft bearing pin.This utility model simplifies structure, compliance is good, the suitability is preferable.
Description
Technical field
This utility model belongs to executor field, relates to a kind of multi-finger clever hand.
Background technology
Traditional end effector uses the clipping or SDOF structures of parallel-moving type mostly, this traditional end effector operation task is simple, need not the control system of complexity, customize for specific occasion, the clamper etc. in such as welding gun, sucker, assembling.This end effector poor universality, significantly limit the job area of robot.Although the stability of operation is preferable, still there is following shortcoming: (1) method of clamping is single, and interchangeability is poor, have impact on the working performance of entirety；(2) in clamping process, contact point is few, lacks dexterity；(3) lack the controllability to power, there is no the sensor-based system of correspondence, it is impossible to the position of accurately reaction crawl and force feedback, this type of end effector so will be caused to be only used for the less demanding occasion of chucking power；
Appearance along with intelligent robot, traditional robot application tends to saturated, the application of robot extends to agricultural, Aero-Space, deep-sea detecting, service entertainment, medical rehabilitation, long-range operation etc. from industrial circle, has therefore suffered from the concern of lot of domestic and foreign researcher.For such complicated and diversified working environment, the aspects such as the configuration of robot, adaptability, dexterity there are is higher requirement, has promoted scholar both domestic and external to have developed a new generation's end effector.Multi-finger dexterous hand of robot is with staff as prototype, combine structure and the characteristics of motion of staff, there is 3-5 finger and multiple degree of freedom, it is possible to achieve difform object is grasped and operated, just seem high efficient and flexible relative to traditional clamper, thus expand the field of application.
The Dextrous Hand occurred both at home and abroad retrieved at present, uses motor to drive mostly, and minority uses Pneumatic artificial muscle to drive, and uses motor to drive multi-finger clever hand, and advantage is that motor can realize being accurately positioned, and control accuracy is of a relatively high.Micromachine can be selected to be installed in hands for the occasion that power output is little, but general power output is all without the least, so the most mostly using motor to coordinate with flexible cable actuating device, clever hands so can be made to become complicated, size is difficult to miniaturization, and flexible cable device has the phenomenon such as friction, lax, chatter, not only inefficiency during transmission power, and affect Dextrous Hand control accuracy, improve control difficulty.Use the multi-finger dexterous hand of robot that Pneumatic artificial muscle drives, such as Shadow Hand, although simple in construction, but equally exist 2 deficiencies: (1) driver separates with mechanical hand, driving each joint motions by artificial tendon, friction, lax and energy loss problem that tendon drive system exists cannot be avoided；(2) too much Pneumatic artificial muscle makes the forearm of multi-finger clever hand thick too fat to move, makes troubles to the fit applications of Dextrous Hand with other robot system.
Summary of the invention
In order to the structure overcoming existing robot delicate is complicated, compliance is poor, the deficiency of bad adaptability, this utility model provides and a kind of simplifies that structure, compliance be good, preferably based on FPA (Flexible Pneumatic Actuator, Pneumatic flexible actuator) the multi-finger clever hand of the suitability.
This utility model solves its technical problem and be the technical scheme is that
A kind of multi-finger clever hand driven based on FPA, including five fingers and a palm, five fingers are thumb, forefinger, middle finger, the third finger and little finger of toe respectively, described palm includes thumb palm block, forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block, described thumb palm block includes pallet, thumb mounting seat and the spindle portion that can rotate around forefinger palm block, described pallet is used to hold object and facilitates the square of finger grip, described thumb mounting seat is used for fixing thumb, and described spindle portion is installed in rotation on forefinger palm block；Described forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block all include that palm body, both sides are furnished with mounting seat, rotating shaft pin and the finger mounted seat coordinated with adjacent finger；On described finger mounted seat, finger is installed, the left and right sides of described palm body have inclination angle, described mounting seat is positioning baffle or boss, for the assembly space inserted for described boss between adjacent two positioning baffles, rotating shaft bearing pin is installed in rotation between two positioning baffles, and described boss is fixed on described rotating shaft bearing pin.
Further, described finger mounted seat arranges circular hole and kidney slot, and described kidney slot is arranged in order to realize side-sway motion with described center of circular hole for center of circle arc.
Further, described spindle portion includes rotating shaft and in order to drive axis of rotation ground micromachine.
Further, described pallet is one piece of spill square.
Described thumb mounting seat becomes 75 ° of angles with palm.It is of course also possible to be other angles.
Described thumb, forefinger, middle finger, the third finger and little finger of toe have 3 joints, 4 finger joints and 1 finger tip respectively, and described 3 joints are exactly the bending joint of finger；Described 4 refer to that joint correspond to far refer to joint, middle finger joint and closely refer to joint and metacarpal bone joint respectively；Described remote finger joint upper end is connected with sensor, and lower end is connected with the first bending joint upper end；Described first bending joint lower end is connected with middle finger joint upper end；Described middle finger joint lower end is connected with the second bending joint upper end；Described second bending joint lower end is connected with closely finger joint upper end；Described nearly finger joint lower end is connected with the 3rd bending joint upper end；Described 3rd bending joint lower end is connected with metacarpal bone joint；Described metacarpal bone joint end is installed on palm mounting seat；Described finger tip links together with sensor.
Described first bending joint, the second bending joint and the 3rd bending joint all include FPA driver, hinge revolute pair, rotating shaft pin and two location-plates, described hinge revolute pair connects fixing for two location-plates, and can bend around rotating shaft pin, before and after FPA driver, end cap is fixing with location-plate is connected；Described FPA driver is elastic rubber tube, and rubber tube wall is embedded in spring；Rubber tube terminal is connected with end cap seal, wherein installs pipe joint on the end cap of one end；Being respectively equipped with Step Shaft on described front and rear cover, Pneumatic flexible actuator is arranged on the centre of two fixed plates by the Step Shaft on former and later two end caps；It is respectively equipped with Step Shaft on described front and rear cover, it is provided with hole, two location respectively in symmetrical place on rigid connector, positioning step axle on hole, described location and Pneumatic flexible actuator front and rear cover coordinates, and the upper end of the hinge revolute pair of bending joint and second metacarpal bone joint, second far refers to that joint, the second middle finger joint and second closely refer to that joint is in integrally.
Spacing between described forefinger, middle finger, the third finger and little finger of toe four refer to is 10mm, and relative to palm root, middle finger is than nameless high 10mm, nameless higher 5mm than forefinger, forefinger 15mm higher than little finger of toe, and thumb is 75 degree with the angle of forefinger.
The beneficial effects of the utility model are mainly manifested in: (1) has structure and the size of class staff, five fingers and a palm, has 20 degree of freedom, it is possible to be curved and side-sway, substantially realizes the action of staff.(2) using FPA directly to drive, it is not necessary to additional gear reduction mechanism, frictional force is little, and energy loss is little, and plus structural is simple, is convenient to process and mount, greatly reduces cost.(3) use air impeller to make Dextrous Hand have preferable compliance and adaptability, bigger power, and easily controllable operation can be exported simultaneously.
Accompanying drawing explanation
Fig. 1 is the 3D solid figure of multi-finger clever hand, and wherein, thumb palm body is parallel with palm.
Fig. 2 is the 3D solid of multi-finger clever hand, and wherein, thumb position is parallel with palm.
Fig. 3 is multi-finger clever hand assembly project figure.
Fig. 4 is multi-finger clever hand 3D solid figure, and wherein, thumb palm body is vertical with palm.
Fig. 5 is multi-finger clever hand assembly project figure, and wherein, thumb palm body is vertical with palm.
Fig. 6 is finger 3D solid figure.
Fig. 7 is finger X-Y scheme.
Fig. 8 is bending principle assumption diagram.
Fig. 9 is warp architecture sectional view.
Figure 10 is palm engineering drawing.
Figure 11 is palm graphics.
Figure 12 is that forefinger slaps body X-Y scheme.
Figure 13 is that forefinger slaps body graphics.
Figure 14 is that thumb slaps body graphics.
Figure 15 is the middle fingers and palms body graphics that the back of the hand master regards.
Figure 16 is the middle fingers and palms body graphics that palm master regards.
Figure 17 is that the third finger coordinates graphics with palm.
Figure 18 is the self adaptation bending certain angle graphics regarded with palm master.
Figure 19 is the palm self adaptation bending certain angle graphics regarded with the back of the hand master.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is further described.
With reference to Fig. 1～Figure 19, a kind of multi-finger clever hand driven based on FPA, including five fingers and a hands palm, five fingers are thumb respectively, forefinger, middle finger, the third finger and little finger of toe, described palm includes that thumb slaps block, forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block, described thumb palm block includes pallet, thumb mounting seat and the spindle portion that can rotate around forefinger palm block, described pallet is used to hold object and facilitates the square of finger grip, described thumb mounting seat is used for fixing thumb, described spindle portion is installed in rotation on forefinger palm block；Described forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block all include that palm body, both sides are furnished with mounting seat, rotating shaft pin and the finger mounted seat coordinated with adjacent finger；On described finger mounted seat, finger is installed, the left and right sides of described palm body have inclination angle, described mounting seat is positioning baffle or boss, for the assembly space inserted for described boss between adjacent two positioning baffles, rotating shaft bearing pin is installed in rotation between two positioning baffles, and described boss is fixed on described rotating shaft bearing pin.
Further, described finger mounted seat arranges circular hole and kidney slot, and described kidney slot is arranged in order to realize side-sway motion with described center of circular hole for center of circle arc.
Further, described spindle portion includes rotating shaft and in order to drive axis of rotation ground micromachine.
Further, described pallet is one piece of spill square.
Described thumb mounting seat becomes 75 ° of angles with palm.It is of course also possible to be other angles.
Described thumb, forefinger, middle finger, the third finger and little finger of toe have 3 joints, 4 finger joints and 1 finger tip respectively, and described 3 joints are exactly the bending joint of finger；Described 4 refer to that joint correspond to far refer to joint, middle finger joint and closely refer to joint and metacarpal bone joint respectively；Described remote finger joint upper end is connected with sensor, and lower end is connected with the first bending joint upper end；Described first bending joint lower end is connected with middle finger joint upper end；Described middle finger joint lower end is connected with the second bending joint upper end；Described second bending joint lower end is connected with closely finger joint upper end；Described nearly finger joint lower end is connected with the 3rd bending joint upper end；Described 3rd bending joint lower end is connected with metacarpal bone joint；Described metacarpal bone joint end is installed on palm mounting seat；Described finger tip links together with sensor.
Described first bending joint, the second bending joint and the 3rd bending joint all include FPA driver, hinge revolute pair, rotating shaft pin and two location-plates, described hinge revolute pair connects fixing for two location-plates, and can bend around rotating shaft pin, before and after FPA driver, end cap is fixing with location-plate is connected；Described FPA driver is elastic rubber tube, and rubber tube wall is embedded in spring；Rubber tube terminal is connected with end cap seal, wherein installs pipe joint on the end cap of one end；Being respectively equipped with Step Shaft on described front and rear cover, Pneumatic flexible actuator is arranged on the centre of two fixed plates by the Step Shaft on former and later two end caps；It is respectively equipped with Step Shaft on described front and rear cover, it is provided with hole, two location respectively in symmetrical place on rigid connector, positioning step axle on hole, described location and Pneumatic flexible actuator front and rear cover coordinates, and the upper end of the hinge revolute pair of bending joint and second metacarpal bone joint, second far refers to that joint, the second middle finger joint and second closely refer to that joint is in integrally.
Spacing between described forefinger, middle finger, the third finger and little finger of toe four refer to is 10mm, and relative to palm root, middle finger is than nameless high 10mm, nameless higher 5mm than forefinger, forefinger 15mm higher than little finger of toe, and thumb is 75 degree with the angle of forefinger.
In the present embodiment, described pallet is that one piece of spill square facilitates finger grip for holding object；Described thumb mounting seat is used for fixing thumb, and thumb mounting seat becomes 75 ° of angles, such thumb and other four finger to be the formation of certain inclination angle, the most more ensure that the stability capturing object with palm；The part of described rotating shaft matches with forefinger side, and can rotate around forefinger side, the anglec of rotation can change in 0 ° 90 ° again so that thumb can rotate certain angle as staff freely, and micromachine can be used here to control to rotate certain angle.Other four palm modular structures described are substantially similar, palm body, both sides are furnished with mounting seat, rotating shaft pin and the finger mounted seat coordinated with other fingers；Described palm body is stretched by trapezoid cross section, two sides have the inclination angle of 10 degree, under rotating shaft at other palm mounting seats rotates, palm can bend certain angle, it is more suitable for capturing object, and the part of this bending need not control, it is possible to self adaptation is curved corresponding angle；Finger mounted seat is made up of a circular hole and kidney slot, so finger can carry out side-sway motion, the when of capturing object in testing due to us, the side-sway of finger is the most small, but strictly have a difference when capturing difform object, so we carry out manually adjusting suitable side-sway distance according to the shape of the object captured in real time herein.So multi-finger clever hand can either bend certain angle, can select more reasonably to capture attitude by adjusting the side-sway of finger again.
In described bending joint, compressed gas can enter FPA inner chamber from this pipe joint.When compressed gas is filled with FPA inside from pipe joint, due to gas pressure and the effect of spring, the stretching of cylindrical rubber pipe is elongated, and total shows as axial elongation；When internal drive gas pressure reduces, under the effect of rubber tube and spring, total is shunk and is shortened, and restores to the original state.
The overall dimensions of the finger of the present embodiment and shape are substantially similar to the structure of staff, five fingers and a palm, have 20 degree of freedom.Simpler relative to other clever hands, there is the features such as the most flexible and bigger grasping force.Use FPA directly to drive, it is not necessary to flexible cable actuating device, reduce the defect such as frictional force and energy loss, be with a wide range of applications.
In the present embodiment, Fig. 1 is multi-finger clever hand 3D solid figure in terms of the back of the hand direction, and Fig. 2 is the two-dimensional engineering graphic in terms of the back of the hand direction；The basic arrangement being front view basic explanation Dextrous Hand with palm with reference to Fig. 3, forefinger (2), middle finger (3), nameless (4), little finger of toe (5) use and are arranged in parallel, between finger, spacing is 10mm, middle finger is than nameless high 10mm, nameless higher 5mm than forefinger, forefinger 15mm higher than little finger of toe, thumb (1) and palm have the angle of 75 degree.Fig. 4 with Fig. 5 is respectively the thumb of Dextrous Hand and four refers to relative graphics with other, and this is also to capture object most widely used crawl gesture.Figure also designates the modules of palm, respectively thumb palm body (6), forefinger palm body (7), middle fingers and palms body (8), unknown fingers and palms body (9), little fingers and palms body (10).From these several figures, can be seen that the shape and size of Dextrous Hand of design are substantially close to staff.Afterwards overall diagram is decomposed into modules, after by each different module that makes introductions all round.
Fig. 6 and Fig. 7 is respectively 3D solid figure and the two dimension view structure of finger, the basic composition describing finger detailed in figure, includes finger tip (12), sensor (13) respectively, far refers to save (14), location-plate (15,18,21,25,26,29), FPA driver (16,22,27), pipe joint (19), bending joint I (17), middle finger joint (20), bending joint II (23), closely refer to save the composition such as (24), bending joint III (28), metacarpal bone joint (30).The structure of remaining finger described is the most essentially identical, find out that finger is made up of 3 joints, 4 finger joints, 1 finger tip respectively from the finger engineering drawing of Fig. 7, described 3 joints are exactly the bending joint I (17) of finger, bending joint II (23), bending joint III (28) composition, three bending joints of the most corresponding staff；Described 4 refer to joint, correspond to respectively far refer to save (14), middle finger joint (20) and closely refer to save (24) and metacarpal bone joint (30), far refer to that the upper end of joint is connected with sensor (13), far refer to that joint lower end and middle finger joint upper end form hinge arrangement by the first bending joint, it is possible to be curved operation；Described middle finger joint lower end and closely finger joint upper end form hinge arrangement with the second bending joint；Described nearly finger joint lower end and metacarpal bone joint (30) upper end form hinge arrangement with the 3rd bending joint and can be curved motion, and described metacarpal bone saves end will be installed on palm mounting seat；First driver FPA (16) upper end is connected with far finger joint location-plate (15), and lower end is connected with middle finger joint location-plate (21)；Second driver FPA (22) is fixed with closely finger joint location-plate (25) by middle finger joint location-plate (21)；3rd driver FPA is by closely referring to that saving location-plate (26) fixes with metacarpal bone joint location-plate (29), and each FPA end has similar pipe joint (19) to carry out ventilation driving.Multi-finger clever hand is during implementing to capture, in addition to joint requirements can be accurately positioned, in addition it is also necessary to the action by contact power between finger and target object, by whether stablizing the comprehensive analysis and judgement grasping manipulation of each Fingers power and don't destroying target object.Therefore, multi-finger clever finger tip configuration power/torque sensor, can detect the output of power/moment in real time, and feed back to joint control and carry out closed loop control.We are at finger tip and far refer to be mounted with between joint the five-dimensional force sensor of a kind of miniaturization, this five-dimensional force sensor is to entrust Hefei Chinese Academy of Sciences sensor intelligent institute to design and produce, use a kind of novel E pattern sheet elastomer structure, finger tip power is converted to the signal of telecommunication, after filtering, amplify, decoupling process after, be transferred to host computer in CAN mode.
Shown in Fig. 8 and Fig. 9, described bending joint is made up of a FPA, two connecting rods (14,20), two location-plates (15,18) and a rotating shaft (17).Wherein, connecting rod is threaded connection with connector, it is possible to integration processing is made of one；The end cap (31,35) of FPA is fixing with location-plate to be connected.The major part of described FPA driver (16) is elastic rubber tube (33), and rubber tube wall is embedded in spring (34)；Rubber tube terminal is connected with end cap seal, wherein installs pipe joint (36) on the end cap of one end, and compressed gas can enter FPA inner chamber from this pipe joint.The operation principle of bending joint is: compressed air enters the inner chamber of FPA by the pipe joint of FPA, and under gas pressure effect, FPA occurs axial elongation, and then promotion connector drivening rod rotates around the axis an angle.When FPA inner chamber gas pressure discharges, FPA restores to the original state, and drivening rod rotates so that joint restores to the original state.The size of articulation angle can be controlled by the pressure of regulation FPA inner chamber gas.
Figure 10～Figure 19 be the integral installation figure of palm, graphics, palm each touch block, palm and the side-sway structure of palm body, palm slight curves structure etc. have had detailed introduction, below face explain the theory of design one by one.From Figure 10,11 elements giving palm from palm back and bottom both direction, substantially it is made up of five module youngsters, is thumb palm block (6), forefinger palm block (7), middle fingers and palms block (8), unknown fingers and palms block (9), little fingers and palms block (10) respectively.Shown in Figure 11 and 14, the thumb palm block of described palm includes pallet (37), thumb mounting seat (38) and the spindle portion (39) that can rotate around forefinger, and described pallet is that one piece of spill square facilitates finger grip for holding object；Described thumb mounting seat is used for fixing thumb, and thumb mounting seat becomes 75 ° of angles, such thumb and other four finger to be the formation of certain inclination angle, the most more ensure that the stability capturing object with palm；Described spindle portion matches with forefinger side (46,47), and can rotate around forefinger side, the anglec of rotation can change in 0 ° 90 °, make thumb can rotate certain angle as staff freely, micromachine can be used here in good time to rotate certain angle.Shown in Figure 12-14, describe thumb palm body and forefinger palm body, Figure 12-13 represents X-Y scheme and the graphics of forefinger palm body respectively, in Figure 12, forefinger palm includes finger mounted seat and the positioning baffle (44-47) corresponding with boss, finger mounted seat is made up of dowel hole (42) and oval type groove position (43), owing to during capturing, the crawl side-sway of same object is the most small, so the method herein using manual adjustment side-sway distance, it is finger as shown in figure 17 and palm connection, and finger certain displacement relative to palm side-sway.Figure 12 and 13 the most corresponding, the structure of forefinger palm block can be clearly understood in the diagram, rotation boss (49) in middle finger is matched by positioning boss I (44,45), coordinate rotating shaft just can carry out rotoflector, another positioning boss (46,47) will rotate boss (39) in thumb and match, make the thumb can be rotationally-varying in 0-90 degree, greatly simulate the thumb structure of staff.
Figure 15-16 is the structure chart of middle fingers and palms body, basic composition includes palm mounting seat (48), rotates boss (49), positioning boss (50,51), the positioning boss rotating boss and forefinger coordinates, positioning boss and nameless rotation boss coordinate, thus link together with other palms.Particularly point out palm upper surface and following table is the most wide causes side to define certain inclination angle, the angle so reversed torsion knuckle has certain restriction, bending range of activity the least is had between adjacent palm block, and the bending that such design makes palm is adaptive, it can be according to the shape of crawl object, the crooked radian of self-adaptative adjustment palm under the drive of grasp force.Unknown fingers and palms body additionally is similar with middle finger structure with little fingers and palms body, is all to coordinate with positioning boss by rotating boss, and what spacing cooperation in palm junction redundancy inclined plane was suitable bends certain angle.Figure 18-19 find out capture during object due to the impact of contact force makes palm can the certain angle of adaptive bending.From these a few width figures, find out that palm bends to certain radian and becomes envelope state, simultaneously finger can side-sway a certain distance, the most more can capture on real-time stabilization ground.
Above-mentioned all entirety and various piece clearly teach the structured design of hands, and structure and the motion feature of simulation staff design, and multi-finger dexterous hand of robot, including five fingers and a palm.Five described fingers include thumb, forefinger, middle finger, the third finger and little finger of toe.The Finger Placement of multi-finger dexterous hand of robot of the present utility model is with staff structure as foundation, forefinger, middle finger, the third finger and little finger of toe are parallel to each other and spacing is 10mm, wear artificial skin to finger and leave adequate space, this four fingers finger tip is different relative to the height of palm root simultaneously, wherein middle finger 15mm higher than forefinger, higher by 10 than nameless, and the third finger is higher by 20 than little finger of toe；Angle between thumb and forefinger is 75 degree.The drive system of this hands includes air pump with controlling measurement system, controls card, industrial computer, five-dimensional force sensor and computer software, and wherein five-dimensional force sensor is according to requirements to be developed by Hefei Chinese Academy of Sciences intelligent robot institute.Capturing object by just carrying out after all of device installation, using can submissive stable crawl in the degree that pneumatic actuation is the biggest.
Claims (8)
1. the multi-finger clever hand driven based on FPA, including five fingers and a hands palm, five fingers are thumb respectively, forefinger, middle finger, the third finger and little finger of toe, it is characterized in that: described palm includes that thumb slaps block, forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block, described thumb palm block includes pallet, thumb mounting seat and the spindle portion that can rotate around forefinger palm block, described pallet is used to hold object and facilitates the square of finger grip, described thumb mounting seat is used for fixing thumb, described spindle portion is installed in rotation on forefinger palm block；Described forefinger palm block, middle fingers and palms block, unknown fingers and palms block and little fingers and palms block all include that palm body, both sides are furnished with mounting seat, rotating shaft pin and the finger mounted seat coordinated with adjacent finger；On described finger mounted seat, finger is installed, the left and right sides of described palm body have inclination angle, described mounting seat is positioning baffle or boss, for the assembly space inserted for described boss between adjacent two positioning baffles, rotating shaft bearing pin is installed in rotation between two positioning baffles, and described boss is fixed on described rotating shaft bearing pin.
2. the multi-finger clever hand driven based on FPA as claimed in claim 1, it is characterised in that: described finger mounted seat arranges circular hole and kidney slot, and described kidney slot is arranged in order to realize side-sway motion with described center of circular hole for center of circle arc.
3. the multi-finger clever hand driven based on FPA as claimed in claim 1 or 2, it is characterised in that: described spindle portion includes rotating shaft and in order to drive axis of rotation ground micromachine.
4. the multi-finger clever hand driven based on FPA as claimed in claim 1 or 2, it is characterised in that: described pallet is one piece of spill square.
5. the multi-finger clever hand driven based on FPA as claimed in claim 1 or 2, it is characterised in that: described thumb mounting seat becomes 75 ° of angles with palm.
6. the multi-finger clever hand driven based on FPA as claimed in claim 1 or 2, it is characterised in that: described thumb, forefinger, middle finger, the third finger and little finger of toe have 3 joints, 4 finger joints and 1 finger tip respectively, and described 3 joints are exactly the bending joint of finger；Described 4 refer to that joint correspond to far refer to joint, middle finger joint and closely refer to joint and metacarpal bone joint respectively；Described remote finger joint upper end is connected with sensor, and lower end is connected with the first bending joint upper end；Described first bending joint lower end is connected with middle finger joint upper end；Described middle finger joint lower end is connected with the second bending joint upper end；Described second bending joint lower end is connected with closely finger joint upper end；Described nearly finger joint lower end is connected with the 3rd bending joint upper end；Described 3rd bending joint lower end is connected with metacarpal bone joint；Described metacarpal bone joint end is installed on palm mounting seat；Described finger tip links together with sensor.
7. the multi-finger clever hand driven based on FPA as claimed in claim 6, it is characterized in that: described first bending joint, the second bending joint and the 3rd bending joint all include FPA driver, hinge revolute pair, rotating shaft pin and two location-plates, described hinge revolute pair connects fixing for two location-plates, and can bend around rotating shaft pin, before and after FPA driver, end cap is fixing with location-plate is connected；Described FPA driver is elastic rubber tube, and rubber tube wall is embedded in spring；Rubber tube terminal is connected with end cap seal, wherein installs pipe joint on the end cap of one end；Being respectively equipped with Step Shaft on described front and rear cover, Pneumatic flexible actuator is arranged on the centre of two fixed plates by the Step Shaft on former and later two end caps；It is respectively equipped with Step Shaft on described front and rear cover, it is provided with hole, two location respectively in symmetrical place on rigid connector, positioning step axle on hole, described location and Pneumatic flexible actuator front and rear cover coordinates, and the upper end of the hinge revolute pair of bending joint and second metacarpal bone joint, second far refers to that joint, the second middle finger joint and second closely refer to that joint is in integrally.
8. the multi-finger clever hand driven based on FPA as claimed in claim 7, it is characterized in that: the spacing between described forefinger, middle finger, the third finger and little finger of toe four refer to is 10mm, and relative to palm root, middle finger is than nameless high 10mm, nameless higher 5mm than forefinger, forefinger 15mm higher than little finger of toe, thumb is 75 degree with the angle of forefinger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521118151.3U CN205799571U (en) | 2015-12-29 | 2015-12-29 | The multi-finger clever hand driven based on FPA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521118151.3U CN205799571U (en) | 2015-12-29 | 2015-12-29 | The multi-finger clever hand driven based on FPA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799571U true CN205799571U (en) | 2016-12-14 |
Family
ID=58144091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521118151.3U Expired - Fee Related CN205799571U (en) | 2015-12-29 | 2015-12-29 | The multi-finger clever hand driven based on FPA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799571U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229344A (en) * | 2017-07-06 | 2017-10-03 | 东南大学 | A kind of finger ring type haptic gloves and preparation method that clamping force feeling is provided |
| CN107334197A (en) * | 2017-07-06 | 2017-11-10 | 东南大学 | A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided |
| CN110549355A (en) * | 2019-07-29 | 2019-12-10 | 北京航天控制仪器研究所 | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission |
| 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 |
| CN113183124A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Bionic flexible hand skeleton |
| CN113183123A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
| CN113183125A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigid-flexible coupling variable-rigidity dexterous hand skeleton |
| CN113183169A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigid-flexible coupling variable-rigidity dexterous hand skeleton |
| CN113183122A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
| CN114851229A (en) * | 2022-04-13 | 2022-08-05 | 景润智能装备制造(宁波)有限公司 | Pneumatic type flexible manipulator |
-
2015
- 2015-12-29 CN CN201521118151.3U patent/CN205799571U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229344A (en) * | 2017-07-06 | 2017-10-03 | 东南大学 | A kind of finger ring type haptic gloves and preparation method that clamping force feeling is provided |
| CN107334197A (en) * | 2017-07-06 | 2017-11-10 | 东南大学 | A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided |
| CN110549355A (en) * | 2019-07-29 | 2019-12-10 | 北京航天控制仪器研究所 | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission |
| 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 |
| CN113183124A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Bionic flexible hand skeleton |
| CN113183123A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
| CN113183125A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigid-flexible coupling variable-rigidity dexterous hand skeleton |
| CN113183169A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigid-flexible coupling variable-rigidity dexterous hand skeleton |
| CN113183122A (en) * | 2021-04-15 | 2021-07-30 | 浙江工业大学 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
| CN114851229A (en) * | 2022-04-13 | 2022-08-05 | 景润智能装备制造(宁波)有限公司 | Pneumatic type flexible manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205799571U (en) | The multi-finger clever hand driven based on FPA | |
| CN105415394A (en) | Multi-fingered dexterous hand based on FPA drive | |
| CN101402200B (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN201283575Y (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN105583821B (en) | Fluid drives multidimensional adaptive robot arm device | |
| CN101486191B (en) | Displacement under-actuated robot hand apparatus | |
| CN1322962C (en) | Robot pneumatic shillful hand | |
| CN109048980A (en) | A kind of pneumatic software gripper of articulated type endoskeleton | |
| WO2010131605A1 (en) | Five-fingered hand device | |
| CN102673674B (en) | Bionic elastic spine mechanism of quadruped robots | |
| CN107891434A (en) | Based on the underactuated manipulator for becoming born of the same parents' principle | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN105856185A (en) | Piston-drive magnetic flow flexible robot hand device | |
| CN107457797A (en) | Porous twolayer fluid adaptive robot arm device | |
| CN106956288A (en) | Multiple degrees of freedom software grabbing device | |
| CN109648589B (en) | Robot dexterous manipulator finger device based on cylinder driving | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN105500399A (en) | Manipulator driven by pneumatic brake cables and having human hand characteristics | |
| CN209022098U (en) | A kind of pneumatic software gripper of articulated type endoskeleton | |
| CN205799474U (en) | Piston drives magnetic current flexible machine hand apparatus | |
| Zhang et al. | Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function | |
| CN215848227U (en) | Bionic soft finger, soft manipulator and underwater operation robot | |
| CN114474115A (en) | Rigid-flexible coupling bionic finger and clamping jaw | |
| CN109877868A (en) | A kind of drive lacking humanoid dexterous finger of coupling adaptive | |
| CN206869879U (en) | Bellows fluid drive lacking articulated robot finger apparatus |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20181229 |