CN109262636A - A kind of adaptable reaction type machine finger - Google Patents
A kind of adaptable reaction type machine finger Download PDFInfo
- Publication number
- CN109262636A CN109262636A CN201811171721.3A CN201811171721A CN109262636A CN 109262636 A CN109262636 A CN 109262636A CN 201811171721 A CN201811171721 A CN 201811171721A CN 109262636 A CN109262636 A CN 109262636A
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- CN
- China
- Prior art keywords
- finger
- machine finger
- machine
- finger joint
- reaction type
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to machine finger fields, and in particular to a kind of adaptable reaction type machine finger, including machine finger, telescopic clamp and control device；The machine finger includes end finger joint, intermediate finger joint, head end finger joint, gimbal suspension, the end finger joint is connect with intermediate finger joint by gimbal suspension one, the intermediate finger joint is connect with means finger joint by gimbal suspension two, it is provided with false touch prevention device and sensing device in the head end finger joint, solves present in prior art problem the technological deficiency that structure is complicated, volume is larger, sensitivity is low and is easy to happen accidentally touching.The present invention provides a kind of reaction type machine finger of simple, lightweight and portable in volume, high sensitivity and mistaken collision preventing with structure.
Description
Technical field
The present invention relates to machine finger fields, and in particular to a kind of adaptable reaction type machine finger.
Background technique
With the rapid development of robot technology and its extensive use in each field, mechanical hand is the key that " robot "
Position, in various nursing, the explosive, robots such as speedily carry out rescue work, mechanical hand is that robot completes the indispensable a part of task, existing
Nowadays the mechanical hand having can creep on rubble, operate electric tool, but these functional prices are high, mark the price considerably beyond 100
Ten thousand dollars, and 15 kilowatts of electric power are consumed when running, it means that user will undertake the high electricity charge, also limit the practical of it
Property；The volume of mechanical hand is generally larger, can only be practical in fixed place, is not easy to carry movement, the flexibility of finger is lower, no
It is easily used under the high environment of sensitivity requirement, finger ought accidentally encounter some places and be easy to execute operation at once, be easy accidentally to touch.
Summary of the invention
For structure is complicated present in prior art problem, volume is larger, sensitivity is low and is easy to happen accidentally touching
Technological deficiency.The present invention provides a kind of new adaptable reaction type machine finger, the adaptable reaction type mechanical hand
Refer to the performance with simple structure, lightweight and portable in volume, high sensitivity and mistaken collision preventing.
The purpose of the present invention is achieved through the following technical solutions:
To solve above-mentioned technological deficiency, the present invention provides a kind of adaptable reaction type machine finger, including machine finger, can
Flexible fixture and control device；
The machine finger includes end finger joint, intermediate finger joint, head end finger joint, gimbal suspension, and the end finger joint and centre refer to
Section is connected by gimbal suspension one, and the intermediate finger joint is connect with means finger joint by gimbal suspension two, in the head end finger joint
It is provided with false touch prevention device and sensing device；
The telescopic clamp is used to be fixed on machine finger in different equipment and control the flexible of machine finger；Including solid
Determine pedestal, connector, telescopic rod and controller, the fixed pedestal is used to for machine finger being fixed on distinct device, described
Machine finger is connect by connector with fixed pedestal, the length that the telescopic rod adjustment machine finger is stretched out or retracted, described
Controller is electrically connected with telescopic rod；
The control device includes arm processor, small type stepping motor；The arm processor respectively with machine finger and small-sized
Stepper motor connection, the small type stepping motor are used to control the telescopic clamp for fixing machine finger to generate deflecting force.
As a further improvement, the mistaken collision preventing unit includes infrared sensor, the infrared sensor detection
Whether there is object to block in setting investigative range, and the duration that object blocks is greater than preset time, then it is infrared to execute sending
The process for the information that line sensor is triggered.
As a further improvement, the sensing device includes pressure sensor, and the pressure sensor is diaphragm pressure
Sensor.
As a further improvement, the bottom of the fixed pedestal is provided with the side setting of strong magnets, fixed pedestal
There is the claw for fixing fixed pedestal.
As a further improvement, the strong magnets further include opposite polarity magnet matched with bottom strong magnets
Pad, the bottom of the magnet pad are provided with adhesive sticker, are bonded in fixed pedestal by adhesive sticker and need in fixed equipment.
As a further improvement, the small type stepping motor drives machine finger to generate pulling by telescopic clamp
Power, is provided with tension sensor in the telescopic clamp, the size of the tension sensor detection drag force, and by drag force
High low signal processing after be transferred to arm processor.
Compared with prior art, the beneficial effects of the present invention are:
Effect one, the present invention has 2 gimbal suspensions and telescopic clamp, using ARM embedded system and small type stepping motor,
A kind of very strong machine finger of the adaptability for having 3 freedom degrees is constructed, by the fixture that stretches, which can be fixed on not
On the device of similar shape and size, by the adjustment of gimbal suspension, position of the Fingers to needs, Ke Yiguang can be made
The general occasion for being applied to simulation finger and carrying out expanding-contracting action, such as the button operation to various equipment；
Effect two, the present invention are provided with false touch prevention device in head end finger joint, and false touch prevention device includes infrared sensor, infrared
Whether there is object to block in line sensor detection setting investigative range, the duration is greater than preset time, then it is infrared to execute sending
The process for the information that line sensor is triggered will not generate movement, can effectively prevent if the time of contact is less than preset value
Only accidentally touch machine finger generation movement, it is ensured that the movement that machine finger executes all is accurate；
Effect three, the present invention are connected end finger joint, intermediate finger joint and head end finger joint using Universal active head, pass through gimbal suspension
Adjustment, position of the Fingers to needs, high sensitivity can be made.
Detailed description of the invention
Fig. 1 is machine finger overall structure diagram；
Fig. 2 is machine finger structural schematic diagram；
Fig. 3 is fixed pedestal structural schematic diagram；
In figure, the end 1- finger joint, the centre 2- finger joint, 3- head end finger joint, 4- gimbal suspension one, 5- gimbal suspension two, 6- pedestal, 7-
Telescopic rod, 8- connector, 9- small type stepping motor, 10- motor mount, 11- infrared sensor, 12- claw.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
The present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
Embodiment 1
Such as Fig. 1-3, the present embodiment provides a kind of adaptable reaction type machine finger, which be can be widely applied to
Need to simulate the occasion that finger carries out expanding-contracting action, such as the button operation to various equipment.Pass through machine finger stretch mode
Setting is suitable for locking or not locking various types switch etc..
Including machine finger, telescopic clamp and control device；The machine finger includes end finger joint 1, intermediate finger joint
2, head end finger joint 3, gimbal suspension, the end finger joint 1 are connect with intermediate finger joint 2 by gimbal suspension 1, the intermediate finger joint
2 are connect with head end finger joint 3 by gimbal suspension 25, and gimbal suspension is Universal active head, can be rotated with free extension, pass through ten thousand
Arthrotropic adjustment can make position of the Fingers to needs.
The telescopic clamp is used to be fixed on machine finger in different equipment and control the flexible of machine finger；Packet
Fixed pedestal 6, telescopic rod 7, connector 8 and controller are included, the fixed pedestal 6 is used to machine finger being fixed on distinct device
On, machine finger is connect by the connector 8 with fixed pedestal, and the telescopic rod 7 adjusts machine finger and stretches out or retract
Length, the controller are electrically connected with telescopic rod 7, and telescopic clamp further includes motor mount 10, the motor mount 10
It being fixed on telescopic rod 7, small type stepping motor 9 is mounted on motor mount 10,；
The control device includes arm processor, small type stepping motor 9；The arm processor respectively with machine finger and small-sized
Stepper motor 9 connects, and the small type stepping motor 9 is used to control the telescopic clamp for fixing machine finger to generate deflection
Power, arm processor driving small type stepping motor control machine finger make the movement for thrusting out one's fingers and retracting finger, pass through stroke
Feedback encoding can determine whether the flexible specific length of finger, according to the theoretical stroke of stepper motor and the traveled distance fed back,
Arm processor can assess the resistance of target position generation, to automatically adjust the power of stepper motor.The head end finger joint 3
On be provided with false touch prevention device and sensing device；The mistaken collision preventing unit includes infrared sensor 11, the infrared ray sensing
Whether there is object contact in the detection setting investigative range of device 11, and the duration of object contact is greater than preset time, then executes
The process for the information that infrared sensor 11 is triggered is issued, the information is specially high level signal, and the high level is believed
Number for indicating that the infrared sensor is triggered, infrared sensor is detecting blocking in the setting contact range
When object leaves, the information that infrared sensor is restored to the state that is not triggered is issued.
Specifically, the sensing device includes pressure sensor, the pressure sensor is diaphragm pressure sensor.
Specifically, the bottom of the fixed pedestal 6 is provided with strong magnets, the strong magnets further include and bottom strength
The matched opposite polarity magnet pad of magnet, the bottom of the magnet pad are provided with adhesive sticker, by adhesive sticker by fixed pedestal
It is bonded in and needs in fixed equipment, fixed pedestal can pad magnetic with magnet and connect；The side of the fixed pedestal 6 is arranged
There is the claw 12 for fixing fixed pedestal, claw 12 is used to fixed pedestal being fixed on other positions.
Specifically, the small type stepping motor 9 drives machine finger to generate drag force by telescopic clamp, it is described to stretch
It is provided with tension sensor on contracting fixture, the size of the tension sensor detection drag force, and by the high low signal of drag force
Arm processor is transferred to after processing.
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
Claims (7)
1. a kind of adaptable reaction type machine finger, which is characterized in that including machine finger, telescopic clamp and control dress
It sets；
The machine finger includes end finger joint (1), intermediate finger joint (2), head end finger joint (3), gimbal suspension, the end finger joint
(1) it is connect with intermediate finger joint (2) by gimbal suspension one (4), the intermediate finger joint (2) and head end finger joint (3) pass through universal pass
Two (5) connection is saved, is provided with false touch prevention device and sensing device on the head end finger joint (3)；
The telescopic clamp is used to be fixed on machine finger in different equipment and control the flexible of machine finger；Including solid
Determine pedestal (6), telescopic rod (7), connector (8) and controller, the fixed pedestal (6) is used to machine finger being fixed on difference
In equipment, machine finger is connect by the connector (8) with fixed pedestal, the telescopic rod (7) adjustment machine finger stretch out or
The length that person retracts, the controller are electrically connected with telescopic rod (7)；
The control device includes arm processor, small type stepping motor (9)；The arm processor respectively with machine finger and small
Type stepper motor (9) connection, the small type stepping motor (9) are used to control the telescopic clamp for fixing machine finger to generate
Deflecting force.
2. adaptable reaction type machine finger according to claim 1, which is characterized in that the mistaken collision preventing unit packet
It includes infrared sensor (11), whether has object contact, and object in infrared sensor (11) the detection setting investigative range
The duration of body contact is greater than preset time, then executes the process for issuing the information that infrared sensor (11) are triggered.
3. adaptable reaction type machine finger according to claim 1, which is characterized in that the sensing device includes
Pressure sensor.
4. adaptable reaction type machine finger according to claim 3, which is characterized in that the pressure sensor is
Diaphragm pressure sensor.
5. adaptable reaction type machine finger according to claim 1, which is characterized in that the fixed pedestal (6)
Bottom be provided with strong magnets, the side of fixed pedestal (6) is provided with claw (12) for fixing fixed pedestal.
6. adaptable reaction type machine finger according to claim 5, which is characterized in that the strong magnets are also wrapped
Opposite polarity magnet pad matched with bottom strong magnets is included, the bottom of the magnet pad is provided with adhesive sticker, by not doing
Fixed pedestal is bonded in by glue to be needed in fixed equipment.
7. adaptable reaction type machine finger according to claim 1, which is characterized in that the small type stepping motor
(9) it drives machine finger to generate drag force by telescopic clamp, is provided with tension sensor in the telescopic clamp, it is described
Tension sensor detects the size of drag force, and will be transferred to arm processor after the processing of the high low signal of drag force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171721.3A CN109262636A (en) | 2018-10-09 | 2018-10-09 | A kind of adaptable reaction type machine finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171721.3A CN109262636A (en) | 2018-10-09 | 2018-10-09 | A kind of adaptable reaction type machine finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109262636A true CN109262636A (en) | 2019-01-25 |
Family
ID=65195135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811171721.3A Pending CN109262636A (en) | 2018-10-09 | 2018-10-09 | A kind of adaptable reaction type machine finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109262636A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406910A (en) * | 2013-08-17 | 2013-11-27 | 刘发永 | Self-vision bionic-robot |
| WO2014027897A1 (en) * | 2012-08-12 | 2014-02-20 | 5Th Element Limited | A gripping device |
| KR20140035698A (en) * | 2012-09-14 | 2014-03-24 | 강영길 | A robot finger having micro control and robot hand using the same |
| CN107692933A (en) * | 2017-10-16 | 2018-02-16 | 郑州旺达智能设备有限公司 | A kind of intelligent industrial floor-cleaning machine device people |
| CN207480593U (en) * | 2017-08-31 | 2018-06-12 | 广州泰行智能科技有限公司 | A kind of mechanism for picking for robot |
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
-
2018
- 2018-10-09 CN CN201811171721.3A patent/CN109262636A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014027897A1 (en) * | 2012-08-12 | 2014-02-20 | 5Th Element Limited | A gripping device |
| KR20140035698A (en) * | 2012-09-14 | 2014-03-24 | 강영길 | A robot finger having micro control and robot hand using the same |
| CN103406910A (en) * | 2013-08-17 | 2013-11-27 | 刘发永 | Self-vision bionic-robot |
| CN207480593U (en) * | 2017-08-31 | 2018-06-12 | 广州泰行智能科技有限公司 | A kind of mechanism for picking for robot |
| CN107692933A (en) * | 2017-10-16 | 2018-02-16 | 郑州旺达智能设备有限公司 | A kind of intelligent industrial floor-cleaning machine device people |
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
Non-Patent Citations (1)
| Title |
|---|
| 布卢姆 等: "《群智能》", 31 July 2011 * |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190125 |
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| RJ01 | Rejection of invention patent application after publication |