CN107618043A - A kind of simulation manipulator pulled based on hydraulic pressure steel wire refers to and manipulator - Google Patents
A kind of simulation manipulator pulled based on hydraulic pressure steel wire refers to and manipulator Download PDFInfo
- Publication number
- CN107618043A CN107618043A CN201710945137.8A CN201710945137A CN107618043A CN 107618043 A CN107618043 A CN 107618043A CN 201710945137 A CN201710945137 A CN 201710945137A CN 107618043 A CN107618043 A CN 107618043A
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- Prior art keywords
- knuckle
- steel wire
- finger
- manipulator
- hydraulic pressure
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 134
- 239000010959 steel Substances 0.000 title claims abstract description 134
- 238000004088 simulation Methods 0.000 title description 5
- 210000001145 finger joint Anatomy 0.000 claims abstract description 34
- 238000005452 bending Methods 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 59
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 238000005491 wire drawing Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The present invention, which provides a kind of mechanical finger and manipulator, the mechanical finger, to be included：First knuckle, second knuckle, third knuckle, third knuckle support, finger main support, steel wire, steel wire connecting rod, and spring hydraulic etc., the present invention set the coefficient of elasticity of each finger joint spring to increase successively according to the characteristics of human hand grip, finger resets principle and digital flexion principle is roughly the same, and simply finger is resetted without very big pulling force.The present invention pulls steel wire to realize to realize that manipulator has larger grip, by hydraulic pressure.And bending and stretching for finger is only bent and stretched using lever principle with a hydraulic pressure, two steel wires, finger in the present invention.Under usual state, hydraulic pressure is in centre position so that mechanical finger is in relaxation state, identical with human hand relaxation state.Hydraulic part of the present invention is all disposed within the back of the hand position.The mechanical finger and manipulator of the present invention has the features such as simple in construction, adaptive faculty is strong, and finger is flexible, and manipulator grip is big.
Description
Technical field
The present invention relates to mechanical mechanism field；More particularly to a kind of mechanical finger that spring auxiliary is pulled based on hydraulic pressure-steel wire,
Hand suitable for imitating true man, preferably to hold object.
Background technology
With development in science and technology, mechanization, automation concept deepen continuously people production, life, machinery
Hand completes a large amount of repeated works as a kind of common device on factory lines.Simulation manipulator is double as the mankind
The Counterfeit Item of hand, must possess high flexibility in numerous fields.But, due to the marvellous result of biological evolution, imitate
The problems such as true manipulator does not reach the stage of dexterity much also, and numerous joints, joint power minimize, joint coordination all limits
The hand flexibility of machinery and the crawl strength of manipulator.In the development of manipulator, some uses servomotor, although solution
The problem of joint dexterity of having determined, but strength is insufficient and improves cost；Some reduces joint by the action of control machinery hand,
Flexibility decline etc. can be caused again.The type of drive of joint of robot motion has two kinds of direct drive and indirect drive manner.
Direct drive mode is that the output shaft of driver and the joint shaft of robot are joined directly together, and indirect drive manner is driver
Power passes to joint by decelerator or steel wire rope, belt, parallel rod etc..Between the driver of direct drive mode and joint
Mechanical system it is less, it is thus possible to reduce the influence of the non-linear factors such as friction, control performance is relatively good.However, another
The moment of resistance in side direct drive joint is relatively too big, and the output torque of driver must overcome the moment of resistance greatly very much, in addition,
Direct drive requires that, in each joint one servomotor of installation, this will cause manipulator servomotor excessive and make machinery
Hand profile seems clumsy, and the model and size of servomotor can influence the profile and function of manipulator again.Indirect drive manner is
The type of drive that most of robot is taken, this indirect, the power output of driver is acted at finger joint, and torque square is typically remote
Much smaller than the torque needed for direct drive joint；Most commonly steel wire driving at present, servomotor is power part, but one
Aspect servomotor usual strength deficiency, using Serve Motor Control, comparatively harder steel wire is difficult to, another
This steel wire of aspect pulls finger that the strength of finger can be made to become more stiff, it is easy to grab bad frangible object, while capture compared with
Danger of dropping is had during hard object.
At present, hydraulic technique comparative maturity.Therefore the purpose of emulation can be reached again by wanting to make simulation manipulator to refer to
Object can be captured energetically, and the present invention for steel wire by pulling the drive mechanism of mechanical finger to be improved, using Hydraulic Elements
The each joint of steel wire driving finger is pulled, and it is stiff in steel wire drawing process to overcome in each joint installation spring of finger
Strength, to solve the above problems.
The content of the invention
To solve the drawbacks described above of existing machinery finger, the present invention discloses a kind of based on hydraulic pressure-steel wire pulling spring auxiliary
Simulation manipulator refer to, its simple and practical property is strong.
To achieve the above object, the present invention provides a kind of mechanical finger, and the mechanical finger includes：First knuckle, connection the
The second knuckle of one finger joint, connect the third knuckle of second knuckle, the 3rd mechanical finger joint support, the hand of connection third knuckle support
Refer to main support, digital flexion steel wire, steel wire connecting rod, finger reset steel wire, first knuckle spring and the two or three finger joint taper
Spring, steel wire positive stop, steel wire guide hole plate, mechanical finger bend and stretch hydraulic pressure, the micro- lateral rotation hydraulic pressure of mechanical finger；It is wherein mechanical
Finger first knuckle is arranged on mechanical finger second knuckle by straight pin, and second knuckle is arranged on third knuckle by straight pin,
Third knuckle installs the 3rd mechanical finger joint support by straight pin, and Wire connecting rod is arranged on the 3rd mechanical finger joint branch by straight pin
Frame, the 3rd mechanical finger joint support are arranged on the finger main support of connection third knuckle support, steel wire guide hole version point by straight pin
Do not design and must be arranged in each finger joint in joint rotary shaft both sides, finger flex hydraulic pressure close to joint and by straight pin
The longer one end of steel wire connecting rod, the micro- lateral rotation hydraulic pressure of mechanical finger are arranged on third knuckle pedestal lower end by straight pin；Position
It is connected in the steel wire head of first knuckle part at first knuckle steel wire, digital flexion steel wire is led through first knuckle threaded hole of steel
Threaded hole of steel guide plate under threaded hole of steel guide plate → second knuckle on plate → second knuckle（Second knuckle volute spring spring）→ the three refers to
Threaded hole of steel guide plate under threaded hole of steel guide plate → third knuckle on section（Third knuckle volute spring）→ third knuckle support → steel wire connects
Extension bar.Finger resets steel wire and is same as digital flexion steel wire；Wherein steel wire positive stop is arranged on each finger joint volute spring about
Centre position, the distance of the block of steel wire first and the block of steel wire second are bent at utmost and the first steel wire equal to first knuckle
Block top is to first knuckle steel wire baffle plate the second steel wire block top to the distance under second knuckle during steel wire baffle plate；Similarly, second
The distance of steel wire block and the 3rd steel wire block is bent at utmost equal to second knuckle and the second steel wire block top is to second
The steel wire block top of finger joint steel wire lower baffle plate the 3rd is to the distance under third knuckle during steel wire baffle plate.
Above-mentioned each steel wire, which is led among version, steel wire guide hole, prevents steel wire from producing position play in motion process.
According to the characteristics of human hand, the strength of each finger joint weakens successively：First knuckle strength is minimum, and second knuckle takes second place,
Third knuckle strength is maximum；The coefficient of elasticity for setting each finger joint spring according to this feature increases successively, finger reset principle and
Digital flexion principle is roughly the same, and simply finger is resetted without very big pulling force.
To realize that manipulator has larger strength, above-mentioned steel wire is realized by hydraulic system.And finger in the present invention
Bend and stretch only with a hydraulic pressure, two steel wires.Bending and stretching using lever principle for finger, it is longer by hydraulic control Wire connecting rod
One end is realized.Micro- lateral rotation of finger is also to lean on hydraulic control；Under usual state, i.e., manipulator is not by external drag
When, driving hydraulic pressure is in centre position so that mechanical finger is in relaxation state, identical with human hand relaxation state.
Hydraulic part of the present invention is all disposed within the back of the hand position.
The present invention also provides a kind of manipulator, and the manipulator includes：Mechanical finger as described above, a mechanical thumb with
And the palm being connected with each mechanical finger, hydraulic pressure are all disposed within the back of the hand position.
As described above, the mechanical finger and manipulator of the present invention have simple in construction, adaptive faculty is strong, and finger is flexible, machinery
Hold the features such as power is big.
Brief description of the drawings：
Accompanying drawing 1：First knuckle
Accompanying drawing 2：Second knuckle
Accompanying drawing 3：Third knuckle
Accompanying drawing 4：Third knuckle support
Accompanying drawing 5：Mechanical finger main support
Accompanying drawing 6：Main Hydraulic Elements --- contracting
Accompanying drawing 7：Main Hydraulic Elements --- stretch
Accompanying drawing 8：Steel wire+spring
Accompanying drawing 9：Local steel wire
Accompanying drawing 10：Finger stretches side
Accompanying drawing 11：Finger stretches the back side
Accompanying drawing 12：Digital flexion side
Accompanying drawing 13：Digital flexion front
Accompanying drawing 14：Nature front
Accompanying drawing 15：The nature back side
Accompanying drawing 16：Overall mechanical the back of the hand face
Accompanying drawing 17：Overall manipulator front
Label title in figure：1st, first knuckle, 2, second knuckle, 3, third knuckle, 4, third knuckle support, 5, the main branch of finger
Frame, 6, finger flex hydraulic pressure, 7, the micro- lateral rotation hydraulic pressure of finger, 8, Wire connecting rod, 9, third knuckle steel wire postive stop baffle, 10,
Third knuckle volute spring, 11, steel wire, 12, second knuckle steel wire postive stop baffle, 13, second knuckle volute spring, 14, first
Finger joint steel wire postive stop baffle, 15, first knuckle spring, 16 steel wire positive stops, 17, finger part, 18, palm portion, 19, hand
Arm section
Embodiment：
As shown in accompanying drawing 14, accompanying drawing 15, mechanical finger include first knuckle, second knuckle, third knuckle, third knuckle support,
Finger main support, digital flexion steel wire, steel wire connecting rod, the finger for connecting third knuckle support reset steel wire, first knuckle bullet
Spring and the two or three finger joint volute spring, steel wire positive stop, steel wire postive stop baffle, steel wire guide hole plate, finger joint cover plate, manipulator
Finger bends and stretches the micro- lateral rotation hydraulic pressure of hydraulic pressure, mechanical finger；Wherein mechanical finger first knuckle is arranged on mechanical finger by straight pin
Second knuckle, second knuckle are arranged on third knuckle by straight pin, and third knuckle installs the 3rd mechanical finger joint by straight pin
Support, Wire connecting rod are arranged on the 3rd mechanical finger joint support by straight pin, and the 3rd mechanical finger joint support is installed by straight pin
In the finger main support of connection third knuckle support, steel wire guide hole version is separately designed in each finger joint close to joint and must be
Joint rotary shaft both sides, finger flex hydraulic pressure are arranged on the longer one end of steel wire connecting rod by straight pin, and mechanical finger is micro- lateral
Rotational hydraulic is arranged on third knuckle pedestal lower end by straight pin；First is connected to positioned at the steel wire head of first knuckle part
At finger joint steel wire, digital flexion steel wire passes through threaded hole of steel guide plate → second knuckle on first knuckle threaded hole of steel guide plate → second knuckle
Lower threaded hole of steel guide plate（Second knuckle volute spring spring）Threaded hole of steel is led under threaded hole of steel guide plate → third knuckle on → third knuckle
Plate（Third knuckle volute spring）→ third knuckle support → steel wire connecting rod.Finger resets steel wire and is same as digital flexion steel wire；
Wherein steel wire positive stop is arranged on each finger joint volute spring about centre position, the block of steel wire first and the block of steel wire second
Distance equal to first knuckle bend at utmost and the first steel wire block top to the second steel wire of first knuckle steel wire baffle plate keep off
Block top is to the distance under second knuckle during steel wire baffle plate；Similarly, the distance of the second steel wire block and the 3rd steel wire block is equal to the
Two finger joints are bent at utmost and the second steel wire block top is to the steel wire block top of second knuckle steel wire lower baffle plate the 3rd to the 3rd
Distance under finger joint during steel wire baffle plate.
As shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, each finger joint is provided with steel wire guide hole plate, and centre is provided with threaded hole of steel, to
Prevent from producing position play in steel wire drawing process.
To realize that manipulator has larger strength, above-mentioned steel wire is realized by hydraulic system.And finger in the present invention
Bend and stretch only with a hydraulic pressure, two steel wires；According to the characteristics of human hand, the strength of each finger joint weakens successively：First knuckle
Strength is minimum, and second knuckle takes second place, and third knuckle strength is maximum；According to this feature set the coefficient of elasticity of each finger joint spring according to
Secondary increase, when manipulator captures object finger by resistance, mechanical finger first segment spring is stretched first, with pulling force
Increase the two or three section finger springs to be also stretched successively, when object is relatively light, the strength of spring elongation can just capture thing easily
Body, thus the manipulator can adapt to the shape size of common objects very well；Furthermore when manipulator captures heavy objects, spring
Pulling force no longer support, now steel wire continues to pull down, steel wire block top to steel wire baffle plate, and now mechanical finger can produce larger
Strength.
Finger resets principle and digital flexion principle is roughly the same, and simply finger is resetted without very big pulling force.
Finger resets the stroke length of the stroke ratio digital flexion steel wire of steel wire, thus the long one end in Wire connecting rod one end is short, liquid
One section of pressure is arranged on that longer one end of connecting rod, so than relatively labor-saving.Micro- lateral rotation of finger is also to lean on hydraulic control；Generally
Under state, i.e., when manipulator is not by external drag, driving hydraulic pressure is in centre position so that mechanical finger, which is in, loosens shape
State is identical with human hand relaxation state.
Hydraulic part of the present invention is all disposed within the back of the hand position.
The present invention also provides a kind of manipulator, and the manipulator includes：Mechanical finger as described above, a mechanical thumb with
And the palm being connected with each mechanical finger, hydraulic pressure are all disposed within the back of the hand position.
As described above, the finger flex of the present invention is only realized with two steel wires of a hydraulic control, simple in construction, efficiency
It is high.
Claims (6)
1. a kind of mechanical finger, the mechanical finger includes：First knuckle, connects the second knuckle of first knuckle, and connection second refers to
The third knuckle of section, the 3rd mechanical finger joint support, the finger main support of connection third knuckle support, digital flexion steel wire, steel wire
Connecting rod, finger reset steel wire, first knuckle spring and the two or three finger joint volute spring, steel wire positive stop, steel wire guide hole
Plate, mechanical finger bend and stretch hydraulic pressure, the micro- lateral rotation hydraulic pressure of mechanical finger；Wherein mechanical finger first knuckle is installed by straight pin
In mechanical finger second knuckle, second knuckle is arranged on third knuckle by straight pin, and third knuckle installs the 3rd by straight pin
Mechanical finger joint support, Wire connecting rod are arranged on the 3rd mechanical finger joint support by straight pin, and the 3rd mechanical finger joint support passes through circle
Pin is arranged on the finger main support of connection third knuckle support, and steel wire guide hole version is separately designed in each finger joint close to joint
And the longer one end of steel wire connecting rod, manipulator must be arranged on by straight pin in joint rotary shaft both sides, finger flex hydraulic pressure
Refer to micro- lateral rotation hydraulic pressure and third knuckle pedestal lower end is arranged on by straight pin；Connect positioned at the steel wire head of first knuckle part
Be connected at first knuckle steel wire, digital flexion steel wire through threaded hole of steel guide plate on first knuckle threaded hole of steel guide plate → second knuckle →
Threaded hole of steel guide plate under second knuckle（Second knuckle volute spring spring）On → third knuckle under threaded hole of steel guide plate → third knuckle
Threaded hole of steel guide plate（Third knuckle volute spring）→ third knuckle support → steel wire connecting rod.
2. finger reset steel wire is same as digital flexion steel wire according to claim 1；Wherein steel wire positive stop is arranged on every
Individual finger joint volute spring about centre position, the distance of the block of steel wire first and the block of steel wire second are bent to equal to first knuckle
At utmost and the first steel wire block top is to first knuckle steel wire baffle plate the second steel wire block top to steel wire baffle plate under second knuckle
When distance；Similarly, the distance of the second steel wire block and the 3rd steel wire block is bent at utmost and equal to second knuckle
Two steel wire block tops are to the steel wire block top of second knuckle steel wire lower baffle plate the 3rd to the distance under third knuckle during steel wire baffle plate.
3. mechanical finger according to claim 1, it is further characterized in that above-mentioned steel wire is pulled by hydraulic pressure.
4. mechanical finger according to claim 1, it is further characterized in that above-mentioned finger flex only with a hydraulic-driven.
5. mechanical finger according to claim 1, it is further characterized in that two steel wires of above-mentioned finger are connected by connecting rod,
Bending and stretching for finger is realized in hydraulic control connecting rod one end.
6. manipulator according to claim 2, it is further characterized in that driving hydraulic pressure all at palm back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945137.8A CN107618043A (en) | 2017-10-12 | 2017-10-12 | A kind of simulation manipulator pulled based on hydraulic pressure steel wire refers to and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945137.8A CN107618043A (en) | 2017-10-12 | 2017-10-12 | A kind of simulation manipulator pulled based on hydraulic pressure steel wire refers to and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107618043A true CN107618043A (en) | 2018-01-23 |
Family
ID=61091889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710945137.8A Pending CN107618043A (en) | 2017-10-12 | 2017-10-12 | A kind of simulation manipulator pulled based on hydraulic pressure steel wire refers to and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107618043A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278059A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Robot and finger limiting structure thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3694021A (en) * | 1970-07-31 | 1972-09-26 | James F Mullen | Mechanical hand |
| CN102814818A (en) * | 2011-06-10 | 2012-12-12 | 北京理工大学 | Multi-finger anthropomorphic hand for robot |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN105291134A (en) * | 2015-12-07 | 2016-02-03 | 佛山市广工大数控装备技术发展有限公司 | Flexible bionic manipulator |
| CN105345826A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical hand, mechanical arm and robot |
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN105945978A (en) * | 2016-07-21 | 2016-09-21 | 北京灵铱科技有限公司 | Robot finger rebounding device |
-
2017
- 2017-10-12 CN CN201710945137.8A patent/CN107618043A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3694021A (en) * | 1970-07-31 | 1972-09-26 | James F Mullen | Mechanical hand |
| CN102814818A (en) * | 2011-06-10 | 2012-12-12 | 北京理工大学 | Multi-finger anthropomorphic hand for robot |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN105291134A (en) * | 2015-12-07 | 2016-02-03 | 佛山市广工大数控装备技术发展有限公司 | Flexible bionic manipulator |
| CN105345826A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical hand, mechanical arm and robot |
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN105945978A (en) * | 2016-07-21 | 2016-09-21 | 北京灵铱科技有限公司 | Robot finger rebounding device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278059A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Robot and finger limiting structure thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20180123 |