技术领域technical field
本发明涉及一种机器人设备，特别是涉及一种多指机器手，应用于末端夹持器和仿人假肢技术领域。The invention relates to a robot device, in particular to a multi-fingered robotic hand, which is applied in the technical fields of end grippers and humanoid artificial limbs.
背景技术Background technique
机器人灵巧手作为人类活动肢体的有效延伸，以其能够完成灵活、精细的抓取操作，从20世纪后半期开始,作为机器人领域的热门研究方向之一，被各国的科技人员所研究。相对于简单的末端操作器,机器人灵巧手具有通用性强、感知能力丰富、能够实现满足几何封闭和力封闭的精确、稳固抓取等优点。As an effective extension of human movable limbs, the robotic dexterous hand has been studied by scientists from various countries as one of the hot research directions in the field of robotics since the second half of the 20th century because of its ability to complete flexible and fine grasping operations. Compared with simple end manipulators, robotic dexterous hands have the advantages of strong versatility, rich perception capabilities, and the ability to achieve precise and stable grasping that meets geometric closure and force closure.
随着制造工艺和传感器及控制技术的发展，作为智能制造应用领域中机器人与环境相互作用的重要环节，其末端执行部件已逐渐由原来的简单夹持器向多任务智能多指灵巧手过渡。智能灵巧手具有多个多关节手指，能够和人手一样具有很高的灵巧性和适应性，执行不同的抓取和操作任务。因此，智能灵巧手可以使工业机器人在非结构环境中与目标物近距离安全接触，具备对未知目标进行智能操作的能力。同样，智能仿人型灵巧手对于服务型机器人在特殊环境诸如危险品检测、设备检修、水下作业、空间站物品搬运及装配、残障辅助等领域具有重要应用价值。灵巧手作业能力的不断提高,其代价是增加了系统的复杂性和研究难度。With the development of manufacturing technology and sensor and control technology, as an important link in the interaction between robots and the environment in the field of intelligent manufacturing applications, its end-effectors have gradually transitioned from the original simple gripper to the multi-task intelligent multi-fingered dexterous hand. The intelligent dexterous hand has multiple multi-joint fingers, which can perform different grasping and manipulation tasks with the same high dexterity and adaptability as the human hand. Therefore, the intelligent dexterous hand can enable industrial robots to have close contact with targets safely in an unstructured environment, and has the ability to intelligently operate unknown targets. Similarly, intelligent humanoid dexterous hands have important application value for service robots in special environments such as dangerous goods detection, equipment maintenance, underwater operations, space station object handling and assembly, and disability assistance. The continuous improvement of dexterous manual operation ability is at the cost of increasing the complexity of the system and the difficulty of research.
发明内容Contents of the invention
为了解决现有技术问题，本发明的目的在于克服已有技术存在的不足，提供一种欠驱动拟人三指机械手，包括手掌、两根手指和一根拇指，手指包括四个指节，使用弹簧片、手指盖板和螺钉连接，手掌包括底板、盖板，用于固定电机和手指。两手指分别具有三个自由度，拇指具有四个自由度，整只手共十个自由度，使用力传感器和角度传感器组成的闭环反馈系统，能够实现简单的抓、捏动作。手指结构基于欠驱动原理设计，在抓取不同物体时能够自适应地包络物体，具有结构简单、抓取控制难度低、可靠性高的优点。In order to solve the problems of the prior art, the object of the present invention is to overcome the deficiencies of the prior art, and provide an under-actuated anthropomorphic three-finger manipulator, which includes a palm, two fingers and a thumb, and the fingers include four knuckles, using a spring Sheet, finger cover and screw connection, the palm includes a bottom plate and a cover for fixing the motor and fingers. The two fingers have three degrees of freedom, the thumb has four degrees of freedom, and the whole hand has a total of ten degrees of freedom. Using a closed-loop feedback system composed of force sensors and angle sensors, simple grasping and pinching actions can be realized. The finger structure is designed based on the principle of underactuation, and it can adaptively envelope objects when grasping different objects. It has the advantages of simple structure, low difficulty in grasping control, and high reliability.
为达到上述发明创造目的，本发明采用下述技术方案：In order to achieve the above invention creation purpose, the present invention adopts the following technical solutions:
一种欠驱动拟人三指机械手，包括手掌单元和3根手指，手掌单元用于提供手指动力源并使其与手掌位置关系固定，同时具有仿人的外形，手掌单元包括掌心和掌背，其中一根手指为拇指，手掌单元内部设置3个驱动手指弯指动作的微型直流电机和1个摆动拇指的舵机，微型直流电机的输出轴上固定安装绕子，每根手指皆具有手指单元部分，用于作为抓取动作的执行部件，手指单元依次由第一指节、第二指节、第三指节和第四指节连接而成，相邻两指节间设有转动轴，使手指单元形成具有三个自由度的手指关节系统，第四指节固定连接在手掌单元的边缘，腱绳一端固定于靠近手指单元自由端的位置处，腱绳依次穿过手指单元中的腱绳孔、第二指节中的腱绳孔、第三指节中的腱绳孔和第四指节中的腱绳孔，腱绳的另一端固定于主轴绕子上，弹簧片同时与手指单元的各指节远离掌心的一侧固定连接，当微型直流电机输出正向转动时，主轴绕子卷绕收紧腱绳，从而使得手指单元进行内弯曲，当微型直流电机输出反向转动时，依靠弹簧片的弹力，主轴绕子放松腱绳，手指单元依靠弹簧片的弹力使手指单元伸直，拇指的第四指节形成拇指指根，用于连接手指并提供拇指指根转动自由度，拇指指根的根部形成圆柱形凸台，手掌单元的掌心一侧设有与拇指指根的形状相适应的卡槽，拇指指根单元主要由拇指指根、拇指摆动转轴和拇指摆动轴承组成，拇指摆动轴承分别安装于拇指指根根部的圆柱形凸台和转轴上，拇指摆动转轴和拇指摆动轴承在与手掌单元连接时起到支承作用，拇指的相邻两指节间的转动轴与拇指摆动转轴的轴线空间垂直，拇指指根围绕拇指摆动转轴转动，从而使拇指具有4个自由度，舵机的动力输出轴驱动拇指摆动转轴转动，将舵机的动力传递给拇指指根，实现拇指指根相对与掌心的摆动，使拇指指根进出掌心的卡槽，并使拇指指根转动至相对于掌心的设定空间角度位置，使3根手指相互辅助配合实现相应仿生手部动作。An underactuated anthropomorphic three-finger manipulator, including a palm unit and 3 fingers. The palm unit is used to provide the power source of the finger and fix the positional relationship with the palm. It also has a humanoid shape. The palm unit includes the palm and the back of the palm. One finger is the thumb, and the palm unit is equipped with 3 micro-DC motors to drive the finger bending action and 1 servo for swinging the thumb. The output shaft of the micro-DC motor is fixed with windings, and each finger has a finger unit part. , used as the execution part of the grasping action, the finger unit is sequentially connected by the first knuckle, the second knuckle, the third knuckle and the fourth knuckle, and a rotation shaft is arranged between two adjacent knuckles, so that The finger unit forms a finger joint system with three degrees of freedom, the fourth knuckle is fixedly connected to the edge of the palm unit, one end of the tendon rope is fixed at a position close to the free end of the finger unit, and the tendon rope passes through the tendon rope hole in the finger unit in turn , the tendon rope hole in the second knuckle, the tendon rope hole in the third knuckle and the tendon rope hole in the fourth knuckle. The other end of the tendon rope is fixed on the main shaft winding, and the spring leaf is connected with the finger unit at the same time. The knuckles are fixedly connected on the side away from the palm. When the output of the micro DC motor rotates in the forward direction, the winding of the main shaft winds and tightens the tendon rope, so that the finger unit bends inward. When the output of the micro DC motor rotates in the reverse direction, relying on The elastic force of the spring leaf, the main shaft winding loosens the tendon rope, and the finger unit relies on the elastic force of the spring leaf to straighten the finger unit. The fourth knuckle of the thumb forms the root of the thumb, which is used to connect the fingers and provide the rotation freedom of the root of the thumb. The root of the root of the finger forms a cylindrical boss, and the palm side of the palm unit is provided with a card slot suitable for the shape of the root of the thumb. The root unit of the thumb is mainly composed of the root of the thumb, the swing shaft of the thumb and the swing bearing of the thumb. The thumb The swing bearings are respectively installed on the cylindrical boss and the rotating shaft at the root of the thumb. The thumb swing rotating shaft and the thumb swing bearing play a supporting role when connected with the palm unit. The axis space of the rotating shaft is vertical, and the root of the thumb rotates around the swinging shaft of the thumb, so that the thumb has 4 degrees of freedom. The swing of the root relative to the palm allows the root of the thumb to enter and exit the card slot in the palm, and rotates the root of the thumb to a set spatial angle position relative to the center of the palm, so that the three fingers assist and cooperate with each other to realize the corresponding bionic hand movements.
作为本发明优选的技术方案，手指单元还包括第一指节盖板、第二指节盖板和第三指节盖板，第一指节盖板、第二指节盖板和第三指节盖板皆位于弹簧片的外侧安装，分别与第一指节、第二指节和第三指节将弹簧片固定于手指单元的表面上，除拇指之外的两外两根手指的第四指节配合安装于掌心的边缘卡槽中，使手指单元与手掌单元连接固定。As a preferred technical solution of the present invention, the finger unit also includes a first knuckle cover, a second knuckle cover and a third knuckle cover, the first knuckle cover, the second knuckle cover and the third knuckle cover The knuckle cover plates are installed on the outside of the spring piece, respectively, and the first knuckle, the second knuckle and the third knuckle to fix the spring piece on the surface of the finger unit, and the second knuckles of the two other fingers except the thumb The four knuckles are matched and installed in the edge slot of the palm, so that the finger unit and the palm unit are connected and fixed.
作为本发明进一步优选的技术方案，第一指节、第二指节、第三指节和第四指节的表面分别设有凸台，各凸台分别嵌于弹簧片上开设的凹槽中，各指节盖板上也开设有与对应的指节上的凸台形状相适应的凹槽，即，第一指节盖板的凹槽与第一指节的凸台配合，放置于弹簧片上并用螺钉与第一指节相连，第二指节盖板的凹槽与第二指节的凸台配合，也放置于弹簧片上并用螺钉与第二指节相连，第三指节盖板的凹槽与第三指节的凸台配合，也放置于弹簧片上并用螺钉与第三指节相连。As a further preferred technical solution of the present invention, the surfaces of the first knuckle, the second knuckle, the third knuckle and the fourth knuckle are respectively provided with bosses, and each boss is respectively embedded in the groove provided on the spring leaf, Each knuckle cover plate is also provided with a groove adapted to the shape of the boss on the corresponding knuckle, that is, the groove of the first knuckle cover cooperates with the boss of the first knuckle, and is placed on the spring sheet And use screws to connect with the first knuckle, the groove of the second knuckle cover matches with the boss of the second knuckle, also place it on the spring leaf and connect with the second knuckle with screws, the concave of the third knuckle cover The groove cooperates with the boss of the third phalanx, and is also placed on the leaf spring and connected with the third phalanx with screws.
作为上述技术方案的改进，拇指指根单元还包括拇指内转向轴承和拇指内支承轴，使用拇指指根盖板和螺钉对拇指指根和第四指节进行固定连接，使拇指指根与手指单元的固定连接，拇指内转向轴承安装配合于拇指内支承轴上，拇指内支承轴一端配合于拇指指根一侧的轴孔中，另一端通过支承轴固定压板对其进行固定，支承轴固定压板配合于拇指指根另一侧的凹槽中，拇指的腱绳通过拇指内转向轴承的转向从拇指指根底部的腱绳孔中穿出，固定于驱动拇指弯指动作的一个微型直流电机的主轴绕子上，拇指摆动转轴的一端形成方形轴端并配合于拇指指根中的方形轴孔中，另一端与舵机的动力输出轴同轴固定相连。As an improvement of the above technical solution, the thumb root unit also includes the thumb inner steering bearing and the thumb inner support shaft, and the thumb root cover plate and screws are used to fix the thumb root and the fourth knuckle so that the thumb root and the finger The fixed connection of the unit, the inner steering bearing of the thumb is installed and fitted on the inner support shaft of the thumb, one end of the inner support shaft of the thumb is fitted into the shaft hole on the side of the root of the thumb, and the other end is fixed by the support shaft fixing plate, and the support shaft is fixed The pressure plate fits in the groove on the other side of the thumb root, and the tendon cord of the thumb passes through the tendon cord hole at the bottom of the thumb root through the turning of the inner steering bearing of the thumb, and is fixed to a micro DC motor that drives the thumb to bend the finger On the main shaft winding of the thumb, one end of the thumb swing shaft forms a square shaft end and fits in the square shaft hole in the base of the thumb, and the other end is coaxially fixedly connected with the power output shaft of the steering gear.
作为上述技术方案的改进，微型直流电机嵌于电机盖中，电机盖固定安装于手掌单元中，腱绳通过电机盖一侧的腱绳孔进入电机盖中与绕子连接，舵机的动力输出端与转轴相应的轴端配合安装，舵机固定也安装于手掌单元中，前拇指固定压块安装于拇指指根的根部圆柱形凸台一侧的拇指摆动轴承处，后拇指固定压块安装于拇指指根的根部圆柱形凸台另一侧的另一个拇指轴承处，通过螺钉将前拇指固定压块和后拇指固定压块分别固定安装于手掌单元中，对两个拇指轴承分别进行固定，搭线的一侧通过与手掌单元中一系列圆柱凸台的配合安装，将各微型直流电机、各电机盖和舵机固定安装于于手掌单元中，搭线的另一侧设置导线，同时可以至少通过电机导线、传感器信号线，起到将导线与下层结构的分隔，便于排线。As an improvement of the above-mentioned technical solution, the micro DC motor is embedded in the motor cover, and the motor cover is fixedly installed in the palm unit. The end is matched with the corresponding shaft end of the rotating shaft. The steering gear is also installed in the palm unit. The front thumb fixed pressure block is installed on the thumb swing bearing on the side of the cylindrical boss at the root of the thumb, and the rear thumb fixed pressure block is installed. At the other thumb bearing on the other side of the cylindrical boss at the base of the thumb root, the front thumb fixing block and the rear thumb fixing block are respectively fixed and installed in the palm unit through screws, and the two thumb bearings are respectively fixed. , one side of the wire is installed in cooperation with a series of cylindrical bosses in the palm unit, and each micro DC motor, each motor cover and steering gear are fixedly installed in the palm unit, and the other side of the wire is provided with a wire, and at the same time At least the motor wires and sensor signal wires can be used to separate the wires from the underlying structure and facilitate wiring.
作为上述技术方案的改进，当微型直流电机的尺寸不能满足手掌单元的安装尺寸要求时，需要至少一个微型直流电机的布局进行特殊设置，使至少一个微型直流电机的主轴轴向与其他微型直流电机的主轴轴向不平行才能达到节省空间的需要，当从手指单元中的腱绳部分与微型直流电机的动力输出轴不垂直时，在手掌单元中设有手掌内支承轴，手掌内转向轴承配合安装于手掌内支承轴上，手掌内支承轴配合安装于掌心中的轴孔中，手掌内支承轴的另一端通过手掌内转向轴承由搭线固定，使腱绳通过手掌内转向轴承转向后与绕子相连，减少磨损的目的。As an improvement of the above-mentioned technical scheme, when the size of the micro DC motor cannot meet the installation size requirements of the palm unit, special settings must be made for the layout of at least one micro DC motor so that the axis of the main shaft of at least one micro DC motor is aligned with other micro DC motors. The main axis of the main shaft is not parallel to meet the needs of saving space. When the tendon rope part in the finger unit is not perpendicular to the power output shaft of the micro DC motor, the palm inner support shaft is provided in the palm unit, and the palm inner steering bearing cooperates. Installed on the supporting shaft in the palm, the supporting shaft in the palm is fitted in the shaft hole in the palm, the other end of the supporting shaft in the palm is fixed by the wire through the steering bearing in the palm, so that the tendon rope passes through the steering bearing in the palm and is connected with the The windings are connected to reduce wear and tear.
本发明与现有技术相比较，具有如下显而易见的突出实质性特点和显著优点：Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant advantages:
1. 本发明机器人手是欠驱动三指机器人灵巧手，两手指分别具有三个自由度，拇指具有四个自由度，整只手共十个自由度，其外形仿人；1. The robotic hand of the present invention is an underactuated three-fingered robot dexterous hand, with two fingers having three degrees of freedom, and the thumb having four degrees of freedom, and the whole hand has ten degrees of freedom in total, and its shape is humanoid;
2. 本发明机械式使用力传感器和角度传感器组成的闭环反馈系统，能够实现简单的抓、捏动作；2. The present invention mechanically uses a closed-loop feedback system composed of a force sensor and an angle sensor, which can realize simple grasping and pinching actions;
3. 本发明的机械手的手指结构基于欠驱动原理设计，在抓取不同物体时能够自适应地包络物体，具有结构简单、抓取控制难度低、可靠性高的优点；3. The finger structure of the manipulator of the present invention is designed based on the principle of underactuation, which can adaptively envelope objects when grasping different objects, and has the advantages of simple structure, low difficulty in grasping control, and high reliability;
4. 本发明的机械手的三指的欠驱动机器人灵巧手，不仅在结构上简化为三指，同时在驱动方式上采用欠驱动的方式，在保证了机器人灵巧手的基本功能的同时，大大降低了系统的复杂性和研究难度。4. The three-fingered underactuated robot dexterous hand of the manipulator of the present invention is not only simplified to three fingers in structure, but also adopts an underactuated mode in the driving mode, which greatly reduces the dexterous robot hand while ensuring the basic functions of the robot dexterous hand. The complexity and research difficulty of the system.
附图说明Description of drawings
图1是本发明优选实施例欠驱动拟人三指机械手的正面立体图。Fig. 1 is a front perspective view of an underactuated anthropomorphic three-fingered manipulator according to a preferred embodiment of the present invention.
图2是本发明优选实施例欠驱动拟人三指机械手的反面立体图。Fig. 2 is a reverse perspective view of an underactuated anthropomorphic three-fingered manipulator according to a preferred embodiment of the present invention.
图3是本发明优选实施例灵巧手的手指单元立体图。Fig. 3 is a perspective view of a finger unit of a dexterous hand according to a preferred embodiment of the present invention.
图4是本发明优选实施例灵巧手的手指单元爆炸图。Fig. 4 is an exploded view of a finger unit of a dexterous hand in a preferred embodiment of the present invention.
图5是本发明优选实施例灵巧手的拇指指根立体图。Fig. 5 is a perspective view of the root of the thumb of the dexterous hand of the preferred embodiment of the present invention.
图6是本发明优选实施例灵巧手的拇指指根爆炸图。Fig. 6 is an exploded view of the root of the thumb of the dexterous hand of the preferred embodiment of the present invention.
图7是本发明优选实施例灵巧手的手掌内部结构立体图。Fig. 7 is a perspective view of the internal structure of the palm of the dexterous hand in the preferred embodiment of the present invention.
图8是本发明优选实施例灵巧手拆卸搭线后的手掌内部结构立体图。Fig. 8 is a perspective view of the internal structure of the palm after the dexterous hand has removed the thread according to the preferred embodiment of the present invention.
图9是本发明优选实施例灵巧手拆卸搭线后的手掌内部结构爆炸图。Fig. 9 is an exploded view of the internal structure of the palm after the dexterous hand disassembles the thread according to the preferred embodiment of the present invention.
图10是本发明优选实施例机器人灵巧手一种抓取示例图。Fig. 10 is an example diagram of grasping by the robot dexterous hand of the preferred embodiment of the present invention.
具体实施方式Detailed ways
本发明的优选实施例详述如下：Preferred embodiments of the present invention are described in detail as follows:
在本实施例中，参见图1～10，一种欠驱动拟人三指机械手，包括手掌单元3和3根手指，手掌单元3包括掌心301和掌背302，其中一根手指为拇指，手掌单元3内部设置3个驱动手指弯指动作的微型直流电机303和1个摆动拇指的舵机306，微型直流电机303的输出轴上固定安装绕子304，每根手指皆具有手指单元1部分，手指单元1依次由第一指节11、第二指节12、第三指节13和第四指节14连接而成，相邻两指节间设有转动轴，使手指单元1形成具有三个自由度的手指关节系统，第四指节14固定连接在手掌单元3的边缘，腱绳一端固定于靠近手指单元1自由端的位置处，腱绳依次穿过手指单元1中的腱绳孔、第二指节12中的腱绳孔、第三指节13中的腱绳孔和第四指节14中的腱绳孔，腱绳的另一端固定于主轴绕子304上，弹簧片15同时与手指单元1的各指节远离掌心301的一侧固定连接，当微型直流电机303输出正向转动时，主轴绕子304卷绕收紧腱绳，从而使得手指单元1进行内弯曲，当微型直流电机303输出反向转动时，依靠弹簧片15的弹力，主轴绕子304放松腱绳，手指单元1依靠弹簧片15的弹力使手指单元1伸直，拇指的第四指节14形成拇指指根21，拇指指根21根部形成圆柱形凸台，手掌单元3的掌心301一侧设有与拇指指根21的形状相适应的卡槽，拇指指根单元2主要由拇指指根21、拇指摆动转轴27和拇指摆动轴承26组成，拇指摆动轴承26分别安装于拇指指根21根部的圆柱形凸台和转轴27上，拇指的相邻两指节间的转动轴与拇指摆动转轴27的轴线空间垂直，拇指指根21围绕拇指摆动转轴27转动，从而使拇指具有4个自由度，舵机306的动力输出轴驱动拇指摆动转轴27转动，将舵机306的动力传递给拇指指根21，实现拇指指根21相对与掌心301的摆动，使拇指指根21进出掌心301的卡槽，并使拇指指根21转动至相对于掌心301的设定空间角度位置，使3根手指相互辅助配合实现相应仿生手部动作。图10为本发明的一种抓取示例图，本实施例欠驱动拟人三指机械手包括手掌、两根手指和一根拇指，其外形仿人。手掌结构可容纳3个微型直流电机303和1个舵机306，手指各指节结构便于力传感器的安装和排线，相邻两指节间存在一根转动轴，有一定的转动半径和转动角度。拇指包括四个指节，具有四个自由度，使用微型电机驱动手指的运动、舵机驱动指根的转动。手指由腱绳带动，腱绳一端缠绕在第一指节11中的凸台上，穿过每个指节下部的腱绳孔后，另一端缠绕于微型直流电机303的转子机构上。手指在抓取时，依靠微型直流电机303的转动收紧腱绳，从而使得手指弯曲、抓取物体。手指在放松时，微型直流电机303反转放松腱绳，依靠弹簧片的弹力，从而使得手指伸展、放松物体。在抓取过程，舵机306控制拇指指根21转动至恰当位置后，微型直流电机303驱动手指抓取物体，手指关节根据物体的实际形状进行自适应性的抓取，有控制难度低、可靠性高的优点。本实施例在驱动方式上采用欠驱动的方式，独立控制变量个数小于系统自由度个数，节约能量、降低造价、减轻重量、增强系统灵活度等方面都较完全驱动系统优越。本实施例使用力传感器与角度传感器组成的闭环反馈系统，能够实现简单的抓、捏动作。本实施例基于欠驱动原理使用一个电机通过腱传动的方式控制单根手指，使得手指在抓取不同物体时能够自适应地包络物体，其有结构简单、抓取控制难度低、可靠性高的优点。在本实施例中，参见图2～4和图10，手指单元1还包括第一指节盖板16、第二指节盖板17和第三指节盖板18，第一指节盖板16、第二指节盖板17和第三指节盖板18皆位于弹簧片15的外侧安装，分别与第一指节11、第二指节12和第三指节13将弹簧片15固定于手指单元1的表面上，除拇指之外的两外两根手指的第四指节14配合安装于掌心301的边缘卡槽中，使手指单元1与手掌单元3连接固定。在本实施例中，各手指分别包括四个指节，具有三个自由度，使用弹簧片15和手指盖板安装于手掌中。In this embodiment, referring to FIGS. 1 to 10, an underactuated humanoid three-finger manipulator includes a palm unit 3 and three fingers. The palm unit 3 includes a palm 301 and a back of the palm 302. One of the fingers is a thumb, and the palm unit 3 There are 3 micro-DC motors 303 for driving fingers to bend and 1 servo 306 for swinging the thumb. The output shaft of the micro-DC motor 303 is fixed with a winding 304. Each finger has a finger unit 1, and the fingers The unit 1 is sequentially connected by the first phalanx 11, the second phalanx 12, the third phalanx 13 and the fourth phalanx 14, and a rotation shaft is arranged between two adjacent phalanxes, so that the finger unit 1 is formed with three The finger joint system with degrees of freedom, the fourth knuckle 14 is fixedly connected to the edge of the palm unit 3, one end of the tendon rope is fixed at a position close to the free end of the finger unit 1, and the tendon rope passes through the tendon rope hole in the finger unit 1, the second The tendon rope hole in the second phalanx 12, the tendon rope hole in the third phalanx 13 and the tendon rope hole in the fourth phalanx 14, the other end of the tendon rope is fixed on the main shaft winding 304, and the spring leaf 15 is connected with the main shaft winding 304 at the same time. The knuckles of the finger unit 1 are fixedly connected to the side away from the palm 301. When the output of the micro DC motor 303 rotates in the forward direction, the main shaft winding 304 winds and tightens the tendon rope, so that the finger unit 1 bends inward. When the output of the motor 303 rotates in the reverse direction, relying on the elastic force of the spring leaf 15, the main shaft winding 304 loosens the tendon rope, and the finger unit 1 relies on the elastic force of the spring leaf 15 to straighten the finger unit 1, and the fourth knuckle 14 of the thumb forms the root of the thumb 21. The root of the thumb root 21 forms a cylindrical boss, and the palm 301 side of the palm unit 3 is provided with a card slot adapted to the shape of the thumb root 21. The thumb root unit 2 is mainly composed of the thumb root 21 and the thumb. Rotating shaft 27 and thumb swing bearing 26 are made up of, and thumb swing bearing 26 is installed on the cylindrical boss of root 21 of thumb and on the rotating shaft 27 respectively, the axis space between the rotating shaft between two adjacent knuckles of thumb and thumb swing rotating shaft 27 Vertically, the base of the thumb 21 rotates around the swing shaft 27 of the thumb, so that the thumb has 4 degrees of freedom. The power output shaft of the steering gear 306 drives the swing shaft 27 of the thumb to rotate, and the power of the steering gear 306 is transmitted to the base of the thumb 21 to realize The swing of the base of the thumb 21 relative to the center of the palm 301 makes the base of the thumb 21 enter and exit the slot in the center of the palm 301, and rotates the base of the thumb 21 to a set spatial angle position relative to the center of the palm 301, so that the three fingers cooperate with each other to achieve Corresponding bionic hand movements. Fig. 10 is a grasping example diagram of the present invention. The underactuated humanoid three-fingered manipulator of this embodiment includes a palm, two fingers and a thumb, and its appearance is humanoid. The palm structure can accommodate 3 micro DC motors 303 and 1 steering gear 306. The structure of each knuckle of the finger is convenient for the installation and wiring of the force sensor. There is a rotating shaft between two adjacent knuckles, which has a certain radius of rotation and rotation. angle. The thumb includes four knuckles and has four degrees of freedom. Micro motors are used to drive the movement of the fingers, and the servo drives the rotation of the base of the fingers. The fingers are driven by the tendon rope, and one end of the tendon rope is wound on the boss in the first knuckle 11, and after passing through the tendon rope hole at the bottom of each knuckle, the other end is wound on the rotor mechanism of the micro DC motor 303. When the finger grasps, it relies on the rotation of the micro-DC motor 303 to tighten the tendon rope, so that the finger bends and grasps the object. When the fingers are relaxed, the miniature direct current motor 303 reverses to loosen the tendon cord, and relies on the elastic force of the spring leaf to stretch the fingers and loosen the object. During the grasping process, after the steering gear 306 controls the base of the thumb 21 to rotate to an appropriate position, the micro-DC motor 303 drives the fingers to grasp the object, and the finger joints perform adaptive grasping according to the actual shape of the object, which is low in control difficulty and reliable. Advantages of high sex. This embodiment adopts under-actuation in the driving mode, the number of independent control variables is less than the number of degrees of freedom of the system, and it is superior to the full-drive system in terms of energy saving, cost reduction, weight reduction, and enhanced system flexibility. In this embodiment, a closed-loop feedback system composed of a force sensor and an angle sensor can be used to realize simple grasping and pinching actions. Based on the principle of underactuation, this embodiment uses a motor to control a single finger through tendon transmission, so that the finger can adaptively envelope objects when grasping different objects. It has simple structure, low difficulty in grasping control, and high reliability. The advantages. In this embodiment, referring to FIGS. 2-4 and FIG. 10 , the finger unit 1 further includes a first knuckle cover 16 , a second knuckle cover 17 and a third knuckle cover 18 , the first knuckle cover 16. The second knuckle cover 17 and the third knuckle cover 18 are installed on the outside of the spring piece 15, and are respectively fixed to the first knuckle 11, the second knuckle 12 and the third knuckle 13 to fix the spring piece 15 On the surface of the finger unit 1 , the fourth knuckles 14 of the two fingers other than the thumb are fitted in the edge slots of the palm 301 , so that the finger unit 1 and the palm unit 3 are connected and fixed. In this embodiment, each finger includes four knuckles, has three degrees of freedom, and is installed in the palm of the hand using a spring piece 15 and a finger cover.
在本实施例中，参见图2～4和图10，第一指节11、第二指节12、第三指节13和第四指节14的表面分别设有凸台，各凸台分别嵌于弹簧片15上开设的凹槽中，各指节盖板上也开设有与对应的指节上的凸台形状相适应的凹槽，即，第一指节盖板16的凹槽与第一指节11的凸台配合，放置于弹簧片15上并用螺钉与第一指节11相连，第二指节盖板17的凹槽与第二指节12的凸台配合，也放置于弹簧片15上并用螺钉与第二指节12相连，第三指节盖板18的凹槽与第三指节13的凸台配合，也放置于弹簧片15上并用螺钉与第三指节13相连。In this embodiment, referring to Fig. 2-4 and Fig. 10, the surfaces of the first knuckle 11, the second knuckle 12, the third knuckle 13 and the fourth knuckle 14 are respectively provided with bosses, and each boss is respectively Embedded in the groove provided on the spring leaf 15, each knuckle cover plate is also provided with a groove adapted to the shape of the boss on the corresponding knuckle, that is, the groove of the first knuckle cover plate 16 and The boss of the first knuckle 11 cooperates, is placed on the spring leaf 15 and is connected with the first knuckle 11 with screws, the groove of the second knuckle cover plate 17 cooperates with the boss of the second knuckle 12, and is also placed on the The spring sheet 15 is connected with the second knuckle 12 with screws, and the groove of the third knuckle cover plate 18 cooperates with the boss of the third knuckle 13, and is also placed on the spring sheet 15 and connected with the third knuckle 13 with screws. connected.
在本实施例中，参见图5、图6和图7～10，拇指指根单元2还包括拇指内转向轴承24和拇指内支承轴25，使用拇指指根盖板22和螺钉对拇指指根21和第四指节14进行固定连接，使拇指指根21与手指单元1的固定连接，拇指内转向轴承24安装配合于拇指内支承轴25上，拇指内支承轴25一端配合于拇指指根21一侧的轴孔中，另一端通过支承轴固定压板23对其进行固定，支承轴固定压板23配合于拇指指根21另一侧的凹槽中，拇指的腱绳通过拇指内转向轴承24的转向从拇指指根21底部的腱绳孔中穿出，固定于驱动拇指弯指动作的一个微型直流电机303的主轴绕子304上，拇指摆动转轴27的一端形成方形轴端并配合于拇指指根21中的方形轴孔中，另一端与舵机306的动力输出轴同轴固定相连。In this embodiment, referring to Fig. 5, Fig. 6 and Fig. 7-10, the thumb base unit 2 also includes the thumb inner steering bearing 24 and the thumb inner support shaft 25, and the thumb base cover plate 22 and screws are used to fix the thumb base. 21 and the fourth knuckle 14 are fixedly connected, so that the base of the thumb 21 is fixedly connected with the finger unit 1, the inner steering bearing 24 of the thumb is installed and fitted on the inner support shaft 25 of the thumb, and one end of the inner support shaft 25 of the thumb is matched with the base of the thumb In the shaft hole on one side of 21, the other end is fixed by the support shaft fixed pressure plate 23, and the support shaft fixed pressure plate 23 fits in the groove on the other side of the root of the thumb 21, and the tendon rope of the thumb passes through the inner steering bearing 24 of the thumb. The steering of the thumb passes through the tendon rope hole at the bottom of the base of the thumb 21, and is fixed on the main shaft winding 304 of a micro DC motor 303 that drives the thumb to bend the finger. One end of the thumb swing shaft 27 forms a square shaft end and fits on the thumb In the square shaft hole in the root of the finger 21, the other end is coaxially fixedly connected with the power output shaft of the steering gear 306.
在本实施例中，参见图7～10，微型直流电机303嵌于电机盖305中，电机盖305固定安装于手掌单元3中，腱绳通过电机盖305一侧的腱绳孔进入电机盖305中与绕子304连接，舵机306的动力输出端与转轴27相应的轴端配合安装，舵机306固定也安装于手掌单元3中，前拇指固定压块309安装于拇指指根21的根部圆柱形凸台一侧的拇指摆动轴承26处，后拇指固定压块310安装于拇指指根21的根部圆柱形凸台另一侧的另一个拇指轴承26处，通过螺钉将前拇指固定压块309和后拇指固定压块310分别固定安装于手掌单元3中，对两个拇指轴承26分别进行固定，搭线311的一侧通过与手掌单元3中一系列圆柱凸台的配合安装，将各微型直流电机303、各电机盖305和舵机306固定安装于于手掌单元3中，搭线311的另一侧设置导线，手掌中使用的搭线311便于排线，同时起到固定手掌内零部件的作用。In this embodiment, referring to FIGS. 7 to 10, the micro DC motor 303 is embedded in the motor cover 305, the motor cover 305 is fixedly installed in the palm unit 3, and the tendon rope enters the motor cover 305 through the tendon rope hole on one side of the motor cover 305. The center is connected with the coil 304, the power output end of the steering gear 306 is installed in cooperation with the corresponding shaft end of the rotating shaft 27, the steering gear 306 is fixed and also installed in the palm unit 3, and the front thumb fixing pressure block 309 is installed at the root of the thumb root 21 The thumb swing bearing 26 on one side of the cylindrical boss, the rear thumb fixed pressure block 310 is installed on the other thumb bearing 26 on the other side of the cylindrical boss at the root of the thumb root 21, and the front thumb fixed pressure block is fixed by screws 309 and the rear thumb fixing pressure block 310 are respectively fixedly installed in the palm unit 3, and the two thumb bearings 26 are respectively fixed, and one side of the thread 311 is installed through cooperation with a series of cylindrical bosses in the palm unit 3, and each The micro DC motor 303, each motor cover 305 and steering gear 306 are fixedly installed in the palm unit 3, and the other side of the wire 311 is provided with a wire. function of the component.
在本实施例中，参见图8和图9，当从手指单元1中的腱绳部分与微型直流电机303的动力输出轴不垂直时，在手掌单元3中设有手掌内支承轴308，手掌内转向轴承307配合安装于手掌内支承轴308上，手掌内支承轴308配合安装于掌心301中的轴孔中，手掌内支承轴308的另一端通过手掌内转向轴承307由搭线311固定，使腱绳通过手掌内转向轴承307转向后与绕子304相连。In the present embodiment, referring to Fig. 8 and Fig. 9, when the tendon rope part in the finger unit 1 is not perpendicular to the power output shaft of the micro DC motor 303, the palm unit 3 is provided with the inner support shaft 308 of the palm, and the palm Inner steering bearing 307 is fitted on the supporting shaft 308 in the palm, and the supporting shaft 308 is fitted in the shaft hole in the center of the palm 301. The other end of the supporting shaft 308 in the palm is fixed by the wire 311 through the steering bearing 307 in the palm. The tendon rope is connected to the winding 304 after turning the steering bearing 307 in the palm.
上面结合附图对本发明实施例进行了说明，但本发明不限于上述实施例，还可以根据本发明的发明创造的目的做出多种变化，凡依据本发明技术方案的精神实质和原理下做的改变、修饰、替代、组合、简化，均应为等效的置换方式，只要符合本发明的发明目的，只要不背离本发明欠驱动拟人三指机械手的技术原理和发明构思，都属于本发明的保护范围。The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and various changes can also be made according to the purpose of the invention of the present invention. The changes, modifications, substitutions, combinations, and simplifications should all be equivalent replacement methods, as long as they meet the purpose of the invention, as long as they do not deviate from the technical principle and inventive concept of the underactuated anthropomorphic three-finger manipulator of the present invention, they all belong to the present invention scope of protection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164198.1ACN104802180B (en) | 2015-04-09 | 2015-04-09 | Drive lacking anthropomorphic three refers to manipulator |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164198.1ACN104802180B (en) | 2015-04-09 | 2015-04-09 | Drive lacking anthropomorphic three refers to manipulator |
| Publication Number | Publication Date |
|---|---|
| CN104802180Atrue CN104802180A (en) | 2015-07-29 |
| CN104802180B CN104802180B (en) | 2017-06-06 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164198.1AExpired - Fee RelatedCN104802180B (en) | 2015-04-09 | 2015-04-09 | Drive lacking anthropomorphic three refers to manipulator |
| Country | Link |
|---|---|
| CN (1) | CN104802180B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583829A (en)* | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN106335074A (en)* | 2016-10-12 | 2017-01-18 | 上海大学 | Robot five-finger dexterous hand executive device |
| CN106976101A (en)* | 2017-05-15 | 2017-07-25 | 福州大学 | A kind of drive lacking two refers to crawl Dextrous Hand and its method of work |
| CN108081304A (en)* | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | A three-finger picking manipulator |
| CN109278061A (en)* | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Robot and its finger transmission structure |
| CN111152247A (en)* | 2020-01-22 | 2020-05-15 | 北京海益同展信息科技有限公司 | Mechanical arm |
| WO2021129378A1 (en)* | 2019-12-23 | 2021-07-01 | 京东数科海益信息科技有限公司 | Bionic hand, and bionic robot |
| CN114290358A (en)* | 2022-01-14 | 2022-04-08 | 吉林大学 | Bionic four-degree-of-freedom robot finger with pulling and pressing body |
| CN114714383A (en)* | 2022-03-16 | 2022-07-08 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1410234A (en)* | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| CN1803413A (en)* | 2006-01-20 | 2006-07-19 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
| JP2006247805A (en)* | 2005-03-14 | 2006-09-21 | Hitachi Ltd | Hand mechanism |
| US20070035143A1 (en)* | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| JP2007160448A (en)* | 2005-12-13 | 2007-06-28 | Honda Motor Co Ltd | Hand device |
| CN101716767A (en)* | 2009-11-27 | 2010-06-02 | 清华大学 | Coupling underactuated integrated bionic hand device |
| US20110067520A1 (en)* | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations, Inc. | Robotic thumb assembly |
| US20140035306A1 (en)* | 2011-03-21 | 2014-02-06 | Sri International | Mobile robotic manipulator system |
| JP5482664B2 (en)* | 2008-12-03 | 2014-05-07 | 国立大学法人 奈良先端科学技術大学院大学 | Robot hand |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1410234A (en)* | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| JP2006247805A (en)* | 2005-03-14 | 2006-09-21 | Hitachi Ltd | Hand mechanism |
| US20070035143A1 (en)* | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| JP2007160448A (en)* | 2005-12-13 | 2007-06-28 | Honda Motor Co Ltd | Hand device |
| CN1803413A (en)* | 2006-01-20 | 2006-07-19 | 哈尔滨工业大学 | Thumb mechanism of underactuated self-adaptive hand prosthesis |
| JP5482664B2 (en)* | 2008-12-03 | 2014-05-07 | 国立大学法人 奈良先端科学技術大学院大学 | Robot hand |
| US20110067520A1 (en)* | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations, Inc. | Robotic thumb assembly |
| CN101716767A (en)* | 2009-11-27 | 2010-06-02 | 清华大学 | Coupling underactuated integrated bionic hand device |
| US20140035306A1 (en)* | 2011-03-21 | 2014-02-06 | Sri International | Mobile robotic manipulator system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583829B (en)* | 2015-12-24 | 2017-11-10 | 泉州市泉港智源商贸有限公司 | A kind of simulation manipulator pulled based on steel wire is referred to |
| CN105583829A (en)* | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN106335074A (en)* | 2016-10-12 | 2017-01-18 | 上海大学 | Robot five-finger dexterous hand executive device |
| CN106976101A (en)* | 2017-05-15 | 2017-07-25 | 福州大学 | A kind of drive lacking two refers to crawl Dextrous Hand and its method of work |
| CN108081304A (en)* | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | A three-finger picking manipulator |
| CN109278061A (en)* | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Robot and its finger transmission structure |
| CN109278061B (en)* | 2018-10-31 | 2020-09-29 | 深圳市优必选科技有限公司 | Robot and finger transmission structure thereof |
| WO2021129378A1 (en)* | 2019-12-23 | 2021-07-01 | 京东数科海益信息科技有限公司 | Bionic hand, and bionic robot |
| CN111152247A (en)* | 2020-01-22 | 2020-05-15 | 北京海益同展信息科技有限公司 | Mechanical arm |
| CN114290358A (en)* | 2022-01-14 | 2022-04-08 | 吉林大学 | Bionic four-degree-of-freedom robot finger with pulling and pressing body |
| CN114290358B (en)* | 2022-01-14 | 2023-11-17 | 吉林大学 | Bionic four-degree-of-freedom robot finger with pulling and pressing body |
| CN114714383A (en)* | 2022-03-16 | 2022-07-08 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
| CN114714383B (en)* | 2022-03-16 | 2023-06-09 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
| Publication number | Publication date |
|---|---|
| CN104802180B (en) | 2017-06-06 |
| Publication | Publication Date | Title |
|---|---|---|
| CN104802180B (en) | Drive lacking anthropomorphic three refers to manipulator | |
| CN106335074A (en) | Robot five-finger dexterous hand executive device | |
| US8424941B2 (en) | Robotic thumb assembly | |
| US10618182B2 (en) | Underactuated mechanical finger capable of linear motion with compensatory displacement, mechanical gripper and robot containing the same | |
| CN104802181A (en) | Three-finger flexible hand performing device of robot | |
| CN107322633B (en) | Bionic mechanical arm | |
| CN203313691U (en) | Fruit picking robot three-fingered dexterous hand | |
| CN107253188B (en) | A Simple Manipulator with Multiple Degrees of Freedom Driven by IPMC | |
| CN103299776A (en) | Dexterous three-finger hand of fruit picking robot | |
| TWI633986B (en) | Robotic hand | |
| CN101402200A (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN115805599B (en) | A bionic dexterous hand | |
| CN111098320A (en) | 12-degree-of-freedom five-finger manipulator | |
| CN104999470A (en) | All-driving three-finger ingenious mechanical arm | |
| CN105415394A (en) | Multi-fingered dexterous hand based on FPA drive | |
| CN113799162B (en) | Robot grabbing paw for special-shaped objects | |
| CN106002995A (en) | Grabbing control system for five-finger anthropomorphic manipulator | |
| CN108145729A (en) | Five connecting rods put down folder adaptive robot finger apparatus | |
| TW201345676A (en) | Robotic hand mechanism | |
| Wen et al. | Design and optimization of a tendon-driven robotic hand | |
| CN111469156B (en) | Rigid-flexible combined human-simulated five-finger mechanical gripper | |
| CN107186743B (en) | Bionic mechanical palm based on net-shaped linkage structure | |
| CN109877868B (en) | Coupling self-adaptive under-actuated human-simulated dexterous finger | |
| CN109927062A (en) | A kind of personification the five fingers manipulator | |
| CN102806564B (en) | Arc-shaped basal articulation for humanized flexible hand |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| 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:20170606 Termination date:20210409 |