CN105881566A - Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism - Google Patents
Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism Download PDFInfo
- Publication number
- CN105881566A CN105881566A CN201610371609.9A CN201610371609A CN105881566A CN 105881566 A CN105881566 A CN 105881566A CN 201610371609 A CN201610371609 A CN 201610371609A CN 105881566 A CN105881566 A CN 105881566A
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- palm
- finger
- thumb
- linkage
- mainboard
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Classifications
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finger-Pressure Massage (AREA)
Abstract
The invention designs a finger side swinging and opposing mechanism of a five-finger dextrous hand based on a screw linkage mechanism. Dextrous movement of all fingers are satisfied, and additionally, the finger side swinging and opposing mechanism has the poweroff self-locking pose keeping ability, so that the grasping function of the five-finger dextrous hand is obviously increased, and different requirements of the five-finger dextrous hand for reliably grasping different articles are satisfied. The side swinging and opposing mechanism which is designed by using the screw linkage mechanism as a core component is mainly composed of an N20 screw gear motor as a power component, sliding blocks, a linkage pair, a palm mainboard, a thumb D shaft fixed frame, hinges and accessories, wherein the thumb D shaft fixed frame is used for fixing a D shaft of a thumb root joint; the palm mainboard is a base on which the screw gear motor, fingers, an opposing small plate and the hinges are connected; linkages are movement transmission components for connecting the sliding blocks with finger roots and the palm mainboard with the opposing small plate and the palm mainboard with the thumb D shaft fixed frame; the hinges are used for connecting the opposing small plate with a rack, and a bearing and a shaft are mainly used in the side swinging driving aspect of the fingers, so that the rotating efficiency and the movement flexibility can be increased.
Description
Technical field
The invention belongs to machinery Dextrous Hand technical field, it is specifically related to screw mechanism application in humanoid dextrous hand, propose a kind of novel finger side-sway and meet palm mechanism, optimize the structure of whole Dextrous Hand, utilize the characteristic that screw mechanism cuts off self-lock, it is achieved that the holding capacity of original pose after Dextrous Hand power-off.
Background technology
Along with the constantly progress of scientific and technological level and continuing to bring out of emerging cross discipline, Robotics is all had higher requirement by the fields such as the exploitation of space probation, nuclear energy, medicine equipment, and traditional industrial robot end gripper exists some significant drawbacks, such as very flexible, perception is low, position is the most high with the control accuracy of power.In recent years, due to engineer applied in the urgent need to, the research of multi-finger clever hand is developed rapidly, has been increasingly becoming a particular study field, some key subjects in field such as contains from space exploration to medicine equipment.Therefore, the most theoretically or from engineer applied, the research strengthening multi-finger clever hand energetically all seems the most urgent.But the Dextrous Hand overwhelming majority is to utilize cotton rope transmission both at home and abroad, minority Dextrous Hand uses motor Bevel Gear Transmission, by motor performance and power limit, it is impossible to a big moment interference is played pose holding capacity, causes reliability to reduce.Reality is badly in need of changing this deficiency.
Summary of the invention
Present invention devises a kind of five-needle pines blister rust finger side-sway based on leading screw linkage and to palm mechanism, while meeting the motion of each finger dexterity, there is the pose holding capacity cut off self-lock, significantly improve the crawl function of five-needle pines blister rust, it is adaptable to five-needle pines blister rust realizes the reliable different demands captured to different article.The side-swing mechanism designed for core component with leading screw linkage is with to palm mechanism, and its basic structure is mainly made up of power part N20 leading screw reducing motor, slide block, connecting rod pair, palm mainboard, thumb D shaft holder, hinge and annex thereof.Thumb D shaft holder is used to fixing thumb and refers to the D axle in root joint.Palm mainboard is leading screw reducing motor and finger, the pedestal being connected palm platelet with hinge.Connecting rod be connection sliding block with finger root and palm mainboard with to palm platelet, the movement transfer member of palm mainboard and thumb D shaft holder.Hinge is used for connecting to palm platelet and frame, and bearing and axle are used primarily in the transmission aspect of finger side-sway, can improve rotational efficienty and kinematic dexterity.
Technology realizes:
In order to realize foregoing invention purpose, we devise the finger side-sway of five-needle pines blister rust and to palm mechanism based on lead screw transmission and the operation principle of linkage, while ensureing its work moment, substantially reduce the spatial volume of palm machinery dynamic structure.
This five-needle pines blister rust finger side-sway based on leading screw linkage with palm structure is divided into thumb U-shaped fixed slot configurations, Nei Shou abduction mechanism, forefinger side-swing mechanism, nameless little finger linkage side-swing mechanism, palm to palm mechanism.Thumb refers to that the output D axle 1 of root motor module is fixed on thumb U-shaped and fixes groove, and thumb U-shaped is fixed groove and is hinged on palm mainboard by D axle 2.Thumb U-shaped fix groove be fixed groove part one by thumb U-shaped, thumb U-shaped is fixed groove part two and is bolted.The thumb spindle motor being secured transverse on palm mainboard makes U-shaped fix groove to rotate around D axle 2 by thumb slide connecting rod one.Forefinger spindle motor promotes forefinger root motor retaining element to rotate around the forefinger axle formed by next group bolt combination upper by hinged connecting rod two on forefinger slide block.Palm mainboard is hinged fixing by a pair hinge with to palm platelet.Palm platelet is rotated around hinge by the opposition spindle motor being secured transverse on palm mainboard by promoting hinged connecting rod three above palm mechanism slide block.The articulated nameless root motor fixture of connecting rod five and little finger root motor fixture.Vertically it is fixed on and promotes nameless root motor retaining element to rotate around unknown spindle by hinged connecting rod four above nameless little finger catenating slider the spindle motor on palm platelet.Little finger root motor fixture rotates around little finger axle.
The invention has the advantages that:
(1) characteristics of motion of abundant matching staff, has the highest flexibility；
(2) the various open and close movements of apery palm can be realized；
(3) operate steadily, noise is little, durable in use；
(4) having the function that cuts off self-lock, controllability is good；
Accompanying drawing explanation
Accompanying drawing 1 is the overall schematic of five-needle pines blister rust；
Accompanying drawing 2 is the schematic diagram of five-needle pines blister rust palm structure；
Accompanying drawing 3 is the schematic diagram of forefinger side-swing mechanism；
Accompanying drawing 4 is nameless and little finger linkage side-swing mechanism schematic diagram；
Accompanying drawing 5 be palm to the palm structural scheme of mechanism；
Accompanying drawing 6 is the schematic diagram of thumb Nei Shou abduction exercise mechanism；
Accompanying drawing 7 is thumb U-lag structural representation；
nullIn accompanying drawing: 1 thumb root joint D axle，2 thumbs rotate D axle，3 forefinger axles，4 unknown spindles，5 little finger axles，6 connecting rods one，7 connecting rods two，8 connecting rods three，9 connecting rods four，10 connecting rods five，11 thumb slide，12 forefinger slide blocks，13 pairs of palm mechanism slide blocks，14 nameless little finger catenating sliders，15 forefinger root motor fixture，16 nameless root motor fixture，17 little finger root motor fixture，18 thumb spindle motors，19 forefinger spindle motors，20 opposition spindle motors，21 nameless little finger ganged movement spindle motors，22 hinges，23 palm mainboards，24 pairs of palm platelets，25 thumb U-shapeds fix groove part one，26 thumb U-shapeds fix groove part two.
Detailed description of the invention
Accompanying drawing 2 is the schematic diagram of five-needle pines blister rust palm structure.The upper fixed thumb spindle motor (18) of palm mainboard (23), is connected by lead screw pair with thumb slide (11).Thumb rotation D axle (2) is combined with palm mainboard (23) by cylindrical pair, and thumb U-shaped is fixed groove and is connected with thumb rotation D axle (2) by holding screw.Opposition spindle motor (20) is secured transverse on palm mainboard (23), rotates palm platelet (24) around the axle of hinge (22) by promoting the connecting rod three (8) that palm mechanism's slide block (13) is the most hinged.
Accompanying drawing 4 is nameless and little finger linkage side-swing mechanism schematic diagram.Vertically it is fixed on and promotes nameless root motor fixture (16) to rotate around unknown spindle (4) by the connecting rod four (9) that nameless little finger catenating slider (14) is the most hinged spindle motor (21) on palm platelet (24).Little finger root motor fixture (17) rotates around little finger axle (5).The articulated nameless root motor fixture (16) of connecting rod five (10) and little finger root motor fixture (17).The length of connecting rod five, slightly shorter than the distance of unknown spindle (4) with little finger axle (5), constitutes a connection-rod linkage mechanism, it is achieved that the motion mode of folding while of the third finger controlled by a spindle motor and little finger.
Accompanying drawing 7 is thumb U-lag structural representation.Thumb U-lag is fixed groove part one (25) by thumb U-shaped, thumb U-shaped fixes groove part two (26), is connected by the bolt of 3 M1.6, and there is D type hole the both sides of U-lag, are used for fixing thumb and refer to the output D axle of root motor.
Claims (5)
1. a five-needle pines blister rust finger side-sway based on leading screw linkage with to palm mechanism, it is characterized in that the characteristics of motion of abundant matching staff, farthest optimize the space structure of palm machinery power unit, leading screw drives motor be reasonably placed in narrow palm space structure, and there is position lock function.The flexibility that palm platelet has been expanded this each finger of Dextrous Hand based on ergonomic designs, the nameless free degree that can be removed tradition Dextrous Hand redundancy with little finger of toe by linkage, it is achieved that the accurate linkage controlled by single spindle motor.On the basis of the fully research thumb characteristics of motion, devising a kind of motion mode with spatial intersecting through-drive, its range of movement is big, and motion mode is the most flexible.
2. according to claim 1, five-needle pines blister rust finger side-sway based on leading screw linkage with to the palm mechanism, it is characterized in that with palm mainboard, palm platelet is passed through gemel connection, the spindle motor of horizontal fixed control opposition on palm mainboard, by connecting rod connection sliding block and to palm platelet, it is achieved that the Dextrous Hand free degree to the palm.
3. according to claim 1, five-needle pines blister rust finger side-sway based on leading screw linkage with to palm mechanism, it is characterised in that by linkage, the nameless side-sway redundant degree of freedom with little finger of toe becomes one after reducing.Vertically it is fixed on the compound motion that the leading screw reducing motor on palm platelet is controlled the third finger-little finger of toe linkage by slide block connecting rod.
4. according to claim 1, five-needle pines blister rust finger side-sway based on leading screw linkage with to the palm mechanism, it is characterized in that middle finger is screwed motionless, forefinger promotes slide block movement by a spindle motor the most fixing, connecting rod on slide block promotes forefinger root end to produce motion, thus realizes the side-sway of forefinger.
5. according to claim 1, five-needle pines blister rust finger side-sway based on leading screw linkage with to the palm mechanism, it is characterised in that the motion mode of thumb and fixed form.The joint motor block inversion of thumb, output D axle down, is fixed in dismountable U-shaped fixing groove, thus the finger root saving preciousness drives space.The slide block being secured transverse on the spindle motor on palm mainboard is connected in U-type groove fixing rocking arm by connecting rod, can realize the U-type groove rotation around fixing axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610371609.9A CN105881566B (en) | 2016-05-30 | 2016-05-30 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610371609.9A CN105881566B (en) | 2016-05-30 | 2016-05-30 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881566A true CN105881566A (en) | 2016-08-24 |
| CN105881566B CN105881566B (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610371609.9A Expired - Fee Related CN105881566B (en) | 2016-05-30 | 2016-05-30 | A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism |
Country Status (1)
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| CN (1) | CN105881566B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335074A (en) * | 2016-10-12 | 2017-01-18 | 上海大学 | Robot five-finger dexterous hand executive device |
| CN107378920A (en) * | 2017-09-07 | 2017-11-24 | 吉林大学 | A kind of outer skeleton precision data gloves |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN112659165A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Simulation manipulator |
| CN112659164A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Cross-stretch structure between fingers of simulation manipulator |
| CN114734469A (en) * | 2021-06-07 | 2022-07-12 | 深圳蓝胖子机器智能有限公司 | Multi-freedom overload-proof multi-finger dexterous hand |
| CN116021536A (en) * | 2023-02-27 | 2023-04-28 | 华中科技大学 | High personification mechanical dexterous finger cooperation side swinging device |
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| EP1457294A1 (en) * | 2001-12-17 | 2004-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| CN101045300A (en) * | 2006-03-31 | 2007-10-03 | 北京理工大学 | Human imitating clever hands driven by artificial pneumatic muscle |
| CN201109115Y (en) * | 2007-12-14 | 2008-09-03 | 华南理工大学 | Anthropomorphic manipulator having distribution tactility |
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN101491900A (en) * | 2009-03-02 | 2009-07-29 | 清华大学 | Man-like robot finger side-swaying device |
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN202572399U (en) * | 2012-05-15 | 2012-12-05 | 郑州大学 | Synchronous smart mechanical arm of robot |
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2016
- 2016-05-30 CN CN201610371609.9A patent/CN105881566B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1457294A1 (en) * | 2001-12-17 | 2004-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| CN101045300A (en) * | 2006-03-31 | 2007-10-03 | 北京理工大学 | Human imitating clever hands driven by artificial pneumatic muscle |
| CN201109115Y (en) * | 2007-12-14 | 2008-09-03 | 华南理工大学 | Anthropomorphic manipulator having distribution tactility |
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN101491900A (en) * | 2009-03-02 | 2009-07-29 | 清华大学 | Man-like robot finger side-swaying device |
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN202572399U (en) * | 2012-05-15 | 2012-12-05 | 郑州大学 | Synchronous smart mechanical arm of robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335074A (en) * | 2016-10-12 | 2017-01-18 | 上海大学 | Robot five-finger dexterous hand executive device |
| CN107378920A (en) * | 2017-09-07 | 2017-11-24 | 吉林大学 | A kind of outer skeleton precision data gloves |
| CN107378920B (en) * | 2017-09-07 | 2018-09-07 | 吉林大学 | A kind of outer skeleton precision data gloves |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN112659165A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Simulation manipulator |
| CN112659164A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Cross-stretch structure between fingers of simulation manipulator |
| CN112659165B (en) * | 2021-01-26 | 2024-02-13 | 韩靖 | Simulation manipulator |
| CN114734469A (en) * | 2021-06-07 | 2022-07-12 | 深圳蓝胖子机器智能有限公司 | Multi-freedom overload-proof multi-finger dexterous hand |
| CN114734469B (en) * | 2021-06-07 | 2023-08-29 | 深圳蓝胖子机器智能有限公司 | Multi-free overload-preventing multi-finger smart hand |
| CN116021536A (en) * | 2023-02-27 | 2023-04-28 | 华中科技大学 | High personification mechanical dexterous finger cooperation side swinging device |
| CN116021536B (en) * | 2023-02-27 | 2024-07-16 | 华中科技大学 | High personification mechanical dexterous finger cooperation side swinging device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881566B (en) | 2018-11-20 |
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| CB03 | Change of inventor or designer information |
Inventor after: Luo Qingsheng Inventor after: Liu Xingdong Inventor after: Zhao Jiahang Inventor after: Wang Changjin Inventor after: Liang Guanhao Inventor after: Sun Yao Inventor before: Luo Qingsheng Inventor before: Wang Changjin Inventor before: Sun Yao Inventor before: Liu Xingdong Inventor before: Xu Jiafeng Inventor before: Zhou Xinbing |
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Granted publication date: 20181120 Termination date: 20200530 |
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| CF01 | Termination of patent right due to non-payment of annual fee |