CN202241302U - Bionic robot hand device - Google Patents
Bionic robot hand device Download PDFInfo
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- CN202241302U CN202241302U CN201120408189XU CN201120408189U CN202241302U CN 202241302 U CN202241302 U CN 202241302U CN 201120408189X U CN201120408189X U CN 201120408189XU CN 201120408189 U CN201120408189 U CN 201120408189U CN 202241302 U CN202241302 U CN 202241302U
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Abstract
The utility model discloses a bionic robot hand device, which comprises an index finger, a middle finger, a ring finger, a little finger, a palm, a motor, an active revolving shaft, an index finger support post, a ring finger support post, a small finger support post, a transmission mechanism and a traction device, wherein the motor is arranged in the palm. In the device, four-finger lateral stretching and approaching motion of the robot hand are realized comprehensively under the driving actions of a single motor and a traction mechanism, so that the robot hand can be used for gripping an object by adopting a gripping attitude of approaching or laterally stretching by a certain angle, a better enveloping gripping effect is achieved during object gripping, the object is gripped more stably, and more anthropopathic gestures can be completed; and the robot hand is closer to a human hand regardless of object gripping and gesture completion. The device has a simple and compact structure and low manufacturing cost, is easy to control, and is suitable for an anthropopathic robot hand.
Description
Technical field
The utility model relates to a kind of bionic machine hand apparatus.
Background technology
Most bending and two the initiatively frees degree motions of sides exhibition of adopting very complicated multi-gear transmission mechanism to be implemented in forefinger, middle finger, the third finger and little finger of toe root of existing Dextrous Hand (like the HIT/DLR hand of the V5 hand of U.S. Robonaut hand, Britain Shadow company, cooperation of China and Germany research and development and Beijing Institute of Aeronautics BH hand etc.), and should bending toss about in bed that to move center line vertical each other with side.Its deficiency is: this apparatus structure is complicated, and cost is expensive, because the number of motors of active drive is too much, has increased the weight of the difficulty of real-time control simultaneously.
Research for staff shows; The side exhibition free degree motion of the forefinger of staff, middle finger, the third finger and little finger of toe is extremely important; When grasping familiar object (especially spherical body) and accomplishing some common gesture motion (for example " V " font gesture, " OK " gesture etc.), often need the side exhibition motion of four fingers.But in the time of most, the side exhibition motion of four fingers is carried out simultaneously, the side exhibition motion of a rare independent finger.Thereby Dextrous Hand possessed, and each finger all accomplishes side exhibition motion separately seems more " dexterity ", but control difficulty and manufacturing cost have been increased greatly.The side exhibition motion of four fingers can realize a kind of envelope grip of three-dimensional more when grasping objects, make that extracting is more stable.
A kind of existing belt wheel under-actuated robot hand apparatus (Chinese invention patent CN101214653A) has 6 motor-driven palms of employing and 5 fingers, and each finger all adopts motor-driven belt wheel lack of driven structure to realize; Thumb has 3 frees degree: one is the side-sway joint between thumb and the palm, and two is the crooked free degree in the middle of the thumb in addition; Forefinger, middle finger, the third finger is identical with the little finger of toe structure, size is different, has 3 crooked frees degree respectively, comprising the root of a finger and the finger bend free degree between the palm.Its weak point is: the forefinger of this robot, middle finger, the third finger and little finger of toe do not possess finger side exhibition motion; Be difficult to realize better three-dimensional envelope grip when causing grasping familiar object; Grasping objects is stable not enough, is difficult to accomplish common gestures such as picture " V " font gesture, " OK " gesture simultaneously.
The utility model content
The technical problem that (one) will solve
The technical problem that the utility model will solve provides a kind ofly has that grasping objects is stable, side is opened up bionic machine hand apparatus flexibly.
(2) technical scheme
For solving the problems of the technologies described above, the bionic machine hand apparatus that the utility model adopts comprises forefinger, middle finger, the third finger, little finger of toe and palm; This bionic machine hand apparatus also comprises motor, active rotating shaft, forefinger support column, nameless support column, little finger of toe support column, transmission mechanism and the draw-gear that is arranged in the palm.
Palm comprises palm header board and palm backboard, the affixed box-like that becomes hollow of palm header board and palm backboard; Motor and palm are affixed; The root and the palm of middle finger are affixed, and the root of forefinger, the third finger, little finger of toe is connected with palm through forefinger rotating shaft, nameless rotating shaft, little finger of toe rotating shaft respectively; Forefinger rotating shaft one end is fixed in the palm backboard, the other end and forefinger riveted joint; Nameless rotating shaft one end is fixed in the palm backboard, the other end and nameless riveted joint; Little finger of toe rotating shaft one end is fixed in the palm backboard, the other end and little finger of toe riveted joint; The output shaft of motor links to each other with active rotating shaft, and the two ends of active rotating shaft are set in respectively in palm header board and the palm backboard.
One end of forefinger support column is fixed in the root of forefinger; The other end of forefinger support column is embedded in first chute of palm header board, and this first chute is that the center line with the forefinger rotating shaft is that the center line of the center of circle, forefinger support column and the distance between center lines of forefinger rotating shaft are the arc chute of radius; One end of nameless support column is affixed with nameless root; The other end of nameless support column is embedded in second chute of palm header board, and this second chute is that the center line with nameless rotating shaft is that the center line of the center of circle, nameless support column and the distance between center lines of nameless rotating shaft are the arc chute of radius; One end of little finger of toe support column is fixed in the root of little finger of toe; The other end of little finger of toe support column is embedded in the 3rd chute of palm header board, and the 3rd chute is that the center line with the little finger of toe rotating shaft is that the center line of the center of circle, little finger of toe support column and the distance between center lines of little finger of toe rotating shaft are the arc chute of radius; Forefinger support column, nameless support column and little finger of toe support column are parallel to each other, and centerline direction points to the back of palm by the centre of the palm of palm.
Motor links to each other with active rotating shaft through transmission mechanism, and this transmission mechanism comprises decelerator, first bevel gear and second bevel gear; The input of decelerator is connected the motor and first bevel gear respectively with output, first bevel gear and the engagement of second bevel gear, and second bevel gear is fixed on the active rotating shaft.
As a kind of optimal way of the utility model, the draw-gear of bionic machine hand apparatus comprises active rotating shaft, tendon of index finger rope, nameless tendon rope, tendon of little finger rope, dead axle, first spring, second spring and the 3rd spring.The dead axle cover is fixed in palm header board and the palm backboard; A restrict end and forefinger root of tendon of index finger is connected, and the other end and active rotating shaft are connected, and dead axle is walked around at tendon rope middle part; The nameless tendon end of restricting is connected with nameless root, and the other end and active rotating shaft are connected, and walk around dead axle in the middle part of tendon is restricted; A restrict end and little finger of toe root of tendon of little finger is connected, and the other end and active rotating shaft are with connecting, and dead axle is walked around at tendon rope middle part; First spring is located between forefinger and the middle finger; Second spring is located between the middle finger and the third finger; The 3rd spring is located between the third finger and the little finger of toe.
As the another kind of optimal way of the utility model, the draw-gear of bionic machine hand apparatus comprises initiatively rotating disk, first connecting rod, forefinger rotating disk, forefinger rotating shaft, second connecting rod, nameless rotating disk, nameless rotating shaft, third connecting rod, little finger of toe rotating disk and little finger of toe rotating shaft.Initiatively rotating disk is fixed on the active rotating shaft, and an end of first connecting rod is with initiatively rotating disk is hinged, and the other end of first connecting rod and forefinger rotating disk, nameless rotating disk or little finger of toe rotating disk are hinged; One end of forefinger rotating disk and second connecting rod is hinged, and the other end of second connecting rod and nameless rotating disk are hinged; One end of nameless rotating disk and third connecting rod is hinged, and the other end of third connecting rod and little finger of toe rotating disk are hinged.
The line segment that the pin joint of the central point of forefinger rotating shaft and second connecting rod and forefinger rotating disk is confirmed is called first line segment; Second connecting rod is called second line segment with the line segment that the pin joint of forefinger rotating disk and nameless rotating disk is confirmed respectively; The line segment that the pin joint of second connecting rod and nameless rotating disk and the central point of nameless rotating shaft are confirmed is called the 3rd line segment, and first line segment, second line segment and the 3rd line segment form " Z " font or " S " font; The line segment that the central point of nameless rotating shaft and the pin joint of third connecting rod and nameless rotating disk are confirmed is called the 4th line segment; Third connecting rod is called the 5th line segment with the line segment that the pin joint of nameless rotating disk and little finger of toe rotating disk is confirmed respectively; The line segment that the central point of the pin joint of third connecting rod and little finger of toe rotating disk and little finger of toe rotating shaft is confirmed is called the 6th line segment, and the 4th line segment, the 5th line segment and the 6th line segment form " C " font.
(3) beneficial effect
The advantage of the utility model is: the described bionic machine hand apparatus of the utility model adopts single motor-driven and draw-gear transmission comprehensively to realize the side exhibition of robot forefinger, the third finger and the relative middle finger of little finger of toe and closes up movement effects.This device can adopt robot to close up or the extracting attitude of certain angle of side exhibition when grasping objects; Reach better envelope grip when making the robot grasping objects; Grasping objects is more stable; Can accomplish simultaneously more gestures that personalize, the robot grasping objects is still accomplished gesture and is all more approached staff more; This apparatus structure is simple, compact, low cost of manufacture, and control is applicable to anthropomorphic robot's hand easily.
Brief description of drawings in drawings
Fig. 1 is the bionic machine hand apparatus palm outside drawing that the utility model provides, and forefinger, the third finger and little finger of toe close up at this moment.
Fig. 2 is the palm cutaway view of first kind of embodiment of bionic machine hand apparatus, and forefinger, the third finger and little finger of toe launch at this moment.
Fig. 3 is the partial side view of first kind of embodiment of bionic machine hand apparatus.
Fig. 4 is an I enlarged drawing partly shown in Figure 3.
Fig. 5 is the back of the hand cutaway view of second kind of embodiment of bionic machine hand apparatus, and forefinger, the third finger and little finger of toe launch at this moment.
Fig. 6 is the partial side view of second kind of embodiment of bionic machine hand apparatus.
Fig. 7 is an II enlarged drawing partly shown in Figure 6.
Fig. 8 is an III enlarged drawing partly shown in Figure 6.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail.Following examples are used to explain the utility model, but are not used for limiting the scope of the utility model.
Like Fig. 1, Fig. 2 and shown in Figure 5, the utility model comprises forefinger 3, middle finger 4, the third finger 5, little finger of toe 6 and palm 1; This bionic machine hand apparatus also comprises motor 711, active rotating shaft 712, forefinger support column 823, nameless support column 825, little finger of toe support column 826, transmission mechanism and the draw-gear that is arranged in the palm.
Palm comprises palm header board 11 and palm backboard 12, palm header board 11 and the palm backboard 12 affixed box-like that become hollow; Motor 711 is affixed with palm 1; The root of middle finger 4 and palm 1 are affixed, and the root of forefinger 3, the third finger 5, little finger of toe 6 is connected with palm 1 through forefinger rotating shaft 813, nameless rotating shaft 815, little finger of toe rotating shaft 816 respectively; Forefinger rotating shaft 813 1 ends are fixed in the palm backboard 12, the other end and forefinger 3 riveted joints; Nameless rotating shaft 815 1 ends are fixed in the palm backboard 12, the other end and nameless 5 riveted joints; Little finger of toe rotating shaft 816 1 ends are fixed in the palm backboard 12, the other end and little finger of toe 6 riveted joints; The output shaft of motor 711 links to each other with active rotating shaft 712, and the two ends of active rotating shaft 712 are set in respectively in palm header board 11 and the palm backboard 12.
One end of forefinger support column 823 is fixed in the root of forefinger 3; The other end of forefinger support column 823 is embedded in first chute 113 of palm header board 11, and this first chute 113 is that the center line with forefinger rotating shaft 813 is that the center line of the center of circle, forefinger support column 823 and the distance between center lines of forefinger rotating shaft 813 are the arc chute of radius; One end of nameless support column 825 is affixed with nameless 5 root; The other end of nameless support column 825 is embedded in second chute 115 of palm header board 11, and this second chute 115 is that the center line with nameless rotating shaft 815 is that the center line of the center of circle, nameless support column 825 and the distance between center lines of nameless rotating shaft 815 are the arc chute of radius; One end of little finger of toe support column 826 is fixed in the root of little finger of toe 6; The other end of little finger of toe support column 826 is embedded in the 3rd chute 116 of palm header board 11, and the 3rd chute 116 is that the center line with little finger of toe rotating shaft 816 is that the center line of the center of circle, little finger of toe support column 826 and the distance between center lines of little finger of toe rotating shaft 816 are the arc chute of radius; Forefinger support column 823, nameless support column 825 and little finger of toe support column 826 are parallel to each other, and centerline direction points to the back of palm by the centre of the palm of palm 1.
Motor 711 links to each other with active rotating shaft 712 through transmission mechanism, and this transmission mechanism comprises decelerator 721, first bevel gear 731 and second bevel gear 732; The input of decelerator 721 is connected motor 711 and first bevel gear, 731, the first bevel gears 731 and 732 engagements of second bevel gear respectively with output, and second bevel gear 732 is fixed on the active rotating shaft.
Can be known that by Fig. 2 a kind of optimal way of the utility model is: the draw-gear of bionic machine hand apparatus comprises active rotating shaft 712, tendon of index finger rope 923, nameless tendon rope 925, tendon of little finger rope 926, dead axle 93, first spring 834, second spring 845 and the 3rd spring 856.
Just combine Fig. 1, Fig. 2, Fig. 3 and Fig. 4 to introduce the operation principle of this embodiment one in detail below.
When the robot finger needed the side exhibition, motor just changeed, and drove first gear 731 through decelerator 721 and rotated, and second gear 732 rotates; Active rotating shaft 712 rotates, and sliding bearing 931 rotates, and rolling bearing 932 rotates, the tendon that active rotating shaft 712 and forefinger are 3 923 contraction in lengths of restricting; Sleeve 952 rotates, and rolling bearing 942 rotates, spring 834 compressions, and forefinger 3 rotates around forefinger rotating shaft 823; Forefinger 3 is around the centerline side of forefinger rotating shaft 823 exhibition motion (departing from middle finger 4), 925 contraction in lengths of restricting of the tendon between the active rotating shaft 712 and the third finger simultaneously, and sleeve 953 rotates, and rolling bearing 943 rotates; Spring 845 compressions, nameless 5 around nameless rotating shaft 825 rotations, the nameless 5 centerline side exhibition motions (departing from middle finger 4) around nameless rotating shaft 825; Active rotating shaft 712 and the tendon of 6 of little fingers of toe 926 contraction in lengths of restricting simultaneously, sleeve 951 rotates, rolling bearing 941 rotations; Spring 845 compressions, little finger of toe 6 is moving around little finger of toe rotating shaft 826, and little finger of toe 6 is around the centerline side exhibition motion of little finger of toe rotating shaft 826.Because active rotating shaft 712 is stepped, twine tendon of little finger and restrict that to twine nameless tendon rope 925 and tendon of index finger 923 parts of restricting thick for 926 parts ratio, so little finger of toe 6 rotational angles with nameless 5 and forefinger 3 certain degree of coupling is arranged, as shown in Figure 3.
When the robot finger need close up, motor 711 counter-rotatings, active rotating shaft 712 counter-rotatings; The tendon rope 923 that is wrapped on the active rotating shaft 712 relaxes; Through spring 834 elastic force effects, make tendon rope 923 be returned to the preceding state that twines again, the third finger 5, little finger of toe 6 close up motion simultaneously; All close up fully up to forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6, the situation after robot closes up is as shown in Figure 1.
Can be known that by Fig. 6 the another kind of optimal way of the utility model is: the draw-gear of bionic machine hand apparatus comprises initiatively rotating disk 91, first connecting rod 911, forefinger rotating disk 97, forefinger rotating shaft 813, second connecting rod 912, nameless rotating disk 98, nameless rotating shaft 815, third connecting rod 913, little finger of toe rotating disk 99 and little finger of toe rotating shaft 816.
Initiatively rotating disk 97 is fixed on the active rotating shaft 712, and an end of first connecting rod 911 is with initiatively rotating disk 91 is hinged, and the other end of first connecting rod 911 and forefinger rotating disk 97, nameless rotating disk 98 or little finger of toe rotating disk 99 are hinged; Forefinger rotating disk 97 is hinged with an end of second connecting rod 912, and the other end of second connecting rod 912 and nameless rotating disk 98 are hinged; Nameless rotating disk 98 is hinged with an end of third connecting rod 913, and the other end of third connecting rod 913 and little finger of toe rotating disk 99 are hinged.
The line segment that the pin joint of the central point of forefinger rotating shaft 823 and second connecting rod 912 and forefinger rotating disk 97 is confirmed is called first line segment; Second connecting rod 912 is called second line segment with the line segment that the pin joint of forefinger rotating disk 97 and nameless rotating disk 98 is confirmed respectively; The line segment that the pin joint of second connecting rod 912 and nameless rotating disk 98 and the central point of nameless rotating shaft 815 are confirmed is called the 3rd line segment, and first line segment, second line segment and the 3rd line segment form " Z " font or " S " font; The line segment that the pin joint of the central point of nameless rotating shaft 815 and third connecting rod 913 and nameless rotating disk 98 is confirmed is called the 4th line segment; Third connecting rod 913 is called the 5th line segment with the line segment that the pin joint of nameless rotating disk 98 and little finger of toe rotating disk 99 is confirmed respectively; The line segment that the pin joint of third connecting rod 913 and little finger of toe rotating disk 98 and the central point of little finger of toe rotating shaft 816 are confirmed is called the 6th line segment, and the 4th line segment, the 5th line segment and the 6th line segment form " C " font.
Just combine Fig. 1, Fig. 5, Fig. 6, Fig. 7 and Fig. 8 to introduce the operation principle of embodiment two in detail below
When the robot finger needed the side exhibition, motor 711 was just changeing, and drove first gear 731 through decelerator 721 and rotated; Second gear 732 rotates, and active rotating shaft 712 rotates, and initiatively rotating disk 91 rotates; Rotate through first connecting rod 911 pulling forefinger rotating disks 97; Forefinger rotating shaft 813 is rotated, and forefinger 3 is around the centerline side exhibition motion (departing from middle finger 4) of forefinger rotating shaft 813, and forefinger rotating disk 97 will rotate through the nameless rotating disk 98 of second connecting rod 912 pullings simultaneously; Nameless rotating shaft 815 is rotated, the nameless 5 centerline side exhibition motions (departing from middle finger 4) around nameless rotating shaft 815.Owing to be connected to form " Z " font between forefinger rotating disk 97, second connecting rod 912 and the nameless rotating disk 815, therefore, nameless 5 rotation directions are opposite with forefinger 3 directions of motion.Simultaneously, nameless rotating disk 98 rotates through third connecting rod 913 pulling little finger of toe rotating disks 99, and little finger of toe rotating shaft 816 is rotated, and little finger of toe 6 is around the centerline side exhibition motion of little finger of toe rotating shaft 816.Owing to be connected to form " C " font between nameless rotating disk 98, third connecting rod 913 and the little finger of toe rotating disk 99, little finger of toe 6 rotation directions are identical with the third finger 5.It is as shown in Figure 5 to point the next situation of complete side expansion.
When the robot finger need close up, motor 711 counter-rotatings were through transmission mechanism; Active rotating shaft 712 counter-rotatings; Close up through first connecting rod 911 pulling forefingers 3, simultaneously through second connecting rod 912 and third connecting rod 913, will spur the third finger 5, little finger of toe 6 closes up motion simultaneously; All close up fully up to finger, the situation after robot closes up is as shown in Figure 1.
The above is merely the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (5)
1. a bionic machine hand apparatus comprises forefinger, middle finger, the third finger, little finger of toe and palm; It is characterized in that: said bionic machine hand apparatus also comprises motor, active rotating shaft, forefinger support column, nameless support column, little finger of toe support column and the transmission mechanism that is arranged in the palm; Said palm comprises palm header board and palm backboard, said palm header board and the affixed box-like that becomes hollow of said palm backboard; Said motor and said palm are affixed; The root of said middle finger and said palm are affixed, and the root of said forefinger, the said third finger, said little finger of toe is connected with said palm through forefinger rotating shaft, nameless rotating shaft, little finger of toe rotating shaft respectively; Said forefinger rotating shaft one end is fixed in the said palm backboard, the other end and the riveted joint of said forefinger; Said nameless rotating shaft one end is fixed in the said palm backboard, the other end and said nameless riveted joint; Said little finger of toe rotating shaft one end is fixed in the said palm backboard, the other end and the riveted joint of said little finger of toe; The output shaft of said motor links to each other with active rotating shaft, and the two ends of said active rotating shaft are set in respectively in said palm header board and the said palm backboard; One end of said forefinger support column is fixed in the root of said forefinger; The other end is embedded in first chute of said palm header board, and said first chute is that the center line with said forefinger rotating shaft is that the center line of the center of circle, said forefinger support column and the distance between center lines of said forefinger rotating shaft are the arc chute of radius; One end of said nameless support column and the root of the said third finger are affixed; The other end is embedded in second chute of said palm header board, and said second chute is that the center line with said nameless rotating shaft is that the center line of the center of circle, said nameless support column and the distance between center lines of said nameless rotating shaft are the arc chute of radius; One end of said little finger of toe support column is fixed in the root of said little finger of toe; The other end is embedded in the 3rd chute of said palm header board, and said the 3rd chute is that the center line with said little finger of toe rotating shaft is that the center line of the center of circle, said little finger of toe support column and the distance between center lines of said little finger of toe rotating shaft are the arc chute of radius; Said forefinger support column, said nameless support column and said little finger of toe support column are parallel to each other, and centerline direction points to the back of said palm by the centre of the palm of said palm, and said motor links to each other with active rotating shaft through said transmission mechanism.
2. bionic machine hand apparatus according to claim 1 is characterized in that: said transmission mechanism comprises decelerator, first bevel gear and second bevel gear; The input of said decelerator is connected said motor and said first bevel gear respectively with output, said first bevel gear and the engagement of said second bevel gear, and said second bevel gear is fixed on the active rotating shaft.
3. bionic machine hand apparatus according to claim 1 is characterized in that: this robot hand device also comprises draw-gear; Said draw-gear comprises active rotating shaft, tendon of index finger rope, nameless tendon rope, tendon of little finger rope, dead axle, first spring, second spring and the 3rd spring; Said dead axle cover is fixed in said palm header board and the said palm backboard; A restrict end and said forefinger root of said tendon of index finger is connected, and the other end and said active rotating shaft are connected, and said dead axle is walked around at said tendon rope middle part; A restrict end and said nameless root of said nameless tendon is connected, and the other end and said active rotating shaft are connected, and said dead axle is walked around at said tendon rope middle part; A restrict end and said little finger of toe root of said tendon of little finger is connected, and the other end and said active rotating shaft are with connecting, and dead axle is walked around at said tendon rope middle part; Said first spring is located between said forefinger and the said middle finger; Said second spring is located between the said middle finger and the said third finger; Said the 3rd spring is located between the said third finger and the said little finger of toe.
4. bionic machine hand apparatus according to claim 1 is characterized in that: this robot hand device also comprises draw-gear; Described draw-gear comprises initiatively rotating disk, first connecting rod, forefinger rotating disk, forefinger rotating shaft, second connecting rod, nameless rotating disk, nameless rotating shaft, third connecting rod, little finger of toe rotating disk and little finger of toe rotating shaft; Said active rotating disk is fixed on the said active rotating shaft, and an end of said first connecting rod and said active rotating disk are hinged, and the other end and said forefinger rotating disk, said nameless rotating disk or said little finger of toe rotating disk are hinged; One end of said forefinger rotating disk and said second connecting rod is hinged, and the other end of said second connecting rod and said nameless rotating disk are hinged; One end of said nameless rotating disk and said third connecting rod is hinged, and the other end of said third connecting rod and said little finger of toe rotating disk are hinged.
5. bionic machine hand apparatus according to claim 4; It is characterized in that: the line segment that the pin joint of the central point of said forefinger rotating shaft and said second connecting rod and said forefinger rotating disk is confirmed is called first line segment; Said second connecting rod is called second line segment with the line segment that the pin joint of said forefinger rotating disk and said nameless rotating disk is confirmed respectively; The line segment that the pin joint of said second connecting rod and said nameless rotating disk and the central point of said nameless rotating shaft are confirmed is called the 3rd line segment, and said first line segment, said second line segment and said the 3rd line segment form " Z " font or " S " font; The line segment that the pin joint of the central point of said nameless rotating shaft and said third connecting rod and said nameless rotating disk is confirmed is called the 4th line segment; Said third connecting rod is called the 5th line segment with the line segment that the pin joint of said nameless rotating disk and said little finger of toe rotating disk is confirmed respectively; The line segment that the central point of the pin joint of said third connecting rod and said little finger of toe rotating disk and said little finger of toe rotating shaft is confirmed is called the 6th line segment, and said the 4th line segment, said the 5th line segment and said the 6th line segment form " C " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120408189XU CN202241302U (en) | 2011-10-24 | 2011-10-24 | Bionic robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120408189XU CN202241302U (en) | 2011-10-24 | 2011-10-24 | Bionic robot hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202241302U true CN202241302U (en) | 2012-05-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120408189XU Withdrawn - After Issue CN202241302U (en) | 2011-10-24 | 2011-10-24 | Bionic robot hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202241302U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619426A (en) * | 2015-12-01 | 2016-06-01 | 清华大学 | Tendon-rope type lateral locking linkage self-adaption robot finger device |
| CN107614210A (en) * | 2015-05-29 | 2018-01-19 | 奥林巴斯株式会社 | Handle sturcture and holding tool |
| CN107825452A (en) * | 2017-12-26 | 2018-03-23 | 陈宇昕 | Link bionic mechanical hand in a kind of joint |
-
2011
- 2011-10-24 CN CN201120408189XU patent/CN202241302U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107614210A (en) * | 2015-05-29 | 2018-01-19 | 奥林巴斯株式会社 | Handle sturcture and holding tool |
| CN105619426A (en) * | 2015-12-01 | 2016-06-01 | 清华大学 | Tendon-rope type lateral locking linkage self-adaption robot finger device |
| CN107825452A (en) * | 2017-12-26 | 2018-03-23 | 陈宇昕 | Link bionic mechanical hand in a kind of joint |
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