CN108705552A - The mechanical finger being driven using origami structure - Google Patents
The mechanical finger being driven using origami structure Download PDFInfo
- Publication number
- CN108705552A CN108705552A CN201810569165.9A CN201810569165A CN108705552A CN 108705552 A CN108705552 A CN 108705552A CN 201810569165 A CN201810569165 A CN 201810569165A CN 108705552 A CN108705552 A CN 108705552A
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- hinged
- knuckle
- paper folding
- finger
- finger joint
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Classifications
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- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to manipulator fields, and in particular to a kind of mechanical finger being driven using origami structure.Including several finger joints hinged successively, and control the finger joint driving device that finger joint is bent and stretched；The finger joint driving device is in paper folding shape linkage structure；The paper folding shape linkage structure is made of the origami structure formed with the multiple folding lines for being intersected in any, is formed the paper folding page between two adjacent fold scores, is hinged by folding line between the adjacent two paper folding page, multiple paper folding pages hingedly link successively.The technical program controls two adjacent finger joint rotations to change the angle between two adjacent finger joints by driving plate and the connecting plate hinged with driving plate.Its is simple in structure, to the fast response time of gripping action.
Description
Technical field
The invention belongs to manipulator fields, and in particular to a kind of mechanical finger being driven using origami structure.
Background technology
Bionic mechanical is by copying the feature structure of natural biology come the advantages of inheriting its biological evolution.In recent years, it imitates
The manipulator of the mankind is the hot issue that robot field discusses, the research institution of many countries is all unfolded manipulator in the world
Research.
Manipulator includes nearly finger joint, middle finger joint and remote finger joint hinged successively on pedestal corresponding with palm and pedestal.
Existing manipulator generally use rope winds the mode of pulley blocks to control bending and stretching for finger joint, utilizes the connection of each section of finger joint
The difference for locating the radius of the pulley blocks of setting, forms different rotation torques by cable tie running block, each to change
Angle between finger joint imitates human finger's bending, completes the action for holding object.
Although the manipulator of rope winding pulley block structure can be completed to hold the action of object, rope is applied solid
When fixed pulling force, the grip of the finger joint of manipulator is always a steady state value, cannot be satisfied the gripping to various sizes of object
Demand.And rope needs to pull mobile longer distance that can drive finger joint bending by pulley blocks, to gripping action
Response speed it is slower.
Have soon to solve the above problems, the Chinese invention patent of Patent No. CN201210144555.4 discloses one kind
The coupling adaptive drive lacking prosthetic finger device of speed reflection crawl function, including two sets of motions of primary and secondary, the main fortune
Motivation structure includes pedestal, motor, retarder, cone pinion, large bevel gear, nearly finger joint, middle finger joint and remote finger joint；The secondary fortune
Motivation structure installs microdrive additional by kinematic link and constitutes.The technical solution of the patent passes through motor, retarder, cone pinion, big
Bevel gear drives the rotation of nearly joint shaft, and nearly joint shaft drives to be rotated with its affixed nearly joint link lever, to realize finger first three
A interphalangeal coupled motions that personalize, article is held.Although the program is enable to respond quickly the instruction of gripping, it is controlled
Unit processed it is complicated, control difficulty is larger, and control unit is installed in required larger space.
Invention content
The present invention provides a kind of mechanical fingers being driven using origami structure, can quickly respond gripping instruction；Knot
Structure is simple, facilitates control.
The solution of the present invention is as follows：
A kind of mechanical finger being driven using origami structure, including several finger joints hinged successively, and control finger joint are bent
The finger joint driving device stretched；The finger joint driving device is in paper folding shape linkage structure；The paper folding shape linkage structure is handed over by having
It is compiled in the origami structure that the multiple folding lines of any are formed to constitute, forms the paper folding page, adjacent two paper folding page between two adjacent fold scores
Hinged by folding line between face, multiple paper folding pages hingedly link successively.
Using the finger joint driving device in paper folding shape linkage structure, using the mutual linkage between the paper folding page, to control
Bending and stretching between finger joint, it is simple in structure, it is easy for installation.By driving one of paper folding page, entire paper folding can be driven
Linkage structure is moved to control bending and stretching for finger joint, easy to control, and to the fast response time of gripping action.
Further, the paper folding shape linkage structure includes the driving plate and connecting plate for constituting power intake, and driving plate is logical
The first hinge axes are crossed to be hinged in a finger joint；The connecting plate is hinged on the driving plate by the second hinge axes by one end
End, the connecting plate other end are hinged on by third hinge axes in adjacent another finger joint；First hinge axes, second
In hinged joint, which is located at the hinge of adjacent two finger joint for hinge axes and third hinge axes three space intersection
On spindle line；The driving plate, connecting plate and the finger joint hinged with the connecting plate constitute the corresponding paper folding page of the origami structure
Face.
By overturning the driving plate in finger joint, rotated by controlling two adjacent finger joints with the hinged connecting plate of driving plate
To change the angle between two adjacent finger joints.In the mechanical finger course of work using origami structure transmission, it is only necessary to will drive
Movable plate, which overturns smaller angle, can control the angle between two adjacent finger joints, to the fast response time of gripping action.
And the curable grip between finger joint can increase with the increase of the flip angle of driving plate, to meet various sizes of object
Curable grip needed for it is provided.The arm of force between the articulations digitorum manus of this programme and gripping article is articulations digitorum manus and holds the contact of article
Distance of the point to gripping article center of gravity；And the manipulator of rope winding pulley block structure is used, the arm of force is between articulations digitorum manus
Pulley radius；In view of rope winds the harmony of the manipulator entirety of pulley block structure, the pulley being mounted between articulations digitorum manus
It is smaller.Under the action of providing identical driving force, the curable grip that this programme provides using rope than winding pulley block structure
The curable grip bigger of manipulator.
Further, for the driving plate by side and corresponding knucklejoint, the driving plate other side is connected with control drawstring, drives
Reduction torsion spring is equipped between movable plate and corresponding finger joint；The paper folding shape linkage structure is reset to adjacent finger joint by reduction torsion spring and stretches
Exhibition state, and so that adjacent finger joint is formed flexion state by controlling the pulling of drawstring.
It is matched with the structure of reduction torsion spring by drawstring, can realize the circulation action between finger joint, and easy to operate.
Further, the finger joint include constitute palm first knuckle, first knuckle front end be hinged with successively second knuckle,
Third knuckle and the 4th finger joint；Four finger joints control its excess-three in addition to first knuckle by three paper folding shape linkage structures
A finger joint bends and stretches state relative to the palm.Realize the bionical effect of the movement to human finger.
Further, the first paper folding shape linkage structure is equipped between the first knuckle and second knuckle；The second knuckle
The second paper folding shape linkage knot and the linkage of third paper folding shape are respectively equipped between third knuckle and third knuckle and the 4th finger joint
Structure, and the second paper folding shape linkage knot and third paper folding shape linkage structure form linkage by the same driving plate.
Can be controlled simultaneously between second knuckle and third knuckle by installing a driving plate on third knuckle and
Angle between third knuckle and the 4th finger joint can save the dynamic structure for driving driving plate to overturn, convenient for control.
The first driving plate that the first paper folding shape linkage structure is equipped with is hinged on the first knuckle, the first driving plate
Front end be hinged on one end of the first connecting plate, the other end of the first connecting plate is hinged with second knuckle；First paper folding shape joins
The hinged joint of dynamic structure is located in the hinge axes of first knuckle and second knuckle.It realizes to human palm and closely finger
The bionical effect moved between section.
The second driving plate that the second paper folding shape linkage structure is equipped with is hinged on third knuckle, after the second driving plate
End is hinged on one end of the second connecting plate, and the other end of the second connecting plate is hinged with the second knuckle；Second paper folding shape joins
The hinged joint of dynamic structure is located in the hinge axes of the second knuckle and third knuckle；Second driving plate is also
The input terminal of third paper folding shape linkage structure is constituted, the front end of the second driving plate is hinged on one end of third connecting plate, third
The other end of connecting plate and the 4th knucklejoint；The hinged joint of third paper folding shape linkage structure refers to positioned at third
In the hinge axes of section and the 4th finger joint.Realize the bionical effect moved between mankind's middle finger joint and remote finger joint.
The finger joint section is in three side rectangular groove structures.Convenient for being hinged between finger joint, material is saved.
The finger joint driving device is located in the three side rectangular groove structures at the finger joint back side.It is compact-sized.
The invention has the advantages that by overturning driving plate, driving plate is made to drive finger joint quick response by connecting plate
Gripping action；Different curable grips can be provided for various sizes of object；Can realize human finger is moved it is bionical；
It is simple in structure, it is easily installed and controls.
Description of the drawings
Fig. 1 is the structural schematic diagram for the mechanical finger unfolded state being driven using origami structure；
Fig. 2 is the structural schematic diagram of the paper folding shape linkage structure for the mechanical finger being driven using origami structure；
Fig. 3 is the structural schematic diagram of the paper folding shape linkage structure on third knuckle；
Fig. 4 is the structural schematic diagram of first knuckle and second knuckle flexuosity；
Fig. 5 is the structural schematic diagram for the mechanical finger grip state being driven using origami structure；
Fig. 6 is the structural schematic diagram of paper folding shape linkage structure.
In figure：Finger joint 1, first knuckle 1.1, second knuckle 1.2, third knuckle 1.3, the 4th finger joint 1.4, driving plate 2,
One driving plate 2.1, the second driving plate 2.2, connecting plate 3, the first connecting plate 3.1, the second connecting plate 3.2, third connecting plate 3.3,
First hinge axes 4.1, the second hinge axes 4.2, the hinge axes 4.3 of adjacent two finger joint, third hinge axes 4.4, drawstring
5, reduction torsion spring 6.
Specific implementation mode
As shown in fig. 6, a kind of mechanical finger being driven using origami structure, including several finger joints 1 hinged successively, and
The finger joint driving device that control finger joint 1 is bent and stretched；The finger joint driving device is in paper folding shape linkage structure；The paper folding shape linkage knot
Structure is made of the origami structure formed with the multiple folding lines for being intersected in any, and the paper folding page, phase are formed between two adjacent fold scores
Hinged by folding line between the adjacent two paper folding pages, multiple paper folding pages hingedly link successively.As shown in Fig. 2, paper folding shape linkage knot
Structure includes the driving plate 2 and connecting plate 23 for constituting power intake, and driving plate 2 is hinged on a finger by the first hinge axes 4.1
On section 1；The connecting plate 3 is hinged on 2 end of the driving plate, 3 other end of connecting plate by the second hinge axes 4.2 by one end
It is hinged on by third hinge axes 4.3 in adjacent another finger joint 1；First hinge axes 4.1, the second hinge axes
4.2 and 4.4 three's space intersection of third hinge axes in hinged joint, which is located at the hinge of adjacent two finger joint 1
On spindle line 4.3；The driving plate 2, connecting plate 3 and constitute the corresponding of the origami structure with the finger joint 1 that the connecting plate 3 is hinged
The paper folding page.
The driving plate 2 is hinged by side with corresponding finger joint 1, and 2 other side of driving plate is connected with control drawstring 5, driving
Reduction torsion spring 6 is equipped between plate 2 and corresponding finger joint 1；The paper folding shape linkage structure is reset to adjacent finger joint by reduction torsion spring 6
1 extended configuration, and so that adjacent finger joint 1 is formed flexion state by controlling the pulling of drawstring 5.Motor, cylinder etc. can also be used
Driver, which acts directly in driving plate 2, drives driving plate 2 to overturn；Gear or turbine and worm etc. can also be passed through using motor
Drive mechanism drives driving plate 2 to rotate；Also cylinder is used to drive driving plate 2 to rotate with the structure of moving gear and rack.Finger joint 1
Corresponding position on side wall with drawstring 5 offers lacing hole；Drawstring 5 passes through lacing hole to extend to the outside of finger joint 1, prevents drawstring
5 knot in the inside of the mechanical finger using origami structure transmission, interfere the running of each parts.Object is clamped in the finger joint 1
Rubber sheet gasket is installed in the one side of body；Frictional force for increasing clamping article ensures that stabilization, while energy can be clamped in article
Article is enough avoided to scratch finger joint 1.
As shown in Figure 1, the finger joint includes constituting the first knuckle 1.1 of palm, 1.1 front end of first knuckle is hinged with successively
Second knuckle 1.2, third knuckle 1.3 and the 4th finger joint 1.4；Four finger joints are removed by three paper folding shape linkage structure controls
Its excess-three finger joint outside first knuckle 1.1 bends and stretches state relative to the palm.Realize the imitative of the movement to human finger
It comes into force fruit.
The first paper folding shape linkage structure is equipped between first knuckle 1.1 and second knuckle 1.2；1.2 He of the second knuckle
The second paper folding shape linkage knot and third paper folding are respectively equipped between third knuckle 1.3 and third knuckle 1.3 and the 4th finger joint 1.4
Shape linkage structure, as shown in figure 3, the second paper folding shape linkage knot and third paper folding shape linkage structure are by same 2 shape of the driving plate
At linkage.The first driving plate 2.1 that first paper folding shape linkage structure is equipped with is hinged on the first knuckle 1.1, the first driving
The front end of plate 2.1 is hinged on one end of the first connecting plate 3.1, and the other end and the second knuckle 1.2 of the first connecting plate 3.1 are cut with scissors
It connects；The hinged joint of first paper folding shape linkage structure is located at the hinge axes of first knuckle 1.1 and second knuckle 1.2
On.The second driving plate 2.2 that second paper folding shape linkage structure is equipped with is hinged on third knuckle 1.3, after the second driving plate 2.2
End is hinged on one end of the second connecting plate 3.2, and the other end and the second knuckle 1.2 of the second connecting plate 3.2 are hinged；Second
The hinged joint of paper folding shape linkage structure is located in the hinge axes of the second knuckle 1.2 and third knuckle 1.3；Institute
The input terminal that the second driving plate 2.2 also constitutes third paper folding shape linkage structure is stated, the front end of the second driving plate 2.2 is hinged on third
On one end of connecting plate 3.3, the other end of third connecting plate 3.3 is hinged with the 4th finger joint 1.4；Third paper folding shape linkage knot
The hinged joint of structure is located in the hinge axes of third knuckle 1.3 and the 4th finger joint 1.4.
The rotary position limiting structure of restricted finger joint rotational angle is formed between adjacent finger joint, rotary position limiting structure includes limitation
The position limiting structure a of angle, position limiting structure a can be provided on first knuckle 1.1 between 1.1 second knuckle 1.2 of first knuckle
Limited block a for limiting the rotation of second knuckle 1.2；It can also be provided on first knuckle 1.1 for limiting the first driving
The limited block b that plate 2.1 is overturn；It can also be the drawstring 5 with specific length in the first driving plate 2.1.To ensure that first refers to
The angle of section 1.1 and second knuckle 1.2 is in the range of 90 ° to 180 °.Ensure second knuckle 1.2 by similarly limiting principle
Angle between third knuckle 1.3 is in the range of 85 ° to 180 °.Angle between third knuckle 1.3 and the 4th finger joint 1.4
In the range of 92 ° to 180 °.1 section of the finger joint is in three side rectangular groove structures；Finger joint driving device is located at 1 back side of finger joint
In rectangular groove structure.It realizes to the bionical of human finger.
Use the mechanical finger operation principle that origami structure is driven for as shown in figure 4, pulling the on first knuckle 1.1
The drawstring 5 of one driving plate 2.1, the first driving plate 2.1 along first knuckle 1.1 lateral turnover；It is hinged with the first driving plate 2.1
The first connecting plate 3.1 it is close to the first driving plate 2.1, and by the first connecting plate 3.1 drive second knuckle 1.2 along second
Finger joint 1.2 and the hinged place of first knuckle 1.1 are rotated to first knuckle 1.1, to change first knuckle 1.1 and second knuckle
Angle between 1.2.As shown in figure 5, pulling the drawstring 5 in the second driving plate 2.2 on third knuckle 1.3, the second driving plate
2.2 are changed in switching process by second connecting plate 3.2 and third connecting plate 3.3 hinged with the second driving plate 2.2 respectively
Angle between angle between second knuckle 1.2 and third knuckle 1.3 and third knuckle 1.3 and the 4th finger joint 1.4, realization are held
The action held.After unclamping drawstring 5, the first driving plate 2.1 is resetted with the second driving plate 2.2 by reduction torsion spring 6, realizes stretching, extension
Action.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (9)
1. a kind of mechanical finger being driven using origami structure, including several finger joints (1) hinged successively, and control finger joint are bent
The finger joint driving device stretched；It is characterized in that, the finger joint driving device is in paper folding shape linkage structure；The paper folding shape linkage knot
Structure is made of the origami structure formed with the multiple folding lines for being intersected in any, and the paper folding page, phase are formed between two adjacent fold scores
Hinged by folding line between the adjacent two paper folding pages, multiple paper folding pages hingedly link successively.
2. the mechanical finger according to claim 1 being driven using origami structure, which is characterized in that the paper folding shape linkage
Structure includes constituting the driving plate (2) and connecting plate (3) of power intake, and driving plate (2) is cut with scissors by the first hinge axes (4.1)
It is connected in a finger joint (1)；The connecting plate (3) is hinged on the driving plate (2) end by the second hinge axes (4.2) by one end
Portion, connecting plate (3) other end are hinged on by third hinge axes (4.4) in adjacent another finger joint (1)；Described first is hinged
In hinged joint, this is hinged for axis (4.1), the second hinge axes (4.2) and third hinge axes (4.3) three's space intersection
Joint is located in the hinge axes (4.3) of adjacent two finger joint；The driving plate (2), connecting plate (3) and with the connecting plate (3)
Hinged finger joint (1) constitutes the correspondence paper folding page of the origami structure.
3. the mechanical finger according to claim 2 being driven using origami structure, which is characterized in that the driving plate (2)
Hinged with corresponding finger joint (1) by side, driving plate (2) other side is connected with control drawstring (5), and driving plate (2) refers to corresponding
Reduction torsion spring (6) is equipped between section (1)；The paper folding shape linkage structure is reset to adjacent finger joint (1) by reduction torsion spring (6) and stretches
Exhibition state, and so that adjacent finger joint (1) is formed flexion state by controlling the pulling of drawstring (5).
4. the mechanical finger according to claim 2 being driven using origami structure, which is characterized in that the finger joint includes structure
At the first knuckle (1.1) of palm, first knuckle (1.1) front end is hinged with second knuckle (1.2), third knuckle (1.3) successively
With the 4th finger joint (1.4)；Four finger joints control remaining in addition to first knuckle (1.1) by three paper folding shape linkage structures
Three finger joints bend and stretch state relative to the palm.
5. the mechanical finger according to claim 4 being driven using origami structure, which is characterized in that the first knuckle
(1.1) the first paper folding shape linkage structure is equipped between second knuckle (1.2)；The second knuckle (1.2) and third knuckle
(1.3) and between third knuckle (1.3) and the 4th finger joint (1.4) the second paper folding shape linkage knot and third paper folding shape are respectively equipped with
Linkage structure, and the second paper folding shape linkage knot and third paper folding shape linkage structure form linkage by the same driving plate (2).
6. the mechanical finger according to claim 5 being driven using origami structure, which is characterized in that the first paper folding shape
The first driving plate (2.1) that linkage structure is equipped with is hinged on the first knuckle (1.1), the front end of the first driving plate (2.1)
It is hinged on one end of the first connecting plate (3.1), the other end and second knuckle (1.2) of the first connecting plate (3.1) are hinged；First
The hinged joint of paper folding shape linkage structure is located in the hinge axes of first knuckle (1.1) and second knuckle (1.2).
7. the mechanical finger according to claim 6 being driven using origami structure, which is characterized in that the second paper folding shape
The second driving plate (2.2) that linkage structure is equipped with is hinged on third knuckle (1.3), and the rear end of the second driving plate (2.2) is hinged
On one end of the second connecting plate (3.2), the other end and the second knuckle (1.2) of the second connecting plate (3.2) are hinged；Second
The hinged joint of paper folding shape linkage structure is located at the hinge axes of the second knuckle (1.2) and third knuckle (1.3)
On；Second driving plate (2.2) also constitutes the input terminal of third paper folding shape linkage structure, the front end of the second driving plate (2.2)
It is hinged on one end of third connecting plate (3.3), the other end of third connecting plate (3.3) is hinged with the 4th finger joint (1.4)；
The hinged joint of third paper folding shape linkage structure is located at the hinge axes of third knuckle (1.3) and the 4th finger joint (1.4)
On.
8. the mechanical finger being driven using origami structure according to any one of claim 1~7, which is characterized in that
Finger joint (1) section is in three side rectangular groove structures.
9. the mechanical finger being driven using origami structure according to any one of claim 1~7, which is characterized in that
The finger joint driving device is located in the three side rectangular groove structures at finger joint (1) back side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569165.9A CN108705552B (en) | 2018-06-05 | 2018-06-05 | Mechanical finger driven by paper folding structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569165.9A CN108705552B (en) | 2018-06-05 | 2018-06-05 | Mechanical finger driven by paper folding structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108705552A true CN108705552A (en) | 2018-10-26 |
| CN108705552B CN108705552B (en) | 2021-04-13 |
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ID=63870486
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810569165.9A Active CN108705552B (en) | 2018-06-05 | 2018-06-05 | Mechanical finger driven by paper folding structure |
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| Country | Link |
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| CN (1) | CN108705552B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276982A (en) * | 2021-06-11 | 2021-08-20 | 北京理工大学 | Miniature lizard-imitated robot constructed based on carbon fiber paper folding technology |
| CN114044062A (en) * | 2021-11-18 | 2022-02-15 | 长春工业大学 | Paper folding crawling robot based on two-rod tensioning mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276982A (en) * | 2021-06-11 | 2021-08-20 | 北京理工大学 | Miniature lizard-imitated robot constructed based on carbon fiber paper folding technology |
| CN114044062A (en) * | 2021-11-18 | 2022-02-15 | 长春工业大学 | Paper folding crawling robot based on two-rod tensioning mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108705552B (en) | 2021-04-13 |
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