CN108381574A - A kind of robot finger's biomimetic features - Google Patents
A kind of robot finger's biomimetic features Download PDFInfo
- Publication number
- CN108381574A CN108381574A CN201710070352.8A CN201710070352A CN108381574A CN 108381574 A CN108381574 A CN 108381574A CN 201710070352 A CN201710070352 A CN 201710070352A CN 108381574 A CN108381574 A CN 108381574A
- Authority
- CN
- China
- Prior art keywords
- finger
- joint
- motor
- control
- robot
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention of current robot finger uses motor remote control, motor to be mounted on arm position substantially, and distance farther out, cannot directly control between joint.In order to make robot finger's control more convenient, the present invention designs 4 motors in respective finger palm, the robot finger in 4 joints is controlled respectively, using micromotor as actuating unit, using nut-screw as conduction mechanism, actuating unit and conduction mechanism and joint motion position are closely coupled.The rotation of motor is slowed down and is turned to by nut-screw mechanism and becomes moving horizontally, and telescopic rod is pushed to move horizontally, thus pivot link is pushed to swing, and pivot link is connected with previous section finger, then realizes the flexible of finger.When telescopic rod moves horizontally, telescopic rod can the longitudinal sliding motion on pivot link.Finger outer layer designs protective jacket, ensures convenience and health of the robot in labour.The power supply and control of motor are connected using circuit with the arm at rear.
Description
Technical field
The invention is applied to the control that robot finger bends and stretches posture, focuses on mechanical structure, is free of automatic part.
Background technology
Farther out, the two is not or not a joint for distance between the invention motor control part and joint of robot finger at present
It is interior.Pull rod or force transmission mechanism power transmission are used between them, there are controls to be difficult to accurately, and bionic shape designs the problems such as insufficient.
The present invention is driven using nut-screw, and motor and force transmission mechanism and turning joint are closely coupled, realizes control section and joint portion
Point closely coupled, control is accurately and fast.
Invention content
In order to allow robot finger to adapt to more labour, the present invention designs the robot that can be stretched with multi-joint
Refer to, using micromotor as actuating unit, using nut-screw as conduction mechanism, actuating unit and conduction mechanism and joint
Moving part is closely coupled.The individually designed control system in each joint, it is flexible to control finger-joint.
The rotation of motor is slowed down by nut-screw mechanism and is turned to the movement become forward backward, and telescopic rod water is pushed
Translation is dynamic, thus pivot link is pushed to swing, and pivot link is connected with previous section finger, and rotates around the axis, then realizes hand
What is referred to is flexible.
When telescopic rod moves horizontally, telescopic rod can the longitudinal sliding motion on pivot link.
Finger outer layer designs protective jacket, ensures convenience and health of the robot in labour.
The action of micromotor is control software rearward to realize, control software will be integrated in robot trunk
It is interior, it the power supply of motor and automatically controls not in research range of the present invention.
First advantage of the present invention is that the activity in each joint individually controls, and control section is arranged in adjacent
Intra-articular, characteristics of compact layout is convenient, and the design is different from the control mode using other long-range power transmissions of link mechanism mode, but strong
Control unit is adjusted to be arranged in corresponding joint.Finger only has control circuit with the arm at rear and supply line is connected so that hand
Finger realizes modularization, simplifies production and installation.
Second advantage of the present invention is the kind of drive for using nut-screw.Nut-screw conduction pattern advantage is control
Accurately, while increasing reduction ratio.Nut-screw be it is a kind of will being commonly changed into mobile transmission mechanism, due to a combination thereof
There are many modes, and its there are many combinations also arranged with motor, this schematic diagram only illustrates one kind, represents all such
Conduction pattern.
Third advantage of the present invention is that finger and palm are designed using multi-joint, and posture is more closely similar to human hand, has shared hand
The stroke for referring to bending, can realize self-enclosed grasping；It is long that each joint motion amplitude reduction advantageously reduces single telescopic rod
Degree.Articulations digitorum manus quantity is using 2 ~ 4 sections, and metacarpal joint is using 1 ~ 2 section.
Description of the drawings：Fig. 1 is that finger is clenched fist posture schematic diagram, and Fig. 2 is that hand stretches posture schematic diagram.
Number title in figure：The first joints 1--, 2-- shafts, 3-- connecting rods, 4-- sliding grooves, 5-- nut-screws conduct machine
Structure, 6-- telescopic rods, 7-- sliding limits, 8-- ball bearings, 9-- motors, 10-- gears, 11-- outer protective sets, 12-- second
Joint, 13-- thirds joint, half before 14-- palms, half after 15-- palms, 16-- soft seals（Fig. 2）.
Claims (3)
1. rotation is changed into movement by the conduction mechanism using nut-screw, the combination of nut-screw and motor is not limited to show
Shown in intention.
2. each joint corresponds to a conduction mechanism and in adjacent finger, the folding in each joint can be controlled individually
System.
3. finger palm is designed using bionical more piece, articulations digitorum manus quantity is using 2 ~ 4 sections, and metacarpal joint is using 1 ~ 2 section, the joint number of use
It is not limited to shown in schematic diagram.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017100623167 | 2017-02-02 | ||
| CN201710062316 | 2017-02-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381574A true CN108381574A (en) | 2018-08-10 |
Family
ID=63076038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710070352.8A Pending CN108381574A (en) | 2017-02-02 | 2017-02-09 | A kind of robot finger's biomimetic features |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381574A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002113681A (en) * | 2000-08-04 | 2002-04-16 | Thk Co Ltd | Robot joint structure |
| CN101500764A (en) * | 2006-11-24 | 2009-08-05 | 松下电器产业株式会社 | Multi-fingered robot hand |
| CN205600750U (en) * | 2016-05-05 | 2016-09-28 | 赵海铭 | Novel retractable manipulator |
-
2017
- 2017-02-09 CN CN201710070352.8A patent/CN108381574A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002113681A (en) * | 2000-08-04 | 2002-04-16 | Thk Co Ltd | Robot joint structure |
| CN101500764A (en) * | 2006-11-24 | 2009-08-05 | 松下电器产业株式会社 | Multi-fingered robot hand |
| CN205600750U (en) * | 2016-05-05 | 2016-09-28 | 赵海铭 | Novel retractable manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107932541B (en) | Under-actuated humanoid dexterous hand driven and controlled by micro motor | |
| CN202914966U (en) | Folding type wheeled leg pipeline robot | |
| CN202572399U (en) | Synchronous smart mechanical arm of robot | |
| US20080023974A1 (en) | Joint apparatus and hand apparatus for robot using the same | |
| CN103128744A (en) | Humanoid flexible mechanical arm device | |
| CN107433618A (en) | A kind of scalable mechanical arm of bidirectional-movement | |
| KR20200071184A (en) | Finger apparatus and robot hand having the finger apparatus | |
| CN102060059A (en) | Telescopic four-link joint transmission mechanism based on parallelogram | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN202292775U (en) | Single-motor-driven human-simulated dexterous hand device | |
| CN104511906A (en) | Multi-joint manipulator | |
| CN106926227A (en) | A kind of open-ended modularity mechanical arm | |
| CN110394819B (en) | Telescopic electric-driven manipulator | |
| CN107803849A (en) | A kind of bionic robot finger | |
| CN110151494B (en) | Multi-drive modularized exoskeleton mechanism | |
| CN108297075A (en) | A kind of leaf spring type variation rigidity flexible actuator based on rack pinion | |
| CN203471788U (en) | Multi-joint mechanical arm | |
| CN108381574A (en) | A kind of robot finger's biomimetic features | |
| CN108621195A (en) | The two of robot finger's biomimetic features | |
| CN114474146B (en) | Seven-degree-of-freedom main manipulator mechanical arm | |
| KR101993902B1 (en) | Robot arm and control system thereof | |
| KR101444130B1 (en) | Shoulder complex mechanism of robot | |
| CN109895125A (en) | A kind of bionic robot finger of bevel gear transmission | |
| CN109849047B (en) | Mechanical arm joint with controllable rigidity | |
| CN113305874A (en) | Three-finger multi-degree-of-freedom dexterous hand mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180810 |