技术领域technical field
本发明涉及一种机器人设备，特别是涉及一种机器人的五指灵巧手执行装置，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 five-finger dexterous hand actuator for a robot, which is applied in the technical fields of end grippers and humanoid prostheses.
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 perform 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 has increased the complexity and research difficulty of the system at the cost.
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，提供一种机器人的五指灵巧手执行装置，包括手掌、四根手指和一根拇指，手指包括四个指节，使用弹簧片、手指盖板、螺钉和螺母连接，手掌包括底板、盖板，用于固定电机和手指。四手指分别具有三个自由度，拇指具有四个自由度，整只手共十六个自由度，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 a five-finger dexterous hand actuator for a robot, which includes a palm, four fingers and a thumb, and the fingers include four knuckles. Spring leaf, finger cover plate, screw and nut connection, palm includes bottom plate, cover plate, used to fix the motor and fingers. The four fingers each have three degrees of freedom, the thumb has four degrees of freedom, and the whole hand has a total of sixteen 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:
一种机器人的五指灵巧手执行装置，包括手掌单元和五根手指，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，其中有一根手指为拇指，手掌单元内部设置五个驱动手指弯指动作的微型直流电机和一个摆动拇指的微型直流电机，微型直流电机的输出轴固定连接传感器和固定安装绕子，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第一指节的腱绳孔、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，从而使拇指具有四个自由度，微型直流电机的动力输出轴驱动拇指摆动转轴转动，将微型直流电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，使五根手指相互辅助配合实现相应仿生手部动作。A five-fingered dexterous hand actuator for a robot, including a palm unit and five fingers, the palm unit is used to provide a power source for the fingers and fix the positional relationship with the palm, and has a humanoid shape, the palm unit includes the center of the palm and the back of the palm, One of the fingers is a thumb, and the palm unit is equipped with five micro-DC motors that drive fingers to bend and a micro-DC motor that swings the thumb. The output shaft of the micro-DC motor is fixedly connected to the sensor and the fixed winding. It has a finger unit part, which is 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. Turn the shaft 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 finger unit in turn. The tendon cord hole of the first phalanx, the tendon cord hole in the second phalanx, the tendon cord hole in the third phalanx and the tendon cord hole in the fourth phalanx, the other end of the tendon cord is fixed on the main shaft winding , the spring leaf is fixedly connected with each knuckle of the finger unit away from the palm at the same time. 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 micro DC motor When the output of the motor rotates in the reverse direction, relying on the elastic force of the spring leaf, the main shaft winding loosens the tendon cord, 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 degree of freedom of rotation of the root of the thumb, the root of the root of the thumb forms a cylindrical boss, the palm side of the palm unit is provided with a card slot that adapts to the shape of the root of the thumb, and the root unit of the thumb is mainly composed of the root of the thumb and the thumb. Composed of a rotating shaft and a thumb swing bearing, the thumb swing bearing is respectively installed on the cylindrical boss at the root of the thumb and on the rotating shaft, the thumb swing shaft and the thumb swing bearing play a supporting role when connected with the palm unit, the adjacent two fingers of the thumb The rotation axis between the nodes is perpendicular to the axial space of the thumb swing shaft, and the root of the thumb rotates around the thumb swing shaft, so that the thumb has four degrees of freedom. The power output shaft of the micro DC motor drives the rotation of the thumb swing shaft, and the micro DC motor The power is transmitted to the root of the thumb to realize the swing of the root of the thumb relative to the center of the palm, so that the root of the thumb enters and exits the card slot in the palm, and rotates the root of the thumb to the set spatial angle position relative to the center of the palm, so that the five fingers assist each other Cooperate to realize 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，在第一指节背部开螺母槽，在第二指节和第三指节内部开螺母槽，在用螺钉和螺母将指节盖板、指节和弹簧片连接时，可以使连接的更加固定，使其不易松动。As an improvement of the above technical solution, a nut groove is opened on the back of the first knuckle, and a nut groove is opened inside the second and third knuckles. When screws and nuts are used to connect the knuckle cover, the knuckle and the spring , can make the connection more fixed, so that it is not easy to loosen.
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，另一端与微型直流电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 winding of the main shaft of the thumb, one end of the thumb swing shaft forms a square shaft end and fits in the square shaft hole in the root of the thumb, and the other end is coaxially fixedly connected with the power output shaft of the micro DC motor.
作为上述技术方案的改进，微型直流电机嵌于电机盖中或手掌单元中，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，驱动拇指转动的微型直流电机的动力输出端与转轴相应的轴端配合安装，同时也嵌于电机盖中，电机盖固定安装于手掌单元中，拇指盖板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以及拇指指根的根部圆柱形凸台另一侧的另一个拇指轴承处，通过螺钉拇指盖板固定安装于手掌单元中，对两个拇指轴承分别进行固定。As an improvement of the above technical solution, the micro DC motor is embedded in the motor cover or the palm unit, the motor cover is fixedly installed in the palm unit, and the tendon rope enters the motor cover through the tendon rope hole on one side of the motor cover to connect with the winding, and drives The power output end of the micro DC motor rotated by the thumb is installed in conjunction with the corresponding shaft end of the rotating shaft, and is also embedded in the motor cover. The motor cover is fixedly installed in the palm unit, and the thumb cover is installed on the cylindrical boss at the root of the thumb The thumb swing bearing on one side and the other thumb bearing on the other side of the cylindrical boss at the root of the thumb are fixedly installed in the palm unit by screw thumb cover plates to fix the two thumb bearings respectively.
作为上述技术方案的改进，由于需要对五根手指进行驱动，在对除拇指外的四根手指进行驱动时，若要使微型直流电机的尺寸即满足手掌单元的安装尺寸要求，又可以使通过指节的腱绳可以垂直绕入绕子中，此时可以将两个微型直流电机平行轴对轴放置，另外两个微型直流电机背对背放置，这样可以使腱绳与绕子垂直相绕，可以大大减小腱绳受到磨损的情况，同时，这样放置可以很大程度的减少微型直流电机整体所占用手掌单元的空间。As an improvement of the above-mentioned technical scheme, since five fingers need to be driven, when driving the four fingers except the thumb, if the size of the micro DC motor is to meet the installation size requirements of the palm unit, it can also be made to pass The tendon rope of the knuckle can be wound vertically into the winding. At this time, two micro-DC motors can be placed parallel to the shaft, and the other two micro-DC motors can be placed back to back, so that the tendon rope and the winding can be wound vertically. Greatly reduce the wear and tear of the tendon rope, and at the same time, such placement can greatly reduce the space of the palm unit occupied by the micro DC motor as a whole.
作为上述技术方案的改进，搭线通过与手掌单元中的凸台的安装，用螺钉将搭线固定在手掌上，同时搭线可以设置导线，同时可以至少通过电机导线、传感器信号线，使手掌的空间可以得到充分的利用，可以减小手掌的厚度。As an improvement of the above-mentioned technical scheme, the strapping wire is fixed on the palm with screws through the installation with the boss in the palm unit, and the strapping wire can be provided with wires at the same time, and at least the motor wire and the sensor signal wire can be used to make the palm The space can be fully utilized and the thickness of the palm can be reduced.
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五指机器人灵巧手，四手指分别具有三个自由度，拇指具有四个自由度，整只手共十六个自由度，其外形仿人；1. The robot hand of the present invention is an underactuated five-fingered robot dexterous hand, with four fingers having three degrees of freedom, and the thumb having four degrees of freedom, and the whole hand has sixteen 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. 本发明的机械手的五指的欠驱动机器人灵巧手，不仅在结构上简化为五指，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 five-fingered underactuated robot dexterous hand of the manipulator of the present invention is not only simplified to five fingers in structure, but also adopts an underactuated mode in the driving mode, which greatly reduces the system cost while ensuring the basic functions of the robot dexterous hand. complexity and research difficulty.
附图说明Description of drawings
图1是本发明优选实施例机器人的五指灵巧手执行装置的正面立体图。Fig. 1 is a front perspective view of a five-fingered dexterous hand actuator of a robot in a preferred embodiment of the present invention.
图2是本发明优选实施例机器人的五指灵巧手执行装置的反面立体图。Fig. 2 is a reverse perspective view of the five-fingered dexterous hand actuator of the robot in the preferred embodiment of the present invention.
图3是本发明优选实施例灵巧手的食指单元立体图。Fig. 3 is a perspective view of the index finger unit of the dexterous hand in the preferred embodiment of the present invention.
图4是本发明优选实施例灵巧手的食指单元爆炸图。Fig. 4 is an exploded view of the index finger unit of the dexterous hand in the preferred embodiment of the present invention.
图5是本发明优选实施例灵巧手的中指指单元立体图。Fig. 5 is a perspective view of the middle finger unit of the dexterous hand in the preferred embodiment of the present invention.
图6是本发明优选实施例灵巧手的中指单元爆炸图。Fig. 6 is an exploded view of the middle finger unit of the dexterous hand in the preferred embodiment of the present invention.
图7是本发明优选实施例灵巧手的小姆指单元立体图。Fig. 7 is a perspective view of the little thumb unit 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的小姆指单元爆炸图。Fig. 8 is an exploded view of the little thumb unit of the dexterous hand in the preferred embodiment of the present invention.
图9是本发明优选实施例灵巧手的拇指指根立体图。Fig. 9 is a perspective view of the root of the thumb of the dexterous hand of the preferred embodiment of the present invention.
图10是本发明优选实施例灵巧手的拇指指根爆炸图。Fig. 10 is an exploded view of the root of the thumb of the dexterous hand of the preferred embodiment of the present invention.
图11是本发明优选实施例灵巧手的手掌内部结构立体图。Fig. 11 is a perspective view of the internal structure of the palm of the dexterous hand in the preferred embodiment of the present invention.
图12是本发明优选实施例灵巧手的手掌内部结构爆炸图。Fig. 12 is an exploded view of the internal structure of the palm of the dexterous hand in the preferred embodiment of the present invention.
图13是本发明优选实施例机器人灵巧手一种抓取示例图。Fig. 13 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 description
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1～13，一种机器人的五指灵巧手执行装置，包括手掌单元和五根手指，手掌单元包括掌背501和掌心502，其中一根手指为拇指，手掌单元内部设置五个驱动手指弯指动作的微型直流电机509和一个摆动拇指的微型直流电机509，微型直流电机509的输出轴上固定连接传感器508和固定安装绕子505，两根食指具有第一手指单元部分，第一手指单元依次由第一指节A11、第二指节A12、第三指节A13和第四指节14连接而成，相邻两指节间设有转动轴，使第一手指单元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的上边缘，腱绳一端固定于靠近第一手指单元自由端的位置处，腱绳依次穿过第一手指单元中的腱绳孔、第二指节A12中的腱绳孔、第三指节A13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505上，弹簧片A18同时与第一手指单元的各指节远离掌心502的一侧固定连接，当微型直流电机509输出正向转动时，主轴绕子505卷绕收紧腱绳，从而使得第一手指单元进行内弯曲，当微型直流电机509输出反向转动时，依靠弹簧片A18的弹力，主轴绕子505放松腱绳，第一手指单元依靠弹簧片A18的弹力伸直，同理，中指具有第二手指单元部分，第二手指单元依次由第一指节B21、第二指节B22、第三指节B23和第四指节14连接而成，相邻两指节间设有转动轴，使第二手指单元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的边缘，腱绳一端固定于靠近第二手指单元自由端的位置处，腱绳依次穿过第二手指单元中的腱绳孔、第二指节B22中的腱绳孔、第三指节B23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505上，弹簧片25同时与第二手指单元的各指节远离掌心502的一侧固定连接，当微型直流电机509输出正向转动时，主轴绕子505卷绕收紧腱绳，从而使得第二手指单元进行内弯曲，当微型直流电机509输出反向转动时，依靠弹簧片B25的弹力，主轴绕子505放松腱绳，第二手指单元依靠弹簧片B25的弹力伸直，小拇指具有第三手指单元部分，第三手指单元依次由第一指节C31、第二指节C32、第三指节C33和第四指节14连接而成，相邻两指节间设有转动轴，使第三手指单元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的边缘，腱绳一端固定于靠近第三手指单元自由端的位置处，腱绳依次穿过第三手指单元中的腱绳孔、第二指节C32中的腱绳孔、第三指节C33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505上，弹簧片C37同时与第三手指单元的各指节远离掌心502的一侧固定连接，当微型直流电机509输出正向转动时，主轴绕子505卷绕收紧腱绳，从而使得第三手指单元进行内弯曲，当微型直流电机509输出反向转动时，依靠弹簧片C37的弹力，主轴绕子505放松腱绳，第三手指单元依靠弹簧片C37的弹力伸直，拇指的第四指节14形成拇指指根41，拇指指根41根部形成圆柱形凸台，手掌单元的掌心502一侧设有与拇指指根41的形状相适应的卡槽，拇指指根单元主要由拇指指根41、拇指摆动转轴47和拇指摆动轴承46组成，拇指摆动轴承46分别安装于拇指指根41根部的圆柱形凸台和转轴47上，拇指的相邻两指节间的转动轴与拇指摆动转轴47的轴线空间垂直，拇指指根41围绕拇指摆动转轴47转动，从而使拇指具有四个自由度，微型直流电机509的动力输出轴驱动拇指摆动转轴47转动，将微型直流电机509的动力传递给拇指指根41，实现拇指指根41相对与掌心502的摆动，使拇指指根41进出掌心502的卡槽，并使拇指指根41转动至相对于掌心502的设定空间角度位置，使五根手指相互辅助配合实现相应仿生手部动作。In this embodiment, referring to FIGS. 1 to 13, a five-fingered dexterous hand actuator for a robot includes a palm unit and five fingers. The palm unit includes the back of the palm 501 and the center of the palm 502. One of the fingers is a thumb, and the inside of the palm unit is Set up five micro-DC motors 509 for driving finger bending action and one micro-DC motor 509 for swinging the thumb. The output shaft of the micro-DC motor 509 is fixedly connected with the sensor 508 and the winding 505. The two forefingers have the first finger unit part, the first finger unit is sequentially connected by the first knuckle A11, the second knuckle A12, the third knuckle A13 and the fourth knuckle 14, and a rotation shaft is arranged between two adjacent knuckles, so that the first finger The unit forms a finger joint system with three degrees of freedom. The fourth knuckle 14 is fixedly connected to the upper edge of the palm unit. One end of the tendon rope is fixed at a position close to the free end of the first finger unit, and the tendon rope passes through the first finger unit in turn. The tendon rope hole in the middle, the tendon rope hole in the second knuckle A12, the tendon rope hole in the third knuckle A13 and the tendon rope hole in the fourth knuckle 14, the other end of the tendon rope is fixed to the main shaft winding 505 At the same time, the spring piece A18 is fixedly connected to the side of the knuckles of the first finger unit away from the palm 502. When the output of the micro DC motor 509 rotates in the forward direction, the main shaft winding 505 winds and tightens the tendon rope, so that the first The finger unit bends inwardly. When the output of the micro DC motor 509 rotates in the reverse direction, relying on the elastic force of the spring sheet A18, the main shaft winding 505 relaxes the tendon cord, and the first finger unit is straightened by relying on the elastic force of the spring sheet A18. Similarly, the middle finger has The second finger unit part, the second finger unit is sequentially connected by the first knuckle B21, the second knuckle B22, the third knuckle B23 and the fourth knuckle 14, and a rotation shaft is arranged between two adjacent knuckles, Make the second finger unit form a finger joint system with three degrees of freedom, the fourth knuckle 14 is fixedly connected to the edge of the palm unit, one end of the tendon cord is fixed at a position close to the free end of the second finger unit, and the tendon cord passes through the second finger unit in turn. The tendon rope hole in the second finger unit, the tendon rope hole in the second knuckle B22, the tendon rope hole in the third knuckle B23 and the tendon rope hole in the fourth knuckle 14, the other end of the tendon rope is fixed to the main shaft On the winding 505, the spring leaf 25 is fixedly connected to the side of each knuckle of the second finger unit away from the palm 502 at the same time. When the output of the micro DC motor 509 rotates in the forward direction, the main shaft winding 505 winds and tightens the tendon cord, thereby The second finger unit is bent inwardly. When the output of the micro DC motor 509 rotates in the reverse direction, the main shaft winding 505 relaxes the tendon cord by relying on the elastic force of the spring leaf B25, and the second finger unit is stretched by relying on the elastic force of the spring leaf B25. The little finger has The third finger unit part, the third finger unit is sequentially connected by the first knuckle C31, the second knuckle C32, the third knuckle C33 and the fourth knuckle 14, and a rotation shaft is arranged between two adjacent knuckles. Make the third finger unit form a finger joint system with three degrees of freedom, the fourth knuckle 14 is fixedly connected to the edge of the palm unit, one end of the tendon cord is fixed at a position near the free end of the third finger unit, and the tendon The rope passes through the tendon rope hole in the third finger unit, the tendon rope hole in the second phalanx C32, the tendon rope hole in the third phalanx C33 and the tendon rope hole in the fourth phalanx 14, the tendon rope The other end is fixed on the main shaft winding 505, and the spring piece C37 is fixedly connected to the side of each knuckle of the third finger unit away from the palm 502 at the same time. When the micro DC motor 509 outputs forward rotation, the main shaft winding 505 is wound up Tighten the tendon rope, so that the third finger unit bends inwardly. When the output of the micro DC motor 509 rotates in the reverse direction, relying on the elastic force of the spring sheet C37, the main shaft winding 505 relaxes the tendon rope, and the third finger unit relies on the elastic force of the spring sheet C37 Stretch, the fourth knuckle 14 of the thumb forms the root of the thumb 41, and the root of the root of the thumb 41 forms a cylindrical boss. The root unit is mainly composed of the root of the thumb 41, the swing shaft 47 of the thumb and the swing bearing 46 of the thumb. The swing bearing 46 of the thumb is installed on the cylindrical boss and the shaft 47 of the base of the thumb 41 respectively. The adjacent two knuckles of the thumb The rotation axis between them is perpendicular to the axial space of the thumb swing shaft 47, and the base of the thumb 41 rotates around the thumb swing shaft 47, so that the thumb has four degrees of freedom. The power output shaft of the micro DC motor 509 drives the thumb swing shaft 47 to rotate, and the The power of the micro DC motor 509 is transmitted to the base of the thumb 41 to realize the swing of the base of the thumb 41 relative to the center of the palm 502, so that the base of the thumb 41 enters and exits the slot of the center of the palm 502, and the base of the thumb 41 is rotated to the position relative to the center of the palm 502. Set the spatial angle position so that the five fingers assist and cooperate with each other to realize the corresponding bionic hand movements.
图13为本发明的一种抓取示例图，本实施例机器人的五指灵巧手执行装置包括手掌、四根手指和一根拇指，其外形仿人。手掌结构可容纳六个微型直流电机509，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、指根的转动。手指由腱绳带动，在食指中，腱绳一端缠绕在第一指节A11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509的转子机构上。手指在抓取时，依靠微型直流电机509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509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。在中指中，腱绳一端缠绕在第一指节B21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509的转子机构上。手指在抓取时，依靠微型直流电机509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509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。在小拇指中，腱绳一端缠绕在第一指节C31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509的转子机构上。手指在抓取时，依靠微型直流电机509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509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，微型直流电机509控制拇指指根41转动至恰当位置后，微型直流电机509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。Fig. 13 is an example diagram of grasping according to the present invention. The five-fingered dexterous hand implementing device of the robot in this embodiment includes a palm, four fingers and a thumb, and its appearance is humanoid. The palm structure can accommodate six miniature DC motors 509, and the knuckle structure of the finger is convenient for the installation and wiring of the force sensor. There is a rotating shaft between two adjacent knuckles, and there is a certain turning radius and turning 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 rotation of the base of the fingers. The fingers are driven by the tendon rope. In the index finger, one end of the tendon rope is wound on the boss in the first knuckle A11, and after passing through the tendon rope hole at the lower part of each knuckle, the other end is wound on the rotor mechanism of the micro DC motor 509 superior. When the finger grasps, it relies on the rotation of the micro DC motor 509 to tighten the tendon rope, thereby making the finger bend and grasp the object. When the fingers are relaxed, the miniature direct current motor 509 reverses to loosen the tendon rope, and relies on the elastic force of the spring leaf, so that the fingers are stretched and the object is relaxed. In the middle finger, one end of the tendon rope is wound on the boss in the first knuckle B21, and after passing through the tendon rope hole at the lower part of each knuckle, the other end is wound on the rotor mechanism of the micro DC motor 509. When the finger grasps, it relies on the rotation of the micro DC motor 509 to tighten the tendon rope, thereby making the finger bend and grasp the object. When the fingers are relaxed, the miniature direct current motor 509 reverses to loosen the tendon rope, and relies on the elastic force of the spring leaf, so that the fingers are stretched and the object is relaxed. In the little finger, one end of the tendon rope is wound on the boss in the first knuckle C31, and after passing through the tendon rope hole at the lower part of each knuckle, the other end is wound on the rotor mechanism of the micro DC motor 509. When the finger grasps, it relies on the rotation of the micro DC motor 509 to tighten the tendon rope, thereby making the finger bend and grasp the object. When the fingers are relaxed, the miniature direct current motor 509 reverses to loosen the tendon rope, and relies on the elastic force of the spring leaf, so that the fingers are stretched and the object is relaxed. During the grasping process, after the micro DC motor 509 controls the base of the thumb 41 to rotate to an appropriate position, the micro DC motor 509 drives the fingers to grasp the object, and the finger joints perform adaptive grasping according to the actual shape of the object, which has low control difficulty, The advantage of high reliability. 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.
在本实施例中，参见图2～8和图13，第一手指单元还包括第一指节盖板A15、第二指节盖板A16和第三指节盖板A17，第一指节盖板A15、第二指节盖板A16和第三指节盖板A17皆位于弹簧片A18的外侧安装，分别与第一指节A11、第二指节A12和第三指节A13将弹簧片A18固定于第一手指单元的表面上，第二手指单元还包括第一指节盖板B24、第二指节盖板A16和第三指节盖板A17，第一指节盖板B24、第二指节盖板A16和第三指节盖板A17皆位于弹簧片B25的外侧安装，分别与第一指节B21、第二指节B22和第三指节B23将弹簧片B25固定于第二手指单元的表面上，第三手指单元还包括第一指节盖板C34、第二指节盖板C35和第三指节盖板C36，第一指节盖板C34、第二指节盖板C35和第三指节盖板C36皆位于弹簧片C37的外侧安装，分别与第一指节C34、第二指节C35和第三指节C36将弹簧片C37固定于第三手指单元的表面上，除拇指之外的四根手指的第四指节14配合安装于掌心502的边缘卡槽中，使三个手指单元与手掌单元连接固定，在本实施例中，各手指分别包括四个指节，具有三个自由度，食指使用弹簧片A18和手指盖板安装于手掌中，中指使用弹簧片B25和手指盖板安装于手掌中，小拇指使用弹簧片C37和手指盖板安装于手掌中。In this embodiment, referring to Fig. 2-8 and Fig. 13, the first finger unit further includes a first knuckle cover A15, a second knuckle cover A16 and a third knuckle cover A17, the first knuckle cover The plate A15, the second knuckle cover A16 and the third knuckle cover A17 are all installed on the outside of the spring piece A18, and are respectively connected to the first knuckle A11, the second knuckle A12 and the third knuckle A13 to connect the spring piece A18 Fixed on the surface of the first finger unit, the second finger unit also includes the first knuckle cover B24, the second knuckle cover A16 and the third knuckle cover A17, the first knuckle cover B24, the second The knuckle cover A16 and the third knuckle cover A17 are installed on the outer side of the spring piece B25, and respectively fix the spring piece B25 on the second finger with the first knuckle B21, the second knuckle B22 and the third knuckle B23 On the surface of the unit, the third finger unit also includes a first knuckle cover C34, a second knuckle cover C35 and a third knuckle cover C36, the first knuckle cover C34, the second knuckle cover C35 and the third knuckle cover plate C36 are installed on the outside of the spring piece C37, and the spring piece C37 is fixed on the surface of the third finger unit with the first knuckle C34, the second knuckle C35 and the third knuckle C36 respectively, The fourth knuckles 14 of the four fingers other than the thumb are fitted in the edge draw-in groove of the palm 502, so that the three finger units are connected and fixed with the palm unit. In this embodiment, each finger includes four knuckles respectively , with three degrees of freedom, the index finger is installed in the palm of the hand using the spring sheet A18 and the finger cover, the middle finger is installed in the palm of the hand using the spring sheet B25 and the finger cover, and the little finger is installed in the palm of the hand using the spring sheet C37 and the finger cover.
在本实施例中，参见图2～8和图13，食指的第一指节A11、第二指节A12、第三指节A13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A18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A15的凹槽与第一指节A11的凸台配合，放置于弹簧片A18上并用螺钉与第一指节A11相连，第二指节盖板A16的凹槽与第二指节A12的凸台配合，也放置于弹簧片A18上并用螺钉与第二指节A12相连，第三指节盖板A17的凹槽与第三指节A13的凸台配合，也放置于弹簧片A18上并用螺钉与第三指节A13相连。中指的第一指节B21、第二指节B22、第三指节B23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B25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B24的凹槽与第一指节B21的凸台配合，放置于弹簧片B25上并用螺钉与第一指节B21相连，第二指节盖板A16的凹槽与第二指节B22的凸台配合，也放置于弹簧片B25上并用螺钉与第二指节B22相连，第三指节盖板A17的凹槽与第三指节B23的凸台配合，也放置于弹簧片B25上并用螺钉与第三指节B23相连。小姆指的第一指节C31、第二指节C32、第三指节C33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C37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C34的凹槽与第一指节C31的凸台配合，放置于弹簧片C37上并用螺钉与第一指节C31相连，第二指节盖板C35的凹槽与第二指节C32的凸台配合，也放置于弹簧片C37上并用螺钉与第二指节C32相连，第三指节盖板C36的凹槽与第三指节C33的凸台配合，也放置于弹簧片C37上并用螺钉与第三指节C33相连。In this embodiment, referring to Fig. 2-8 and Fig. 13, the surfaces of the first phalanx A11, the second phalanx A12, the third phalanx A13 and the fourth phalanx 14 of the index finger are respectively provided with bosses. The platform is respectively embedded in the groove provided on the spring piece A18, and each knuckle cover plate is also provided with a groove suitable for the shape of the boss on the corresponding knuckle, that is, the concave groove of the first knuckle cover A15. The groove is matched with the boss of the first knuckle A11, placed on the spring piece A18 and connected with the first knuckle A11 with screws, and the groove of the second knuckle cover A16 is matched with the boss of the second knuckle A12, also Place it on the spring sheet A18 and connect it with the second knuckle A12 with screws. The groove of the third knuckle cover plate A17 matches the boss of the third knuckle A13. Also place it on the spring sheet A18 and connect it with the third knuckle with screws. Section A13 is connected. The surfaces of the first knuckle B21, the second knuckle B22, the third knuckle B23 and the fourth knuckle 14 of the middle finger are respectively provided with bosses, and each boss is embedded in the groove provided on the spring piece B25 respectively. The 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 B24 cooperates with the boss of the first knuckle B21, and is placed on the spring. The piece B25 is connected with the first knuckle B21 with screws, and the groove of the second knuckle cover plate A16 cooperates with the boss of the second knuckle B22, and is also placed on the spring piece B25 and connected with the second knuckle B22 with screws , the groove of the third knuckle cover plate A17 cooperates with the boss of the third knuckle B23, and is also placed on the spring piece B25 and connected with the third knuckle B23 with screws. The surfaces of the first knuckle C31, the second knuckle C32, the third knuckle C33 and the fourth knuckle 14 of the little thumb are respectively provided with bosses, and each boss is respectively embedded in the groove provided on the spring piece C37 , 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 C34 is matched with the boss of the first knuckle C31, and placed On the spring piece C37 and connected with the first knuckle C31 with screws, the groove of the second knuckle cover plate C35 is matched with the boss of the second knuckle C32, also placed on the spring piece C37 and connected with the second knuckle with screws C32 is connected, and the groove of the third knuckle cover plate C36 cooperates with the boss of the third knuckle C33, and is also placed on the spring piece C37 and connected with the third knuckle C33 with screws.
在本实施例中，参见图9、图10和图11～13，拇指指根单元还包括拇指内转向轴承44和拇指内支承轴45，使用拇指指根盖板42和螺钉对拇指指根41和第四指节14进行固定连接，使拇指指根41与第三手指单元固定连接，拇指内转向轴承44安装配合于拇指内支承轴45上，拇指内支承轴45一端配合于拇指指根41一侧的轴孔中，另一端通过支承轴固定压板43对其进行固定，支承轴固定压板43配合于拇指指根41另一侧的凹槽中，拇指的腱绳通过拇指内转向轴承44的转向从拇指指根41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509的主轴绕子505上，拇指摆动转轴47的一端形成方形轴端并配合于拇指指根41中的方形轴孔中，另一端与微型直流电机509的动力输出轴同轴固定相连。In this embodiment, referring to Fig. 9, Fig. 10 and Fig. 11-13, the thumb base unit also includes the thumb inner steering bearing 44 and the thumb inner support shaft 45, and the thumb base cover plate 42 and the screw are used to fix the thumb base 41 It is fixedly connected with the fourth knuckle 14, so that the base of the thumb 41 is fixedly connected with the third finger unit, the inner steering bearing 44 of the thumb is installed and fitted on the inner support shaft 45 of the thumb, and one end of the inner support shaft 45 of the thumb is matched with the base of the thumb 41 In the shaft hole on one side, the other end is fixed by the support shaft fixed pressure plate 43, the support shaft fixed pressure plate 43 fits in the groove on the other side of the root of the thumb 41, and the tendon rope of the thumb passes through the inner steering bearing 44 of the thumb. Turning to pass through the tendon rope hole at the bottom of the thumb root 41, and fixed on the main shaft winding 505 of a micro DC motor 509 that drives the thumb to bend the finger. One end of the thumb swing shaft 47 forms a square shaft end and fits on the thumb. In the square shaft hole in root 41, the other end is coaxially fixedly connected with the power output shaft of micro DC motor 509.
在本实施例中，参见图11～13，一个微型直流电机509嵌于电机盖A504中，电机盖A504固定安装于手掌单元中，腱绳通过电机盖A504一侧的腱绳孔进入电机盖A504中与绕子505连接，四个微型直流电机509嵌于手掌单元中，被电机盖B510覆盖，电机盖B510固定安装于手掌单元中，腱绳通过手掌心502一侧的腱绳孔进入手掌心502中与绕子505连接，微型直流电机509的动力输出端与拇指摆动转轴47相应的轴端配合安装，微型直流电机509固定也安装于手掌单元中，电机盖C506覆盖在微型直流电机509上，电机盖C506用螺钉固定在手掌单元中，拇指盖板503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46处和拇指指根21的根部圆柱形凸台另一侧的另一个拇指轴承46处，通过螺钉将拇指盖板固定安装于手掌单元中，对两个拇指轴承46分别进行固定，搭线507与手掌单元中凸台的配合安装，用螺钉将搭线507固定在手掌心502中，搭线507可以设置导线，手掌中使用的搭线507便于排线，同时起到固定手掌内零部件的作用。In this embodiment, referring to Figures 11-13, a micro DC motor 509 is embedded in the motor cover A504, the motor cover A504 is fixedly installed in the palm unit, and the tendon rope enters the motor cover A504 through the tendon rope hole on one side of the motor cover A504 The center is connected with the winding 505, and four micro DC motors 509 are embedded in the palm unit, covered by the motor cover B510, and the motor cover B510 is fixedly installed in the palm unit, and the tendon rope enters the palm through the tendon rope hole on the side of the palm 502 502 is connected with the winding 505, the power output end of the micro DC motor 509 is installed in cooperation with the corresponding shaft end of the thumb swing shaft 47, the micro DC motor 509 is fixed and installed in the palm unit, and the motor cover C506 is covered on the micro DC motor 509 , the motor cover C506 is fixed in the palm unit with screws, the thumb cover plate 503 is installed on the thumb swing bearing 46 on one side of the cylindrical boss at the root of the thumb root 21 and on the other side of the cylindrical boss at the root of the thumb root 21 At the other thumb bearing 46, the thumb cover plate is fixedly installed in the palm unit by screws, and the two thumb bearings 46 are respectively fixed, and the take-up line 507 is installed in cooperation with the boss in the palm unit, and the take-up line 507 is fixed with screws. Fixed in the center of the palm 502, wires 507 can be provided with wires, and the wires 507 used in the palm are convenient for arranging wires, and simultaneously play the role of fixing parts 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，只要不背离本发明机器人的五指灵巧手执行装置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 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 five-finger dexterous hand actuator of the robot of the invention, they all belong to this invention. protection scope of the invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610888236.2ACN106335074A (en) | 2016-10-12 | 2016-10-12 | Robot five-finger dexterous hand executive device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610888236.2ACN106335074A (en) | 2016-10-12 | 2016-10-12 | Robot five-finger dexterous hand executive device |
| Publication Number | Publication Date |
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| CN106335074Atrue CN106335074A (en) | 2017-01-18 |
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| CN201610888236.2APendingCN106335074A (en) | 2016-10-12 | 2016-10-12 | Robot five-finger dexterous hand executive device |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
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