CN103101055B - A kind of tendon formula under-driven adaptive multi-finger hand device - Google Patents
A kind of tendon formula under-driven adaptive multi-finger hand device Download PDFInfo
- Publication number
- CN103101055B CN103101055B CN201310063624.3A CN201310063624A CN103101055B CN 103101055 B CN103101055 B CN 103101055B CN 201310063624 A CN201310063624 A CN 201310063624A CN 103101055 B CN103101055 B CN 103101055B
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- finger
- joint
- tendon
- refers
- metacarpus
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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
Abstract
Tendon formula under-driven adaptive multi-finger hand device, belongs to anthropomorphic robot's technical field.Forefinger of the present invention (2), middle finger (3), nameless (4) drive mechanism identical, size is different；The driving principle of thumb (1) is identical with each finger, devises the mechanism that can simulate staff thumb movement；Tendon (37) is fixed on each finger end and refers to joint, by referring to that joint top sheave guides (32)；Each articulations digitorum manus is provided with two torsionsprings in left and right；The one end respectively referred to is fixedly connected on metacarpus (6)；Metacarpus is provided with tendon groove and leading block (7), is directed in the driver element of arm by tendon；Each finger is saved equipped with sheet rubber (5).Driver of the present invention is few, and each finger has only to a motor and drives, and simple in construction controls difficulty low, can realize the self adaptation envelope to object and capture.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of simulate staff, can be used for scientific research, the multifinger mechanical arm device of Aero-Space, people with disability's artificial limb, belong to bio-robot field.
Background technology
Along with the great development of science and technology, the application of robot is more and more extensive, and market prospect gradually manifests.The end effector mechanism of robot directly affects robot and performs the effect of task, thus the research to robot end's actuator is extremely important.Simultaneously because people's manual dexterity feature, Apery manipulator research is made to have attracted substantial amounts of researcher.The application prospect of Apery manipulator is more wide, and it as the artificial limb of people with disability, or can enter high-risk areas and carry out more complicated operation, or replaces the mankind to carry out commercial production etc..Although having worked out various humanoid dexterous hand model at present, but many shortcomings are done in its existence, make it can not reach the stage of actual application, shortcoming is as follows: (1) driver is too much, there is a driver drives in each joint, make control process extremely complex, and cause bulky, involve great expense；(2) grasping force is little, can range smaller.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of tendon formula drive lacking multifinger hand, its highly versatile, have that load capacity is strong, drive that element is few, simple in construction, volume are little, controls is simple, crawl object has the device of adaptivity.
The present invention adopts the following technical scheme that realization.
The present invention includes that tendon, thumb, forefinger, middle finger, the third finger and metacarpus, the end of each finger are connected with metacarpus, and described each finger includes three the most hinged finger joints, forms one.
Described each hinged place is provided with torsionspring, forms elastic hinge joint.
Described forefinger, middle finger and the third finger refer to that the shaft axis of joint is parallel to each other, and rotating shaft is positioned in bearing, has a rotating shaft at each joint shaft.
The end of described thumb refers to save joint and the rotating shaft of middle finger joint joint is axially parallel to each other, and closely refers to that joint joint shaft axis becomes 135 ° with middle finger joint joint shaft axis.
Described tendon is fixed on each finger end and refers to joint, is directed to gathering sill or the leading block of metacarpus by the pulley at each finger joint.
Described metacarpus is provided with guiding tendon groove and leading block, is directed in the driver element of arm by tendon, and the motor in arm passes through bevel gear group transmission, it is achieved pull tendon and the motion of release tendon.
Actuating device at described each finger joint is pulley and tendon, constitutes the underactuatuated drive of finger.
Described each articulations digitorum manus is elastic hinge joint.
Described each finger joint is made up of left side plate, left and right joint shaft and spring, refers to that joint side plate is installed on joint shaft and stretches out on plate, is connected by screw, and joint shaft is saved connected by bearing and adjacent finger, is formed hinged.
Described elastic hinge joint, refers to that joint is machined with torsionspring groove with adjacent finger internode, is installed on by torsionspring on joint shaft and spring groove, torsionspring has initial moment, makes finger for normally open.
The rigidity of torsionspring is from closely referring to that joint joint increases successively to end articulations digitorum manus.
At the respectively finger joint of described forefinger, middle finger and the third finger, pulley is installed in the middle of joint shaft, and joint shaft stretches out also installs pulley on plate, under straight configuration, and pulley center conllinear at finger joint joint shaft corresponding on finger.
Described thumb end refers to that joint, middle finger joint are identical with forefinger, by thumb, tendon closely refers to that at joint, oblique leading block guides, and is directed to arm driver element by metacarpus leading block.
In the present invention, tendon formula under-driven adaptive multifinger hand provides the benefit that:
Present configuration is simple, and lightweight, driver element is few, and cost is low, and load capacity is strong, controls simple, captures object and has the feature of adaptivity.
Accompanying drawing explanation
Fig. 1 is the three-dimensional planar view of tendon formula under-driven adaptive multi-finger hand device in the present invention.
Fig. 2 is the three dimensional structure view of forefinger in the present invention.
Fig. 3 is the 3 d part explosive view of forefinger in the present invention.
Fig. 4 is the three dimensional structure view of middle finger of the present invention.
In figure:
1-thumb 2-forefinger 3-middle finger 4-third finger 5-sheet rubber 6-palm portion
7-leading block 8-end refers to that joint 9-middle finger refers to that saving 10-closely refers to that saving 11-end refers to joint
12-screw 13-end refers to that saving side plate A14-middle finger joint side plate A15-closely refers to save side plate A
16-end refers to that saving side plate A17-end refers to save articulations digitorum manus axle A19-end, clamping plate 18-end articulations digitorum manus axle B
Articulations digitorum manus torsion spring A21-end, 20-end articulations digitorum manus torsion spring B22-middle finger joint shaft A23-middle finger joint shaft B
Articulations digitorum manus torsion spring B26-nearly articulations digitorum manus torsion spring A27-nearly articulations digitorum manus torsion spring B in articulations digitorum manus torsion spring A25-in 24-
28-nearly articulations digitorum manus axle A29-nearly articulations digitorum manus axle B30-little axle A31-little axle B32-pulley
33-end refers to that saving side plate B34-middle finger joint side plate B35-closely refers to that saving side plate B36-end refers to save side plate B
37-tendon (steel wire rope) 38-thumb closely refers to that saving side plate A39-oblique leading block 40-thumb end refers to nodal axisn A
41-thumb end refers to that saving side plate A42-thumb end refers to that saving side plate B43-thumb end refers to that nodal axisn B44-thumb end refers to save side plate C
45-thumb end refers to that saving side plate D46-thumb end refers to that nodal axisn C47-thumb closely refers to save side plate B
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present invention includes that tendon, thumb, forefinger, middle finger, the third finger and metacarpus, the end of each finger are connected with metacarpus, each finger includes three the most hinged finger joints, forms one；Each hinged place is provided with torsionspring, forms elastic hinge joint；Forefinger, middle finger and the third finger refer to that the shaft axis of joint is parallel to each other；The end of thumb refers to save joint and the rotating shaft of middle finger joint joint is axially parallel to each other, and closely refers to that joint joint shaft axis becomes 135 °；Tendon is fixed on each finger end and refers to joint, is directed to gathering sill or the leading block of metacarpus by the pulley at each finger joint；Metacarpus is provided with guiding tendon groove and leading block, is directed in the driver element of arm by tendon, and the motor in arm passes through bevel gear group transmission, it is achieved pull tendon and the motion of release tendon；Finger respectively refers to load onto at joint sheet rubber, can play the effect increasing friction, make crawl problem more stable.
As shown in Figure 2,3, the present invention respectively refers to that the actuating device at joint is pulley and tendon, constitutes the underactuatuated drive of finger；Each articulations digitorum manus is elastic hinge joint；Respectively referring to that joint is made up of left side plate, left and right joint shaft and spring, refer to that joint side plate is installed on joint shaft and stretches out on plate, be connected by screw, with adjacent, joint shaft refers to that joint connects by bearing, formed hinged；Elastic hinge joint, refers to that joint is machined with torsionspring groove with adjacent finger internode, is installed on by torsionspring on joint shaft and spring groove, torsionspring has initial moment, makes finger for normally open；The rigidity of torsionspring is from closely referring to that joint joint increases successively to end articulations digitorum manus；At the respectively finger joint of forefinger, middle finger and the third finger, pulley is installed in the middle of joint shaft, and joint shaft stretches out also installs pulley on plate, under straight configuration, and all pulley center conllinear on finger.
As shown in Figure 4, thumb end refers to that joint, middle finger joint are identical with forefinger, by thumb, tendon closely refers to that at joint, oblique leading block guides, and is directed to arm driver element by metacarpus leading block.
The work process of the present invention is as follows:
Motor pulls tendon, and owing at finger-joint, spring rate is ascending arrangement, the nearly articulations digitorum manus of finger first rotates, and turns to middle finger articulation after to a certain degree, and end articulations digitorum manus rotates afterwards, and the slewing area in each joint is 90 °.When capturing object, the nearly articulations digitorum manus of finger contacts prior to object, is formed force-closed, and nearly articulations digitorum manus stops operating, and middle articulations digitorum manus rotates with end articulations digitorum manus afterwards, contacts as object.When capturing difformity object, in the case of spring rate is chosen suitably, always nearly articulations digitorum manus, middle articulations digitorum manus, end articulations digitorum manus contact with object successively, form envelope and capture.
Claims (4)
1. a tendon formula under-driven adaptive multi-finger hand device, it is characterized in that: it includes tendon (37), thumb (1), forefinger (2), middle finger (3), nameless (4) and metacarpus (6), the end (11) of each finger is connected with metacarpus (6), described each finger includes three the most hinged finger joints, forms one；Described each hinged place is provided with torsionspring, forms elastic hinge joint；Described forefinger (2), middle finger (3) and the third finger (4) refer to that the shaft axis of joint is parallel to each other；The end of described thumb (1) refers to save joint and the rotating shaft of middle finger joint joint is axially parallel to each other, and closely refers to that joint joint shaft axis becomes 135 ° with middle finger joint joint shaft axis；Described metacarpus is provided with guiding tendon groove and leading block, tendon is fixed on each finger end and refers to joint, guiding tendon groove or the leading block of metacarpus (6) it is directed to by the pulley (32) at each finger joint, tendon is directed in the driver element of arm, motor in arm passes through bevel gear group transmission, it is achieved pull tendon and the motion of release tendon.
A kind of tendon formula under-driven adaptive multi-finger hand device the most according to claim 1, it is characterised in that: the actuating device at described each finger joint is pulley (32) and tendon (37), constitutes the underactuatuated drive of finger.
A kind of tendon formula under-driven adaptive multi-finger hand device the most according to claim 1, it is characterised in that: torsionspring rigidity is from closely referring to that joint joint refers to that to end saving joint increases successively, and torsionspring has initial moment, makes finger be in normally open.
A kind of tendon formula under-driven adaptive multi-finger hand device the most according to claim 1, it is characterized in that: described forefinger (2), middle finger (3) and respectively finger joint joint shaft middle installation pulley (32) of nameless (4), the transmission direction of tendon is changed by pulley, under straight configuration, pulley center conllinear at finger joint joint shaft corresponding on finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310063624.3A CN103101055B (en) | 2013-02-28 | 2013-02-28 | A kind of tendon formula under-driven adaptive multi-finger hand device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310063624.3A CN103101055B (en) | 2013-02-28 | 2013-02-28 | A kind of tendon formula under-driven adaptive multi-finger hand device |
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| Publication Number | Publication Date |
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| CN103101055A CN103101055A (en) | 2013-05-15 |
| CN103101055B true CN103101055B (en) | 2016-08-03 |
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| CN201310063624.3A Expired - Fee Related CN103101055B (en) | 2013-02-28 | 2013-02-28 | A kind of tendon formula under-driven adaptive multi-finger hand device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103284821B (en) * | 2013-05-27 | 2014-06-04 | 华中科技大学 | Thumb structure of prosthetic hand |
| CN103565562B (en) * | 2013-08-02 | 2014-06-04 | 华中科技大学 | Under-actuated artificial limb hand |
| CN104400792B (en) * | 2014-10-20 | 2015-10-28 | 华中科技大学 | A kind of under-actuated finger closing internode flexible couplings |
| CN106272526B (en) * | 2016-09-19 | 2019-02-26 | 上海未来伙伴机器人有限公司 | A kind of Dextrous Hand |
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| CN101804633A (en) * | 2010-04-06 | 2010-08-18 | 清华大学 | Tendon rope parallel skillful under-driven bionic robot finger device |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN102363302A (en) * | 2011-10-25 | 2012-02-29 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| EP2239106B1 (en) * | 2009-04-09 | 2012-03-14 | Disney Enterprises, Inc. | Robot hand with human-like fingers |
| CN202292775U (en) * | 2011-10-25 | 2012-07-04 | 杭州电子科技大学 | Single-motor-driven human-simulated dexterous hand device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8483880B2 (en) * | 2009-07-22 | 2013-07-09 | The Shadow Robot Company Limited | Robotic hand |
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2013
- 2013-02-28 CN CN201310063624.3A patent/CN103101055B/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4955918A (en) * | 1989-05-30 | 1990-09-11 | University Of Southern California | Artificial dexterous hand |
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN1410234A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN101214653A (en) * | 2008-01-04 | 2008-07-09 | 清华大学 | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| EP2239106B1 (en) * | 2009-04-09 | 2012-03-14 | Disney Enterprises, Inc. | Robot hand with human-like fingers |
| CN101804633A (en) * | 2010-04-06 | 2010-08-18 | 清华大学 | Tendon rope parallel skillful under-driven bionic robot finger device |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN102363302A (en) * | 2011-10-25 | 2012-02-29 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN202292775U (en) * | 2011-10-25 | 2012-07-04 | 杭州电子科技大学 | Single-motor-driven human-simulated dexterous hand device |
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| CN103101055A (en) | 2013-05-15 |
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