WO2018157643A1 - 一种拟人全驱动五指灵巧机械手 - Google Patents

一种拟人全驱动五指灵巧机械手 Download PDF

Info

Publication number
WO2018157643A1
WO2018157643A1 PCT/CN2017/115162 CN2017115162W WO2018157643A1 WO 2018157643 A1 WO2018157643 A1 WO 2018157643A1 CN 2017115162 W CN2017115162 W CN 2017115162W WO 2018157643 A1 WO2018157643 A1 WO 2018157643A1
Authority
WO
WIPO (PCT)
Prior art keywords
thumb
finger
worm
bevel gear
motor
Prior art date
Application number
PCT/CN2017/115162
Other languages
English (en)
French (fr)
Inventor
曹俊亮
Original Assignee
上海岭先机器人科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海岭先机器人科技股份有限公司 filed Critical 上海岭先机器人科技股份有限公司
Publication of WO2018157643A1 publication Critical patent/WO2018157643A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears

Definitions

  • the invention relates to a manipulator, in particular to a person-applied full-drive five-finger smart manipulator, belonging to the technical field of robots.
  • the invention solves the following technical problems existing in the prior art robot: (1) insufficient dexterity; (2) high manufacturing cost of the driving mechanism; (3) large volume and heavy weight; (4) after the mechanical power is cut off Can not be self-locking.
  • the present invention provides an anthropomorphic manipulator comprising a palm assembly, at least two sets of common finger assemblies and a set of thumb assemblies;
  • the common finger component is composed of four parts: a common finger tip connected by a hinge, a normal finger, an ordinary finger root, and a common finger hinge seat.
  • the common finger component can simulate a three-degree-of-freedom bending motion of a human finger;
  • the seat is connected to the palm assembly by a hinge, so that the ordinary finger assembly can simulate the lateral tensioning movement of the human finger;
  • the thumb assembly consists of a thumb tip, a thumb, a thumb root, a bevel gear base, and a thumb base.
  • the thumb tip and the thumb are hinged, the thumb and the thumb are hinged, and the thumb root and bevel gear are passed.
  • the transmission joint is connected, the bevel gear seat is movably connected to the thumb base through the bevel gear, and the thumb base is fixed to the palm assembly, and the thumb assembly can realize two independent degrees of freedom of rotation and two degrees of freedom of coupled rotation.
  • the anthropomorphic robot has four sets of common finger assemblies that simulate the actions of the human index finger, middle finger, ring finger and little finger respectively.
  • each degree of freedom of the common finger assembly is respectively driven by an independently controlled driving mechanism
  • the drive mechanism includes:
  • a first driving mechanism for achieving a relative bending motion in a common finger tip and a normal finger
  • a second driving mechanism for realizing a relative bending motion between an ordinary finger and a common finger root
  • a third driving mechanism that realizes a relative bending motion of the common finger root and the ordinary finger hinge seat.
  • the first driving mechanism includes: a first motor installed in the ordinary finger, a first reduction box connected to the first motor, and a first worm connected to the first reduction box, mounted on the common finger tip and the first a first worm gear meshed by a worm;
  • the second driving mechanism comprises: a second motor mounted on the common finger root, a second reduction gearbox connected to the second motor, and a second worm connected to the second reduction gearbox, mounted in the ordinary finger and engaged with the second worm Second worm gear
  • the third driving mechanism comprises: a third motor mounted on the common finger holder, a third reduction box connected to the third motor, and a third worm connected to the third reduction box, mounted on the common finger root and the third worm Engaged third worm gear.
  • the lower edge of the ordinary finger grip seat is provided with gear teeth
  • the palm assembly is equipped with a gear meshing with the gear teeth, and the gear is driven by the gear motor and drives the ordinary finger pinch seat to realize the lateral tensioning movement.
  • each degree of freedom of the thumb assembly is driven by an independently controlled drive mechanism
  • the drive mechanism includes:
  • a fourth drive mechanism for achieving relative rotational movement in the tip of the thumb and the thumb;
  • a fifth drive mechanism that achieves relative rotational movement of the thumb and the root of the thumb.
  • the fourth driving mechanism includes: a fourth motor mounted in the thumb, a fourth reduction gearbox connected to the fourth motor, and a fourth worm connected to the fourth reduction gearbox, mounted on the tip of the thumb and the fourth worm Engaged fourth worm gear;
  • the fifth driving mechanism includes: a fifth motor mounted on the thumb root, a fifth reduction gearbox connected to the fifth motor, a fifth worm connected to the fifth reduction gearbox, and a fifth shank that is mounted in the thumb and meshed with the fifth worm Worm gear.
  • a transmission joint motor and a transmission joint reduction gear box are installed on the bevel gear base, and the transmission joint motor rotates and transmits to the transmission joint reduction gear box, and then further transmits to the transmission joint to realize the rotation movement of the thumb root relative to the bevel gear seat, and the transmission
  • the output shaft of the joint reduction box is at an angle of 0 to 90 degrees from the root of the thumb.
  • a disk gear tooth is machined on the surface of the bevel gear base
  • a linked bevel gear motor and a bevel gear reduction gear are mounted on the thumb base
  • the bevel gear reduction box is connected with a bevel gear that meshes with the disk gear tooth, a bevel gear
  • the motor rotates and passes through the bevel gear reducer to the bevel gear, which drives the bevel gear seat to make a rotational motion relative to the thumb base.
  • the tip surface of the thumb and the surface of the common finger tip are mounted with a tactile sensor, and the palm assembly can be made of a material such as plastic, metal, carbon fiber or the like.
  • the invention has the following advantages: (1) high dexterity, 20 degrees of freedom, independent control; (2) small volume, similar to the average adult hand size, less than 200*95*35mm; (3) light weight, less than 500g; (4) It can be self-locking after power off.
  • FIG. 1 is a schematic view showing the overall structure of an anthropomorphic manipulator in a preferred embodiment of the present invention
  • Figure 2 is a partial structural view of the conventional finger assembly of Figure 1;
  • Figure 3 is a cross-sectional view showing the structure of A-A in Figure 2;
  • Figure 4 is a partial structural view of the thumb assembly of Figure 1;
  • FIG. 5 is a partial structural schematic view of the palm assembly of FIG. 1.
  • FIG. 5 is a partial structural schematic view of the palm assembly of FIG. 1.
  • the present invention provides a human-like full-drive five-finger smart robot, as shown in FIG. 1, including a palm assembly 6, a thumb assembly 5, an index finger assembly 4, and a middle finger.
  • the component 3, the little finger component 2 and the ring finger component 1 simulate a human palm and a five-finger configuration.
  • the other four except the thumb are called ordinary fingers, and the thumb is located on the side of the normal finger.
  • the entire robot has 20 degrees of freedom.
  • each set of common finger components is composed of four links of a fingertip 7, a finger 13, a finger 18, and a finger hinge 23, and has three degrees of freedom, which can simulate human fingers. Three degrees of freedom of bending action. A hinged connection between the normal finger and the palm allows for a lateral stretching action. A tactile sensor is mounted on the surface of the fingertip 7.
  • the bending motion of each degree of freedom of the conventional finger assembly is driven by an independently controlled miniaturized drive mechanism.
  • the small motor 11 fixed to the finger 13 drives the worm 9 to rotate through the multi-stage reduction gear box 10.
  • the worm 9 drives the small worm wheel 8 fixed to the fingertip 7 to rotate around the rotating shaft 12, and finally realizes the fingertip 7 and the finger 13 Relative rotational motion.
  • the small motor 17 fixed to the finger root 18 drives the worm 15 to rotate through the multi-stage reduction gear box 16, and the worm 15 drives the small worm wheel 14 fixed to the finger 13 to rotate around the rotating shaft 24, thereby finally achieving the finger 13 and the finger 18 Relative rotational motion.
  • the small motor 22 fixed to the finger joint 23 drives the worm 20 to rotate through the multi-stage reduction gear box 21, and the worm 20 drives the small worm wheel 19 fixed to the finger 18 to rotate around the rotating shaft 25, thereby realizing the finger root 18 and the finger Zhang.
  • the thumb assembly 5 is composed of five links of a thumb tip 26, a thumb 32, a thumb root 38, a bevel gear base 42, and a thumb base 45, and is hinged.
  • the thumb assembly 5 has four rotational degrees of freedom, including two degrees of freedom of independent rotational motion and two degrees of freedom of coupled rotational motion.
  • the thumb assembly 5 and the palm assembly 6 are fixedly connected.
  • a tactile sensor is mounted on the surface of the fingertip 26.
  • the small motor 31 fixed to the thumb 32 drives the worm 28 to rotate through the multi-stage reduction box 30, and the worm 28 drives the small worm wheel 27 fixed to the fingertip 26 to rotate around the rotating shaft 29, thereby realizing the thumb tip 26 and the thumb 32 Relative rotational motion.
  • the small motor 37 fixed to the thumb root 38 drives the worm 34 to rotate through the multi-stage reducer 36.
  • the worm 34 drives the small worm wheel 33 fixed to the thumb 32 to rotate about the rotating shaft 35, thereby realizing the 32 in the thumb and the thumb 38. Relative rotational motion.
  • the small motor 41 fixed to the bevel gear holder 42 passes through the multi-stage reduction gearbox 40 to realize the rotational movement of the thumb root 38 relative to the bevel gear base 42 through the transmission joint 39 fixed to the thumb root 38, and the transmission joint 39 is required to ensure multi-stage deceleration.
  • the output shaft of the box 40 is at an angle to the finger root 38, and the angle ranges from 0 to 90 degrees.
  • the small motor 46 fixedly attached to the thumb base 45 is outputted to the bevel gear 43 through the multi-stage reduction gear box 44 to drive the rotational movement of the bevel gear base 42 with respect to the thumb base 45.
  • the surface of the bevel gear base 42 is machined with a bevel gear. 43 meshed disc gear teeth.
  • the integral of the thumb assembly 5 and the change of the palm posture are achieved by the coupling movement of the thumb base 45-bevel gear holder 42 and the bevel gear holder 42-transmission joint 39.
  • the thumb base 45 and the palm assembly 6 are fixedly coupled.
  • the palm assembly 6 mainly serves as a support for each of the above components.
  • the multi-stage reduction box 48 is fixed to the palm base 51, the small motor 49 passes through the multi-stage reduction box 48, the gear 47 is fixedly connected to the output shaft 50 of the multi-stage reduction box 48, and the gear 47 rotates to drive the finger extension seat 23 to rotate.
  • the thumb base 45 is fixed to the palm base 51 by a fixing bracket 52.
  • the flange 53 is fixed to the palm base 51 by a support link 54.
  • the flange 53 and the palm base 51 are fixed by a back support plate.
  • the palm structure adopts an optimized plastic casing, and the overall weight is reduced by removing unnecessary materials. Similarly, materials such as metal and carbon fiber can also be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

一种拟人全驱动五指灵巧机械手，包括手掌组件（6）、四套普通手指组件和一套拇指组件（5），普通手指组件能够模拟人类手指三个自由度的弯曲运动和侧向张合运动，拇指组件（5）能够实现两个自由度的独立旋转运动和两个自由度的耦合旋转运动。拟人全驱动五指灵巧机械手具有如下优点：（1）灵巧性高，20个自由度，独立控制；（2）体积小，和一般成人手大小相似，小于200*95*35mm；（3）重量轻，小于500g；（4）断电后可以自锁。

Description

一种拟人全驱动五指灵巧机械手 技术领域
本发明涉及一种机械手，特别涉及一种拟人全驱动五指灵巧机械手，属于机器人技术领域。
背景技术
近年来，机器人技术不论在工业还是在民用领域的应用都有飞速的发展。机械手是机器人工作的最终执行机构，其性能直接决定了机器人的工作能力。与人类相似，具有高度通用性与灵巧性的机械手的开发十分必要。
当前，国内包括北航、清华、哈工大和中科院自动化研究所等单位有一些灵巧机械手的技术研究。但是，其体积较大、重量较高、非五指全驱动，灵巧性不足。国外，包括shadowhand等在内的机械手虽然具有较高的灵巧性，但是结构复杂，生产成本较高。机械手断电后不能自锁。
发明内容
本发明要解决现有技术中机械手存在的以下几个技术问题：(1)灵巧性不足；(2)驱动机构的制造成本高；(3)体积大，重量大；(4)机械手断电后不能自锁。
为了实现上述目的，本发明提供了一种拟人机械手，拟人机械手包括手掌组件、至少两套普通手指组件和一套拇指组件；
普通手指组件依次由采用铰链连接的普通手指尖、普通手指中、普通手指根以及普通手指张合座四个部分组成，普通手指组件能够模拟人类手指三个自由度的弯曲运动；普通手指张合座通过铰链连接于手掌组件，使普通手指组件能够模拟人类手指的侧向张合运动；
拇指组件依次由拇指尖、拇指中、拇指根、锥齿轮座以及拇指基座五个部分组成，拇指尖和拇指中采用铰链连接，拇指中和拇指根采用铰链连接，拇指根和锥齿轮座通过传动关节连接，锥齿轮座通过锥齿轮与拇指基座活动连接，拇指基座固定于手掌组件，拇指组件能够实现两个自由度的独立旋转运动和两个自由度的耦合旋转运动。
进一步地，拟人机械手共有四套普通手指组件，分别模拟人类食指、中指、无名指和小指的动作。
进一步地，普通手指组件每个自由度的弯曲运动分别由一个独立受控的驱动机构驱动；
驱动机构包括：
实现普通手指尖和普通手指中相对弯曲运动的第一驱动机构；
实现普通手指中和普通手指根相对弯曲运动的第二驱动机构；
实现普通手指根和普通手指张合座相对弯曲运动的第三驱动机构。
更进一步地，第一驱动机构包括：安装在普通手指中的第一电机，与第一电机连接的第一减速箱，与第一减速箱连接的第一蜗杆，安装在普通手指尖并与第一蜗杆啮合的第一蜗轮；
第二驱动机构包括：安装在普通手指根的第二电机，与第二电机连接的第二减速箱，与第二减速箱连接的第二蜗杆，安装在普通手指中并与第二蜗杆啮合的第二蜗轮；
第三驱动机构包括：安装在普通手指张合座的第三电机，与第三电机连接的第三减速箱，与第三减速箱连接的第三蜗杆，安装在普通手指根并与第三蜗杆啮合的第三蜗轮。
进一步地，普通手指张合座下边缘设置轮齿，手掌组件安装有与轮齿啮合的齿轮，齿轮由齿轮电机驱动并带动普通手指张合座实现侧向张合运动。
进一步地，拇指组件的每个自由度的旋转运动分别由一个独立受控的驱动机构驱动；
驱动机构包括：
实现拇指尖和拇指中相对旋转运动的第四驱动机构；
实现拇指中和拇指根相对旋转运动的第五驱动机构。
更进一步地，第四驱动机构包括：安装在拇指中的第四电机，与第四电机连接的第四减速箱，与第四减速箱连接的第四蜗杆，安装在拇指尖并与第四蜗杆啮合的第四蜗轮；
第五驱动机构包括：安装在拇指根的第五电机，与第五电机连接的第五减速箱，与第五减速箱连接的第五蜗杆，安装在拇指中并与第五蜗杆啮合的第五蜗轮。
进一步地，在锥齿轮座安装有传动关节电机和传动关节减速箱，传动关节电机转动并传至传动关节减速箱，再进一步传至传动关节，实现拇指根相对于锥齿轮座的旋转运动，传动关节减速箱的输出轴于拇指根呈0～90度的夹角。
进一步地，在锥齿轮座的表面加工有盘齿轮轮齿，在拇指基座安装有联动的锥齿轮电机和锥齿轮减速箱，锥齿轮减速箱连接与盘齿轮轮齿啮合的锥齿轮，锥齿轮电机转动并通过锥齿轮减速箱传递至锥齿轮，驱动锥齿轮座做相对于拇指基座的旋转运动。
进一步地，拇指尖表面和普通手指尖表面安装有触觉传感器，手掌组件可采用塑料、金属、碳纤维等材料制造。
本发明的有益效果：(1)灵巧性高，20个自由度，独立控制；(2)体积小，和一般成人手大小相似，小于200*95*35mm；(3)重量轻，小于500g；(4)断电后可以自锁。
附图说明
图1是本发明一个较佳实施例中的拟人机械手的整体结构示意图；
图2是图1中普通手指组件的局部结构示意图；
图3是图2中A-A面的剖切结构示意图；
图4是图1中拇指组件的局部结构示意图；
图5是图1中手掌组件的局部结构示意图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。需说明的是，本发明附图均采用简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。
实现本发明需设计制造五指手指及驱动机构和手掌结构，为此本发明提供了一种拟人全驱动五指灵巧机械手，如图1所示，包括手掌组件6、拇指组件5、食指组件4、中指组件3、小指组件2和无名指组件1，模拟人类的手掌和五根手指构造。除了拇指以外的其他四根称为普通手指，拇指位于普通手指侧面。整个机械手具有20个自由度。
如图2和图3所示，每一套普通手指组件由指尖7、指中13、指跟18以及手指张合座23四个连杆组成，具有三个自由度，可以实现模拟人类手指三个自由度的弯曲动作。普通手指和手掌之间采用铰链连接，可以实现侧向的张合动作。指尖7表面安装有触觉传感器。
普通手指组件每个自由度的弯曲运动分别由一个独立受控的小型化驱动机构驱动。固连于指中13的小型电机11经过多级减速箱10带动蜗杆9转动，蜗杆9带动固连于指尖7的小型蜗轮8绕旋转轴12转动，最终实现指尖7与指中13的相对旋转运动。
固连于指根18的小型电机17经过多级减速箱16带动蜗杆15转动，蜗杆15带动固连于指中13的小型蜗轮14绕旋转轴24转动，最终实现指中13与指跟18的相对旋转运动。
固连于手指张合座23的小型电机22经过多级减速箱21带动蜗杆20转动，蜗杆20带动固连于指跟18的小型蜗轮19绕旋转轴25转动，最终实现指根18与手指张合座23的相对旋转运动。
如图4所示，拇指组件5由拇指尖26、拇指中32、拇指根38、锥齿轮座42 以及拇指基座45五个连杆组成，采用铰链连接。拇指组件5具有四个旋转自由度，包括两个自由度的独立旋转运动和两个自由度的耦合旋转运动。拇指组件5和手掌组件6采用固定连接。指尖26表面安装有触觉传感器。
固连于拇指中32的小型电机31经过多级减速箱30带动蜗杆28转动，蜗杆28带动固连于指尖26的小型蜗轮27绕旋转轴29转动，最终实现拇指尖26与拇指中32的相对旋转运动。
固连于拇指根38的小型电机37经过多级减速箱36带动蜗杆34转动，蜗杆34带动固连于拇指中32的小型蜗轮33绕旋转轴35转动，最终实现拇指中32与拇指跟38的相对旋转运动。
固连在锥齿轮座42的小型电机41经过多级减速箱40通过固连在拇指根38的传动关节39实现拇指根38相对于锥齿轮座42的旋转运动，传动关节39需保证多级减速箱40的输出轴与指根38呈一定夹角，此角度范围是0～90度。
固连在拇指基座45上的小型电机46通过多级减速箱44输出传动至锥齿轮43，驱动锥齿轮座42相对于拇指基座45的旋转运动，锥齿轮座42表面加工有与锥齿轮43啮合的盘齿轮轮齿。
拇指组件5整体的张合以及手掌姿态的改变需通过拇指基座45-锥齿轮座42和锥齿轮座42-传动关节39的耦合运动实现。拇指基座45和手掌组件6采用固定连接。
如图5所示，手掌组件6主要起到上述各零部件的支撑作用。多级减速箱48固连于手掌基座51上，小型电机49经过多级减速箱48，齿轮47固连于多级减速箱48的输出轴50上，齿轮47转动带动手指张合座23转动，实现普通手指组件的张合运动。拇指基座45通过固定支架52固连于手掌基座51。法兰53通过支撑连杆54与手掌基座51固连。法兰53与手掌基座51之间通过手背支撑板固连。本实施例中，手掌结构采用经优化的塑料壳体，通过去除无用材料的方式，减轻整体重量，同样地，也可以采用金属、碳纤维等材料。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (10)

  1. 一种拟人机械手，其特征在于，所述拟人机械手包括手掌组件、至少两套普通手指组件和一套拇指组件；
    所述普通手指组件依次由采用铰链连接的普通手指尖、普通手指中、普通手指根以及普通手指张合座四个部分组成，所述普通手指组件能够模拟人类手指三个自由度的弯曲运动；所述普通手指张合座通过铰链连接于所述手掌组件，使所述普通手指组件能够模拟人类手指的侧向张合运动；
    所述拇指组件依次由拇指尖、拇指中、拇指根、锥齿轮座以及拇指基座五个部分组成，所述拇指尖和所述拇指中采用铰链连接，所述拇指中和所述拇指根采用铰链连接，所述拇指根和所述锥齿轮座通过传动关节连接，所述锥齿轮座通过锥齿轮与所述拇指基座活动连接，所述拇指基座固定于所述手掌组件，所述拇指组件能够实现两个自由度的独立旋转运动和两个自由度的耦合旋转运动。
  2. 根据权利要求1所述的拟人机械手，其特征在于，所述拟人机械手共有四套所述普通手指组件，分别模拟人类食指、中指、无名指和小指的动作。
  3. 根据权利要求1所述的拟人机械手，其特征在于，所述普通手指组件每个自由度的所述弯曲运动分别由一个独立受控的驱动机构驱动；
    所述驱动机构包括：
    实现所述普通手指尖和所述普通手指中相对弯曲运动的第一驱动机构；
    实现所述普通手指中和所述普通手指根相对弯曲运动的第二驱动机构；
    实现所述普通手指根和所述普通手指张合座相对弯曲运动的第三驱动机构。
  4. 根据权利要求3所述的拟人机械手，其特征在于，
    所述第一驱动机构包括：安装在普通手指中的第一电机，与所述第一电机连接的第一减速箱，与所述第一减速箱连接的第一蜗杆，安装在所述普通手指尖并与所述第一蜗杆啮合的第一蜗轮；
    所述第二驱动机构包括：安装在普通手指根的第二电机，与所述第二电机连接的第二减速箱，与所述第二减速箱连接的第二蜗杆，安装在所述普通手指中并与所述第二蜗杆啮合的第二蜗轮；
    所述第三驱动机构包括：安装在普通手指张合座的第三电机，与所述第三电机连接的第三减速箱，与所述第三减速箱连接的第三蜗杆，安装在所述普通手指根并与所述第三蜗杆啮合的第三蜗轮。
  5. 根据权利要求1所述的拟人机械手，其特征在于，所述普通手指张合座下边缘设置轮齿，所述手掌组件安装有与所述轮齿啮合的齿轮，所述齿轮由齿轮电机驱动并带动所述普通手指张合座实现所述侧向张合运动。
  6. 根据权利要求1所述的拟人机械手，其特征在于，所述拇指组件的每个 自由度的旋转运动分别由一个独立受控的驱动机构驱动；
    所述驱动机构包括：
    实现所述拇指尖和所述拇指中相对旋转运动的第四驱动机构；
    实现所述拇指中和所述拇指根相对旋转运动的第五驱动机构。
  7. 根据权利要求6所述的拟人机械手，其特征在于，
    所述第四驱动机构包括：安装在所述拇指中的第四电机，与所述第四电机连接的第四减速箱，与所述第四减速箱连接的第四蜗杆，安装在所述拇指尖并与所述第四蜗杆啮合的第四蜗轮；
    所述第五驱动机构包括：安装在所述拇指根的第五电机，与所述第五电机连接的第五减速箱，与所述第五减速箱连接的第五蜗杆，安装在所述拇指中并与所述第五蜗杆啮合的第五蜗轮。
  8. 根据权利要求1所述的拟人机械手，其特征在于，在所述锥齿轮座安装有传动关节电机和传动关节减速箱，所述传动关节电机转动并传至所述传动关节减速箱，再进一步传至所述传动关节，实现所述拇指根相对于所述锥齿轮座的旋转运动，所述传动关节减速箱的输出轴于所述拇指根呈0～90度的夹角。
  9. 根据权利要求1所述的拟人机械手，其特征在于，在所述锥齿轮座的表面加工有盘齿轮轮齿，在所述拇指基座安装有联动的锥齿轮电机和锥齿轮减速箱，所述锥齿轮减速箱连接与所述盘齿轮轮齿啮合的所述锥齿轮，所述锥齿轮电机转动并通过所述锥齿轮减速箱传递至所述锥齿轮，驱动所述锥齿轮座做相对于所述拇指基座的旋转运动。
  10. 根据权利要求1所述的拟人机械手，其特征在于，所述拇指尖表面和所述普通手指尖表面安装有触觉传感器。
PCT/CN2017/115162 2017-03-02 2017-12-08 一种拟人全驱动五指灵巧机械手 WO2018157643A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710121296.6 2017-03-02
CN201710121296.6A CN106994694A (zh) 2017-03-02 2017-03-02 一种拟人全驱动五指灵巧机械手

Publications (1)

Publication Number Publication Date
WO2018157643A1 true WO2018157643A1 (zh) 2018-09-07

Family

ID=59431030

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/115162 WO2018157643A1 (zh) 2017-03-02 2017-12-08 一种拟人全驱动五指灵巧机械手

Country Status (2)

Country Link
CN (1) CN106994694A (zh)
WO (1) WO2018157643A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112976035A (zh) * 2021-05-21 2021-06-18 季华实验室 一种灵巧手指和机械夹爪
EP4129579A4 (en) * 2020-10-20 2023-11-01 Tencent Technology (Shenzhen) Company Limited MANIPULATOR, ROBOT, AND MANIPULATOR CONTROL METHOD AND APPARATUS

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201114264D0 (en) 2011-08-18 2011-10-05 Touch Emas Ltd Improvements in or relating to prosthetics and orthotics
GB201302025D0 (en) 2013-02-05 2013-03-20 Touch Emas Ltd Improvements in or relating to prosthetics
US9579218B2 (en) 2014-02-04 2017-02-28 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
GB201403265D0 (en) 2014-02-25 2014-04-09 Touch Emas Ltd Prosthetic digit for use with touchscreen devices
GB201417541D0 (en) 2014-10-03 2014-11-19 Touch Bionics Ltd Wrist device for a prosthetic limb
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
CN106994694A (zh) * 2017-03-02 2017-08-01 上海岭先机器人科技股份有限公司 一种拟人全驱动五指灵巧机械手
CN107901060B (zh) * 2017-10-13 2020-03-27 杭州若比邻机器人科技有限公司 螺旋驱动和蜗轮蜗杆驱动的手指机构
CN107598960B (zh) * 2017-11-03 2023-09-19 西安广源机电技术有限公司 全自由度易驱动的仿生机械手
US10973660B2 (en) * 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
CN108214523A (zh) * 2017-12-27 2018-06-29 深圳市保千里电子有限公司 机器人仿生手指
CN108297116A (zh) * 2018-02-24 2018-07-20 上海理工大学 一种智能机器人手部系统
CN110216700B (zh) * 2018-03-02 2022-07-08 华东理工大学 柔性欠驱动仿生手
CN110340913A (zh) * 2018-04-08 2019-10-18 上海傲意信息科技有限公司 一种机械仿生手及其大拇指模块
CN109620487B (zh) * 2019-02-19 2020-07-28 上海理工大学 一种假肢拇指机构
CN110405799A (zh) * 2019-07-30 2019-11-05 南京昱晟机器人科技有限公司 一种多指灵巧机械手
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
CN111390938A (zh) * 2020-05-07 2020-07-10 嘉兴学院 一种气动排爆机器人系统
CN113618757B (zh) * 2020-05-08 2023-09-26 京东科技信息技术有限公司 一种仿生机械手及仿生机器人
CN112720558A (zh) * 2020-12-25 2021-04-30 浙江工业大学 一种电机直驱的软指尖机器人灵巧手
CN112659165B (zh) * 2021-01-26 2024-02-13 韩靖 仿真机械手
CN114851231A (zh) * 2022-05-18 2022-08-05 哈尔滨工业大学 一种多自由度的机器人手指
WO2024113734A1 (zh) * 2022-12-01 2024-06-06 之江实验室 机械手和机器人
CN116652992A (zh) * 2023-07-28 2023-08-29 哈尔滨工业大学 一种机械拇指对掌关节、机械拇指及机械手

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102085661A (zh) * 2010-12-18 2011-06-08 浙江理工大学 全驱动式灵巧机械手
CN103128744A (zh) * 2012-12-21 2013-06-05 中国矿业大学 一种仿人机械灵巧手装置
CN103690279A (zh) * 2013-12-03 2014-04-02 上海交通大学 一种基于行星齿轮系的欠驱动假肢手系统
US20140114439A1 (en) * 2012-10-18 2014-04-24 Motion Control Hand prosthesis
CN105881536A (zh) * 2016-05-30 2016-08-24 北京理工大学 一种基于蜗轮蜗杆机构的五指灵巧手指节运动模块
CN106994694A (zh) * 2017-03-02 2017-08-01 上海岭先机器人科技股份有限公司 一种拟人全驱动五指灵巧机械手
CN206780428U (zh) * 2017-03-02 2017-12-22 上海岭先机器人科技股份有限公司 一种拟人全驱动五指灵巧机械手

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102085661A (zh) * 2010-12-18 2011-06-08 浙江理工大学 全驱动式灵巧机械手
US20140114439A1 (en) * 2012-10-18 2014-04-24 Motion Control Hand prosthesis
CN103128744A (zh) * 2012-12-21 2013-06-05 中国矿业大学 一种仿人机械灵巧手装置
CN103690279A (zh) * 2013-12-03 2014-04-02 上海交通大学 一种基于行星齿轮系的欠驱动假肢手系统
CN105881536A (zh) * 2016-05-30 2016-08-24 北京理工大学 一种基于蜗轮蜗杆机构的五指灵巧手指节运动模块
CN106994694A (zh) * 2017-03-02 2017-08-01 上海岭先机器人科技股份有限公司 一种拟人全驱动五指灵巧机械手
CN206780428U (zh) * 2017-03-02 2017-12-22 上海岭先机器人科技股份有限公司 一种拟人全驱动五指灵巧机械手

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4129579A4 (en) * 2020-10-20 2023-11-01 Tencent Technology (Shenzhen) Company Limited MANIPULATOR, ROBOT, AND MANIPULATOR CONTROL METHOD AND APPARATUS
CN112976035A (zh) * 2021-05-21 2021-06-18 季华实验室 一种灵巧手指和机械夹爪

Also Published As

Publication number Publication date
CN106994694A (zh) 2017-08-01

Similar Documents

Publication Publication Date Title
WO2018157643A1 (zh) 一种拟人全驱动五指灵巧机械手
US8607659B2 (en) Robotic arm assembly
KR101469493B1 (ko) 차동 기어 특성을 이용한 로봇 핑거 구동 모듈 및 이를 포함하는 로봇 핸드
CN101589980B (zh) 五自由度机械臂
WO2019128361A1 (zh) 一种七自由度仿人机械臂
TW201345676A (zh) 機械手機構
JPS605432B2 (ja) 工業用ロボット
WO2019140930A1 (zh) 自适应欠驱动转向三指机器人夹爪
CN110561403A (zh) 可穿戴式三自由度人体辅助外机械臂
CN110640774B (zh) 一种六自由度五指机械手
Zappatore et al. Analysis of a highly underactuated robotic hand
CN104999470A (zh) 一种全驱动三指灵巧机械手
CN206780428U (zh) 一种拟人全驱动五指灵巧机械手
CN1317109C (zh) 多关节仿人型机器人手臂
CN110340913A (zh) 一种机械仿生手及其大拇指模块
WO2018054034A1 (zh) 一种机器人抓取组件
CN111761599B (zh) 齿轮竞速双驱动平夹与耦合自适应机器人手指装置
CN110900641B (zh) 一种平夹自适应三指欠驱动机器人手
JP2019188483A (ja) ロボットハンド
CN116852336A (zh) 一种面向双臂机器人的上身遥操作力反馈设备
TWI534369B (zh) 驅動系統
CN110340914A (zh) 一种机械仿生手
JPS63102886A (ja) ロ−プ駆動式マニピユレ−タ
CN209289301U (zh) 一种机械仿生手
CN209933081U (zh) 轮系式欠驱动仿生假肢手指

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17898550

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17898550

Country of ref document: EP

Kind code of ref document: A1