CN201231484Y - Apery manipulator - Google Patents
Apery manipulator Download PDFInfo
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- CN201231484Y CN201231484Y CNU2008200419763U CN200820041976U CN201231484Y CN 201231484 Y CN201231484 Y CN 201231484Y CN U2008200419763 U CNU2008200419763 U CN U2008200419763U CN 200820041976 U CN200820041976 U CN 200820041976U CN 201231484 Y CN201231484 Y CN 201231484Y
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Abstract
The utility model relates to a humanoid manipulator which comprises a palm, a wrist matched and connected with the palm, a finger mechanism, and a finger driving mechanism. The palm is used to actualize the function of installing frames; the wrist is used to actualize the function of interface between the manipulator and a robot; the finger mechanism includes at least two fingers and one of the fingers is a thumb; under-actuated enveloped grab mechanisms and parallelogrammic precise pinch mechanisms are integrated on all the fingers; and the thumb is installed on a thumb frame which is in moveable fit and connected with the palm through a thumb position adjusting mechanism. The humanoid manipulator can control the angle between the thumb and the palm to form different grab modes of the finger mechanism. The parallelogrammic precise pinch mechanisms can ensure pinching precision. Each finger is provided with a plurality of knuckles which have multiple degrees of freedom and are stable in grabbing and good in adaptability to the shape of the objected that is grabbed. The humanoid manipulator is easy to control, light in weight, compact in structure, high in simulation degree and nice-looking in appearance and has less driving elements, and the driving mechanism of the humanoid manipulator is high in integration degree.
Description
Technical field
The utility model relates to the anthropomorphic robot field, particularly a kind of apery manipulator.
Background technology
The quickening of high speed information development and life, work rhythm needs people to free from numerous and diverse housework on the one hand; On the other hand along with Chinese aging is more and more serious, more old man needs to look after, the demand of social security and service is also more urgent, and after China's family planning policy for many years, formed the population inverted pyramid structure, the family structure of aging must make more young family pressure increase, and the pressure of the quickening of rhythm of life and work, also make the young man not have the more time to accompany the child of oneself, that give birth to thereupon fermenting will be vast home services robot market.
The present age, the roboticist now reached common recognition: must extend as computer technology and polytechnic one of modern IT, the home services Robotics may be followed " Moore's Law " fully, and (" Moore's Law " is with the naming of founder Gordon mole of Intel company.Mole thinks that in one piece of article of nineteen sixty-five the ability of following processor will be doubled in per 18 months.In the past in decades, the development speed of computer microprocessor and many new technologies is all followed the rule of " Moore's Law "), and realize breaking through with unprecedented speed.Till that time, be the home services robot market who guarantees with the technology, will become after household electrical appliances, PC the 3rd product that moves towards family with super scale speed.
The scientist of states such as Germany and Japan and research institution estimate that between the decades in future, the maximum that will occur in the family life changes, and are exactly popularizing of robot.More and more important role will play the part of in the home services robot in daily family life, bear increasing work: can become " nurse " in the family, the study that looks after the children is played, and assists the old man to change one's clothes and has a bath, and reminds patient to take medicine on time; Can bear such as end tea pouring, get newspaper, clear the table, tip rubbish, many houseworks such as dust suction, wiping window; Can carry out tame electric control, antitheft monitoring, safety inspection, receive calls etc.; Can also be used in addition from work such as interconnection online collection news and other information or the like.
And to make most home services robot can be engaged in above-mentioned work, just must give the universal gripper of a similar staff to the robot end, promptly as staff dexterous " hand ".
In addition, along with the robot application field enlarges day by day, automatization level improves constantly, particularly reach under water in the dangerous operating environment (as removing nuke rubbish) at nuclear power station, same urgent hope can be given the universal gripper of a similar staff to the robot end, so that in dangerous, complicated and non-structured environment, make its object that can adapt to arbitrary shape to finish the trickle operation task of various complexity, these needs propose robot many finger dexterities hand in order to adapt to just, and its research belongs to international advanced subject.Along with the in-depth and the continuous advancement in technology of research, the purposes of robot hand also more and more widely, except being used in the home services robot, it can also replace the astronaut to carry out some complicated operations in abominable dangerous space environment; It can provide good test platform for the researcher of aspects such as artificial intelligence, distant operation and Grasp Planning; The hand of some ground robots be can also become, detection, sampling, assembling, reconditioning work etc. in the Nuclear Biological Chemical environment, are engaged in.
Anthropomorphic robot is in the period of develop rapidly, and countries in the world have been developed all kinds of anthropomorphic robots that can use in practice.Just as the effect of staff to the people, the anthropomorphic robot paw is one of anthropomorphic robot critical component.All kinds of anthropomorphic robot paws or the multi-finger clever hand of development can carry out dexterity and grasp and operate, but driving element are many at present, and load capacity is poor; Or dedicated workholder, load capacity is strong, and grasp stability is good, but adapts to the ability of different objects.
A kind of multipurpose shape adaptive robot hand and method of work are disclosed in the Chinese invention patent of application number 200610156059.5, mainly comprise framework and with it mechanical connection finger mechanism, drive transmission mechanism and finger position guiding mechanism along separate routes, adopt three torque motors to drive three fingers respectively, adopt a stepper motor to regulate the angle of finger, adopt under-actuated finger mechanism, utilize the autonomous method work of selecting appropriate mode.The application space of robot has been expanded in this invention to a certain extent, but still the part that comes with some shortcomings: 1, the drive transmission device of finger adopts the gear mechanism transmission, and size is bigger, has occupied the space of whole paw mechanism about 1/2; 2, three fingers evenly distribute along circular volar edge, and the size that paw can grasp object has been subjected to the restriction of circular hand sizes, wants the large-sized object of grasping, will make the overall dimensions of paw very big; 3, paw does not all imitate staff on structure and profile, therefore seems attractive in appearance inadequately, is not suitable for being used in the home services robot, particularly on the anthropomorphic robot yet; 4, whole paw mass of system is bigger, is about 1.8kg.
The utility model content
The purpose of this utility model be to provide a kind of can be in robot actual that use, adopt apery hand structure, finger is many, joint freedom degrees is many, transmission mechanism integrated level height, required driving element are few, control easily, exert oneself greatly, extracting is stablized, good to the shape adaptability of crawled object, volume is little, in light weight, unit construction mo(u)ld apery hand, makes the apery manipulator that anthropomorphic robot can really play a role in practice.
The technical scheme that realizes the utility model purpose is: the utility model comprises palm and is mated wrist, finger mechanism and the finger actuation transmission mechanism that is connected, described palm is used for realizing the effect of installing rack, and described wrist is used for realizing the interface effect of manipulator and robot; Described finger mechanism comprises at least two fingers, and there is one to be thumb, all integrated setting owes and drives envelope grasping mechanism and parallelogram and accurately pinch and get mechanism on the finger, and thumb is installed on the thumb frame, and the thumb frame is connected with palm movingly by the thumb position guiding mechanism.
The finger mechanism of above-mentioned apery manipulator comprises forefinger and thumb, forefinger is provided with forefinger first joint successively, the forefinger second joint, forefinger the 3rd joint, described forefinger first joint, the forefinger second joint, be equipped with forefinger envelope push rod above forefinger the 3rd joint successively, forefinger is pinched and is got mechanism to bar, forefinger envelope cross bar, forefinger is pinched and is got mechanism's cross bar, forefinger envelope knee, forefinger is pinched and is got mechanism's montant, described forefinger first joint, the forefinger second joint, forefinger the 3rd joint is respectively through the axle sleeve hole and the pin of end, forefinger is pinched and is got mechanism's platelet and connect movingly, with the forefinger spring suspension member stationary fit is installed and is connected, the axle sleeve hole below the described forefinger envelope push rod pass through pin successively with forefinger transmission push rod, the forefinger driving mechanism connects movingly;
Be equipped with thumb first joint on the described thumb successively, the thumb second joint, thumb the 3rd joint, described thumb first joint, thumb second joint and be equipped with thumb envelope push rod above thumb the 3rd joint successively, thumb is pinched and is got mechanism to bar, thumb envelope cross bar, thumb is pinched and is got mechanism's cross bar, thumb envelope knee, thumb is pinched and is got mechanism's montant, described thumb first joint, thumb second joint and thumb the 3rd joint are respectively through the axle sleeve and the pin of end, thumb is pinched and is got mechanism's platelet and be connected movingly with thumb, with spring the suspension member stationary fit is installed and is connected, the axle sleeve hole below the described thumb envelope push rod pass through pin successively with thumb transmission push rod, thumb drives mechanism connects movingly;
Described thumb position guiding mechanism comprises thumb position adjustment stepper motor, back shaft, first rotary support member, second rotary support member, first key, second key, clutch shaft bearing, second bearing and the whole mechanism of thumb; Thumb position is adjusted motor and is connected by the second key solid mechanical with second rotary support member, thumb position is adjusted motor and is connected by the screw solid mechanical with palm, the back shaft two ends are installed the bracing frame mechanical fixation by miniature bearing with the motor in the palm and are connected, first rotary support member is connected by the first key solid mechanical with back shaft, and first rotary support member, second rotary support member are connected by the screw solid mechanical with the thumb frame;
The finger mechanism of above-mentioned apery manipulator also comprises little finger of toe and middle finger, described little finger of toe is provided with little finger of toe first joint, little finger of toe second joint, little finger of toe the 3rd joint successively, described little finger of toe first joint, little finger of toe second joint, the little finger of toe envelope push rod that is equipped with successively above little finger of toe the 3rd joint, little finger of toe envelope cross bar, little finger of toe envelope knee are connected with pin movingly through the axle sleeve hole of end respectively, and the axle sleeve hole below the described little finger of toe envelope push rod is connected with little finger of toe transmission push rod, little finger of toe driving mechanism successively movingly by pin;
Described middle finger is provided with middle finger first joint, middle finger second joint, middle finger the 3rd joint successively, described middle finger first joint, middle finger second joint, the middle finger envelope push rod that is equipped with successively above middle finger the 3rd joint, middle finger envelope cross bar, middle finger envelope knee are connected with pin movingly through the axle sleeve hole of end respectively, and the axle sleeve hole below the described middle finger envelope push rod is connected with middle finger transmission push rod, middle finger driving mechanism successively movingly by pin;
The little finger of toe of above-mentioned apery manipulator, middle finger, forefinger and thumb are equipped with four motors respectively in palm inside, wherein three identical, be respectively the little finger of toe motor, middle finger motor and the forefinger motor that drive little finger of toe, middle finger and forefinger, another one is to be used for adjusting thumb and thumb frame motor rotating, little finger of toe motor, middle finger motor and forefinger motor constitute little finger of toe driving mechanism, middle finger driving mechanism and forefinger driving mechanism, they are used for driving little finger of toe, middle finger and forefinger respectively, the thumb motor is installed in the thumb frame, constitutes thumb drives mechanism and is used for driving thumb.
The wrist of above-mentioned apery manipulator is provided with the flange arrangement that is used for the mechanical arm of mechanical hand and robot is connected to an integral body, and the center, end of described wrist is equipped with the hole for wiring usefulness, and described wrist and top palm are screwed mechanical connection.
The apish palm design of the palm of above-mentioned apery manipulator, shape is the cuboid box of a uncovered hollow, finger mechanism is installed above the palm, wherein palm top is installed little finger of toe, middle finger, forefinger side by side, and by a plurality of pin mechanical connections, described little finger of toe, middle finger, forefinger are installed dead in line, each finger is by a motor-driven, drive motors is installed on the motor bracing frame of palm the inside, the outside of palm is equipped with interconnective thumb, thumb frame and thumb drives mechanism, and installed inside has the thumb position guiding mechanism.
The thumb position guiding mechanism of above-mentioned apery manipulator can be regulated thumb and along it axis rotation is installed, and regulating thumb and palm angulation scope is 0～90 degree.
The little finger of toe of above-mentioned apery manipulator, middle finger, forefinger and thumb are equipped with 12 contact force sensors that refer to face, or proximity transducer or temperature sensor or pressure sensor or sliding feeling sensor.
The middle articulations digitorum manus of above-mentioned apery manipulator is grown 2～4 millimeters than the joint of little finger of toe and forefinger.
The little finger of toe motor of above-mentioned apery manipulator, middle finger motor, forefinger motor and thumb motor are selected Hayden E21H4N-05-017 type linear electric motors for use, and described thumb position is adjusted motor and selected 20 serial stepper motors for use.
The utlity model has following characteristics:
(1) the utility model adopts apery hand structure, has the thumb position guiding mechanism, thereby by thumb position guiding mechanism control rotational angle control thumb and palm angulation, to form the different extracting pattern of finger mechanism;
(2) the utility model thumb pinch get mechanism support bar, forefinger pinch get effect that mechanism supports bar be make pinching get mechanism's work in, with the finger face in the 3rd joint of the finger face in the 3rd joint of thumb and forefinger all perpendicular to two planes that axis are installed by thumb and forefinger, thereby guarantee that the apery manipulator accurately pinches the realization of getting;
(3) the utility model has been simplified the transmission mechanism of prior art development paw, makes that the apery manipulator finger is many, joint freedom degrees is many, exert oneself big, it is stable, good to the shape adaptability of crawled object to grasp, and in light weight, compact conformation.
(4) respectively pointing of the utility model finger mechanism is equipped with sensor on the nodal section, obtain signal by the sensor in the finger mechanism, be equipped with a plurality of drive transmission devices in the finger mechanism, when finger mechanism moves, the triggering sensor also sends pulse signal and imports computer by capture card, computer provides control signal and makes motor stop or rotating, transmission mechanism integrated level height, required driving element are few, control easily.
(5) the utility model emulation degree height, good looking appearance.
Description of drawings
For the easier quilt of content of the present utility model is clearly understood, below the specific embodiment and in conjunction with the accompanying drawings of basis, the utility model is described in further detail, wherein
Fig. 1 is the Facad structure figure of the utility model overall model.
Fig. 2 is (after the removing bonnet) structure chart at the utility model overall model back side.
Fig. 3 is a wrist structure chart of the present utility model.
Fig. 4 is a little finger of toe structure chart of the present utility model.
Fig. 5 is a middle finger structure chart of the present utility model.
Fig. 6 is a forefinger structure chart of the present utility model.
Fig. 7 is a thumb knot composition of the present utility model.
Fig. 8 is a finger actuation driver composition of the present utility model.
Fig. 9 is thumb position guiding mechanism figure of the present utility model.
Figure 10 is five kinds of the present utility model and grasps pattern diagram.
The specific embodiment
(embodiment 1)
Fig. 1, Fig. 2 are respectively overall model Facad structure figure of the present invention and the back side (after removing bonnet) structure chart.
Wrist is 1, and palm is 2, and finger mechanism is 3, and little finger of toe is 3A, and middle finger is 3B, and forefinger is 3C, and thumb is 3D, wherein:
Little finger of toe first joint is 3A1, and the little finger of toe second joint is 3A2, and little finger of toe the 3rd joint is 3A3, little finger of toe envelope push rod is 3A4, and little finger of toe envelope cross bar is 3A5, and little finger of toe envelope knee is 3A6, the little finger of toe dump bolt is 3A7, and the little finger of toe long pin is 3A8, and middle finger first joint is 3B1, the middle finger second joint is 3B2, and middle finger the 3rd joint is 3B3, and middle finger envelope push rod is 3B4, middle finger envelope cross bar is 3B5, middle finger envelope knee is 3B6, and the middle finger dump bolt is 3B7, and the middle finger long pin is 3B8;
Forefinger first joint is 3C1, and the forefinger second joint is 3C2, and forefinger the 3rd joint is 3C3, forefinger envelope push rod is 3C4, forefinger is pinched and got mechanism is 3C5 to bar, and forefinger envelope cross bar is 03C6, and forefinger is pinched and got mechanism's cross bar is 3C7, forefinger envelope knee is 3C8, forefinger is pinched and got mechanism's montant is 3C9, and the forefinger dump bolt is 3C10, and the forefinger long pin is 3C11, forefinger is pinched and got mechanism's platelet is 3C12, and it is 3C13 that the forefinger spring is installed suspension member;
Thumb first joint is 3D1, and the thumb second joint is 3D2, and thumb the 3rd joint is 3D3, thumb envelope push rod is 3D4, thumb is pinched and got mechanism is 3D5 to bar, and thumb envelope cross bar is 3D6, and thumb is pinched and got mechanism's cross bar is 3D7, thumb envelope knee is 3D8, thumb is pinched and got mechanism's montant is 3D9, and the thumb dump bolt is 3D10, and the thumb long pin is 3D11, thumb is pinched and got mechanism's platelet is 3D12, and it is 3D13 that the thumb spring is installed suspension member;
The thumb position guiding mechanism is 5, and back shaft is 5a, and first rotary support member is 5b, second rotary support member is 5c, and first key is 5d, and second key is 5e, clutch shaft bearing is 5f, and second bearing is 5g, and stepper motor is 5h, the thumb frame is 6, it is 7 that the motor of thumb is installed bracing frame, and it is 8 that the motor of little finger of toe, middle finger and forefinger is installed bracing frame, and position sensor is 9, contact force sensor is 10, and the whole mechanism of thumb is 11.
The finger actuation transmission mechanism is 4, and the little finger of toe driving mechanism is 4A, and the middle finger driving mechanism is 4B, the forefinger driving mechanism is 4C, thumb drives mechanism is 4D, and the little finger of toe motor is 4A1, and the little finger of toe special nut is 4A2, little finger of toe transmission push rod is 4A3, the little finger of toe guide rail is 4A4, and the middle finger motor is 4B1, and the middle finger special nut is 4B2, middle finger transmission push rod 4B3, the middle finger guide rail is 4B4, and the forefinger motor is 4C1, and the forefinger special nut is 4C2, forefinger transmission push rod is 4C3, the forefinger guide rail is 4C4, and the thumb motor is 4D1, and the thumb special nut is 4D2, thumb transmission push rod is 4D3, and the thumb guide rail is 4D4;
Mechanical connection palm 2 above the wrist 1, palm 2 inside are equipped with four stepper motors altogether, wherein three identical, be respectively and drive little finger of toe 3A, the little finger of toe motor 4A1 of middle finger 3B and forefinger 3C, middle finger motor 4B1 and forefinger motor 4C1, select Hayden E21H4N-05-017 type linear electric motors for use, another one is the thumb motor 4D1 that is used for driving thumb, three identical little finger of toe motor 4A1, middle finger motor 4B1 and forefinger motor 4C1 constitute little finger of toe driving mechanism 4A, middle finger driving mechanism 4B and forefinger driving mechanism 4C, they are used for driving little finger of toe 3A respectively, middle finger 3B and forefinger 3C, thumb motor 4D1 constitutes the thumb drives 4D of mechanism and is used for driving thumb 3D, little finger of toe motor 4A1, middle finger motor 4B1, after forefinger motor 4C1 and the thumb motor 4D1 work, by drive transmission device separately, make transmission push rod separately and the envelope push rod rotates and move back and forth along separately guide rail, this moment, finger mechanism 3 just was in different grasping, pinch and get or releasing orientation;
Fig. 3 is a wrist structure chart of the present invention, wrist 1 end is processed with the flange arrangement 1a for mechanical hand or mechanical arm mechanical connection, be processed with hole 1b in the wrist 1 for wiring usefulness, the hole that wrist 1 inside is processed with for wiring usefulness can make the line in the mechanical hand all export to control system by the hole in the wrist 1, thereby guarantees that the entire machine hand seems neat and artistic.
Fig. 4 is a little finger of toe structure chart of the present invention; Fig. 5 is a middle finger structure chart of the present invention.In Fig. 4 and Fig. 5, the frame for movement of little finger of toe 3A and middle finger 3B is duplicate, and just each joint length of little finger of toe 3A is shorter than middle finger 3B dimensionally, and middle finger 3B joint is than the long 2～4mm in the joint of little finger of toe 3A and forefinger 3C.They respectively have three joints, link by pin between the joint.All there is a cover to be used for realizing the linkage that envelope grasps on middle finger 3B and the little finger of toe 3A, compare with forefinger 3C with thumb 3D, each has lacked a cover and has been used for realizing accurately pinching the linkage of getting, because middle finger 3B and little finger of toe 3A only participate in the process that envelope grasps, and thumb 3D and forefinger 3C accurately pinch the function of getting except the function that will have the extracting of realization envelope also will have realization.
Fig. 6 is a forefinger structure chart of the present invention; Fig. 7 is a thumb knot composition of the present invention.In Fig. 6 and Fig. 7, the frame for movement of forefinger 3C and thumb 3D is duplicate, respectively has three joints, links by pin between the joint.Thumb 3D and forefinger 3C have gone up two cover linkages integrated, and a cover is to be used for realizing accurately pinching the parallel-crank mechanism of getting, and an other cover is to be used for realizing the linkage that envelope grasps.Realization of this two covers body function is to pinch at spring and thumb, forefinger to get supporting under the mating reaction of bar 3D5,3C5 of mechanism and finish, described cooperation is specifically: thumb, forefinger pinch get effect that mechanism supports bar 3D5,3C5 be make pinching get mechanism's work in the finger face of the 3rd the joint 3C3 of the finger face of the 3rd the joint 3D3 of thumb 3D and forefinger 3C all perpendicular to the plane of by thumb 3D axis being installed and forefinger 3C installs axis, thereby guarantee accurately to pinch the realization of getting.
Fig. 8 is a finger actuation driver composition of the present invention.In Fig. 8: finger mechanism is 3, and position sensor is 9, and contact force sensor is 10;
The envelope push rod of four fingers is respectively little finger of toe envelope push rod 3A4, middle finger envelope push rod 3B4, forefinger envelope push rod 3C4 and thumb envelope push rod 3D4; Little finger of toe guide rail (4A4), middle finger guide rail (4B4), forefinger guide rail (4C4) and thumb guide rail (4D4);
The linear electric motors of four finger actuation transmission mechanisms are respectively little finger of toe motor 4A1, middle finger motor 4B1, forefinger motor 4C1 and thumb motor 4D1;
The special nut of four finger actuation transmission mechanisms is respectively little finger of toe special nut 4A2, middle finger special nut 4B2, forefinger special nut 4C2 and thumb special nut 4D2;
The guide rail of four fingers is respectively little finger of toe guide rail 4A4, middle finger guide rail 4B4, forefinger guide rail 4C4 and thumb guide rail 4D4;
After little finger of toe motor 4A1, middle finger motor 4B1, forefinger motor 4C1 and the charged work of thumb motor 4D1, driving its motor screw separately rotates, the rotation of screw rod makes little finger of toe special nut 4A2, middle finger special nut 4B2, forefinger special nut 4C2 and thumb special nut 4D2 move along screw rod again, thereby is that a plurality of finger mechanisms 3 that 4D2 is connected just are in different extractings, pinch and get or releasing orientation with little finger of toe special nut 4A2, middle finger special nut 4B2, forefinger special nut 4C2 and thumb special nut.
In the process that a plurality of finger mechanisms 3 are opened, when little finger of toe special nut 4A2, middle finger special nut 4B2, forefinger special nut 4C2 and thumb special nut 4D2 move to the extreme position of bottom, a plurality of finger mechanisms 3 open fully, if continue to move downward, can damage the screw thread of a plurality of finger mechanisms 3 and transmission mechanism.Therefore, when a plurality of finger mechanisms 3 move to this extreme position, trigger the position sensor 9 here, position sensor 9 sends pulse signal, control program collects signal and makes little finger of toe motor 4A1, middle finger motor 4B1, forefinger motor 4C1 and thumb motor 4D1 outage later on, forces a plurality of finger mechanism 3 stop motions.
Position sensor 9 adopts the form near switch, and position sensor 9 is fixed on the palm 2, fixes a reed on special nut, and reed is near near switch at ordinary times, and when special nut leaves when moving upward near switch, reed leaves near switch.When special nut moves downward, when reaching the limit of the position once more, reed is close once more near switch, in this process, trigger near switch, triggering signal is imported computer by capture card, computer provides control signal, makes little finger of toe motor 4A1, middle finger motor 4B1, forefinger motor 4C1 and thumb motor 4D1 stall.
Fig. 9: be thumb position guiding mechanism figure of the present invention, palm is 2, and the thumb frame is 6, and the whole mechanism of thumb was 11 (containing thumb mechanism and thumb drives mechanism), and back shaft is 5a, and two rotary support members are 5b and 5c, and two keys are 5d and 5e;
Thumb position is adjusted motor 5h and is linked by key 5e and rotary support member 5c, and rotary support member 5b is connected with thumb frame 6 mechanical fixation by screw with 5c.Back shaft 5a two ends are installed bracing frame 8 mechanical fixation by the motor in miniature bearing and palm 2 and the palm 2 and are connected, and are connected with thumb frame 6 solid mechanical by holding screw between rotary support member 5b and the back shaft 5a.So, after thumb position is adjusted the charged work of motor 5h, just drive thumb frame 6, simultaneously because the effect of rotary support member 5b and back shaft 5a makes that rotatablely moving of the whole mechanism 11 of thumb is more stable by rotary support member 5c.Adjust positive and negative the transferring of motor 5h by thumb position and drive the 11 forward and reverse rotations of the whole mechanism of thumb, thereby adjust motor 5h rotational angle control thumb 3D and 2 angulations of palm by umber of pulse control thumb position.
Figure 10 is an extracting pattern diagram of the present invention.A kind of extracting pattern of apery manipulator mainly contains: a two refers to parallelly to pinch the delivery formula, b two refers to that the delivery formula is pinched in tapers, c two refers to that parallel envelope pattern, d three refer to that parallel envelope pattern, e four refer to parallel envelope pattern.Wherein:
Two refer to that the parallel delivery formula a that pinches is used for pinching and gets profile comparison rule and the less object of size;
Two refer to that tapers pinch delivery formula b and be used for pinching and get the object that profile is more irregular and size is less;
Two refer to that parallel envelope pattern c is used for grasping profile comparison rule and larger-size object;
Three refer to that parallel envelope pattern d and four refers to that parallel envelope pattern e is used for grasping the more irregular and larger-size object of profile.
Obviously, those skilled in the art can carry out various changes and modification to apery manipulator of the present utility model, if these are changed and modification belongs within the scope of the utility model claim and equivalent technologies thereof, then the utility model also comprises these changes and modification interior.
Claims (10)
1, a kind of apery manipulator, comprise palm (2) and the wrist (1) that is connected with its stationary fit, finger mechanism (3) and finger actuation transmission mechanism (4), described palm (2) is used for realizing the effect of installing rack, and described wrist (1) is used for realizing the interface effect of manipulator and robot; It is characterized in that: described finger mechanism (3) comprises at least two fingers, and there is one to be thumb (3D), all integrated setting owes and drives envelope grasping mechanism and parallelogram and accurately pinch and get mechanism on the finger, thumb (3D) is installed on the thumb frame (6), and thumb frame (6) is connected with palm (2) movingly by thumb position guiding mechanism (5).
2, apery manipulator according to claim 1, it is characterized in that: described finger mechanism (3) comprises forefinger (3C) and thumb (3D), forefinger (3C) is provided with forefinger first joint (3C1) successively, forefinger second joint (3C2), forefinger the 3rd joint (3C3), described forefinger first joint (3C1), forefinger second joint (3C2), be equipped with forefinger envelope push rod (3C4) above forefinger the 3rd joint (3C3) successively, forefinger is pinched and is got mechanism to bar (3C5), forefinger envelope cross bar (3C6), forefinger is pinched and is got mechanism's cross bar (3C7), forefinger envelope knee (3C8), forefinger is pinched and is got mechanism's montant (3C9), described forefinger first joint (3C1), forefinger second joint (3C2), forefinger the 3rd joint (3C3) is respectively through the axle sleeve hole and the pin of end, forefinger is pinched and is got mechanism's platelet (3C12) and connect movingly, with the forefinger spring suspension member (3C13) stationary fit is installed and is connected, the axle sleeve hole below the described forefinger envelope push rod (3C4) pass through pin successively with forefinger transmission push rod (4C3), forefinger driving mechanism (4C) connects movingly;
Be equipped with thumb first joint (3D1) on the described thumb (3D) successively, thumb second joint (3D2), thumb the 3rd joint (3D3), described thumb first joint (3D1), thumb second joint (3D2) and be equipped with thumb envelope push rod (3D4) above thumb the 3rd joint (3D3) successively, thumb is pinched and is got mechanism to bar (3D5), thumb envelope cross bar (3D6), thumb is pinched and is got mechanism's cross bar (3D7), thumb envelope knee (3D8), thumb is pinched and is got mechanism's montant (3D9), described thumb first joint (3D1), thumb second joint (3D2) and thumb the 3rd joint (3D3) are respectively through the axle sleeve and the pin of end, thumb is pinched and is got mechanism's platelet (3D12) and be connected movingly with thumb, with spring suspension member (3D13) stationary fit is installed and is connected, the axle sleeve hole below the described thumb envelope push rod (3D4) pass through pin successively with thumb transmission push rod (4D3), thumb drives mechanism (4D) connects movingly;
Described thumb position guiding mechanism (5) comprises thumb position adjustment stepper motor (5h), back shaft (5a), first rotary support member (5b), second rotary support member (5c), first key (5d), second key (5e), clutch shaft bearing (5f), second bearing (5g) and the whole mechanism (11) of thumb; Thumb position is adjusted motor (5h) and is connected by second key (5e) solid mechanical with second rotary support member (5c), thumb position is adjusted motor (5h) and is connected by the screw solid mechanical with palm (2), back shaft (5a) two ends are installed bracing frame (8) mechanical fixation by miniature bearing with the motor in the palm (2) and are connected, first rotary support member (5b) is connected by first key (5d) solid mechanical with back shaft (5a), and first rotary support member (5b), second rotary support member (5c) are connected by the screw solid mechanical with thumb frame (6).
3, apery manipulator according to claim 2, it is characterized in that: described finger mechanism (3) also comprises little finger of toe (3A) and middle finger (3B), described little finger of toe (3A) is provided with little finger of toe first joint (3A1) successively, little finger of toe second joint (3A2), little finger of toe the 3rd joint (3A3), described little finger of toe first joint (3A1), little finger of toe second joint (3A2), the little finger of toe envelope push rod (3A4) that is equipped with successively above little finger of toe the 3rd joint (3A3), little finger of toe envelope cross bar (3A5), little finger of toe envelope knee (3A6) is connected with pin movingly through the end axis trepanning respectively, and the axle sleeve hole below the described little finger of toe envelope push rod (3A4) is by pin and little finger of toe transmission push rod (4A3), little finger of toe driving mechanism (4A) connects successively movingly;
Described middle finger (3B) is provided with middle finger first joint (3B1) successively, middle finger second joint (3B2), middle finger the 3rd joint (3B3), described middle finger first joint (3B1), middle finger second joint (3B2), the middle finger envelope push rod (3B4) that is equipped with successively above middle finger the 3rd joint (3B3), middle finger envelope cross bar (3B5), middle finger envelope knee (3B6) is connected with pin movingly through the axle sleeve hole of end respectively, the axle sleeve hole below the described middle finger envelope push rod (3B4) by pin successively with middle finger transmission push rod (4B3), middle finger driving mechanism (4B) connects movingly.
4, apery manipulator according to claim 3, it is characterized in that: described little finger of toe (3A), middle finger (3B), forefinger (3C) and thumb (3D) are equipped with four motors in palm (2) inside respectively, wherein three identical, be respectively and drive little finger of toe (3A), the little finger of toe motor (4A1) of middle finger (3B) and forefinger (3C), middle finger motor (4B1) and forefinger motor (4C1), another one is the adjustment motor (5h) that is used for adjusting thumb (3D) and thumb frame (6) rotation, little finger of toe motor (4A1), middle finger motor (4B1) and forefinger motor (4C1) constitute little finger of toe driving mechanism (4A), middle finger driving mechanism (4B) and forefinger driving mechanism (4C), they are used for driving little finger of toe (3A) respectively, middle finger (3B) and forefinger (3C), thumb motor (4D1) is installed in the thumb frame (6), constitutes thumb drives mechanism (4D) and is used for driving thumb (3D).
5, according to one of them described apery manipulator of claim 1 to 4, it is characterized in that: described wrist (1) is provided with the flange arrangement (1a) that is used for the mechanical arm of mechanical hand and robot is connected to an integral body, the center, end of described wrist (1) is equipped with the hole (1b) for wiring usefulness, and described wrist (1) is screwed mechanical connection with top palm (2).
6, according to one of them described apery manipulator of claim 1 to 4, it is characterized in that: the apish palm design of described palm (2), shape is the cuboid box of a uncovered hollow, finger mechanism (3) is installed above the palm (2), wherein little finger of toe (3A) is installed on palm (2) top side by side, middle finger (3B), forefinger (3C), and by a plurality of pin mechanical connections, described little finger of toe (3A), middle finger (3B), forefinger (3C) is installed dead in line, each finger is by a motor-driven, drive motors is installed on the motor bracing frame (8) of palm (2) the inside, the outside of palm (2) is equipped with interconnective thumb (3D), thumb frame (6) and thumb drives mechanism (4D), installed inside has thumb position guiding mechanism (5).
7, apery manipulator according to claim 6 is characterized in that: described thumb position guiding mechanism (5) can be regulated thumb (3D) and along it axis rotation is installed, and regulating thumb (3D) and palm (2) angulation scope is 0～90 degree.
8, apery manipulator according to claim 7, it is characterized in that: described little finger of toe (3A), middle finger (3B), forefinger (3C) and thumb (3D) are equipped with 12 contact force sensors (10) that refer to face, or proximity transducer or temperature sensor or pressure sensor or sliding feeling sensor.
9, apery manipulator according to claim 3 is characterized in that: described middle finger (3B) joint is grown 2～4 millimeters than the joint of little finger of toe (3A) and forefinger (3C).
10, apery manipulator according to claim 4, it is characterized in that: described little finger of toe motor (4A1), middle finger motor (4B1), forefinger motor (4C1) and thumb motor (4D1) are selected Hayden E21H4N-05-017 type linear electric motors for use, and described thumb position is adjusted motor (5h) and selected 20 serial stepper motors for use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200419763U CN201231484Y (en) | 2008-08-05 | 2008-08-05 | Apery manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200419763U CN201231484Y (en) | 2008-08-05 | 2008-08-05 | Apery manipulator |
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| Publication Number | Publication Date |
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| CN201231484Y true CN201231484Y (en) | 2009-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008200419763U Expired - Lifetime CN201231484Y (en) | 2008-08-05 | 2008-08-05 | Apery manipulator |
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| CN (1) | CN201231484Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN106112963A (en) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | A kind of Wearable hand ESD |
| CN107186756A (en) * | 2017-06-16 | 2017-09-22 | 北京理工大学 | It is a kind of for five-needle pines blister rust adaptively capture in advance close to feel Sensor Network |
| 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 |
| CN107598949A (en) * | 2017-09-21 | 2018-01-19 | 清华大学 | The compound crawl robot finger apparatus of rack-and-pinion end near linear |
| CN109965472A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of walk supporting device |
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2008
- 2008-08-05 CN CNU2008200419763U patent/CN201231484Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN105583829B (en) * | 2015-12-24 | 2017-11-10 | 泉州市泉港智源商贸有限公司 | A kind of simulation manipulator pulled based on steel wire is referred to |
| CN106112963A (en) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | A kind of Wearable hand ESD |
| CN107186756A (en) * | 2017-06-16 | 2017-09-22 | 北京理工大学 | It is a kind of for five-needle pines blister rust adaptively capture in advance close to feel Sensor Network |
| 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 |
| CN107598949A (en) * | 2017-09-21 | 2018-01-19 | 清华大学 | The compound crawl robot finger apparatus of rack-and-pinion end near linear |
| CN107598949B (en) * | 2017-09-21 | 2020-05-01 | 清华大学 | Gear rack tail end approximate straight line composite grabbing robot finger device |
| CN109965472A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of walk supporting device |
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