CN103101055A - Tendon type under-driving self-adaptation multi-finger device - Google Patents
Tendon type under-driving self-adaptation multi-finger device Download PDFInfo
- Publication number
- CN103101055A CN103101055A CN2013100636243A CN201310063624A CN103101055A CN 103101055 A CN103101055 A CN 103101055A CN 2013100636243 A CN2013100636243 A CN 2013100636243A CN 201310063624 A CN201310063624 A CN 201310063624A CN 103101055 A CN103101055 A CN 103101055A
- Authority
- CN
- China
- Prior art keywords
- dactylus
- finger
- tendon
- joint
- pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
The invention discloses a tendon type under-driving self-adaptation multi-finger device, and belongs to the technical field of anthropomorphic robot. According to the tendon type under-driving self-adaptation multi-fingers device, a forefinger (2), a middle finger (3) and a ring finger (4) are the same in driving mechanisms, and different in sizes. A driving principle of a thumb (1) and principles of other fingers are the same, and a mechanism which can imitate movement of the thumb of a human hand. Tendons (37) are fixed on the tail finger knuckles of the fingers and are guided direction through pulley wheels (32) on the finger knuckles. A left torsion spring and a right torsion spring are installed on each finger knuckle. One ends of the fingers are fixedly connected on a metacarpus (6) which is provided with a tendon groove and a leading pulley wheel (7), and the tendons are guided into a driving unit of an arm. A rubber sheet (5) is installed on each finger knuckle. According to the tendon type under-driving self-adaptation multi-fingers device, number of driving devices is small, each finger only needs one motor to drive, structure is simple, control difficulty is low, and self-adaptation enveloping capturing for objects can be achieved.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of multifinger mechanical arm device staff, that can be used for scientific research, Aero-Space, disabled person's artificial limb of simulating, belong to the 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 prospects manifest gradually.The end effector mechanism of robot directly affects the effect that robot executes the task, thereby extremely important to the research of robot end executing agency.Due to the dexterous characteristics of staff, make Apery manipulator research attract a large amount of researchers simultaneously.The application prospect of Apery manipulator is more wide, and it can be used as disabled person's artificial limb, or enters high-risk area and carry out more complicated operation, or replaces the mankind to carry out industrial production etc.Although worked out at present various humanoid dexterous hand models, but many shortcomings are done in its existence, make it can not reach the stage of practical application, shortcoming is as follows: (1) driver is too much, there is a driver drives in each joint, make control procedure very complicated, and cause bulkyly, involve great expense; (2) grasping force is little, but the scope of application is smaller.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of tendon formula and owe to drive to refer to hand more, its highly versatile has the device that load capacity is strong, driving element is few, simple in structure, volume is little, control is simple, the crawl object has adaptivity.
The present invention adopts following technical scheme to realize.
The present invention includes tendon, thumb, forefinger, middle finger, the third finger and metacarpus, end and metacarpus that each refers to are connected, and described each finger comprises three hinged dactylus successively, forms one.
Described each hinged place is equipped with torsionspring, forms elastic hinge joint.
The shaft axis of described forefinger, middle finger and nameless dactylus is parallel to each other.
The last dactylus joint of described thumb and middle finger joint joint rotating shaft axially are parallel to each other, and closely dactylus joint shaft axis becomes 135 °.
Described tendon is fixed in and respectively refers to last dactylus, is directed to gathering sill or the leading block of metacarpus by the pulley at each dactylus place.
Described metacarpus is provided with guiding tendon groove and leading block, tendon is directed in the driver element of arm, and the motor in arm realizes pulling the motion of tendon and release tendon by the transmission of bevel gear group.
The transmission device at described each dactylus place is pulley and tendon, consists of the lack of driven structure of finger.
Described each articulations digitorum manus is elastic hinge joint.
Described each dactylus is comprised of left side plate, left and right joint shaft and spring, and the dactylus side plate is installed on joint shaft and stretches out on plate, is connected by screw, and joint shaft is connected with adjacent dactylus by bearing, forms hinged.
Described elastic hinge joint is processed with the torsionspring groove between dactylus and adjacent dactylus, and torsionspring is installed on joint shaft and spring groove, and torsionspring has initial moment, makes finger for normally open.
The rigidity of torsionspring increases to last articulations digitorum manus successively from nearly dactylus joint.
Described forefinger, middle finger and each nameless dactylus place's pulley installation in the middle of joint shaft, joint shaft stretches out also installs pulley on plate, under straight configuration, all pulley center conllinear on finger.
Described thumb end dactylus, middle finger joint are identical with forefinger, and tendon leads by the oblique leading block in the nearly dactylus of thumb place, is directed to the arm driver element by the metacarpus leading block.
In the present invention, tendon formula under-driven adaptive refers to that the beneficial effect of hand is more:
The present invention is simple in structure, and is lightweight, and driver element is few, and cost is low, and load capacity is strong, controls simply, and the crawl object has the characteristics of adaptivity.
Description of drawings
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:
The nameless 5-sheet rubber of 1-thumb 2-forefinger 3-middle finger 4-6-palm portion
7-leading block 8-end dactylus 9-middle finger dactylus 10-is dactylus 11-end dactylus closely
The nearly dactylus side plate of 12-screw 13-end dactylus side plate A 14-middle finger joint side plate A 15-A
Articulations digitorum manus axle A 19-end, dactylus clamping plate 18-end, 16-end dactylus side plate A 17-end articulations digitorum manus axle B
Articulations digitorum manus torsion spring A 21-end, 20-end articulations digitorum manus torsion spring B 22-middle finger joint shaft A 23-middle finger joint shaft B
The nearly articulations digitorum manus torsion spring of the nearly articulations digitorum manus torsion spring of articulations digitorum manus torsion spring B 26-A 27-B in articulations digitorum manus torsion spring A 25-in 24-
The little axle B of the nearly articulations digitorum manus axle of the nearly articulations digitorum manus axle of 28-A 29-B 30-little axle A 31-32-pulley
The nearly dactylus side plate of 33-end dactylus side plate B 34-middle finger joint side plate B 35-B 36-end dactylus side plate B
The oblique leading block 40-of 37-tendon (steel wire rope) 38-thumb nearly dactylus side plate A 39-thumb end dactylus axle A
41-thumb end dactylus side plate A 42-thumb end dactylus side plate B 43-thumb end dactylus axle B 44-thumb end dactylus side plate C
The nearly dactylus side plate of 45-thumb end dactylus side plate D 46-thumb end dactylus axle C 47-thumb B
The specific embodiment
The present invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention includes tendon (37), thumb (1), forefinger (2), middle finger (3), nameless (4) and metacarpus (6), end and metacarpus that each refers to are connected, and each is pointed and comprises three hinged dactylus successively, formation one; Each hinged place is equipped with torsionspring, forms elastic hinge joint; The shaft axis of forefinger, middle finger and nameless dactylus is parallel to each other; The last dactylus joint of thumb (1) and middle finger joint joint rotating shaft axially are parallel to each other, and closely dactylus joint shaft axis becomes 135 °; Tendon is fixed in and respectively refers to last dactylus, is directed to gathering sill or the leading block of metacarpus by the pulley at each dactylus place; Metacarpus is provided with guiding tendon groove and leading block, tendon is directed in the driver element of arm, and the motor in arm realizes pulling the motion of tendon and release tendon by the transmission of bevel gear group; Point each dactylus place and load onto sheet rubber, can play the effect that increases friction, make the crawl problem more stable.
As shown in Fig. 2,3, the transmission device at each dactylus of the present invention place is pulley and tendon, consists of the lack of driven structure of finger; Each articulations digitorum manus is elastic hinge joint; Each dactylus is comprised of left side plate, left and right joint shaft and spring, and the dactylus side plate is installed on joint shaft and stretches out on plate, is connected by screw, and joint shaft is connected with adjacent dactylus by bearing, forms hinged; Elastic hinge joint is processed with the torsionspring groove between dactylus and adjacent dactylus, and torsionspring is installed on joint shaft and spring groove, and torsionspring has initial moment, makes finger for normally open; The rigidity of torsionspring increases to last articulations digitorum manus successively from nearly dactylus joint; Forefinger, middle finger and each nameless dactylus place's pulley installation in the middle of joint shaft, joint shaft stretches out also installs pulley on plate, under straight configuration, all pulley center conllinear on finger.
As shown in Figure 4, thumb end dactylus, middle finger joint are identical with forefinger, and tendon leads by the oblique leading block in the nearly dactylus of thumb place, is directed to the arm driver element by the metacarpus leading block.
The course of work of the present invention is as follows:
Motor pulls tendon, because finger-joint place spring rate is ascending arrangement, points nearly articulations digitorum manus and first rotates, turn to a certain degree after in articulations digitorum manus rotate, last articulations digitorum manus rotates afterwards, the slewing area in each joint is 90 °.During object, point nearly articulations digitorum manus prior to object contact in crawl, forms force-closedly, nearly articulations digitorum manus stops operating, and middle articulations digitorum manus and the rotation of last articulations digitorum manus afterwards is as for object contact.When crawl difformity object, in the situation that spring rate is chosen is suitable, always nearly articulations digitorum manus, middle articulations digitorum manus, last articulations digitorum manus successively with object contact, form the envelope crawl.
Claims (5)
1. tendon formula under-driven adaptive multi-finger hand device, it is characterized in that: it comprises tendon (37), thumb (1), forefinger (2), middle finger (3), nameless (4) and metacarpus (6), each end that refers to (11) is connected with metacarpus (6), described each finger comprises three hinged dactylus successively, forms one; Described each hinged place is equipped with torsionspring, forms elastic hinge joint; The shaft axis of described forefinger (2), middle finger (3) and nameless (4) dactylus is parallel to each other; The last dactylus joint of described thumb (1) and middle finger joint joint rotating shaft axially are parallel to each other, and closely dactylus joint shaft axis becomes 135 °; Described tendon is fixed in and respectively refers to last dactylus, is directed to gathering sill or the leading block of metacarpus (6) by the pulley (32) at each dactylus place; Described metacarpus is provided with guiding tendon groove and leading block, tendon is directed in the driver element of arm, and the motor in arm realizes pulling the motion of tendon and release tendon by the transmission of bevel gear group.
2. a kind of tendon formula under-driven adaptive multi-finger hand device according to claim 1 is characterized in that: the transmission device at described each dactylus place is pulley (32) and tendon (37), consists of the lack of driven structure of finger.
3. a kind of tendon formula under-driven adaptive multi-finger hand device according to claim 1 is characterized in that: described each dactylus place is connected to elastic hinge joint;
Described each dactylus is comprised of left side plate, left and right joint shaft and spring, and the dactylus side plate is installed on joint shaft and stretches out on plate, connects by screw (12), and joint shaft is connected with adjacent dactylus by bearing, forms hinged;
Described elastic hinge joint is processed with the torsionspring groove between dactylus and adjacent dactylus, and torsionspring is installed on joint shaft and spring groove, and torsionspring has initial moment, makes finger for normally open.
4. a kind of tendon formula under-driven adaptive multi-finger hand device according to claim 1 is characterized in that: the rigidity of torsionspring increases to last articulations digitorum manus successively from nearly dactylus joint.
5. a kind of tendon formula under-driven adaptive multi-finger hand device according to claim 1, it is characterized in that: each dactylus place's pulley (32) of described forefinger (2), middle finger (3) and the third finger (4) is installed in the middle of joint shaft, joint shaft stretches out also installs pulley on plate, under straight configuration, all pulley center conllinear 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103101055A true CN103101055A (en) | 2013-05-15 |
| CN103101055B CN103101055B (en) | 2016-08-03 |
Family
ID=48309430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103101055B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103284821A (en) * | 2013-05-27 | 2013-09-11 | 华中科技大学 | Thumb structure of prosthetic hand |
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN104400792A (en) * | 2014-10-20 | 2015-03-11 | 华中科技大学 | Under-actuated finger capable of being flexibly coupled between joints |
| CN106272526A (en) * | 2016-09-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of Dextrous Hand |
Citations (12)
| 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 |
| CN101804633A (en) * | 2010-04-06 | 2010-08-18 | 清华大学 | Tendon rope parallel skillful under-driven bionic robot finger device |
| US20110040408A1 (en) * | 2009-07-22 | 2011-02-17 | The Shadow Robot Company Limited | Robotic hand |
| 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 |
-
2013
- 2013-02-28 CN CN201310063624.3A patent/CN103101055B/en not_active Expired - Fee Related
Patent Citations (12)
| 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 |
| US20110040408A1 (en) * | 2009-07-22 | 2011-02-17 | The Shadow Robot Company Limited | Robotic hand |
| 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 |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103284821A (en) * | 2013-05-27 | 2013-09-11 | 华中科技大学 | Thumb structure of prosthetic hand |
| CN103284821B (en) * | 2013-05-27 | 2014-06-04 | 华中科技大学 | Thumb structure of prosthetic hand |
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN103565562B (en) * | 2013-08-02 | 2014-06-04 | 华中科技大学 | Under-actuated artificial limb hand |
| CN104400792A (en) * | 2014-10-20 | 2015-03-11 | 华中科技大学 | Under-actuated finger capable of being flexibly coupled between joints |
| CN104400792B (en) * | 2014-10-20 | 2015-10-28 | 华中科技大学 | A kind of under-actuated finger closing internode flexible couplings |
| CN106272526A (en) * | 2016-09-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of Dextrous Hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103101055B (en) | 2016-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN102166753B (en) | Bevel gear flexible piece compound grabbing robot fingers device | |
| CN101234489B (en) | Belt wheel under-driven robot finger device | |
| CN100439048C (en) | Under-actuated multi-finger device of robot humanoid finger | |
| CN104908056A (en) | Three-finger mechanical gripper with variable structure | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN103846922A (en) | Rack check self-adaptive under-actuated robot finger device | |
| CN101716767B (en) | Coupling underactuated integrated bionic hand device | |
| CN107309887B (en) | Coupling and self-adaptive under-actuated bionic dexterous finger | |
| CN100551640C (en) | The tendon rope gear under-driven robot finger device | |
| CN109648589B (en) | Robot dexterous manipulator finger device based on cylinder driving | |
| CN110171011B (en) | Three-finger robot dexterous hand driven in coordination | |
| CN103101055A (en) | Tendon type under-driving self-adaptation multi-finger device | |
| CN102179818A (en) | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system | |
| CN204160479U (en) | A kind of Apery manipulator | |
| CN202241307U (en) | Connecting rod slider type under-actuated bionic robot hand device | |
| CN102179817B (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN105818158A (en) | Parallel clamping self-adaptive robot finger device with flexible piece and rod system | |
| CN106826885B (en) | Variable-rigidity underactuated robot dexterous hand finger | |
| CN100551637C (en) | Rack bar under-driven robot finger device | |
| CN100551642C (en) | The Chiasma tendon rope under-driven robot finger device | |
| CN106426239A (en) | Idle stroke transmission gear coupling self-adaption robot finger device | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20170228 |