CN108115718A - A kind of more finger robot devices - Google Patents
A kind of more finger robot devices Download PDFInfo
- Publication number
- CN108115718A CN108115718A CN201611074247.3A CN201611074247A CN108115718A CN 108115718 A CN108115718 A CN 108115718A CN 201611074247 A CN201611074247 A CN 201611074247A CN 108115718 A CN108115718 A CN 108115718A
- Authority
- CN
- China
- Prior art keywords
- finger
- driving motor
- joint
- robot devices
- driving
- 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.)
- Pending
Links
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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to field of mechanical technique, more particularly to a kind of more finger manipulators.It aims at the flexible control of manipulator and the effect of grasping stability.Its connecting seat for including positioning seat and being installed on described positioning seat one end；The finger of circle distribution and joint there are six being set on the connecting seat；Several small-sized driving motors are installed at the connecting seat and each finger-joint；The driving motor is used to drive the digital flexion or stretching, extension；Each joint corresponds at least one driving motor.
Description
Technical field
The present invention relates to field of mechanical technique, more particularly to a kind of more finger robot devices.
Background technology
Some holding functions of human hand and arm can be imitated, to press fixed routine crawl, carrying object or operation instrument
Automatic pilot.Manipulator is the industrial robot occurred earliest and the modern machines people that occurs earliest, it can replace people
Heavy labor to realize the mechanization of production and automation, can operate to protect personal safety under hostile environment.
Industry mechanical arm be industrial robot an important branch.Its feature be can be completed by programming it is various
Expected job task, construction and performance on have people and machine concurrently each the advantages of, especially embody intelligence and the adaptation of people
Property.The ability to fulfil assignment in the accuracy of mechanical manual task and various environment, there is wide hair in all fields of national economy
Exhibition prospect.In the industrial production, it is necessary to be completed by manipulator in the case of very to danger.Existing manipulator is general
It is by hydraulic-driven connecting rod, to drive finger or by motor direct-drive finger, to realize the actions such as the crawl of finger.
However, by hydraulic-driven connecting rod, to drive the robot manipulator structure of finger more heavy, action is also relatively easy.And pass through electricity
Machine directly drives the manipulator of finger, since driving motor is mounted on connecting seat, due to the limitation of the structure and quantity of finger,
Cause the number of motors that can be placed limited, and then cause the flexibility of manipulator relatively low, while stability is poor during grabbing workpiece.
Manipulator is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator are widely applied in automatic assembly line.
The content of the invention
The main object of the present invention is to provide a kind of more finger manipulators, it is intended to realize the flexible control and crawl of manipulator
Stable effect.
To achieve the above object, more finger manipulators proposed by the present invention including positioning seat and are installed on the positioning seat
The connecting seat of one end；The finger of circle distribution and joint there are six being set on the connecting seat；The connecting seat and each finger
Several small-sized driving motors are installed in joint；The driving motor is used to drive the digital flexion or stretching, extension；Each pass
At least one driving motor is corresponded at section.
Each joint is correspondingly arranged there are two driving motor；One of driving motor is used to drive the finger curved
Song, another driving motor are used to drive the finger extension.
The driving motor is arranged on each joint.
The driving motor is directly connected to the joint.
The driving motor uses linear motor.
The manipulator further includes control device；The control device, by cable connection, is used for the driving motor
Control the driving motor.
The manipulator further includes sensing device；The sensing device is connected with the driving motor, described for detecting
The grasp force of finger, to realize the adjustment to the grasp force.
The sensing device is the power level sensor being arranged on the finger.
The manipulator further includes read-write equipment；The read-write equipment is electrically connected with the control device, is controlled for writing
Processing procedure sequence；The control device reads the control program in the read-write equipment, and the drive according to the control programme-control
Dynamic motor.
The beneficial effects of the invention are as follows.
Technical scheme sets at least one driving motor, to realize to each pass by each joint of correspondence
The control of the movement of section effectively improves the flexibility of manipulator；And it since driving motor is mounted in positioning seat, does not interfere with
The volume of manipulator will not cause to interfere, further ensure the flexibility of manipulator to the action of manipulator.Using more hands
Refer to structure, some different in nature product representation obtain particularly reliable in crawl.
Description of the drawings
The present invention will be further described with reference to the accompanying drawings and detailed description.The scope of the present invention not only limits to
In the statement of herein below.
Fig. 1 is the dimensional structure diagram of the more finger manipulators of the present invention；
Fig. 2 is the floor map of the more finger manipulators of the present invention；
Fig. 3 is the more finger manipulator joint internal structure schematic diagrams of the present invention；
In figure：1-positioning seat, 2-connecting seat, 3-finger, 4-joint, 5-driving motor, 6-sensing device.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with drawings and the embodiments,
The present invention will be described in further detail.It should be appreciated that the specific embodiments described herein are only used to explain this hair
It is bright, it is not intended to limit the present invention.
To achieve the above object, more finger manipulators proposed by the present invention including positioning seat and are installed on the positioning seat
The connecting seat of one end；The finger of circle distribution and joint there are six being set on the connecting seat；The connecting seat and each finger
Several small-sized driving motors are installed in joint；The driving motor is used to drive the driving digital flexion or stretch
Exhibition；Each joint corresponds at least one driving motor.
Each joint correspondence can set two driving motors；One of driving motor is used to drive the finger
Bending, another driving motor are used to drive the finger extension.
The driving motor is preferably servomotor, and the drive of bending or the stretching, extension to finger is realized by forward or reverse
It is dynamic.
At least one driving motor is set by each joint of correspondence, to realize the control of the movement to each joint, is had
Effect improves the flexibility of manipulator；And since driving motor is mounted on corresponding finger interior, the volume of manipulator is not interfered with,
The action of manipulator will not be caused to interfere, further ensure the flexibility of manipulator.
The driving motor is arranged on each joint.
The driving motor is directly connected to the joint.
The driving motor uses linear motor.
The manipulator further includes control device；The control device, by cable connection, is used for the driving motor
Control the driving motor.
The manipulator further includes sensing device；The sensing device is connected with the driving motor, described for detecting
The grasp force of finger, to realize the adjustment to the grasp force.
The sensing device is the power level sensor being arranged on the finger.
The manipulator further includes read-write equipment；The read-write equipment is electrically connected with the control device, is controlled for writing
Processing procedure sequence；The control device reads the control program in the read-write equipment, and the drive according to the control programme-control
Dynamic motor.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (6)
1. a kind of more finger robot devices, including positioning seat and the connecting seat of described positioning seat one end is installed on；Its feature exists
In finger and joint of the setting there are six circle distribution on the connecting seat；Peace at the connecting seat and each finger-joint
Equipped with several small-sized driving motors；The driving motor is used to drive the digital flexion or stretching, extension；Each joint correspond to
A few driving motor.
2. a kind of more finger robot devices according to claim 1, it is characterised in that：Each joint is correspondingly arranged
There are two driving motors；For one of driving motor for driving the digital flexion, another driving motor is described for driving
Finger extension.
3. a kind of more finger robot devices according to claim 1, it is characterised in that：The driving motor and the pass
Section is directly connected to.
4. a kind of more finger robot devices according to claim 1, it is characterised in that：The driving motor uses straight line
Motor.
5. a kind of more finger robot devices according to claim 1, it is characterised in that：The manipulator further includes control
Device；The control device passes through cable connection with the driving motor.
6. a kind of more finger robot devices according to claim 1, it is characterised in that：The manipulator further includes sensing
Device；The sensing device is connected with the driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074247.3A CN108115718A (en) | 2016-11-29 | 2016-11-29 | A kind of more finger robot devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074247.3A CN108115718A (en) | 2016-11-29 | 2016-11-29 | A kind of more finger robot devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115718A true CN108115718A (en) | 2018-06-05 |
Family
ID=62225839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611074247.3A Pending CN108115718A (en) | 2016-11-29 | 2016-11-29 | A kind of more finger robot devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115718A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109035884A (en) * | 2018-08-20 | 2018-12-18 | 安徽倍思特教育科技有限公司 | A kind of aided education education robot |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
-
2016
- 2016-11-29 CN CN201611074247.3A patent/CN108115718A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109035884A (en) * | 2018-08-20 | 2018-12-18 | 安徽倍思特教育科技有限公司 | A kind of aided education education robot |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
| CN109910025B (en) * | 2019-04-09 | 2022-03-08 | 江苏科技大学 | Underwater propeller cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180605 |