CN206445813U - A kind of drive lacking humanoid dexterous arm device - Google Patents
A kind of drive lacking humanoid dexterous arm device Download PDFInfo
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- CN206445813U CN206445813U CN201621204358.7U CN201621204358U CN206445813U CN 206445813 U CN206445813 U CN 206445813U CN 201621204358 U CN201621204358 U CN 201621204358U CN 206445813 U CN206445813 U CN 206445813U
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Abstract
A kind of drive lacking humanoid dexterous arm device, totally 16 frees degree of 5 modularization fingers with independent control, whole hand is driven by 11 motors, and size shape and adult's palmistry are worked as.Remaining four finger structure is identical in addition to thumb, thumb has the free degree longitudinally rotated around palm in palm base portion, its rotary shaft is arranged such that whole hand, when capturing object, makes forefinger, the third finger, little finger of toe symmetrical in middle finger both sides to the grip of object, improves grasp stability.The middle joint and end joint that modularization finger is coupled to finger base portion joint and by the linkage of structurally variable respectively using two motors are driven, the relative position that linkage allows two finger-joints of coupling to contact after object is actively adjusted, finger is set to carry out envelope to object according to captured body form, adaptivity to object profile is strong, its grasping movement is more met human hand.Whole hand is simple in construction, and grasp force is big, captures rigidity greatly, control is simple, crawl adaptivity is strong, it is adaptable to which disabled person is done evil through another person, explosive, nuclear equipment is detected and humanoid robot field.
Description
Technical field
The invention belongs to anthropomorphic robot's technology and application field, it is related to a kind of drive lacking humanoid dexterous arm device.
Background technology
With continuing to develop for robot technology, anthropomorphic robot can realize that mankind's various motion is got over function due to it
More to attract people's attention.Humanoid dextrous hand, the direct medium exchanged as anthropomorphic robot with external environment condition, its mobility
Have a great impact with operating characteristics to the level of operation of anthropomorphic robot, and the structure design of humanoid dextrous hand is used as apery
One of key technology of robot, largely limits the development of anthropomorphic robot technology.
Humanoid dextrous hand typically has 3-5 finger, and each finger has 3-4 joint freedom degrees.According to humanoid dexterous
The drive form of hand can be classified as driving Dextrous Hand and under-actuated delicacy hand entirely.The complete general each joint of driving Dextrous Hand is certainly
One driver, the Shadow hands and UB hands of such as Britain Shadow companies are set by degree.This type humanoid dextrous hand is typically each
The rotation of joint freedom degrees is moved by tendon rope band, and joint drive electric machine external is in the arm being connected outside palm with palm.Its is main
Advantage is that functionally apery hand degree is high, can flexibly capture object or be operated, but be due to its number of drives
More, general whole hand size is larger, and weight is larger, requires higher to control system, and system complex, and cost is high.
The general each two of under-actuated delicacy hand or three joint freedom degrees set a driver, such as German NASA
DLR hands, the HIT hands of Harbin Institute of Technology, the BH Dextrous Hands of Beijing Institute of Aeronautics.Two joints of finger tips are typically passed through tooth by the Dextrous Hand of this type
Wheel, belt pulley or connecting rod are coupled, and are moved simultaneously by two joints of a driver control, articulation angle typically into
Special ratios, and can not change.Its major advantage is that versatility is preferable, can form force-closed during crawl, cost is low, crawl is steady
It is qualitative good, have the disadvantage that the relative position after contact object between the joint of drive lacking cannot be adjusted actively, during crawl object
The position for capturing object relative to the initial position of finger there are certain requirements, and adaptivity is not during to different shape grasping body
It is high.
A kind of existing humanoid dexterous arm device, such as Chinese invention patent CN103128744, including palm, thumb, food
Finger, middle finger, the third finger and little finger of toe.Four refer to using identical structure in addition to thumb, and each finger sets three joints by three group four
Linkage is coupled, and is driven by a motor.Its weak point is that the device four three joints of finger in addition to thumb press 1:1:1 fortune
Dynamic speed is bent simultaneously by fixed angle, and joint can not be operated alone, and dexterity and human hand difference are larger, to not similar shape during crawl
The body self-adaptation of shape is poor.Another existing humanoid dextrous hand, such as Chinese invention patent CN1283429C, including palm
With five fingers, totally 12 joint freedom degrees, the bending of its finger unactuated joint is stretched to be realized by multi-stage gear driving system,
Involved gear train assembly has from decoupling effect, and the joint of wherein active drive only has three, and except thumb, forefinger
Three outer fingers are driven using a motor, and independent finger can not carry out active bending, larger with human hand difference, dexterous
Property is not high.
The content of the invention
For above technological deficiency, it is an object of the invention to design a kind of drive lacking humanoid dexterous arm device.The dress
Put using modularization finger structure, each finger can realize independent control, with multiple frees degree, two joints of finger tips by
Relative position after linkage mechanical couplings, finger-joint contact object between corresponding unactuated joint can be adjusted actively
Section, makes finger carry out envelope to object according to captured body form, and the adaptivity to object profile is strong, makes its grasping movement
More meet human hand, whole hand is simple in construction, grasp force is big, crawl rigidity is big, and crawl adaptivity is strong, it is adaptable to disabled person does evil through another person,
The field such as explosive, nuclear equipment detection and humanoid robot.
The present invention is adopted the following technical scheme that：
Drive lacking humanoid dexterous arm device of the present invention, including five fingers and a palm, wherein five fingers
Respectively thumb, forefinger, middle finger, the third finger and little finger of toe.Forefinger, middle finger, the third finger and little finger of toe all by pedestal, base portion finger joint, in
Between finger joint, the part of end finger joint four constitute, each finger joint is respectively provided with one and bends the free degree stretched.Thumb is rotated convex by thumb
Platform, thumb pedestal, thumb base portion finger joint, thumb centre finger joint and the part of thumb end finger joint five are constituted, except thumb rotates boss
Outside, remaining structure is identical with other four fingers.Whole thumb also has the free degree rotated around palm.Five finger base portions refer to
The free degree that the bending of section is stretched is realized that middle finger joint and end finger joint are bent by the first motor driven gear of finger transmission mechanism
The free degree stretched realizes coupled motions by the jointed gear unit of a structurally variable, is driven by the second motor.Five hands
The first motor referred to is connected with corresponding finger base, and the second motor is connected with corresponding finger base portion finger joint.Palm includes the centre of the palm
End cap and palm spine frame, the two is connected by screw.
A kind of palm of drive lacking humanoid dexterous arm device includes centre of the palm end cap, palm spine frame, palm motor
Constituted with decelerator, palm first gear, palm second gear, thumb around palm rotary shaft.Palm overall dimensions size with into
People's hand size is close.Palm spine frame is provided with the limited impression and spacing hole of correspondence forefinger, middle finger, the third finger and little finger of toe,
Forefinger, middle finger, the third finger and the pedestal back side of little finger of toe and the palm spine frame face provided with corresponding limited impression are fitted, and correspond to finger
Base portion joint rotary shaft is socketed with spacing hole, is realized the positioning of each finger and palm spine frame and is connected.On palm spine frame also
Limited impression provided with correspondence palm motor and decelerator.Arrangement and hand of the limited impression of four fingers on palm spine frame
The palm is parallel longitudinal, and the arrangement and palm of the limited impression of palm motor and decelerator are horizontally-parallel.Thumb is around palm rotary shaft
Positioned at the underface of middle finger limited impression, it is sheathed in palm spine frame.The output shaft of palm motor and decelerator and palm the
One gear is connected, and palm second gear is set in thumb in palm rotary shaft, and the two is considered as connected, palm first gear and hand
Slap second gear engagement.
A kind of index finger, middle finger, ring finger and little finger of described drive lacking humanoid dexterous arm device have identical structure,
With a pedestal, three finger joints, overall dimensions are suitable with into human hand dimensions.Illustrated by taking forefinger structure as an example.Forefinger bag
Include forefinger pedestal, forefinger base portion finger joint, forefinger centre finger joint and index finger tip finger joint.The motor of forefinger first passes through limit with decelerator
Position boss positioning is connected on forefinger pedestal, and output shaft and the forefinger pedestal gear of the motor of forefinger first and decelerator are connected, food
Refer to pedestal gear to engage with forefinger base portion finger joint first gear, forefinger base portion finger joint first gear and forefinger base portion joint shaft are solid
Even, forefinger base portion finger joint is set in forefinger pedestal, is hinged by forefinger base portion joint shaft, forefinger base portion joint shaft and forefinger base portion
Finger joint is considered as connected.The motor of forefinger first and retarder driver gear transmission system, rotate base portion finger joint joint shaft, realize food
The bending for referring to base portion joint is stretched.The motor of forefinger second is positioned by the motor of forefinger second and decelerator positive stop lug boss, with forefinger
Base portion finger joint is connected, and the motor of forefinger second is connected with reducer output shaft with forefinger base portion finger joint second gear, and forefinger base portion refers to
Save finger joint gear in the middle of second gear and forefinger to engage, finger joint and forefinger centre finger joint gear drive respectively at forefinger in the middle of forefinger
Link rotating shaft is connected, and finger joint is set in forefinger base portion finger joint in the middle of forefinger, is hinged by forefinger middle joint axle.Index finger tip
Finger joint is set in the other end of finger joint in the middle of forefinger, is hinged by index finger tip joint shaft.The motor of forefinger second drives with decelerator
Gear train assembly, forefinger drive link, and then the variable jointed gear unit work of driving structure are transmitted to by motion and power, real
The bending of existing forefinger middle joint and index finger tip joint is stretched.
A kind of jointed gear unit of the structurally variable of described drive lacking humanoid dexterous arm device, by taking forefinger as an example, bag
Include forefinger drive link, forefinger follower link and extension spring.Forefinger drive link is socketed in forefinger drive link rotary shaft, by eating
Refer to drive link positive stop lug boss spacing, in the middle of forefinger drive link and forefinger finger joint gear respectively with forefinger drive link rotary shaft
It is connected.Forefinger drive link is hinged with forefinger follower link one end, and the forefinger follower link other end is socketed in forefinger follower link
In rotary shaft, positioned by forefinger follower link positive stop lug boss.All set on the positioning boss of extension spring first and the positioning boss of extension spring second
There is mounting groove, installation and positioning for extension spring.Driving force is inputted by the motor of forefinger second and reducer output shaft, through forefinger base
Finger joint gear is transmitted to forefinger drive link rotary shaft in the middle of portion's finger joint second gear and forefinger, drives forefinger drive link to rotate.
Forefinger drive link can drive forefinger follower link to be rotated around index finger tip joint shaft or forefinger middle joint axle.When forefinger
When two motors are less than the torque that extension spring is produced with the torque that decelerator is provided, forefinger drive link drives the driving of forefinger follower link
Finger joint and index finger tip finger joint together rotate around forefinger middle joint axle in the middle of forefinger, realize finger joint and index finger tip in the middle of forefinger
The bending of finger joint together is stretched；When the torque that the motor of forefinger second and decelerator are provided is more than the torque that extension spring is produced, forefinger
Finger joint separation in the middle of end finger joint and forefinger, forefinger drive link drive forefinger follower link driving is operated alone index finger tip and referred to
Section is around the rotation of index finger tip joint shaft, and realizing index finger tip finger joint, individually bending is stretched.
A kind of thumb structure of described drive lacking humanoid dexterous arm device includes thumb rotation boss, thumb pedestal, thumb
Refer to base portion finger joint, thumb centre finger joint and thumb end finger joint.Thumb rotation boss is socketed on thumb around palm rotary shaft, is considered as
It is connected, palm second gear is socketed on thumb around palm rotary shaft, is considered as connected.Thumb rotates boss side surfaces and palm horizontal plane
Into 70 °, and initial position thumb and palm horizontal plane are into 20 ° so that thumb integrally can be around the angles rotation of 70 ° of palm longitudinal direction.Hand
Slap motor to be connected with palm first gear with reducer output shaft, palm first gear is engaged with palm second gear, driving force
Exported by palm motor and decelerator and be transmitted to thumb around palm rotary shaft through gear drive, drive thumb rotation boss to turn
It is dynamic, realize that driving thumb integrally rotates around palm.Thumb integrally can be maximum by initial position around the angle rotation of 70 ° of palm longitudinal direction
It is rotated by 90 °, now thumb central axis and middle finger central axis are coplanar, when capturing object, makes forefinger, the third finger, little finger of toe pair
The grip of object is symmetrical in middle finger both sides, crawl process is more stablized.
The present invention has advantages below and prominent effect：
The device has 5 modularization fingers of independent control totally 16 frees degree, and whole hand is driven by 11 motors, size
Shape and adult's palmistry are worked as.Remaining four finger structure is identical in addition to thumb, and thumb has one to be indulged around palm in palm base portion
To the free degree of rotation, its rotary shaft is arranged such that whole hand, when capturing object, makes forefinger, the third finger, little finger of toe to object
Grip is symmetrical in middle finger both sides, improves grasp stability.Modularization finger is using two motors respectively to finger base portion
Joint and the middle joint coupled by the linkage of varistructure are driven with end joint, and linkage causes coupling
Relative position after two finger-joint contact objects can be adjusted actively, finger is entered according to captured body form to object
Row envelope, the adaptivity to object profile is strong, its grasping movement is more met human hand.Whole hand is simple in construction, and grasp force is big, grabs
Take rigidity big, control is simple, crawl adaptivity is strong, it is adaptable to which disabled person is done evil through another person, explosive, nuclear equipment is detected and class robot
People field.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the palm structure three-dimensional figure of the present invention.
Fig. 3 is the palm spine frame schematic diagram of the present invention.
Fig. 4 (a) is the forefinger structure rearview of the present invention.
Fig. 4 (b) is the forefinger structure right view of the present invention.
Fig. 5 is the linkage partial sectional view of the varistructure of the present invention (figure middle gear is not drawn into).
Fig. 6 (a, b) is the variable linkage operation principle schematic diagram of the present invention.
In figure：
1- thumbs
Finger joint 15- thumbs end in the middle of 11- thumbs rotation boss 12- thumb pedestal 13- thumb base portion finger joint 14- thumbs
Hold finger joint
2- forefingers
21- forefinger pedestals
The motor of 211- forefingers first and the first motor of decelerator 212- forefingers and decelerator positive stop lug boss 213- forefinger bases
Seat gear
22- forefinger base portion finger joints
221- forefingers base portion finger joint the second motor of first gear 222- forefingers and decelerator
The motor of 223- forefingers first and decelerator positive stop lug boss 224- forefinger base portion finger joint second gears
225- forefinger base portion joint shaft (spacing hole) 226- forefinger drive link rotary shafts
227- forefinger drive link positioning limit boss
Finger joint in the middle of 23- forefingers
Finger joint gear 233- the first positioning boss of extension spring in the middle of 231- forefinger middle joint axle 232- forefingers
24- index finger tip finger joints
241- index finger tip joint shaft 242- forefinger follower link rotary shaft 243- forefinger follower link positive stop lug boss
The positioning boss of 244- extension springs second
The linkage of 25- varistructures
The 255- virtual machines of 251- forefinger drive link 252- forefinger follower link 253- extension spring 254- virtual links one
Frame one
The virtual 258- of frame two objects to be captured of the 257- of 256- virtual links two
3- middle fingers
4- is nameless
5- little fingers of toe
6- palms
61- centre of the palm end cap 62- palms spine frame 63- palms motors are limited with decelerator 64- palms motor with decelerator
Position groove
65- palm first gear 66- palms second gear 67- thumbs are around palm rotary shaft 68- finger stopper slots
69- fingers spacing hole 610,611,612- screw holes
Embodiment
Describe the specific embodiment of patent of the present invention in detail below in conjunction with technical scheme and accompanying drawing.
Drive lacking humanoid dexterous arm device overall structure of the present invention is as shown in figure 1, including five fingers and one
Palm, wherein five fingers are respectively thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5.Forefinger 2, middle finger 3,4 and of the third finger
Little finger of toe 5 is all made up of pedestal, base portion finger joint, middle finger joint, the part of end finger joint four, and each finger joint is respectively provided with one and bends what is stretched
The free degree.Thumb 1 rotates boss 11, thumb pedestal 12, thumb base portion finger joint 13, thumb centre finger joint 14 and thumb end by thumb
The part of finger joint 15 5 is held to constitute, in addition to thumb rotation boss 11, other structures are identical with remaining four finger.Whole thumb 1 also has
One free degree around the rotation of palm 6.The free degree that the bending of five finger base portion finger joints is stretched is driven by the motor of finger first
Gear drive realizes that middle finger joint and end finger joint bend the link transmission that the free degree stretched passes through a structurally variable
Mechanism 25 realizes coupled motions, is driven by the second motor.First motor of five fingers is connected with corresponding finger base, the second electricity
Machine is connected with corresponding finger base portion finger joint.Palm 6 include centre of the palm end cap 61 and palm spine frame 62, the two by screw 610,
611st, 612 it is connected.
As shown in Figure 2,3, including centre of the palm end cap 61, palm spine frame 62, palm motor are with subtracting for the described structure of palm 6
Fast device 63, palm first gear 65, palm second gear 66, thumb are constituted around palm rotary shaft 67.The overall dimensions size of palm 6
It is close with adult's hand size.Palm spine frame 62 is provided with the limited impression of correspondence forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5
68 and spacing hole 69, forefinger 2, middle finger 3, the pedestal back side and the palm back of the body provided with corresponding limited impression 68 of the third finger 4 and little finger of toe 5
The face of skeleton 62 is fitted, and correspondence finger base portion joint rotary shaft is socketed with spacing hole 69, realizes each finger and palm spine frame 62
Positioning is with being connected.The limited impression 64 of correspondence palm motor and decelerator is additionally provided with palm spine frame 62.The limit of four fingers
Arrangement and palm 6 of the position groove 68 on palm spine frame 62 are parallel longitudinal, the limited impression 64 of palm motor and decelerator
Arrangement is horizontally-parallel with palm 6.Thumb is located at the underface of middle finger limited impression around palm rotary shaft 67, is sheathed on the palm back of the body
In skeleton 62.The output shaft of palm motor and decelerator 63 is connected with palm first gear 65, and palm second gear 66 is set in
Thumb is in palm rotary shaft 67, and the two is considered as connected, and palm first gear 65 is engaged with palm second gear 66.
Described forefinger 2, middle finger 3, the third finger 4, little finger of toe 5 have identical structure, are respectively provided with a pedestal, three finger joints,
Overall dimensions are suitable with into human hand dimensions.As shown in Fig. 4 (a, b), illustrated by taking forefinger 2 as an example.The motor of forefinger first is with subtracting
Fast device 211 is connected on forefinger pedestal 21 by the positioning of positive stop lug boss 212 of the motor of forefinger first and decelerator, the electricity of forefinger first
The output shaft of machine and decelerator 211 is connected with forefinger pedestal gear 213, forefinger pedestal gear 213 and forefinger base portion finger joint first
Gear engagement 221, forefinger base portion finger joint first gear 221 and forefinger base portion joint shaft 225 are connected, and forefinger base portion finger joint 22 is arranged
In forefinger pedestal 21, it is hinged by forefinger base portion joint shaft 225, forefinger base portion joint shaft 225 is considered as with forefinger base portion finger joint 22
It is connected.The motor of forefinger first and the drive gear transmission system of decelerator 211, rotate base portion finger joint joint shaft 225, realize forefinger
The bending in base portion joint 22 is stretched.The motor of forefinger second passes through the motor of forefinger second and decelerator positive stop lug boss with decelerator 222
223 positioning, are connected with forefinger base portion finger joint 22, the motor of forefinger second and the output shaft of decelerator 222 and forefinger base portion finger joint second
Gear 224 is connected, and forefinger base portion finger joint second gear 224 is engaged with finger joint gear 232 in the middle of forefinger, the He of finger joint 23 in the middle of forefinger
Finger joint gear 232 is connected respectively at forefinger drive link rotary shaft 226 in the middle of forefinger, and finger joint 23 is set in forefinger base in the middle of forefinger
In portion's finger joint 22, it is hinged by forefinger middle joint axle 231.Index finger tip finger joint 24 is set in the another of forefinger centre finger joint 23
End, is hinged by index finger tip joint shaft 241.The motor of forefinger second and the drive gear transmission system of decelerator 222, by motion and power
Forefinger drive link 251 is transmitted to, and then drives the linkage 25 of varistructure to work, forefinger middle joint 23 and forefinger is realized
The bending in end joint 24 is stretched.
The linkage 25 of described varistructure as shown in figure 5, by taking forefinger 2 as an example, including forefinger drive link 251,
Forefinger follower link 252 and extension spring 253.Forefinger drive link 251 is socketed in forefinger drive link rotary shaft 226, by forefinger
Drive link positive stop lug boss 227 is spacing, and finger joint gear 232 drives with forefinger connect respectively in the middle of forefinger drive link 251 and forefinger
Bar rotary shaft 226 is connected.Forefinger drive link 251 is hinged with the one end of forefinger follower link 252, and forefinger follower link 252 is another
End is socketed in forefinger follower link rotary shaft 242, is positioned by forefinger follower link positive stop lug boss 243.The convex of extension spring first
Platform 233 and the second positioning boss of extension spring 244 are located in the middle of forefinger in finger joint 23 and index finger tip finger joint 24 respectively, original state
Under, extension spring 253 is in extended state.Driving force is inputted by the motor of forefinger second and the output shaft of decelerator 222, is referred to through forefinger base portion
Section second gear 224 is transmitted to forefinger drive link rotary shaft 226 with finger joint gear 232 in the middle of forefinger, drives forefinger drive link
251 rotate.Forefinger drive link 251 can drive forefinger follower link 252 to be closed in the middle of index finger tip joint shaft 241 or forefinger
Nodal axisn 231 rotates.When the torque that the motor of forefinger second and decelerator 222 are provided is less than the torque that extension spring 253 is produced, forefinger drives
Dynamic connecting rod 251 drives forefinger follower link 252 to drive forefinger centre finger joint 23 and index finger tip finger joint 24 together in the middle of forefinger
Joint shaft 231 rotates, and realizes that finger joint 23 and index finger tip finger joint 24 are stretched as integrally bending in the middle of forefinger；When the electricity of forefinger second
When machine is more than the torque that extension spring 253 is produced with the torque that decelerator 222 is provided, finger joint 23 in the middle of index finger tip finger joint 24 and forefinger
Separation, forefinger drive link 251 drives the driving of forefinger follower link 252 that index finger tip finger joint 24 is operated alone and closed around index finger tip
Nodal axisn 241 is rotated, and realizing index finger tip finger joint 24, individually bending is stretched.
The described structure of thumb 1 is as shown in figure 1, including thumb rotation boss 11, thumb pedestal 12, thumb base portion finger joint
13rd, finger joint 14 and thumb end finger joint 15 in the middle of thumb.In addition to thumb rotation boss 11, other structures and remaining four finger structure phase
Together, it will not be repeated here.Thumb rotation boss 11 be socketed on thumb around palm rotary shaft 67, be considered as it is connected, by the tooth of palm second
Wheel 66 is positioned.Palm second gear 66 is socketed on thumb around palm rotary shaft 67, is considered as connected.Thumb rotate the side of boss 11 with
The horizontal plane of palm 6 is into 70 °, and initial position thumb 1 and the horizontal plane of palm 6 are into 20 ° so that thumb 1 is overall can be vertical around palm 6
Rotated to 70 ° of angles.Palm motor is connected with the output shaft of decelerator 63 with palm first gear 65, palm first gear 65 and palm
Second gear 66 is engaged, and driving force is exported by palm motor and decelerator 63 to be transmitted to thumb through gear drive and rotated around palm
Axle 67, drives thumb rotation boss 11 to rotate, and realizes that driving thumb 1 is overall and is rotated around palm 6.Thumb 1 is overall can be around palm 6
The angle rotation of 70 ° of longitudinal direction, is rotated by 90 °, now the central axis of thumb 1 and the central axis of middle finger 3 are coplanar, are grabbing by initial position maximum
When taking object, make forefinger 2, the third finger 4, little finger of toe 5 symmetrical in middle finger both sides to the grip of object, make crawl process more steady
It is fixed.
The operation principle of the present embodiment is described below.
With reference to Fig. 4 (a, b), Fig. 5 and Fig. 6 (a, b), the work of the linkage 25 of varistructure is introduced by taking forefinger 2 as an example
Principle.
Driving force passes through the forefinger base portion finger joint second gear 224 connected with it by the motor of forefinger second and decelerator 222
Finger joint gear 232 in the middle of the forefinger being engaged with is transmitted to, and then drives 226 turns connected therewith of forefinger drive link rotary shaft
It is dynamic, drive the forefinger drive link 251 connected with it to rotate.Finger joint 23 and index finger tip finger joint 24 be not with treating in the middle of forefinger
When capturing object 257 and contacting, because the motor of forefinger second and the output torque of decelerator 222 are not enough to overcome forefinger centre finger joint 23
The pulling force of extension spring 253 between index finger tip finger joint 24 so that finger joint 23 and the relative position of index finger tip finger joint 24 in the middle of forefinger
Keep constant, forefinger middle joint axle 231 is closed with the formation virtual link 1 of forefinger follower link rotary shaft 242, forefinger centre
Nodal axisn forms virtual frame 1 with forefinger drive link rotary shaft, therefore the linkage 25 of varistructure is reduced to by eating
Refer to the four-bar mechanism that drive link 251, forefinger follower link 252, virtual bar 1 and virtual frame 1 are constituted, driving food
Refer to drive link 251 to rotate, and then drive virtual bar 1 to be rotated around forefinger middle joint axle 231, realize finger joint in the middle of forefinger
23 and the overall bending of index finger tip finger joint 24 stretch.In the middle of the forefinger finger joint 23 first with when crawl object 257 is contacted, forefinger
Second motor overcomes the pulling force of extension spring 253 with the output torque of decelerator 222, makes finger joint 23 and index finger tip finger joint 24 in the middle of forefinger
Separation.Due to the obstruction of object 257 to be captured so that finger joint can not continue around forefinger middle joint axle 231 and rotate in the middle of forefinger,
Index finger tip joint shaft forms virtual frame 2 255 with forefinger drive link rotary shaft, and index finger tip joint shaft and forefinger are driven
Link rotating shaft formation virtual link 2 256, therefore varistructure linkage 25 be reduced to by forefinger drive link 251,
The quadric chain that forefinger follower link 252, virtual link 2 256 and virtual frame 2 255 are constituted.Continue to drive forefinger driving
Connecting rod 251, makes virtual link 2 256 be rotated around index finger tip joint shaft 241, i.e., index finger tip finger joint 24 is around index finger tip joint
The bending of axle 241, completion treats crawl object 257 and carries out envelope, realizes the grasp motion suitable with human hand；Refer in the middle of forefinger
When section 23 and index finger tip finger joint 24 are together bent, if index finger tip finger joint 24 is first contacted with object 257 to be captured, it is possible to achieve
Pinch suitable with human hand takes action.
Entirely the operation principle of forefinger 2 is
Driving force is transmitted in gear train assembly, gear train assembly by the motor of forefinger first and decelerator 212 first
Forefinger base portion finger joint first gear 221 and forefinger base portion finger joint 22 are connected with forefinger base portion joint shaft 226 respectively, drive whole food
Refer to 2 to rotate around forefinger base portion joint shaft 226, until in the middle of forefinger base portion finger joint 22, forefinger in finger joint 23, index finger tip finger joint 24
Any finger joint is contacted with object 258, and the motor of forefinger first stops operating with decelerator 211, performs the connecting rod of above-mentioned varistructure
The related work principle of mechanism 25 completes the crawl to object 258.Finger joint 23 and index finger tip in the middle of forefinger base portion finger joint 22, forefinger
Pressure sensor can be set in finger joint 24, and when finger encounters object, signal is fed back to motor by pressure sensor, stops it
Rotation stop is moved and keeps certain torque, realizes and the stable of object is captured.Forefinger 2 discharge object 258 when, the motor of forefinger first with
Decelerator 211 and the motor of forefinger second are inverted with decelerator 222, drive gear train assembly driving forefinger drive link 251 anti-
Turn, and under the pulling force effect of extension spring 253, finger joint 23 and index finger tip finger joint 24 are together stretched in the middle of forefinger, while forefinger
Power is transmitted to gear train assembly by the first motor with decelerator 211, is driven forefinger base portion joint shaft 225 to rotate, is realized forefinger
Stretching for base portion joint 22, makes forefinger 2 be returned to initial position.Forefinger base portion joint shaft 225, the and of forefinger middle joint axle 226
Angle can be set on index finger tip joint shaft 242 with position sensor to determine the pose in each joint of finger.
The operation principle of middle finger 3, the third finger 4 and little finger of toe 5 is identical with forefinger 2.
The operation principle of thumb 1 is
Under original state, the place plane of thumb 2 is parallel with palm 6.When capturing object, palm motor drives with decelerator 63
Palm second gear 66 and thumb rotation boss 11 in gear train assembly, gear train assembly are revolved with thumb around palm respectively
Rotating shaft 69 is connected, and thumb rotation boss 11 is connected with thumb 2, thus drives thumb 2 to be turned to around thumb around palm rotary shaft 67
Correct position.Thumb can increase angular transducer in palm rotary shaft 67, the pose for determining thumb 1.Each finger joint of thumb 1
The operation principle for capturing object is identical with forefinger 2.
Claims (8)
1. a kind of drive lacking humanoid dexterous arm device, it is characterized in that：Including five fingers and a palm, wherein five fingers point
Wei not thumb（1）, forefinger（2）, middle finger（3）, it is nameless（4）And little finger of toe（5）；Forefinger（2）, middle finger（3）, it is nameless（4）With
Little finger of toe（5）All it is made up of pedestal, base portion finger joint, middle finger joint, the part of end finger joint four, each finger joint is respectively provided with a bending and stretched
The free degree；Thumb（1）Boss is rotated by thumb（11）, thumb pedestal（12）, thumb base portion finger joint（13）, finger joint in the middle of thumb
（14）With thumb end finger joint（15）Five parts are constituted, except thumb rotates boss（11）Outside, remaining structure is identical with other four fingers；
Whole thumb（1）Also there is one around palm（6）The free degree of rotation；The free degree that the bending of five finger base portion finger joints is stretched
Realized by the first motor driven gear of finger transmission mechanism, the free degree that middle finger joint and the bending of end finger joint are stretched is by one
The jointed gear unit of structurally variable（25）Coupled motions are realized, are driven by the second motor.
2. a kind of drive lacking humanoid dexterous arm device as claimed in claim 1, it is characterized in that：Palm（6）Including centre of the palm end
Lid（61）, palm spine frame（62）, palm motor and decelerator（63）, palm first gear（65）, palm second gear（66）、
Thumb is around palm rotary shaft（67）Composition；Palm（6）Overall dimensions size is close with adult's hand size；Palm spine frame（62）
Provided with correspondence forefinger（2）, middle finger（3）, it is nameless（4）And little finger of toe（5）Finger stopper slot（68）And spacing hole（69）, forefinger
（2）, middle finger（3）, it is nameless（4）And little finger of toe（5）The pedestal back side with provided with finger stopper slot（68）Palm spine frame（62）
Face is fitted, correspondence finger base portion joint rotary shaft and spacing hole（69）Socket, realizes each finger and palm spine frame（62）Determine
Position is with being connected；Palm spine frame（62）On be additionally provided with palm motor and the decelerator stopper slot of correspondence palm motor and decelerator
（64）；Thumb is around palm rotary shaft（67）Positioned at the underface of middle finger limited impression, palm spine frame is sheathed on（62）In；Palm
Motor and decelerator（63）Output shaft and palm first gear（65）It is connected, palm second gear（66）It is set in thumb thorny
Slap rotary shaft（67）On, the two is considered as connected.
3. a kind of drive lacking humanoid dexterous arm device as claimed in claim 1 or 2, it is characterized in that：Forefinger（2）, middle finger（3）、
It is nameless（4）, little finger of toe（5）With identical structure, overall dimensions are suitable with into human hand dimensions；With forefinger（2）Carried out exemplified by structure
Illustrate, including forefinger pedestal（21）, forefinger base portion finger joint（22）, finger joint in the middle of forefinger（23）With index finger tip finger joint（24）；Food
Refer to base portion finger joint（22）Bending stretch by the motor of forefinger first and decelerator（211）Drive gear train assembly（213）、
（221）Drive forefinger base portion joint shaft（225）To realize；Finger joint in the middle of forefinger（23）Pass through extension spring with index finger tip finger joint
（253）Tense, coupled by the linkage of a structurally variable, the motor of forefinger second and decelerator（222）Pass through gear drive
Power is transmitted to forefinger drive link by system（251）, and then the variable linkage of driving structure（25）Work, is realized in forefinger
Between finger joint（23）With index finger tip finger joint（24）Bending stretch.
4. a kind of drive lacking humanoid dexterous arm device as claimed in claim 1 or 2, it is characterized in that：The connecting rod machine of structurally variable
Structure（25）, with forefinger（2）Exemplified by, including forefinger drive link（251）, forefinger follower link（252）And extension spring（253）；Forefinger
Drive link（251）With forefinger base portion finger joint（22）It is socketed in forefinger drive link rotary shaft（226）On, forefinger drive link
（251）With finger joint gear in the middle of forefinger（232）Respectively with forefinger drive link rotary shaft（226）It is connected；Forefinger drive link
（251）With forefinger follower link（252）One end is hinged, forefinger follower link（252）The other end and index finger tip finger joint（24）One
It is same to be socketed in forefinger follower link rotary shaft（242）On；Extension spring（253）It is connected to finger joint in the middle of forefinger（23）Refer to index finger tip
Section（24）On；Driving force is by the motor of forefinger second and decelerator（222）There is provided, forefinger drive link is transmitted to through gear train assembly
Rotary shaft（226）, drive forefinger drive link（251）Rotate；Forefinger drive link（251）Drive forefinger follower link（252）
Drive forefinger follower link rotary shaft（242）Around index finger tip finger joint joint shaft（241）Or finger joint joint shaft in the middle of forefinger（231）
Rotation；When the motor of forefinger second and decelerator（222）The torque of offer is less than extension spring（253）During the torque of generation, forefinger driving
Connecting rod（251）Drive forefinger follower link（252）Drive finger joint in the middle of forefinger（23）With index finger tip finger joint（24）Together around food
Finger joint joint shaft in the middle of referring to（231）Rotation, realizes finger joint in the middle of forefinger（23）With index finger tip finger joint（24）Bending together is stretched
Directly；When the motor of forefinger second and decelerator（222）The torque of offer is more than extension spring（253）During the torque of generation, index finger tip refers to
Section（24）With finger joint in the middle of forefinger（23）Separation, forefinger drive link（251）Drive forefinger follower link（252）Driving is individually driven
Dynamic index finger tip finger joint（24）Around index finger tip finger joint joint shaft（241）Rotation, realizes index finger tip finger joint（24）It is individually curved
Qu Shenzhi.
5. a kind of drive lacking humanoid dexterous arm device as claimed in claim 3, it is characterized in that：The linkage of structurally variable
（25）, with forefinger（2）Exemplified by, including forefinger drive link（251）, forefinger follower link（252）And extension spring（253）；Forefinger drives
Dynamic connecting rod（251）With forefinger base portion finger joint（22）It is socketed in forefinger drive link rotary shaft（226）On, forefinger drive link
（251）With finger joint gear in the middle of forefinger（232）Respectively with forefinger drive link rotary shaft（226）It is connected；Forefinger drive link
（251）With forefinger follower link（252）One end is hinged, forefinger follower link（252）The other end and index finger tip finger joint（24）One
It is same to be socketed in forefinger follower link rotary shaft（242）On；Extension spring（253）It is connected to finger joint in the middle of forefinger（23）Refer to index finger tip
Section（24）On；Driving force is by the motor of forefinger second and decelerator（222）There is provided, forefinger drive link is transmitted to through gear train assembly
Rotary shaft（226）, drive forefinger drive link（251）Rotate；Forefinger drive link（251）Drive forefinger follower link（252）
Drive forefinger follower link rotary shaft（242）Around index finger tip finger joint joint shaft（241）Or finger joint joint shaft in the middle of forefinger（231）
Rotation；When the motor of forefinger second and decelerator（222）The torque of offer is less than extension spring（253）During the torque of generation, forefinger driving
Connecting rod（251）Drive forefinger follower link（252）Drive finger joint in the middle of forefinger（23）With index finger tip finger joint（24）Together around food
Finger joint joint shaft in the middle of referring to（231）Rotation, realizes finger joint in the middle of forefinger（23）With index finger tip finger joint（24）Bending together is stretched
Directly；When the motor of forefinger second and decelerator（222）The torque of offer is more than extension spring（253）During the torque of generation, index finger tip refers to
Section（24）With finger joint in the middle of forefinger（23）Separation, forefinger drive link（251）Drive forefinger follower link（252）Driving is individually driven
Dynamic index finger tip finger joint（24）Around index finger tip finger joint joint shaft（241）Rotation, realizes index finger tip finger joint（24）It is individually curved
Qu Shenzhi.
6. a kind of drive lacking humanoid dexterous arm device as described in claim 1,2 or 5, it is characterized in that：Rotated including thumb convex
Platform（11）, thumb pedestal（12）, thumb base portion finger joint（13）, finger joint in the middle of thumb（14）With thumb end finger joint（15）；Thumb
Rotate boss（11）Thumb is socketed on around palm rotary shaft（67）, it is considered as connected；Palm second gear（66）Be socketed on thumb around
Palm rotary shaft（67）, it is considered as connected；Thumb rotates boss（11）Side and palm（6）Horizontal plane is into 70 °, and initial position thumb
Refer to（1）With palm（6）Horizontal plane is into 20 ° so that thumb（1）Entirety is around palm（6）The angle rotation of 70 ° of longitudinal direction；Driving force is by palm
Motor and decelerator（63）Output is transmitted to thumb around palm rotary shaft through gear drive（67）, drive thumb rotation boss
（11）Rotate, realize driving thumb（1）Entirety is around palm（6）Rotation；Thumb（1）Entirety is around palm（6）The angle rotation of 70 ° of longitudinal direction,
It is rotated by 90 ° by initial position maximum, now thumb（1）Central axis and middle finger（3）Central axis is coplanar, when capturing object,
Make forefinger（2）, it is nameless（4）, little finger of toe（5）Grip to object refers to middle（3）Both sides are symmetrical, make crawl process more steady
It is fixed.
7. a kind of drive lacking humanoid dexterous arm device as claimed in claim 3, it is characterized in that：Boss is rotated including thumb
（11）, thumb pedestal（12）, thumb base portion finger joint（13）, finger joint in the middle of thumb（14）With thumb end finger joint（15）；Thumb revolves
Turn boss（11）Thumb is socketed on around palm rotary shaft（67）, it is considered as connected；Palm second gear（66）It is socketed on thumb thorny
Slap rotary shaft（67）, it is considered as connected；Thumb rotates boss（11）Side and palm（6）Horizontal plane is into 70 °, and initial position thumb
（1）With palm（6）Horizontal plane is into 20 ° so that thumb（1）Entirety is around palm（6）The angle rotation of 70 ° of longitudinal direction；Driving force is by palm electricity
Machine and decelerator（63）Output is transmitted to thumb around palm rotary shaft through gear drive（67）, drive thumb rotation boss（11）
Rotate, realize driving thumb（1）Entirety is around palm（6）Rotation；Thumb（1）Entirety is around palm（6）70 ° of longitudinal direction angle rotation, by first
Beginning position maximum is rotated by 90 °, now thumb（1）Central axis and middle finger（3）Central axis is coplanar, when capturing object, makes food
Refer to（2）, it is nameless（4）, little finger of toe（5）Grip to object refers to middle（3）Both sides are symmetrical, crawl process is more stablized.
8. a kind of drive lacking humanoid dexterous arm device as claimed in claim 4, it is characterized in that：Boss is rotated including thumb
（11）, thumb pedestal（12）, thumb base portion finger joint（13）, finger joint in the middle of thumb（14）With thumb end finger joint（15）；Thumb revolves
Turn boss（11）Thumb is socketed on around palm rotary shaft（67）, it is considered as connected；Palm second gear（66）It is socketed on thumb thorny
Slap rotary shaft（67）, it is considered as connected；Thumb rotates boss（11）Side and palm（6）Horizontal plane is into 70 °, and initial position thumb
（1）With palm（6）Horizontal plane is into 20 ° so that thumb（1）Entirety is around palm（6）The angle rotation of 70 ° of longitudinal direction；Driving force is by palm electricity
Machine and decelerator（63）Output is transmitted to thumb around palm rotary shaft through gear drive（67）, drive thumb rotation boss（11）
Rotate, realize driving thumb（1）Entirety is around palm（6）Rotation；Thumb（1）Entirety is around palm（6）70 ° of longitudinal direction angle rotation, by first
Beginning position maximum is rotated by 90 °, now thumb（1）Central axis and middle finger（3）Central axis is coplanar, when capturing object, makes food
Refer to（2）, it is nameless（4）, little finger of toe（5）Grip to object refers to middle（3）Both sides are symmetrical, crawl process is more stablized.
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|---|---|---|---|
| CN201620217212X | 2016-03-18 | ||
| CN201620217212 | 2016-03-18 |
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| CN206445813U true CN206445813U (en) | 2017-08-29 |
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| CN201621204358.7U Active CN206445813U (en) | 2016-03-18 | 2016-11-08 | A kind of drive lacking humanoid dexterous arm device |
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| CN106346500A (en) * | 2016-03-18 | 2017-01-25 | 杜宇 | Underactuated humanoid dexterous robotic hand device |
| CN107932536A (en) * | 2017-12-21 | 2018-04-20 | 大连大华中天科技有限公司 | A kind of apery five-needle pines blister rust device |
| CN108972515A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic movement function upper limb |
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| CN111421565A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Pulley type under-actuated three-joint mechanical finger structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106346500A (en) * | 2016-03-18 | 2017-01-25 | 杜宇 | Underactuated humanoid dexterous robotic hand device |
| CN107932536A (en) * | 2017-12-21 | 2018-04-20 | 大连大华中天科技有限公司 | A kind of apery five-needle pines blister rust device |
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| CN108972515A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic movement function upper limb |
| CN108972515B (en) * | 2018-09-10 | 2024-02-06 | 河南翔宇医疗设备股份有限公司 | Bionic movement function upper limb |
| CN109571528A (en) * | 2018-12-29 | 2019-04-05 | 南京工程学院 | Activation lacking mechanical finger and finger tips trajectory predictions method |
| CN111421565A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Pulley type under-actuated three-joint mechanical finger structure |
| CN114102643A (en) * | 2021-12-06 | 2022-03-01 | 之江实验室 | Design method of under-actuated humanoid robot claw and other fingers |
| CN114102643B (en) * | 2021-12-06 | 2023-10-03 | 之江实验室 | Design method of under-actuated humanoid robot paw and other fingers |
| CN114888832A (en) * | 2022-05-05 | 2022-08-12 | 大连理工大学 | Tendon rope underactuated humanoid multi-finger dexterous hand device |
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