CN109227587A - A kind of bionic mechanical hand - Google Patents
A kind of bionic mechanical hand Download PDFInfo
- Publication number
- CN109227587A CN109227587A CN201811434631.9A CN201811434631A CN109227587A CN 109227587 A CN109227587 A CN 109227587A CN 201811434631 A CN201811434631 A CN 201811434631A CN 109227587 A CN109227587 A CN 109227587A
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- Prior art keywords
- bionical
- bionic
- finger
- thumb
- pull
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 258
- 210000003813 thumb Anatomy 0.000 claims abstract description 237
- 210000003811 finger Anatomy 0.000 claims abstract description 233
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 210000001145 finger joint Anatomy 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 230000003592 biomimetic effect Effects 0.000 claims description 7
- 210000004932 little finger Anatomy 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 14
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 18
- 230000000875 corresponding effect Effects 0.000 description 17
- 239000007787 solid Substances 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000036632 reaction speed Effects 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 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
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- 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
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Magnetic Treatment Devices (AREA)
- Prostheses (AREA)
Abstract
The present invention provides a kind of bionic mechanical hand, comprising: bionical palmar hand and bionic finger；Bionical palmar hand is connected to a few bionic finger and bionical thumb；The connection component for connecting bionic finger is equipped with inside bionical palm；Bionical palm is internally provided with detent and connecting shaft；When finger carries out bending and expansion action, upper layer and lower layer electromagnetic component is powered simultaneously, the size of pulling force is controlled by controlling the electric current of upper and lower level, the pulling force that upper layer electromagnetic component generates is less than the pulling force that (being greater than) lower layer's electromagnet pull element generates, finger is bent (opening) movement, is changed the bending of the pulling force difference control finger of upper and lower level electromagnet pull element or is opened the size of speed and dynamics.Using electromagnetic component as the power output of manipulator, the sensitivity and freedom degree of manipulator are improved.Manipulator is set to reach the manpower simulated effect of higher degree.Improve the stability of manipulator operation.
Description
Technical field
The present invention relates to manipulator field more particularly to a kind of bionic mechanical hands.
Background technique
With the continuous development of modern science and technology with the application popularization of robot, robot can more and more participate in the mankind
Production and living in, will all be completed by robot in following many fields.Manipulator is an important component of robot, existing
Bionic mechanical hand largely uses servo motor, atmospheric pressure pole and pneumatic element to provide power output as power source.Between finger
It is attached using articulation joint, realizes bending.
Based on the manipulator of servo motor driving, the bending and opening of finger, hand are driven by the rotation of electric machine main shaft
The opening and closing dynamics of finger is small, and manipulator is flexible poor, slow in one's movements insensitive.
Based on atmospheric pressure pole or pneumatic element as finger, using articulation joint come by the way of being attached between finger,
Finger is stretched by atmospheric pressure pole or pneumatic element come the bending for driving finger and expansion action, and it is poor that there are flexibilities, control
The problems such as inconvenient.Due to being attached by articulation joint between atmospheric pressure pole or pneumatic element, so bending is adjusted not
Flexibly, manipulator reaction sensitivity is not high.
Summary of the invention
In order to overcome the deficiencies in the prior art described above, the present invention provides a kind of bionic mechanical hand, comprising: bionical palmar hand
And bionic finger；
Bionical palmar hand includes: the palm of the hand and the back of the hand；
Bionical palmar hand is connected to a few bionic finger and bionical thumb；
The connection component for connecting bionic finger is equipped with inside bionical palmar hand；
Bionical palmar hand is internally provided with detent and connecting shaft；
Connection component is held in detent；
Connection component is equipped with center pillar, and center pillar is arranged at least four connection ring stands, connects that uniformly distributed on ring stand there are four electromagnetism
Pulling force component fixed ring；
The first end of center pillar is connected with the chain of rings, and the second end of center pillar is connected with U-shaped connector；It is symmetrical on the U-shaped foot of U-shaped connector
Equipped with bionic finger connecting hole；Pulling force hole there are four being also connected on U-shaped connector；
The chain of rings is connect with connecting shaft；
The center correspondence of the electromagnet pull element fixed ring of ring stand and the center in pulling force hole are connected on same straight line；
Connection component is additionally provided with four electromagnet pull elements；
Electromagnet pull element includes: the first electromagnet pull element shell and the second electromagnet pull element shell；
First electromagnet pull element shell and the second electromagnet pull element shell are using threaded connection；
Line of pull is equipped with inside connection component；
Multistage solenoid, every section of helical are respectively equipped with inside first electromagnet pull element shell and the second electromagnet pull element shell
Pipe has been externally wrapped with spiral conducting line, is equipped with iron core inside solenoid；Spiral conducting line on solenoid is sequentially connected；
Electromagnet pull element is mounted on connection component by connecting the fixed ring of ring stand, and the line of pull of electromagnet pull element passes through
Pulling force hole extends to inside bionic finger, connect with the axle sleeve in bionic finger inner leg.
Preferably, bionic finger includes: the first bionic hand finger joint, the second bionic hand finger joint, third bionic hand finger joint and
Bionic finger electromagnet pull element；
Outside first bionic hand finger joint, outside the second bionic hand finger joint and third bionic hand finger joint outer portion is not enclosed with first
Bionic finger shell；
Third bionic hand finger joint is finger tip portion, and the first bionic hand finger joint refers to root；
First bionic hand finger joint is equipped with the first skeleton center pillar, and the first skeleton center pillar first end is connected with the first skeleton universal joint frame,
First skeleton center pillar second end is connected with the first skeleton U-shaped frame；
First skeleton universal joint is provided with the first skeleton universal joint, and the first skeleton universal joint outer symmetrical is connected with two first bones
Frame universal joint connecting rod；
The second end of center pillar extends U-shaped connector, extends to inside the first skeleton universal joint, the second end of center pillar and the first bone
Frame universal joint rolls connection；
Two first skeleton universal joint connecting rods respectively correspond in plant to the bionic finger connecting hole on the U-shaped foot of U-shaped connector,
First skeleton universal joint connecting rod and bionic finger connecting hole are rotatablely connected；
Two first bionic finger line of pull guide posts are equipped with close to the position of the first skeleton universal joint frame on first skeleton center pillar,
First bionic finger line of pull guide post is arranged with the first bionic finger line of pull guideway, and the first bionic finger line of pull is led
Line of pull is connected on axle sleeve, and carries out the guiding and transmission of line of pull pulling force；
First skeleton center pillar is arranged at least two first bionic fingers connection ring stand, and the first bionic finger connects on ring stand uniformly
First bionic finger electromagnet pull element fixed ring there are four laying；
The first bionical swivel of hand connecting hole is symmetrically arranged on the U-shaped foot of first skeleton U-shaped frame；It is also connected in first skeleton U-shaped frame
There are four the first bionical swivel of hand pulling force holes；
The center that first bionic finger connects the first bionic finger electromagnet pull element fixed ring of ring stand is corresponding and first is bionical
The center in swivel of hand pulling force hole is on same straight line.
Preferably, bionic finger electromagnet pull element includes: the first bionic finger electromagnet pull element shell, and first is bionical
Finger electromagnet pull element shell one end is provided with first end cover, and the other end is equipped with the first line of pull and draws section；
It is equipped with the first solenoid of multistage inside first bionic finger electromagnet pull element shell, every section of first solenoid is externally wrapped with
There is the first spiral conducting line, is equipped with the first iron core inside the first solenoid；The first line of pull is arranged in first core interior；
Bionic finger electromagnet pull element is solid by the first bionic finger electromagnet pull element that the first bionic finger connects ring stand
Determine ring to be mounted on the first skeleton center pillar；
First line of pull passes through the first bionical swivel of hand pulling force hole and extends to the second bionic hand finger joint, and the first line of pull and second are imitated
The connection of green hand's finger joint pillar axle sleeve.
Preferably, the second bionic hand finger joint is equipped with the second skeleton center pillar, and the second skeleton center pillar first end is connected with the first bone
Frame casing, the second skeleton center pillar second end are connected with the second skeleton U-shaped frame；
The first bionical swivel of hand connecting hole on the corresponding U-shaped foot with the first skeleton U-shaped frame in the both ends of first armature sleeve rotates
Connection；
On second skeleton center pillar close to the first armature sleeve position be equipped with two second bionic finger line of pull guide posts, second
Bionic finger line of pull guide post is arranged with the second bionic finger line of pull guideway, the second bionic finger line of pull guiding axis
Connection line of pull is put on, and carries out the guiding and transmission of line of pull pulling force；
Second skeleton center pillar is arranged at least four second bionic fingers connection ring stand, and the second bionic finger connects on ring stand uniformly
Second bionic finger electromagnet pull element fixed ring there are four laying；
The second bionical swivel of hand connecting hole is symmetrically arranged on the U-shaped foot of second skeleton U-shaped frame；It is also connected in second skeleton U-shaped frame
There are four the first bionical swivel of hand pulling force holes；
The center that second bionic finger connects the second bionic finger electromagnet pull element fixed ring of ring stand is corresponding and first is bionical
The center in swivel of hand pulling force hole is on same straight line；
Bionic finger electromagnet pull element is solid by the second bionic finger electromagnet pull element that the second bionic finger connects ring stand
Determine ring to be mounted on the second skeleton center pillar；
Third bionic hand finger joint is equipped with third skeleton center pillar；Third skeleton center pillar first end is connected with the second armature sleeve, and second
It holds on the first bionic finger outer casing inner wall on skeleton center pillar second end top；
The second bionical swivel of hand connecting hole rotation connects on the corresponding U-shaped foot with the second skeleton U-shaped frame in the both ends of second armature sleeve
It connects；
Two third bionic finger line of pull guide posts, third are equipped with close to the position of the second armature sleeve on third skeleton center pillar
Bionic finger line of pull guide post is arranged with third bionic finger line of pull guideway, third bionic finger line of pull guiding axis
Connection line of pull is put on, and carries out the guiding and transmission of line of pull pulling force, to realize the bend open of bionic finger.
Preferably, bionical thumb includes: the first bionical thumb section, the second bionical thumb section and the bionical thumb section of third；
Outside first bionical thumb section, it is enclosed with second respectively outside the second bionical thumb section and outside the bionical thumb section of third
Bionic finger shell；
The bionical thumb section of third is finger tip portion, and the first bionical thumb section refers to root；
Bionical thumb pulling force is successively arranged inside first bionical thumb section, the second bionical thumb section and the bionical thumb section of third
Line, bionical thumb line of pull are connected to bionical palmar hand；
First bionical thumb section is equipped with the first bionical thumb center pillar, and the first bionical thumb center pillar first end is connected with the first bionical thumb
Finger sleeve, the first bionical thumb center pillar second end are connected with the first bionical thumb U-shaped frame；
The interconnecting piece of bionical palmar hand and bionical thumb is arranged in parallel with two pieces of connecting plates, and two pieces of connecting plates are respectively equipped with bionical thumb and connect
Hole, bionical thumb connect hole and the first bionical thumb casing and are rotatablely connected by shaft；
It is equipped with the first bionical thumb line of pull guide post close to the position of the first bionical thumb casing on first bionical thumb center pillar,
First bionical thumb line of pull guide post is arranged with the first bionical thumb line of pull guideway, and the first bionical thumb line of pull is led
Line of pull is connected on axle sleeve, and carries out the guiding and transmission of line of pull pulling force；
First bionical thumb center pillar is arranged at least four first bionical thumb connection ring stands, and the first bionical thumb connects on ring stand
It is uniformly distributed that there are four the first bionical thumb electromagnet pull element fixed rings；
The first bionical thumb connecting hole is symmetrically arranged on the U-shaped foot of first bionical thumb U-shaped frame；In first bionical thumb U-shaped frame
First bionical thumb pulling force hole there are four being also connected with；
The center of first bionical thumb electromagnet pull element fixed ring of the first bionical thumb connection ring stand is corresponding and first is bionical
The center in thumb pulling force hole is on same straight line；
Bionic finger electromagnet pull element is solid by the first bionical thumb electromagnet pull element that the first bionical thumb connects ring stand
Determine ring to be mounted on the first bionical thumb center pillar.
Preferably, the second bionical thumb section is equipped with the second bionical thumb center pillar, the second bionical thumb center pillar first end connection
There is the second bionical thumb casing, the second bionical thumb center pillar second end is connected with the second bionical thumb U-shaped frame；
The both ends correspondence of second bionical thumb casing is connect with the first bionical thumb on the U-shaped foot of the first bionical thumb U-shaped frame
Hole rotation connection；
Two second bionical thumb line of pull are equipped with close to the position of the second bionical thumb casing on second bionical thumb center pillar to lead
Xiang Zhu, the second bionical thumb line of pull guide post are arranged with the second bionical thumb line of pull guideway, and the second bionical thumb is drawn
Line of pull is connected on line of force guideway, and carries out the guiding and transmission of line of pull pulling force；
Second bionical thumb center pillar is arranged at least two the second bionical thumb connection ring stands, the second bionical thumb and connects on ring stand
It is uniformly distributed that there are four the second bionical thumb electromagnet pull element fixed rings；
The first bionical thumb connecting hole is symmetrically arranged on the U-shaped foot of second bionical thumb U-shaped frame；In second bionical thumb U-shaped frame
First bionical thumb pulling force hole there are four being also connected with；
The center of second bionical thumb electromagnet pull element fixed ring of the second bionical thumb connection ring stand is corresponding and first is bionical
The center in thumb pulling force hole is on same straight line；
Bionic finger electromagnet pull element is solid by the second bionical thumb electromagnet pull element that the second bionical thumb connects ring stand
Determine ring to be mounted on the second bionical thumb center pillar.
Preferably, the bionical thumb section of third is equipped with the bionical thumb center pillar of third；
The bionical thumb center pillar first end of third is connected with the bionical thumb casing of third, and the bionical thumb center pillar second end top of third is held
On second bionic finger outer casing inner wall；
First bionical thumb connecting hole on the corresponding U-shaped foot with the second bionical thumb U-shaped frame in the both ends of the bionical thumb casing of third
Rotation connection；
Two third bionic finger line of pull are equipped with close to the position of the bionical thumb casing of third on the bionical thumb center pillar of third to lead
Xiang Zhu, third bionic finger line of pull guide post are arranged with the bionical thumb line of pull guideway of third, and the bionical thumb of third is drawn
Line of pull is connected on line of force guideway, and carries out the guiding and transmission of line of pull pulling force, to realize the bending of bionical thumb
It opens.
Preferably, bionic finger is bionical index finger, and bionical middle finger is nameless, little finger of toe.
Preferably, further includes: microcomputer, opening and closing angular transducer, force sensor and controller；
It is acted according to predetermined registration operation, is instructed to microcomputer input control, microcomputer generates control signal, via controller
It exports to corresponding electromagnet pull element or bionic finger electromagnet pull element, it is dynamic that control biomimetics manipulator executes purpose operation
Make；
Opening and closing angular transducer and force sensor are connect with microcomputer respectively, opening and closing angular transducer and force sensor
It is respectively used to feed back the opening and closing angle and opening and closing dynamics of bionical thumb and bionic finger to microcomputer, makes microcomputer base
It is dynamic that opening and closing are carried out in the current opening and closing angle of bionical thumb and bionic finger and opening and closing dynamics control biomimetics thumb and bionic finger
Make, reaches preset opening and closing angle and opening and closing dynamics.
As can be seen from the above technical solutions, the invention has the following advantages that
The joint of bionic finger and the joint of bionical thumb point up and down, i.e., under the palm of the hand is, the back of the hand be it is upper, in lower layer's electromagnetic component
It is being attracted, when finger carries out flexure operation, upper layer electromagnetic component is also powered simultaneously, under the pulling force that upper layer electromagnetic component generates is less than
The pulling force that layer electromagnetic component generates, to avoid the Quick bending of finger.By control upper and lower level electromagnetic component size of current with
The size of the bending of finger and the power of opening is controlled, the action control that can be opened with artificial finger.
Electromagnetic coil in each electromagnetic component uses the distribution of multisection type, and the distribution of multisection type makes between electromagnetic coil
Distance reduce, reduce electromagnetic coil between influence of the distance to electromagnetic force, improve reaction speed.The distribution of multisection type is generally
It improves in equal length, one timing of electromagnetic coil length, the suction-combining force generated between electromagnetic coil.
Using electromagnetic component as the power output of manipulator, reduce volume ratio shared by power output element, improves machine
The sensitivity and freedom degree of tool hand.So that manipulator is reached the manpower simulated effect of higher degree, realizes complicated hand motion, mention
The stability of high manipulator operation.
Detailed description of the invention
Fig. 1 is bionic mechanical hand overall schematic；
Fig. 2 is bionic mechanical hand embodiment schematic diagram；
Fig. 3 is bionic mechanical hand embodiment schematic diagram；
Fig. 4 is bionical palmar hand schematic diagram；
Fig. 5 is that bionical palmar hand and bionic finger cooperate schematic diagram；
Fig. 6 is bionic finger schematic diagram；
Fig. 7 is connection component overall schematic；
Fig. 8 is connection component block diagram；
Fig. 9 is electromagnet pull element schematic；
Figure 10 is the first electromagnet pull element shell schematic diagram；
Figure 11 is electromagnet pull device embodiments schematic diagram；
Figure 12 is the first bionic hand finger joint cooperation schematic diagram of connection component and bionic finger；
Figure 13 is the first bionic hand finger joint schematic diagram；
Figure 14 is bionic finger schematic diagram；
Figure 15 is bionic finger schematic diagram；
Figure 16 is bionic finger electromagnet pull element schematic；
Figure 17 is bionic finger electromagnet pull element schematic；
Figure 18 is the second bionic hand finger joint and third bionic hand finger joint schematic diagram；
Figure 19 is that bionical palmar hand and bionical thumb cooperate schematic diagram；
Figure 20 is that bionical palmar hand and bionical thumb cooperate schematic diagram；
Figure 21 is bionical thumb schematic diagram；
Figure 22 is bionical thumb schematic diagram；
Figure 23 is bionical thumb schematic diagram.
Specific embodiment
The present invention provides a kind of bionic mechanical hand, as shown in Fig. 1 to 11, comprising: bionical palmar hand 1 and bionic finger 2；
Bionical palmar hand 1 includes: the palm of the hand and the back of the hand；
Bionical palmar hand 1 connects at least one bionic finger 2 and bionical thumb 9；
Bionic finger 2 is bionical index finger, and bionical middle finger is nameless, little finger of toe.
Wherein Fig. 1 is five bionic fingers 2 and bionical thumb 9；Fig. 2 is a bionic finger 2 and bionical thumb 9；
The connection component 4 for connecting bionic finger 2 is equipped with inside bionical palmar hand 1；
Bionical palmar hand 1 is internally provided with detent 5 and connecting shaft 10；
Connection component 4 is held in detent 5；
Connection component 4 is equipped with center pillar 41, and center pillar 41 is arranged at least four connection ring stands 42, and connecting uniformly distributed on ring stand 42 has
Four electromagnet pull element fixed rings 43；
The first end of center pillar 41 is connected with the chain of rings 44, and the second end of center pillar 41 is connected with U-shaped connector 45；The U of U-shaped connector 45
Bionic finger connecting hole 46 is symmetrically arranged on shape foot；Pulling force hole 47 there are four being also connected on U-shaped connector 45；
The chain of rings 44 is connect with connecting shaft 10；
The center correspondence of the electromagnet pull element fixed ring 43 of ring stand 42 and the center in pulling force hole 47 are connected on same straight line；
Connection component 4 is additionally provided with four electromagnet pull elements 6；
Electromagnet pull element 6 includes: the first electromagnet pull element shell 63 and the second electromagnet pull element shell 64；
First electromagnet pull element shell 63 and the second electromagnet pull element shell 64 are using threaded connection；
Line of pull 62 is equipped with inside connection component 4；
It is respectively equipped with multistage solenoid 66 inside first electromagnet pull element shell 63 and the second electromagnet pull element shell 64, often
Section solenoid 66 has been externally wrapped with spiral conducting line 65, is equipped with iron core 67 inside solenoid 66；Spiral conducting line 65 on solenoid 66
It is sequentially connected；
Electromagnet pull element 6 is mounted on connection component 4 by the electromagnet pull element fixed ring 43 of connection ring stand 42, and electromagnetism is drawn
The line of pull 62 of power element 6 passes through pulling force hole 47 and extends to inside bionic finger 2, with the axle sleeve in 2 inner leg of bionic finger
It is connected.
It should be appreciated that claiming a certain element or layer to be " connected " or " coupled " in another element or layer "upper" to another member
When part or layer, another element or layer may be connected directly or are coupled to directly on another element or layer, it is also possible to
There are intermediary element or layers.On the contrary, claim a certain element by directly on another element or layer, " being directly connected to " or " straight
Connect coupling " to another element or layer when, then intermediary element or layer is not present.The similar member of similar digital indication in all attached drawings
Part.As used herein, term "and/or" includes one or more any and all combinations of related institute's list.
In the present invention, as shown in Figure 12 to 18, bionic finger 2 includes: the first bionic hand finger joint 21, the second bionic finger
Section 22, third bionic hand finger joint 23 and bionic finger electromagnet pull element 8；
Outside first bionic hand finger joint 21, wrapped up respectively outside 22 outside of the second bionic hand finger joint and third bionic hand finger joint 23
There is the first bionic finger shell；
Third bionic hand finger joint 23 is finger tip portion, and the first bionic hand finger joint 21 refers to root；
First bionic hand finger joint 21 is equipped with the first skeleton center pillar 212, and 212 first end of the first skeleton center pillar is connected with the first skeleton ten thousand
To section frame 213,212 second end of the first skeleton center pillar is connected with the first skeleton U-shaped frame 214；
First skeleton universal joint frame 213 is equipped with the first skeleton universal joint 215, and 215 outer symmetrical of the first skeleton universal joint is connected with
Two first skeleton universal joint connecting rods 216；
The second end of center pillar 41 extends U-shaped connector 45, extends to inside the first skeleton universal joint 215, the second of center pillar 41
End rolls with the first skeleton universal joint 215 and connects；
Two first skeleton universal joint connecting rods 216 respectively correspond the bionic finger connection planted on the U-shaped foot of U-shaped connector 45
In hole 46, the first skeleton universal joint connecting rod 216 is rotatablely connected with bionic finger connecting hole 46；
Two first bionic finger line of pull are equipped with close to the position of the first skeleton universal joint frame 213 on first skeleton center pillar 212
Guide post 217, the first bionic finger line of pull guide post 217 are arranged with the first bionic finger line of pull guideway, and first is imitative
Green hand refers to connection line of pull 62 on line of pull guideway, and carries out the guiding and transmission of line of pull pulling force；
First skeleton center pillar 212 is arranged at least two first bionic fingers connection ring stand 218, and the first bionic finger connects ring stand
It is uniformly distributed on 218 that there are four the first bionic finger electromagnet pull element fixed rings 219；
The first bionical swivel of hand connecting hole 220 is symmetrically arranged on the U-shaped foot of first skeleton U-shaped frame 214；First skeleton U-shaped frame 214
On be also connected with there are four the first bionical swivel of hand pulling force hole 71；
The center that first bionic finger connects the first bionic finger electromagnet pull element fixed ring 219 of ring stand 218 is corresponding with the
The center in one bionical swivel of hand pulling force hole 71 is on same straight line.
Bionic finger electromagnet pull element 8 includes: the first bionic finger electromagnet pull element shell 81, the first bionic finger
81 one end of electromagnet pull element shell is provided with first end cover 82, and the other end is equipped with the first line of pull 83 and draws section；
The first solenoid of multistage 84 is equipped with inside first bionic finger electromagnet pull element shell 81, outside every section of first solenoid 84
Portion is wound with the first spiral conducting line 85, is equipped with the first iron core 86 inside the first solenoid 84；It is arranged first inside first iron core 86
Line of pull 83；
Bionic finger electromagnet pull element 8 connects the first bionic finger electromagnet pull member of ring stand 218 by the first bionic finger
Part fixed ring 219 is mounted on the first skeleton center pillar 212；
First line of pull 83 passes through the first bionical swivel of hand pulling force hole 71 and extends to the second bionic hand finger joint, the first line of pull and the
Axle sleeve connection on two bionic finger pillars.
Explanation is needed further exist for, the second bionic hand finger joint 22 is equipped with the second skeleton center pillar 222, the second skeleton center pillar
222 first ends are connected with the first armature sleeve 223, and 222 second end of the second skeleton center pillar is connected with the second skeleton U-shaped frame 224；
The both ends correspondence of first armature sleeve 223 is connect with the first bionical swivel of hand on the U-shaped foot of the first skeleton U-shaped frame 214
Hole 220 is rotatablely connected；
Two second bionic finger line of pull guiding are equipped with close to the position of the first armature sleeve 223 on second skeleton center pillar 222
Column 227, the second bionic finger line of pull guide post 227 are arranged with the second bionic finger line of pull guideway, the second bionic hand
Refer to and connect line of pull 62 on line of pull guideway, and carries out the guiding and transmission of line of pull pulling force；
Second skeleton center pillar 222 is arranged at least four second bionic fingers connection ring stand 228, and the second bionic finger connects ring stand
It is uniformly distributed on 228 that there are four the second bionic finger electromagnet pull element fixed rings 229；
The second bionical swivel of hand connecting hole 230 is symmetrically arranged on the U-shaped foot of second skeleton U-shaped frame 224；Second skeleton U-shaped frame 224
On be also connected with there are four the first bionical swivel of hand pulling force hole 72；
The center that second bionic finger connects the second bionic finger electromagnet pull element fixed ring 229 of ring stand 228 is corresponding with the
The center in one bionical swivel of hand pulling force hole 72 is on same straight line；
Bionic finger electromagnet pull element 8 connects the second bionic finger electromagnet pull member of ring stand 228 by the second bionic finger
Part fixed ring 229 is mounted on the second skeleton center pillar 222；
Two third bionic finger line of pull guiding are equipped with close to the position of the second armature sleeve 232 on third skeleton center pillar 231
Column 233, third bionic finger line of pull guide post 233 are arranged with third bionic finger line of pull guideway, third bionic hand
Refer to and connect line of pull 62 on line of pull guideway, and carry out the guiding and transmission of line of pull pulling force, to realize bionic finger
Bend open.
Second bionical swivel of hand connects on the corresponding U-shaped foot with the second skeleton U-shaped frame 224 in the both ends of second armature sleeve 232
Connect the rotation connection of hole 230；
Two third bionic finger line of pull guiding are equipped with close to the position of the second armature sleeve 232 on third skeleton center pillar 231
Column 233, two third bionic finger line of pull guide posts 233 are separately connected the first bionic finger shell.
It is understood that the joint of bionic finger and the joint of bionical thumb are point up and down, i.e., under the palm of the hand is, the back of the hand is
On, it is being attracted in lower layer's electromagnetic component, when finger carries out flexure operation, upper layer electromagnetic component is also powered simultaneously, upper layer electromagnetism member
The pulling force that part generates is less than the pulling force that lower layer's electromagnetic component generates, and opens to avoid the Quick bending and finger of finger.
Wherein, in the first bionic hand finger joint 21 of bionic finger 2 have four bionic finger electromagnet pull elements 8, four
Bionic finger electromagnet pull element 8 is separate current signal input control.
There are four bionic finger electromagnet pull elements 8, two that palm of the hand side is arranged in are imitative in second bionic hand finger joint 22
Green hand refers to that electromagnet pull element is to be connected in parallel, and obtain control signal input simultaneously.
Two bionic finger electromagnet pull elements that dorsal side is arranged in are to be connected in parallel, and it is defeated to obtain control signal simultaneously
Enter.
The line of pull correspondence of connection component 4 is connect with the first line of pull 83 of bionic finger 2.
In the present invention, as shown in Figure 19 to 23, bionical thumb 9 includes: the first bionical thumb section 31, the second bionical thumb
Section 32 and the bionical thumb section 33 of third；
Outside first bionical thumb section 31, wrapped up respectively outside the second bionical 32 outside of thumb section and the bionical thumb section 33 of third
There is the second bionic finger shell；
The bionical thumb section 33 of third is finger tip portion, and the first bionical thumb section 31 refers to root；
Bionical thumb is successively arranged inside first bionical thumb section 31, the second bionical thumb section 32 and the bionical thumb section 33 of third
Line of pull, bionical thumb line of pull are connected to bionical palmar hand 1；
First bionical thumb section 31 is equipped with the first bionical thumb center pillar 311, and the first bionical 311 first end of thumb center pillar is connected with the
One bionical thumb casing 34, the first bionical 311 second end of thumb center pillar are connected with the first bionical thumb U-shaped frame 312；
The interconnecting piece of bionical palmar hand 1 and bionical thumb 9 is arranged in parallel with two pieces of connecting plates 35, and two pieces of connecting plates 35 are respectively equipped with bionical
Thumb connects hole, and bionical thumb connects hole and the first bionical thumb casing 34 and is rotatablely connected by shaft；
The first bionical thumb line of pull is equipped with close to the position of the first bionical thumb casing 34 on first bionical thumb center pillar 311 to lead
To column 313, the first bionical thumb line of pull guide post 313 is arranged with the first bionical thumb line of pull guideway, and first is bionical
Line of pull is connected on thumb line of pull guideway, and carries out the guiding and transmission of line of pull pulling force；
First bionical thumb center pillar 311 is arranged at least four first bionical thumb connection ring stands 314, the first bionical thumb connection
It is uniformly distributed on ring stand 314 that there are four the first bionical thumb electromagnet pull element fixed rings 315；
The first bionical thumb connecting hole 316 is symmetrically arranged on the U-shaped foot of first bionical thumb U-shaped frame 312；First bionical thumb U
First bionical thumb pulling force hole 317 there are four being also connected on shape frame 312；
The center of first bionical thumb electromagnet pull element fixed ring 315 of the first bionical thumb connection ring stand 314 is corresponding with the
The center in one bionical thumb pulling force hole 317 is on same straight line；
Bionic finger electromagnet pull element 8 connects the first bionical thumb electromagnet pull member of ring stand 314 by the first bionical thumb
Part fixed ring 315 is mounted on the first bionical thumb center pillar 311.
Here may use convenient for description space relative terms, such as " ... under ", " lower section ", " lower part ", " with
On ", " top " etc. the relationships of an elements or features and another elements or features as illustrated in the drawing described.It should manage
Solution, space relative terms are intended to include the device different orientation in the use or work except orientation as shown in the figure.For example, such as
Fruit turns the device in figure, and the element for being described as be in other elements or feature "lower" or " lower section " will be towards other
" top " of elements or features.Then, exemplary term " lower section " may include above and below two kinds orientation.It can make device
Other orientations (be rotated by 90 ° or other are orientated) are taken, make respective explanations used herein of spatially relative term.
It should be further noted that the second bionical thumb section 32 is equipped with the second bionical thumb center pillar 321, the second bionical thumb
Refer to that 321 first end of center pillar is connected with the second bionical thumb casing 322, the second bionical 321 second end of thumb center pillar is connected with second
Bionical thumb U-shaped frame 323；
The first bionical thumb on the corresponding U-shaped foot with the first bionical thumb U-shaped frame 312 in the both ends of second bionical thumb casing 322
Refer to that connecting hole 316 is rotatablely connected；
Two second bionical thumbs are equipped with close to the position of the second bionical thumb casing 322 on second bionical thumb center pillar 321 to draw
Line of force guide post 324, the second bionical thumb line of pull guide post 324 are arranged with the second bionical thumb line of pull guideway, the
Line of pull is connected on two bionical thumb line of pull guideways, and carries out the guiding and transmission of line of pull pulling force；
Second bionical thumb center pillar 321 is arranged at least two the second bionical thumb connection ring stands 325, the second bionical thumb connection
It is uniformly distributed on ring stand 325 that there are four the second bionical thumb electromagnet pull element fixed rings 326；
The first bionical thumb connecting hole 327 is symmetrically arranged on the U-shaped foot of second bionical thumb U-shaped frame 323；Second bionical thumb U
First bionical thumb pulling force hole 328 there are four being also connected on shape frame 323；
The center of second bionical thumb electromagnet pull element fixed ring 326 of the second bionical thumb connection ring stand 325 is corresponding with the
The center in one bionical thumb pulling force hole 328 is on same straight line；
Bionic finger electromagnet pull element 8 connects the second bionical thumb electromagnet pull member of ring stand 325 by the second bionical thumb
Part fixed ring 326 is mounted on the second bionical thumb center pillar 321.
It should be further noted that the bionical thumb section 33 of third is equipped with the bionical thumb center pillar 331 of third；
Bionical 331 first end of thumb center pillar of third is connected with the bionical thumb casing 332 of third, the bionical thumb center pillar 331 of third
It holds on the second bionic finger outer casing inner wall on two ends top；
First bionical thumb on the corresponding U-shaped foot with the second bionical thumb U-shaped frame 323 in the both ends of the bionical thumb casing 332 of third
Connecting hole 327 is rotatablely connected；
Two third bionic fingers are equipped with close to the position of the bionical thumb casing 332 of third on the bionical thumb center pillar 331 of third to draw
Line of force guide post 333, third bionic finger line of pull guide post 333 are arranged with the bionical thumb line of pull guideway of third, the
Line of pull is connected on three bionical thumb line of pull guideways, and carries out the guiding and transmission of line of pull pulling force, it is bionical to realize
The bend open of thumb.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
Four " etc. if there is being to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that
The data used in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition at this
In illustrate or description those of other than sequence implement.In addition, term " includes " and " having " and their any deformation, meaning
Figure, which is to cover, non-exclusive includes.
In the present invention, it is to be understood that the joint of bionic finger and the joint of bionical thumb are divided up and down, i.e. hand
Under the heart is, the back of the hand be it is upper, be attracted in lower layer's electromagnetic component, when finger carries out flexure operation, upper layer electromagnetic component is also logical simultaneously
Electricity, the pulling force that upper layer electromagnetic component generates is less than the pulling force that lower layer's electromagnetic component generates, to avoid the Quick bending and hand of finger
Refer to and opens.
Wherein, there are four bionic finger electromagnet pull elements, four imitative in the first of bionical thumb the bionical thumb section 31
Green hand refers to that electromagnet pull element is separate current signal input control.There are four bionic finger electromagnetism in second bionical thumb section
Pulling force component 8, two bionic finger electromagnet pull elements that palm of the hand side is arranged in are to be connected in parallel, and obtain control signal simultaneously
Input.Two bionic finger electromagnet pull elements that dorsal side is arranged in are to be connected in parallel, and obtain control signal input simultaneously.
The line of pull correspondence of connection component 4 is connect with the line of pull of bionic finger 2.
It should be further noted that further include: microcomputer, opening and closing angular transducer, force sensor and control
Device；
It is acted according to predetermined registration operation, is instructed to microcomputer input control, microcomputer generates control signal, via controller
It exports to corresponding electromagnet pull element or bionic finger electromagnet pull element, it is dynamic that control biomimetics manipulator executes purpose operation
Make；
Opening and closing angular transducer and force sensor are connect with microcomputer respectively, opening and closing angular transducer and force sensor
It is respectively used to feed back the opening and closing angle and opening and closing dynamics of bionical thumb and bionic finger to microcomputer, makes microcomputer base
It is dynamic that opening and closing are carried out in the current opening and closing angle of bionical thumb and bionic finger and opening and closing dynamics control biomimetics thumb and bionic finger
Make, reaches preset opening and closing angle and opening and closing dynamics.
Microcomputer plays acquisition control information, and control biomimetics manipulator is executed according to the control information.It can also
To execute corresponding actions according to preset control program.
Bionic mechanical hand is generated using the electromagnetic coil in bionic finger electromagnet pull element and electromagnet pull element in this way
Electromagnetic force is power source, and multiple electromagnetic components are connected, and will generate magnetic attraction after powered up, between electromagnetic component to drive finger
The movement in joint.
In the electromagnet pull element being made of electromagnetic component, the contraction of the similar human muscle of the movement of each electromagnetic component is transported
It is dynamic.Line of pull is connected in electromagnetic component, the joint that the electromagnetism the suction-combining force of electromagnetic component passes to finger is gone out, with tension ring and hand
The connection of articulations digitorum manus is so that the finger movement of manipulator is realized in the bending of finger-joint.
The joint of bionic finger and the joint of bionical thumb point up and down, i.e., under the palm of the hand is, the back of the hand be it is upper, in lower layer's electromagnetism
Element is being attracted, and when finger carries out flexure operation, upper layer electromagnetic component is also powered simultaneously, and the pulling force that upper layer electromagnetic component generates is small
In the pulling force that lower layer's electromagnetic component generates, opened to avoid the Quick bending and finger of finger.Pass through control upper and lower level electromagnetism member
The size of current of part is to control the size of the bending of finger and the power of opening.
Electromagnetic coil in each electromagnetic component uses the distribution of multisection type, and the distribution of multisection type makes between electromagnetic coil
Distance reduce, reduce electromagnetic coil between influence of the distance to electromagnetic force, improve reaction speed.The distribution of multisection type is generally
It improves in equal length, one timing of electromagnetic coil length, the suction-combining force generated between electromagnetic coil.
Using electromagnetic component as the power output of manipulator, the sensitivity and freedom degree of manipulator are improved.Make manipulator
Reach the manpower simulated effect of higher degree.Improve the stability of manipulator operation.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. a kind of bionic mechanical hand characterized by comprising bionical palmar hand (1) and bionic finger (2)；
Bionical palmar hand (1) includes: the palm of the hand and the back of the hand；
Bionical palmar hand (1) connects at least one bionic finger (2) and bionical thumb (9)；
The connection component (4) for connecting bionic finger (2) is equipped with inside bionical palmar hand (1)；
Bionical palmar hand (1) is internally provided with detent (5) and connecting shaft (10)；
Connection component (4) is held on detent (5)；
Connection component (4) is equipped with center pillar (41), and center pillar (41) is arranged at least four connection ring stands (42), connects on ring stand (42)
It is uniformly distributed that there are four electromagnet pull element fixed rings (43)；
The first end of center pillar (41) is connected with a chain of (44), and the second end of center pillar (41) is connected with U-shaped connector (45)；U-shaped connects
Bionic finger connecting hole (46) are symmetrically arranged on the U-shaped foot of fitting (45)；Pulling force hole there are four being also connected on U-shaped connector (45)
(47)；
A chain of (44) are connect with connecting shaft (10)；
The center correspondence of the electromagnet pull element fixed ring (43) of ring stand (42) and the center of pulling force hole (47) are connected in same
On straight line；
Connection component (4) is additionally provided with four electromagnet pull elements (6)；
Electromagnet pull element (6) includes: the first electromagnet pull element shell (63) and the second electromagnet pull element shell (64)；
First electromagnet pull element shell (63) and the second electromagnet pull element shell (64) are using threaded connection；
Line of pull (62) are equipped with inside connection component (4)；
Multistage solenoid is respectively equipped with inside first electromagnet pull element shell (63) and the second electromagnet pull element shell (64)
(66), every section of solenoid (66) has been externally wrapped with spiral conducting line (65), is equipped with iron core (67) inside solenoid (66)；Solenoid
(66) spiral conducting line (65) on is sequentially connected；
Electromagnet pull element (6) is mounted on connection component (4) by the electromagnet pull element fixed ring (43) of connection ring stand (42)
On, the line of pull (62) of electromagnet pull element (6) passes through pulling force hole (47) and extends to bionic finger (2) inside, with bionic finger
(2) the axle sleeve connection in inner leg.
2. bionic mechanical hand according to claim 1, which is characterized in that
Bionic finger (2) includes: the first bionic hand finger joint (21), the second bionic hand finger joint (22), third bionic hand finger joint (23)
And bionic finger electromagnet pull element (8)；
First bionic hand finger joint (21) is external, the second bionic hand finger joint (22) outside and third bionic hand finger joint (23) outer portion
It is not enclosed with the first bionic finger shell；
Third bionic hand finger joint (23) is finger tip portion, and the first bionic hand finger joint (21) refers to root；
First bionic hand finger joint (21) is equipped with the first skeleton center pillar (212), and first skeleton center pillar (212) first end is connected with first
Skeleton universal joint frame (213), first skeleton center pillar (212) second end are connected with the first skeleton U-shaped frame (214)；
First skeleton universal joint frame (213) is equipped with the first skeleton universal joint (215), first skeleton universal joint (215) outer symmetrical
It is connected with two first skeleton universal joint connecting rods (216)；
The second end of center pillar (41) extends U-shaped connector (45), extends to the first skeleton universal joint (215) inside, center pillar
(41) second end and the first skeleton universal joint (215), which rolls, to be connected；
Two first skeleton universal joint connecting rods (216) respectively correspond the bionic finger planted on the U-shaped foot of U-shaped connector (45)
In connecting hole (46), the first skeleton universal joint connecting rod (216) and bionic finger connecting hole (46) are rotatablely connected；
Two first bionic fingers are equipped with close to the position of the first skeleton universal joint frame (213) on first skeleton center pillar (212) to draw
Line of force guide post (217), the first bionic finger line of pull guide post (217) are arranged with the first bionic finger line of pull guiding axis
It covers, connects line of pull (62) on the first bionic finger line of pull guideway, and carry out the guiding and transmission of line of pull pulling force；
First skeleton center pillar (212) is arranged at least two first bionic fingers connection ring stand (218), the connection of the first bionic finger
It is uniformly distributed on ring stand (218) that there are four the first bionic finger electromagnet pull element fixed rings (219)；
The first bionical swivel of hand connecting hole (220) is symmetrically arranged on the U-shaped foot of first skeleton U-shaped frame (214)；First skeleton U-shaped
First bionical swivel of hand pulling force hole (71) there are four being also connected on frame (214)；
The center that first bionic finger connects the first bionic finger electromagnet pull element fixed ring (219) of ring stand (218) is corresponding
Center with the first bionical swivel of hand pulling force hole (71) is on same straight line.
3. bionic mechanical hand according to claim 2, which is characterized in that
Bionic finger electromagnet pull element (8) includes: the first bionic finger electromagnet pull element shell (81), the first bionic finger
Electromagnet pull element shell (81) one end is provided with first end cover (82), and the other end is equipped with the first line of pull (83) and draws section；
The first solenoid of multistage (84), every section of first solenoid are equipped with inside first bionic finger electromagnet pull element shell (81)
(84) it has been externally wrapped with the first spiral conducting line (85), has been equipped with the first iron core (86) inside the first solenoid (84)；First iron core
(86) internal that first line of pull (83) are set；
Bionic finger electromagnet pull element (8) is drawn by the first bionic finger electromagnetism of the first bionic finger connection ring stand (218)
Power element fixed ring (219) is mounted on the first skeleton center pillar (212)；
First line of pull (83) passes through the first bionical swivel of hand pulling force hole (71) and extends to the second bionic hand finger joint, the first line of pull
It is connect with the axle sleeve on the second bionic finger pillar.
4. bionic mechanical hand according to claim 3, which is characterized in that
Second bionic hand finger joint (22) is equipped with the second skeleton center pillar (222), and second skeleton center pillar (222) first end is connected with first
Armature sleeve (223), second skeleton center pillar (222) second end are connected with the second skeleton U-shaped frame (224)；
The first bionical swivel of hand on the corresponding U-shaped foot with the first skeleton U-shaped frame (214) in the both ends of first armature sleeve (223)
Connecting hole (220) rotation connection；
Position on second skeleton center pillar (222) close to the first armature sleeve (223) is equipped with two second bionic finger line of pull
Guide post (227), the second bionic finger line of pull guide post (227) are arranged with the second bionic finger line of pull guideway, the
Line of pull (62) are connected on two bionic finger line of pull guideways, and carry out the guiding and transmission of line of pull pulling force；
Second skeleton center pillar (222) is arranged at least four second bionic fingers connection ring stand (228), the connection of the second bionic finger
It is uniformly distributed on ring stand (228) that there are four the second bionic finger electromagnet pull element fixed rings (229)；
The second bionical swivel of hand connecting hole (230) is symmetrically arranged on the U-shaped foot of second skeleton U-shaped frame (224)；Second skeleton U-shaped
First bionical swivel of hand pulling force hole (72) there are four being also connected on frame (224)；
The center that second bionic finger connects the second bionic finger electromagnet pull element fixed ring (229) of ring stand (228) is corresponding
Center with the first bionical swivel of hand pulling force hole (72) is on same straight line；
Bionic finger electromagnet pull element (8) is drawn by the second bionic finger electromagnetism of the second bionic finger connection ring stand (228)
Power element fixed ring (229) is mounted on the second skeleton center pillar (222)；
Third bionic hand finger joint (23) is equipped with third skeleton center pillar (231)；Third skeleton center pillar (231) first end is connected with second
Armature sleeve (232), second skeleton center pillar (222) second end top are held on the first bionic finger outer casing inner wall；
The second bionical swivel of hand connects on the corresponding U-shaped foot with the second skeleton U-shaped frame (224) in the both ends of second armature sleeve (232)
Connect hole (230) rotation connection；
Position on third skeleton center pillar (231) close to the second armature sleeve (232) is equipped with two third bionic finger line of pull
Guide post (233), third bionic finger line of pull guide post (233) are arranged with third bionic finger line of pull guideway, the
Line of pull is connected on three bionic finger line of pull guideways, and carries out the guiding and transmission of line of pull pulling force.
5. bionic mechanical hand according to claim 3, which is characterized in that
Bionical thumb (9) includes: the first bionical thumb section (31), the second bionical thumb section (32) and the bionical thumb section of third
(33)；
First bionical thumb section (31) is external, the second bionical thumb section (32) outside and bionical thumb section (33) outer portion of third
It is not enclosed with the second bionic finger shell；
The bionical thumb section (33) of third is finger tip portion, and the first bionical thumb section (31) refers to root；
It is successively arranged inside first bionical thumb section (31), the second bionical thumb section (32) and the bionical thumb section (33) of third imitative
Raw thumb line of pull, bionical thumb line of pull are connected to bionical palmar hand (1)；
First bionical thumb section (31) is equipped with the first bionical thumb center pillar (311), and the first bionical thumb center pillar (311) first end connects
It is connected to the first bionical thumb casing (34), the first bionical thumb center pillar (311) second end is connected with the first bionical thumb U-shaped frame
(312)；
The interconnecting piece of bionical palmar hand (1) and bionical thumb (9) is arranged in parallel with two pieces of connecting plates (35), and two pieces of connecting plates (35) are respectively
Connect hole equipped with bionical thumb, bionical thumb connects hole and the first bionical thumb casing (34) and is rotatablely connected by shaft；
The first bionical thumb pulling force is equipped with close to the position of the first bionical thumb casing (34) on first bionical thumb center pillar (311)
Line guide post (313), the first bionical thumb line of pull guide post (313) are arranged with the first bionical thumb line of pull guideway,
Line of pull is connected on first bionical thumb line of pull guideway, and carries out the guiding and transmission of line of pull pulling force；
First bionical thumb center pillar (311) is arranged at least four first bionical thumb connections ring stand (314), the first bionical thumb
It is uniformly distributed in connection ring stand (314) that there are four the first bionical thumb electromagnet pull element fixed rings (315)；
The first bionical thumb connecting hole (316) is symmetrically arranged on the U-shaped foot of first bionical thumb U-shaped frame (312)；First bionical thumb
Refer to the first bionical thumb pulling force hole (317) there are four being also connected on U-shaped frame (312)；
The center of first bionical thumb electromagnet pull element fixed ring (315) of the first bionical thumb connection ring stand (314) is corresponding
Center with the first bionical thumb pulling force hole (317) is on same straight line；
Bionic finger electromagnet pull element (8) is drawn by the first bionical thumb electromagnetism of the first bionical thumb connection ring stand (314)
Power element fixed ring (315) is mounted on the first bionical thumb center pillar (311).
6. bionic mechanical hand according to claim 5, which is characterized in that
Second bionical thumb section (32) is equipped with the second bionical thumb center pillar (321), and the second bionical thumb center pillar (321) first end connects
It is connected to the second bionical thumb casing (322), the second bionical thumb center pillar (321) second end is connected with the second bionical thumb U-shaped frame
(323)；
First on the corresponding U-shaped foot with the first bionical thumb U-shaped frame (312) in the both ends of second bionical thumb casing (322) is imitative
Raw thumb connecting hole (316) rotation connection；
Two second bionical thumbs are equipped with close to the position of the second bionical thumb casing (322) on second bionical thumb center pillar (321)
Refer to line of pull guide post (324), the second bionical thumb line of pull guide post (324) is arranged with the second bionical thumb line of pull guiding
Axle sleeve connects line of pull on the second bionical thumb line of pull guideway, and carries out the guiding and transmission of line of pull pulling force；
Second bionical thumb center pillar (321) is arranged at least two the second bionical thumb connections ring stand (325), the second bionical thumb
It is uniformly distributed in connection ring stand (325) that there are four the second bionical thumb electromagnet pull element fixed rings (326)；
The first bionical thumb connecting hole (327) is symmetrically arranged on the U-shaped foot of second bionical thumb U-shaped frame (323)；Second bionical thumb
Refer to the first bionical thumb pulling force hole (328) there are four being also connected on U-shaped frame (323)；
The center of second bionical thumb electromagnet pull element fixed ring (326) of the second bionical thumb connection ring stand (325) is corresponding
Center with the first bionical thumb pulling force hole (328) is on same straight line；
Bionic finger electromagnet pull element (8) is drawn by the second bionical thumb electromagnetism of the second bionical thumb connection ring stand (325)
Power element fixed ring (326) is mounted on the second bionical thumb center pillar (321).
7. bionic mechanical hand according to claim 6, which is characterized in that
The bionical thumb section (33) of third is equipped with the bionical thumb center pillar (331) of third；
Bionical thumb center pillar (331) first end of third is connected with the bionical thumb casing (332) of third, the bionical thumb center pillar of third
(331) second end top is held on the second bionic finger outer casing inner wall；
The both ends of the bionical thumb casing (332) of third are corresponding and on the U-shaped foot of the second bionical thumb U-shaped frame (323) first is bionical
Thumb connecting hole (327) rotation connection；
Two third bionic hands are equipped with close to the position of the bionical thumb casing (332) of third on the bionical thumb center pillar (331) of third
Refer to line of pull guide post (333), third bionic finger line of pull guide post (333) is arranged with the bionical thumb line of pull guiding of third
Axle sleeve connects line of pull on the bionical thumb line of pull guideway of third, and carries out the guiding and transmission of line of pull pulling force.
8. bionic mechanical hand according to claim 1 or 2, which is characterized in that
Bionic finger (2) is bionical index finger, and bionical middle finger is nameless, little finger of toe.
9. bionic mechanical hand according to claim 5, which is characterized in that
Further include: microcomputer, opening and closing angular transducer, force sensor and controller；
It is instructed according to preset operational motion, is instructed to microcomputer input control, microcomputer generates control signal, warp
Controller is exported to corresponding electromagnet pull element or bionic finger electromagnet pull element, and control biomimetics manipulator executes purpose behaviour
It acts；
Opening and closing angular transducer and force sensor are connect with microcomputer respectively, opening and closing angular transducer and force sensor
It is respectively used to feed back the opening and closing angle and opening and closing dynamics of bionical thumb and bionic finger to microcomputer, makes microcomputer base
It is dynamic that opening and closing are carried out in the current opening and closing angle of bionical thumb and bionic finger and opening and closing dynamics control biomimetics thumb and bionic finger
Make, reaches preset opening and closing angle and opening and closing dynamics.
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|---|---|---|---|
| CN201811434631.9A CN109227587A (en) | 2018-11-28 | 2018-11-28 | A kind of bionic mechanical hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811434631.9A CN109227587A (en) | 2018-11-28 | 2018-11-28 | A kind of bionic mechanical hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269776A (en) * | 2019-06-28 | 2019-09-24 | 清华大学深圳研究生院 | A kind of finger recovering aid fingerstall and its manufacturing method based on pneumatic software actuator |
| CN117644530A (en) * | 2024-01-30 | 2024-03-05 | 无锡东仪制造科技有限公司 | Bionic movable set and manipulator |
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| CN117644530B (en) * | 2024-01-30 | 2024-04-02 | 无锡东仪制造科技有限公司 | Bionic movable set and manipulator |
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