CN113352342B - Bionic hand mechanism and robot using same - Google Patents
Bionic hand mechanism and robot using same Download PDFInfo
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- CN113352342B CN113352342B CN202110636356.4A CN202110636356A CN113352342B CN 113352342 B CN113352342 B CN 113352342B CN 202110636356 A CN202110636356 A CN 202110636356A CN 113352342 B CN113352342 B CN 113352342B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 210000003811 finger Anatomy 0.000 claims abstract description 169
- 210000004932 little finger Anatomy 0.000 claims abstract description 60
- 210000005224 forefinger Anatomy 0.000 claims abstract description 28
- 210000003813 thumb Anatomy 0.000 claims description 43
- 210000000707 wrist Anatomy 0.000 claims description 23
- 230000000712 assembly Effects 0.000 claims description 12
- 238000000429 assembly Methods 0.000 claims description 12
- 230000003592 biomimetic effect Effects 0.000 claims 3
- 210000004247 hand Anatomy 0.000 abstract description 8
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic hand mechanism, which comprises an arm component, a palm component and five finger components, wherein a motor and a reel rotating under the drive of the motor are arranged in the arm component, a pull wire is wound on the reel, each finger component comprises four joints, the four joints of each finger component are respectively a first joint, a second joint, a third joint and a fourth joint, the first finger component has twenty-one degree of freedom, the third joint of a forefinger, the third joint of a middle finger, the third joint of a ring finger and the third joint of a little finger respectively realize the rotation in two directions through two-degree-of-freedom ball shafts, the invention adopts the pull wire to simulate the muscle structure of a real human hand, the joints are connected through rotating shafts or two-degree-of-freedom ball shafts, the motor for controlling the pull wire is positioned on the arm, the space in the fingers and the components is not occupied, therefore, the structural design is more compact, the finger action height is flexible, the hand-operated electric wrench can completely simulate the actions of human hands, meets the requirement of larger gripping force and can reach the normal hand strength.
Description
Technical Field
The invention relates to a bionic hand mechanism and a robot using the same, and belongs to the technical field of robots.
Background
The technical field of intelligent bionic hands at home and abroad is initiated from the 90 s of the 20 th century, electroencephalogram signal control, simple holding and grasping, basic tactile feedback and the like are realized at present, but more complicated and fine bionic actions cannot be realized, and although the intelligent bionic hands have been applied to a certain range in the medical field, the intelligent bionic hands still cannot enable a recipient to obtain the capability of being closer to a real hand. At home and abroad, most of power mechanisms of various existing bionic manipulators adopt ultra-miniature steering engines and push rod type micro-motor devices, and are usually installed in palm assemblies, so that the manipulator can only adopt micro-motors with small volume and low power, and the transmission structures of finger joints are complex, so that the mechanical efficiency of the manipulator is low, the whole grabbing force is far inferior to that of hands, and the manipulator can only be used for grabbing light and small objects and action performance and cannot meet the daily life requirements. Such a robot using a micro-motor is disclosed in patent application publication No. CN 111906809A, CN 111469156A.
The patent application with publication number CN109227586A and publication number 2019.01.18 discloses a bionic hand with pull wires, which comprises a palm component mechanism and finger mechanisms, wherein each finger mechanism is internally provided with a supporting block and a pull wire, the pull wires respectively penetrate through the supporting blocks and then are connected with a stepping motor for realizing the control of the finger mechanisms, in the bionic hand, the pull wires sequentially penetrate through the pull wires and the supporting blocks, the number of degrees of freedom of joints of a simulated hand is not enough, and each finger lacks the degree of freedom for realizing the swing of the root, so that the bionic hand is not flexible enough when in use, and many fine actions cannot be realized. In addition, the bionic hand simulates a skeleton by using a stay wire pipe, the supporting block and the pipeline are connected through the stay wire, and once the stay wire is broken, the supporting block and the pipeline can be separated, so that the bionic hand has small overall gripping force.
Disclosure of Invention
The invention aims to provide a bionic hand mechanism which simulates real lacing wires of human hands by using steel wire stay wire transmission so as to realize high flexibility and large force. Meanwhile, the invention also provides a robot using the bionic hand mechanism.
The invention adopts the following technical scheme: a bionic hand mechanism comprises an arm component, a palm component and five finger components, wherein the five finger components are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, a motor and a reel which rotates under the drive of the motor are arranged in the arm component, a pull wire is wound on the reel, each finger component comprises four joints, and the four joints of each finger component are respectively a first joint, a second joint, a third joint and a fourth joint;
the fourth section of the thumb is hinged with the palm assembly through a rotating shaft, the third section of the thumb is hinged with the fourth section of the thumb through a rotating shaft, the second section of the thumb is hinged with the third section of the thumb through a rotating shaft, and the first section of the thumb is hinged with the second section of the thumb through a rotating shaft;
the fourth section of the forefinger is fixed with the palm component, a two-degree-of-freedom spherical shaft is connected between the third section of the forefinger and the fourth section of the forefinger, the second section of the forefinger is hinged with the third section of the forefinger through a rotating shaft, and the first section of the forefinger is hinged with the second section of the forefinger through a rotating shaft;
the second section of the middle finger is hinged with the third section of the middle finger through a rotating shaft, and the first section of the middle finger is hinged with the second section of the middle finger through a rotating shaft;
the fourth section of the ring finger is hinged with the palm component, a two-degree-of-freedom ball joint is connected between the third section of the ring finger and the fourth section of the ring finger, the second section of the ring finger is hinged with the third section of the ring finger through a rotating shaft, and the first section of the ring finger is hinged with the second section of the ring finger through a rotating shaft;
the fourth section of the little finger is hinged with the palm component, the fourth section of the ring finger and the fourth section of the little finger share a rotating shaft with the palm component, a two-degree-of-freedom spherical shaft is connected between the third section of the little finger and the fourth section of the little finger, the second section of the little finger is hinged with the third section of the little finger through the rotating shaft, and the first section of the little finger is hinged with the second section of the little finger through the rotating shaft;
the two-degree-of-freedom ball shaft comprises a ball, the left side and the right side of the ball are fixedly connected with fixed shafts respectively, the upper side and the lower side of the ball are fixedly connected with limiting shafts respectively, the fixed shafts are perpendicular to the limiting shafts, the ball is sleeved with a limiting ring, limiting holes for the limiting shafts to be inserted are formed in the radial direction of the limiting ring, a third section and a fourth section which are connected with the two-degree-of-freedom ball shaft are connected, ball socket holes for the ball to be nested are formed in the two sides of the fourth section respectively, the two fixed shafts penetrate through the two ball socket holes respectively and are fixedly connected with the two sides of the third section, and the limiting rings are rotatably installed in the fourth section;
the four joints of the thumb are respectively connected with a pull wire, the first section of the index finger and the second section of the index finger are respectively connected with a pull wire, the third section of the index finger is connected with two pull wires, the first section of the middle finger and the second section of the middle finger are respectively connected with a pull wire, the third section of the middle finger is connected with two pull wires, the first section of the ring finger and the second section of the ring finger are respectively connected with a pull wire, the third section of the ring finger is connected with two pull wires, the first section of the little finger and the second section of the little finger are respectively connected with a pull wire, the third section of the little finger is connected with two pull wires, and the fourth section of the ring finger and the fourth section of the little finger are connected with the same pull wire;
the number of the motors and the number of the reel wheels are equal to that of the stay wires, each motor drives each reel wheel to rotate, and each stay wire penetrates through the finger assembly and is connected with the corresponding reel wheel.
The wrist connecting shaft is connected between the arm assembly and the palm assembly, the arm assembly and the palm assembly are respectively connected with the wrist connecting shaft in a rotating mode, and the palm assembly is connected with a pull wire.
The wrist connecting shaft comprises an upper connecting piece, a lower connecting piece and a central shaft, the upper connecting piece and the lower connecting piece are rotatably connected with the central shaft, the upper connecting piece is located above the wrist connecting shaft and is of a V-shaped structure, the lower connecting piece is located below the wrist connecting shaft and is of an inverted V-shaped structure, upper shafts rotatably connected with the arm assemblies are arranged on two sides of the upper connecting piece respectively, lower shafts rotatably connected with the palm assemblies are arranged on two sides of the lower connecting piece respectively, the axes of the upper shafts and the lower shafts are perpendicular to the axis of the central shaft, two pull wires are arranged on the palm assemblies, one pull wire drives the palm assemblies to rotate around the lower shafts, and the other pull wire drives the palm assemblies to rotate around the central shaft.
The upper connecting piece and the lower connecting piece are of frame structures, connecting holes for the central shaft to penetrate through are formed in the front side positions and the rear side positions of the upper connecting piece and the lower connecting piece respectively, the upper shaft is located on the left side position and the right side position of the upper connecting piece, the lower shaft is located on the left side position and the right side position of the lower connecting piece, and the stay wire penetrates through the frame structure.
And fixed plates are respectively fixed in the frame structures of the upper connecting piece and the lower connecting piece, and pull wire holes through which the common pull wires pass are formed in the fixed plates.
Each joint is composed of a left part and a right part which are butted together, the inner side surfaces of the left part and the right part are respectively provided with a stay wire guide groove for a stay wire to pass through, the middle part of the stay wire is wound on the reel, and the two ends of the stay wire respectively pass through the stay wire guide grooves on the left side and the right side to be connected with the joints.
And in the third section and the fourth section which are connected with the two-degree-of-freedom ball shaft, the limiting ring is clamped between the left part and the right part of the fourth section.
The limiting ring is concentrically arranged with the socket ball.
The arm assembly comprises a supporting frame positioned inside and a shell positioned outside, and the motor and the reel are arranged on the supporting frame.
A robot comprises the bionic hand mechanism.
The invention has the beneficial effects that: the finger assembly of the bionic hand mechanism has twenty one degree of freedom, and the degree of freedom is as follows: four thumbs, wherein one thumb first section, one thumb second section, one thumb third section and one thumb fourth section; four forefingers, wherein the first section of the forefinger is one, the second section of the forefinger is one, and the third section of the forefinger is two; the middle finger comprises four middle fingers, wherein one first section of the middle finger, one second section of the middle finger and one third section of the middle finger are arranged; the first section of the ring finger is one, the second section of the ring finger is one, the third section of the ring finger is two, and the fourth section of the ring finger is one; the finger ring comprises five little fingers, wherein the first section of the little finger is one, the second section of the little finger is one, the third section of the little finger is two, the fourth section of the little finger is one, and the fourth section of the little finger and the fourth section of the ring finger share one degree of freedom. And each motor on the arm component correspondingly drives each joint to move through the reel rolling pull wire so as to enable the fingers to move. The third section of the index finger, the third section of the middle finger, the third section of the ring finger and the third section of the little finger respectively realize rotation in two directions through two-degree-of-freedom ball shafts, the ball nest rotates by taking the fixed shaft as an axis to bend the joint to be one degree of freedom, the ball nest rotates by taking the limiting shaft as an axis to swing the joint left and right to serve as the other degree of freedom, and therefore the real action conditions of the index finger, the middle finger, the ring finger and the little finger of a human hand can be simulated.
The invention simulates the muscle structure of a real hand by adopting the stay wire, each joint is connected by the rotating shaft or the two-degree-of-freedom ball shaft, the motor for controlling the stay wire is positioned on the arm, and the space in the finger and palm component is not occupied, so the structural design is more compact, the finger action is highly flexible, the action of the hand can be completely simulated, the requirement of larger holding power is met, and the normal hand strength can be achieved. The invention develops wider practicability prospect for market application of bionic hands.
Preferably, the wrist connecting shaft between the palm component and the arm component enables the palm component to have freedom degree, so that the motion of the hand is more flexible.
Preferably, the wrist connecting shaft is a cross-shaped structure formed by hinging a lower connecting piece and an upper connecting piece together, the palm component is hinged on the lower connecting piece of the wrist connecting shaft through a lower shaft, the palm component has the degree of freedom in one direction through the lower shaft, and the palm component has the degree of freedom in the other direction through a central shaft, so that the palm component is more flexible.
Preferably, the upper connecting piece and the lower connecting piece are both frame structures, so that the pull wires connected to the joints of the fingers can conveniently penetrate through the pull wires.
Preferably, the pulling wires pass through the pulling wire holes in the frame structure, so that the pulling wires can be prevented from interfering and winding.
Preferably, the stay wire guide groove on the joint plays a guiding role for the stay wire, and the stay wire is prevented from being knotted and wound.
Preferably, set up motor and reel on the inside support frame of arm for the installation of motor and reel is more stable, and arm assembly's shell plays the guard action to motor and reel.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a bionic hand mechanism of the present invention;
FIG. 2 is a schematic diagram of the bionic hand mechanism of FIG. 1;
FIG. 3 is a block diagram of the index finger of FIG. 1;
FIG. 4 is a schematic view of the two-degree-of-freedom ball shaft of FIG. 3;
FIG. 5 is a schematic diagram of a two degree of freedom ball shaft;
FIG. 6 is a schematic view of the wrist connection shaft of FIG. 1;
figure 7 is a schematic view of a wrist connection shaft.
In the figure: 1-arm component, 2-wrist connecting shaft, 2.1-upper connecting component, 2.2-lower connecting component, 2.3-central shaft, 2.4-upper shaft, 2.5-lower shaft, 3-palm component, 4-thumb, 5-forefinger, 6-middle finger, 7-ring finger, 8-little finger, 9-first section of thumb, 10-second section of thumb, 11-third section of thumb, 12-fourth section of thumb, 13-first section of forefinger, 14-second section of forefinger, 15-third section of forefinger, 16-fourth section of forefinger, 17-first section of middle finger, 18-second section of middle finger, 19-third section of middle finger, 20-fourth section of middle finger, 21-first section of ring finger, 22-second section of ring finger, 2.4-upper connecting component, 2.3-central shaft, 2.4-upper shaft, 2.5-lower connecting component, 2.5-middle shaft, 3-third section of ring finger, 10-third section of ring finger, and fourth section of ring finger, 23-third section of ring finger, 24-fourth section of ring finger, 25-first section of little finger, 26-second section of little finger, 27-third section of little finger, 28-fourth section of little finger, 29-drawing line, 30-reel, 31-motor, 32-shell, 33-two-degree-of-freedom ball shaft, 34-drawing line guide groove, 36-socket ball, 37-limiting shaft, 38-fixing shaft, 39-socket hole and 40-limiting ring.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
The structure of an embodiment of the bionic hand mechanism of the invention is shown in fig. 1, the bionic hand mechanism of the embodiment comprises an arm component 1, a palm component 3 and five finger components, the five finger components are respectively a thumb 4, an index finger 5, a middle finger 6, a ring finger 7 and a little finger 8, a motor 31 and a reel 30 which rotates under the drive of the motor 31 are arranged in the arm component 1, a pull wire 29 is wound on the reel 30, the arm component 1 comprises a support frame positioned in the interior and a shell 32 positioned in the exterior, and the motor 31 and the reel 30 are arranged on the support frame.
Each finger assembly comprises four joints, the four joints of each finger assembly are respectively a first section, a second section, a third section and a fourth section, (1) the fourth section 12 of the thumb is hinged with the palm assembly 3 through a rotating shaft, the third section 11 of the thumb is hinged with the fourth section 12 of the thumb through a rotating shaft, the second section 10 of the thumb is hinged with the third section 11 of the thumb through a rotating shaft, and the first section 9 of the thumb is hinged with the second section 10 of the thumb through a rotating shaft; (2) the fourth section 16 of the index finger is fixed with the palm component 3, a two-degree-of-freedom ball shaft 33 is connected between the third section 15 of the index finger and the fourth section 16 of the index finger, the second section 14 of the index finger is hinged with the third section 15 of the index finger through a rotating shaft, and the first section 13 of the index finger is hinged with the second section 14 of the index finger through a rotating shaft; (3) the fourth section 20 of the middle finger is fixed with the palm component 3, a two-degree-of-freedom ball shaft 33 is connected between the third section 19 of the middle finger and the fourth section 20 of the middle finger, the second section 18 of the middle finger is hinged with the third section 19 of the middle finger through a rotating shaft, and the first section 17 of the middle finger is hinged with the second section 18 of the middle finger through a rotating shaft; (4) the fourth section 24 of the ring finger is hinged with the palm component 3, a two-degree-of-freedom ball joint 33 is connected between the third section 23 of the ring finger and the fourth section 24 of the ring finger, the second section 22 of the ring finger is hinged with the third section 23 of the ring finger through a rotating shaft, and the first section 21 of the ring finger is hinged with the second section 22 of the ring finger through a rotating shaft; (5) the fourth section 28 of the little finger is hinged with the palm component 3, the fourth section 24 of the ring finger and the fourth section 28 of the little finger share one rotating shaft with the palm component 3, a two-degree-of-freedom ball shaft 33 is connected between the third section 27 of the little finger and the fourth section 28 of the little finger, the second section 26 of the little finger is hinged with the third section 27 of the little finger through the rotating shaft, and the first section 25 of the little finger is hinged with the second section 26 of the little finger through the rotating shaft. Of the pivots, the pivot between the fourth section 12 of the thumb and the palm section 3 is perpendicular to the other pivots, which enables the thumb to be pinched.
Fig. 3 and 4 illustrate the structure of the finger assembly with a two-degree-of-freedom ball pivot 33, using the index finger as an example, the structure of the two-degree-of-freedom ball pivot 33 being embodied in fig. 3 and 4, the two-degree-of-freedom ball shaft 33 comprises a ball socket 36, the left side and the right side of the ball socket 36 are respectively and fixedly connected with a fixing shaft 38, the upper side and the lower side of the ball socket 36 are respectively and fixedly connected with a limiting shaft 37, the fixing shaft 38 is vertical to the limiting shaft 37, the ball socket 36 is sleeved with a limiting ring 40, a limiting hole for the limiting shaft 37 to insert is formed in the radial direction of the limiting ring 40, a third section and a fourth section of the two-degree-of-freedom ball shaft 33 are connected, ball socket holes 39 for nesting the socket balls are respectively formed in two sides of the fourth section, two fixing shafts 38 respectively penetrate through the two ball socket holes 39 to be fixedly connected with two sides of the third section, a limiting ring 40 is rotatably installed in the fourth section, and the limiting ring 40 and the socket balls 36 are concentrically arranged.
Each joint is composed of a left part and a right part which are connected together in an abutting mode, the inner side faces of the left part and the right part are respectively provided with a stay wire guide groove 34 for a stay wire to pass through, the middle of the stay wire 29 is wound on the reel 30, and two ends of the stay wire 29 respectively pass through the stay wire guide grooves 34 on the left side and the right side to be connected with the joints. In the third and fourth joints to which the two-degree-of-freedom ball shaft 33 is connected, the confinement ring 40 is sandwiched between the left and right portions of the fourth joint.
The principle of the two-degree-of-freedom ball shaft is shown in fig. 5, the third section 15 of the index finger, the third section 19 of the middle finger, the third section 23 of the ring finger and the third section 27 of the little finger respectively realize rotation in two directions through the two-degree-of-freedom ball shaft 33, one degree of freedom enables the joint to be bent, and the other degree of freedom enables the joint to swing towards two sides, so that the real action conditions of the index finger, the middle finger, the ring finger and the little finger of a human hand can be simulated.
A wrist connecting shaft 2 is connected between the arm component 1 and the palm component 3, the structure of the wrist connecting shaft 2 is shown in fig. 6, the arm component 1 and the palm component 3 are respectively connected with the wrist connecting shaft 2 in a rotating manner, and the palm component 3 is connected with a pull wire 29. The wrist connecting shaft 6 comprises an upper connecting piece 2.1, a lower connecting piece 2.2 and a central shaft 2.3, the upper connecting piece 2.1 and the lower connecting piece 2.2 are rotatably connected with the central shaft 2.3, the upper connecting piece 2.1 is positioned above the upper connecting piece and is of a V-shaped structure, the lower connecting piece 2.2 is positioned below the lower connecting piece and is of an inverted V-shaped structure, two sides of the upper connecting piece 2.1 are respectively provided with an upper shaft 2.4 rotatably connected with the arm component 1, two sides of the lower connecting piece 2.2 are respectively provided with a lower shaft 2.5 rotatably connected with the palm component 3, the axes of the upper shaft 2.4 and the lower shaft 2.5 are both vertical to the axis of the central shaft 2.3, two stay wires are arranged on the palm component 3, one stay wire drives the palm component 3 to rotate around the lower shaft 2.5, and the other stay wire drives the palm component 3 to rotate around the central shaft 2.4. The principle of wrist connecting axle 2 is shown in fig. 7, wrist connecting axle 2 is the cruciform structure that is articulated together and forms by lower connecting piece 2.2 and upper connecting piece 2.1, and palm subassembly 3 articulates on the lower connecting piece of wrist connecting axle through lower axle 2.5, and palm subassembly 3 has the degree of freedom of one direction through lower axle 2.5, and palm subassembly 3 has the degree of freedom of another direction through center pin 2.3, therefore palm subassembly is more nimble.
The upper connecting piece 2.1 and the lower connecting piece 2.2 are both frame-type structures, connecting holes for the central shaft 2.3 to pass through are respectively formed in the positions of the front side and the rear side of the upper connecting piece 2.1 and the lower connecting piece 2.2, the upper shaft 2.4 is positioned on the positions of the left side and the right side of the upper connecting piece 2.1, the lower shaft 2.5 is positioned on the positions of the left side and the right side of the lower connecting piece 2.2, and the stay wire 29 passes through the inside of the frame-type structure. Fixed plates are respectively fixed in the frame structures of the upper connecting piece 2.1 and the lower connecting piece 2.2, and a pull wire hole through which a common pull wire 29 passes is formed in each fixed plate. The fixing plate and the pull wire hole can be seen in fig. 1.
Four joints of the thumb 4 are respectively connected with a stay wire, a first section 13 of the index finger and a second section 14 of the index finger are respectively connected with a stay wire, a third section 15 of the index finger is connected with two stay wires, a first section 17 of the middle finger and a second section 18 of the middle finger are respectively connected with a stay wire, a third section 19 of the middle finger is connected with two stay wires, a first section 21 of the ring finger and a second section 22 of the ring finger are respectively connected with a stay wire, a third section 23 of the ring finger is connected with two stay wires, a first section 25 of the little finger and a second section 26 of the little finger are respectively connected with a stay wire, a third section 27 of the little finger is connected with two stay wires, and a fourth section 24 of the ring finger and a fourth section 28 of the little finger are connected with the same stay wire.
The number of the motors 31 and the number of the pulleys 30 are equal to the number of the pull wires 29, each motor 31 drives each pulley 30 to rotate, and each pull wire 29 penetrates through the finger assembly and is connected with the corresponding pulley 30.
In the bionic hand mechanism, each rotating shaft forms one degree of freedom, each two-degree-of-freedom spherical shaft forms two degrees of freedom, the wrist connecting shaft forms two degrees of freedom, and the total of the two degrees of freedom are as follows: the palm assembly comprises two palm assemblies and four thumbs, wherein one first section of the thumb, one second section of the thumb, one third section of the thumb and one fourth section of the thumb are arranged; four forefingers, wherein the first section of the forefinger is one, the second section of the forefinger is one, and the third section of the forefinger is two; the middle finger is four, wherein the first section of the middle finger is one, the second section of the middle finger is one, and the third section of the middle finger is two; the first section of the ring finger is one, the second section of the ring finger is one, the third section of the ring finger is two, and the fourth section of the ring finger is one; the finger ring comprises five little fingers, wherein the first section of the little finger is one, the second section of the little finger is one, the third section of the little finger is two, the fourth section of the little finger is one, and the fourth section of the little finger and the fourth section of the ring finger share one degree of freedom. And each motor positioned on the arm component correspondingly drives each joint and the palm component to act through rolling the pull wire by the reel, so that the fingers and the palm component act.
The invention simulates the muscle structure of a real hand by adopting the stay wire, each joint is connected by the rotating shaft or the two-degree-of-freedom ball shaft, the motor for controlling the stay wire is positioned on the arm, and the space in the finger and palm component is not occupied, so the structural design is more compact, the finger action is highly flexible, the action of the hand can be completely simulated, the requirement of larger holding power is met, and the normal hand strength can be achieved. The invention develops wider practicability prospect for market application of bionic hands.
The robot of an embodiment of the present invention includes the bionic hand mechanism of the above embodiment.
The above embodiment is a preferred embodiment of the present invention, and it is obvious that the present invention is not limited to the above embodiment, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (10)
1. The utility model provides a bionic hand mechanism, includes arm components, palm subassembly and five finger subassemblies, five finger subassemblies are thumb, forefinger, middle finger, ring finger and little finger, its characterized in that respectively: the arm component is internally provided with a motor and a reel which rotates under the drive of the motor, the reel is wound with a stay wire, each finger component comprises four joints, and the four joints of each finger component are respectively a first joint, a second joint, a third joint and a fourth joint;
the fourth section of the thumb is hinged with the palm assembly through a rotating shaft, the third section of the thumb is hinged with the fourth section of the thumb through a rotating shaft, the second section of the thumb is hinged with the third section of the thumb through a rotating shaft, and the first section of the thumb is hinged with the second section of the thumb through a rotating shaft;
the fourth section of the forefinger is fixed with the palm component, a two-degree-of-freedom spherical shaft is connected between the third section of the forefinger and the fourth section of the forefinger, the second section of the forefinger is hinged with the third section of the forefinger through a rotating shaft, and the first section of the forefinger is hinged with the second section of the forefinger through a rotating shaft;
the second section of the middle finger is hinged with the third section of the middle finger through a rotating shaft, and the first section of the middle finger is hinged with the second section of the middle finger through a rotating shaft;
the fourth section of the ring finger is hinged with the palm component, a two-degree-of-freedom ball joint is connected between the third section of the ring finger and the fourth section of the ring finger, the second section of the ring finger is hinged with the third section of the ring finger through a rotating shaft, and the first section of the ring finger is hinged with the second section of the ring finger through a rotating shaft;
the fourth section of the little finger is hinged with the palm component, the fourth section of the ring finger and the fourth section of the little finger share a rotating shaft with the palm component, a two-degree-of-freedom spherical shaft is connected between the third section of the little finger and the fourth section of the little finger, the second section of the little finger is hinged with the third section of the little finger through the rotating shaft, and the first section of the little finger is hinged with the second section of the little finger through the rotating shaft;
the two-degree-of-freedom ball shaft comprises a ball nest, the left side and the right side of the ball nest are fixedly connected with fixed shafts respectively, the upper side and the lower side of the ball nest are fixedly connected with limiting shafts respectively, the fixed shafts are perpendicular to the limiting shafts, the ball nest is sleeved with a limiting ring, limiting holes for the limiting shafts to insert are formed in the radial direction of the limiting ring, a third section and a fourth section of the two-degree-of-freedom ball shaft are connected, ball nest holes for the ball nest to be nested in are formed in the two sides of the fourth section respectively, the two fixed shafts penetrate through the two ball nest holes respectively and are fixedly connected with the two sides of the third section, and the limiting rings are rotatably installed in the fourth section;
the four joints of the thumb are respectively connected with a pull wire, the first section of the index finger and the second section of the index finger are respectively connected with a pull wire, the third section of the index finger is connected with two pull wires, the first section of the middle finger and the second section of the middle finger are respectively connected with a pull wire, the third section of the middle finger is connected with two pull wires, the first section of the ring finger and the second section of the ring finger are respectively connected with a pull wire, the third section of the ring finger is connected with two pull wires, the first section of the little finger and the second section of the little finger are respectively connected with a pull wire, the third section of the little finger is connected with two pull wires, and the fourth section of the ring finger and the fourth section of the little finger are connected with the same pull wire;
the number of the motors and the number of the reel wheels are equal to that of the stay wires, each motor drives each reel wheel to rotate, and each stay wire penetrates through the finger assembly and is connected with the corresponding reel wheel.
2. The biomimetic hand mechanism of claim 1, wherein: a wrist connecting shaft is connected between the arm component and the palm component, the arm component and the palm component are respectively connected with the wrist connecting shaft in a rotating way, and the palm component is connected with a stay wire.
3. The bionic hand mechanism according to claim 2, wherein: the wrist connecting shaft comprises an upper connecting piece, a lower connecting piece and a central shaft, the upper connecting piece and the lower connecting piece are rotatably connected with the central shaft, the upper connecting piece is located above the wrist connecting shaft and is of a V-shaped structure, the lower connecting piece is located below the wrist connecting shaft and is of an inverted V-shaped structure, upper shafts rotatably connected with the arm assemblies are arranged on two sides of the upper connecting piece respectively, lower shafts rotatably connected with the palm assemblies are arranged on two sides of the lower connecting piece respectively, the axes of the upper shafts and the lower shafts are perpendicular to the axis of the central shaft, two pull wires are arranged on the palm assemblies, one pull wire drives the palm assemblies to rotate around the lower shafts, and the other pull wire drives the palm assemblies to rotate around the central shaft.
4. The bionic hand mechanism according to claim 3, wherein: the upper connecting piece and the lower connecting piece are of frame structures, connecting holes for the central shaft to penetrate through are formed in the front side positions and the rear side positions of the upper connecting piece and the lower connecting piece respectively, the upper shaft is located on the left side position and the right side position of the upper connecting piece, the lower shaft is located on the left side position and the right side position of the lower connecting piece, and the stay wire penetrates through the frame structure.
5. The biomimetic hand mechanism of claim 4, wherein: and fixed plates are respectively fixed in the frame structures of the upper connecting piece and the lower connecting piece, and pull wire holes for the pull wires to pass through are formed in the fixed plates.
6. The bionic hand mechanism according to claim 1, wherein: each joint is composed of a left part and a right part which are butted together, the inner side surfaces of the left part and the right part are respectively provided with a stay wire guide groove for a stay wire to pass through, the middle part of the stay wire is wound on the reel, and the two ends of the stay wire respectively pass through the stay wire guide grooves on the left side and the right side to be connected with the joints.
7. The bionic hand mechanism according to claim 6, wherein: and in the third section and the fourth section which are connected with the two-degree-of-freedom ball shaft, the limiting ring is clamped between the left part and the right part of the fourth section.
8. The bionic hand mechanism according to claim 1, wherein: the limiting ring is concentrically arranged with the socket ball.
9. The biomimetic hand mechanism of claim 1, wherein: the arm component comprises a supporting frame located inside and a shell located outside, and the motor and the reel are arranged on the supporting frame.
10. A robot, characterized by: comprising a bionic hand mechanism as claimed in any one of claims 1 to 9.
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| CN202110636356.4A CN113352342B (en) | 2021-06-08 | 2021-06-08 | Bionic hand mechanism and robot using same |
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| CN202110636356.4A CN113352342B (en) | 2021-06-08 | 2021-06-08 | Bionic hand mechanism and robot using same |
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| CN113352342B true CN113352342B (en) | 2022-06-17 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101100064A (en) * | 2007-07-25 | 2008-01-09 | 哈尔滨工业大学 | Finger joint steel wire coupled transmission mechanism for robot clever hand finger |
| CN102229146A (en) * | 2011-04-27 | 2011-11-02 | 北京工业大学 | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology |
| CN203390943U (en) * | 2013-07-24 | 2014-01-15 | 蔡继文 | Five-finger type human-simulated robot hand |
| CN106426241A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulating mechanical paw |
| KR20200027591A (en) * | 2018-09-04 | 2020-03-13 | 한국생산기술연구원 | Robot hand |
-
2021
- 2021-06-08 CN CN202110636356.4A patent/CN113352342B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101100064A (en) * | 2007-07-25 | 2008-01-09 | 哈尔滨工业大学 | Finger joint steel wire coupled transmission mechanism for robot clever hand finger |
| CN102229146A (en) * | 2011-04-27 | 2011-11-02 | 北京工业大学 | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology |
| CN203390943U (en) * | 2013-07-24 | 2014-01-15 | 蔡继文 | Five-finger type human-simulated robot hand |
| CN106426241A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulating mechanical paw |
| KR20200027591A (en) * | 2018-09-04 | 2020-03-13 | 한국생산기술연구원 | Robot hand |
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| CN113352342A (en) | 2021-09-07 |
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