CN109664324A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
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- CN109664324A CN109664324A CN201910100172.9A CN201910100172A CN109664324A CN 109664324 A CN109664324 A CN 109664324A CN 201910100172 A CN201910100172 A CN 201910100172A CN 109664324 A CN109664324 A CN 109664324A
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- 239000000758 substrate Substances 0.000 claims abstract description 78
- 210000000707 wrist Anatomy 0.000 claims abstract description 10
- 210000003811 finger Anatomy 0.000 claims description 240
- 210000001145 finger joint Anatomy 0.000 claims description 116
- 210000003414 extremity Anatomy 0.000 claims description 27
- 210000000056 organ Anatomy 0.000 claims description 10
- 210000003813 thumb Anatomy 0.000 claims description 6
- 210000004932 little finger Anatomy 0.000 claims description 4
- 244000060701 Kaempferia pandurata Species 0.000 claims 1
- 235000016390 Uvaria chamae Nutrition 0.000 claims 1
- 230000005057 finger movement Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 241000237858 Gastropoda Species 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 208000035126 Facies Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000007787 solid Substances 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of manipulator, including palm substrate, horizontal finger driving assembly and at least one vertical finger driving assembly are provided on the palm substrate, the side of the palm substrate is provided with lateral finger corresponding with horizontal finger driving assembly, and the front end of the palm substrate is provided with longitudinal finger corresponding with vertical finger driving assembly；The horizontal wrist for referring to driving assembly close to the manipulator, the vertical finger wrist of the driving assembly far from manipulator；The horizontal finger driving assembly is for driving lateral finger movement, and the vertical finger driving assembly is for driving longitudinal finger movement.Manipulator of the present invention manipulator compared with the existing technology, by being arranged lateral finger and longitudinal finger on palm substrate, lateral finger and longitudinal finger, which cooperate, can be achieved pinching for apery hand and takes and gripping action, and coordination, sensitive, it can pinch and take delicate items, hold compared with heavy articles.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of 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, mainly corresponds to object small-sized or with reliable opposite plane
Body, gripping is then that finger palm opposite part is curled, and clamps object by facies digitales mediales manus and palmar aspect, mainly in face of rod-shaped or
Irregular shape target object.The manipulator of the prior art generally uses the method for clamping of flatly moving type, needs there are two target objects
Opposite reliable plane, it is poor to the flexibility of target object.The manipulator of bionical class manpower is seldom accomplished as manpower joint one
Sample has lateral finger and longitudinal finger, that is, possesses thumb, index finger, middle finger, ring finger and little finger.
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 manipulator, is arranged on palm substrate
Lateral finger and longitudinal finger, lateral finger and longitudinal finger, which cooperate, can be achieved pinching for apery hand and takes and gripping action.
In order to achieve the above object, the present invention is resolved using following technical scheme.
A kind of manipulator, including palm substrate, horizontal finger driving assembly is provided on the palm substrate and at least one is vertical
Refer to driving assembly, the side of the palm substrate is provided with lateral finger corresponding with horizontal finger driving assembly, the palm substrate
Front end be provided with and refer to the corresponding longitudinal finger of driving assembly with vertical；Hand of the horizontal finger driving assembly close to the manipulator
Wrist, the vertical finger wrist of the driving assembly far from manipulator；The horizontal finger driving assembly is described for driving lateral finger movement
It is vertical to refer to driving assembly for driving longitudinal finger movement.
Further, it is described it is horizontal refer to that driving assembly includes the first motor that is laterally arranged and the first worm couple, first
The output shaft of motor is fixedly connected with the worm screw of the first worm couple, and worm screw is engaged with the worm gear of the first worm couple, snail
Cam is provided on the output shaft of wheel；The transverse direction finger is thumb, and lateral finger has the nearly finger joint of horizontal finger, the palm base
The side of plate is provided with the first pin shaft of horizontal finger, horizontal to refer to the first pin shaft through the horizontal root for referring to nearly finger joint, the horizontal root for referring to nearly finger joint
It is provided with pressing plate, pressing plate refers to that nearly finger joint is fixedly connected with horizontal, the cam abutment pressing plate, and drives press plate rotary；The horizontal finger
Flexible restoring organ is provided between nearly finger joint and palm substrate, the horizontal finger that the flexible restoring organ is used to reset after rotation is close
Finger joint.
Further, the flexible restoring organ is the torsional spring being arranged on the first pin shaft of horizontal finger, or is set to the pressure
The pressure spring at the back side of the compressive plane of plate.
Further, the lateral finger have it is horizontal refer to remote finger joint, the horizontal nearly palm end for referring to remote finger joint is provided with,
Lower hinge hole, palm substrate side are provided with upper and lower hinge hole；
Horizontal finger first is provided between the upper hinge hole of palm substrate side and the horizontal lower hinge hole for referring to remote finger joint to connect
Horizontal finger second connecting rod limb is arranged between the lower hinge hole of palm substrate side and the horizontal upper hinge hole for referring to remote finger joint in lever arm；Horizontal finger
First link arm and horizontal finger second connecting rod limb horizontal refer to nearly finger joint as described；The pressing plate is fixed with the horizontal finger first link arm
It connects, the first pin shaft of horizontal finger, the first pin of horizontal finger first link arm and horizontal finger is set in the upper hinge hole of palm substrate side
Axis is fixedly connected；The second pin shaft of horizontal finger is provided in the lower hinge hole of palm substrate side.
Further, horizontal refer to is provided with horizontal finger bottom limited block in remote finger joint, and the horizontal finger bottom limited block is used for
Limit the horizontal extreme position for referring to nearly finger joint and being rotated down；The side of the palm substrate is provided on horizontal finger and puts limited block,
Limited block is put on the horizontal finger is used to limit the horizontal extreme position for referring to nearly finger joint and rotating upwards.
Further, the horizontal finger first link arm and/or horizontal finger second connecting rod limb are connecting lever.
Further, the vertical finger driving assembly include longitudinally disposed the second motor and the second worm couple, second
The output shaft of motor is fixedly connected with the worm screw of the second worm couple, and worm screw is engaged with the worm gear of the second worm couple；Institute
Stating longitudinal finger is index finger, middle finger, the third finger or little finger of toe, and longitudinal finger has the nearly finger joint of vertical finger, the front end of the palm substrate
It is provided with the first pin shaft of vertical finger, indulges and refers to that the first pin shaft through the root of the nearly finger joint of vertical finger, indulges the root for referring to nearly finger joint and the second snail
The worm gear of worm couple is fixedly connected, and drives the nearly finger joint rotation of vertical finger.
Further, longitudinal finger also has the remote finger joint of vertical finger, and the vertical nearly palm end for referring to remote finger joint is provided with
Upper and lower hinge hole, palm substrate front end are provided with upper and lower hinge hole；The upper hinge hole of palm substrate front end and vertical
Refer to and is provided with vertical finger first link arm between the lower hinge hole of remote finger joint, the lower hinge hole of palm substrate front end and the remote finger joint of vertical finger
Upper hinge hole between setting is vertical refers to second connecting rod limb；It indulges and refers to that first link arm and vertical finger second connecting rod limb are close as the vertical finger
Finger joint；The first pin shaft of vertical finger is set in the lower hinge hole of palm substrate front end, indulges and refers to that second connecting rod limb and the second worm gear are solid
Fixed connection；The second pin shaft of vertical finger is provided in the upper hinge hole of palm substrate front end.
Further, it is provided on vertical refer in the remote finger joint of the vertical finger and puts limited block, pendulum limited block is used on the vertical finger
Limit the vertical extreme position for referring to nearly finger joint and rotating upwards；Palm substrate front end is provided with vertical finger bottom limited block, institute
State the vertical extreme position for referring to bottom limited block and being rotated down for limiting the nearly finger joint of the vertical finger.
Further, the vertical finger first link arm and/or vertical finger second connecting rod limb are connecting lever.
Manipulator of the present invention manipulator compared with the existing technology passes through and lateral finger and longitudinal hand is arranged on palm substrate
Refer to, lateral finger and longitudinal finger, which cooperate, can be achieved pinching for apery hand and take and gripping action, and coordination, sensitive, energy
It pinches and takes delicate items, hold compared with heavy articles.
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 manipulator of the invention in the cutting of lateral finger junction；
Fig. 2 is manipulator main view of the invention；
In the above figure: 1 palm substrate；Limited block is put on 101 horizontal fingers；102 vertical finger bottom limited blocks；2 horizontal finger driving groups
Part；201 first motors；202 first worm couples；3 vertical finger driving assemblies；301 second motors；302 second worm couples；
4 lateral fingers；41 horizontal refer to nearly finger joint；411 horizontal finger first link arms；412 horizontal finger second connecting rod limb；42 horizontal refer to remote finger joint；421 is horizontal
Refer to bottom limited block；5 longitudinal fingers；51 indulge the nearly finger joint of finger；511 vertical finger first link arms；512 vertical finger second connecting rod limb；52 is vertical
Refer to remote finger joint；Limited block is put on 521 vertical fingers；6 cams；7 the first pin shafts of horizontal finger；8 pressing plates；9 the first pin shafts of vertical finger.
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 and Fig. 2, a kind of manipulator, including palm substrate 1 is provided with horizontal finger driving group on the palm substrate 1
Part 2 and at least one vertical finger driving assembly 3, the side of the palm substrate 1 is provided with transverse direction corresponding with horizontal finger driving assembly 2
Finger 4, the front end of the palm substrate 1 are provided with longitudinal finger 5 corresponding with vertical finger driving assembly 3；The horizontal finger driving group
Wrist of the part 2 close to the manipulator, the vertical finger wrist of the driving assembly 3 far from manipulator；The horizontal finger driving assembly 2 is used
In driving lateral finger 4 to act, the vertical finger driving assembly 3 is for driving longitudinal finger 5 to act.
Manipulator of the invention has lateral finger 4 and longitudinal finger 5, and the driving assembly of lateral finger 4 is transversely arranged on
The driving assembly of the close wrist portion of palm substrate 1, longitudinal finger 5 is arranged in the separate wrist portion of palm substrate 1, such cloth
The space that can be made full use of at palm substrate 1 is set, especially suitable for bionic mechanical hand very high for space requirement.
Further, the horizontal finger driving assembly 2 includes the first motor 201 being laterally arranged and the first worm couple
202, the output shaft of first motor 201 is fixedly connected with the worm screw of the first worm couple 202, and worm screw is engaged with the first worm gear snail
The worm gear of bar pair 202 is provided with cam 6 on the output shaft of worm gear；The transverse direction finger 4 is thumb, and lateral finger 4 has cross
Refer to nearly finger joint 41, the side of the palm substrate 1 is provided with the first pin shaft 7 of horizontal finger, and the first pin shaft 7 of horizontal finger refers to nearly finger joint through horizontal
41 root, the horizontal root for referring to nearly finger joint 41 are provided with pressing plate 8, and the cam 6 drives pressing plate 8 to rotate against pressing plate 8；Institute
It states horizontal refer to and is provided with flexible restoring organ between nearly finger joint 41 and palm substrate 1, the flexible restoring organ is for resetting rotation
The nearly finger joint 41 of horizontal finger afterwards.
In above embodiments, lateral finger 4 is specially thumb, and cam 6 can simplify as curved boom, curved due to thumb
It is bent, unfold and be formed by plane and 1 plane of palm substrate is both not parallel or out of plumb, therefore conventional gear drive or belt biography
It is dynamic all difficult to realize, therefore, by the way that cam 6 is arranged on the worm-gear output shaft of the first worm couple 202, in lateral finger 4
The root of nearly finger joint pressing plate 8 is set, pressing plate 8 is squeezed by cam 6, drives and horizontal refers to that nearly finger joint 41 rotates.In order to make rotation
It is horizontal to refer to that nearly finger joint 41 is reset to original state, flexible restoring organ is set between nearly finger joint 41 and palm substrate 1 in horizontal refer to.
Further, the flexible restoring organ is the torsional spring being arranged on the first pin shaft 7 of horizontal finger, or is set to the pressure
The pressure spring at the back side of the compressive plane of plate 8.
Preferably, torsional spring can be arranged on the first pin shaft, refer to that nearly finger joint 41 is driven to rotate when horizontal, torsional spring it is anti-
The nearly finger joint 41 of horizontal finger can be promoted to return to initial position to active force.Pressure spring can also be set at the back side of the compressive plane of pressing plate 8, when
When the nearly finger joint 41 of horizontal finger rotates, the back side of the compressive plane of pressing plate 8 squeezes pressure spring, and the opposition of pressure spring can promote horizontal finger closely to refer to
Section 41 returns to initial position.
Further, the lateral finger 4 has the remote finger joint 42 of horizontal finger, the horizontal nearly palm end setting for referring to remote finger joint 42
There is upper and lower hinge hole, 1 side of palm substrate is provided with upper and lower hinge hole；The upper hinge hole of 1 side of palm substrate
Be provided with horizontal fingers first link arm 411 between the horizontal lower hinge hole for referring to remote finger joint 42, the lower hinge hole of 1 side of palm substrate and
Horizontal finger second connecting rod limb 412 is set between the horizontal upper hinge hole for referring to remote finger joint 42；Horizontal finger first link arm 411 and horizontal finger second connect
Lever arm 412 is used as the nearly finger joint 41 of the horizontal finger；The pressing plate 8 is fixedly connected with the horizontal finger first link arm 411, the palm
The first pin shaft 7 of horizontal finger, horizontal finger first link arm 411 and the first pin shaft 7 of horizontal finger fixed company are set in the upper hinge hole of 1 side of substrate
It connects；The second pin shaft of horizontal finger is provided in the lower hinge hole of 1 side of palm substrate.
In above embodiments, lateral finger 4 includes the remote finger joint 42 of horizontal finger and the nearly finger joint 41 of horizontal finger, horizontal to refer to remote finger joint 42 and hand
It is linked together between palm substrate 1 by the horizontal finger first link arm 411 intersected and horizontal fingers second connecting rod limb 412, i.e., horizontal finger the
One link arm 411 and horizontal finger second connecting rod limb 412 are as the nearly finger joint 41 of horizontal finger.It is horizontal to refer to remote finger joint 42, palm substrate 1, horizontal refer to the
One link arm 411, horizontal finger second connecting rod limb 412 hingedly form intersection four-bar mechanism.
It is horizontal to refer between remote finger joint 42 and the nearly finger joint 41 of horizontal finger during horizontal finger second connecting rod limb 412 rotates clockwise
Angle more come it is also small, i.e., it is horizontal to refer to that nearly finger joint 41 is curled, it is horizontal to refer to that remote finger joint 42 is also curled, the movement that such mechanism is formed closer to
Human finger curls process.And non-crossing four-bar mechanism is used, it is horizontal to refer to far when the nearly finger joint 41 of horizontal finger is curled to the palm of the hand
It is curled though finger joint 42 has to the palm of the hand on the whole, it is horizontal to refer to that remote finger joint 42 refers to that nearly finger joint 41 is to turn up relative to horizontal, do not meet people
Body finger curls process.Therefore, non-crossing four-bar mechanism is better than using intersection four-bar mechanism.
Further, horizontal refer to is provided with horizontal finger bottom limited block 421, the horizontal finger bottom limited block in remote finger joint 42
421 for limiting the horizontal extreme position for referring to nearly finger joint 41 and being rotated down；The side of the palm substrate 1 is provided on horizontal finger
Limited block 101 is put, pendulum limited block 101 is used to limit the horizontal extreme position for referring to nearly finger joint 41 and rotating upwards on the horizontal finger.
In order to limit hunting range of the lateral finger 4 relative to palm substrate 1, itself spy for intersecting four-bar mechanism is utilized
Point, horizontal finger bottom limited block 421 is arranged in position among the horizontal upper and lower hinge hole for referring to remote finger joint 42, horizontal to refer to nearly 41 inverse time of finger joint
During needle rotates, the horizontal lower surface for referring to second connecting rod limb 412 touches horizontal finger bottom limited block 421, i.e., horizontal to refer to nearly finger joint
41 lower limits swung；It is arranged on horizontal finger in 1 side of palm substrate and puts limited block 101, the horizontal mistake for referring to nearly finger joint 41 and rotating clockwise
Cheng Zhong, the horizontal upper surface for referring to first link arm 411 touch pendulum limited block 101 on horizontal finger, as horizontal to refer to what nearly finger joint 41 was swung
The upper limit.Obviously, the horizontal position for referring to that pendulum limited block 101 is set on bottom limited block 421 and horizontal finger can also be other modes, herein
It repeats no more.
Further, the horizontal finger first link arm 411 and/or horizontal finger second connecting rod limb 412 are connecting lever.
In the present embodiment, advantage that there are two preferably curved connecting levers, first, connecting rod brachiocylloosis is more in line with the nearly finger joint of human body
Shape, second, connecting lever for straight-arm, in intensity be better than straight-arm.
Further, described vertical to refer to that driving assembly 3 includes longitudinally disposed the second motor 301 and the with reference to Fig. 1 and Fig. 2
Two worm couples 302, the output shaft of the second motor 301 are fixedly connected with the worm screw of the second worm couple 302, worm screw engagement
There is the worm gear of the second worm couple 302；The longitudinal direction finger 5 is index finger, middle finger, the third finger or little finger of toe, and longitudinal finger 5 has
Vertical to refer to nearly finger joint 51, the front end of the palm substrate 1 is provided with the first pin shaft 9 of vertical finger, indulges and refers to that the first pin shaft 9 closely refers to through vertical finger
The root of section 51, the vertical root for referring to nearly finger joint 51 are fixedly connected with the worm gear of the second worm couple 302, and vertical refer to is driven closely to refer to
51 rotation of section.
In above embodiments, since the bending of longitudinal finger 5, the plane unfolded are vertical with the plane of palm substrate 1,
It is preferred that driving method of the worm gear mechanism as longitudinal finger 5, Worm Wheel System has driving torque big, compact-sized,
The features such as energy reverse self-locking.
Further, longitudinal finger 5 also has the remote finger joint 52 of vertical finger, and the vertical nearly palm end for referring to remote finger joint 52 is set
It is equipped with upper and lower hinge hole, 1 front end of palm substrate is provided with upper and lower hinge hole；1 front end of palm substrate it is upper hinged
Vertical finger first link arm 511, the lower hinge hole of 1 front end of palm substrate are provided between hole and the vertical lower hinge hole for referring to remote finger joint 52
Setting is vertical between the vertical upper hinge hole for referring to remote finger joint 52 refers to second connecting rod limb 512；It is vertical to refer to first link arm 511 and vertical finger second
Link arm 512 is used as the nearly finger joint 51 of the vertical finger；The first pin shaft 9 of vertical finger is set in the lower hinge hole of 1 front end of palm substrate,
It is vertical to refer to that second connecting rod limb 512 is fixedly connected with the second worm gear；Vertical the second pin of finger is provided in the upper hinge hole of 1 front end of palm substrate
Axis.
In above embodiments, longitudinal finger 5 refers to remote finger joint 52 and the nearly finger joint 51 of vertical finger comprising vertical, indulges and refers to remote finger joint 52 and hand
Palm substrate 1 refers to that second connecting rod limb 512 links together with vertical by the vertical finger first link arm 511 intersected, i.e., vertical to refer to the first company
Lever arm 511 and vertical finger second connecting rod limb 512 are used as to indulge and refer to nearly finger joint 51.It is vertical to refer to that remote finger joint 52, palm substrate 1, vertical finger first connect
Lever arm 511, vertical finger second connecting rod limb 512 hingedly form intersection four-bar mechanism.Similarly with lateral finger 4, longitudinal finger 5 makes
With intersection four-bar mechanism closer to the process of curling of human finger, therefore it is better than non-crossing four using four-bar mechanism is intersected
Link mechanism.
Further, vertical refer to is provided with pendulum limited block 521 on vertical refer in remote finger joint 52, puts limited block on the vertical finger
521 for limiting the vertical extreme position for referring to nearly finger joint 51 and rotating upwards；1 front end of palm substrate is provided with the vertical finger bottom
Limited block 102, the vertical extreme position for referring to bottom limited block 102 and being rotated down for limiting the nearly finger joint 51 of the vertical finger.
In order to limit hunting range of longitudinal finger 5 relative to palm substrate 1, itself spy for intersecting four-bar mechanism is utilized
Point, position setting is indulged and puts limited block 521 on finger among the vertical upper and lower hinge hole for referring to remote finger joint 52, vertical to refer to that nearly finger joint 51 is turned up
During rotation, the vertical upper surface for referring to first link arm 511 touches and puts limited block 521 on vertical refer to, i.e., vertical to refer to nearly finger joint 51
The upper limit of swing；Vertical finger bottom limited block 102 is set on palm substrate 1, indulges during referring to that nearly finger joint 51 curls rotation, indulges
Refer to that the lower surface of first link arm 511 touches vertical finger bottom limited block 102, the as vertical lower limit for referring to nearly finger joint 51 and swinging.It is aobvious
So, indulging pendulum limited block 521 and the vertical position for referring to that bottom limited block 102 is set on referring to can also be other modes, no longer superfluous herein
It states.
Further, the vertical finger first link arm 511 and/or vertical finger second connecting rod limb 512 are connecting lever.
In the present embodiment, the connecting lever that is preferably bent upwards is there are two advantage, and first, it indulges and refers to first link arm 511 and/or vertical
Refer to that second connecting rod limb 512 is bent upwards the shape for being more in line with the nearly finger joint of human body, second, connecting lever is for straight-arm, strong
It is better than straight-arm on degree.
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 (10)
1. a kind of manipulator, which is characterized in that including palm substrate (1), be provided with horizontal finger driving group on the palm substrate (1)
Part (2) and at least one vertical finger driving assembly (3), the side of the palm substrate (1) is provided with right with horizontal finger driving assembly (2)
The lateral finger (4) answered, the front end of the palm substrate (1) are provided with longitudinal finger corresponding with vertical finger driving assembly (3)
(5)；
The horizontal wrist for referring to driving assembly (2) the close manipulator, described vertical hand for referring to driving assembly (3) separate manipulator
Wrist；
For the horizontal finger driving assembly (2) for driving lateral finger (4) to act, the vertical finger driving assembly (3) is vertical for driving
It is acted to finger (5).
2. manipulator according to claim 1, which is characterized in that horizontal finger driving assembly (2) includes laterally to be arranged
First motor (201) and the first worm couple (202), the output shaft and the first worm couple (202) of first motor (201)
Worm screw be fixedly connected, worm screw is engaged with the worm gear of the first worm couple (202), is provided with cam on the output shaft of worm gear
(6)；
The transverse direction finger (4) is thumb, and lateral finger (4) has the nearly finger joint (41) of horizontal finger, the side of the palm substrate (1)
End is provided with the first pin shaft of horizontal finger (7), horizontal to refer to that the first pin shaft (7) run through the horizontal root for referring to nearly finger joint (41), horizontal to refer to nearly finger joint
(41) root is provided with pressing plate (8), and pressing plate (8) refers to that nearly finger joint (41) is fixedly connected with horizontal, and the cam (6) is against pressing plate
(8), and pressing plate (8) is driven to rotate；
Horizontal refer to is provided with flexible restoring organ between nearly finger joint (41) and palm substrate (1), the flexible restoring organ is used
The nearly finger joint of horizontal finger (41) after resetting rotation.
3. manipulator according to claim 2, which is characterized in that the flexible restoring organ is setting in horizontal the first pin of finger
Torsional spring on axis (7), or it is set to the pressure spring at the back side of the compressive plane of the pressing plate (8).
4. manipulator according to claim 2, which is characterized in that the transverse direction finger (4) has the remote finger joint (42) of horizontal finger,
The horizontal nearly palm end for referring to remote finger joint (42) is provided with upper and lower hinge hole, and palm substrate (1) side is provided with above and below
Hinge hole；
Horizontal finger first is provided between the upper hinge hole of palm substrate (1) side and the horizontal lower hinge hole for referring to remote finger joint (42)
Link arm (411) is arranged between the lower hinge hole of palm substrate (1) side and the horizontal upper hinge hole for referring to remote finger joint (42) and horizontal refers to the
Two link arms (412)；Horizontal finger first link arm (411) and horizontal finger second connecting rod limb (412) are used as the nearly finger joint (41) of the horizontal finger；
The pressing plate (8) is fixedly connected with the horizontal finger first link arm (411), in the upper hinge hole of palm substrate (1) side
The first pin shaft of horizontal finger (7) is set, and horizontal finger first link arm (411) is fixedly connected with the first pin shaft of horizontal finger (7)；Palm substrate (1)
The second pin shaft of horizontal finger is provided in the lower hinge hole of side.
5. manipulator according to claim 4, which is characterized in that horizontal refer to is provided with the horizontal finger bottom on remote finger joint (42)
Limited block (421), the horizontal limit position for referring to bottom limited block (421) and being rotated down for limiting the nearly finger joint (41) of the horizontal finger
It sets；The side of the palm substrate (1) is provided with pendulum limited block (101) on horizontal finger, and pendulum limited block (101) is used on the horizontal finger
Limit the horizontal extreme position for referring to nearly finger joint (41) and rotating upwards.
6. manipulator according to claim 4, which is characterized in that the horizontal finger first link arm (411) and/or horizontal refer to the
Two link arms (412) are connecting lever.
7. manipulator according to claim 1, which is characterized in that the vertical finger driving assembly (3) includes longitudinally disposed
Second motor (301) and the second worm couple (302), the output shaft and the second worm couple (302) of the second motor (301)
Worm screw be fixedly connected, worm screw is engaged with the worm gear of the second worm couple (302)；
The longitudinal direction finger (5) is index finger, middle finger, the third finger or little finger of toe, and longitudinal finger (5) has the nearly finger joint (51) of vertical finger, institute
The front end for stating palm substrate (1) is provided with vertical finger the first pin shaft (9), indulges and refers to the first pin shaft (9) through the nearly finger joint (51) of vertical finger
Root, the vertical root for referring to nearly finger joint (51) are fixedly connected with the second worm gear, and drive nearly finger joint (51) rotation of vertical finger.
8. manipulator according to claim 7, which is characterized in that the longitudinal direction finger (5) also has the remote finger joint of vertical finger
(52), the vertical nearly palm end for referring to remote finger joint (52) is provided with upper and lower hinge hole, and palm substrate (1) front end is provided with
Upper and lower hinge hole；
Vertical finger first is provided between the upper hinge hole of palm substrate (1) front end and the vertical lower hinge hole for referring to remote finger joint (52)
Link arm (511), setting is vertical between the lower hinge hole of palm substrate (1) front end and the vertical upper hinge hole for referring to remote finger joint (52) refers to the
Two link arms (512)；It indulges and refers to that first link arm (511) and vertical finger second connecting rod limb (512) are used as the nearly finger joint (51) of the vertical finger；
Vertical finger the first pin shaft (9) is set in the lower hinge hole of palm substrate (1) front end, indulges and refers to second connecting rod limb (512) and second
The worm gear of worm couple (302) is fixedly connected；The second pin shaft of vertical finger is provided in the upper hinge hole of palm substrate (1) front end.
9. manipulator according to claim 7, which is characterized in that it is described it is vertical refer to be provided on remote finger joint (52) on vertical refer to put
Limited block (521), pendulum limited block (521) is used to limit the vertical limit position for referring to nearly finger joint (51) and rotating upwards on the vertical finger
It sets；Palm substrate (1) front end is provided with vertical finger bottom limited block (102), and the vertical finger bottom limited block (102) is for limiting
The fixed vertical extreme position for referring to nearly finger joint (51) and being rotated down.
10. manipulator according to claim 7, which is characterized in that the vertical finger first link arm (511) and/or vertical finger
Second connecting rod limb (512) is connecting lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100172.9A CN109664324A (en) | 2019-01-31 | 2019-01-31 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100172.9A CN109664324A (en) | 2019-01-31 | 2019-01-31 | A kind of manipulator |
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| CN109664324A true CN109664324A (en) | 2019-04-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111390938A (en) * | 2020-05-07 | 2020-07-10 | 嘉兴学院 | Pneumatic explosive-handling robot system |
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
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| JP2010247294A (en) * | 2009-04-17 | 2010-11-04 | Honda Motor Co Ltd | Robot hand device |
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| CN209850945U (en) * | 2019-01-31 | 2019-12-27 | 陕西伟景机器人科技有限公司 | 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 |
| JP2010247294A (en) * | 2009-04-17 | 2010-11-04 | Honda Motor Co Ltd | Robot hand device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
| CN111390938A (en) * | 2020-05-07 | 2020-07-10 | 嘉兴学院 | Pneumatic explosive-handling robot system |
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