CN101549496A - Tendon-type four finger abducting device of a robot hand - Google Patents
Tendon-type four finger abducting device of a robot hand Download PDFInfo
- Publication number
- CN101549496A CN101549496A CNA2009100837265A CN200910083726A CN101549496A CN 101549496 A CN101549496 A CN 101549496A CN A2009100837265 A CNA2009100837265 A CN A2009100837265A CN 200910083726 A CN200910083726 A CN 200910083726A CN 101549496 A CN101549496 A CN 101549496A
- Authority
- CN
- China
- Prior art keywords
- finger
- palm
- tendon
- rotating shaft
- nameless
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 210000003811 finger Anatomy 0.000 claims abstract description 110
- 210000004932 little finger Anatomy 0.000 claims abstract description 83
- 210000002435 tendon Anatomy 0.000 claims abstract description 62
- 210000005224 forefinger Anatomy 0.000 claims description 67
- 238000005096 rolling process Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 5
- 210000004247 hand Anatomy 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 17
- 210000003813 thumb Anatomy 0.000 description 8
- 244000060701 Kaempferia pandurata Species 0.000 description 7
- 235000016390 Uvaria chamae Nutrition 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The tendon-type four finger abducting device of a robot hand pertains to the technical field of robots. The device consists of index finger, middle finger, ring finger, little finger, palm, motor, spring and traction mechanism. The traction mechanism comprises driving axle, tendon rope, dead axle, nut, rolling bearing and baffle plate. This device adopts single-motor drive and tendon rope actuator to jointly realize the abduction and adduction of the four fingers of a robot hand so that the robot hand may adopt the grab gestures at specific angles of abduction and adduction when it grabs an object, a better enveloping and grabbing effect can be realized, the object is grabbed more stably, and more personated gestures can be performed; the robot hand is more like human hand when it grabs an object and completes a gesture. This device is characterized by a simple and compact structure, low manufacturing cost, easy control and is applicable to personated robot hands.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of robot tendon-type four finger abducting device.
Background technology
People in research to intelligent robot, the tidemark of anthropomorphic robot as robot research, also always the behavior that realizes the class people as the target of dreaming of.And itself is the same with human, and most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, and its design is one of key technology of anthropomorphic robot.
Most bending and two the initiatively frees degree motions of sides exhibition of adopting very complicated multi-gear transmission mechanism to be implemented in forefinger, middle finger, the third finger and little finger of toe root of existing Dextrous Hand (as the HIT/DLR hand of the V5 hand of U.S. Robonaut hand, Britain Shadow company, cooperation of China and Germany research and development and Beijing Institute of Aeronautics BH hand etc.), and should bending vertical mutually with the side moving center line of tossing about in bed.Its deficiency is: this apparatus structure complexity, the cost costliness because the number of motors of active drive is too much, has increased the weight of the difficulty of real-time control simultaneously.
For studies show that of staff, the side exhibition free degree motion of the forefinger of staff, middle finger, the third finger and little finger of toe is extremely important, when grasping familiar object (especially spherical body) and finishing some common gesture motion (for example " V " font gesture, " OK " gesture etc.), often need the four side exhibition motions that refer to.But in the time of most, the four side exhibition motions that refer to are carried out simultaneously, the side exhibition motion of a rare independent finger.Thereby Dextrous Hand possessed, and each finger all finishes side exhibition motion separately seems more " dexterity ", but control difficulty and manufacturing cost have been increased greatly.The four side exhibitions that refer to are moved and can be realized when grasping object that a kind of envelope of three-dimensional more grasps effect, make that extracting is more stable.
A kind of existing belt wheel under-actuated robot hand apparatus (Chinese invention patent CN101214653A) has 6 motor-driven palms of employing and 5 fingers, and each finger all adopts motor-driven belt wheel lack of driven structure to realize; Thumb has 3 frees degree: one is the side-sway joint between thumb and the palm, and two is the crooked free degree in the middle of the thumb in addition; Forefinger, middle finger, the third finger is identical with the little finger of toe structure, size is different, has 3 crooked frees degree respectively, comprising the root and the crooked free degree of the finger between the palm of a finger.Its weak point is: the forefinger of this robot, middle finger, the third finger and little finger of toe do not possess finger side exhibition motion, be difficult to when causing grasping familiar object realize that better three-dimensional envelope grasps effect, it is stable not enough to grasp object, is difficult to finish common gestures such as picture " V " font gesture, " OK " gesture simultaneously.
Summary of the invention
The objective of the invention is to design a kind of robot tendon-type four finger abducting device for overcoming the weak point of prior art.Closing up and side exhibition motion of forefinger, middle finger, the third finger and the little finger of toe of this device realization robot, make robot more multiple spot contact when grasping object, have better three-dimensional envelope and grasp effect, action when grasping object and doing gesture is more near staff, adopt less motor to realize the common side exhibition of a plurality of fingers simultaneously, to reduce control difficulty and manufacturing cost, be applicable to anthropomorphic robot's hand.
The present invention adopts following technical scheme:
A kind of robot tendon-type four finger abducting device comprises forefinger, middle finger, the third finger, little finger of toe and palm; It is characterized in that:
This robot tendon-type four finger abducting device also comprises motor and the haulage gear that is arranged in the palm, and be located at first spring between forefinger and the middle finger, be located at second spring between the middle finger and the third finger and be located at the third finger and little finger of toe between the 3rd spring; Described haulage gear comprises active rotating shaft, tendon of index finger rope, nameless tendon rope, tendon of little finger rope and dead axle;
Described palm comprises palm header board and palm backboard, the affixed box shape that becomes hollow of palm header board and palm backboard; Described motor and palm are affixed; The root and the palm of described middle finger are affixed, and the root of described forefinger, the third finger, little finger of toe is connected with palm by forefinger rotating shaft, nameless rotating shaft, little finger of toe rotating shaft respectively; The output shaft of described motor links to each other with active rotating shaft, and the two ends of active rotating shaft are set in respectively in palm header board and the palm backboard;
Described dead axle is fixed in palm header board and the palm backboard; Described tendon of index finger rope one end and forefinger root are connected, and the other end and active rotating shaft are connected, and dead axle is walked around at tendon rope middle part; Described nameless tendon rope one end and nameless root are connected, and the other end and active rotating shaft are connected, and dead axle is walked around at tendon rope middle part; Described tendon of little finger rope one end and little finger of toe root are connected, and the other end and active rotating shaft are connected, and dead axle is walked around at tendon rope middle part;
Robot tendon-type four finger abducting device of the present invention is characterized in that: spring is called first spring between described forefinger and the middle finger, and the spring between the described third finger and the middle finger is called second spring; Spring between the described little finger of toe and the third finger is called the 3rd spring; Described first both ends of the spring is fixed on forefinger and middle finger root, and described second both ends of the spring is fixed on nameless and middle finger root, and described the 3rd both ends of the spring is fixed on nameless and little finger of toe root.
Originally described first spring, second spring and the 3rd spring all are in compressive state, and motor starts the back and drawn by the tendon rope, can make forefinger, the third finger and little finger of toe opened with certain angle; Described motor is fixed in the palm, and described tendon rope one end and finger root are connected, and the other end and active rotating shaft are connected, and sleeve is walked around at tendon rope middle part.
Robot tendon-type four finger abducting device of the present invention is characterized in that: comprise forefinger support column, nameless support column and little finger of toe support column;
One end of described forefinger support column is fixed in the root of forefinger, the other end of forefinger support column is embedded in first chute 113 of palm header board, and this first chute is that the center line with the forefinger rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of forefinger support column and forefinger rotating shaft;
One end of described nameless support column is affixed with nameless root, the other end of nameless support column is embedded in second chute 115 of palm header board, and this second chute is that the center line with nameless rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of nameless support column and nameless rotating shaft;
One end of described little finger of toe support column is fixed in the root of little finger of toe, the other end of little finger of toe support column is embedded in the 3rd chute 116 of palm header board, and the 3rd chute is that the center line with the little finger of toe rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of little finger of toe support column and little finger of toe rotating shaft;
Described forefinger support column, nameless support column and little finger of toe support column are parallel to each other, and centerline direction points to the back of palm by the centre of the palm of palm.
Robot tendon-type four finger abducting device of the present invention, it is characterized in that: described active rotating shaft is a uneven axle of thickness, the part of twining the tendon of little finger rope is thicker, the part of twining tendon of index finger rope and nameless tendon rope is thinner, makes the side exhibition angle of little finger of toe and the side exhibition angle of the forefinger and the third finger that certain degree of coupling be arranged.
Robot tendon-type four finger abducting device of the present invention is characterized in that: described active rotating shaft is stair-stepping axle, and the part of twining the tendon of little finger rope is thicker, and the part of twining tendon of index finger rope and nameless tendon rope is thinner.
Robot tendon-type four finger abducting device of the present invention is characterized in that: the part that described active rotating shaft twines tendon of index finger rope, nameless tendon rope and tendon of little finger rope is provided with groove.
The present invention has the following advantages and the high-lighting effect:
Robot tendon-type four finger abducting device of the present invention adopts single motor-driven and jointed gear unit comprehensively to realize the side exhibition of robot forefinger, the third finger and the relative middle finger of little finger of toe and closes up movement effects.This device can adopt robot to close up when grasping object or side is opened up the extracting attitude of certain angle, reach better envelope when making robot grasp object and grasp effect, it is more stable to grasp object, simultaneously can finish the gestures that personalize, robot extracting object is still finished gesture and is all more approached staff more; This apparatus structure is simple, compact, low cost of manufacture, and control is applicable to anthropomorphic robot's hand easily.
Description of drawings
Fig. 1 is the back of the hand cutaway view of a kind of embodiment of robot tendon-type four finger abducting device provided by the invention, and this moment, thumb swung to palmar side, observed from the palm back side, and forefinger, the third finger and little finger of toe launch at this moment.
Fig. 2 is a side partial sectional view embodiment illustrated in fig. 1, and this moment, thumb swung to palmar side.
Fig. 3 is an I enlarged drawing partly embodiment illustrated in fig. 2.
Fig. 4 is the back of the hand outside drawing embodiment illustrated in fig. 1, and this moment, thumb swung to the side of palm, observed from the palm back side.
Fig. 5 is a palm outside drawing embodiment illustrated in fig. 1, and this moment, thumb swung to the side of palm.
Fig. 6 is the back of the hand cutaway view embodiment illustrated in fig. 1, and this moment, thumb swung to palmar side, observe from the palm back side, this moment forefinger, the third finger and little finger of toe closes up, launch.
In Fig. 1 to Fig. 6:
The 1-palm, 11-palm header board, 12-palm backboard,
The 2-thumb, the 3-forefinger, the 4-middle finger,
The 5-third finger, the 6-little finger of toe,
The 711-motor, the 721-decelerator, 731-first bevel gear,
732-second bevel gear,
The 8-groove,
The rotating shaft of 813-forefinger, the nameless rotating shaft of 815-, the rotating shaft of 816-little finger of toe,
823-forefinger support column, the unknown support column of 825-, 826-little finger of toe support column,
The 83-spring,
834-first spring, 845-second spring, 856-the 3rd spring,
The 911-active rotating shaft,
92-tendon rope,
923-tendon of index finger rope, the nameless tendon rope of 925-, 926-tendon of little finger rope,
The 93-dead axle, the 931-sliding bearing, the 932-rolling bearing,
The 94-rolling bearing,
941-first rolling bearing, 942-second rolling bearing, 943-the 3rd rolling bearing,
The 95-sleeve,
951-first sleeve, 952-second sleeve, 953-the 3rd sleeve,
The 96-nut,
961-first nut, 962-second nut, 963-the 3rd nut,
The 97-catch,
971-first catch, 972-second catch, 973-the 3rd catch,
974-the 4th catch, 975-the 5th catch, 976-the 6th catch,
The 98-hole,
981-first hole, 982-second hole, 983-the 3rd hole,
113-first chute, 115-second chute, 116-the 3rd chute.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of robot tendon-type four finger abducting device of the present invention as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, comprises forefinger 3, middle finger 4, the third finger 5, little finger of toe 6 and palm 1.
This robot tendon-type four finger abducting device also comprises motor 711 and the haulage gear that is arranged in the palm, and be located at first spring 834 between forefinger 3 and the middle finger 4, be located at second spring 845 between middle finger 4 and nameless 5 and be located at nameless 5 and little finger of toe 6 between the 3rd spring 856; Described haulage gear comprises active rotating shaft 911, tendon of index finger rope 923, nameless tendon rope 925, tendon of little finger rope 926 and dead axle 931;
Described palm 1 comprises palm header board 11 and palm backboard 12, palm header board 11 and the palm backboard 12 affixed box shapes that become hollow; Described motor 711 is affixed with palm 1; The root of described middle finger 4 and palm 1 are affixed, and the root of described forefinger 3, the third finger 5, little finger of toe 6 is connected with palm 1 by forefinger rotating shaft 823, nameless rotating shaft 825, little finger of toe rotating shaft 826 respectively; Described motor 711 output shafts link to each other with first bevel gear 731, first bevel gear 731 and 732 engagements of second bevel gear, and the two ends of active rotating shaft 911 are set in respectively in palm header board 11 and the palm backboard 12.
Described dead axle is fixed in palm header board 11 and the palm backboard 12; Described rolling bearing 94 is set on the dead axle 93, and is separated by nut 96 each other; Described nut 96 is fixed on the dead axle 93 by screw thread; Described catch 97 is fixed in the gap of nut 96 and rolling bearing 94; Described sleeve 95 is set on the rolling bearing; Described tendon rope 92 1 ends tie up in the groove of finger root, and the other end is fixed on the active rotating shaft by the perforation on the active rotating shaft, and sleeve is walked around at tendon rope middle part.
In the present embodiment, spring is called first spring between described forefinger 3 and the middle finger 4, described nameless 5 and middle finger 4 between spring be called second spring; Spring between the described little finger of toe 6 and nameless 5 is called the 3rd spring; Described first both ends of the spring is fixed in forefinger and middle finger root respectively by the iron wire cranse, described second both ends of the spring is fixed in nameless and middle finger root respectively by the iron wire cranse, and described the 3rd both ends of the spring is fixed in nameless and little finger of toe root respectively by the iron wire cranse.
Originally described first spring, second spring and the 3rd spring all are in compressive state, and motor starts the back and drawn by the tendon rope, can make forefinger, the third finger and little finger of toe opened with certain angle; Described motor is fixed in the palm, and described tendon rope one end ties up in the groove of finger root, and the other end is fixed on the active rotating shaft by the perforation on the active rotating shaft, and tendon rope middle part rides on the sleeve.
Also, comprise forefinger support column 823, nameless support column 825 and little finger of toe support column 826 in the present embodiment;
One end of described forefinger support column is fixed in the root of forefinger, the other end of forefinger support column is embedded in first chute 113 of palm header board, and this first chute is that the center line with the forefinger rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of forefinger support column and forefinger rotating shaft;
One end of described nameless support column is affixed with nameless root, the other end of nameless support column is embedded in second chute 115 of palm header board, and this second chute is that the center line with nameless rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of nameless support column and nameless rotating shaft;
One end of described little finger of toe support column is fixed in the root of little finger of toe, the other end of little finger of toe support column is embedded in the 3rd chute 116 of palm header board, and the 3rd chute is that the center line with the little finger of toe rotating shaft is the center of circle, is the arc chute of radius with the center line of little finger of toe support column and the distance between center lines of little finger of toe rotating shaft;
Described forefinger support column, nameless support column and little finger of toe support column are parallel to each other, and centerline direction points to the back of palm by the centre of the palm of palm.
Described motor links to each other with active rotating shaft by transmission mechanism, and described transmission mechanism comprises decelerator 710, first bevel gear 731 and second bevel gear 732; The input of described decelerator is connected the motor and first bevel gear respectively with output, first bevel gear and the engagement of second bevel gear, and second bevel gear is fixed on the active rotating shaft.
Narrate the operation principle of present embodiment below in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6.
When the robot finger needs the side exhibition, motor just changes, driving first gear 731 by decelerator 721 rotates, second gear 732 rotates, active rotating shaft 93 rotates, sliding bearing 931 rotates, rolling bearing 932 rotates, tendon of index finger rope 923 1 ends pass first hole 981 and are fixed in the groove 8 with main rotary shaft 93, one section ties up to the forefinger root and forefinger 3 is fixed, tendon of index finger rope 923 is wrapped on the active rotating shaft 93, the tendon rope contraction in length that active rotating shaft 93 and forefinger are 3, sleeve 952 rotates, rolling bearing 942 rotates, spring 834 compressions, forefinger 3 rotates around forefinger rotating shaft 823, forefinger 3 is around the centerline side exhibition motion (departing from middle finger 4) of forefinger rotating shaft 823, nameless tendon rope 925 1 ends of while pass the 3rd hole 983 and are fixed in the groove of main rotary shaft 93, one section to tie up to nameless root fixed with nameless 5, nameless tendon rope 925 is wrapped on the active rotating shaft 93, tendon rope contraction in length between the active rotating shaft 93 and the third finger, sleeve 953 rotates, rolling bearing 943 rotates, spring 845 compressions, nameless 5 around nameless rotating shaft 825 rotations, nameless 5 centerline side exhibition motions (departing from middle finger 4) around nameless rotating shaft 825, while tendon of little finger rope 926 1 ends pass second hole 982 and are fixed in the groove of main rotary shaft 93, one section ties up to the little finger of toe root and little finger of toe 6 is fixed, tendon of little finger rope 926 is wrapped on the active rotating shaft 93, the tendon rope contraction in length that active rotating shaft 93 and little finger of toe are 6, and sleeve 951 rotates, rolling bearing 941 rotates, spring 846 compressions, little finger of toe 6 is moving around little finger of toe rotating shaft 826, and little finger of toe 6 is around the centerline side exhibition motion of little finger of toe rotating shaft 826.Because active rotating shaft 93 is stepped, twining tendon of little finger rope 926 parts ratio, to twine nameless tendon rope 925 thick with tendon of index finger rope 923 parts, thus little finger of toe 6 rotational angles with nameless 5 and forefinger 3 certain degree of coupling is arranged, as shown in Figure 1.
When the robot finger need close up, motor 711 counter-rotatings, active rotating shaft 911 counter-rotatings, the tendon rope 92 that is wrapped on the active rotating shaft 911 relaxes, by spring 83 elastic force effects, tendon rope 92 is returned to twines preceding state again, the third finger 5, little finger of toe 6 close up motion simultaneously, all close up fully up to forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6, the situation after robot closes up as shown in Figure 7.
Because when the forefinger 3 of staff, middle finger 4, the third finger 5 and little finger of toe 6 are realized sides exhibition motion, its middle finger can be used as fixed reference, thereby only need realize forefinger, the third finger and little finger of toe rotating in opposite directions or rotating dorsad and get final product relative to middle finger to the imitation of the four fingers side extending of staff motion.Robot tendon-type four finger abducting device of the present invention has been realized this technology.Apparatus of the present invention adopt single motor-driven and tendon rope haulage gear comprehensively to realize the side exhibition of robot forefinger, the third finger and the relative middle finger of little finger of toe and close up movement effects.This device can adopt robot to close up when grasping object or side is opened up the extracting attitude of certain angle, reaches better envelope when making robot grasp object and grasps effect, and it is more stable to grasp object, can finish the gestures that personalize simultaneously more; Robot extracting object is still finished gesture and is all more approached staff; This apparatus structure is simple, compact, low cost of manufacture, and control is applicable to anthropomorphic robot's hand easily.
Claims (4)
1, a kind of robot tendon-type four finger abducting device comprises forefinger (3), middle finger (4), nameless (5), little finger of toe (6) and palm (1); Described palm comprises palm header board (11) and palm backboard (12), the affixed box shape that becomes hollow of palm header board and palm backboard; It is characterized in that:
This robot tendon-type four finger abducting device also comprises motor (711) and the haulage gear that is arranged in the palm, and be located at first spring (834) between forefinger (3) and the middle finger (4), be located at second spring (845) between middle finger (4) and nameless (5) and be located at the third finger (5) and little finger of toe (6) between the 3rd spring (856); Described haulage gear comprises active rotating shaft (911), tendon of index finger rope (923), nameless tendon rope (925), tendon of little finger rope (926) and dead axle (931);
Described motor (711) is affixed with palm (1); The root of described middle finger (4) and palm (1) are affixed, and the root of described forefinger (2), nameless (5), little finger of toe (6) is connected with palm (1) by forefinger rotating shaft (813), nameless rotating shaft (815), little finger of toe rotating shaft (816) respectively; Described forefinger rotating shaft (813) one ends are fixed in the palm backboard, the other end and forefinger (3) riveted joint; Described nameless rotating shaft (815) one ends are fixed in the palm backboard, the other end and nameless (5) riveted joint; Described little finger of toe rotating shaft (816) one ends are fixed in the palm backboard, the other end and little finger of toe (6) riveted joint; The output shaft of described motor links to each other with active rotating shaft (911), and the two ends of active rotating shaft are set in respectively in palm header board (11) and the palm backboard (12);
Described dead axle cover is fixed in palm header board (11) and the palm backboard (12); Described tendon of index finger rope (923) one ends and forefinger root are connected, and the other end and active rotating shaft are connected, and dead axle is walked around at tendon rope middle part; Described nameless tendon rope (923) one ends and nameless root are connected, and the other end and active rotating shaft are connected, and dead axle is walked around at tendon rope middle part; Described tendon of little finger rope (923) one ends and little finger of toe root are connected, and the other end and active rotating shaft are with connecting, and dead axle (931) is walked around at tendon rope middle part.
2, robot tendon-type four finger abducting device as claimed in claim 1 is characterized in that: comprise forefinger support column (823), nameless support column (825) and little finger of toe support column (826);
One end of described forefinger support column is fixed in the root of forefinger, the other end of forefinger support column is embedded in first chute (113) of palm header board, and this first chute is that the center line with the forefinger rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of forefinger support column and forefinger rotating shaft;
One end of described nameless support column is affixed with nameless root, the other end of nameless support column is embedded in second chute (115) of palm header board, and this second chute is that the center line with nameless rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of nameless support column and nameless rotating shaft;
One end of described little finger of toe support column is fixed in the root of little finger of toe, the other end of little finger of toe support column is embedded in the 3rd chute (116) of palm header board, and the 3rd chute is that the center line with the little finger of toe rotating shaft is the center of circle, is the arc chute of radius with the distance between the center line of the center line of little finger of toe support column and little finger of toe rotating shaft;
Described forefinger support column, nameless support column and little finger of toe support column are parallel to each other, and centerline direction points to the back of palm by the centre of the palm of palm.
3, robot tendon-type four finger abducting device as claimed in claim 1, it is characterized in that: described active rotating shaft (911) is stair-stepping axle, the part of twining tendon of little finger rope (926) is thicker, and it is thinner with the part of nameless tendon rope (925) to twine tendon of index finger rope (923).
4, robot tendon-type four finger abducting device as claimed in claim 1 is characterized in that: the part that described active rotating shaft (911) twines tendon of index finger rope (923), nameless tendon rope (925) and tendon of little finger rope (926) is provided with groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100837265A CN101549496B (en) | 2009-05-08 | 2009-05-08 | Tendon-type four finger abducting device of a robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100837265A CN101549496B (en) | 2009-05-08 | 2009-05-08 | Tendon-type four finger abducting device of a robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101549496A true CN101549496A (en) | 2009-10-07 |
| CN101549496B CN101549496B (en) | 2010-11-10 |
Family
ID=41154107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100837265A Expired - Fee Related CN101549496B (en) | 2009-05-08 | 2009-05-08 | Tendon-type four finger abducting device of a robot hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101549496B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN107225588A (en) * | 2017-08-09 | 2017-10-03 | 北京进化者机器人科技有限公司 | Robot delicate and robot |
| CN111419489A (en) * | 2020-04-13 | 2020-07-17 | 上海理工大学 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
-
2009
- 2009-05-08 CN CN2009100837265A patent/CN101549496B/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN107225588A (en) * | 2017-08-09 | 2017-10-03 | 北京进化者机器人科技有限公司 | Robot delicate and robot |
| CN111419489A (en) * | 2020-04-13 | 2020-07-17 | 上海理工大学 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
| CN111419489B (en) * | 2020-04-13 | 2021-09-24 | 上海理工大学 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101549496B (en) | 2010-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105310863B (en) | A kind of finger and wrist joint device for healing and training | |
| CN101491900B (en) | Man-like robot finger side-swaying device | |
| CN101474794B (en) | Bionic robot under-actuated delicacy hand device | |
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN105193525B (en) | Bionic hand with five fingers based on nickel-titanium memory alloy | |
| CN101721290B (en) | Exoskeleton type finger motion function rehabilitation robot | |
| CN105583832B (en) | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive | |
| CN101486191B (en) | Displacement under-actuated robot hand apparatus | |
| CN101797753A (en) | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN100551641C (en) | The Chiasma tendon rope under-driven modularization anthropomorphic robot arm device | |
| CN101486188B (en) | Hand four fingers side extending apparatus of bionic robot | |
| CN106346500A (en) | Underactuated humanoid dexterous robotic hand device | |
| CN105818158B (en) | Flexible piece leverage puts down folder adaptive robot finger apparatus | |
| CN101549496B (en) | Tendon-type four finger abducting device of a robot hand | |
| CN102310411A (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN109758275A (en) | A kind of driving rope and four-bar mechanism combined type under-actuated bionic artificial limb finger | |
| CN206717889U (en) | A kind of robot clever hand finger of variation rigidity drive lacking | |
| CN106346499B (en) | The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line | |
| CN102814819A (en) | Finger device of bevel gear motor inverted type composite under-actuated robot | |
| CN101774176B (en) | Rack-flexible piece coupling underactuated double-joint robot finger device | |
| CN101367209A (en) | Five-finger type human simulating manipulator mechanism | |
| CN202241302U (en) | Bionic robot hand device | |
| CN101653940B (en) | Finger device of double joint rack coupling robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101110 Termination date: 20110508 |