CN108202337A - A kind of muscle formula bionic finger device of robot - Google Patents
A kind of muscle formula bionic finger device of robot Download PDFInfo
- Publication number
- CN108202337A CN108202337A CN201810215492.4A CN201810215492A CN108202337A CN 108202337 A CN108202337 A CN 108202337A CN 201810215492 A CN201810215492 A CN 201810215492A CN 108202337 A CN108202337 A CN 108202337A
- Authority
- CN
- China
- Prior art keywords
- finger
- thumb
- base
- finger joint
- hinged
- 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.)
- Granted
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 12
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 12
- 210000001145 finger joint Anatomy 0.000 claims abstract description 109
- 210000003813 thumb Anatomy 0.000 claims abstract description 84
- 210000003811 finger Anatomy 0.000 claims abstract description 67
- 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 abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 210000005224 forefinger Anatomy 0.000 claims description 7
- 210000004932 little finger Anatomy 0.000 claims description 3
- 238000010923 batch production Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013139 quantization 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
- B25J15/0009—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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
A kind of muscle formula bionic finger device of robot, including pedestal, thumb device and four refers to device；The thumb device includes thumb finger joint, thumb linear driving element and thumb link mechanism, thumb link mechanism is made of thumb first connecting rod and thumb second connecting rod, and thumb linear driving element connect the finger joint movement of driving thumb with thumb link mechanism；Described four, which refer to device, includes four finger finger joints, four finger linear driving elements and four finger link mechanisms, four finger link mechanisms are made of four finger first connecting rods, four finger second connecting rods and four finger third connecting rods, and four finger linear driving elements connect driving four with four finger link mechanisms and refer to finger joint movement.The present invention by the connection of each finger joint and link mechanism, completed under the action of driving mechanism finger stretch and flexure operation, apery degree is high, and control is simple, and motion stability, batch production easy to implement reduces cost.
Description
Technical field
The present invention relates to a kind of robot finger, the muscle formula bionic finger device of more particularly to a kind of robot.
Background technology
Robot is a kind of high-tech product, is had broad application prospects.In terms of robot finger, there are many specially
Profit, but all there is it is common the problem of：Complicated, control is complicated, is unfavorable for the quantization production of robot, is particularly disadvantageous for disappearing
Take the popular consumption of humanoid robot.
Invention content
The object of the present invention is to provide a kind of muscle formula bionic finger devices of robot, and the apparatus structure is simple, apery hand
Finger degree is high, and control is simple, and batch production easy to implement reduces cost.
The technical scheme is that a kind of muscle formula bionic finger device of robot, including pedestal, thumb device and
Four refer to device；
The thumb device includes thumb finger joint, thumb linear driving element and thumb link mechanism, described
Thumb linear driving element is located at the side of pedestal, and thumb finger joint is located at the opposite side of pedestal, and the thumb straight line drives
Dynamic element connect the finger joint movement of driving thumb with thumb link mechanism；
Described four, which refer to device, includes four finger finger joints, four finger linear driving elements and four finger link mechanisms, and described four refer to straight line
Driving element is located at the side of pedestal, and four finger finger joints are located at the opposite side of pedestal, and described four, which refer to linear driving element and four, refers to company
Linkage connection driving four refers to finger joint movement.
The thumb finger joint is made of the base pitch of hinge connections, first finger joint and tail finger joint, and base pitch is fixedly connected with pedestal,
Base aperture is offered on pedestal with base pitch junction, thumb link mechanism passes through base aperture and thumb linear driving element phase
Connection；
The four finger finger joint is made of the base pitch of hinge connections, first finger joint, middle finger joint and tail finger joint, and base pitch is fixed with pedestal
It connects, offers base aperture on pedestal with base pitch junction, four, which refer to link mechanisms, passes through base aperture to refer to linear driving elements with four
It is connected.
The distance of opposite base offers nearly base aperture and remote base aperture, big thumb on the base pitch of the thumb finger joint
Refer to link mechanism to be made of thumb first connecting rod and thumb second connecting rod, one end of thumb first connecting rod is hinged thumb
The nearly base end lower part of first finger joint, the other end pass through the shaft end of the linear driving element of base aperture and thumb to be hinged, thumb
The nearly base aperture of the nearly base end top of first finger joint and base pitch is hinged, and thumb second connecting rod one end is hinged the nearly base end of tail finger joint
The remote base aperture of lower part, the other end and base pitch is hinged, and the nearly base end top of tail finger joint and the top of the remote base end of first finger joint are cut with scissors
It connects；
The base pitch of the four fingers finger joint and the distance of first finger joint top opposite base offer nearly base aperture and remote
Base aperture, four finger link mechanisms are made of four finger first connecting rods, four finger second connecting rods and four finger third connecting rods, and four refer to first connecting rod
The nearly base end lower part of first finger joints that refers to of one end hinged four, the other end passes through the shaft end that base aperture refers to linear driving elements with four
Hinged, the four nearly base end tops of first finger joint referred to and the nearly base aperture of its base pitch are hinged, and four, which refer to second connecting rod one end, is hinged wherein
The remote base aperture of the nearly base end lower part of finger joint, the other end and base pitch is hinged, and nearly base end top and its head of middle finger joint refer to
The nearly base aperture on section top is hinged, and four finger third connecting rod one end are hinged the nearly base end lower part of its tail finger joint, and the other end is first with it
The remote base aperture on finger joint top is hinged, the nearly base end top of tail finger joint and the remote base end upper articulation of its middle finger joint.
Described four refer to there are four devices, are forefinger device, middle finger device, nameless device and little finger of toe device respectively.
The present invention imitates finger design, complete under the action of driving mechanism by the connection of each finger joint and link mechanism
Into finger stretch and flexure operation, apery degree are high, it is the size of each digital flexion angle and the relative position of each hinge hole, each
The length dimension of connecting rod is related, can voluntarily adjust as needed, and control is simple, motion stability, batch production easy to implement, reduces
Cost.
Description of the drawings
Fig. 1 is the structure chart of the muscle formula bionic finger device of the present invention.
Fig. 2 is the structure chart of thumb device of the present invention.
Fig. 3 is the flexuosity figure that the present invention four refers to device.
Fig. 4 is that the present invention four refers to device straightening procedure state diagram.
Specific embodiment
As shown in Figs 1-4, the muscle formula bionic finger device of a kind of robot, including pedestal 1, thumb device 2 and four refers to
Device 3；Described four refer to there are four devices 3, are forefinger device, middle finger device, nameless device and little finger of toe device respectively.
The thumb device 2 includes thumb finger joint 21, thumb linear driving element 22 and thumb link mechanism
23, the thumb linear driving element 22 is located at the side of pedestal 1, and thumb finger joint 21 is located at the opposite side of pedestal 1, big thumb
Finger linear driving element 22 connect driving thumb finger joint 21 with thumb link mechanism 23 and moves；
Four refer to device 3 refers to the finger finger link mechanisms 33 of linear driving elements 32 and four of finger joints 31, four including four, and described four refer to directly
Line driving element 32 is located at the side of pedestal 1, and four finger finger joints 31 are located at the opposite side of pedestal 1, and described four refer to linear driving element
32, which connect four finger finger joint 31 of driving with four finger link mechanisms 33, moves.
The thumb finger joint 21 is made of the base pitch 211 of hinge connections, first finger joint 212 and tail finger joint 213, base pitch 211
It is fixedly connected with pedestal 1, offers base aperture 201 on pedestal 1 with 211 junction of base pitch, thumb link mechanism 23 passes through base
Bore 201 is connected with thumb linear driving element 22；
The four finger finger joint 31 is made of the base pitch 311 of hinge connections, first finger joint 312, middle finger joint 313 and tail finger joint 314,
Base pitch 311 is fixedly connected with pedestal 1, offers base aperture 301 on pedestal 1 with 311 junction of base pitch, and four finger link mechanisms 33 are worn
Base aperture 301 is crossed with four finger linear driving elements 32 to be connected.
The distance of opposite base 1 offers nearly base aperture 20 and remote base on the base pitch 211 of the thumb finger joint 21
Bore 200, thumb link mechanism 23 are made of thumb first connecting rod 231 and thumb second connecting rod 232, thumb first
One end of connecting rod 231 is hinged the nearly base end lower part of thumb head finger joints 212, and the other end passes through base aperture 201 and thumb
The shaft end of linear driving element 22 is hinged, and 212 nearly base end top of thumb head finger joints and the nearly base aperture 20 of base pitch 211 are cut with scissors
It connects, 232 one end of thumb second connecting rod is hinged the nearly base end lower part of tail finger joint 213, the remote base aperture of the other end and base pitch 211
200 is hinged, the nearly base end top of tail finger joint 213 and the upper articulation of 212 remote base end of first finger joint；
The distance of opposite base 1 offers nearly base aperture 30 and remote pedestal on the base pitch 311 of the four fingers finger joint 31
Hole 300, the first remote base end top of finger joint also offers nearly base aperture 40 and remote base aperture 400, between nearly base aperture and pedestal
Distance is less than the distance between remote base aperture and pedestal.Four refer to link mechanism 33 refers to the finger second connecting rod of first connecting rod 331, four by four
332 and four finger third connecting rod 333 form, under the nearly base end of first finger joints 312 that four one end hinged four for referring to first connecting rods 331 refer to
Portion, the other end pass through base aperture 301 and the shaft end of four finger linear driving elements 32 to be hinged, the four 312 nearly base ends of first finger joint referred to
Top and the nearly base aperture 30 of its base pitch 311 are hinged, and four 332 one end of finger second connecting rod are hinged the nearly base end of its middle finger joint 313
Lower part, the remote base aperture 300 of the other end and base pitch 311 is hinged, the nearly base end top of middle finger joint 313 and its first finger joint 312
The nearly base aperture 40 on top is hinged, and four 333 one end of finger third connecting rod are hinged the nearly base end lower part of its tail finger joint 314, the other end
It is hinged with the remote base aperture 400 on its first 312 top of finger joint, 312 nearly base end top of tail finger joint and its 313 remote pedestal of middle finger joint
Hold upper articulation.
It when thumb becomes straight configuration from flexuosity, is driven by the linear driving element 22 of thumb, with its axis
Hinged first connecting rod 231 is held to be pushed forward, first finger joint 212 is driven to stretch；First finger joint 212 drives the in straightening procedure
Two connecting rods 232 move, and further tail finger joint 213 are pushed to stretch, so as to stretch entire thumb.
It when thumb becomes flexuosity from straight configuration, is driven by the linear driving element 22 of thumb, with its axis
Hinged first connecting rod 231 is held to be pulled rearwardly, first finger joint 212 is driven to be pulled rearwardly, is bent first finger joint 212；First finger joint
212 in bending process, and second connecting rod 232 is driven to move, and second connecting rod 232 pulls tail finger joint 213 to be bent, and makes entire thumb
Bending.
Four motion processes referred to are by taking forefinger as an example, when forefinger becomes straight configuration from flexuosity, by the straight line of forefinger
Driving element 32 drives, and the first connecting rod 331 hinged with its shaft end is pushed forward, and first finger joint 312 is driven to stretch；First finger joint
312 in straightening procedure, and second connecting rod 332 and third connecting rod 333 is driven to move, and wherein second connecting rod 332 pushes middle finger joint 313
It stretches, third connecting rod 333 drives tail finger joint 314 to stretch, and final entire finger stretches.
When forefinger becomes flexuosity from straight configuration, under the driving of linear driving element 32, it is hinged with its shaft end
First connecting rod 331 be pulled rearwardly, while first finger joint 312 is driven to be pulled rearwardly, be bent first finger joint 312；First finger joint 312
In bending process, second connecting rod 332 and third connecting rod 333 is driven to move, wherein second connecting rod 332 pulls middle finger joint 313 curved
Song, third connecting rod 333 pull tail finger joint 314 to be bent, final entire digital flexion.
The size of digital flexion degree connects in each hinge hole relative position and each link mechanism first, second, and third
The length of bar is related, can voluntarily be adjusted as the case may be when needing, and flexibility ratio is high.
The embodiment of the present invention is described in detail above, specific case used herein to the principle of the present invention and
Embodiment is expounded, and the explanation of above example is only intended to facilitate the understanding of the method and its core concept of the invention；
Meanwhile for those of ordinary skill in the art, thought according to the present invention can in specific embodiments and applications
There is change part, in conclusion the content of the present specification should not be construed as limiting the invention.
Claims (4)
1. a kind of muscle formula bionic finger device of robot, including pedestal, thumb device and four refers to device；
The thumb device includes thumb finger joint, thumb linear driving element and thumb link mechanism, the big thumb
Refer to the side that linear driving element is located at pedestal, thumb finger joint is located at the opposite side of pedestal, the thumb linear drives member
Part connect the finger joint movement of driving thumb with thumb link mechanism；
Described four, which refer to device, includes four finger finger joints, four finger linear driving elements and four finger link mechanisms, and described four refer to linear drives
Element is located at the side of pedestal, and four finger finger joints are located at the opposite side of pedestal, and described four, which refer to linear driving element and four, refers to connecting rod machine
Structure connection driving four refers to finger joint movement.
2. muscle formula bionic finger device as described in claim 1, which is characterized in that the thumb finger joint is by hinge connections
Base pitch, first finger joint and tail finger joint composition, base pitch are fixedly connected with pedestal, offer base aperture with base pitch junction on pedestal, greatly
Thumb link mechanism is connected across base aperture with thumb linear driving element；
The four finger finger joint is made of the base pitch of hinge connections, first finger joint, middle finger joint and tail finger joint, and base pitch is fixed with pedestal to be connected
It connects, offers base aperture on pedestal with base pitch junction, four, which refer to link mechanism, passes through base aperture to refer to linear driving element phase with four
Connection.
3. muscle formula bionic finger device as claimed in claim 2, which is characterized in that opposite on the base pitch of the thumb finger joint
The distance of pedestal offers nearly base aperture and remote base aperture, and thumb link mechanism is by thumb first connecting rod and thumb
Second connecting rod forms, and one end of thumb first connecting rod is hinged the nearly base end lower part of thumb head finger joints, and the other end passes through base
The shaft end of the linear driving element of bore and thumb is hinged, the nearly base aperture of the nearly base end top of thumb head finger joints and base pitch
Hinged, thumb second connecting rod one end is hinged the nearly base end lower part of tail finger joint, and the remote base aperture of the other end and base pitch is hinged, tail
The nearly base end top of finger joint and the upper articulation of the remote base end of first finger joint；
The distance of the base pitch of the four fingers finger joint and first finger joint top opposite base offers nearly base aperture and remote pedestal
Hole, four finger link mechanisms are made of four finger first connecting rods, four finger second connecting rods and four finger third connecting rods, and four refer to the one of first connecting rod
The nearly base end lower part of first finger joint that end hinged four refers to, the shaft end that the other end passes through base aperture to refer to linear driving element with four are cut with scissors
It connects, the four nearly base end tops of first finger joint referred to and the nearly base aperture of its base pitch are hinged, and four finger second connecting rod one end are hinged its middle finger
The remote base aperture of the nearly base end lower part of section, the other end and base pitch is hinged, the nearly base end top of middle finger joint and its first finger joint
The nearly base aperture on top is hinged, and four finger third connecting rod one end are hinged the nearly base end lower part of its tail finger joint, and the other end refers to its head
The remote base aperture on section top is hinged, the nearly base end top of tail finger joint and the remote base end upper articulation of its middle finger joint.
4. the muscle formula bionic finger device as described in claims 1 or 2 or 3, which is characterized in that described four refer to there are four devices,
It is forefinger device, middle finger device, nameless device and little finger of toe device respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810215492.4A CN108202337B (en) | 2018-03-15 | 2018-03-15 | Muscle type bionic finger device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810215492.4A CN108202337B (en) | 2018-03-15 | 2018-03-15 | Muscle type bionic finger device of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108202337A true CN108202337A (en) | 2018-06-26 |
| CN108202337B CN108202337B (en) | 2024-09-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810215492.4A Active CN108202337B (en) | 2018-03-15 | 2018-03-15 | Muscle type bionic finger device of robot |
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| Country | Link |
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| CN (1) | CN108202337B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673540A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
| CN109262636A (en) * | 2018-10-09 | 2019-01-25 | 南京神州天诚科技有限公司 | A kind of adaptable reaction type machine finger |
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
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| CN108673540A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
| CN109262636A (en) * | 2018-10-09 | 2019-01-25 | 南京神州天诚科技有限公司 | A kind of adaptable reaction type machine finger |
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
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| Publication number | Publication date |
|---|---|
| CN108202337B (en) | 2024-09-20 |
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