CN105881571B - Flexible couplings list drives human-imitated finger - Google Patents
Flexible couplings list drives human-imitated finger Download PDFInfo
- Publication number
- CN105881571B CN105881571B CN201610362115.4A CN201610362115A CN105881571B CN 105881571 B CN105881571 B CN 105881571B CN 201610362115 A CN201610362115 A CN 201610362115A CN 105881571 B CN105881571 B CN 105881571B
- Authority
- CN
- China
- Prior art keywords
- screw
- lower beam
- support
- elastic plate
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 15
- 238000010168 coupling process Methods 0.000 title claims abstract description 15
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 15
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
A kind of flexible couplings list drives human-imitated finger, and it includes support, motor, upper, middle and lower bar, elastic shaft, leading screw, screw, inside and outside elastic plate, upper, middle and lower axle and sliding pin.Lower axle rotates connection support and lower beam, and central axis connection lower beam and middle bar, upper axle rotate bar and upper boom in connection, and sliding pin is connected with middle bar upper end, the elongated hole sliding contact of sliding pin and upper boom.The elongated slot both ends of lower beam rotate with leading screw to be coupled, leading screw and screw thread connection, screw and elongated slot sliding contact, interior elastic plate connection support and screw, outer elastic plate connection screw and middle bar.The motor being fixed on support drives leading screw rotation and movement of the screw in elongated slot by elastic shaft, forces lower beam to be rotated relative to support by inside and outside elastic plate and is rotated with middle bar relative to lower beam, upper boom phase centering rod coupling rotational is forced by sliding pin and upper boom elongated hole.The present invention has the advantages that few driving number, simple and compact for structure, flexible couplings, driving force are big, easy to control.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of human-imitated finger.
Background technology
The hand of robot refers to be installed on robot arm end, directly acts on the device of target.Industrial machine
The various operations to be completed of device people, finally must be all achieved by hand；Structure, weight, the size of hand simultaneously
For the overall kinematics of robot and dynamic performance, there is direct, significant impact again.Finger design is robot
, with the development of robot technology, there is the robot finger of diversified forms in an important link in portion's design.Finger one
As frequently with rigid, gripping surface forms depression or v-shaped groove by object profile envelope.Most robot arms only have two hands
Refer to, also use the three finger structures as scroll chuck formula sometimes, also have makes finger shape be opened and closed with finger in addition using linkage
Act the hand to change a lot.In terms of finger mechanism, Publication No. CN102922532B patent discloses link-type
Coordinated drive robot finger apparatus.Publication No. CN103358315B patent discloses full cradle head link-type drive lacking
Robot finger mechanism.Publication No. CN102935642B patent discloses connecting rod key slot type coupling drive lacking doublejointed machine
Finger device.Publication No. CN102717394B patent discloses bevel gear coupling type dexterous robot finger device.It is public
The number of opening is that CN102717393B patent discloses connecting rod coupling type dexterous robot finger device.Above-mentioned finger apparatus is mainly
What 5 finger motion characteristics of simulation people were configured to, structure is relative complex, and driving number is more, and driving force is smaller, controls difficulty
Greatly.
The content of the invention
It is an object of the invention to provide a kind of driving number is few, simple and compact for structure, flexible couplings, driving force are big, easily-controllable
The flexible couplings list driving human-imitated finger of system.
The present invention includes support, motor, upper, middle and lower bar, elastic shaft, leading screw, screw, inside and outside elastic plate, upper, middle and lower
Axle and sliding pin.Wherein, motor is connected with support, and support, lower beam and middle bar are all rectangular columns, and are equipped with rectangle in its upper end and open
Groove；One end of lower beam is located in support rectangular slot, is rotated and coupled with support by lower axle；It is another that one end of middle bar is located at lower beam
In the rectangular slot at end, rotated and coupled with lower beam by axis；One end of upper boom is located in the rectangular slot of the middle bar other end, leads to
Axle is crossed with rotating in the middle part of middle bar to couple；One end that upper boom couples with middle bar is provided with elongated hole, and the sliding pin being connected with middle bar is located at
In the elongated hole of bar, the sliding pin can slide in elongated hole；Lower beam bottom is provided with the rectangle elongated slot parallel with rectangular slot, and leading screw is located at
In the rectangle elongated slot of lower beam, the both ends of the leading screw rotate with the both ends of lower beam rectangle elongated slot to be coupled, and leading screw is provided with screw, screw
It can be slided in rectangle elongated slot；One end of elastic shaft and motor shaft are coaxially connected, the other end of the elastic shaft and one end of leading screw
It is coaxially connected；One end of interior elastic plate is connected with support, and the other end of the interior elastic plate is connected with screw；One end of outer elastic plate
It is connected with screw, the other end of the outer elastic plate is connected with middle bar.
The motor being connected with support drives the movement of leading screw rotation and screw in elongated slot by elastic shaft, by inside and outside
Elastic plate forces lower beam to be rotated relative to support and rotated with middle bar relative to lower beam, in forcing upper boom relative with upper boom elongated hole by sliding pin
Bar coupling rotational.
The present invention has the following advantages that compared with prior art：
Driving number is few, simple and compact for structure, flexible couplings, driving force are big, easy to control.
Brief description of the drawings
The section view simplified schematic diagram of Fig. 1 present invention.
Fig. 2 is Fig. 1 left view.
In figure：1- motors, 2- supports, 3- lower axles, 4- elastic shafts, 5- leading screws, 6- screws, 7- lower beams, 8- axis, 9- are slided
Pin, bar, the upper axles of 11-, 12- upper booms, 13- elastic plate, elastic plate in 14- outside in 10-.
Embodiment
In the flexible couplings list driving human-imitated finger schematic diagram shown in Fig. 1 and Fig. 2, motor 1 is connected with support 2, support,
Middle bar 10 and lower beam 7 are all rectangular columns, and are equipped with rectangular slot in its upper end；One end of lower beam is located at support rectangular slot
It is interior, rotated and coupled with support by lower axle 3；One end of middle bar is located in the rectangular slot of the lower beam other end, by axis 8 with
Bar rotates connection；One end of upper boom is located in the rectangular slot of the middle bar other end, is coupled by upper axle 11 with being rotated in the middle part of middle bar；
One end that upper boom couples with middle bar is provided with elongated hole, and the sliding pin 9 being connected with middle bar is located in the elongated slot of upper boom, and the sliding pin can be in elongated hole
Interior slip；Lower beam bottom is provided with the rectangle elongated slot parallel with rectangular slot, and leading screw 5 is located in the rectangle elongated slot of lower beam, the leading screw
The both ends of both ends and lower beam rectangle elongated slot rotate and couple, leading screw is provided with screw 6, and screw can slide in rectangle elongated slot；Bullet
One end of property axle 4 and motor shaft are coaxially connected, and the other end of the elastic shaft and one end of leading screw are coaxially connected；Interior elastic plate 14
One end is connected with support, and the other end of the interior elastic plate is connected with screw；One end of outer elastic plate 13 is connected with screw, the outer bullet
The other end of property plate is connected with middle bar.
Motor drives leading screw to rotate by elastic shaft, drives screw to be moved in the rectangular through-hole of lower beam, passes through interior elasticity
Plate forces lower beam to be rotated relative to support, forces middle bar to be rotated relative to lower beam by outer elastic plate, is led to by the length of sliding pin and upper boom
Being slidably matched for hole forces upper boom phase centering rod coupling rotational.
Claims (1)
1. a kind of flexible couplings list drives human-imitated finger, it includes support, motor, upper, middle and lower bar, elastic shaft, leading screw, screw,
Inside and outside elastic plate, upper, middle and lower axle and sliding pin, it is characterised in that：Motor is connected with support, and support, lower beam and middle bar are all squares
Shape post, and it is equipped with rectangular slot in its upper end；One end of lower beam is located in support rectangular slot, is rotated by lower axle and support
Connection；One end of middle bar is located in the rectangular slot of the lower beam other end, is rotated and coupled with lower beam by axis；One end position of upper boom
In in the rectangular slot of the middle bar other end, coupled by upper axle with being rotated in the middle part of middle bar；One end that upper boom couples with middle bar is provided with
Elongated hole, the sliding pin being connected with middle bar are located in the elongated hole of upper boom, and the sliding pin can slide in elongated hole；Lower beam bottom is provided with and rectangle
The rectangle elongated slot for slotting parallel, leading screw are located in the rectangle elongated slot of lower beam, the both ends of the leading screw and the both ends of lower beam rectangle elongated slot
Connection is rotated, leading screw is provided with screw, and screw can slide in lower beam rectangle elongated slot；One end of elastic shaft coaxially connects with motor shaft
Connect, the other end of the elastic shaft and one end of leading screw are coaxially connected；One end of interior elastic plate is connected with support, the interior elastic plate
The other end is connected with screw；One end of outer elastic plate is connected with screw, and the other end of the outer elastic plate is connected with middle bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362115.4A CN105881571B (en) | 2016-05-27 | 2016-05-27 | Flexible couplings list drives human-imitated finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362115.4A CN105881571B (en) | 2016-05-27 | 2016-05-27 | Flexible couplings list drives human-imitated finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881571A CN105881571A (en) | 2016-08-24 |
| CN105881571B true CN105881571B (en) | 2018-01-23 |
Family
ID=56717993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610362115.4A Expired - Fee Related CN105881571B (en) | 2016-05-27 | 2016-05-27 | Flexible couplings list drives human-imitated finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881571B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344356B (en) * | 2017-05-27 | 2020-03-31 | 燕山大学 | Anthropomorphic wrist finger series-parallel mechanism |
| CN107745389B (en) * | 2017-09-08 | 2020-09-11 | 燕山大学 | Finger operating mechanism for rigid-flexible-soft force measuring robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514016B (en) * | 2011-12-23 | 2014-09-24 | 清华大学 | Soft piece coupling type handyman finger device |
| CN102935642B (en) * | 2012-11-09 | 2015-02-18 | 清华大学 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
| KR101467504B1 (en) * | 2013-04-23 | 2014-12-01 | 주식회사 로보멕 | Robot finger module |
| CN103934829B (en) * | 2014-04-21 | 2016-09-07 | 哈尔滨工业大学 | Telescopic under-driven adaptive formula acquisition equipment |
| WO2016032978A1 (en) * | 2014-08-25 | 2016-03-03 | Paul Ekas | Shock absorbing and self re-aligning robotic fingers |
| 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 |
-
2016
- 2016-05-27 CN CN201610362115.4A patent/CN105881571B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881571A (en) | 2016-08-24 |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 |