CN109732631A - A kind of compact based on screw-drive mechanism directly drives imitation human finger - Google Patents
A kind of compact based on screw-drive mechanism directly drives imitation human finger Download PDFInfo
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- CN109732631A CN109732631A CN201910050586.5A CN201910050586A CN109732631A CN 109732631 A CN109732631 A CN 109732631A CN 201910050586 A CN201910050586 A CN 201910050586A CN 109732631 A CN109732631 A CN 109732631A
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- connecting rod
- finger joint
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- hinged
- lower finger
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 210000001145 finger joint Anatomy 0.000 claims abstract description 172
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 11
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005057 finger movement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention discloses a kind of compacts based on screw-drive mechanism directly to drive imitation human finger, including pedestal and affixed DC speed-reducing thereunder, the DC speed-reducing drives screw rod, the sliding block being threadedly coupled with it is equipped on the screw rod, the sliding block is mounted in the pedestal, the two formation is slidably matched, it is equipped with the kinematic link hinged with it on the slide block, lower finger joint right connecting rod and lower finger joint left connecting rod are respectively equipped in the two sides of the kinematic link, the lower-end rear portion and the kinematic link of the lower finger joint right connecting rod and the lower finger joint left connecting rod are hinged, the upper rear of the lower finger joint right connecting rod and the lower-end front portion and the pedestal of the lower finger joint left connecting rod is hinged, the upper-end front of the pedestal and the lower end of lower finger joint connecting rod are hinged, the lower finger joint connecting rod setting the lower finger joint right connecting rod and it is described under Between finger joint left connecting rod.Structure of the invention is compact, strong robustness, adaptable.
Description
Technical field
The invention belongs to robotic technology field, especially a kind of compact based on screw-drive mechanism directly drives apery hand
Refer to.
Background technique
In recent years, with the continuous development of robot technology, the design studies for robot each section are also obtained more
Carry out more extensive concern.For anthropomorphic robot, most of work is completed by hand, such as crawl,
The complex tasks such as carrying, tool operation, therefore how to design that the compact-sized, strength as manpower is big, machine of strong robustness
Tool hand becomes one of the emphasis of current robot relation technological researching.Compared to the other parts of robot, manipulator needs
Multiple components such as integrated driving structure, sensing arrangement and execution structure in limited space, and execute complicated motor pattern.And
The manipulator of currently known technology especially finger structure with the following drawback that:
(1) driving motor quantity is more, and volume is larger, and drive mechanism is complicated, larger to the real-time control difficulty of finger-joint.
(2) drive mechanism constructed using retarder as core, torque and speed are not easy to adjust in actual use, fit
Answering property is poor.
(3) manufacture, use and maintenance cost are high, and replacement and maintenance are not easy in life cycle.
More multiaction is played to make directly to drive finger structure in engineer application field, most basic seeks to from design side, mechanism
Strategic structural is removed in face, explores and develops compact-sized, the adjustable straight drive finger structure of strong robustness, movement velocity, torque.
Summary of the invention
The present invention is to solve technical problem present in well-known technique and provide a kind of based on the compact of screw-drive mechanism
Type directly drives imitation human finger, and the imitation human finger is compact-sized, strong robustness, adaptable.
The technical scheme adopted by the present invention to solve the technical problems existing in the known art is that a kind of passed based on spiral
The compact of motivation structure directly drives imitation human finger, subtracts including pedestal and affixed DC speed-reducing thereunder, the direct current
Speed motor drives screw rod, and the sliding block being threadedly coupled with it is equipped on the screw rod, and the sliding block is mounted in the pedestal, and two
Person forms and is slidably matched, and is equipped with the kinematic link hinged with it on the slide block, sets respectively in the two sides of the kinematic link
There are lower finger joint right connecting rod and lower finger joint left connecting rod, the lower-end rear portion and institute of the lower finger joint right connecting rod and the lower finger joint left connecting rod
State that kinematic link is hinged, after the lower-end front portion of the lower finger joint right connecting rod and the lower finger joint left connecting rod and the upper end of the pedestal
Portion is hinged, and the upper-end front of the pedestal and the lower end of lower finger joint connecting rod are hinged, and the lower finger joint connecting rod is arranged in the lower finger
It saves between right connecting rod and the lower finger joint left connecting rod.
On the basis of above scheme, the present invention has also done following improvement:
It is equipped with middle finger joint right connecting rod in the outside of the lower finger joint right connecting rod, is equipped in the outside of the lower finger joint left connecting rod
The lower-end rear portion of middle finger joint left connecting rod, the middle finger joint right connecting rod and the middle finger joint left connecting rod is upper with the lower finger joint connecting rod
End connects, the lower-end front portion hinge of finger joint connecting rod on the upper end and elongated of the middle finger joint right connecting rod and the middle finger joint left connecting rod
It connects, finger joint connecting rod is arranged between the middle finger joint right connecting rod and the middle finger joint left connecting rod on the elongated, on the elongated
The lower-end rear portion of finger joint connecting rod and the upper end of middle finger joint connecting rod are hinged, and the middle finger joint connecting rod is arranged in the middle finger joint right connecting rod
Between the middle finger joint left connecting rod, the lower end of the middle finger joint connecting rod and the middle finger joint right connecting rod and the left company of the middle finger joint
The upper-end front of bar is hinged.
The lower-end rear portion of finger joint connecting rod is hinged on the upper end of the lower finger joint connecting rod and short, finger joint connecting rod in the short
It is arranged between the lower finger joint right connecting rod and the lower finger joint left connecting rod, the lower finger joint right connecting rod and the left company of lower finger joint
The upper rear of bar and the lower-end front portion of finger joint connecting rod in the short are hinged, and the lower finger joint right connecting rod and the lower finger joint are left
The upper-end front of connecting rod passes through front hinge axis connection.
Connecting the lower finger joint right connecting rod and the lower finger joint left connecting rod lower-end front portion and the pedestal upper rear
Angular transducer is installed on articulated shaft.
The advantages and positive effects of the present invention are: driving kinematic link using screw-drive mechanism, transformation can be passed through
Screw flight lead realizes the adjustment of finger-base joint movement velocity and torque with screw pitch, enhances finger direct drive structure
The adaptability that different operating is required；The finger joint structure for passing through modification front end length and connecting different, can satisfy the manpower the five fingers
Movement needs under different finger joint parameters；Overall structure size is effectively reduced by stacked space connecting-rod structure, structure is tight
It gathers, strong robustness；Angular transducer is directly measured in finger-base joint output end, and parameter measurement precision is high, and feedback performance is excellent.
Detailed description of the invention
Fig. 1 is that the present invention is based on the finger-base joint schematic diagram mechanisms of screw-drive mechanism；
Fig. 2 is the structural schematic diagram that the present invention is applied to two finger joint fingers；
Fig. 3 is the structural schematic diagram that the present invention is applied to single finger joint finger.
In figure: 101, lower finger joint connecting rod, 102, lower finger joint right connecting rod, 103, lower finger joint left connecting rod, 104, kinematic link,
105, sliding block, 106, pedestal, 107, screw rod, 108, link block, 109, DC speed-reducing, 201 middle finger joint left connecting rods, 202, in
Finger joint right connecting rod, 203, middle finger joint connecting rod, 204, finger joint connecting rod on elongated, 301, finger joint connecting rod in short, 110, angle sensor
Device.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
Referring to Fig. 1, a kind of compact based on screw-drive mechanism directly drives imitation human finger, including pedestal 106 and solid
DC speed-reducing 109 thereunder is connect, DC speed-reducing 109 is fixed on the lower section of pedestal 106 by link block 108.
The DC speed-reducing 109 drives screw rod 107, and the sliding block 105 being threadedly coupled with it is equipped on the screw rod 107, described
Sliding block 105 is mounted in the pedestal 106, and the two formation is slidably matched, and the transmission hinged with it is equipped on the sliding block 105
Connecting rod 104 is respectively equipped with lower finger joint right connecting rod 102 and lower finger joint left connecting rod 103 in the two sides of the kinematic link 104, described
Lower finger joint right connecting rod 102 and the lower-end rear portion of the lower finger joint left connecting rod 103 and the kinematic link 104 are hinged, the lower finger
The upper rear for saving the lower-end front portion and the pedestal 106 of right connecting rod 102 and the lower finger joint left connecting rod 103 is hinged, the base
The upper-end front of seat 106 and the lower end of lower finger joint connecting rod 101 are hinged, and the lower setting of finger joint connecting rod 101 is right in the lower finger joint
Between connecting rod 102 and the lower finger joint left connecting rod 103.
For the present invention using spatial linkage as top actuator, space connecting-rod structure is divided into the stacking of left, center, right three
Connecting rod, the connecting rod of left and right two are connected by revolute pair with kinematic link, and intermediate connecting rod is connected by revolute pair with pedestal, in direct current
Under the driving of decelerating motor, screw rod band movable slider is moved in a straight line, and sliding block drives kinematic link to be converted into rotating by linear motion
It passes to top and executes structure, realize the rotation of finger-base joint.
Referring to Fig. 2, being equipped with using two finger joint finger structures of the invention in the outside of the lower finger joint right connecting rod 102
Middle finger joint right connecting rod 202 is equipped with middle finger joint left connecting rod 201, the right company of middle finger joint in the outside of the lower finger joint left connecting rod 103
Bar 202 and the lower-end rear portion of the middle finger joint left connecting rod 201 are connect with the upper end of the lower finger joint connecting rod 101, the middle finger joint
The lower-end front portion of finger joint connecting rod 204 is hinged on the upper end and elongated of right connecting rod 202 and the middle finger joint left connecting rod 201, the length
Finger joint connecting rod 204 is arranged between the middle finger joint right connecting rod 202 and the middle finger joint left connecting rod 201 in type, on the elongated
The lower-end rear portion of finger joint connecting rod 204 and the upper end of middle finger joint connecting rod 203 are hinged, and the middle finger joint connecting rod 203 setting is in described
Between finger joint right connecting rod 202 and the middle finger joint left connecting rod 201, the lower end of the middle finger joint connecting rod 203 and the middle finger joint are right
The upper-end front of connecting rod 202 and the middle finger joint left connecting rod 201 is hinged.
Under the driving of DC speed-reducing 109, lower finger joint right connecting rod 102 and lower finger joint left connecting rod 103 are in kinematic link
Under 104 drive, drives finger joint connecting rod 204 on middle finger joint connecting rod 203 and elongated to move, realize the active movement of finger.Middle finger
The lower end of section left connecting rod 201 and middle finger joint right connecting rod 202 is connected with the upper end of lower finger joint connecting rod 101, middle finger joint left connecting rod 201
It is connected with the upper end of middle finger joint right connecting rod 202 with finger joint connecting rod 204 on elongated, collectively forms the drive lacking coupling of two finger joint fingers
Link mechanism is closed, active movement is followed to complete drive lacking coupled motions.
Referring to Fig. 3, using single finger joint finger structure of the invention, on the upper end and short of the lower finger joint connecting rod 101
The lower-end rear portion of finger joint connecting rod 301 is hinged, and finger joint connecting rod 301 is arranged in the lower finger joint right connecting rod 102 and institute in the short
It states between lower finger joint left connecting rod 103, the upper rear and institute of the lower finger joint right connecting rod 102 and the lower finger joint left connecting rod 103
The lower-end front portion for stating finger joint connecting rod 301 in short is hinged, the lower finger joint right connecting rod 102 and the lower finger joint left connecting rod 103
Upper-end front passes through front hinge axis connection.
Under the driving of DC speed-reducing 109, lower finger joint right connecting rod 102 and lower finger joint left connecting rod 103 are in kinematic link
Under 104 drive, finger joint connecting rod in 301 short is driven to realize the active movement of finger around lower-end front portion hinge axis.Short
Upper finger joint connecting rod 301 and lower finger joint connecting rod 101 constitute the drive lacking coupled links structure of single finger joint finger, follow active movement complete
At drive lacking coupled motions.
In the present embodiment, for the ease of the control of finger movement, connect the lower finger joint right connecting rod 102 and it is described under
Angular transducer 110, angle are installed on 103 lower-end front portion of finger joint left connecting rod and the articulated shaft of 106 upper rear of pedestal
The corner of finger joint right connecting rod 102 and lower finger joint left connecting rod 103 relative to pedestal 106, passes through this turn under 110 real-time measurement of sensor
The motion bit of finger joint connecting rod 301 on finger joint connecting rod 204 and short on elongated can be calculated in the length of connecting rod at angle and finger
Appearance, therefore it is easy to implement the control to finger movement.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, in the case where not departing from present inventive concept and scope of the claimed protection, goes back
Many forms can be made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of compact based on screw-drive mechanism directly drives imitation human finger, which is characterized in that including pedestal and be fixed in
DC speed-reducing below, the DC speed-reducing drive screw rod, are equipped on the screw rod and to be threadedly coupled with it
Sliding block, the sliding block are mounted in the pedestal, and the two formation is slidably matched, and are equipped with the transmission hinged with it on the slide block
Connecting rod is respectively equipped with lower finger joint right connecting rod and lower finger joint left connecting rod, the lower finger joint right connecting rod in the two sides of the kinematic link
Hinged with the lower-end rear portion of the lower finger joint left connecting rod and the kinematic link, the lower finger joint right connecting rod and the lower finger joint are left
The lower-end front portion of connecting rod and the upper rear of the pedestal are hinged, and the lower end of the upper-end front of the pedestal and lower finger joint connecting rod is cut with scissors
It connects, the lower finger joint connecting rod is arranged between the lower finger joint right connecting rod and the lower finger joint left connecting rod.
2. the compact according to claim 1 based on screw-drive mechanism directly drives imitation human finger, which is characterized in that in institute
The outside for stating lower finger joint right connecting rod is equipped with middle finger joint right connecting rod, is equipped with the left company of middle finger joint in the outside of the lower finger joint left connecting rod
The lower-end rear portion of bar, the middle finger joint right connecting rod and the middle finger joint left connecting rod is connect with the upper end of the lower finger joint connecting rod, institute
The lower-end front portion for stating finger joint connecting rod on the upper end and elongated of middle finger joint right connecting rod and the middle finger joint left connecting rod is hinged, the elongated
Upper finger joint connecting rod is arranged between the middle finger joint right connecting rod and the middle finger joint left connecting rod, on the elongated under finger joint connecting rod
Hold rear portion and the upper end of middle finger joint connecting rod hinged, the middle finger joint connecting rod is arranged in the middle finger joint right connecting rod and the middle finger joint
Between left connecting rod, the upper-end front of the lower end of the middle finger joint connecting rod and the middle finger joint right connecting rod and the middle finger joint left connecting rod
Hingedly.
3. the compact according to claim 1 based on screw-drive mechanism directly drives imitation human finger, which is characterized in that described
The lower-end rear portion of finger joint connecting rod is hinged on the upper end of lower finger joint connecting rod and short, and finger joint connecting rod is arranged under described in the short
Between finger joint right connecting rod and the lower finger joint left connecting rod, the upper rear of the lower finger joint right connecting rod and the lower finger joint left connecting rod
It is hinged with the lower-end front portion of finger joint connecting rod in the short, before the upper end of the lower finger joint right connecting rod and the lower finger joint left connecting rod
Portion passes through front hinge axis connection.
4. the compact according to claim 1 based on screw-drive mechanism directly drives imitation human finger, which is characterized in that even
It connects and is installed on the lower finger joint right connecting rod and the lower finger joint left connecting rod lower-end front portion and the articulated shaft of the pedestal upper rear
Angled sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910050586.5A CN109732631A (en) | 2019-01-19 | 2019-01-19 | A kind of compact based on screw-drive mechanism directly drives imitation human finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910050586.5A CN109732631A (en) | 2019-01-19 | 2019-01-19 | A kind of compact based on screw-drive mechanism directly drives imitation human finger |
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| Publication Number | Publication Date |
|---|---|
| CN109732631A true CN109732631A (en) | 2019-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910050586.5A Pending CN109732631A (en) | 2019-01-19 | 2019-01-19 | A kind of compact based on screw-drive mechanism directly drives imitation human finger |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115163651A (en) * | 2022-06-30 | 2022-10-11 | 联想(北京)有限公司 | Rotation connection structure, electronic device and rotation method of electronic device |
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| KR20100022877A (en) * | 2008-08-20 | 2010-03-03 | 이수종 | A finger module and a multi-finger hand device for a humnanoid robot thereof |
| CN103284820A (en) * | 2013-03-14 | 2013-09-11 | 洛阳理工学院 | Humanoid artificial hand |
| CN205363945U (en) * | 2016-01-18 | 2016-07-06 | 西南科技大学 | Reinforcement mechanical gripper |
| CN207224008U (en) * | 2017-10-17 | 2018-04-13 | 张涵 | Mechanical finger and manipulator |
| CN107932541A (en) * | 2017-12-26 | 2018-04-20 | 上海哲谦应用科技有限公司 | A kind of drive lacking humanoid dextrous hand by micromachine drive control |
| CN108501029A (en) * | 2018-06-13 | 2018-09-07 | 清华大学深圳研究生院 | A kind of flexible under-actuated finger based on fin ray formula structure |
-
2019
- 2019-01-19 CN CN201910050586.5A patent/CN109732631A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100022877A (en) * | 2008-08-20 | 2010-03-03 | 이수종 | A finger module and a multi-finger hand device for a humnanoid robot thereof |
| CN103284820A (en) * | 2013-03-14 | 2013-09-11 | 洛阳理工学院 | Humanoid artificial hand |
| CN205363945U (en) * | 2016-01-18 | 2016-07-06 | 西南科技大学 | Reinforcement mechanical gripper |
| CN207224008U (en) * | 2017-10-17 | 2018-04-13 | 张涵 | Mechanical finger and manipulator |
| CN107932541A (en) * | 2017-12-26 | 2018-04-20 | 上海哲谦应用科技有限公司 | A kind of drive lacking humanoid dextrous hand by micromachine drive control |
| CN108501029A (en) * | 2018-06-13 | 2018-09-07 | 清华大学深圳研究生院 | A kind of flexible under-actuated finger based on fin ray formula structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115163651A (en) * | 2022-06-30 | 2022-10-11 | 联想(北京)有限公司 | Rotation connection structure, electronic device and rotation method of electronic device |
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Application publication date: 20190510 |
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