CN209954679U - Under-actuated humanoid dexterous hand driven and controlled by micro motor - Google Patents
Under-actuated humanoid dexterous hand driven and controlled by micro motor Download PDFInfo
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- CN209954679U CN209954679U CN201721838376.5U CN201721838376U CN209954679U CN 209954679 U CN209954679 U CN 209954679U CN 201721838376 U CN201721838376 U CN 201721838376U CN 209954679 U CN209954679 U CN 209954679U
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Abstract
The utility model discloses a by micro motor drive control's imitative dexterous hand of people of underactuation, include: one palm and five fingers, wherein the five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, and the external dimension proportion of the fingers refers to the hand of a female in China. Five fingers are mutually independent, and have 6 driving degrees of freedom, namely 2 degrees of freedom for rolling and pitching the thumb base joint and 4 degrees of freedom for pitching the middle joint and other four fingers. The relative angle between the two knuckles of the dexterous hand is fixed according to the relative angle (about 10-30 degrees) between the middle knuckle and the far knuckle when the human hand grabs a common object, and the design of the far joint driven mechanism is simplified. Dexterous hand outward appearance small and exquisite, compact structure is simple, has the gesture of snatching of dozens of differences, can realize effective and accurate task of snatching.
Description
Technical Field
The invention relates to a dexterous hand, in particular to an under-actuated humanoid dexterous hand driven and controlled by a micro motor.
Background
With the rapid development of the robot technology, the application field of the robot technology is increasingly expanded. Among them, the execution part of the robot has a very close role to the working environment, and the dexterous hand is used as an end effector, which affects the intellectualization of the robot and the improvement of the working level, so that the humanoid dexterous hand with a plurality of joints has become one of the research hotspots in the robot field. The traditional manipulator is mainly a clamping device with a simple mechanism, and if the tail end clamp holder of the robot can be as flexible as a human hand, the clamping device can be applied to different occasions to complete different work tasks, is convenient for solving difficult and difficult problems, and is beneficial to reducing the cost and improving the work efficiency.
The dexterous hand technology has been developed for a long time, and some representative products are generated, such as an I-limb bionic medical hand, which is provided with 5 fingers, can be used for artificial limbs of disabled people through myoelectric control, and also comprises an HIT/DLR hand and a SHADOW hand, wherein the 3 hands are driven by multiple motors, and driving joints are arranged on finger joints and palms.
The bionic dexterous hand in the prior art is complex in design mechanism, multiple in required driving units, difficult to control, high in cost and not beneficial to popularization and practicability of the dexterous hand.
Disclosure of Invention
The invention aims to provide an under-actuated humanoid dexterous hand driven and controlled by a micro motor so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an under-actuated humanoid dexterous hand driven and controlled by a micro motor comprises a palm shell, a motor, a thumb, an index finger, a middle finger, a ring finger and a little finger; the thumb comprises a thumb proximal knuckle, a thumb middle knuckle, a thumb distal knuckle, a thumb base joint, a thumb middle joint and a thumb distal joint, the thumb middle knuckle and the thumb proximal knuckle are hinged through the thumb middle joint, the thumb middle knuckle and the thumb distal knuckle are hinged through the thumb distal joint, the thumb base joint is a worm gear and worm rod transmission mechanism, the rotary motion of a motor fixed in a palm is converted into worm gear rotary motion of the thumb base joint, the motor is fixed on the thumb middle knuckle, the rotary motion is transmitted to a screw rod through a gear set at the output end of the motor, the nut rod moves axially along the screw rod along with the rotation of the screw rod, one end of the nut rod is hinged with a first small connecting rod through a first shaft pin, and the first small connecting rod is hinged with a shell of the thumb distal knuckle through a second shaft pin; the other end of the first nut rod is hinged with a first connecting rod through a third hinge pin, the first connecting rod is hinged with a fourth hinge pin in the middle of a proximal knuckle of a thumb, a thumb is straightened to be bent, a motor rotates, the screw rod is driven to rotate clockwise and axially through two gear sets which are meshed with each other, the nut is driven to move upwards, the first small connecting rod is driven by the nut to move upwards, so that a distal knuckle of the thumb is pushed to rotate clockwise around a distal knuckle of the thumb, the distal knuckle of the thumb is bent, meanwhile, the first connecting rod is pulled by the first nut rod, the first connecting rod rotates clockwise around a hole of the fourth hinge pin, the middle knuckle of the thumb is bent around a middle knuckle of the thumb, the index finger comprises a proximal knuckle of the index finger, a distal knuckle of the index finger, a base knuckle of the index finger and a middle knuckle of the index finger, one end of the proximal knuckle of the index finger is hinged with a palm base through the base, one end of the forefinger connecting rod II is hinged with a hole in the palm base, the other end of the forefinger connecting rod II is hinged with a hole in the far knuckle in the forefinger, the near knuckle of the forefinger, the far knuckle in the middle of the forefinger, the palm base and the connecting rod II form a crossed four-bar linkage mechanism, linkage of the forefinger base joint and the far knuckle in the forefinger is realized, a sliding groove is formed in the near knuckle of the forefinger, the sliding groove is connected with the small connecting rod II through a fifth shaft pin, the fifth shaft pin can freely slide along the sliding groove, the small connecting rod II, the small connecting rod III and the nut rod II are hinged with a seventh shaft pin through a sixth shaft pin respectively, the nut rod II can move up and down through axial rotation of the lead screw, the output end of the motor transmits rotary motion to the lead screw through two meshed gear sets, the lead screw rotates.
As a further scheme of the invention: the ratio of the index finger, the middle finger, the ring finger and the little finger is 1:1.1:1: 0.8.
As a further scheme of the invention: the small connecting rod two can rotate clockwise around the shaft pin six relative to the small connecting rod three, and mechanical limit exists when the relative angle of anticlockwise rotation exceeds excessive.
Compared with the prior art, the invention has the beneficial effects that: the under-actuated bionic dexterous hand provided by the invention is driven by 6 motors, and has the size and shape equivalent to that of an adult female hand. The base joint of the thumb is provided with a motor for controlling the opening and closing freedom degree, the structures of other four fingers except the thumb are completely the same, the middle knuckle and the far knuckle are set to form a fixed angle, the design of a far joint driven mechanism is reduced, and the finger structure is simplified. In addition, a sliding groove mechanism capable of preventing fingers or people from being injured when accidentally colliding is designed. The drive motor of the bionic dexterous hand is integrated in the palm, and the control can be realized through 1-2 drive cards. The bionic hand has small volume, light weight, simple structure and low cost, and is suitable for the field of the artificial hand of the disabled and the humanoid robot.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a right side view of the thumb structure of the present invention.
Fig. 3 is a right side view of the thumb of the present invention from straightened to bent configuration, from a to b.
Fig. 4 is a right side view of the index finger configuration of the present invention.
Figure 5 is a right side view of the index finger of the present invention from straightened to a curved configuration.
Fig. 6 is a right side view of the index finger sliding groove principle structure of the present invention.
Fig. 7 is a rear left view of the torsion spring configuration of the present invention.
In the figure: 1-palm shell; 2-motor fixing base; 3-thumb; 301-thumb base joint; 302-thumb proximal knuckle; 303-thumb middle joint; 304-thumb middle knuckle; 305-thumb distal joint; 306-the distal knuckle of the thumb; 307-gear set of motor 2; 308-a screw; 309-nut rod one; 310-axle pin one; 311-small link one; 312-axle pin two; 313-axle pin III; 314-link one; 315-axle pin four; 4-index finger; 401-a palm base; 402-index finger base joint; 403-index finger proximal knuckle; 404-middle joint of index finger; 405-the middle and distal knuckle of the index finger; 406-torsion spring; 407-hinged hole of connecting rod and palm base; 408-a hinge hole for the link and the middle and distal knuckle; 409-connecting rod two; 410-a chute; 411 a-position one of the chute; 411 b-position two of the chute; 411-axle pin five; 412-small link two; 413-shaft pin six; 414-small link three; 415-axle pin seven; 416-a second nut stem; 417-a lead screw; 418-forefinger motor-gear set; 5-middle finger; 6-ring finger; 7-little finger.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, in the embodiment of the present invention, an under-actuated humanoid dexterous hand driven and controlled by a micro motor includes a palm shell 1, a motor 2, a thumb 3, an index finger 4, a middle finger 5, a ring finger 6, and a little finger 7; the thumb is divided into a thumb proximal knuckle 302, a thumb middle knuckle 304, a thumb distal knuckle 306, a thumb base joint 301, a thumb middle joint 303 and a thumb distal joint 305, the thumb middle knuckle 304 and the thumb proximal knuckle 302 are hinged through the thumb middle joint 303, the thumb middle knuckle 304 and the thumb distal knuckle 306 are hinged through the thumb distal joint 305, the thumb base joint 301 is a worm gear and worm rod transmission mechanism and converts the rotation motion of a motor fixed in a palm into the worm gear rotation motion of the thumb base joint 301, the motor 2 is fixed on the thumb middle knuckle 304, the output end of the motor 2 transmits the rotation motion to a screw rod 308 through a gear set 307, a nut rod 309 can axially move along the screw rod along with the rotation of the screw rod 308, one end of the nut rod 309 is hinged with a small connecting rod one 311 through a shaft pin one 310, and the small connecting rod one 311 is hinged with a thumb distal knuckle 306 shell through a shaft pin two 312; the other end of the nut rod I309 is hinged with a connecting rod I314 through a shaft pin III 313, the connecting rod I314 is hinged with a shaft pin IV 315 in the middle of the proximal knuckle 302 of the thumb, the thumb is straightened to bend, the motor 2 rotates, the screw rod 308 is driven to rotate clockwise and axially through two gear sets 307 which are meshed with each other, so that the nut rod I309 moves upwards, the nut rod I309 drives the small connecting rod I311 to also move upwards, the distal knuckle 306 of the thumb is pushed to rotate clockwise around the distal knuckle 305 of the thumb, the distal knuckle 306 of the thumb is bent, meanwhile, the nut rod I309 pulls the connecting rod I314, the hole of the connecting rod I314 around the shaft pin IV 315 rotates clockwise, the middle knuckle 304 of the thumb is bent around the middle knuckle 303 of the thumb, the proximal knuckle 403 of the index finger, the distal knuckle 405 of the index finger, the base 402 of the index finger and the middle joint 404 of the index finger, one end of the proximal knuckle 403 of the index, the other end of the first finger is hinged with the middle-far knuckle 405 of the index finger through the middle-index finger joint 404, a torsion spring 406 with pretightening force is arranged at the joint, one end of a second index finger connecting rod 409 is hinged with a hole 407 on a palm base, the other end of the second index finger connecting rod 409 is hinged with a hole 408 on the middle-far knuckle 405 of the index finger, the first index finger near knuckle 403, the middle-far knuckle 405, the palm base 401 and the second connecting rod 409 form a crossed four-bar mechanism, linkage of the base joint 402 of the index finger and the middle-far knuckle 405 of the index finger is realized, a sliding groove 410 is arranged on the near knuckle 403 of the index finger, the sliding groove 410 is connected with a second small connecting rod 412 through a fifth shaft pin 411, the fifth shaft pin 411 can freely slide along the sliding groove 410, the second small connecting rod 412, the third small connecting rod 414 and the second nut rod 416 are respectively hinged with a seventh shaft pin 415 through a, so that the lead screw 417 rotates (rotates) in the axial direction, the second nut rod 416 moves downward in the axial direction along with the rotation of the lead screw 417, and the downward movement of the second nut rod 416 pulls the third small link 414 and the second small link 412 to move downward.
The working principle of the invention is as follows: as shown in fig. 2, the process from straightening to bending of the thumb is as shown in fig. 3 from a to b, the motor 2 rotates, the gear set 307 drives the screw rod 308 to rotate axially, the rotation of the screw rod causes the nut rod one 309 to move upwards (the nut rod is a black part in the figure at the position of the screw rod), the nut rod one 309 drives the small link rod one 311 to also move upwards, and therefore the distal knuckle 306 is pushed to rotate clockwise around the distal joint 305, and the distal knuckle 306 is bent. At the same time, the nut rod one 309 pulls the link one 314, causing the hole of the link one 314 around the axle pin 315 to rotate clockwise, effecting a bending motion of the middle knuckle 304 around the middle joint 303. Finally realizing the motion of straightening the thumb to bend. The process of bending the thumb to unbend is the reverse of that described above.
The other four-finger structure of the under-actuated humanoid dexterous hand is shown in fig. 4, the process of stretching the index finger to bend the index finger is shown in fig. 3, the output end of the motor transmits the rotation motion to the lead screw 417 through the gear set 418, so that the lead screw 417 rotates along the axial direction, and the nut rod two 416 moves downwards along the axial direction along with the rotation of the lead screw 417. The second nut rod 416 moves downwards to pull the small connecting rod 414, and the second small connecting rod 412 moves downwards. The second small link 412 pulls the proximal knuckle 403 downward through the pin 411 in the slot 410 to rotate clockwise around the base joint 402. Due to the crossed four-bar linkage structure, the upper end of the proximal knuckle 403 pushes the middle distal knuckle 405 to rotate clockwise around the linkage upper end hole 408 through the middle joint 404, thereby achieving finger bending.
As shown in figure 6, in the finger bending process, if the motor stops operating, the middle and far knuckles 405 are pulled by an external force towards the finger bending direction, because the threaded lead screw 417 mechanism is in a locked state, the small link 414 can only rotate around the axle pin and cannot move up and down along the axial direction of the lead screw, so that the axle pin 411 in the chute 410 can slide to 411b from 411a, and simultaneously the small link two 412 can rotate clockwise around the axle pin 413 by a certain angle relative to the small link 414. During the sliding of the shaft pin 411 from 411a to 411b, the middle distal knuckle 405 and the proximal knuckle 403 move clockwise in the direction of finger flexion under the action of external force. The flexibility design of the fingers can ensure that the dexterous hand cannot cause structural damage due to the rigidity of the mechanical structure of the dexterous hand and cannot cause damage to the collided people or objects when the dexterous hand is accidentally collided.
As shown in figure 7, when the forefinger is bent to be straightened, the torsion angle of the torsion spring 406 always provides counterclockwise restoring moment for the finger, so that the finger tends to be straightened, and the shaft pin 411 in the sliding groove is forced to be kept at the end 411 a. The proximal knuckle 403 pulls the second small link 412 and the second small link 414 through the sliding slot 410, so that the second nut rod 416 always receives an upward pulling force. When the motor is not rotating, the threaded lead screw 417 is locked and the fingers cannot move. When the motor rotates reversely, the output end of the motor transmits the rotation to the lead screw 417 through the gear set 418, so that the lead screw 417 rotates axially, the nut rod two 416 moves axially upwards along with the rotation of the lead screw 417, and is matched with the torsion spring 406, so that the middle and distal knuckles 405 can rotate anticlockwise around the middle joint 404, and the finger can be straightened.
Claims (3)
1. An under-actuated humanoid dexterous hand driven and controlled by a micro motor comprises a palm shell (1), a motor (2), a thumb (3), a forefinger (4), a middle finger (5), a ring finger (6) and a little finger (7); the thumb is characterized in that the thumb is divided into a thumb proximal knuckle (302), a thumb middle knuckle (304), a thumb distal knuckle (306), a thumb base joint (301), a thumb middle joint (303) and a thumb distal joint (305), the thumb middle knuckle (304) is hinged with the thumb proximal knuckle (302) through the thumb middle joint (303), the thumb middle knuckle (304) is hinged with the thumb distal knuckle (306) through the thumb distal joint (305), the thumb base joint (301) is a worm gear transmission mechanism, the rotary motion of a motor fixed in a palm is converted into worm gear rotary motion of the thumb base joint (301), the motor (2) is fixed on the thumb middle knuckle (304), the rotary motion of the output end of the motor (2) is transmitted to the screw rod (308) through a gear set (307) of the motor (2), and the nut rod (309) can axially move along the screw rod along with the rotation of the screw rod (308), one end of the nut rod I (309) is hinged with a small connecting rod I (311) through a shaft pin I (310), and the small connecting rod I (311) is hinged with a finger shell of the thumb far knuckle (306) through a shaft pin II (312); the other end of the nut rod I (309) is hinged with a connecting rod I (314) through a shaft pin III (313), the connecting rod I (314) is hinged at a shaft pin IV (315) in the middle of the thumb proximal knuckle (302), the thumb is straightened to be bent, the motor (2) rotates, the screw rod (308) is driven to rotate clockwise and axially through a gear set (307) of the two mutually meshed motors (2), so that the nut rod I (309) moves upwards, the nut rod I (309) drives the small connecting rod I (311) to move upwards, the thumb distal knuckle (306) is pushed to rotate clockwise around the thumb distal joint (305), the thumb distal knuckle (306) is bent, meanwhile, the nut rod I (309) pulls the connecting rod I (314), the hole of the connecting rod I (314) around the shaft pin IV (315) rotates clockwise, the bending motion of the thumb middle knuckle (304) around the thumb middle joint (303) is realized, the index finger comprises an index finger proximal knuckle (403), an index finger middle distal knuckle (405), an index finger base joint (402) and an index finger middle joint (404), one end of the index finger proximal knuckle (403) is hinged with the palm base (401) through the index finger base joint (402), the other end of the index finger proximal knuckle is hinged with the index finger middle distal knuckle (405) through the index finger middle joint (404), a torsion spring (406) with pretightening force is arranged at the joint, one end of an index finger connecting rod II (409) is hinged with a connecting rod on the palm base and a hinged hole (407) of the palm base, the other end of the index finger connecting rod II is hinged with a connecting rod on the index finger middle distal knuckle (405) and a hinged hole (408) of the middle distal knuckle, a crossed four-bar mechanism is formed by the index finger proximal knuckle (403), the index finger middle distal knuckle (405), the palm base (401) and the connecting rod II (409), the linkage of the index finger base joint (402) and the index finger middle distal knuckle (405) is, the sliding groove (410) is connected with the small connecting rod II (412) through a shaft pin five (411), the shaft pin five (411) can freely slide along the sliding groove (410), the small connecting rod II (412), the small connecting rod III (414) and the nut rod II (416) are respectively hinged with the shaft pin seven (415) through a shaft pin six (413), the nut rod II (416) can move up and down through the axial rotation of a lead screw (417), the output end of a motor transmits the rotary motion to the lead screw (417) through two meshed forefinger motor gear sets (418), so that the lead screw (417) axially rotates, the nut rod II (416) can axially move downwards along with the rotation of the lead screw (417), and the nut rod II (416) moves downwards to pull the small connecting rod III (414) and the small connecting rod II (412) to move downwards.
2. The under-actuated humanoid dexterous hand driven and controlled by the micro motor as claimed in claim 1, wherein the ratio of the index finger (4), the middle finger (5), the ring finger (6) and the little finger (7) is 1:1.1:1: 0.8.
3. The under-actuated humanoid dexterous hand driven and controlled by the micro motor as claimed in claim 1, wherein the small link two (412) can rotate clockwise around the pivot pin six (413) relative to the small link three (414), and a mechanical limit exists when the relative angle of the counterclockwise rotation exceeds 180 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721838376.5U CN209954679U (en) | 2017-12-26 | 2017-12-26 | Under-actuated humanoid dexterous hand driven and controlled by micro motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721838376.5U CN209954679U (en) | 2017-12-26 | 2017-12-26 | Under-actuated humanoid dexterous hand driven and controlled by micro motor |
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| CN209954679U true CN209954679U (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721838376.5U Expired - Fee Related CN209954679U (en) | 2017-12-26 | 2017-12-26 | Under-actuated humanoid dexterous hand driven and controlled by micro motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932541A (en) * | 2017-12-26 | 2018-04-20 | 上海哲谦应用科技有限公司 | A kind of drive lacking humanoid dextrous hand by micromachine drive control |
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111904783A (en) * | 2020-07-09 | 2020-11-10 | 浙江工业大学 | Hand rehabilitation device |
| CN113370256A (en) * | 2021-06-25 | 2021-09-10 | 北京因时机器人科技有限公司 | Mechanical dexterous hand and robot |
| CN113547533A (en) * | 2021-07-23 | 2021-10-26 | 南京超亿智能科技有限公司 | Adjustable multi-angle industrial manipulator clamping device |
-
2017
- 2017-12-26 CN CN201721838376.5U patent/CN209954679U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932541A (en) * | 2017-12-26 | 2018-04-20 | 上海哲谦应用科技有限公司 | A kind of drive lacking humanoid dextrous hand by micromachine drive control |
| CN107932541B (en) * | 2017-12-26 | 2023-12-12 | 上海哲谦应用科技有限公司 | Under-actuated humanoid dexterous hand driven and controlled by micro motor |
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111673781B (en) * | 2020-06-10 | 2022-06-03 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111904783A (en) * | 2020-07-09 | 2020-11-10 | 浙江工业大学 | Hand rehabilitation device |
| CN113370256A (en) * | 2021-06-25 | 2021-09-10 | 北京因时机器人科技有限公司 | Mechanical dexterous hand and robot |
| CN113370256B (en) * | 2021-06-25 | 2023-01-17 | 北京因时机器人科技有限公司 | Mechanical dexterous hand and robot |
| CN113547533A (en) * | 2021-07-23 | 2021-10-26 | 南京超亿智能科技有限公司 | Adjustable multi-angle industrial manipulator clamping device |
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