CN101919755A

CN101919755A - Joint traction type humanoid robot hand

Info

Publication number: CN101919755A
Application number: CN 201010239387
Authority: CN
Inventors: 江浩; 樊炳辉; 张志献; 孙爱芹; 王传江; 曹燕杰; 郑义; 何丽妍
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2010-07-25
Filing date: 2010-07-25
Publication date: 2010-12-22
Anticipated expiration: 2030-07-25
Also published as: CN101919755B

Abstract

The invention discloses a joint traction type humanoid robot hand which comprises a palm skeleton and fiver fingers, a thumb in the fiver fingers is a whole thumb which is fixed on the palm skeleton and in a curved shape, other four fingers are respectively formed by connecting front finger joints, middle finger joints and back finger joints through shafts, and the back finger joints of the four fingers are connected on a back finger joint shaft at the front end of the palm skeleton; a driving motor is mounted on the palm skeleton, and the driving motor uses a worm gear pair and a winding shaft for transmission; and four winding wheels are arranged on the winding shaft, a traction wire is wound on each winding wheel, and traction heads of the four traction wires respectively reach the finger joints via inner sides of the four fingers and are fixed on the corresponding four front finger joints. The joint traction type humanoid robot hand uses the single motor for providing the power, uses the worm gear pair for transmission and can drive all the finger joints of the hand to rotate by coaxially winding the traction wires and further complete serial opening and closing actions which are similar to the real hand.

Description

A kind of joint traction type humanoid robot hand

Technical field

The invention belongs to the bio-robot field, is a kind of hands of humanoid robot, is specifically designed to people with disability's artificial limb.

Background technology

The structure division of the hands of present common apery shape prosthetic product has by micro machine to drive, and drives the version of each finger-joint by the leverage transmission; Also have by micro machine to drive, drive the version of whole finger (four refer to be regardless of) root joint by gear drive.The structure of the hands of above-mentioned artificial limb and apery shape still have very big difference, be difficult to accurately to finish meticulously one people's orthobiosis needed hands function.So the structure of the hands of present common apery shape prosthetic product does not satisfy the requirement that market improves constantly properties of product.

Summary of the invention

At the deficiency of the structure of aforementioned common apery shape prosthetic hand, invent a kind of joint traction type humanoid robot hand, each articulations digitorum manus of this hands can accurately finish meticulously one people's orthobiosis needed hands function.

Technical scheme of the present invention is: a kind of joint traction type humanoid robot hand, it comprises the palm skeleton and the five fingers, it is characterized in that, thumb in the described the five fingers be one be fixed on the palm skeleton, sweeping whole thumb, all the other four refer to be formed through the shaft by preceding dactylus, middle finger joint and back dactylus, and the four back dactylus that refer to all are connected behind of palm skeleton front end on the dactylus axle; On the described palm skeleton drive motors is installed, drive motors is by worm gear and elevator through-drive; The elevator axle is provided with four elevator wheels, is wound with drawing silk on each elevator wheel, and the drawing head of four drawing silks refers to inboard to dactylus respectively through four, and is fixed on four corresponding preceding dactylus.

Operation principle of the present invention is: when drive motors passes through the worm gear transmission, driving drawing silk elevator wheel rotates, make drawing silk shorten and spur four each dactylus that refer to and rotate successively, can realize that whole hands is from flat motion of stretching state to the state of gripping, when the drive motors antiport is the drawing silk elongation, each finger resets to the flat state of stretching under the effect of whole torsion springs, under the combined effect of the torsion that resets of the pulling force of drawing silk and torsion spring, each finger of whole hands can be in the flat scope of stretching and gripping of finger the balance of realization optional position.

The present invention provides power by single motor, the worm gear transmission, and by coaxial elevator drawing silk, rotate in each dactylus joint that drives hands, finishes and the similar order of true palmistry on-off action.Mechanism of the present invention is skillfully constructed, and hands and finger motion are flexible, and is bionical respond well, and complete machine structure is succinct, compact, and reliable, in light weight, the hand push that can be used as humanoid robot extensively uses.

Description of drawings

Fig. 1 is the structure chart of the present invention when gripping state;

Fig. 2 is the front view that the present invention four refers to;

Fig. 3 be the present invention four refer to vertical view;

Fig. 4 is drive motors of the present invention and worm gear drive mechanism cutaway view;

Fig. 5 is middle finger of the present invention and tractive drives structure cutaway view thereof.

Fixed leg before marginal data: the 1-, 2-little finger of toe middle finger joint, 3-drawing silk, the 4-little torsion spring that resets, dactylus behind the 5-little finger of toe, the 6-big torsion spring that resets, driving shaft pilot sleeve in the 7-, 8-external driving axle sleeve, 9-elevator wheel, 10-elevator wheel spacer, 11-palm skeleton, fixed leg behind the 12-, 13-worm gear frame, dactylus before the 14-, 15-dactylus axle, the reverse dactylus of 16-rotates the little torsion spring that resets, 17-middle finger middle finger joint, 18-forefinger and nameless middle finger joint, dactylus behind the 19-middle finger, 20-forefinger and nameless back dactylus, the big dactylus axle of 21-, the reverse dactylus of 22-rotates the big torsion spring that resets, the 23-driving shaft, the 24-worm gear, 25-worm screw, 26-shaft coupling, the 27-thumb, the 28-drive motors, 29-worm screw axle sleeve, 30-drawing silk guide holder.

The specific embodiment

Further describe below in conjunction with accompanying drawing 1 to 5 pairs of embodiments of the invention of accompanying drawing.

As Fig. 1, Fig. 2 and shown in Figure 3, joint traction type humanoid robot hand of the present invention comprises thumb 27, forefinger, middle finger, the third finger and little finger of toe on the whole, wherein:

Described thumb 27 is sweeping whole thumbs, is fixed on (see figure 1) on the palm skeleton 3.

Described forefinger, middle finger, the third finger and little finger of toe structure as shown in Figures 2 and 3, as can be seen from the figure, the forefinger and the third finger all are to be linked into an integrated entity by dactylus axle 15 by preceding dactylus 14, middle finger joint 18 and back dactylus 20; Described middle finger by preceding dactylus 14, middle finger middle finger joint 17 and middle finger after dactylus 19 link into an integrated entity by dactylus axle 15; Described little finger of toe by preceding dactylus 14, little finger of toe middle finger joint 2 and little finger of toe after dactylus 5 link into an integrated entity by dactylus axle 15.The dactylus of above-mentioned four fingers all is sleeved on the dactylus axle 15, can rotate flexibly; The back dactylus of above-mentioned four fingers is installed with palm skeleton 11 by a big dactylus axle 21 and is connected, and can freely rotate mutually.

From Fig. 3, Fig. 4 and Fig. 5 as can be seen, drive motors 28 usefulness screws are fastened on the worm gear frame 13, and worm gear 24 links together by the square hole on it with driving shaft 23; Two interior propeller shaft sleeves 7 are fixed on the worm gear frame 13 behind the both sides suit of driving shaft 23; Simultaneously, the end casing assembly worm axle sleeve 29 of worm screw 25, the other end is connected with the output shaft of drive motors 28 by shaft coupling 26, realizes the good engagement and the rotation of worm screw 25 and worm gear 24; Then, successively 9 and two elevator wheels of four drawing silk elevator wheels spacer 10 is sleeved on the driving shaft 23, and two external driving axle sleeves 8 are sleeved on two ends, be fixed on the palm skeleton 11 with screw, worm gear frame 13 also is fixed on the palm skeleton 11 simultaneously; Four preceding fixed legs 1 are separately fixed in the arm tube of four preceding dactylus 14, the miniature aperture that four drawing silks 3 pass respectively on it passes each dactylus, on the fixed leg 1, the other end was fixed on the fixed leg 12 of back after twining drawing silk elevator wheel 9 respectively before front end was separately fixed at; In each back dactylus arm tube that four refer to, bonding drawing silk guide holder 30 is realized the reciprocating motion of drawing silk 3 respectively, can move along the direction initialization of guide holder; Four forward dactylus rotate the little torsion spring 4 of resetting, four forward dactylus and rotate the big torsion spring 6 of resetting, four reverse dactylus and rotate reset little torsion spring 16 and four reverse dactylus and rotate the big torsion spring 22 that resets and be set on corresponding four little finger of toe nodal axisns 15 and four the big dactylus axles 21, and the two ends of each torsion spring are buckled in respectively in the spacing hole on two dactylus of present position; Drive motors 28 drives drawing silk elevator wheel 9 by the worm gear transmission and rotates, drawing silk 3 is shortened and drive four each dactylus that refer to and rotate successively, realize that whole hands is from flat motion of stretching state to the state of gripping, when drive motors 28 antiports are drawing silk 3 elongations, each finger resets to the flat state of stretching under the effect of whole torsion springs, under the combined effect of the torsion that resets of the pulling force of drawing silk 3 and torsion spring, each finger of whole hands can be held in the optional position in the flat scope inner equilibrium of stretching and gripping of finger.

Claims

1. joint traction type humanoid robot hand, it comprises the palm skeleton and the five fingers, it is characterized in that, thumb in the described the five fingers be one be fixed on the palm skeleton, sweeping whole thumb, all the other four refer to be formed through the shaft by preceding dactylus, middle finger joint and back dactylus, and the four back dactylus that refer to all are connected behind of palm skeleton front end on the dactylus axle; On the described palm skeleton drive motors is installed, drive motors is by worm gear and elevator through-drive; The elevator axle is provided with four elevator wheels, is wound with drawing silk on each elevator wheel, and the drawing head of four drawing silks refers to inboard to dactylus respectively through four, and is fixed on four corresponding preceding dactylus.