CN109927061A - A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking - Google Patents
A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking Download PDFInfo
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- CN109927061A CN109927061A CN201711378760.6A CN201711378760A CN109927061A CN 109927061 A CN109927061 A CN 109927061A CN 201711378760 A CN201711378760 A CN 201711378760A CN 109927061 A CN109927061 A CN 109927061A
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- 210000001145 finger joint Anatomy 0.000 claims abstract description 153
- 210000003811 finger Anatomy 0.000 claims abstract description 42
- 210000003813 thumb Anatomy 0.000 claims abstract description 14
- 210000004932 little finger Anatomy 0.000 claims abstract description 11
- 238000005096 rolling process Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 210000004247 hand Anatomy 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The present invention provides a kind of bionical Dextrous Hands of 14 freedom degree of drive lacking, belong to robotic technology field.It solves the technical problems such as the manipulator control low precision of existing robot.This Dextrous Hand includes palm, thumb, index finger, middle finger, nameless and little finger of toe, thumb includes finger joint on first, first middle finger joint and the first lower finger joint, the lower end of finger joint and the upper end of the first middle finger joint are hinged on first, the upper end of first lower finger joint and the lower end of the first middle finger joint are hinged, the lower end of first lower finger joint and palm are rotatablely connected, finger joint on first, the first rope is connected in first middle finger joint and the first lower finger joint, one end of first rope is connected with the output shaft of the first driving motor, the other end of first rope is fixed on first in finger joint.This Dextrous Hand uses the structure type of drive lacking, and can be improved the control precision of Dextrous Hand.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking.
Background technique
As the modernization of industry develops, the development of China and world technology level is maked rapid progress, work again and again
Industry revolution brings the innovation of more and more science and technology, until our industrial development today opening the industrial revolution for promoting a new round
Begin, and as the implementation of 2025 plan docking German Industrial 4.0 of China is landed, future society will be fast to the demand of robot
Surge length.It counts and shows according to related data, by 2023, the market of anthropomorphic robot, which will increase, surpassed 10 times, it is contemplated that in future 6
Market scale is expected to more than 3,800,000,000 dollars in year.Currently, anthropomorphic robot staple market is based on America, but it was predicted that should
The most fast place of industry future growth rate will be the Asian-Pacific area.Not with the elderly's quantity of China and the Asian-Pacific areas such as Japan
It is disconnected to increase, it is contemplated that personal help and care will be provided using more anthropomorphic robots.
Anthropomorphic robot is the mix products an of technology in all directions, its design difficulty has many aspects, one of them
Aspect is exactly the design of strong flexible manipulator.It is adopted mostly in the design of the bionical Dextrous Hand of anthropomorphic robot both at home and abroad at present
With variable drive lacking structure, this is also to meet simulation of human body, but be lacking in load-bearing capacity, especially traditional
Line is driven the design of Dextrous Hand, and load-bearing capacity is much smaller than connecting rod underactuated manipulator, and control precision is very poor, but connecting rod
Under-actuated delicacy hand occupied space is larger, it is difficult to implement.
Summary of the invention
The present invention addresses the above problems in the prior art, provides a kind of 14 freedom degree of drive lacking bionical Dextrous Hand,
It uses the structure type of drive lacking and can be improved the control precision of Dextrous Hand.
Object of the invention can be realized by the following technical scheme:
A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking, including palm, thumb, index finger, middle finger, the third finger and little finger of toe,
It is characterized in that, the thumb includes the lower finger joint of finger joint, the first middle finger joint and first on first, the lower end of finger joint on described first
It being hinged with the upper end of the first middle finger joint, the upper end of the first lower finger joint and the lower end of the first middle finger joint are hinged, and first
The lower end of lower finger joint and the palm are rotatablely connected, and are connected in the lower finger joint of finger joint, the first middle finger joint and first on described first
There is the first rope, one end of first rope is connected with the output shaft of the first driving motor, and the other end of the first rope is solid
It is scheduled on first in finger joint.
The bionical Dextrous Hand of 14 freedom degree of drive lacking includes palm, thumb, index finger, middle finger, the third finger and little finger of toe, thumb packet
Finger joint on first, the first middle finger joint and the first lower finger joint are included, finger joint, the first middle finger joint and the first lower finger joint are respectively the on first
One rotating turret, the second rotating turret and third rotating turret, the first rotating turret freedom degree are the revolute pair rotated around left and right directions, purpose
It is the rotation for realizing finger joint on first, the second rotating turret freedom degree is also the revolute pair around left and right directions rotation, it is therefore an objective to be realized
Finger joint linkage flexure operation on first middle finger joint and first.Third rotating turret freedom degree is turn rotated around palm front-rear direction
Dynamic pair, it is therefore an objective to the first lower inside and outside rotational action of the finger joint relative to the centre of the palm is realized, wherein the first rotating turret and the second rotating turret
The first driving motor is shared, realizes drive lacking rotation, first motor drives the first rope, under the affecting of the first rope, realizes
The rotation that rotation and first middle finger joint of the finger joint relative to the first middle finger joint descend finger joint relative to first on first, this Dextrous Hand
Structure can be improved the control precision of Dextrous Hand.
In a kind of above-mentioned bionical Dextrous Hand of 14 freedom degree of drive lacking, the index finger, middle finger, the third finger and little finger of toe are wrapped
Include finger joint on second, the second middle finger joint and the second lower finger joint, on each second the lower end of finger joint with corresponding second middle finger joint
Upper end be hinged, the upper end of each second lower finger joint is hinged with the lower end of corresponding second middle finger joint, each second
The lower end of lower finger joint is hinged with the palm, and finger joint, corresponding second middle finger joint and corresponding second refer to down on each second
The second rope is respectively connected on section, one end of each second rope is connected with the output shaft of corresponding second driving motor respectively,
The other end of each second rope is fixed on corresponding second in finger joint.
Finger joint and the second middle finger joint are driven by corresponding second driving motor respectively on each second, so referred to as drive lacking,
Corresponding second rope of each second motor driven realizes that finger joint is relative to the second middle finger on second under the affecting of the second rope
The rotation of the rotation of section and the second middle finger joint relative to the second lower finger joint.
In a kind of above-mentioned bionical Dextrous Hand of 14 freedom degree of drive lacking, the lower end of each second lower finger joint is hinged with finger
With respectively referring to being fixedly connected with palm.By the driving of the second driving motor, realize each second lower finger joint relative to corresponding finger
With rotation.
In a kind of above-mentioned bionical Dextrous Hand of 14 freedom degree of drive lacking, the upper end of each second lower finger joint company of rotation respectively
It is connected to the first pulley and second pulley being oppositely arranged, the lower end of each second middle finger joint is rotatably connected to respectively to be oppositely arranged
Third pulley and the 4th pulley, the upper end of each second middle finger joint are rotatably connected to the 5th pulley and the 6th being oppositely arranged respectively
Pulley, the lower end of finger joint is rotatably connected to the 7th pulley and the 8th pulley being oppositely arranged, each second rope respectively on each second
Two strands are divided into after rope phase doubling, wherein it is sliding to be slidably connected at first pulley, third pulley, the 5th pulley and the 7th respectively for one
On wheel, another stock is not slidably connected on second pulley, the 4th pulley, the 6th pulley and the 8th pulley, each second rope
One end is each attached on the output shaft of corresponding second driving motor, and the other end of each second rope is each attached to corresponding second
In upper finger joint.
Second driving motor, the second rope, first pulley, third pulley, the 5th pulley, the 7th pulley, second pulley,
Four pulleys, the 6th pulley and the 8th pulley form transmission mechanism, under the driving of the second driving motor, the second rope are affected to move
It is dynamic, to realize that movement is stretched in the bending of index finger, middle finger, the third finger or little finger of toe respectively.If the second middle finger joint and second refers to down
Relative position between section be it is fixed, at this time when second the second rope of motor driven, can make on second in finger joint relative to
Second lower finger joint rotation, the structure are known as underactuatuated drive.
Certainly, above-mentioned transmission mechanism can also be applied in the structure of thumb.
In a kind of above-mentioned bionical Dextrous Hand of 14 freedom degree of drive lacking, the lower end of finger joint and corresponding on each second
The upper end of finger joint passes through shaft with the lower end of corresponding second middle finger joint and mutually cuts with scissors under the upper end of two middle finger joints, each second
It connects, axle sleeve is rotatably connected in all shafts, two stocks of second rope are not slidably connected on each axle sleeve and difference
Positioned at the two sides of corresponding axle sleeve.Axle sleeve make two strand ropes on each pulley each other be isolated, and guarantee second on finger joint,
The elongation of second middle finger joint and the second lower finger joint one end rope in the course of rotation is equal to the shortening amount of other end rope.
In a kind of above-mentioned bionical Dextrous Hand of 14 freedom degree of drive lacking, the bottom of the palm has fixing seat, described
The bottom surface of fixing seat is plane.
Compared with prior art, advantages of the present invention is as follows:
1, this Dextrous Hand uses the structure type of drive lacking, and can be improved the control precision of Dextrous Hand.
2, the structure of this Dextrous Hand can be improved load.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of this Dextrous Hand.
Fig. 2 is the structural schematic diagram of thumb.
Fig. 3 is the structural schematic diagram of index finger.
Fig. 4 is the schematic diagram of transmission mechanism.
Fig. 5 is the structural schematic diagram of axle sleeve.
In figure, 1, palm；1a, fixing seat；2, thumb；2a, finger joint on first；2b, the first middle finger joint；2c, first refer to down
Section；3, index finger；4, middle finger；5, nameless；6, little finger of toe；7, finger joint on second；8, the second middle finger joint；9, the second lower finger joint；10,
Two ropes；11, refer to；12, first pulley；13, second pulley；14, third pulley；15, the 4th pulley；16, the 5th pulley；
17, the 6th pulley；18, the 7th pulley；19, the 8th pulley；20, shaft；21, axle sleeve.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
As shown in Figs. 1-2, the bionical Dextrous Hand of 14 freedom degree of this drive lacking includes palm 1, thumb 2, index finger 3, middle finger 4, nothing
Name refers to 5 and little finger of toe 6, and thumb 2 includes the lower finger joint 2c of finger joint 2a, the first middle finger 4 section 2b and first on first, finger joint 2a on first
Lower end and the upper end of 4 section 2b of the first middle finger are hinged, the upper end of the first lower finger joint 2c and the lower end of 4 section 2b of the first middle finger
Portion is hinged, and the lower end of the first lower finger joint 2c and palm 1 are rotatablely connected, finger joint 2a, the first middle finger 4 section 2b and first on first
It is connected with the first rope on lower finger joint 2c, one end of the first rope is connected with the output shaft of the first driving motor, the first rope
The other end be fixed on first on finger joint 2a.
As shown in figure 3, index finger 3, middle finger 4, the third finger 5 and little finger of toe 6 include finger joint 7, second on second in the present embodiment
Middle finger joint 8 and second descends finger joint 9, and the lower end of finger joint 7 is mutually cut with scissors with the upper end of corresponding second middle finger joint 8 on each second
It connects, the upper end of each second lower finger joint 9 is hinged with the lower end of corresponding second middle finger joint 8, under each second lower finger joint 9
End is hinged with palm 1, is all connected in finger joint 7, corresponding second middle finger joint 8 and corresponding second lower finger joint 9 on each second
There is the second rope 10, one end of each second rope 10 is connected with the output shaft of corresponding second driving motor respectively, and each second
The other end of rope 10 is fixed on corresponding second in finger joint 7.Finger joint 7 and the second middle finger joint 8 are respectively by corresponding on each second
The driving of the second driving motor, so referred to as drive lacking, corresponding second rope 10 of each second motor driven, in the second rope 10
Affecting under, realize second on finger joint 7 relative to the second middle finger joint 8 rotation and the second middle finger joint 8 relative to second down finger
The rotation of section 9.
As shown in Figure 3, it is preferred that the lower end of each second lower finger joint 9 is hinged with finger with 11, respectively finger with 11 and palm
1 is fixedly connected with.By the driving of the second driving motor, realize that each second lower finger joint 9 refers to relative to corresponding with 11 rotations.
As shown in figure 4, in the present embodiment, the upper end of each second lower finger joint 9 is rotatably connected to the be oppositely arranged respectively
One pulley 12 and second pulley 13, the lower end of each second middle finger joint 8 are rotatably connected to the third pulley 14 being oppositely arranged respectively
With the 4th pulley 15, it is sliding that the upper end of each second middle finger joint 8 is rotatably connected to the 5th pulley 16 and the 6th being oppositely arranged respectively
Wheel 17, the lower end of finger joint 7 is rotatably connected to the 7th pulley 18 and the 8th pulley 19 being oppositely arranged respectively on each second, and each the
Two strands are divided into after the opposite folding of two rope 10, wherein it is sliding to be slidably connected at first pulley 12, third pulley the 14, the 5th respectively for one
On wheel 16 and the 7th pulley 18, another stock is not slidably connected at second pulley 13, the 4th pulley 15, the 6th pulley 17 and the 8th
On pulley 19, one end of each second rope 10 is each attached on the output shaft of corresponding second driving motor, each second rope 10
The other end be each attached on corresponding second in finger joint 7.
Second driving motor, the second rope 10, first pulley 12, third pulley 14, the 5th pulley 16, the 7th pulley 18,
Second pulley 13, the 4th pulley 15, the 6th pulley 17 and the 8th pulley 19 form transmission mechanism, in the driving of the second driving motor
Under, it is mobile to affect the second rope 10, to realize that movement is stretched in the bending of index finger 3, middle finger 4, the third finger 5 or little finger of toe 6 respectively.Such as
Relative position between the second middle finger joint of fruit 8 and the second lower finger joint 9 is fixed, second the second rope of motor driven 10 at this time
When, it can make to rotate in finger joint 7 relative to the second lower finger joint 9 on second, which is known as underactuatuated drive.In addition, the second rope
Rope 10 bypass first pulley 12 after, can also on the second rope 10 connecting spring damper, tension sensor, displacement sensor
Locking device is embraced with limit, the end of the second last rope 10 is fixed on the second driving motor.
Certainly, above-mentioned transmission mechanism can also be applied in the structure of thumb 2.
As illustrated in figures 4-5, preferably, on each second the lower end of finger joint 7 and corresponding second middle finger joint 8 upper end
The upper end of finger joint 9 passes through shaft 20 with the lower end of corresponding second middle finger joint 8 and is hinged under portion, each second, Suo Youzhuan
It is rotatably connected to axle sleeve 21 on axis 20, two stocks of the second rope 10 are not slidably connected on each axle sleeve 21 and are located at pair
Answer the two sides of axle sleeve 21.Axle sleeve 21 isolates two strand ropes on each pulley each other to reduce friction, and guarantees the
The elongation of finger joint 7 on two, the second middle finger joint 8 and the second lower finger joint 9 one end rope in the course of rotation is equal to other end rope
The shortening amount of rope.In addition, groove can also be arranged in 21 outer surface of axle sleeve simultaneously, the structure can preferably by the second rope 10 every
It leaves, reduces the friction between the second rope 10.
As shown in Figure 1, it is preferred that the bottom of palm 1 has fixing seat 1a, and the bottom surface of fixing seat 1a is plane.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (6)
1. a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking, including palm, thumb, index finger, middle finger, the third finger and little finger of toe, special
Sign is, the thumb includes the lower finger joint of finger joint, the first middle finger joint and first on first, on described first the lower end of finger joint with
The upper end of first middle finger joint is hinged, and the upper end of the first lower finger joint and the lower end of the first middle finger joint are hinged, under first
The lower end of finger joint and the palm are rotatablely connected, and are connected in the lower finger joint of finger joint, the first middle finger joint and first on described first
One end of first rope, first rope is connected with the output shaft of the first driving motor, and the other end of the first rope is fixed
On first in finger joint.
2. a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking according to claim 1, which is characterized in that the index finger, in
Finger, nameless and little finger of toe include finger joint on second, the second middle finger joint and the second lower finger joint, and the lower end of finger joint is equal on each second
It is hinged with the upper end of corresponding second middle finger joint, the upper end of each second lower finger joint is and under corresponding second middle finger joint
End is hinged, and the lower end of each second lower finger joint is hinged with the palm, finger joint, corresponding second middle finger joint on each second
Be respectively connected with the second rope in the corresponding second lower finger joint, one end of each second rope respectively with corresponding second driving motor
Output shaft be connected, the other end of each second rope is fixed on corresponding second in finger joint.
3. a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking according to claim 2, which is characterized in that each second lower finger joint
Lower end be hinged with finger with, respectively finger with being fixedly connected with palm.
4. a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking according to claim 2, which is characterized in that each second lower finger joint
Upper end be rotatably connected to the first pulley and second pulley being oppositely arranged respectively, the lower end of each second middle finger joint turns respectively
Dynamic to be connected with the third pulley and the 4th pulley being oppositely arranged, the upper end of each second middle finger joint is rotatably connected to opposite set respectively
The 5th pulley set and the 6th pulley, on each second the lower end of finger joint be rotatably connected to respectively the 7th pulley being oppositely arranged and
8th pulley, each second rope are divided into two strands after rolling over relatively, and wherein it is sliding to be slidably connected at first pulley, third respectively for one
On wheel, the 5th pulley and the 7th pulley, another stock is not slidably connected at second pulley, the 4th pulley, the 6th pulley and the 8th
On pulley, one end of each second rope is each attached on the output shaft of corresponding second driving motor, each second rope it is another
End is each attached on corresponding second in finger joint.
5. a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking according to claim 4, which is characterized in that finger joint on each second
Lower end and the upper end of corresponding second middle finger joint, each second lower finger joint upper end under corresponding second middle finger joint
End is hinged by shaft, and axle sleeve, two stocks of the second rope not company of sliding are rotatably connected in all shafts
Connect on each axle sleeve and be located at the two sides of corresponding axle sleeve.
6. a kind of bionical Dextrous Hand of 14 freedom degree of drive lacking according to claim 1-5, which is characterized in that described
The bottom of palm has fixing seat, and the bottom surface of the fixing seat is plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711378760.6A CN109927061A (en) | 2017-12-19 | 2017-12-19 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711378760.6A CN109927061A (en) | 2017-12-19 | 2017-12-19 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
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| Publication Number | Publication Date |
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| CN109927061A true CN109927061A (en) | 2019-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711378760.6A Pending CN109927061A (en) | 2017-12-19 | 2017-12-19 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005349489A (en) * | 2004-06-08 | 2005-12-22 | Sharp Corp | Multi-finger hand of multi-degree of freedom |
| CN102092049A (en) * | 2011-01-04 | 2011-06-15 | 天津大学 | Humanoid dexterous hand with variable-shape palm |
| JP2012081564A (en) * | 2010-10-13 | 2012-04-26 | Yaskawa Electric Corp | Hand, robot, and robot system |
| CN105583839A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-reset open loop and flexible piece coupled flexible robot finger device |
| CN107223408A (en) * | 2017-07-06 | 2017-10-03 | 合肥工业大学 | A kind of fruit picking robot and operating method with force sensing function |
| CN207747059U (en) * | 2017-12-19 | 2018-08-21 | 广州中国科学院先进技术研究所 | A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking |
-
2017
- 2017-12-19 CN CN201711378760.6A patent/CN109927061A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005349489A (en) * | 2004-06-08 | 2005-12-22 | Sharp Corp | Multi-finger hand of multi-degree of freedom |
| JP2012081564A (en) * | 2010-10-13 | 2012-04-26 | Yaskawa Electric Corp | Hand, robot, and robot system |
| CN102092049A (en) * | 2011-01-04 | 2011-06-15 | 天津大学 | Humanoid dexterous hand with variable-shape palm |
| CN105583839A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-reset open loop and flexible piece coupled flexible robot finger device |
| CN107223408A (en) * | 2017-07-06 | 2017-10-03 | 合肥工业大学 | A kind of fruit picking robot and operating method with force sensing function |
| CN207747059U (en) * | 2017-12-19 | 2018-08-21 | 广州中国科学院先进技术研究所 | A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking |
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Effective date of registration: 20210826 Address after: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant after: SHENZHEN CAS DERUI INTELLIGENT TECH Co.,Ltd. Address before: 511458 Nansha District seashore road, Guangzhou, Guangzhou, Guangdong Applicant before: GUANGZHOU INSTITUTE OF ADVANCED TECHNOLOGY, CHINESE ACADEMY OF SCIENCES Applicant before: SHENZHEN CAS DERUI INTELLIGENT TECH Co.,Ltd. |
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Application publication date: 20190625 |