CN105666518B - A kind of humanoid dextrous hand of drive lacking - Google Patents
A kind of humanoid dextrous hand of drive lacking Download PDFInfo
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- CN105666518B CN105666518B CN201610161768.6A CN201610161768A CN105666518B CN 105666518 B CN105666518 B CN 105666518B CN 201610161768 A CN201610161768 A CN 201610161768A CN 105666518 B CN105666518 B CN 105666518B
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention discloses a kind of drive lacking humanoid dextrous hand, the Dextrous Hand is made up of thumb, index finger, middle finger, ring finger and little finger and palm.Five fingers of Dextrous Hand are separate, have 17 joint freedom degrees, driven by 12 micromachines.In addition to thumb has 4 frees degree, remaining each finger has 3 frees degree, and Dextrous Hand can integrally be rotated by motor driving.Each finger possesses two coupling joints, and thumb is driven by three micromachines, and remaining four finger has two micromachine drivings.Humanoid dextrous hand flexibility ratio of the present invention is high, simple in construction, compact, can effectively realize different size, the self-adapting grasping of shaped objects.
Description
Technical field
It is a kind of humanoid dextrous hand of drive lacking the invention belongs to bio-robot field.
Background technology
As the mankind seek knowledge to naturally constantly exploring, working space becomes increasingly complex, dangerous, and simple manipulator without
Method replaces people to complete complicated, accurate operation completely, and it is desirable to a kind of manipulator of apery occur to complete human hand institute energy
The all working of completion.So flexibility ratio is high, simple in construction, workable, adapt to the humanoid dextrous hand of various crawl tasks
Become one of robot field's study hotspot.
Traditional end effector poor universality, the free degree is few, and flexibility is low, it is impossible to Multiple Shape, the object of many sizes
Carry out flexibility crawl.Humanoid dextrous hand is the advanced representative of end effector, and Modern Significance manipulator is collection sensing technology, control
The multi-joint of the multinomial technology such as technology processed, multiple degrees of freedom, the end effector of high flexibility ratio.At present, to humanoid dexterous
The research of hand, has been achieved for Shadow hands, the Elu-2 of Elumotion companies that certain achievement has SHADOW companies to release
Hand, the Harada hands of California Institute of Technology, HIT/DLR hands of Harbin Institute of Technology etc..
A kind of existing humanoid dexterous arm device, such as Chinese invention patent CN103128744, including palm, thumb, food
Finger, middle finger, the third finger and little finger of toe.Four refer to using identical structure in addition to thumb, and each finger sets three joints by three group four
Linkage is coupled, and is driven by a motor.Its weak point is that the device four three joints of finger in addition to thumb press 1:1:1 fortune
Dynamic speed is bent simultaneously by fixed angle, and joint can not be operated alone, and dexterity and human hand difference are larger, to not similar shape during crawl
The body self-adaptation of shape is poor.Another existing humanoid dextrous hand, such as Chinese invention patent CN1283429C, including palm
With five fingers, totally 12 joint freedom degrees, the bending of its finger unactuated joint is stretched to be realized by multi-stage gear driving system,
Involved gear train assembly has from decoupling effect, and the joint of wherein active drive only has three, and except thumb, forefinger
Three outer fingers are driven using a motor, and independent finger can not carry out active bending, larger with human hand difference, dexterous
Property is not high.
At present, the research Major Difficulties and key technology of humanoid dextrous hand concentrate on structure design, driving, sensor,
And in control.Simple and reliable transmission mechanism and rational layout are the keys of flexibility ratio；Driving subject matter is can not be
Meet and require simultaneously in size and torque, small size, high-torque are driven into the key for reducing humanoid dextrous hand size；Sensor
It is the vital technology of humanoid dextrous hand, the delayed of apery class tactile sensor technology limits manipulator Function.
In control, model is complicated, and control algolithm is immature and diversity of operation object and uncertainty are also its Research Challenges.
The content of the invention
Present invention aims at provide a kind of drive lacking humanoid dextrous hand, the humanoid dextrous hand size and human hand size phase
When simple in construction, reliable, multiple degrees of freedom, multi-joint can realize Multiple Shape, many size objects self-adapting graspings.It is suitable as each
Class mechanical arm end effector is used, and can complete crawl task with cooperative mechanical arm, it can also be used to helped the elderly, help the disabled, the clothes such as food delivery
Be engaged in robot.
A kind of humanoid dexterous arm device of drive lacking of the present invention, described humanoid dextrous hand includes a palm and five
Individual finger, five fingers include thumb, index finger, middle finger, ring finger and little finger.Thumb under straight configuration, with palm mounting surface into
Certain angle is installed, and remaining four finger in addition to thumb are by suitable position distribution on palm.There is installation circuit on palm
The installation groove of plate, finger and motor.Remaining four finger structures layout in addition to thumb is identical, four finger main bodys all by
Four parts are constituted, and four parts are respectively designated as finger base, Fingers root, finger finger joint, finger fingertip；Four parts
It is connected by three axles, by finger axle one, finger axle two, finger axle three is respectively designated as from the near to the remote from palm, three rotate
Axle diameter parallel, the connection finger base of finger axle one and Fingers root, the connection Fingers root of finger axle two and finger finger joint, finger
Axle three connects finger finger joint and finger fingertip.Thumb includes four parts, and four parts are respectively designated as thumb pedestal, thumb and referred to
Root, thumb finger joint, thumb tip.The part of thumb element four by four axles be connected, the direction stretched in thumb, by from palm by
It is near to being far respectively designated as thumb axle one, thumb axle two, thumb axle three, thumb axle four.Its middle finger axle three and the axle of thumb axle four
Line is parallel to each other；The axis of thumb axle two and thumb axle three, four is mutually perpendicular to；The axis of thumb axle one and palm mounting surface are into certain
Angle, and it is parallel with thumb to stretch direction.Thumb axle one connects thumb pedestal and palm, the connection thumb pedestal of thumb axle two and
Thumb refers to root, and the connection thumb of thumb axle three refers to root and thumb finger joint, the connection thumb finger joint of thumb axle four and thumb tip.Five hands
Refer to and be fitted with force snesor on palm, force feedback can be carried out during crawl to Dextrous Hand.
Palm of the present invention, palm main body is combined by the palm of the hand, the back of the hand, the part of palm rotating mechanism three, the palm of the hand
Part includes motor, decelerator and finger mounted groove, and inside is provided with motor one and decelerator one；Other palm of the hand part is also
Including intermeshing roller gear one and roller gear two.Described motor one and decelerator one are arranged on palm motor reducer
In mounting groove, motor direction of principal axis and palm mounting surface are angled, and roller gear one is arranged on the output shaft of decelerator one, circle
Stud wheel one is engaged with roller gear two, and the power of motor one drives thumb by decelerator one and two roller gears of engagement
Pedestal rotates around axle one, and final driving thumb rotates around palm.Hand back part has a circuit board and finger mounted groove, signal acquisition,
Driving, control circuit are arranged in circuit board mounting groove；Palm and the back of the hand have in four groups of semicircle finger mounted grooves, each half slot
All limited location blocks, every group of half slot can be mutually combined as a circular port, pass through the cooperation of limited block and finger base upper limit position groove
Four finger fingers in addition to thumb are fixedly mounted on palm.The palm of the hand, the back of the hand, the part of rotating mechanism three are fixedly connected.
Palm rotating mechanism of the present invention, palm rotating mechanism include motor two, decelerator two, encoder, bearing,
Fixed part, the rotating part with internal gear, one group of roller gear.Motor fixed part is connected with rotating part by bearing
Connect, palm is fixedly connected on rotating part；Motor two, decelerator two, encoder are fixedly mounted on fixed part；Cylinder Gear
The internal gear internal messing of wheel three and rotating part, motor drives rotating part and whole hand by the gear of this group of internal messing
The palm is around fixed part central rotation；Roller gear three is engaged with roller gear on encoder four, and encoder can carry out position feedback.
Four finger structure layouts of remaining in addition to thumb of the present invention are identical, and four finger main bodys all include hand
Refer to pedestal, Fingers root, finger finger joint, the part of finger fingertip four.Finger axle one connects finger base and Fingers root, finger axle
Two connection Fingers roots and finger finger joint；Finger axle three connects finger finger joint and finger fingertip.Finger is rotatable comprising three
Joint, is driven by two motors.Wherein motor three and decelerator three are arranged on inside finger base, and motor three passes through one group of engagement
Bevel gear power is passed to Fingers root, enable Fingers root relative to the thorny rotation of spindle one of finger base, finger base
The cooperation that stopper slot can be with palm limited block outside seat, makes whole finger be fixed on palm.Other motor four and decelerator four
Inside Fingers root, motor four drives " receive _ put " line gear group to work, and " receive _ put " line gear group is by bevel gear three, cone
Gear four, bevel gear five constitute." receive _ put " the line gear group driven by motor four utilizes gear drive feature, to passing through finger
Finger tip is synchronous with two bracing wires inside finger finger joint to carry out coiling, unwrapping wire action, and wherein bracing wire one passes through bullet in finger finger joint
Spring slide block mechanism, and be fixedly connected with a slide block, sliding block is moved with bracing wire, bracing wire one end is fixed on finger fingertip, passes through cunning
Take turns after guide support, the other end is fixed on bevel gear four.The one end of bracing wire two is fixed on finger fingertip, is become by pulley and is oriented to branch
It is fixed on after support on bevel gear five." receive _ put " line gear assembles conjunction bracing wire, spring_slide structure and realizes finger fingertip, Fingers
The positive bending of section, reset, back-flexing.
Thumb main body of the present invention refers to root, thumb finger joint, the part of thumb tip four comprising thumb pedestal, thumb.Thumb
Spindle one connects thumb pedestal and palm, and the connection thumb pedestal of thumb axle two and thumb refer to root, and the connection thumb of thumb axle three refers to root
With thumb finger joint, the connection thumb finger joint of thumb axle four and thumb tip.Thumb includes four rotatable joints, is driven by three motors
It is dynamic.Motor one and decelerator one are arranged in the palm of the hand, and power is by one group of mesh cylindrical gear, and driving thumb is overall around thumb axle
One rotates.Motor five and decelerator five are arranged in thumb pedestal, reel are provided with decelerator five, reel refers to thumb
The bracing wire of two cross-distributions is wound between root bottom part, motor drives thumb to refer to root relative to thumb pedestal around thumb by bracing wire
Axle two is rotated；Thumb, which refers to, is equipped with motor six and decelerator six inside root, and by bevel gear six, bevel gear seven, bevel gear
" receive _ put " line gear group of eight compositions, " receive _ put " line gear group driven by motor six utilizes gear drive feature, to passing through
Thumb tip is synchronous with two bracing wires inside thumb finger joint to carry out coiling, unwrapping wire action.Bracing wire three passes through bullet in thumb finger joint
Spring slide block mechanism, and be fixedly connected in sliding block, sliding block is moved with bracing wire, the one end of bracing wire three is fixed on thumb tip, another
End is fixed on bevel gear seven around upper.The one end of bracing wire four is fixed on thumb tip, is become by pulley and is fixed on backward on bevel gear eight.
" receive _ put " line gear assembles conjunction bracing wire and spring_slide structure is realized thumb tip, the bending of thumb finger joint forward direction, resetted, reversely
Bending.
Thumb structure is identical with the spring_slide structure structure described in remaining four finger structure, and global shape is a cylinder
Shape spring_slide structure includes a shell, a sliding block, spring one, spring two, closure one, closure two, end cap one, end cap
Two.Closure one, closure two, sliding block can be slided in shell inner cavity.Spring one, spring two is compressed a certain amount of be individually positioned in
Closure one and end cap one, between closure two and end cap one, and two springs can be by Free Compression.Bracing wire passes through spring_slide structure
Inside, and be fixedly connected with a slide block, the movement of left and right end bracing wire can be moved with movable slider in respective direction, and compress respective direction
Spring.It is placed in thumb finger joint and finger finger joint mounting groove, its position is along stayguy direction, and spring one is at remote palm end, bullet
Spring two is at nearly palm end.
The effect and benefit of the present invention：
A kind of drive lacking humanoid dextrous hand of the present invention, the manipulator is similar with human hand, by thumb, forefinger, middle finger, unknown
Refer to, little finger of toe and palm are constituted.The manipulator has 17 frees degree, and power is provided by 12 micromachines.Wherein, each hand
It is coupling joint to refer to the joint of distal end two, and thumb has 4 frees degree, is driven by 3 motors；Remaining 4 hand in addition to thumb
Finger structure is similar, and each finger has 3 frees degree, is driven by two motors；Revolved in addition by a motor-driven palm root
Manipulator integral-rotation can be realized by turning joint.Finger of the present invention contains drive lacking structure type, and flexibility ratio is high, simple in construction, tight
Gather, total amount is light, easy to install, can effectively implement the self-adapting grasping to different shapes and sizes object.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is palm structural representation of the present invention.
Fig. 3 is palm of the hand structural representation of the present invention.
Fig. 4 is the back of the hand structural representation of the present invention.
Fig. 5 is palm rotational structure schematic diagram.
Fig. 6 is finger structure schematic diagram of the present invention.
Fig. 7 is internal structure schematic diagram on the left of finger of the present invention.
Fig. 8 is internal structure schematic diagram on the right side of finger of the present invention.
Fig. 9 is thumb structural representation of the present invention.
Figure 10 is internal structure schematic diagram on the left of thumb of the present invention.
Figure 11 is internal structure schematic diagram on the right side of thumb of the present invention.
Figure 12 is spring_slide structure schematic diagram.
Embodiment
The concrete structure and operation principle of the present invention are described further below in conjunction with accompanying drawing.
Articulation angle described below is stretched with each finger, and thumb and remaining finger in the same plane when, hand
The relative position of finger is articulation zero point.
A kind of humanoid dexterous arm device of drive lacking of the present invention, as shown in figure 1, described humanoid dextrous hand, includes one
Individual palm 6 and five fingers, five finger units include thumb 1, forefinger 2, middle finger 3, the third finger 4, little finger of toe 5.Thumb is being stretched
Angled on palm with palm mounting surface 7 under state, remaining four finger in addition to thumb press suitable position
It is distributed on palm；Palm of the hand surface and five fingers are being fitted with shade in force snesor, Fig. 1 on palm of the hand side surface
Force snesor is partially shown as, force snesor can feed back and be applied object contact surface when Dextrous Hand is captured to object
Force information.
The palm, as shown in Figure 2,3, 4, palm main body combined by the palm of the hand 61, the back of the hand 62, the part of rotating mechanism 63 3 and
Into having motor 1 and decelerator 1, roller gear 1, roller gear 2 614 and thumb axle on the part of the palm of the hand 61
One 15.Described motor 1 and decelerator 1 are arranged in palm motor reducer mounting groove, motor direction of principal axis and hand
Mounting surface 7 is slapped into proper angle, roller gear 2 614 is engaged with roller gear 1, and the power of motor 611 passes through decelerator one
612 with two roller gears engaged, and the thumb pedestal that drive is fixedly connected with roller gear 2 614 revolves around thumb axle 1
Turn, so as to drive thumb 1 to be rotated around palm.There are circuit board and finger mounted groove, signal acquisition, driving, control in the part of the back of the hand 62
Circuit is arranged in circuit board mounting groove；Palm 61 and the back of the hand 62 have in four groups of semicircle finger mounted grooves, each half slot and had
Limited block, every group of half slot can be mutually combined as a circular port, pass through the cooperation handle of two grooves on limited block and finger base
Four fingers in addition to thumb are fixedly mounted on palm.Rotating mechanism 63, can be achieved whole palm and is carried out on mounting surface 7
Rotation, the palm of the hand 61, the back of the hand 62, the part part of rotating mechanism 63 3 are fixedly connected.
The palm rotating mechanism, as shown in figure 5, palm rotating mechanism includes motor, decelerator, encoder, bearing
633rd, fixed part 631, the rotating part 632 with internal gear, one group of mesh cylindrical gear.Motor fixed part and rotating part
Divide and connected by bearing 633, palm is fixedly connected on rotating part 632, motor, decelerator and encoder are arranged on fixed part
Divide on 631, the power of motor two drives roller gear 3 634 to be engaged with the internal gear on rotating part 632 by decelerator two, makes
The palm being fixedly connected with rotating part is rotated.Other roller gear 4 635 is fixedly mounted on encoder axle, and and Cylinder Gear
3 634 engagements are taken turns, encoder can feed back to rotation position, realize rotating part and whole palm around fixed part with this
Center accurately rotates.
Four finger structure layouts of remaining in addition to thumb are identical, and as shown in Fig. 6,7,8, four finger main bodys are all
Including finger base 31, Fingers root 32, finger finger joint 33, the part of finger fingertip 34 4.Finger axle 1 connects finger base
31 and Fingers root 32, the connection Fingers of finger axle 2 36 root 32 and finger finger joint 33；The connection finger of finger axle 3 37 finger joint 33
With finger fingertip 34.Joint where finger axle one, finger axle two, finger axle three, class human hand can realize -15 °~+90 °
The rotation of scope.Motor four 322 of the finger fingertip 34 with finger finger joint 33 inside Fingers root 32 is driven, Fingers root
The power of 32 motor 4 322 is exported by decelerator 4 323 gives " receive _ put " line gear group, and " receive _ put " line gear group is transported by rotating
It is dynamic two bracing wires inside finger fingertip and finger finger joint to be wound and be played back respectively.One end of bracing wire 1 and hand
Refer to finger tip 34 to fix, the other end is fixed on the winding slot of bevel gear 4 325, centre is supported and is oriented to by pulley 332,341；
Bracing wire 1 passes through inside spring_slide structure, and sliding block is fixed in bracing wire, can be slided with the motion of bracing wire.Bracing wire
2 344 one end is fixed with finger fingertip, and the other end is fixed on bevel gear 5 326, it is middle only by pulley 342,334,333
Support and guiding.When motor 4 322 drives bevel gear 4 325, bevel gear 5 326 in " receive _ put " line gear group to rotate, it can be achieved to draw
The take-up of line 1 and the unwrapping wire of bracing wire 2 344, or the unwrapping wire of bracing wire 1 and the take-up of bracing wire 2 344, two actions are synchronous to be carried out.
The two states of two bracing wires " receive-put " " put-receive ", coordinate the spring_slide structure 331 in finger finger joint 33, make finger fingertip
34 and finger finger joint 33 realize positive bending, reset, back-flexing.And finger finger joint 33 and the motion of finger fingertip 34 are deficient
Drive form, finger finger joint is in no contact object, and finger fingertip 34 is not moved with respect to finger finger joint 33, when encountering object defensive position
Referring to finger tip 34, just thorny spindle 3 37 is rotated relative to finger finger joint 33.Finger base motor internal 3 311 is by intermeshing
Bevel gear 1 and the bevel gear 2 321 of engagement, drive the thorny spindle 1 of whole finger to rotate；The outside of finger base 31 is limited
Position groove, cooperation that can be with palm limited block makes whole finger be fixed on palm.
The thumb structure, as shown in Fig. 9,10,11, thumb main body refers to root 12, thumb and referred to comprising thumb pedestal 11, thumb
Section 13, the part of thumb tip 15 4.The connection thumb of thumb axle 1 pedestal 11 and palm 6, the connection thumb pedestal of thumb axle 2 16
11 and thumb refer to root 12, the connection thumb of thumb axle 3 17 refers to root 12 and thumb finger joint 13, the connection thumb of thumb axle 4 18 finger joint 13
With thumb tip 14.The place joint of thumb axle one can realize the rotation of 0 °~120 ° scopes, the place joint of thumb axle two can realize-
90 °~+90 ° scopes are rotated, and thumb axle three can realize -15 °~+90 ° scope rotations with the place joint of thumb axle four.Thumb refers to root
12 inside are equipped with motor 6 121 and decelerator 6 122, and by bevel gear 6 123, bevel gear 7 124,8 125 groups of bevel gear
Into " receive _ put " line gear group, motor 6 121 drive " receive _ put " line gear group work can be respectively to two same steppings of bracing wire
Row winding and playback.One end of bracing wire 3 143 is fixed with thumb tip 14, and the other end is fixed on bevel gear 7 124, it is middle by
Pulley 132,141 is supported and is oriented to；Bracing wire 3 143 passes through inside spring_slide structure, and sliding block 1314 is fixed on drawing
On line 3 143, and it can be slided with the motion of bracing wire 3 143.One end of bracing wire 4 144 is fixed with thumb tip 14, the other end
It is fixed on bevel gear 8 125, it is middle to be supported and be oriented to by pulley 133,134,142.When motor 121 drives " receive _ put " line tooth
Bevel gear 7 124 in wheel group, bevel gear 8 125 rotate, and can be achieved the take-up of bracing wire 3 143 and the unwrapping wire of bracing wire 4 144, or bracing wire
3 143 unwrapping wire and the take-up of bracing wire 4 144, two actions are synchronous to be carried out.Two bracing wires " receive-put " and the two states of " put-receive ",
Coordinate the spring_slide structure 131 in thumb finger joint 13, make finger fingertip 14 and the positive bending of finger finger joint 13, reset, reversely
Bending.And finger finger joint 13 and the motion of finger fingertip 14 are drive lacking form, make in no contact object, finger fingertip 14
Do not moved with respect to finger finger joint 13, just thorny spindle 4 18 is rotated finger fingertip 14 relative to finger finger joint 13 after object is encountered.
It is provided with thumb pedestal 11 on one group of motor 5 111 and decelerator 5 112, decelerator 5 112 and reel 113 is installed, around
Line wheel and thumb are wound with two bracing wires between referring to root, and two bracing wires one in the way of intersection are fixed on thumb and refer to root root side
Face, other end is fixed on reel 113, and motor five realizes that thumb refers to root around thumb axle two by two bracing wires of coiling wheel drive
16 rotate；Thumb pedestal 11 is fixedly mounted on the roller gear 2 614 of palm, and thumb pedestal 11 can be with roller gear 2 614
Rotated around thumb axle 1, realize that thumb 1 is rotated around palm 6.
Thumb structure is identical with the spring_slide structure structure described in remaining four finger structure, as shown in figure 12, overall shape
Shape is cylinder, including a shell 1311, a sliding block 1314, spring 1, spring 2 1316, closure one
1312, closure 2 1333, end cap 1, end cap 2 1318.1 are blocked, 2 1333 are blocked, sliding block 1314 can be in shell
Slided in inner chamber.Spring 1 and spring 2 1316 are compressed a certain amount of be individually positioned in and block one 1312 and end cap one
1317, between closure 2 1333 and end cap 1, and two springs can be by Free Compression.Bracing wire 143 passes through spring block machine
Inside structure, and it is fixedly connected with a slide block, the movement of left and right end bracing wire can in the corresponding direction be slided with movable slider, and compresses corresponding
The spring in direction, spring_slide structure is placed in thumb finger joint and finger finger joint mounting groove, and its position is along stayguy direction, spring
One at remote palm end, and spring two is at nearly palm end.
The drive lacking embodiment, because four hands of thumb and remaining realize that drive lacking mode is identical, so choosing such as
Finger structure shown in Fig. 6,7,8 is illustrated.Finger is divided into 4 parts, finger base 31, Fingers root 32, finger finger joint 33,
Finger fingertip 34.The finger-joint being made up of finger base 31, Fingers root 32, finger axle 1, is driven by motor 3 311,
And Fingers root 32 can be rotated relative to finger base 31 in -15 °~+90 ° scopes；By Fingers root 32, finger finger joint 33, hand
The finger-joint of the composition of spindle 2 36 and the finger-joint being made up of finger finger joint 33, finger fingertip 34, finger axle 3 37 are mutual
Coupling, is driven by motor 3 311, and finger finger joint 33 can be rotated relative to Fingers root 32 in -15 °~+90 ° scopes, finger
Finger tip 34 can be rotated relative to finger finger joint 33 in -15 °~+90 ° scopes.Drive lacking is realized main by finger fingertip 34, finger
Finger joint 33, the part of Fingers root 34 3 composition are realized, realize that drive lacking critical piece has the spring block machine in finger finger joint 33
Structure 331, " receive _ put " the coiling gear train of Fingers root 32 and two groups of bracing wires being present in finger fingertip and finger finger joint are slided
Wheel combination.Here is operation principle：1st, when the coiling of motor driving bevel gear 4 325, while the unwrapping wire of bevel gear 5 326, due to bullet
Spring has certain pretightning force in spring slide block mechanism, so bracing wire 1 drives finger finger joint to be rotated together with finger fingertip, and hand
Refer to finger tip not relatively rotate with finger finger joint.When finger finger joint 33 encounters crawl object, the position of finger finger joint 33 is limited
System, bevel gear 4 325 continues coiling, and synchronous bevel gear 5 326 continues unwrapping wire, acted on when there is bracing wire 1 on sliding block
When power is more than 2 1316 pretightning force of spring, bracing wire 143 pulls sliding block compression spring 1316, and displacement is transmitted with power by bracing wire
Finger fingertip 34, pulls finger fingertip 34 to be rotated relative to finger finger joint 33, and finally power is acted on Zhua Qu be on object.2nd, when
The unwrapping wire of 3 311 driving bevel gear of motor 4 325, while during 5 326 coiling of bevel gear, bracing wire 2 344 drive finger fingertip 34 with
Finger finger joint 33 returns to straight configuration, when bevel gear 4 325 continues pay-off wire, while bevel gear 5 326 continues coiling, bracing wire two
344 is identical with bracing wire 1 described in principle 1, and bracing wire 2 344 first drives finger finger joint 33 to be rotated relative to Fingers root 32, reaches
After extreme position, then band movable slider 1314 compression spring 1315 under the effect of bracing wire 1, and realize finger fingertip 34 with respect to hand
Refer to finger joint 33 to rotate.
Claims (5)
1. a kind of humanoid dextrous hand of drive lacking, it is characterised in that：Described humanoid dextrous hand seemingly, includes a hand with the mankind
The palm（6）With five fingers, five finger units are thumb（1）, forefinger（2）, finger（3）, it is nameless（4）, little finger of toe（5）；Thumb
Under straight configuration, with palm mounting surface（7）Angled to be arranged on palm, remaining four finger in addition to thumb press palm
Position distribution, palm of the hand surface and five fingers are being fitted with force snesor on palm of the hand side surface, and force snesor is in spirit
Dab hand can feed back and be applied the force information of object contact surface when being captured to object；All motors and control circuit are installed
In palm or finger interior；
Described palm main body is by the palm of the hand（61）, the back of the hand（62）, rotating mechanism（63）Three parts are combined, the palm of the hand（61）Part
There is motor one（611）With decelerator one（612）, one group of meshed gears and thumb axle one（15）；Described motor one（611）
With decelerator one（612）With palm mounting surface on motor direction of principal axis（7）It is angled to be arranged in palm；Motor one
（611）Power pass through decelerator one（612）With one group of gear of engagement, thumb pedestal is driven around thumb axle one（15）Rotation,
So as to drive thumb（1）Rotated around palm；The back of the hand（62）There are circuit board and finger mounted groove, signal acquisition, driving, control in part
Circuit is arranged in circuit board mounting groove；The palm of the hand（61）And the back of the hand（62）Have in four groups of semicircle finger mounted grooves, each half slot
All limited location blocks, every group of half slot is mutually combined as a circular port, passes through the cooperation of two grooves on limited block and finger base
Four fingers in addition to thumb are fixedly mounted on palm；Rotating mechanism（63）, realize whole palm in mounting surface（7）On
Rotated, the palm of the hand（61）, the back of the hand（62）, rotating mechanism（63）Three parts are fixedly connected；
It is described in addition to thumb, remaining four finger structure all includes finger base（31）, Fingers root（32）, finger finger joint
（33）, finger fingertip（34）Four parts, the part of finger four is attached by three axles, and three axles are finger axle one（35）, hand
Spindle two（36）, finger axle three（37）, three rotating shaft axis are parallel, finger axle one（35）Connect finger base（31）And finger
Refer to root（32）, finger axle two（36）Connect Fingers root（32）With finger finger joint（33）, finger axle three（37）Connect finger finger joint
（33）And finger fingertip（34）；Finger base（31）Inside is provided with one group of motor three（311）With decelerator three（312）, motor
Three（311）Fingers root is made by the bevel gear of one group of engagement（32）Relative to finger base（31）Thorny spindle one（35）Turn
Dynamic, limited location groove outside finger base, the cooperation of outside stopper slot and palm limited block enables finger to be fixedly connected on palm
On；One group of motor four（322）With decelerator four（323）Installed in Fingers root（32）Inside, Fingers root（32）Install inside
Having can be synchronously to finger fingertip（34）With finger finger joint（33）Internal two bracing wires carry out take-up, the gear train of unwrapping wire function, electricity
Machine four is by driving the gear train to realize the winding and playback of two bracing wires；Other finger finger joint（33）In a spring is installed
Slide block mechanism（331）, bracing wire one（343）One end be fixed on finger fingertip, bracing wire one（343）By in spring_slide structure
Portion is fixedly connected with a slide block, and enables sliding block with bracing wire one（343）Move together, be oriented to and supported by pulley, bracing wire one
（343）The other end is wound on the gear in gear train；Bracing wire two（344）One end is fixed on finger fingertip, by pulley be oriented to and
Support, bracing wire two（344）The other end is wound on the gear in gear train.
2. a kind of humanoid dextrous hand of drive lacking according to claim 1, it is characterised in that：Thumb（1）Including thumb base
Seat（11）, thumb refer to root（12）, thumb finger joint（13）, thumb tip（14）；Thumb（1）Four parts are connected by rotary shaft, thumb
Spindle one（15）, thumb axle two（16）, thumb axle three（17）, thumb axle four（18）；Its middle finger axle three（17）With thumb axle four
（18）Rotation axis is parallel to each other；Thumb axle two（16）With thumb axle three（17）, thumb axle four（18）Rotation axis mutually hang down
Directly；Thumb axle one（15）Rotation axis and palm mounting surface（7）It is angled, and it is parallel with thumb to stretch direction；Thumb
Axle one（15）Connect thumb pedestal（11）And palm（6）, thumb axle two（16）Connect thumb pedestal（11）Refer to root, thumb with thumb
Axle three（17）Connection thumb refers to root（12）With thumb finger joint（13）, thumb axle four（18）Connect thumb finger joint（13）And thumb tip
（14）；Thumb pedestal（11）One group of motor five is inside installed（111）With decelerator five（112）, decelerator five（112）On be provided with
Reel（113）, motor five（111）Pass through reel（113）Two bracing wire campaigns are driven, realize that thumb refers to root（12）Around thumb
Axle two（16）Rotate；Motor one（611）Thumb is driven around thumb axle one by one group of mesh cylindrical gear（15）Rotation；Thumb refers to
Root（12）Inside is equipped with one group of motor six（121）With decelerator six（122）, and one realized coiling function gear train, motor
Five pass through thumb tip by the gear set drive（14）With thumb finger joint（13）Two groups of internal pull wire pulley work in combination, thumb
Refer to finger joint（13）In a spring_slide structure is installed（331）, one end of wherein bracing wire three is fixed on thumb tip, bracing wire three
By spring block inside and sliding block fixed-link, enable sliding block with three movements of bracing wire, pass through pulley and be oriented to and support, draw
The other end of line three is on the gear of gear train；One end of bracing wire four is fixed on thumb tip, is oriented to and supported by pulley, winding
On the gear of gear train.
3. a kind of humanoid dextrous hand of drive lacking according to claim 2, it is characterised in that：Described palm rotating mechanism
Including motor two, decelerator two, encoder, bearing（633）, fixed part（631）, rotating part with internal gear（632）、
One group of mesh cylindrical gear；Motor fixed part passes through bearing with rotating part（633）Connection, palm is fixedly connected on rotating part
Point（632）On, motor two, decelerator two are arranged on fixed part with encoder（631）On, roller gear three（634）With rotation
Part（632）On internal gear internal messing, the power of motor two passes through the roller gear three that decelerator two drives internal messing（634）
With rotating part（632）On roller gear, rotate the palm that is fixedly connected with rotating part；Other roller gear four
（635）Be fixedly mounted on encoder axle, and with roller gear three（634）Engagement, encoder can feed back to rotation position,
Realize that rotating part and whole palm accurately rotate around fixed part center.
4. a kind of humanoid dextrous hand of drive lacking according to claim 1,2 or 3, it is characterised in that：The spring block
Mechanism, mainly by spring one（1315）With spring two（1316）, sliding block（1314）And shell composition；Spring one（1315）With
Spring two（1316）, sliding block（1314）It is placed in enclosure cavity, and sliding block is placed in the middle of two springs, can be passed through
Move left and right spring in sliding block compression respective direction；Bracing wire（143）Company is fixed inside spring_slide structure, and with sliding block
Connect, the movement of left and right end bracing wire can in the corresponding direction be slided with movable slider, and compress the spring of respective direction.
5. a kind of humanoid dextrous hand of drive lacking according to claim 4, it is characterised in that：Each finger has one to owe drive
Dynamic structure type, described drive lacking structure type is by finger fingertip（34）, finger finger joint（33）, Fingers root（32）, spring
Slide block mechanism（331）, bevel gear three（324）, bevel gear four（325）, bevel gear five（316）, axle two（327）, motor four
（322）, decelerator four（323）, bracing wire one（343）, bracing wire two（344）And multiple pulley combinations into drive lacking structure shape
Formula, the structure type is by motor driving bevel gear three（324）, bevel gear four（325）, bevel gear five（316）" receive _ put " of composition
Line gear group, to bracing wire one（343）, bracing wire two（344）It is synchronous to carry out receiving _ put or put _ action received, while bracing wire one
（343）, bracing wire two（344）Drive spring_slide structure（331）Middle sliding block sliding compression spring, finally realizes the deficient drive of finger
It is dynamic.
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| CN112405577B (en) * | 2020-11-20 | 2022-03-01 | 上海交通大学 | Rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand |
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| CN114536382B (en) * | 2022-04-26 | 2022-08-12 | 中国科学院自动化研究所 | Robot with nerve mimic dexterous hand |
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| CN1231332C (en) * | 2002-11-29 | 2005-12-14 | 清华大学 | Robot anthropomorphic multi finger band device |
| JP4313125B2 (en) * | 2003-09-12 | 2009-08-12 | 本田技研工業株式会社 | Robot hand |
| US8483880B2 (en) * | 2009-07-22 | 2013-07-09 | The Shadow Robot Company Limited | Robotic hand |
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Effective date of registration: 20180314 Address after: 116024 room 10, room 1004, seat B, seat 32A, Dalian high tech Zone, Liaoning Province Patentee after: Dalian Dahua Zhongtian Technology Co., Ltd. Address before: 116024 Liaoning, Dalian, Ganjingzi Ling Road, No. 2 Patentee before: Du Yu |