CN206614534U - It is a kind of to drive external line driving Dextrous Hand - Google Patents
It is a kind of to drive external line driving Dextrous Hand Download PDFInfo
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- CN206614534U CN206614534U CN201720290589.2U CN201720290589U CN206614534U CN 206614534 U CN206614534 U CN 206614534U CN 201720290589 U CN201720290589 U CN 201720290589U CN 206614534 U CN206614534 U CN 206614534U
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- finger
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Abstract
Drive external line to drive Dextrous Hand the utility model discloses a kind of, be made up of finger, palm and forearm；Finger includes connecting by bearing pin between four finger joints, and each finger joint, and is sequentially connected in series；Palm includes palm shell, reel for rope and conductor rope ring；Palm shell is slapped in hole provided with palm hole, finger joint seat insertion；Forearm is by forearm shell, wrist rotating module, angular transducer, wire rope handling rotary shaft and finger actuation module composition；Palm is connected with wrist rotating module；It is provided with finger in a transmission rope, finger joint and is additionally provided with the axis of guide, the axis of guide that transmission rope bypasses each finger joint passes through whole finger cavity, into palm hole, and is converged in conductor rope ring, wrist rotating module is then passed through, into finger actuation module.The utility model is driven using line, small volume, and freedom and flexibility, is driven simple and reliable；Electric machine external is in palm, so as to select heavy-duty motor, realizes larger grasp force, easily captures weight.
Description
Technical field
The utility model is related to bio-robot field, more particularly to a kind of to drive external line driving Dextrous Hand.
Background technology
With continuing to develop for science and technology, increasing work is replaced by machine.However, in many complicated building rings
Under border, simple manipulator can not still substitute people and go to complete complicated and accurate operation.Then a kind of bionic mechanical hand is occurred in that,
It can simulate human hand and go to perform various actions, complete crawl task.
At present, although the Dextrous Hand that the existing bio-robot of in the market is used can go to complete some instead of human hand
Business, but and it is imperfect, still suffer from problems with：
1st, the free degree is smaller.The general single motor driving being placed in palm, is only capable of completing single action, it is impossible to enter
Row compound action or operation.
2nd, bearing capacity is low.Because of palm small volume, be limited to less volume, general Dextrous Hand motor also compared with
It is small, it is impossible to which that high-torque is provided, therefore Dextrous Hand can not capture weight.
3rd, it is complicated.General list motor driving Dextrous Hand, complicated mechanism is, it is necessary to bevel gear, worm gear, worm screw and company
Gan Deng mechanisms realize power distribution and action transmission.
Utility model content
Based on above-mentioned problems of the prior art, the purpose of this utility model is：A kind of free degree height, many drives are provided
Dynamic and grasp force is strong, small volume, is driven the external line driving Dextrous Hand of simple and reliable driving, realize hold, pinch, by etc. it is complicated
Action or the action of many fingers cooperation.
The utility model solves the technical scheme that its technical problem used：
The external line driving Dextrous Hand of driving, is made up of finger, palm and forearm；The finger includes four finger joints, point
It Wei not be connected, and be sequentially connected in series by bearing pin between remote joint, middle joint, base joint and finger joint, and each finger joint, can be free
Rotate；The bearing pin is provided with torsion spring, and the torsion spring can make finger be in extended configuration all the time；
The palm includes palm shell, reel for rope and conductor rope ring；The palm shell is inserted provided with palm hole, the finger joint seat
Enter in the palm hole, and be bolted；The reel for rope is fixed on the bottom in the palm hole, and the conductor rope ring is placed in the centre of the palm
Side；
The forearm is by forearm shell, wrist rotating module, angular transducer, wire rope handling rotary shaft and finger actuation module structure
Into；The palm is connected with the wrist rotating module；
It is provided with the finger in a transmission rope, the finger joint and is additionally provided with the axis of guide, one end of the transmission rope is fixed on
On the axis of guide on the remote joint, the axis of guide that the other end bypasses each finger joint passes through whole finger cavity, into the palm
In hole, and converge in the conductor rope ring, be then passed through the wrist rotating module, into the finger actuation module.
Further, the finger joint is made up of two symmetrical finger joint unit pieces, and the finger joint unit is bolted
Together.
Further, the finger includes five, respectively thumb, forefinger, middle finger, the third finger and little finger of toe, and five fingers
Arrangement on the palm is similar to human hand.
Further, the palm hole is provided with 5, and is corresponded with the finger.
Further, the palm shell includes centre of the palm shell and palm back of the body shell, and provided with bolt on the centre of the palm shell
Hole is penetrated, is penetrated by bolt and both is fixed together.
Further, the end of the palm shell be provided with wrist joint connection unit, the wrist joint connection unit with it is described
Wrist rotating module is connected.
Further, the finger actuation module is made up of 5 rope-winding wheels, support and 5 digital rudder controllers；The digital rudder controller
It is bolted on the support, the rope-winding wheel is arranged on the output shaft of the digital rudder controller.
Further, the angular transducer is connected with the wire rope handling rotary shaft, is placed at the wrist rotating module；It is described
Finger actuation module is located at the rear of the wrist rotating module.
The beneficial effects of the utility model are：Motor is placed in forearm by this programme, therefore when selecting motor
It is not limited by a space, can select powerful motor, larger grasp force can be achieved, easily captures weight, and using five electricity
Machine drives five fingers respectively, and multiple degrees of freedom can be achieved, and many drivings make Dextrous Hand action more flexible, can easily realize hold,
Pinch, by etc. complicated action or many finger cooperative actions, be driven using line, make Dextrous Hand volume consistent with true man, small volume, biography
It is dynamic more simple and reliable.
Brief description of the drawings
Fig. 1 is Dextrous Hand three-view diagram and stereogram.
Fig. 2 is Dextrous Hand explosive view.
Fig. 3 is finger three-view diagram and stereogram.
Fig. 4 is finger explosive view and sectional view.
Fig. 5 is finger wiring schematic diagram.
Fig. 6 is palm three-view diagram and stereogram.
Fig. 7 is palm explosive view and stereogram.
Fig. 8 is palm wiring schematic diagram.
Fig. 9 is forearm three-view diagram and stereogram.
Figure 10 is forearm explosive view.
Figure 11 is finger actuation module explosive view.
In figure：1- fingers, 2- palms, 3- forearms；Joint, 13- bases joint, 14- finger joints seat, 15- in the remote joints of 11-, 12-
Fixing bolt, 16- bearing pins, 17- torsion springs, the 18- axis of guides, 21- palms shell, 22- reel for ropes, 23- conductor ropes axle, 24- palms hole, 25-
Bolt penetrates hole；31- forearms shell, 32- wrists rotating module, 33- angular transducers, 34- wire rope handlings rotary shaft, 35- wrists turn
Dynamic model block, 41- rope-winding wheels, 42- supports, 43- digital rudder controllers.
Embodiment
Below in conjunction with accompanying drawing.The utility model is described further.
Dextrous Hand three-view diagram and stereogram is shown in Fig. 1, as can be seen from the figure the Dextrous Hand in the utility model
It is closely similar with human hand structure.Understood with reference to Fig. 2：Dextrous Hand of the present utility model includes finger 1, palm 2 and forearm 3 three
Point.Wherein, Dextrous Hand includes five fingers, respectively thumb, forefinger, middle finger, the third finger and little finger of toe, in order to reduce Dextrous Hand
Complexity, five finger structure designs are identical, all as shown in Figure 3.
It is as shown in Figure 4 about the concrete structure of finger：Every finger is all made up of 4 finger joints, respectively remote joint 11, in
Joint 12, base joint 13 and finger joint seat 14, each finger joint is by the connection group of fixing bolt 15 by two symmetrical finger joint units
Into, and connected between each finger joint by bearing pin 16, and be sequentially connected in series, it is free to rotate；Torsion spring 17 is provided with bearing pin 16, should
Torsion spring 17 can make finger be in extended configuration all the time.Wherein, finger joint seat 14 end be inserted in palm 2, and by bolt with
Palm 2 is connected.In addition, being additionally provided with the axis of guide 18 and transmission rope in finger joint, one end of transmission rope is fixed on leading for remote joint 11
To on axle, the axis of guide that rope body is bypassed in each finger joint runs through whole finger；Wherein transmission rope is as shown in Figure 5 around rope structure.
Left side view is that motor is pulled after transmission rope in Fig. 5, the state of digital flexion；Right side view does not stress for rope
When, finger is in the state that nature is stretched.
The contour structures of palm 2 are set in the end of palm as shown in fig. 6, the moulding of whole palm is similar with true man's palm
There is wrist joint connection unit, so that palm and forearm are connected with certain free degree, the swing that can make similar wrist moves
Make.
The concrete structure of palm 2 is as shown in fig. 7, comprises palm shell 21, reel for rope 22 and conductor rope ring 23；21 points of palm shell
It is that centre of the palm shell and the palm carry on the back shell two parts, and hole 25 is penetrated provided with bolt on the shell of the centre of the palm, is penetrated by bolt and consolidate both
It is scheduled on together.Provided with palm hole 24 on palm shell 21, finger joint seat 14 is inserted into palm hole 24, and is bolted；Rope
Axle 22 is fixed on the bottom in palm hole 24, and the transmission rope that conductor rope ring 23 is placed in the side in the centre of the palm, finger bypasses reel for rope 22, collect to
In conductor rope ring 23, through wrist joint connection unit, into the drive module of forearm 3.
Wherein, the winding structure of transmission rope is as shown in figure 8, transmission rope enters in palm 2 through finger 1, by reel for rope 22
Guiding, be pooled to conductor rope ring 23, eventually enter into forearm.
The contour structures of forearm 3 are as shown in figure 9, the front end of forearm 3 is wrist cradle head, its wrist with the end of palm 2
Joint connection unit connection.
The concrete structure of forearm 3 as shown in Figure 10, including forearm shell 31, wrist rotating module 32, angular transducer 33,
Wire rope handling rotary shaft 34 and finger actuation module 35；Wherein, palm 2 is connected with wrist rotating module 32；Angular transducer 33 is with wearing
Rope rotary shaft 34 is connected, and is placed at wrist rotating module 32；Finger actuation module 35 is located at the rear of wrist rotating module 32.
Wherein, as shown in figure 11, finger actuation module 35 is by rope-winding wheel 41, the and of support 42 for the structure of finger actuation module 35
Digital rudder controller 43 is constituted, and digital rudder controller 43 is bolted on support 42, and rope-winding wheel 41 is arranged on digital rudder controller 43
On output shaft, the transmission rope come from palm is wrapped on rope-winding wheel 41.When digital rudder controller 43 is rotated, transmission rope shrinks winding
On rope-winding wheel 41, transmission rope pulls finger, realizes the bending of finger.
Finger actuation module 35 includes 5 digital rudder controllers 43 in the present embodiment, so that the bending driving of five fingers is realized,
As needed, the quantity of digital rudder controller 43 can be increased, increase the action species of finger, realize the flexible operating of Dextrous Hand.For example,
A rope is fixed on the conductor rope axle of finger-base joint, the rope other end enters finger actuation module through palm, with driving
Increased digital rudder controller is connected in module, that is, adds driving number, and the bending of the single finger joint of finger can be achieved, and spirit can be achieved
Pinching for dab hand takes action.
The general principle and principal character of this programme and the advantage of this programme has been shown and described above.The technology of the industry
Personnel are it should be appreciated that this programme is not restricted to the described embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of scheme, on the premise of this programme spirit and scope are not departed from, this programme also has various changes and modifications, these changes
Change and improve and both fall within the range of claimed this programme.This programme be claimed scope by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of drive external line driving Dextrous Hand, it is made up of finger, palm and forearm；Characterized in that, the finger bag
Four finger joints are included, are respectively connected between base joint, middle joint, remote joint and finger joint seat, and each finger joint by bearing pin, and according to
Secondary series connection, it is free to rotate；The bearing pin is provided with torsion spring, and the torsion spring can make finger be in extended configuration all the time；
The palm includes palm shell, reel for rope and conductor rope ring；The palm shell is provided with palm hole, the finger joint seat insertion institute
State in palm hole, and be bolted；The reel for rope is fixed on the bottom in the palm hole, and the conductor rope ring is placed in the one of the centre of the palm
Side；
The forearm is by forearm shell, wrist rotating module, angular transducer, wire rope handling rotary shaft and finger actuation module composition；
The palm is connected with the wrist rotating module；
It is provided with a transmission rope, the finger joint in the finger and is additionally provided with the axis of guide, one end of the transmission rope is fixed on described
On the axis of guide on remote joint, the axis of guide that the other end bypasses each finger joint passes through whole finger cavity, into the palm hole,
And converge in the conductor rope ring, the wrist rotating module is then passed through, into the finger actuation module.
2. drive external line to drive Dextrous Hand as claimed in claim 1, it is characterised in that the finger joint is symmetrical by two
Finger joint unit piece is constituted, and the finger joint unit is bolted on together.
3. drive external line to drive Dextrous Hand as claimed in claim 1, it is characterised in that the finger includes five, point
Not Wei thumb, forefinger, middle finger, the third finger and little finger of toe, and arrangement of five fingers on the palm is similar to human hand.
4. drive external line to drive Dextrous Hand as claimed in claim 3, it is characterised in that the palm hole is provided with 5, and with
The finger is corresponded.
5. drive external line to drive Dextrous Hand as claimed in claim 1, it is characterised in that the palm shell includes the centre of the palm
Shell and palm back of the body shell, and hole is penetrated provided with bolt on the centre of the palm shell, penetrated by bolt and both are fixed together.
6. drive external line to drive Dextrous Hand as claimed in claim 1, it is characterised in that the end of the palm shell is set
There is wrist joint connection unit, the wrist joint connection unit is connected with the wrist rotating module.
7. drive external line to drive Dextrous Hand as claimed in claim 1, it is characterised in that the finger actuation module is by propping up
Frame, several rope-winding wheels and several digital rudder controllers are constituted；The digital rudder controller is bolted on the support, described
Rope-winding wheel is arranged on the output shaft of the digital rudder controller.
8. drive external line to drive Dextrous Hand as claimed in claim 1, it is characterised in that the angular transducer with it is described
Wire rope handling rotary shaft is connected, and is placed at the wrist rotating module；The finger actuation module is located at the wrist rotating module
Rear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720290589.2U CN206614534U (en) | 2017-03-23 | 2017-03-23 | It is a kind of to drive external line driving Dextrous Hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720290589.2U CN206614534U (en) | 2017-03-23 | 2017-03-23 | It is a kind of to drive external line driving Dextrous Hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206614534U true CN206614534U (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720290589.2U Active CN206614534U (en) | 2017-03-23 | 2017-03-23 | It is a kind of to drive external line driving Dextrous Hand |
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| CN (1) | CN206614534U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826771A (en) * | 2017-03-23 | 2017-06-13 | 江苏安格尔机器人有限公司 | It is a kind of to drive external line to drive Dextrous Hand |
-
2017
- 2017-03-23 CN CN201720290589.2U patent/CN206614534U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826771A (en) * | 2017-03-23 | 2017-06-13 | 江苏安格尔机器人有限公司 | It is a kind of to drive external line to drive Dextrous Hand |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190402 Address after: Room 253, No. 18 Xinya Road, Wujin National High-tech Industrial Development Zone, Changzhou City, Jiangsu Province, 213100 Patentee after: One robot technology (Changzhou) Co., Ltd. Address before: 213100 Changzhou Wujin District, Jiangsu Province, No. 18 Changwuzhong Road, Changzhou Science and Education City, Jiangnan Institute of Modern Industry, Fifth Floor, Fourth Floor Patentee before: Jiangsu Angell robot Co., Ltd. |