CN101716767A - Coupling underactuated integrated bionic hand device - Google Patents

Coupling underactuated integrated bionic hand device Download PDF

Info

Publication number
CN101716767A
CN101716767A CN200910241255A CN200910241255A CN101716767A CN 101716767 A CN101716767 A CN 101716767A CN 200910241255 A CN200910241255 A CN 200910241255A CN 200910241255 A CN200910241255 A CN 200910241255A CN 101716767 A CN101716767 A CN 101716767A
Authority
CN
China
Prior art keywords
forefinger
thumb
joint shaft
connecting rod
palm
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
Application number
CN200910241255A
Other languages
Chinese (zh)
Other versions
CN101716767B (en
Inventor
张文增
赵得洋
陈强
都东
孙振国
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Wuxi Research Institute of Applied Technologies of Tsinghua University
Original Assignee
Tsinghua University
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 Tsinghua University filed Critical Tsinghua University
Priority to CN2009102412556A priority Critical patent/CN101716767B/en
Publication of CN101716767A publication Critical patent/CN101716767A/en
Application granted granted Critical
Publication of CN101716767B publication Critical patent/CN101716767B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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

Landscapes

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

Abstract

The invention relates to a coupling underactuated integrated bionic hand device, belonging to the technology field of humanoid robots; the bionic hand device comprises a thumb, a forefinger, a middle finger, a third finger, a little finger and a palm. The device comprises five individually controlled fingers and fifteen joint freedom degrees and is driven by six motors, and the device realizes the functions of highly simulating the appearance of a human hand and grabbing action and is suitable for the humanoid robot. The forefinger, the middle finger, the third finger, and the little finger adopt modular structures, and the commonality of parts is strong. All fingers utilize a connecting rod and a spring piece to form a coupling driving mechanism and an underactuated driving mechanism which are integrated, thereby comprehensively realizing special effect of integrating the coupling and underactuated self-adaption grabbing process. In the grabbing process, the device is turned by a coupling mode before an object is touched, the object is grabbed in a turning way by adopting an underactuated self-adaption mode after the object is touched, and the device can be automatically adaptive to the size and shape of the object. The output power of the bionic hand device is strong, the grabbing action is stable, the range of the grabbed objects is wide, the requirement to a control system is low, the structure is simple and the coupling underactuated integrated bionic hand device is suitable for long-time usage.

Description

Coupling underactuated integrated bionic hand device
Technical field
The invention belongs to anthropomorphic robot's workmanship art field, particularly a kind of structural design of coupling underactuated integrated bionic hand device.
Background technology
Bionic hand device becomes the hot topic and the emphasis of Robotics area research in recent years as the pith of robot.But in present research, there are some technological difficulties.As in order to realize the multiple degrees of freedom Dextrous Hand, need more motor.But the increase of number of motors not only can cause the control system complexity, can make that more whole equipment mechanism is huge, destroys its personification.Owing actuation techniques is better to solve one of scheme of this contradiction.By utilizing the lack of driven structure, can be by the more joint freedom degrees of less motor-driven, thus reduced requirement to control system.Especially, a class adopts the bionic hand device of under-driven adaptive mechanism to arise at the historic moment.With such finger that installs three joints is the working method of example explanation under-driven adaptive finger apparatus: the whole finger of motor-driven (generally include first and refer to that section, second refers to section and the end section of finger) is similar to a rigid body and is straight configuration and rotates around nearly joint shaft, restricted can't moving after the first finger section is touched object, second refers to the section rotation under the effect of motor, restricted can't moving after the second finger section is touched object, the end section of finger is rotated, until touching object, realized that three refer to section rotation in order successively.Such bionic hand device has the special-effect of automatic adaptation object size, and it is wide to adapt to the extracting object range, and what help grasping is stable.
A kind of activation lacking mechanical arm device such as U.S. patent of invention US5762390A belong to the under-driven adaptive device, adopt many cover quadric chains that the transmission of power of drive source is arrived a plurality of joints, have the stability of adaptivity and extracting.
Another kind owes to drive anthropomorphic robot's multi-finger hand device, and (Chinese invention patent CN 101214653A) adopts modularization belt wheel transmission mechanism, realized equally owing to drive the crooked special-effect that grasps object, has adaptivity.
But, such under-driven adaptive bionic hand device has certain deficiency: its finger is straight configuration all the time and rotates before not touching object, not only have than big-difference with the staff action, lack personification, and behind the first finger section contact object, refer to that second section turns to before object contact, object might be open under first effect that refers to section, leaves the extracting scope of finger; Such bionic hand can only grasp object in the gripping mode, and can not realize that end grips; When finger tips is touched object, can not realize the natural torsion in each joint, thereby difficult object is allocated in the hand held; Can not accomplish the action etc. of similar staff empty-handed " clenching fist ".
The another kind of technology of extensively using the robot field is a coupling technique.By adopting coupling mechanism, when robot finger apparatus rotates, can realize referring to the multiarticulate rotation simultaneously of section, the natural torsion of finger when the similar staff of course of action grips more.Still be the working method of example explanation manifold type finger apparatus: when the motor-driven finger rotates with the three-joint robot finger, not only point first and refer to that section is around nearly joint shaft rotation, the second finger section is gone the long way round joint shaft with respect to the first finger section rotation in the first finger section motion, the angle that both rotate has a fixing proportionate relationship, this proportionate relationship is by the design decision of concrete coupling mechanism, and remaining constantly, this is coupling extracting pattern.Multiarticulate finger still can be driven by less drive source, so the manifold type robot finger has inherited and has owed the drive-type finger and have less drive source, the control characteristic of simple, and some shortcomings of under-driven adaptive finger apparatus have been overcome, its grasping movement has good personification, can realize that gripping mode grasps, the robot that adopts the manifold type finger apparatus can also avoid under-driven adaptive to point the shortcoming that object might be pushed open simultaneously to make the action of clenching fist.
Existing a kind of manifold type articulated robot arm device (Japanese patent of invention JP2004-130405A) comprises that pedestal, first refers to that section, second refers to that section, the 3rd refers to section, motor, first gear drive, the first belt wheel transmission mechanism, second gear drive and the second belt wheel transmission mechanism etc.This device adopts gear and belt wheel transmission mechanism to realize the effect of being rotated by motor-driven a plurality of joints coupling.
But the manifold type finger apparatus does not have the self-adapting grasping function of under-driven adaptive finger because each joint rotational angle ratio remains unchanged.When rotate with the fixed angle ratio in each joint, can't grasp in the gripping mode of lucky adaptation body surface size dimension, do not possess the automatic adaptability to object, it is bad to grasp effect, grasps unstable.
By above-mentioned situation as can be known, under-driven adaptive formula finger and each tool quality of manifold type finger mechanism if both combinations can be learnt from other's strong points to offset one's weaknesses, will become the trend of following bionic hand development.At present existing a kind of robot finger apparatus has the effect of coupling and under-driven adaptive, but for the tandem coupling adds under-driven adaptive finger (Chinese invention patent CN101190528A), this device belongs to three joints finger, its middle finger joint and finger tip adopt the coupled drive mode, realized the coupled motions of diarticular 1: 1 angle, nearly dactylus and middle finger joint employing under-driven adaptive mode realize the self-adapting grasping to object.But the coupling extracting of this device and under-driven adaptive grasp and separate, only realize the coupling extracting with finger the first half, realizing that with finger the latter half under-driven adaptive grasps, is the simple synthetic of two kinds of extractings in fact, two kinds of Grasp Modes is not really merged.
In sum, if can adopt the coupling mechanism and the under-driven adaptive mechanism that are integrated, be implemented in the same extracting process and successively implement to grasp in the mode of coupling and under-driven adaptive successively, with real advantage in conjunction with two kinds of Grasp Modes, realize having complementary advantages, can obtain practical bionic hand device powerful, that the extracting scope is wide, grasp stability is good.
Summary of the invention
The objective of the invention is weak point, design a kind of coupling underactuated integrated bionic hand device at prior art.This device have a plurality of can active drive and independently-controlled fingers, has the crooked rotating function of coupling, can simulate the exercises of staff, have the multi-joint under-driven adaptive simultaneously and grasp effect, the object of can really holding when grasping object, extracting is stable and in extensive range, also will guarantee personalizing of good surface appearance.
The present invention adopts following technical scheme:
Coupling underactuated integrated bionic hand device of the present invention comprises thumb, forefinger, middle finger, the third finger, little finger of toe and palm; Said palm comprises palm skeleton, palm motor, palm joint shaft, palm decelerator, palm connecting plate; Said palm motor and palm decelerator and said palm skeleton are affixed, the output shaft of palm motor links to each other with the palm input shaft of speed reducer, the output shaft of palm decelerator links to each other with the palm joint shaft, the palm joint shaft is set in the palm skeleton, and said palm connecting plate is fixed on the palm joint shaft; Said thumb comprises that thumb pedestal, thumb first refer to that section, thumb second refer to section, the nearly joint shaft of thumb, thumb joint shaft far away, thumb motor and thumb decelerator; Said thumb motor and thumb pedestal are affixed, the output shaft of thumb motor links to each other with said thumb input shaft of speed reducer, the output shaft of thumb decelerator links to each other with the nearly joint shaft of said thumb, the nearly joint shaft of thumb is set in the thumb pedestal, and said thumb joint shaft far away is set in said thumb first and refers in the section; Thumb first refers to that section is socketed on the nearly joint shaft of thumb, and said thumb second refers to that section is socketed on the thumb joint shaft far away; The axis of nearly joint shaft of said thumb and thumb joint shaft far away is parallel to each other; Said forefinger comprises that forefinger pedestal, forefinger first refer to that section, forefinger second refer to section, the forefinger end section of finger, the nearly joint shaft of forefinger, forefinger joint shaft far away, forefinger decelerator and forefinger motor; Said forefinger motor and forefinger pedestal are affixed, the output shaft of forefinger motor links to each other with said forefinger input shaft of speed reducer, the output shaft of forefinger decelerator links to each other with the nearly joint shaft of said forefinger, the nearly joint shaft of forefinger is set in the forefinger pedestal, said forefinger joint shaft far away is set in said forefinger second and refers in the section, said forefinger first refers to that section is socketed on the nearly joint shaft of forefinger, and the said forefinger end section of finger is socketed on the forefinger joint shaft far away;
It is characterized in that:
Said thumb also comprises thumb first connecting rod, first on thumb, thumb second connecting rod, second on thumb, thumb third connecting rod, the 3rd on thumb, thumb the 4th connecting rod, the thumb first spring spare and the thumb second spring spare;
One end of said thumb first connecting rod is fixed on the nearly joint shaft of thumb, the other end of thumb first connecting rod is hinged with said thumb second connecting rod one end by first on said thumb, and the other end of thumb second connecting rod is hinged with the thumb second finger section by second on said thumb; One end of said thumb third connecting rod is socketed on the nearly joint shaft of thumb, and the other end of thumb third connecting rod is hinged by the 3rd end with said thumb the 4th connecting rod of said thumb, and the other end of thumb the 4th connecting rod is socketed on second on the thumb; The two ends of the said thumb first spring spare connect the thumb first connecting rod respectively and thumb first refers to section, and the two ends of the said thumb second spring spare connect thumb third connecting rod and thumb pedestal respectively; The axis of first on said thumb, second on thumb, the 3rd on thumb and the nearly joint shaft of thumb is parallel to each other;
Said forefinger also comprises in the forefinger first joint shaft in the joint shaft and forefinger second; In the said forefinger first in joint shaft and the forefinger second joint shaft be set in said forefinger first and refer in the section, forefinger second refers to that section is socketed in the forefinger first in the joint shaft and forefinger second on the joint shaft, in the nearly joint shaft of said forefinger, the forefinger first in joint shaft, the forefinger second axis of joint shaft and forefinger joint shaft far away be parallel to each other; Joint shaft coaxial line in joint shaft and the forefinger second in the forefinger first;
Said forefinger also comprises forefinger first connecting rod, first on forefinger, forefinger second connecting rod, second on forefinger, forefinger third connecting rod, the 3rd on forefinger, forefinger the 4th connecting rod, forefinger the 5th connecting rod, forefinger the 6th connecting rod, the 4th on forefinger, forefinger seven-link assembly, the 5th on forefinger, forefinger the 8th connecting rod, the forefinger first spring spare, the forefinger second spring spare, forefinger the 3rd spring spare and forefinger the 4th spring spare;
One end of said forefinger first connecting rod is fixed on the nearly joint shaft of forefinger, the other end of forefinger first connecting rod is hinged with said forefinger second connecting rod one end by first on said forefinger, the other end of forefinger second connecting rod is hinged by second end with said forefinger the 5th connecting rod of said forefinger, and the other end of forefinger the 5th connecting rod is socketed in the said forefinger second on the joint shaft; One end of said forefinger third connecting rod is socketed on the nearly joint shaft of forefinger, and the other end of forefinger third connecting rod is hinged by the 3rd end with said forefinger the 4th connecting rod of said forefinger, and the other end of forefinger the 4th connecting rod is socketed on second on the forefinger; One end of said forefinger the 6th connecting rod is socketed on second on the forefinger, and the other end of forefinger the 6th connecting rod is hinged with the forefinger end section of finger by the 4th on said forefinger; One end of said forefinger seven-link assembly is socketed in the said forefinger first on the joint shaft, the other end of forefinger seven-link assembly is hinged by the 5th end with forefinger the 8th connecting rod of said forefinger, and the other end of forefinger the 8th connecting rod is socketed on the 4th on the forefinger; The two ends of the said forefinger first spring spare connect the forefinger first connecting rod respectively and forefinger first refers to section, the two ends of the said forefinger second spring spare connect forefinger third connecting rod and forefinger pedestal respectively, the two ends of said forefinger the 3rd spring spare connect forefinger the 5th connecting rod respectively and forefinger second refers to section, and the forefinger two ends of said forefinger the 4th spring spare connect the forefinger seven-link assembly respectively and forefinger first refers to section; The axis of first on said forefinger, second on forefinger, the 3rd on forefinger, the 4th on forefinger, the 5th on forefinger and the nearly joint shaft of forefinger is parallel to each other;
Said thumb is affixed by thumb pedestal and palm connecting plate; Said forefinger is affixed by forefinger pedestal and palm skeleton; Said middle finger, the third finger and little finger of toe are affixed with the palm skeleton respectively, and connected mode is with the forefinger unanimity; Said middle finger, the third finger, little finger of toe are identical with the forefinger structure, only the size difference.
Coupling underactuated integrated bionic hand device of the present invention is characterized in that: the nearly joint shaft of said thumb, thumb joint shaft far away, first on thumb, second on thumb and the 3rd on thumb meet following relation: establishing the axis of the nearly joint shaft of thumb and the plane, axis place of thumb joint shaft far away is P 1The plane, the plane, axis place of axis that thumb is first and thumb joint shaft far away is P 2The plane; Then the axis of the 3rd on the axis of first on thumb and thumb is at P 1The both sides on plane, the axis that axis that thumb is second and thumb are the 3rd is at P 2The both sides on plane.
Coupling underactuated integrated bionic hand device of the present invention is characterized in that: joint shaft, first on forefinger, second on forefinger, the 3rd on forefinger, the 4th on forefinger, the 5th on forefinger and forefinger joint shaft far away meet following relation in the nearly joint shaft of said forefinger, the forefinger first: the plane, axis place of establishing joint shaft in the axis of the nearly joint shaft of forefinger and the forefinger first is P 3The plane, the plane, axis place of joint shaft is P in axis that forefinger is first and the forefinger first 4The plane, the plane, axis place of the axis of joint shaft and forefinger joint shaft far away is P in the forefinger first 5The plane, the plane, axis place of axis that forefinger is second and forefinger joint shaft far away is P 6The plane; Then the axis of the 3rd on the axis of first on forefinger and forefinger is at P 3The both sides on plane, the axis that axis that forefinger is second and forefinger are the 3rd is at P 4The both sides on plane, the axis that axis that forefinger is second and forefinger are the 5th is at P 5The both sides on plane, the axis that axis that forefinger is the 4th and forefinger are the 5th is at P 6The both sides on plane.
Coupling underactuated integrated bionic hand device of the present invention is characterized in that: the said thumb first spring spare, the thumb second spring spare, the forefinger first spring spare, the forefinger second spring spare, forefinger the 3rd spring spare and forefinger the 4th spring spare adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
Coupling underactuated integrated bionic hand device of the present invention is characterized in that: the elastic force restriction of the said thumb second spring spare is better than the elastic force restriction of the thumb first spring spare; The elastic force restriction of the said forefinger second spring spare is better than the elastic force restriction of the forefinger first spring spare; The elastic force restriction of said forefinger the 4th spring spare is better than the elastic force restriction of forefinger the 3rd spring spare.
Coupling underactuated integrated bionic hand device of the present invention, it is characterized in that: be provided with the thumb transmission mechanism between said thumb decelerator and the nearly joint shaft of thumb, the output shaft of thumb decelerator links to each other with the nearly joint shaft of thumb by said thumb transmission mechanism.
Coupling underactuated integrated bionic hand device of the present invention, it is characterized in that: be provided with the forefinger transmission mechanism between said forefinger decelerator and the nearly joint shaft of forefinger, the output shaft of forefinger decelerator links to each other with the nearly joint shaft of forefinger by said forefinger transmission mechanism.
Coupling underactuated integrated bionic hand device of the present invention, it is characterized in that: be provided with the palm transmission mechanism between said palm decelerator and palm joint shaft, the output shaft of palm decelerator links to each other with the palm joint shaft by said palm transmission mechanism.
Coupling underactuated integrated bionic hand device of the present invention is characterized in that: be provided with the thumb encoder on said thumb motor; On said forefinger motor, be provided with the forefinger encoder; On said palm motor, be provided with the palm encoder.
The present invention has the following advantages and the high-lighting effect:
5 independently-controlled fingers and 15 joint freedom degrees that this device has only by 6 motor-driven, have realized highly imitating the outward appearance and the grasping movement of staff, are applicable to the anthropomorphic robot.The forefinger of this device, middle finger, the third finger are identical with the little finger of toe structure, and this modularized design makes that part universality is strong and it is low to make maintenance cost.Each finger all utilizes connecting rod and spring spare to constitute the coupled transmission mechanism of one and owes drive transmission device, has realized that comprehensively coupling and under-driven adaptive extracting process are blended in the special-effect of one.In the extracting process, touch the preceding coupled modes that adopt of object and rotate, after touching object, can adopt the under-driven adaptive mode to rotate the extracting object, adapt to object size and shape automatically.This device is exerted oneself greatly, and grasping movement is stable, and it is wide to grasp object range, and is low, simple in structure to the control system requirement, is fit to long-term the use.
Description of drawings
Fig. 1 is a kind of embodiment front echelon sectional view of coupling underactuated integrated bionic hand device provided by the invention, and this moment, thumb was positioned at palmar side.
Fig. 2 is front appearance figure embodiment illustrated in fig. 1, and this moment, thumb was positioned at the side of palm.
Fig. 3 is the outside drawing of overlooking of this embodiment, and this moment, thumb was positioned at the side of palm.
Fig. 4 is the side outside drawing of this embodiment, and this moment, thumb was positioned at the right opposite of palm.
Fig. 5 is the outside drawing of overlooking of this embodiment, and this moment, thumb was positioned at the right opposite of palm.
Fig. 6 is the front appearance figure of the thumb of this embodiment.
Fig. 7 is the left side view of the thumb of this embodiment.
Fig. 8 is the stereo appearance figure of the thumb of this embodiment.
Fig. 9 is the location diagram of the nearly joint shaft 24 of the thumb of this embodiment thumb, thumb third connecting rod 212 and the thumb second spring spare 216.
Figure 10 is the left surface cutaway view of the thumb of this embodiment.
Figure 11 is the right flank cutaway view of the thumb of this embodiment.
Figure 12 is the front view (do not draw thumb pedestal bottom plate and thumb first refer to the section base plate) of the thumb of this embodiment.
Figure 13 is the explosive view of the thumb of this embodiment.
Figure 14 is the front appearance figure of the forefinger of this embodiment.
Figure 15 is the left side view of the forefinger of this embodiment.
Figure 16 is the stereo appearance figure of the forefinger of this embodiment.
Figure 17 is the location diagram of the nearly joint shaft 35 of the forefinger of this embodiment forefinger, forefinger third connecting rod 15 and the forefinger second spring spare 25.
Figure 18 is the location diagram of joint shaft 36 in the forefinger first of this embodiment forefinger, forefinger seven-link assembly 321 and forefinger the 4th spring spare 327.
Figure 19 is the left surface cutaway view of the forefinger of this embodiment.
Figure 20 is the right flank cutaway view of the forefinger of this embodiment.
Figure 21 is the front view (the forefinger pedestal bottom plate that do not draw, forefinger first refer to that section base plate and forefinger second refer to the section base plate) of the forefinger of this embodiment
Figure 22 is the explosive view of the forefinger of this embodiment.
Figure 23, Figure 24, Figure 25, Figure 26 and Figure 27 are that the thumb of this embodiment refers to that with two section gripping mode fully grasps object process schematic diagram (thumb first finger section 22 and the thumb second finger section 23 are rotated around the axis of the nearly joint shaft 24 of thumb, thumb joint shaft 25 far away respectively).
Figure 28 is that the thumb of this embodiment refers to that with two section grips the schematic diagram that mode grasps object.
Figure 29 is the thumb of this embodiment touches object with the thumb second finger section 23 a schematic diagram.
Figure 30 be this embodiment thumb with coupled modes turn to extreme position make " clenching fist " action schematic diagram.
Figure 31, Figure 32, Figure 33, Figure 34, Figure 35, Figure 36 and Figure 37 are that the forefinger of this embodiment refers to that with three a section gripping mode fully grasps object process schematic diagram (forefinger first refers to that section 32, forefinger second refer to joint shaft 36 and the forefinger joint shaft 38 axis rotation far away in the nearly joint shaft 35 of forefinger, forefinger first respectively of section 33 and the forefinger end section of finger 34).
Figure 38, Figure 39, Figure 40 and Figure 41 are that the forefinger of this embodiment grasps object process schematic diagram (forefinger second refers to joint shaft 36, forefinger joint shaft axis 38 rotations far away in forefinger first successively respectively of section 33 and the forefinger end section of finger 34) with forefinger second finger section 33 and the forefinger end section of finger 34 gripping modes.
Figure 42 is that the forefinger of this embodiment refers to that with forefinger second section 33 and the forefinger end section of finger 34 grip mode and grasp the object schematic diagram.
Figure 43 is that three on the forefinger of this embodiment refers to that section turns to extreme position with coupled modes and makes " clenching fist " action schematic diagram.
Figure 44 is the forefinger of this embodiment touches object with the forefinger end section of finger 34 a schematic diagram.
Figure 45, Figure 46, Figure 47 and Figure 48 are this embodiment finger rotates the action of making various staff with coupled modes schematic diagrames.
Figure 49 is the side schematic appearance that this embodiment grasps cylindric object.
Figure 50 is the front appearance schematic diagram that this embodiment grasps cylindric object.
Figure 51 is the survey schematic appearance that waits that this embodiment grasps cylindric object.
In Fig. 1 to Figure 51:
1-palm skeleton,
11-palm motor, 12-palm joint shaft, 13-palm transmission mechanism,
14-palm torsion spring, 15-palm decelerator, 16-palm encoder
17-palm connecting plate,
The 2-thumb,
21-thumb pedestal, 22-thumb first refers to section, 23-thumb second refers to section,
The nearly joint shaft of 24-thumb, 25-thumb joint shaft far away, 26-thumb decelerator,
27-thumb motor, 28-thumb first connecting rod, first on 29-thumb,
210-thumb second connecting rod, second on 211-thumb, 212-thumb third connecting rod,
The 3rd on 213-thumb, 214-thumb the 4th connecting rod, the 215-thumb first spring spare,
The 216-thumb second spring spare, 217-thumb transmission mechanism, 218-thumb encoder,
The 3-forefinger,
31-forefinger pedestal, 32-forefinger first refers to section, 33-forefinger second refers to section,
The 34-forefinger end section of finger, the nearly joint shaft of 35-forefinger, joint shaft in the 36-forefinger first,
Joint shaft in the 37-forefinger second, 38-forefinger joint shaft far away,
39-forefinger decelerator, 310-forefinger motor, 311-forefinger first connecting rod,
First on 312-forefinger, 313-forefinger second connecting rod, second on 314-forefinger,
315-forefinger third connecting rod, the 3rd on 316-forefinger, 317-forefinger the 4th connecting rod,
318-forefinger the 5th connecting rod, 319-forefinger the 6th connecting rod, the 4th on 320-forefinger,
321-forefinger seven-link assembly, the 5th on 322-forefinger, 323-forefinger the 8th connecting rod,
The 324-forefinger first spring spare, the 325-forefinger second spring spare, 326-forefinger the 3rd spring spare,
327-forefinger the 4th spring spare, 328-forefinger transmission mechanism, 329-forefinger encoder,
The 4-middle finger, the 5-third finger, 6-little finger of toe.
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 the coupling underactuated integrated bionic hand device of the present invention's design, shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Figure 45, Figure 46, Figure 47, Figure 48, Figure 49, Figure 50 and Figure 51, this bionic hand device comprises thumb 2, forefinger 3, middle finger 4, the third finger 5, little finger of toe 6 and palm.
Said palm comprises palm skeleton 1, palm motor 11, palm joint shaft 12, palm decelerator 15, palm connecting plate 17; Said palm motor 11 and palm decelerator 15 and said palm skeleton 1 are affixed, the output shaft of palm motor 11 links to each other with the power shaft of palm decelerator 15, the output shaft of palm decelerator 15 links to each other with palm joint shaft 12, palm joint shaft 12 is set in the palm skeleton 1, and said palm connecting plate 17 is fixed on the palm joint shaft 12.
Coupling underactuated integrated bionic hand device of the present invention, be provided with palm transmission mechanism 13 between said palm decelerator 15 and palm joint shaft 12, the output shaft of palm decelerator 15 links to each other with palm joint shaft 12 by said palm transmission mechanism 13.
In the present embodiment, said palm transmission mechanism 13 adopts gear drive.
In the present embodiment, on said palm motor 11, be provided with palm encoder 16.
Present embodiment also comprises palm torsion spring 14, and an end of said palm torsion spring 14 connects palm joint shaft 12, and the other end connects palm skeleton 1.
In the present embodiment, said thumb 2, as Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12 and shown in Figure 13, comprise that basic thumbrest 21, thumb first refer to that section 22, thumb second refer to section 23, the nearly joint shaft 24 of thumb, thumb joint shaft 25 far away, thumb decelerator 26 and thumb motor 27; Said thumb motor 27 is affixed with thumb pedestal 21, the output shaft of thumb motor 27 links to each other with the power shaft of said thumb decelerator 26, the output shaft of thumb decelerator 26 links to each other with the nearly joint shaft 24 of said thumb, the nearly joint shaft 24 of thumb is set in the pedestal 21, and said thumb joint shaft 25 far away is set in said thumb first and refers in the section 22; Thumb first refers to that section 22 is socketed on the nearly joint shaft 24 of thumb, and said thumb second refers to that section 23 is socketed on the thumb joint shaft 25 far away; The axis of nearly joint shaft 24 of said thumb and thumb joint shaft 25 far away is parallel to each other;
Said thumb 2 also comprises thumb first connecting rod 28, first 29 on thumb, thumb second connecting rod 210, second 211 on thumb, thumb third connecting rod 212, the 3rd 213 on thumb, thumb the 4th connecting rod 214, the thumb first spring spare 215 and the thumb second spring spare 216; One end of said thumb first connecting rod 28 is fixed on the nearly joint shaft 24 of thumb, the other end of thumb first connecting rod 28 is hinged with said thumb second connecting rod 210 1 ends by first 29 on said thumb, and the other end of thumb second connecting rod 210 is hinged with the thumb second finger section 23 by second 211 on said thumb; One end of said thumb third connecting rod 212 is socketed on the nearly joint shaft 24 of thumb, the other end of thumb third connecting rod 212 is hinged with an end of said thumb the 4th connecting rod 214 by the 3rd 213 on said thumb, and the other end of thumb the 4th connecting rod 214 is socketed on second 211 on the thumb; The two ends of the said thumb first spring spare 215 connect thumb first connecting rod 28 respectively and thumb first refers to section 22, and the two ends of the said thumb second spring spare 216 connect thumb third connecting rod 212 and thumb pedestal 21 respectively; The axis of first 29 on said thumb, second 211 on thumb, the 3rd 213 on thumb and the nearly joint shaft 24 of thumb is parallel to each other;
In the present embodiment, the nearly joint shaft 24 of said thumb, thumb joint shaft 25 far away, first 29 on thumb, second 211 on thumb and the 3rd 213 on thumb meet following relation: establishing the axis of the nearly joint shaft 24 of thumb and the plane, axis place of thumb joint shaft 25 far away is P 1The plane, the plane, axis place of axis that thumb is first 29 and thumb joint shaft 25 far away is P 2The plane; Then the axis of the 3rd 213 on the axis of first 29 on thumb and thumb is at P 1The both sides on plane, the axis that axis that thumb is second 211 and thumb are the 3rd 213 is at P 2The both sides on plane.
Coupling underactuated integrated bionic hand device of the present invention, said thumb first spring spare 215 and the thumb second spring spare 216 adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
In the present embodiment, said thumb first spring spare 215 and the thumb second spring spare 216 adopt torsion spring.
Coupling underactuated integrated bionic hand device of the present invention, be provided with thumb transmission mechanism 217 between said thumb decelerator 26 and the nearly joint shaft 24 of thumb, the output shaft of thumb decelerator 26 links to each other with the nearly joint shaft 24 of thumb by said thumb transmission mechanism 217.
In the present embodiment, said thumb transmission mechanism 217 adopts gear drive.
In the present embodiment, on said thumb motor 27, be provided with thumb encoder 218.
In the present embodiment, the structure of said forefinger 3 such as Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20, Figure 21 and shown in Figure 22 comprise that forefinger pedestal 31, forefinger first refer to that section 32, forefinger second refer to section 33, the forefinger end section of finger 34, the nearly joint shaft 35 of forefinger, forefinger joint shaft 38 far away, forefinger decelerator 39 and forefinger motor 310; Said forefinger motor 310 is affixed with forefinger pedestal 31, the output shaft of forefinger motor 310 links to each other with the power shaft of said forefinger decelerator 39, the output shaft of forefinger decelerator 39 links to each other with the nearly joint shaft 35 of said forefinger, the nearly joint shaft 35 of forefinger is set in the forefinger pedestal 31, said forefinger joint shaft 38 far away is set in said forefinger second and refers in the section 33, said forefinger first refers to that section 32 is socketed on the nearly joint shaft 35 of forefinger, and the said forefinger end section of finger 3 is socketed on the forefinger joint shaft 38 far away;
Said forefinger 3 also comprises in the forefinger first joint shaft 37 in the joint shaft 36 and forefinger second; In the said forefinger first in joint shaft 36 and the forefinger second joint shaft 37 be set in said forefinger first and refer in the section 32, forefinger second refers to that section 33 is socketed in the forefinger first in the joint shaft 36 and forefinger second on the joint shaft 37, in the nearly joint shaft 35 of said forefinger, the forefinger first in joint shaft 36, the forefinger second axis of joint shaft 37 and forefinger joint shaft 38 far away be parallel to each other; Joint shaft 37 coaxial lines in joint shaft 36 and the forefinger second in the forefinger first;
Said forefinger 3 also comprises forefinger first connecting rod 311, first 312 on forefinger, forefinger second connecting rod 313, second 314 on forefinger, forefinger third connecting rod 315, the 3rd 316 on forefinger, forefinger the 4th connecting rod 317, forefinger the 5th connecting rod 318, forefinger the 6th connecting rod 319, the 4th 320 on forefinger, forefinger seven-link assembly 321, the 5th 322 on forefinger, forefinger the 8th connecting rod 323, the forefinger first spring spare 324, the forefinger second spring spare 325, forefinger the 3rd spring spare 326 and forefinger the 4th spring spare 327; One end of said forefinger first connecting rod 311 is fixed on the nearly joint shaft 35 of forefinger, the other end of forefinger first connecting rod 311 is hinged with said forefinger second connecting rod 313 1 ends by first 312 on said forefinger, the other end of forefinger second connecting rod 313 is hinged with an end of said forefinger the 5th connecting rod 318 by second 314 on said forefinger, and the other end of forefinger the 5th connecting rod 318 is socketed in the said forefinger second on the joint shaft 37; One end of said forefinger third connecting rod 315 is socketed on the nearly joint shaft 35 of forefinger, the other end of forefinger third connecting rod 315 is hinged with an end of said forefinger the 4th connecting rod 317 by the 3rd 316 on said forefinger, and the other end of forefinger the 4th connecting rod 317 is socketed on second 314 on the forefinger; One end of said forefinger the 6th connecting rod 319 is socketed on second 314 on the forefinger, and the other end of forefinger the 6th connecting rod 319 is hinged with the forefinger end section of finger 34 by the 4th 320 on said forefinger; One end of said forefinger seven-link assembly 321 is socketed in the said forefinger first on the joint shaft 36, the other end of forefinger seven-link assembly 321 is hinged with an end of forefinger the 8th connecting rod 323 by the 5th 322 on said forefinger, and the other end of forefinger the 8th connecting rod 323 is socketed on the 4th 20 on the forefinger; The two ends of the said forefinger first spring spare 324 connect forefinger first connecting rod 311 respectively and forefinger first refers to section 32, the two ends of the said forefinger second spring spare 325 connect forefinger third connecting rod 315 and forefinger pedestal 31 respectively, the two ends of said forefinger the 3rd spring spare 326 connect forefinger the 5th connecting rod 318 respectively and forefinger second refers to section 33, and the forefinger two ends of said forefinger the 4th spring spare 327 connect forefinger seven-link assembly 321 respectively and forefinger first refers to section 32; The axis of first 312 on said forefinger, second 314 on forefinger, the 3rd 316 on forefinger, the 4th 320 on forefinger, the 5th 322 on forefinger and the nearly joint shaft 35 of forefinger is parallel to each other;
In the present embodiment, joint shaft 36, first 312 on forefinger, second 314 on forefinger, the 3rd 316 on forefinger, the 4th 320 on forefinger, the 5th 322 on forefinger and forefinger joint shaft 38 far away meet following relation in the nearly joint shaft 35 of said forefinger, the forefinger first: the plane, axis place of establishing joint shaft 36 in the axis of the nearly joint shaft 35 of forefinger and the forefinger first is P 3The plane, the plane, axis place of joint shaft 36 is P in axis that forefinger is first 312 and the forefinger first 4The plane, the plane, axis place of the axis of joint shaft 36 and forefinger joint shaft 38 far away is P in the forefinger first 5The plane, the plane, axis place of axis that forefinger is second 314 and forefinger joint shaft 38 far away is P 6The plane; Then the axis of the 3rd 316 on the axis of first 312 on forefinger and forefinger is at P 3The both sides on plane, the axis that axis that forefinger is second 314 and forefinger are the 3rd 316 is at P 4The both sides on plane, the axis that axis that forefinger is second 314 and forefinger are the 5th 322 is at P 5The both sides on plane, the axis that axis that forefinger is the 4th 320 and forefinger are the 5th 322 is at P 6The both sides on plane.
Coupling underactuated integrated bionic hand device of the present invention, the said forefinger first spring spare 324, the forefinger second spring spare 325, forefinger the 3rd spring spare 326 and forefinger the 4th spring spare 327 adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
In the present embodiment, the said forefinger first spring spare 324, the forefinger second spring spare 325, forefinger the 3rd spring spare 326 and be that the 4th spring spare 327 adopts torsion springs.
Coupling underactuated integrated bionic hand device of the present invention, be provided with forefinger transmission mechanism 328 between said forefinger decelerator 39 and the nearly joint shaft 35 of forefinger, the output shaft of forefinger decelerator 39 links to each other with the nearly joint shaft 35 of forefinger by said forefinger transmission mechanism 328.
In the present embodiment, said forefinger transmission mechanism 328 adopts gear drive.
In the present embodiment, on said forefinger motor 310, be provided with forefinger encoder 329.
In the present embodiment, said thumb 2 is affixed by thumb pedestal 21 and palm connecting plate 17; Said forefinger 3 is affixed by forefinger pedestal 31 and palm skeleton 1; Said middle finger 4, the third finger 5 and little finger of toe 6 are affixed with palm skeleton 1 respectively, and connected mode is with the forefinger unanimity; Each finger of relative position imitation staff between said thumb 2, forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6 and the palm and the relative position of palm; Said middle finger 4, nameless 5, little finger of toe 6 is identical with forefinger 3 structures, size difference only.
Introduce the operation principle of present embodiment below.
(a) operation principle of palm joint shaft 12 rotations as Fig. 2, Fig. 3, Fig. 4, Fig. 5, is described below:
Palm motor 11 rotates, driving palm decelerator 15 rotates, by palm transmission mechanism 13 palm joint shaft 12 is rotated, so driving palm connecting plate 17 rotates, thumb 2 has been realized the repeatedly sideshake of thumb 2 at palm 1 side and right opposite along with the axis of palm connecting plate 17 integral body around palm joint shaft 12 rotates.When needs grasp object, earlier thumb 2 is swung to palm 1 right opposite, as shown in Figure 4 and Figure 5.When not needing to grasp object, thumb 2 is swung to palm 1 side, as Fig. 2, thumb position shown in Figure 3.
(b) operation principle of thumb 2 as Figure 23, Figure 24, Figure 25, Figure 26, Figure 27, Figure 28, Figure 29, Figure 30, is described below:
The original state of thumb 2 as shown in figure 23, similar people's finger straight configuration.
When thumb 2 grasped object, thumb motor 27 rotated, and drove the nearly joint shaft 24 of thumb by thumb decelerator 26, thumb transmission mechanism 217 and rotated, and the nearly joint shaft 24 of thumb drives affixed with it thumb first connecting rod 28 and rotates; Because the elastic force restriction of the thumb first spring spare 215, thumb first connecting rod 28 drives the thumb first finger section 22 by the thumb first spring spare 215 and rotates around the nearly joint shaft 24 of thumb; Thumb joint shaft 25 far away is socketed in the thumb first finger section 22, drives the thumb second finger section 23 and follows thumb first finger section 22 motion together; Because the elastic force restriction of the thumb second spring spare 216, thumb third connecting rod 212 does not rotate, its position immobilizes with respect to thumb pedestal 21, but, second 211 on thumb refers to that section 23 is with respect to nearly joint shaft 24 rotations of thumb because following thumb second, thumb the 4th connecting rod 214 changes with respect to the position of thumb joint shaft 25 far away, thereby thumb the 4th connecting rod 214 promotes thumb second refers to that section 23 refers to section 22 rotations around thumb joint shaft 25 far away with respect to thumb first in the thumb first finger section 22 when the nearly joint shaft 24 of thumb rotates, this moment, the thumb first spring spare 215 produced distortion, but because the elastic force restriction of the thumb second spring spare 216 is better than the thumb first spring spare 215, so the thumb second spring spare 216 does not still deform, this is two on finger and refers to that section adopts the coupled modes rotating process, as shown in figure 24.By adjusting the length of thumb first connecting rod 28, thumb second connecting rod 210, thumb third connecting rod 212, thumb the 4th connecting rod 214, and the distance of the axis of second 211 on thumb and thumb joint shaft 25 far away, can obtain different coupling effects, the thumb first finger section 22 referred to that around angle and the thumb second that the nearly joint shaft 24 of thumb rotates section 23 is around the different proportion of thumb joint shaft 25 far away with respect to the angle of thumb first finger tip 22 rotations when promptly coupling was rotated.Can run into following four kinds of situations this moment:
(b1) the thumb second finger section 23 is run into object, thumb second refers to section 23 restricted can't moving, and rotate by second 211 on thumb, thumb second connecting rod 210, first 29 on thumb and the nearly joint shaft 24 of thumb first connecting rod 28 restriction thumbs successively, grasp and finish, as shown in figure 29.
(b2) refer to that respectively Duan Jun does not contact with object, turn to extreme position, be equivalent to make " clenching fist " action, as shown in figure 30 with coupled modes.
(b3) thumb first refers to that section 22 and thumb second refer to that section 23 runs into object simultaneously, and thumb first refers to that section 22 and thumb second refer to section 23 all restricted can't moving, and refers to that with two section grips mode and grasps object, grasps and finishes, as shown in figure 28.
(b4) the thumb first finger section 22 is run into object, as shown in figure 25, thumb first refers to section 22 restricted can't moving, the distortion elastic force that this moment, thumb first connecting rod 28 overcame the thumb first spring spare 215 under the drive of the nearly joint shaft 24 of thumb is rotated further, and pass through thumb successively first 29, second 211 on thumb second connecting rod 210 and thumb promote thumb second and refer to that section 23 is around thumb joint shaft 25 rotations far away, second 211 on thumb overcomes the distortion elastic force of the thumb second spring spare 216 around nearly joint shaft 24 rotations of thumb by thumb the 4th connecting rod 214 and the 3rd 213 pulling of thumb thumb third connecting rod 212 simultaneously, this is the finger employing and owes the type of drive rotating process, as shown in figure 26; Run into object up to the thumb second finger section 23, thumb first refers to that section 22 and thumb second refer to section 23 all restricted can't moving, and grasp and finish, as shown in figure 27.
When decontroling object, 27 counter-rotatings of thumb motor, by thumb decelerator 26, thumb transmission mechanism 217 drives nearly joint shaft 24 counter-rotatings of thumb, thumb first connecting rod 28 counter-rotating under the nearly joint shaft 24 of thumb drives, thumb first connecting rod 28 passes through thumb first 29 successively, second 211 pulling of thumb second connecting rod 210 and thumb thumb second refers to that section 23 is around thumb joint shaft 25 counter-rotatings far away, second 211 on thumb passes through thumb the 4th connecting rod 214 and 212 counter-rotatings of the 3rd 213 promotion of thumb thumb third connecting rod simultaneously, this moment, the distortion of thumb first spring spare 215 and the thumb second spring spare 216 was less gradually, return to not deformation state fully up to the thumb second spring spare 216, as shown in figure 25; Thumb first connecting rod 28 continues counter-rotating, by first 29 on thumb, the section 23 that refers to second 211 pulling of thumb second connecting rod 210 and thumb thumb second continues around thumb joint shaft 25 counter-rotatings far away, because the elastic force restriction of the thumb second spring spare 216, thumb third connecting rod 212 no longer rotates, so thumb the 4th connecting rod 214 changes with respect to the position of thumb joint shaft 25 far away, thumb the 4th connecting rod 214 passes through thumb second 211, thumb second refers to that section 23 and thumb joint shaft 25 pulling thumbs first far away refer to that section 22 is around nearly joint shaft 24 counter-rotatings of thumb, refer to that up to thumb first section 22 and thumb the 3rd refer to that section 23 is inverted to initial finger straight configuration simultaneously, refer to above section 2 back boss is arranged all at thumb pedestal 1 and thumb first, this boss surpasses it in the time of will limiting the finger counter-rotating and initially stretches the position, play position-limiting action, counter-rotating finishes, as shown in figure 23.
(c) forefinger 3, middle finger 4, nameless 5, little finger of toe 6 structures are identical with operation principle, different only be size, with forefinger 3 is example, its operation principle, as Figure 31, Figure 32, Figure 33, Figure 34, Figure 35, Figure 36, Figure 37, Figure 38, Figure 39, Figure 40, Figure 41, Figure 42, Figure 43 and Figure 44, be described below:
The original state of forefinger 3 as shown in figure 31, similar people's finger straight configuration.
When forefinger 3 grasped object, forefinger motor 310 rotated, and drove the nearly joint shaft 35 of forefinger by forefinger decelerator 39, forefinger transmission mechanism 328 and rotated, and the nearly joint shaft 35 of forefinger drives affixed with it forefinger first connecting rod 311 and rotates; Because the elastic force restriction of the forefinger first spring spare 324, forefinger first connecting rod 311 drives the forefinger first finger section 32 by the forefinger first spring spare 324 and rotates around the nearly joint shaft 5 of forefinger; Forefinger second refers to that section 33 and the forefinger end section of finger 34 refer to section 32 motions with forefinger first; Because the elastic force restriction of the forefinger second spring spare 325, forefinger third connecting rod 315 does not rotate, its position immobilizes with respect to forefinger pedestal 31, but because second 314 on forefinger moves with respect to the nearly joint shaft 35 of forefinger with forefinger second connecting rod 313, forefinger the 4th connecting rod 317 changes with respect to the position of joint shaft 37 in the forefinger second, thereby forefinger the 4th connecting rod 317 promotes forefinger the 5th connecting rod 318 joint shaft 37 in forefinger second to rotate, this moment, the forefinger first spring spare 324 deformed, and the forefinger second spring spare 325 does not deform; Because the elastic force restriction of forefinger the 3rd spring spare 326, forefinger the 5th connecting rod 318 drive forefinger second by forefinger the 3rd spring spare 326 and refer to that section 33 joint shaft 7 in forefinger second rotates; Because the elastic force restriction of forefinger the 4th spring spare 327, joint shaft 36 rotations in forefinger first do not take place in forefinger seven-link assembly 321, its position refers to that with respect to forefinger first section 32 immobilizes, but the 4th 320 on forefinger moves with respect to joint shaft 36 in the forefinger first with forefinger the 6th connecting rod 319, forefinger the 8th connecting rod 323 changes with respect to the position of forefinger joint shaft 8 far away, thereby forefinger the 8th connecting rod 323 promotes the forefinger end section of finger 34 to rotate around forefinger joint shaft 38 far away, this moment, forefinger first spring spare 324 and forefinger the 3rd spring spare 326 deformed, forefinger second spring spare 325 and forefinger the 4th spring spare 327 do not deform, this adopts the coupled modes rotating process for three on finger refers to section, be that the forefinger first finger section 32 is rotated with respect to forefinger pedestal 31 around the nearly joint shaft 35 of forefinger, simultaneously forefinger second refers to that section 33 joint shaft 36 (or in the forefinger second joint shaft 37) in forefinger first refers to that with respect to forefinger first section 32 rotates, the forefinger end section of finger 34 refers to section 33 rotations around forefinger joint shaft 38 far away with respect to forefinger second, shown in figure 32.Can run into following five kinds of situations afterwards:
(c1) the forefinger end section of finger 34 is run into object, the forefinger end section of finger 34 restricted can't moving, and rotate by the 4th 320 on forefinger, forefinger the 6th connecting rod 319, second 314 on forefinger, forefinger second connecting rod 313, first 312 on forefinger and the nearly joint shaft 35 of forefinger first connecting rod 311 restriction forefingers successively, grasp and finish, as shown in figure 44.
(c2) refer to that respectively Duan Jun does not contact with object, turn to extreme position, be equivalent to make " clenching fist " action, as shown in figure 43 according to aforementioned coupled modes.
(c3) forefinger second refers to that section 33 and the forefinger end section of finger 34 run into object simultaneously, and forefinger second refers to section 33 and the forefinger end section of finger 34 all restricted can't moving, and two refer to that section grasps object to grip mode, the extracting end, as shown in figure 42.
(c4) the forefinger second finger section 33 is run into object, as shown in figure 40, forefinger second refers to section 33 restricted can't moving, the distortion elastic force that this moment, forefinger first connecting rod 311 overcame the forefinger first spring spare 324 under the drive of the nearly joint shaft 35 of forefinger is rotated further, and pass through forefinger successively first 312, second 314 on forefinger second connecting rod 313 and forefinger promote distortion elastic force joint shaft 37 rotations in forefinger second that forefinger the 5th connecting rod 318 overcomes forefinger the 3rd spring spare 326, this moment, second 314 on forefinger rotated around the nearly joint shaft 35 of forefinger by forefinger the 4th connecting rod 317 and the 3rd 316 pulling of forefinger forefinger third connecting rod 315, and the forefinger second spring spare 325 deforms; Forefinger the 5th connecting rod 318 passes through forefinger second 314, the 4th 320 on forefinger the 6th connecting rod 319 and forefinger promote the forefinger end section of finger 34 and rotate around forefinger joint shaft 38 far away, the 4th 320 joint shaft 36 rotations in forefinger first of forefinger this moment by forefinger the 8th connecting rod 323 and the 5th 322 pulling of forefinger forefinger seven-link assembly 321, forefinger the 4th spring spare 327 deforms, this is 34 employings of the forefinger end section of finger and owes the type of drive rotating process, run into object up to the forefinger end section of finger 34, forefinger second refers to section 33 and the forefinger end section of finger 34 all restricted can't moving, grasp and finish, as shown in figure 41.
(c5) the forefinger first finger section 32 is run into object, as shown in figure 33, forefinger first refers to section 32 restricted can't moving, the distortion elastic force that this moment, forefinger first connecting rod 311 overcame the forefinger first spring spare 324 under the drive of the nearly joint shaft 35 of forefinger is rotated further, and pass through forefinger successively first 312, second 314 on forefinger second connecting rod 313 and forefinger promote forefinger the 5th connecting rod 318 joint shaft 37 in forefinger second and rotate, this moment, second 314 on forefinger rotated around the nearly joint shaft 35 of forefinger by forefinger the 4th connecting rod 317 and the 3rd 316 pulling of forefinger forefinger third connecting rod 315, and the forefinger second spring spare 325 deforms; Because the elastic force restriction of forefinger the 3rd spring spare 326, forefinger the 5th connecting rod 318 drive forefinger second by forefinger the 3rd spring spare 326 and refer to that section 33 joint shaft 37 in forefinger second rotates; Because the elastic force restriction of forefinger the 4th spring spare 327, joint shaft 36 rotations in forefinger first do not take place in forefinger seven-link assembly 321, its position refers to that with respect to forefinger first section 32 immobilizes, but the 4th 320 on forefinger moves with respect to joint shaft 36 in the forefinger first with forefinger the 6th connecting rod 319, forefinger the 8th connecting rod 323 changes with respect to the position of forefinger joint shaft 38 far away, thereby forefinger the 8th connecting rod 323 promotes the forefinger end section of finger 34 to rotate around forefinger joint shaft 38 far away, this moment the forefinger first spring spare 324, forefinger second spring spare 325 and forefinger the 3rd spring spare 326 deform, and forefinger the 4th spring spare 327 does not deform; This promptly points simultaneously and rotates to owe type of drive and coupled modes, forefinger second refers to that section 33 joint shaft 36 (or in the forefinger second joint shaft 37) in forefinger first refers to that with respect to forefinger first rotation of section 32 is for owing to drive rotation, the tool adaptivity, the forefinger end section of finger 34 refers to respect to forefinger second that around forefinger joint shaft 38 far away the rotation of section 33 is the coupling rotation, as shown in figure 34; Forefinger second refers to that section 33 and the forefinger end section of finger 34 are rotated until forefinger second and refers to that section 33 touches object, as shown in figure 35, the same process of rotation process (c4) afterwards, final three refer to that section grasps object in the gripping mode, grasps end, as shown in figure 37.
When decontroling object, 310 counter-rotatings of forefinger motor, by forefinger decelerator 39, forefinger transmission mechanism 328 drives nearly joint shaft 35 counter-rotatings of forefinger, forefinger first connecting rod 311 counter-rotating under the nearly joint shaft 35 of forefinger drives, forefinger first connecting rod 311 passes through forefinger first 312 successively, joint shaft 36 counter-rotatings in forefinger first of second 314 pulling of forefinger second connecting rod 313 and forefinger forefinger the 5th connecting rod 318, second 314 on forefinger passes through forefinger the 4th connecting rod 317 and 315 counter-rotatings of the 3rd 316 promotion of forefinger forefinger third connecting rod simultaneously, and this moment, the distortion of forefinger first spring spare 324 and the forefinger second spring spare 325 reduced; During 318 counter-rotatings of forefinger the 5th connecting rod, reverse around forefinger joint shaft 38 far away by second 314 on forefinger, forefinger the 6th connecting rod 319 and the 4th 320 pulling of the forefinger forefinger end section of finger 34 successively, the 4th 320 on forefinger passes through forefinger the 8th connecting rod 323 and 321 counter-rotatings of the 5th 322 promotion of forefinger forefinger seven-link assembly simultaneously, this moment, the distortion of forefinger the 3rd spring spare 326 and forefinger the 4th spring spare 327 reduced, return to not deformation state fully up to forefinger the 4th spring spare 327, as shown in figure 35; Forefinger the 5th connecting rod 318 continues counter-rotating, by second 314 on forefinger, the 4th 320 pulling of forefinger the 6th connecting rod 319 and the forefinger forefinger end section of finger 34 continues around forefinger joint shaft 38 counter-rotatings far away, because the elastic force restriction of forefinger the 4th spring spare 327, forefinger seven-link assembly 321 no longer rotates, so forefinger the 8th connecting rod 323 changes with respect to the position of forefinger joint shaft 38 far away, forefinger the 8th connecting rod 323 passes through forefinger the 4th 320, forefinger end section of finger 34 and forefinger joint shaft far away 38 pulling forefingers second refer to section 33 joint shaft 36 (or in the forefinger second joint shaft 37) counter-rotating in forefinger first, this moment the forefinger first spring spare 324, forefinger second spring spare 325 and 326 distortion of forefinger the 3rd spring spare reduce, return to not deformation state fully up to the forefinger second spring spare 325, as shown in figure 33; Forefinger first connecting rod 311 continues counter-rotating, by first 312 on forefinger, forefinger second connecting rod 313 and 318 counter-rotatings of second 314 pulling of forefinger forefinger the 5th connecting rod, as previously mentioned, forefinger the 5th connecting rod 318 will drive forefinger second and refer to that section 33 and the forefinger end section of finger 34 rotate simultaneously; Because the elastic force restriction of the forefinger second spring spare 325, forefinger third connecting rod 315 no longer rotates, so forefinger the 4th connecting rod 317 changes with respect to the position of joint shaft 36 in the forefinger first, forefinger the 4th connecting rod 317 refers to that by the 37 pulling forefingers first of joint shaft in second 314 on forefinger, forefinger the 5th connecting rod 318 and the forefinger second section 32 is around nearly joint shaft 35 counter-rotatings of forefinger, shown in figure 32; This moment, the distortion of forefinger first spring spare 324 and forefinger the 3rd spring spare 326 reduced, refer to that up to forefinger first section 32, forefinger second refer to that section 33 and the forefinger end section of finger 34 are inverted to initial finger straight configuration simultaneously, refer to above section 32 back boss is arranged all at forefinger pedestal 31 and forefinger first, this boss surpasses it in the time of will limiting the finger counter-rotating and initially stretches the position, play position-limiting action, counter-rotating finishes, as shown in figure 31.
The present invention has 5 independently-controlled fingers and 15 joint freedom degrees, only by 6 motor-driven.Four refer to that (forefinger, middle finger, the third finger and little finger of toe) all adopts the identical a kind of modular construction of structure.Each finger all utilizes a plurality of connecting rods and spring spare to constitute the coupled transmission mechanism of one and owe drive transmission device, has realized that comprehensively coupling extracting process and under-driven adaptive extracting process are blended in the special-effect of one.Constitute coupled transmission mechanism by two connecting rods and a spring spare; Constitute the under-driven adaptive transmission mechanism by two other connecting rod and a spring spare, two cover mechanisms are combined as a whole, and work simultaneously; Can realize that the finger coupling is rotated and automatic decoupling zero is rotated in the under-driven adaptive mode.This device adopts coupled modes to rotate before touching object, altitude measurement personalizes, can make various types of action like staff, comprise the action that staff " is clenched fist ", help envelope simultaneously to object, prevent that object from leaving finger extracting scope, and can realize that gripping mode grasps object, after touching object, can adopt the under-driven adaptive mode to rotate the extracting object again, adapt to the size and the shape of the object of grabbing automatically, realize that the gripping mode grasps, grasp and stablize, integrate the advantage of coupling Grasp Modes and under-driven adaptive Grasp Modes.This device only adopts connecting rod to constitute transmission mechanism, thereby textural anomaly is simple, and volume is little, working stability is reliable, and is because connecting rod itself is firm in structure, big with respect to holding capacity such as other mechanisms such as tendon ropes again, make this device can adopt heavy-duty motor to drive, thereby grasp force is big, grasps stable.Simultaneously with low cost, low to the control system requirement, be fit to long-term the use, similar to the finger outward appearance of staff with action, be applicable to that the anthropomorphic robot is on hand.

Claims (9)

1. a coupling underactuated integrated bionic hand device comprises thumb (2), forefinger (3), middle finger (4), nameless (5), little finger of toe (6) and palm;
Said palm comprises palm skeleton (1), palm motor (11), palm joint shaft (12), palm decelerator (15), palm connecting plate (17); Said palm motor (11) and palm decelerator (15) are affixed with said palm skeleton (1), the output shaft of palm motor (11) links to each other with the power shaft of palm decelerator (15), the output shaft of palm decelerator (15) links to each other with palm joint shaft (12), palm joint shaft (12) is set in the palm skeleton (1), and said palm connecting plate (17) is fixed in (12) on the palm joint shaft;
Said thumb (2) comprises that basic thumbrest (21), thumb first refer to that section (22), thumb second refer to section (23), the nearly joint shaft of thumb (24), thumb joint shaft far away (25), thumb decelerator (26) and thumb motor (27); Said thumb motor (27) is affixed with thumb pedestal (21), the output shaft of thumb motor (27) links to each other with the power shaft of said thumb decelerator (26), the output shaft of thumb decelerator (26) links to each other with the nearly joint shaft of said thumb (24), the nearly joint shaft of thumb (24) is set in the pedestal (21), and said thumb joint shaft far away (25) is set in said thumb first and refers in the section (22); Thumb first refers to that section (22) is socketed on the nearly joint shaft of thumb (24), and said thumb second refers to that section (23) is socketed on the thumb joint shaft far away (25); The axis of nearly joint shaft of said thumb (24) and thumb joint shaft far away (25) is parallel to each other;
Said forefinger (3) comprises that forefinger pedestal (31), forefinger first refer to that section (32), forefinger second refer to section (33), the forefinger end section of finger (34), the nearly joint shaft of forefinger (35), forefinger joint shaft far away (38), forefinger decelerator (39) and forefinger motor (310); Said forefinger motor (310) is affixed with forefinger pedestal (31), the output shaft of forefinger motor (310) links to each other with the power shaft of said forefinger decelerator (39), the output shaft of forefinger decelerator (39) links to each other with the nearly joint shaft of said forefinger (35), the nearly joint shaft of forefinger (35) is set in the forefinger pedestal (31), said forefinger joint shaft far away (38) is set in said forefinger second and refers in the section (33), said forefinger first refers to that section (32) is socketed on the nearly joint shaft of forefinger (35), and the said forefinger end section of finger (3) is socketed on the forefinger joint shaft far away (38);
It is characterized in that:
Said thumb (2) also comprises thumb first connecting rod (28), thumb first (29), thumb second connecting rod (210), thumb second (211), thumb third connecting rod (212), thumb the 3rd (213), thumb the 4th connecting rod (214), the thumb first spring spare (215) and the thumb second spring spare (216);
One end of said thumb first connecting rod (28) is fixed on the nearly joint shaft of thumb (24), the other end of thumb first connecting rod (28) is hinged with said thumb second connecting rod (210) one ends by said thumb first (29), and the other end of thumb second connecting rod (210) refers to that with thumb second section (23) is hinged by said thumb second (211); One end of said thumb third connecting rod (212) is socketed on the nearly joint shaft of thumb (24), the other end of thumb third connecting rod (212) is hinged with an end of said thumb the 4th connecting rod (214) by said thumb the 3rd (213), and the other end of thumb the 4th connecting rod (214) is socketed on the thumb second (211); The two ends of the said thumb first spring spare (215) connect thumb first connecting rod (28) respectively and thumb first refers to section (22), and the two ends of the said thumb second spring spare (216) connect thumb third connecting rod (212) and thumb pedestal (21) respectively; The axis of said thumb first (29), thumb second (211), thumb the 3rd (213) and the nearly joint shaft of thumb (24) is parallel to each other;
Said forefinger (3) also comprises joint shaft (37) in joint shaft in the forefinger first (36) and the forefinger second; In the said forefinger first in joint shaft (36) and the forefinger second joint shaft (37) be set in said forefinger first and refer in the section (32), forefinger second refers to that section (33) is socketed in joint shaft in the forefinger first (36) and the forefinger second on the joint shaft (37), in the nearly joint shaft of said forefinger (35), the forefinger first in joint shaft (36), the forefinger second axis of joint shaft (37) and forefinger joint shaft far away (38) be parallel to each other; Joint shaft (37) coaxial line in joint shaft in the forefinger first (36) and the forefinger second;
Said forefinger (3) also comprises forefinger first connecting rod (311), first on forefinger (312), forefinger second connecting rod (313), second on forefinger (314), forefinger third connecting rod (315), the 3rd on forefinger (316), forefinger the 4th connecting rod (317), forefinger the 5th connecting rod (318), forefinger the 6th connecting rod (319), the 4th on forefinger (320), forefinger seven-link assembly (321), the 5th on forefinger (322), forefinger the 8th connecting rod (323), the forefinger first spring spare (324), the forefinger second spring spare (325), forefinger the 3rd spring spare (326) and forefinger the 4th spring spare (327);
One end of said forefinger first connecting rod (311) is fixed on the nearly joint shaft of forefinger (35), the other end of forefinger first connecting rod (311) is hinged with said forefinger second connecting rod (313) one ends by said forefinger first (312), the other end of forefinger second connecting rod (313) is hinged with an end of said forefinger the 5th connecting rod (318) by said forefinger second (314), and the other end of forefinger the 5th connecting rod (318) is socketed in the said forefinger second on the joint shaft (37); One end of said forefinger third connecting rod (315) is socketed on the nearly joint shaft of forefinger (35), the other end of forefinger third connecting rod (315) is hinged with an end of said forefinger the 4th connecting rod (317) by said forefinger the 3rd (316), and the other end of forefinger the 4th connecting rod (317) is socketed on the forefinger second (314); One end of said forefinger the 6th connecting rod (319) is socketed on the forefinger second (314), and the other end of forefinger the 6th connecting rod (319) is hinged with the forefinger end section of finger (34) by said forefinger the 4th (320); One end of said forefinger seven-link assembly (321) is socketed in the said forefinger first on the joint shaft (36), the other end of forefinger seven-link assembly (321) is hinged with an end of forefinger the 8th connecting rod (323) by said forefinger the 5th (322), and the other end of forefinger the 8th connecting rod (323) is socketed on the forefinger the 4th (320); The two ends of the said forefinger first spring spare (324) connect forefinger first connecting rod (311) respectively and forefinger first refers to section (32), the two ends of the said forefinger second spring spare (325) connect forefinger third connecting rod (315) and forefinger pedestal (31) respectively, the two ends of said forefinger the 3rd spring spare (326) connect forefinger the 5th connecting rod (318) respectively and forefinger second refers to section (33), and the forefinger two ends of said forefinger the 4th spring spare (327) connect forefinger seven-link assembly (321) respectively and forefinger first refers to section (32); The axis of said forefinger first (312), forefinger second (314), forefinger the 3rd (316), forefinger the 4th (320), forefinger the 5th (322) and the nearly joint shaft of forefinger (35) is parallel to each other;
Said thumb (2) is affixed by thumb pedestal (21) and palm connecting plate (17); Said forefinger (3) is affixed by forefinger pedestal (31) and palm skeleton (1); Said middle finger (4), nameless (5) and little finger of toe (6) are affixed with palm skeleton (1) respectively, the same forefinger of connected mode (3) unanimity; The structure of said middle finger (4), nameless (5) and little finger of toe (6) is identical with the structure of forefinger (3), only the size difference.
2. coupling underactuated integrated bionic hand device as claimed in claim 1 is characterized in that: the nearly joint shaft of said thumb (24), thumb joint shaft far away (25), thumb first (29), thumb second (211) and thumb the 3rd (213) meet following relation: establishing the axis of the nearly joint shaft of thumb (24) and the plane, axis place of thumb joint shaft far away (25) is P 1The plane, the plane, axis place of the axis of thumb first (29) and thumb joint shaft far away (25) is P 2The plane; Then the axis of the axis of thumb first (29) and thumb the 3rd (213) is at P 1The both sides on plane, the axis of the axis of thumb second (211) and thumb the 3rd (213) is at P 2The both sides on plane.
3. coupling underactuated integrated bionic hand device as claimed in claim 1 is characterized in that: joint shaft (36) in the nearly joint shaft of said forefinger (35), the forefinger first, forefinger first (312), forefinger second (314), forefinger the 3rd (316), forefinger the 4th (320), forefinger the 5th (322) and forefinger joint shaft far away (38) meet following relation: the plane, axis place of establishing joint shaft (36) in the axis of the nearly joint shaft of forefinger (35) and the forefinger first is P 3The plane, the plane, axis place of joint shaft (36) is P in the axis of forefinger first (312) and the forefinger first 4The plane, the plane, axis place of the axis of joint shaft in the forefinger first (36) and forefinger joint shaft far away (38) is P 5The plane, the plane, axis place of the axis of forefinger second (314) and forefinger joint shaft far away (38) is P 6The plane; Then the axis of the axis of forefinger first (312) and forefinger the 3rd (316) is at P 3The both sides on plane, the axis of the axis of forefinger second (314) and forefinger the 3rd (316) is at P 4The both sides on plane, the axis of the axis of forefinger second (314) and forefinger the 5th (322) is at P 5The both sides on plane, the axis of the axis of forefinger the 4th (320) and forefinger the 5th (322) is at P 6The both sides on plane.
4. coupling underactuated integrated bionic hand device as claimed in claim 1 is characterized in that: the said thumb first spring spare (215), the thumb second spring spare (216), the forefinger first spring spare (324), the forefinger second spring spare (325), forefinger the 3rd spring spare (326) and forefinger the 4th spring spare (327) adopt torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring or elastic threads.
5. coupling underactuated integrated bionic hand device as claimed in claim 1 is characterized in that: the elastic force restriction of the said thumb second spring spare (216) is better than the elastic force restriction of the thumb first spring spare (215); The elastic force restriction of the said forefinger second spring spare (325) is better than the elastic force restriction of the forefinger first spring spare (324); The elastic force restriction of said forefinger the 4th spring spare (327) is better than the elastic force restriction of forefinger the 3rd spring spare (326).
6. coupling underactuated integrated bionic hand device as claimed in claim 1, it is characterized in that: be provided with thumb transmission mechanism (217) between said thumb decelerator (26) and the nearly joint shaft of thumb (24), the output shaft of thumb decelerator (26) links to each other with the nearly joint shaft of thumb (24) by said thumb transmission mechanism (217).
7. coupling underactuated integrated bionic hand device as claimed in claim 1, it is characterized in that: be provided with forefinger transmission mechanism (328) between said forefinger decelerator (39) and the nearly joint shaft of forefinger (35), the output shaft of forefinger decelerator (39) links to each other with the nearly joint shaft of forefinger (35) by said forefinger transmission mechanism (328).
8. coupling underactuated integrated bionic hand device as claimed in claim 1, it is characterized in that: be provided with palm transmission mechanism (13) between said palm decelerator (15) and palm joint shaft (12), the output shaft of palm decelerator (15) links to each other with palm joint shaft (12) by said palm transmission mechanism (13).
9. coupling underactuated integrated bionic hand device as claimed in claim 1 is characterized in that: be provided with thumb encoder (218) on said thumb motor (27); On said forefinger motor (310), be provided with forefinger encoder (329); On said palm motor (11), be provided with palm encoder (16).
CN2009102412556A 2009-11-27 2009-11-27 Coupling underactuated integrated bionic hand device Expired - Fee Related CN101716767B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009102412556A CN101716767B (en) 2009-11-27 2009-11-27 Coupling underactuated integrated bionic hand device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009102412556A CN101716767B (en) 2009-11-27 2009-11-27 Coupling underactuated integrated bionic hand device

Publications (2)

Publication Number Publication Date
CN101716767A true CN101716767A (en) 2010-06-02
CN101716767B CN101716767B (en) 2011-03-30

Family

ID=42431448

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009102412556A Expired - Fee Related CN101716767B (en) 2009-11-27 2009-11-27 Coupling underactuated integrated bionic hand device

Country Status (1)

Country Link
CN (1) CN101716767B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102896639A (en) * 2012-03-08 2013-01-30 中南大学 Thumb mechanism of artificial hand
CN103128744A (en) * 2012-12-21 2013-06-05 中国矿业大学 Humanoid flexible mechanical arm device
DE102013000108A1 (en) 2013-01-02 2014-07-03 Hans-Erich Maul Short-slung strong joint module for robot hand, has axle arranged electromotor, and eccentric cam gear box provided with Oldham-coupling and worm gears, where joint module is movable along rotational axis
CN104802180A (en) * 2015-04-09 2015-07-29 上海大学 Underactuation type anthropopathic three-finger manipulator
JP2017164831A (en) * 2016-03-14 2017-09-21 Thk株式会社 Hand mechanism
CN107756426A (en) * 2017-11-13 2018-03-06 北京进化者机器人科技有限公司 Robot delicate, robot arm and robot
CN107976910A (en) * 2017-12-21 2018-05-01 大连大华中天科技有限公司 A kind of thumb parameter optimization method of apery multi-finger clever hand
CN110640774A (en) * 2019-10-22 2020-01-03 上海理工大学 Six-degree-of-freedom five-finger manipulator
CN111390943A (en) * 2020-03-11 2020-07-10 北京海益同展信息科技有限公司 Thumb rotating mechanism, bionic hand and bionic robot
CN112809719A (en) * 2021-02-02 2021-05-18 珞石（北京）科技有限公司 Flexible underactuated dexterous manipulator based on linear transmission and modular fingers
CN113349995A (en) * 2021-06-04 2021-09-07 哈尔滨工业大学 Mechanical finger artificial limb

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102896639A (en) * 2012-03-08 2013-01-30 中南大学 Thumb mechanism of artificial hand
CN103128744A (en) * 2012-12-21 2013-06-05 中国矿业大学 Humanoid flexible mechanical arm device
DE102013000108A1 (en) 2013-01-02 2014-07-03 Hans-Erich Maul Short-slung strong joint module for robot hand, has axle arranged electromotor, and eccentric cam gear box provided with Oldham-coupling and worm gears, where joint module is movable along rotational axis
CN104802180A (en) * 2015-04-09 2015-07-29 上海大学 Underactuation type anthropopathic three-finger manipulator
JP2017164831A (en) * 2016-03-14 2017-09-21 Thk株式会社 Hand mechanism
CN107756426A (en) * 2017-11-13 2018-03-06 北京进化者机器人科技有限公司 Robot delicate, robot arm and robot
CN107976910A (en) * 2017-12-21 2018-05-01 大连大华中天科技有限公司 A kind of thumb parameter optimization method of apery multi-finger clever hand
CN110640774A (en) * 2019-10-22 2020-01-03 上海理工大学 Six-degree-of-freedom five-finger manipulator
CN110640774B (en) * 2019-10-22 2021-10-29 上海理工大学 Six-degree-of-freedom five-finger manipulator
CN111390943A (en) * 2020-03-11 2020-07-10 北京海益同展信息科技有限公司 Thumb rotating mechanism, bionic hand and bionic robot
CN112809719A (en) * 2021-02-02 2021-05-18 珞石（北京）科技有限公司 Flexible underactuated dexterous manipulator based on linear transmission and modular fingers
CN113349995A (en) * 2021-06-04 2021-09-07 哈尔滨工业大学 Mechanical finger artificial limb

Also Published As

Publication number Publication date
CN101716767B (en) 2011-03-30

Similar Documents

Publication Publication Date Title
CN101716767B (en) Coupling underactuated integrated bionic hand device
CN101653941B (en) Sliding block type direct under-actuated bionic hand device with changeable holding power
CN102310411B (en) Three-axis gear and rack composite underactuated dual-joint robot finger device
CN100551641C (en) The Chiasma tendon rope under-driven modularization anthropomorphic robot arm device
CN101214653B (en) Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device
CN102166753B (en) Bevel gear flexible piece compound grabbing robot fingers device
CN102205542B (en) Multipath flexible piece two-joint compound robot finger device
CN101804633B (en) Tendon rope parallel skillful under-driven bionic robot finger device
CN101508115B (en) Variable sequence under-actuated two-articulated robot finger device
CN100581756C (en) Double bevel wheel under-driven robot finger
CN100439048C (en) Under-actuated multi-finger device of robot humanoid finger
CN202241307U (en) Connecting rod slider type under-actuated bionic robot hand device
CN102179818A (en) Finger device of composite underactuated double-joint robot with differential-motion bevel gear system
CN101774175B (en) Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device
Sun et al. A novel coupled and self-adaptive under-actuated multi-fingered hand with gear–rack–slider mechanism
CN102284957A (en) Differential bevel gear rack type combination underactuated robot finger device
CN101664930B (en) Coupling underactuated integral finger device of double-joint robot
CN101214656A (en) Rack bar under-driven modularization anthropomorphic robot multi-finger hand device
CN110370305B (en) Mechanical finger and mechanical arm
CN101444917A (en) Mechanical finger device with functions of bionic displacement and self-adapting grasping
CN101214655A (en) Rack bar under-driven robot finger device
CN111761599B (en) Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device
CN101767338B (en) Bevel gear-band wheel coupled two-joint robot finger device lack of driving
CN100537157C (en) Gear belt wheel under-driven anthropomorphic robot hand device
CN102267137B (en) Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device

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
ASS Succession or assignment of patent right

Owner name: TSINGHUA UNIVERSITY

Effective date: 20131120

Owner name: WUXI APPLICATION TECHNOLOGY RESEARCH INSTITUTE OF

Free format text: FORMER OWNER: TSINGHUA UNIVERSITY

Effective date: 20131120

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 100084 HAIDIAN, BEIJING TO: 214072 WUXI, JIANGSU PROVINCE

TR01 Transfer of patent right

Effective date of registration: 20131120

Address after: 214072 Jiangsu Province Road DiCui Binhu District of Wuxi City No. 100, No. 1 building, 530 floor 12

Patentee after: WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY

Patentee after: Tsinghua University

Address before: 100084 Beijing box office,,, Tsinghua University

Patentee before: Tsinghua University

DD01 Delivery of document by public notice

Addressee: WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY

Document name: Notification to Pay the Fees

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110330

Termination date: 20151127

CF01 Termination of patent right due to non-payment of annual fee