CN108705550A - A kind of bionic mechanical hand of gesture identification - Google Patents
A kind of bionic mechanical hand of gesture identification Download PDFInfo
- Publication number
- CN108705550A CN108705550A CN201810329160.9A CN201810329160A CN108705550A CN 108705550 A CN108705550 A CN 108705550A CN 201810329160 A CN201810329160 A CN 201810329160A CN 108705550 A CN108705550 A CN 108705550A
- Authority
- CN
- China
- Prior art keywords
- finger
- palm
- steel wire
- gesture identification
- wire rope
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a kind of bionic mechanical hands of gesture identification, including device body；Described device ontology is made of arm, palm and finger, the arm is located at palm bottom end, the finger is located on the upside of palm, and finger is provided with multiple, and the finger is made of multiple finger joints, both sides are both provided with pulley inside the finger joint, and top finger joint is internally provided with connecting pole, the connecting pole both sides are fixed with steel wire rope, and the wirerope-winding is on the upside of pulley, the steel wire penetrating finger stretches into inside palm, and the steel wire rope is located at palm inner section and is wrapped on the upside of swingle.The invention has certain bionical performance, can replace with danger, urgency, remote property so that operation is more safe.
Description
Technical field
The present invention relates to free equipment technical field, the bionic mechanical hand of specifically a kind of gesture identification.
Background technology
In real world, people can complete simple work by hand to capture object, mobile object, cooperation corresponding tool
Make, but increasing along with labour, need the work that human hand is done largely to increase, these work often have dangerous, urgent
Property, remote property.If it is too big to do these work costs using human hand, using man-machine interaction mode come help people complete work at
For preferred method.
Invention content
The purpose of the present invention is to provide a kind of bionic mechanical hand of gesture identification, to solve in the prior art to need people
The work that hand is done largely increases, these work often have danger, urgency, remote property.If doing these using human hand
The too big problem of the cost that works.
To achieve the above object, the present invention provides the following technical solutions：A kind of bionic mechanical hand of gesture identification, including dress
Set ontology；Described device ontology is made of arm, palm and finger, and the arm is located at palm bottom end, and the finger is located at hand
Palm side, and finger is provided with multiple, the finger is made of multiple finger joints, and both sides are both provided with cunning inside the finger joint
Wheel, and top finger joint is internally provided with connecting pole, the connecting pole both sides are fixed with steel wire rope, and the wirerope-winding is in pulley
Upside, the steel wire penetrating finger stretch into inside palm, and the steel wire rope is located at palm inner section and is wrapped on the upside of swingle,
The swingle is located at motor front end, and the motor and swingle are respectively positioned on inside palm, and the input end of motor is controlled with PLC
Device output end is electrically connected, and the PLC controller input terminal is electrically connected with NRF24L01 wireless sending module output ends.
Preferably, described device body interior is provided with speech recognition system, and speech recognition system output end is by leading
Line is electrically connected with PLC controller input terminal.
Preferably, multiple baffles are provided on the upside of the swingle, and the distance between adjacent screen is equal.
Preferably, it is fluted to be located at the setting of palm of the hand side for the finger joint junction.
Preferably, the finger joint junction is located at the back of the hand side and is provided with catch.
Compared with prior art, the beneficial effects of the invention are as follows：The invention has certain bionical performance, can replace tool
Dangerous property, urgency, remote property so that operation is more safe, and sound identifying system is to pass through the sound that people is sent out
Processing is identified in microcomputer, then processing information is sent to PLC controller, and PLC controller is a certain according to instruction control
A or multiple motors are rotated, and are shown information by finger, and baffle can separate two steel wire ropes, avoid steel
Chaotic between cord to knot, the setting of groove can not will produce friction when finger is bent between finger joint, catch can
It avoids due to inertia, finger is bent outwardly.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the cutter device vertical view of the present invention.
Fig. 3 is the single finger structural schematic diagram of the present invention.
Fig. 4 is the module connection figure of the present invention.
In figure：1- device bodies；2- arms；3- palms；4- fingers；5- connecting poles；6- grooves；7- finger joints；8- catch；9-
Steel wire rope；10- pulleys；11- swingles；12- baffles；13- sound identification modules；14-PLC controllers；15-NRF24L01 is wireless
Sending module；16- motors.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1~2, in the embodiment of the present invention, a kind of bionic mechanical hand of gesture identification, including device body 1；Dress
It sets ontology 1 to be made of arm 2, palm 3 and finger 4, arm 2 is located at 3 bottom end of palm, and finger 4 is located at 3 upside of palm, and finger 4
It is provided with multiple, finger 4 is made of multiple finger joints 7, and 7 inside both sides of finger joint are both provided with pulley 10, and inside top finger joint 7
It is provided with connecting pole 5,5 both sides of connecting pole are fixed with steel wire rope 9, and steel wire rope 9 is wrapped in 10 upside of pulley, and steel wire rope 9 passes through hand
Refer to 4 to stretch into inside palm 3, steel wire rope 9 is located at 3 inner section of palm and is wrapped in 11 upside of swingle, and swingle 11 is located at motor 16
Front end, motor 16 and swingle 11 are respectively positioned on inside palm 3, and 16 input terminal of motor is electrically connected with 14 output end of PLC controller,
14 input terminal of PLC controller is electrically connected with 15 output end of NRF24L01 wireless sending modules, and device body 1 is internally provided with language
Sound identifying system 13, and 13 output end of speech recognition system is electrically connected by conducting wire and 14 input terminal of PLC controller, sound identification
System 13 is processing to be identified by microcomputer in the sound that people is sent out, then processing information is sent to PLC controls
Device 14, PLC controller 14 controls some according to instruction or multiple motors 16 are rotated, and is shown information by finger 4
Come, the upside of swingle 11 is provided with multiple baffles 12, and the distance between adjacent screen 12 is equal, by finger 4 by information exhibition
Reveal and, baffle 12 can separate two steel wire ropes 9, avoid chaotic knotting between steel wire rope 9,7 junction of finger joint is located at
Palm of the hand side setting fluted 6, the setting of groove 6 can not will produce friction between finger joint 7, refer to when finger 4 is bent
It saves 7 junctions and is located at the back of the hand side and be provided with catch 8, catch 8 can avoid due to inertia, and finger 4 is bent outwardly.
The present invention operation principle be：The device has certain bionical performance, can replace with dangerous, urgent
Property, remote property so that operation is more safe, can pass through NRF24L01 wireless sending modules 15 and voice when in use and know
Other system 13 sends information to PIL controllers, can carry out remote control, sound identifying system 13 is to lead to the sound that people is sent out
It crosses microcomputer and processing is identified, then processing information is sent to PLC controller 14, PLC controller 14 is controlled according to instruction
It makes some or multiple motors 16 is rotated, motor 16 drives swingle 12 to be rotated, and swingle 12, which will be given, is located at hand
9 one tractive force of steel wire rope in heart direction, 7 bottom end of finger joint are provided with pin, are arranged at the finger joint 7 adjacent with pin or palm 3
There is slot, the position that groove is contacted with finger joint 7 is all semicircle setting, and center location is provided with shaft, is enabled to adjacent
Mutually rotated under the action of tractive force between finger joint 7, baffle 12 can separate two steel wire ropes 9, avoid steel wire rope 9 it
Between it is chaotic knot, the setting of groove 6 can not will produce friction when finger 4 is bent between finger joint 7, catch 8 can be kept away
Exempt from due to inertia, finger 4 is bent outwardly.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (5)
1. a kind of bionic mechanical hand of gesture identification, including device body (1)；It is characterized in that：Described device ontology (1) is by hand
Arm (2), palm (3) and finger (4) composition, the arm (2) are located at palm (3) bottom end, and the finger (4) is located at palm (3)
Upside, and finger (4) is provided with multiple, the finger (4) is made of multiple finger joints (7), and the internal both sides of the finger joint (7) are equal
It is provided with pulley (10), and top finger joint (7) is internally provided with connecting pole (5), connecting pole (5) both sides are fixed with steel wire rope
(9), the steel wire rope (9) is wrapped on the upside of pulley (10), and the steel wire rope (9) stretches into palm (3) inside across finger (4),
The steel wire rope (9) is located at palm (3) inner section and is wrapped on the upside of swingle (11), and the swingle (11) is located at motor (16)
Front end, the motor (16) and swingle (11) are respectively positioned on palm (3) inside, motor (16) input terminal and PLC controller
(14) output end is electrically connected, PLC controller (14) input terminal and NRF24L01 wireless sending modules (15) output end electricity
Property connection.
2. a kind of bionic mechanical hand of gesture identification according to claim 1, it is characterised in that：Described device ontology (1)
It is internally provided with speech recognition system (13), and speech recognition system (13) output end is defeated by conducting wire and PLC controller (14)
Enter end to be electrically connected.
3. a kind of bionic mechanical hand of gesture identification according to claim 1, it is characterised in that：On the swingle (11)
Side is provided with multiple baffles (12), and the distance between adjacent screen (12) is equal.
4. a kind of bionic mechanical hand of gesture identification according to claim 1, it is characterised in that：Finger joint (7) connection
Place is located at palm of the hand side and fluted (6) is arranged.
5. a kind of bionic mechanical hand of gesture identification according to claim 1, it is characterised in that：Finger joint (7) connection
Place is provided with catch (8) positioned at the back of the hand side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329160.9A CN108705550A (en) | 2018-04-13 | 2018-04-13 | A kind of bionic mechanical hand of gesture identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329160.9A CN108705550A (en) | 2018-04-13 | 2018-04-13 | A kind of bionic mechanical hand of gesture identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108705550A true CN108705550A (en) | 2018-10-26 |
Family
ID=63867241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810329160.9A Withdrawn CN108705550A (en) | 2018-04-13 | 2018-04-13 | A kind of bionic mechanical hand of gesture identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108705550A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498364A (en) * | 2018-11-22 | 2019-03-22 | 北京计算机技术及应用研究所 | It is a kind of for human body articulations digitorum manus power-assisted and the motion flexibility transmission mechanism of rehabilitation equipment |
| CN109623855A (en) * | 2018-12-20 | 2019-04-16 | 清华大学 | A kind of the variation rigidity software finger and its software hand of the driving of tendon rope |
| CN109877862A (en) * | 2019-03-26 | 2019-06-14 | 安徽理工大学 | It is a kind of for being engaged in the hand-control mechanical automatic hand of dangerous work |
| CN110228056A (en) * | 2019-06-03 | 2019-09-13 | 孟繁丞 | A kind of electric insulation manipulator and control method |
| CN111324205A (en) * | 2019-12-31 | 2020-06-23 | 深圳创龙智新科技有限公司 | Control method, device and equipment of smart watch and storage medium |
| CN113407032A (en) * | 2021-06-30 | 2021-09-17 | 哈尔滨商业大学 | Computer vision recognition device |
-
2018
- 2018-04-13 CN CN201810329160.9A patent/CN108705550A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498364A (en) * | 2018-11-22 | 2019-03-22 | 北京计算机技术及应用研究所 | It is a kind of for human body articulations digitorum manus power-assisted and the motion flexibility transmission mechanism of rehabilitation equipment |
| CN109623855A (en) * | 2018-12-20 | 2019-04-16 | 清华大学 | A kind of the variation rigidity software finger and its software hand of the driving of tendon rope |
| CN109877862A (en) * | 2019-03-26 | 2019-06-14 | 安徽理工大学 | It is a kind of for being engaged in the hand-control mechanical automatic hand of dangerous work |
| CN110228056A (en) * | 2019-06-03 | 2019-09-13 | 孟繁丞 | A kind of electric insulation manipulator and control method |
| CN110228056B (en) * | 2019-06-03 | 2024-04-19 | 辽宁环睿科技有限公司 | Electric power insulation manipulator and control method |
| CN111324205A (en) * | 2019-12-31 | 2020-06-23 | 深圳创龙智新科技有限公司 | Control method, device and equipment of smart watch and storage medium |
| CN113407032A (en) * | 2021-06-30 | 2021-09-17 | 哈尔滨商业大学 | Computer vision recognition device |
| CN113407032B (en) * | 2021-06-30 | 2022-01-11 | 哈尔滨商业大学 | Computer vision recognition device |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181026 |