CN109664323A - A kind of link manipulator - Google Patents
A kind of link manipulator Download PDFInfo
- Publication number
- CN109664323A CN109664323A CN201910100073.0A CN201910100073A CN109664323A CN 109664323 A CN109664323 A CN 109664323A CN 201910100073 A CN201910100073 A CN 201910100073A CN 109664323 A CN109664323 A CN 109664323A
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- China
- Prior art keywords
- palm
- finger joint
- hinge hole
- link
- lower hinge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001145 finger joint Anatomy 0.000 claims abstract description 85
- 230000009471 action Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 208000035126 Facies Diseases 0.000 description 1
- 230000001788 irregular Effects 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of link manipulators, including palm, the finger being connected on palm；Upper and lower hinge hole is provided on palm；Finger has remote finger joint and nearly finger joint, and the nearly palm end of remote finger joint is provided with upper and lower hinge hole；It is provided with first link arm between the upper hinge hole of palm and the lower hinge hole of remote finger joint, lower hinge hole on palm and is provided with second connecting rod limb between the upper hinge hole of remote finger joint；First link arm and second connecting rod limb are as nearly finger joint；Second connecting rod arm swing is driven by rotary shaft of the central axes of the lower hinge hole of palm, remote finger joint is servo-actuated；Or first connecting rod arm swing is driven by rotary shaft of the central axes of the upper hinge hole of palm, remote finger joint is servo-actuated.For the link manipulator of the link manipulator of technical solution of the present invention compared with the existing technology, palm and finger with the design of apery hand drive the nearly finger joint of finger to rotate, remote finger joint is servo-actuated, pinching for apery hand may be implemented to take and gripping action, use scope is wider, more adaptable.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of link manipulator.
Background technique
The grasp motion of the hand of people, which can be divided into pinching, to be taken and holds, and the finger tip or the opposite fortune of finger belly for being taken as that opposite two refer to are pinched
It is dynamic, target object is clamped by two finger tips or finger belly face, pinching and taking object is object small-sized or with reliable opposite plane.
Gripping is then that finger palm opposite part is curled, and clamps object by facies digitales mediales manus and palmar aspect, hold object be it is rod-shaped or
Irregular shape object.The manipulator of currently available technology generally uses the method for clamping of flatly moving type, needs there are two target objects
Opposite reliable plane, thus the target object type that can be grabbed is limited, flexibility is poor, bad adaptability.
Summary of the invention
In order to solve the above technical problems, the main object of the present invention is to provide a kind of link manipulator, using double leval jib
Mechanism, link manipulator include palm and the nearly finger joint and remote finger joint that are connected on palm, drive nearly finger joint to swing, remote finger joint
It is servo-actuated, it can be achieved that pinching for apery hand takes and gripping action, be not only able to crawl small article, moreover it is possible to grab rod-shaped or other shapes
Object.
In order to achieve the above object, the present invention is resolved using following technical scheme.
A kind of link manipulator, including palm, the finger being connected on palm；Upper and lower hinge is provided on the palm
Connect hole；The finger has remote finger joint and nearly finger joint, and the nearly palm end of remote finger joint is provided with upper and lower hinge hole；The palm
It is provided with first link arm between upper hinge hole and the lower hinge hole of remote finger joint, the upper hinge of lower hinge hole and remote finger joint on palm
It connects and is provided with second connecting rod limb between hole；The first link arm and second connecting rod limb are as the nearly finger joint；Under palm
The central axes of hinge hole are that rotary shaft drives the second connecting rod arm swing, and remote finger joint is servo-actuated；Or, with the upper hinge hole of palm
Central axes are that rotary shaft drives the first connecting rod arm swing, and remote finger joint is servo-actuated.
Preferably, the pitch-row between the pitch-row between the upper and lower hinge hole of the remote finger joint and the upper and lower hinge hole of palm
Equal, the two-end-point distance and the two-end-point of second connecting rod limb of first link arm are equidistant.
Preferably, pendulum limited block is provided in the remote finger joint, the bottom limited block is for determining the nearly finger joint
The upper limit swung relative to palm；Bottom limited block is provided on the palm, the bottom limited block is described close for determining
The lower limit that finger joint is swung relative to palm.
Preferably, the first link arm is connecting lever.
Preferably, described second connecting rod limb is connecting lever.
Preferably, the first link arm includes two first sub-link arms, and described second connecting rod limb is in two first
Between sub- linking arm；One end of two first sub-link arms is coaxially hinged with palm at the upper hinge hole of palm, and the other end exists
It is coaxially hinged with remote finger joint at the lower hinge hole of remote finger joint.
Preferably, described second connecting rod limb includes two second sub-link arms, and the first link arm is in two second
Between sub- linking arm；One end of two second sub-link arms is coaxially hinged with palm at the lower hinge hole of palm, and the other end exists
It is coaxially hinged with remote finger joint at the upper hinge hole of remote finger joint.
For the manipulator of the link manipulator of technical solution of the present invention compared with the existing technology, there is the design of apery hand
Palm and finger, drive the nearly finger joint of finger to rotate, remote finger joint is servo-actuated, pinching for apery hand may be implemented and take and gripping action,
Use scope is wider, more adaptable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the schematic diagram of the first embodiment of link manipulator of the present invention；
Fig. 2 is the schematic diagram of mechanism of the first embodiment of link manipulator of the present invention；
Fig. 3 is the stereoscopic schematic diagram of link manipulator another kind embodiment of the present invention；
Fig. 4 is the partial enlarged view in Fig. 3 at A；
In the above figure: 1 palm；2 remote finger joints；3 nearly finger joints；31 first link arms；311 first sub-link arms；32 second
Link arm；Limited block is put on 4；5 bottom limited blocks.
Specific embodiment
It is understandable in order to enable the above objects, features and advantages of the present invention to become apparent, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
Detail is elaborated in the following description to fully understand the present invention.But the present invention can with it is a variety of not
Other way described herein is same as to implement, those skilled in the art can do class without violating the connotation of the present invention
Like popularization.Therefore the present invention is not limited by following public specific embodiment.
With reference to Fig. 1, a kind of link manipulator, including palm 1, the finger being connected on palm 1；It is set on the palm 1
It is equipped with upper and lower hinge hole；The finger has remote finger joint 2 and nearly finger joint 3, and the nearly palm end of remote finger joint 2 is provided with upper and lower hinged
Hole；First link arm 31, the lower hinge on palm 1 are provided between the upper hinge hole of the palm 1 and the lower hinge hole of remote finger joint 2
It connects and is provided with second connecting rod limb 32 between hole and the upper hinge hole of remote finger joint 2；The first link arm 31 and second connecting rod limb 32
As the nearly finger joint 3；Described second connecting rod limb 32 is driven to swing by rotary shaft of the central axes of the lower hinge hole of palm 1, far
Finger joint 2 is servo-actuated；Or, drive the first link arm 31 to swing by rotary shaft of the central axes of the upper hinge hole of palm 1, remote finger joint
2 is servo-actuated.
In above embodiments, the finger of link manipulator includes remote finger joint 2 and nearly finger joint 3, remote finger joint 2 and palm 1 it
Between linked together by the first link arm 31 and second connecting rod limb 32 intersected, i.e. first link arm 31 and second connecting rod limb 32
As nearly finger joint 3.Remote finger joint 2, palm 1, first link arm 31, second connecting rod limb 32 hingedly form intersection four-bar mechanism.
With reference to Fig. 2, second connecting rod limb 32 is counterclockwise during rotation, the angle between remote finger joint 2 and nearly finger joint 3 more come it is also small, i.e.,
Nearly finger joint 3 is curled, and remote finger joint 2 is also curled, and the movement that such mechanism is formed curls process closer to human finger.And it uses
Non-crossing four-bar mechanism is curled, remote finger joint when nearly finger joint 3 is curled to the palm of the hand though remote finger joint 2 has to the palm of the hand on the whole
2 relative to nearly finger joint 3 be to turn up, and do not meet human finger curls process.Therefore, using intersection four-bar mechanism better than non-
Intersect four-bar mechanism.
Further, between the pitch-row between the upper and lower hinge hole of the remote finger joint 2 and the upper and lower hinge hole of palm 1
Pitch-row is equal, and the two-end-point distance and the two-end-point of second connecting rod limb 32 of first link arm 31 are equidistant.
In the present embodiment, more preferably, pitch-row between the upper and lower hinge hole of remote finger joint 2 is upper and lower with palm 1
Pitch-row between hinge hole is equal, and the two-end-point distance and the two-end-point of second connecting rod limb 32 of first link arm 31 are equidistant.
The four-bar mechanism formed in this way is anti-parallelogram mechanism, easily facilitates and designs and manufactures.
With reference to Fig. 3 and Fig. 4, further, pendulum limited block 4, the upper pendulum limited block 4 are provided in the remote finger joint 2
The upper limit swung for determining the nearly finger joint 3 relative to palm 1；It is provided with bottom limited block 5 on the palm 1, under described
Pendulum limited block 5 is for determining the lower limit that the nearly finger joint 3 is swung relative to palm 1.
In order to limit hunting range of the finger relative to palm 1, using intersect four-bar mechanism feature itself, Fig. 3 and
In Fig. 4, limited block 4, first link arm 31 or second connecting rod limb are put in the setting of position among the upper and lower hinge hole of remote finger joint 2
During 32 rotate clockwise, the upper surface of first link arm 31 touches pendulum limited block 4, i.e., close finger joint 3 swings upper
Limit；Bottom limited block 5,32 inverse time of first link arm 31 or second connecting rod limb is arranged in position among the upper and lower hinge hole of palm 1
During needle rotates, the lower surface of first link arm 31 touches bottom limited block 5, the lower limit that as close finger joint 3 is swung.It is aobvious
So, the position that upper pendulum limited block 4 and bottom limited block 5 are set can also be other modes, and details are not described herein again.
With reference to Fig. 3 and Fig. 4, further, the first link arm 31 is connecting lever.In the present embodiment, preferably it is bent upwards
Connecting lever there are two advantage, first, first link arm 31 is bent upwards the shape for being more in line with the nearly finger joint 3 of human body, second, connecting lever
For straight-arm, it is better than straight-arm in intensity.
Similarly, described second connecting rod limb 32 is connecting lever.
With reference to Fig. 3 and Fig. 4, further, the first link arm 31 includes two first sub-link arms 311, and described the
Two link arms 32 are between two first sub- linking arms；Upper hinge hole of the one end of two first sub-link arms 311 in palm 1
Place is coaxial hinged with palm 1, and the other end is coaxial hinged with remote finger joint 2 at the lower hinge hole of remote finger joint 2.
In above embodiments, it is preferable that first link arm 31 is divided to for two first sub-link arms 311, two first sons
Second connecting rod limb 32 is clipped in the middle by link arm 311, the both ends of two first sub-link arms 311 respectively with remote finger joint 2 and palm 1
On hinge hole it is coaxially hinged.Using such structure, intersecting four-bar mechanism is in symmetrical structure, in stability and balance
Performance is more excellent.
For the same reason, described second connecting rod limb 32 includes two second sub-link arms, the first link arm 31
Between two second sub- linking arms；One end of two second sub-link arms is coaxial with palm 1 at the lower hinge hole of palm 1
Hingedly, the other end is coaxial hinged with remote finger joint 2 at the upper hinge hole of remote finger joint 2.
Although the present invention is described in detail with a general description of the specific embodiments in this specification,
But on the basis of the present invention, it can be made some modifications or improvements, this it will be apparent to those skilled in the art that.Cause
This, these modifications or improvements on the basis of without departing from the present invention are fallen within the scope of the claimed invention.
Claims (7)
1. a kind of link manipulator, which is characterized in that including palm (1), the finger being connected on palm (1)；
Upper and lower hinge hole is provided on the palm (1)；
The finger has remote finger joint (2) and nearly finger joint (3), and nearly palm (1) end of remote finger joint (2) is provided with upper and lower hinge hole；
First link arm (31), palm are provided between the upper hinge hole of the palm (1) and the lower hinge hole of remote finger joint (2)
(1) second connecting rod limb (32) are provided between the lower hinge hole on and the upper hinge hole of remote finger joint (2)；
The first link arm (31) and second connecting rod limb (32) are used as the nearly finger joint (3)；
Drive the second connecting rod limb (32) to swing by rotary shaft of the central axes of the lower hinge hole of palm (1), remote finger joint (2) with
It is dynamic；
Or, drive the first link arm (31) to swing by rotary shaft of the central axes of the upper hinge hole of palm (1), remote finger joint
(2) it is servo-actuated.
2. link manipulator according to claim 1, which is characterized in that the upper and lower hinge hole of the remote finger joint (2) it
Between pitch-row it is equal with the pitch-row between the upper and lower hinge hole of palm (1), the two-end-point distance and second of first link arm (31)
The two-end-point of link arm (32) is equidistant.
3. link manipulator according to claim 1, which is characterized in that be provided with pendulum limit on the remote finger joint (2)
Position block (4), upper pendulum limited block (4) is for determining the upper limit that the nearly finger joint (3) swings relative to palm (1)；
It is provided with bottom limited block (5) on the palm (1), the bottom limited block (5) is for determining nearly finger joint (3) phase
The lower limit swung for palm (1).
4. link manipulator according to claim 1, which is characterized in that the first link arm (31) is connecting lever.
5. according to link manipulator described in claim (1), which is characterized in that the second connecting rod limb (32) is connecting lever.
6. link manipulator according to claim 1, which is characterized in that the first link arm (31) includes two pieces the
One sub-link arm (311), the second connecting rod limb (32) are between two first sub- linking arms；Two first sub-link arms
(311) one end is coaxial hinged with palm (1) at the upper hinge hole of palm (1), lower hinge hole of the other end in remote finger joint (2)
Place is coaxial hinged with remote finger joint (2).
7. link manipulator according to claim 1, which is characterized in that the second connecting rod limb (32) includes two pieces the
Two sub-link arms, the first link arm (31) are between two second sub- linking arms；One end of two second sub-link arms
It is coaxial hinged with palm (1) at the lower hinge hole of palm (1), the other end at the upper hinge hole of remote finger joint (2) with remote finger joint
(2) coaxial hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100073.0A CN109664323A (en) | 2019-01-31 | 2019-01-31 | A kind of link manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100073.0A CN109664323A (en) | 2019-01-31 | 2019-01-31 | A kind of link manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664323A true CN109664323A (en) | 2019-04-23 |
Family
ID=66150381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910100073.0A Pending CN109664323A (en) | 2019-01-31 | 2019-01-31 | A kind of link manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664323A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053066A (en) * | 2019-05-10 | 2019-07-26 | 上海念通智能科技有限公司 | A kind of two-freedom multi-mode Apery manipulator |
| CN114474112A (en) * | 2020-11-13 | 2022-05-13 | 株式会社理光 | Mechanical finger and mechanical arm |
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|---|---|---|---|---|
| US20030090115A1 (en) * | 2001-11-09 | 2003-05-15 | Korea Institute Of Science And Technology | Robot hand and robot hand finger |
| US20060012197A1 (en) * | 2003-12-30 | 2006-01-19 | Strider Labs, Inc. | Robotic hand with extendable palm |
| CN107186743A (en) * | 2017-08-01 | 2017-09-22 | 电子科技大学 | A kind of bionic mechanical palm based on netted linkage structure |
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| CN107803849A (en) * | 2017-12-30 | 2018-03-16 | 赵孝勇 | A kind of bionic robot finger |
| CN108621144A (en) * | 2018-04-26 | 2018-10-09 | 北京空间飞行器总体设计部 | A kind of multiple degrees of freedom of tendon-connecting rod mixed drive refers to formula manipulator |
| CN108673538A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
| CN209551746U (en) * | 2019-01-31 | 2019-10-29 | 陕西伟景机器人科技有限公司 | A kind of link manipulator |
-
2019
- 2019-01-31 CN CN201910100073.0A patent/CN109664323A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030090115A1 (en) * | 2001-11-09 | 2003-05-15 | Korea Institute Of Science And Technology | Robot hand and robot hand finger |
| US20060012197A1 (en) * | 2003-12-30 | 2006-01-19 | Strider Labs, Inc. | Robotic hand with extendable palm |
| CN107186743A (en) * | 2017-08-01 | 2017-09-22 | 电子科技大学 | A kind of bionic mechanical palm based on netted linkage structure |
| CN107414880A (en) * | 2017-08-30 | 2017-12-01 | 东北大学 | Based on the activation lacking mechanical finger for becoming born of the same parents' principle |
| CN107803849A (en) * | 2017-12-30 | 2018-03-16 | 赵孝勇 | A kind of bionic robot finger |
| CN108621144A (en) * | 2018-04-26 | 2018-10-09 | 北京空间飞行器总体设计部 | A kind of multiple degrees of freedom of tendon-connecting rod mixed drive refers to formula manipulator |
| CN108673538A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
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| Title |
|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053066A (en) * | 2019-05-10 | 2019-07-26 | 上海念通智能科技有限公司 | A kind of two-freedom multi-mode Apery manipulator |
| CN114474112A (en) * | 2020-11-13 | 2022-05-13 | 株式会社理光 | Mechanical finger and mechanical arm |
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