CN210551293U

CN210551293U - Parallel type humanoid robot hand based on gear and push-pull rod combined driving

Info

Publication number: CN210551293U
Application number: CN201921625215.7U
Authority: CN
Inventors: 尹小林; 赵海洋; 梁旭
Original assignee: Changsha Zichen Technology Development Co Ltd
Current assignee: Changsha Zichen Technology Development Co Ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2020-05-19
Anticipated expiration: 2029-09-27

Abstract

The parallel humanoid robot hand comprises a thumb, an index finger, a middle finger, a ring finger, a little finger and a palm, wherein each finger comprises a near knuckle, a middle knuckle and a far knuckle; the bottom of the proximal knuckle is hinged to the palm and driven by a gear train. The utility model can accurately control and provide the load capacity with higher stability, and realize the automatic control of force, temperature and touch sense through the sensor; the flexibility is better; the butt joint of the thumb and any finger can be realized, and the personification level is higher.

Description

Parallel type humanoid robot hand based on gear and push-pull rod combined driving

Technical Field

The utility model relates to a humanoid robot technical field, concretely relates to humanoid robot of parallel based on gear and push-and-pull rod combination drive.

Background

With the research of people on robots, robots are one of the popular research directions in the field of robots due to the characteristics of stable load capacity, accurate control capacity and the like of the robots. Dexterous hand is a humanoid robot hand with multiple degrees of freedom and high flexibility, which is paid much attention to, and is subjected to various innovative works by scientific workers of various countries.

At present, the dexterous hands on the market are mostly classified in a driving mode, and the following types are mainly available: firstly, the bending of joints of the dexterous hand is realized by driving of a wire rope or a steel wire, the technical scheme disclosed by CN 201611062993.0 adopts a motor to drive two connecting wires to pull the joints to bend and extend, the technical scheme disclosed by CN 201510868252.0, CN 201720995289.4 and CN201721807938.X adopts a mode of pulling a finger pin by a key rope to realize the bending of the dexterous hand, and the technical scheme disclosed by CN201811531709.9 adopts a mode of driving a special-shaped steel cable to realize the bending action of the dexterous hand, wherein the modes mainly have the problems of low control precision, hysteresis, small required pretightening force and driving torque and the like; secondly, power transmission is carried out through a worm gear, and the technical scheme disclosed by CN 201610371317 adopts the worm gear to change the direction of the output force of each joint motor so as to realize the bending of fingers, and the technical scheme has the common problems of inaccurate control, small transmission torque, low load performance and the like when a motor is adopted to drive a speed reducer; thirdly, the fingers of the dexterous hand disclosed in CN 200410102702.7 and CN 201110194977.8 are driven by multi-stage gears or racks, so that the structure is complex, the transmission torque is small due to the limitation of the size of the gears, and the flexibility is greatly reduced only by adopting the gears; fourthly, memory alloy and cylinder driving are adopted, the cost is high, and meanwhile, the fatigue of metal and the air tightness of the cylinder seriously limit the development of the memory alloy and the cylinder; and fifthly, a series connection connecting rod form is adopted, so that the control accuracy is low, and the accurate control is difficult to realize.

In view of the above, there is a need for a humanoid robot hand which can be precisely controlled and provide a stable and high load capacity, and which is suitable for use as a bionic robot or an actuator in an industrial production line.

Disclosure of Invention

The utility model aims to solve the technical problem that, overcome prior art and background not enough, provide one kind can accurate control and can provide stable higher load capacity, applicable use in bionical robot or industrial production line do the executor use based on gear and push-and-pull rod driven humanoid robot hand.

The technical scheme that its technical problem of the utility model was adopted is, based on gear and push-and-pull rod combination driven parallel humanoid robot hand, including thumb, forefinger, middle finger, third finger, little finger and palm, each finger all includes nearly knuckle, middle knuckle and far knuckle, nearly knuckle and middle knuckle articulate and form parallelly connected double hinge structure through push rod, first articulated seat and first adjustable lead screw, middle knuckle and far knuckle articulate and form parallelly connected double hinge structure through pull rod, second articulated seat and second adjustable lead screw; the bottom of the proximal knuckle is hinged with the palm and driven by a gear set.

Furthermore, a push rod seat is arranged on the proximal knuckle, the bottom end of the push rod is hinged with the push rod seat, and the front end of the push rod is hinged with a second hinge hole of the first hinge seat; the middle knuckle is provided with a first adjustable screw rod seat and a second adjustable screw rod seat, the near knuckle, the middle knuckle and a first hinge hole of the first hinge seat are hinged through a shaft, one end of the first adjustable screw rod is hinged with a third hinge hole of the first hinge seat, and the other end of the first adjustable screw rod is hinged with the first adjustable screw rod seat; one end of the second adjustable screw rod is hinged with the fifth hinge hole of the second hinge seat, and the other end of the second adjustable screw rod is hinged with the second adjustable screw rod seat; the far knuckle is provided with a pull rod seat, and the far knuckle, the middle knuckle and a fourth hinge hole of the second hinge seat are hinged through a shaft; one end of the pull rod is hinged with the sixth hinge hole of the second hinge seat, and the other end of the pull rod is hinged with the pull rod seat.

Furthermore, the palm is of a hollow structure, and is provided with a thumb seat, a forefinger seat, a middle finger seat, a ring finger seat and a little finger seat which are sequentially hinged with the bottoms of the proximal knuckles of the corresponding fingers and driven by a motor through a bevel gear set arranged on the hinged shaft.

Furthermore, articulated shafts of each finger and the palm, each near knuckle and the middle knuckle, and each middle knuckle and the far knuckle are respectively provided with a position encoder.

Furthermore, the push rod and the pull rod of each finger are provided with position sensors.

Furthermore, the mechanical structure of each finger and palm is also provided with a human skin imitation or flexible material or elastic material.

Furthermore, a force sensor and/or a touch sensor and/or a temperature sensor are arranged on the knuckle of each finger.

Furthermore, a control device is also arranged and is arranged in the palm or integrated in the bionic mechanical arm or the bionic robot.

Furthermore, the push rod and the pull rod adopt electric push-pull rods; the bevel gear set is driven by a speed reducer or a reduction gear set through a servo steering engine or a servo motor.

The working process and principle are as follows:

the utility model discloses with the servo steering wheel or the servo motor drive speed reducer or the reduction gear group drive bevel gear group of each finger of controlling means control (thumb, forefinger, the middle finger, the ring finger, little finger), implement the feedback angle with position encoder, realize the accurate control of each finger and palm bending, simultaneously with the push rod, the flexible of pull rod, and constitute the high accuracy control of the form that the full closed loop realized each knuckle with position sensor and finger internode position encoder, thereby realize accurate motion and the humanoid robot of the fifteen degrees of freedom of humanoid robot hand to the grabbing of great weight and different shape object, functions such as kneading and holding, carry out power and tactile feedback through force transducer and the tactile sensor that sets up, the dynamics of the object is grabbed in adaptation that can be better is held, still can carry out temperature-sensing detection and feedback discernment through the temperature sensor who sets up on the knuckle.

The utility model discloses following positive effect has:

(1) the gear and the push-pull rod are combined, so that the high load capacity of stability can be accurately controlled and provided, and the automatic control of force, temperature and touch can be realized through the sensor.

(2) The five fingers have fifteen degrees of freedom, and can accurately realize the functions of grabbing, holding and pinching objects.

(3) The butt joint of the thumb and any finger can be realized, the personification level is high, the bionic robot is very suitable for being used as a bionic robot, and meanwhile, the bionic robot can also be suitable for being used as an end effector in an industrial production line.

Drawings

Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is an overall side view of the embodiment shown in FIG. 1;

FIG. 3 is a schematic view of the index finger of the embodiment shown in FIG. 1;

FIG. 4 is a schematic view of the hinge base of the embodiment of FIG. 1;

FIG. 5 is a schematic view of the structure of the pinching frame of the embodiment shown in FIG. 1;

fig. 6 is a schematic view of finger bending of the embodiment shown in fig. 1.

In the figure, 1-thumb, 2-forefinger, 21-proximal knuckle, 211-pusher base, 22-middle knuckle, 221-first adjustable screw base, 222-second adjustable screw base, 23-distal knuckle, 24-pusher, 25-first hinge base, 251-first hinge hole, 252-second hinge hole, 253-third hinge hole, 26-first adjustable screw, 27-pull rod, 271-puller base, 28-second hinge base, 281-fourth hinge hole, 282-fifth hinge hole, 283-sixth hinge hole, 29-second adjustable screw, 3-middle finger, 4-ring finger, 5-little finger, 6-palm, 61-bevel gear group, 62-thumb base, 63-forefinger base, 64-middle finger base, 65-ring finger seat, 66-little finger seat, 67-servo steering engine, 7-position encoder, 71-first position sensor, 72-second position sensor, 73-touch sensor, 74-temperature sensor, 75-force sensor, 8-humanoid skin, and 9-control device.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

Referring to fig. 1 to 6, the present embodiment includes a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, a little finger 5 and a palm 6, each finger includes a proximal knuckle 21, a middle knuckle 22 and a distal knuckle 23 (for example, the index finger 2 is taken as an example, the structures of the other fingers are similar), the proximal knuckle 21 and the middle knuckle 22 are hinged and form a parallel double-hinged structure through a push rod 24, a first hinge seat 25 and a first adjustable screw rod 26, and the middle knuckle 22 and the distal knuckle 23 are hinged and form a parallel double-hinged structure through a pull rod 27, a second hinge seat 28 and a second adjustable screw rod 29; the bottom of the proximal knuckle 21 is hinged to the palm 6 and driven by bevel gear set 61.

A push rod seat 211 is arranged on the proximal knuckle 21, the bottom end of the push rod 24 is hinged with the push rod seat 211, and the front end of the push rod 24 is hinged with a second hinge hole 252 of the first hinge seat 25; the middle knuckle 22 is provided with a first adjustable screw seat 221 and a second adjustable screw seat 222, and the proximal knuckle 21, the middle knuckle 22 and the first hinge hole 251 of the first hinge seat 25 are hinged by a shaft.

One end of the first adjustable screw rod 26 is hinged to the third hinge hole 253 of the first hinge base 25, and the other end is hinged to the first adjustable screw rod base 221.

One end of the second adjustable screw 29 is hinged to the fifth hinge hole 282 of the second hinge base 28, and the other end is hinged to the second adjustable screw base 222; the distal knuckle 23 is provided with a lever seat 271, and the distal knuckle 23, the middle knuckle 22 and the fourth hinge hole 281 of the second hinge seat 28 are pivotally connected.

One end of the pull rod 27 is hinged to the sixth hinge hole 283 of the second hinge seat 28, and the other end is hinged to the pull rod seat 271.

The palm 6 is a hollow structure, and a thumb seat 62, a forefinger seat 63, a middle finger seat 64, a ring finger seat 65 and a little finger seat 66 are arranged on the palm 6, are sequentially hinged with the bottoms of the proximal knuckles of the corresponding fingers, and are driven by a motor through a bevel gear set 61 arranged on the hinged shaft.

A position encoder 7 is arranged on the hinged shaft of each finger and the palm 6 (taking the middle finger 3 as an example, the structures of other fingers are similar); the push rod of each finger is provided with a first position sensor 71, and the pull rod of each finger is provided with a second position sensor 72 (taking the middle finger 3 as an example, the structures of other fingers are similar).

The mechanical structure of each finger and palm 6 is also provided with silica gel human-simulated skin 8.

The tip of each finger is provided with a tactile sensor 73, a temperature sensor 74 and a thin film force sensor 75.

The present embodiment is further provided with a control device 9, the control device 9 being arranged in the palm 6.

The push rod 24 and the pull rod 27 are electric push-pull rods, and the bevel gear set 61 is driven by a servo steering engine 67.

Various modifications and variations of the embodiments of the present invention may be made by those skilled in the art, and they are still within the scope of the present invention, provided they are within the scope of the claims and their equivalents.

What is not described in detail in the specification is prior art that is well known to those skilled in the art.

Claims

1. The parallel humanoid robot hand is driven by combining a gear and a push-pull rod and comprises a thumb, an index finger, a middle finger, a ring finger, a little finger and a palm, wherein each finger comprises a near knuckle, a middle knuckle and a far knuckle; the bottom of the proximal knuckle is hinged with the palm and driven by a gear set.

2. A parallel humanoid robot hand based on gear and push-pull rod combined drive of claim 1, characterized in that, a push-rod seat is provided on the proximal knuckle, the bottom end of the push-rod is hinged with the push-rod seat, the front end of the push-rod is hinged with the second hinge hole of the first hinge seat; the middle knuckle is provided with a first adjustable screw rod seat and a second adjustable screw rod seat, the near knuckle, the middle knuckle and a first hinge hole of the first hinge seat are hinged through a shaft, one end of the first adjustable screw rod is hinged with a third hinge hole of the first hinge seat, and the other end of the first adjustable screw rod is hinged with the first adjustable screw rod seat; one end of the second adjustable screw rod is hinged with the fifth hinge hole of the second hinge seat, and the other end of the second adjustable screw rod is hinged with the second adjustable screw rod seat; the far knuckle is provided with a pull rod seat, and the far knuckle, the middle knuckle and a fourth hinge hole of the second hinge seat are hinged through a shaft; one end of the pull rod is hinged with the sixth hinge hole of the second hinge seat, and the other end of the pull rod is hinged with the pull rod seat.

3. A parallel humanoid robot hand driven by the combination of the gear and the push-pull rod according to claim 1 or 2, characterized in that the palm is a hollow structure, and a thumb seat, a forefinger seat, a middle finger seat, a ring finger seat and a little finger seat are arranged on the palm, are hinged with the bottoms of proximal knuckles of corresponding fingers in turn, and are driven by a motor through a bevel gear set arranged on a hinged shaft.

4. A parallel humanoid robot hand driven by the combination of the gear and the push-pull rod according to claim 1 or 2, characterized in that the articulated axes of each finger and palm, each proximal knuckle and middle knuckle, and each middle knuckle and distal knuckle are provided with position encoders.

5. A parallel humanoid robot hand based on gear and push-pull rod combined drive of claim 1 or 2, characterized in that the push rod and pull rod of each finger are provided with position sensors.

6. A parallel humanoid robot hand driven by the combination of the gear and the push-pull rod according to claim 1 or 2, characterized in that the mechanical structure of each finger and palm is further provided with a humanoid skin or a flexible material or an elastic material.

7. A parallel humanoid robot hand based on gear and push-pull rod combined drive of claim 1 or 2, characterized in that the knuckle of each finger is further provided with a force sensor and/or a touch sensor and/or a temperature sensor.

8. A parallel humanoid robot hand based on gear and push-pull rod combined drive of claim 1 or 2, characterized by further comprising a control device, wherein the control device is arranged in the palm or integrated in the bionic mechanical arm or the bionic robot.

9. A parallel humanoid robot hand driven by the combination of the gear and the push-pull rod as claimed in claim 3, wherein the push rod and the pull rod are electric push-pull rods; the bevel gear set is driven by a speed reducer or a reduction gear set through a servo steering engine or a servo motor.