CN207747059U - A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking - Google Patents
A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking Download PDFInfo
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- CN207747059U CN207747059U CN201721783765.2U CN201721783765U CN207747059U CN 207747059 U CN207747059 U CN 207747059U CN 201721783765 U CN201721783765 U CN 201721783765U CN 207747059 U CN207747059 U CN 207747059U
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Abstract
The utility model provides a kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking, belongs 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 first time 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 time finger joint and the lower end of the first middle finger joint are hinged, the lower end of first time finger joint is rotatablely connected with palm, finger joint on first, it is connected with the first rope in first middle finger joint and first time 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 improve the control accuracy of Dextrous Hand.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking.
Background technology
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 of a 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 short of 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 accuracy is very poor, but connecting rod
Under-actuated delicacy hand occupied space is larger, it is difficult to implement.
Invention content
The utility model existing above problem in view of the prior art, provides a kind of 14 degree of freedom of drive lacking bionical dexterity
Hand, it uses the structure type of drive lacking and can improve the control accuracy of Dextrous Hand.
The purpose of this utility model can be realized by following technical proposal：
A kind of bionical Dextrous Hand of 14 degree of freedom 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 finger joint, the first middle finger joint and first time finger joint 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 first time finger joint and the lower end of the first middle finger joint are hinged, and first
The lower end of lower finger joint is rotatablely connected with the palm, is connected in finger joint, the first middle finger joint and first time finger joint on described first
There are the first rope, one end of first rope to be connected with the output shaft of the first driving motor, the other end of the first rope is solid
It is scheduled on first in finger joint.
The bionical Dextrous Hand of 14 degree of freedom 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 first time finger joint are included, finger joint, the first middle finger joint and first time finger joint are respectively on first
One rotating turret, the second rotating turret and third rotating turret, the first rotating turret degree of freedom 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 degree of freedom is also the revolute pair rotated around left and right directions, it is therefore an objective to be realized
Finger joint linkage flexure operation on first middle finger joint and first.Third rotating turret degree of freedom is to turn around what palm front-rear direction rotated
Dynamic pair, it is therefore an objective to inside and outside rotational action of first time 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
Rotation and first middle finger joint rotation relative to first time finger joint of the finger joint relative to the first middle finger joint, this Dextrous Hand on first
Structure can improve the control accuracy of Dextrous Hand.
In a kind of above-mentioned bionical Dextrous Hand of 14 degree of freedom of drive lacking, the index finger, middle finger, the third finger and little finger of toe wrap
Include finger joint on second, the second middle finger joint and second time 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 time 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,
Each second motor drives corresponding second rope, under the affecting of the second rope, realizes that finger joint is relative to the second middle finger on second
The rotation of the rotation of section and the second middle finger joint relative to second time finger joint.
In a kind of above-mentioned bionical Dextrous Hand of 14 degree of freedom of drive lacking, the lower end of each second time 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 time finger joint relative to corresponding finger
With rotation.
In a kind of above-mentioned bionical Dextrous Hand of 14 degree of freedom of drive lacking, the upper end of each second time 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 one is slidably connected at first pulley, third pulley, the 5th pulley and the 7th and slides respectively
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 action 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 is fixed, when the second motor drives the second rope at this time, can make on second in finger joint relative to
Second time 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 degree of freedom of drive lacking, the lower end of finger joint and corresponding on each second
The upper end of two middle finger joints, each second time finger joint upper end mutually cut with scissors by shaft with the lower end of corresponding second middle finger joint
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 both sides of corresponding axle sleeve.Axle sleeve make two strand ropes on each pulley each other be isolated, and ensure second on finger joint,
The elongation of second middle finger joint and second time finger joint one end rope during rotation is equal to the shortening amount of other end rope.
In a kind of above-mentioned bionical Dextrous Hand of 14 degree of freedom of drive lacking, the bottom of the palm has fixed seat, described
The bottom surface of fixed seat is plane.
Compared with prior art, as follows the advantages of the utility model：
1, this Dextrous Hand uses the structure type of drive lacking, and can improve the control accuracy of Dextrous Hand.
2, the structure of this Dextrous Hand can improve load.
Description of the drawings
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, fixed 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, second time 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 implementation mode
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
As shown in Figs. 1-2, the bionical Dextrous Hand of 14 degree of freedom 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 finger joint 2a on first, the first middle finger 4 section 2b and first time finger joint 2c, finger joint 2a on first
The upper end that lower end saves 2b with the first middle finger 4 is hinged, the lower end of the upper end of first time finger joint 2c and the first middle finger 4 section 2b
Portion is hinged, and lower end and the palm 1 of first time finger joint 2c are rotatablely connected, and finger joint 2a, the first middle finger 4 save 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, in the present embodiment, index finger 3, middle finger 4, the third finger 5 and little finger of toe 6 include finger joint 7, second on second
Middle finger joint 8 and second time finger joint 9, 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 time finger joint 9 is hinged with the lower end of corresponding second middle finger joint 8, under each second time 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 time finger joint 9 on each second
There are the second rope 10, one end of each second rope 10 to be connected respectively with the output shaft of corresponding second driving motor, 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, each second motor drives corresponding second rope 10, 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 time 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 time 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 time finger joint 9 is rotatably connected to 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, the upper end of each second middle finger joint 8 is rotatably connected to the 5th pulley 16 and the 6th being oppositely arranged and slides 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 two ropes, 10 opposite folding, wherein one is slidably connected at first pulley 12 respectively, third pulley the 14, the 5th is slided
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, affect the second rope 10 to move, to realize that action 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 second time finger joint 9 is fixed, and the second motor drives the second rope 10 at this time
When, it can make to rotate relative to second time finger joint 9 in finger joint 7 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, pulling force 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
Portion, each second time finger joint 9 upper end be hinged by shaft 20 with the lower end of corresponding second middle finger joint 8, 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 both sides of axle sleeve 21.Axle sleeve 21 is so that two strand ropes on each pulley are isolated each other to reduce friction, and ensure the
The elongation of finger joint 7, the second middle finger joint 8 and second time one end rope during rotation of finger joint 9 is equal to other end rope on two
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 fixed seat 1a, and the bottom surface of fixed seat 1a is plane.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (6)
1. a kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking, including palm, thumb, index finger, middle finger, the third finger and little finger of toe, special
Sign is, the thumb includes finger joint, the first middle finger joint and first time finger joint on first, on described first the lower end of finger joint and
The upper end of first middle finger joint is hinged, and the upper end of first time finger joint and the lower end of the first middle finger joint are hinged, under first
The lower end of finger joint is rotatablely connected with the palm, is connected in finger joint, the first middle finger joint and first time finger joint 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 degree of freedom of drive lacking according to claim 1, which is characterized in that the index finger, in
Refer to, nameless and little finger of toe includes finger joint, the second middle finger joint and second time finger joint on second, the lower end of finger joint is equal on each second
Be hinged with the upper end of corresponding second middle finger joint, the upper end of each second time finger joint under corresponding second middle finger joint
End is hinged, and lower end and the palm of each second time finger joint are hinged, finger joint, corresponding second middle finger joint on each second
Be respectively connected with the second rope in corresponding second time 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 degree of freedom of drive lacking according to claim 2, which is characterized in that each second time 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 degree of freedom of drive lacking according to claim 2, which is characterized in that each second time 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 one is slidably connected at first pulley respectively, third is slided
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 degree of freedom 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 time finger joint upper end under corresponding second middle finger joint
End is hinged by shaft, and axle sleeve, the two stocks not company of sliding of second rope are rotatably connected in all shafts
It is connected on each axle sleeve and is located at the both sides of corresponding axle sleeve.
6. according to a kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking of claim 1-5 any one of them, which is characterized in that described
The bottom of palm has fixed seat, and the bottom surface of the fixed seat is plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721783765.2U CN207747059U (en) | 2017-12-19 | 2017-12-19 | A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721783765.2U CN207747059U (en) | 2017-12-19 | 2017-12-19 | A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking |
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| CN207747059U true CN207747059U (en) | 2018-08-21 |
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| CN201721783765.2U Active CN207747059U (en) | 2017-12-19 | 2017-12-19 | A kind of bionical Dextrous Hand of 14 degree of freedom of drive lacking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927061A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
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2017
- 2017-12-19 CN CN201721783765.2U patent/CN207747059U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927061A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
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