CN201941002U - Simulated robot hand - Google Patents
Simulated robot hand Download PDFInfo
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- CN201941002U CN201941002U CN2010206848223U CN201020684822U CN201941002U CN 201941002 U CN201941002 U CN 201941002U CN 2010206848223 U CN2010206848223 U CN 2010206848223U CN 201020684822 U CN201020684822 U CN 201020684822U CN 201941002 U CN201941002 U CN 201941002U
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- assembly
- palm
- performance element
- connecting rods
- slide block
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Abstract
The utility model designs a simulated robot hand, which comprises a palm component (6), a thumb component (1), an index finger component (2), a middle finger component (3), a ring finger component (4) and a little finger component (5), wherein the thumb component (1), the index finger component (2), the middle finger component (3), the ring finger component (4) and the little finger component (5) are arranged on the palm component (6), the index finger component (2), the middle finger component (3), the ring finger component (4) and the little finger component (5) are in the same structure which consists of four connecting rods and a first slider rocker mechanism arranged at the tail ends of the four connecting rods and used for driving the four connecting rods to curve and stretch, the thumb component consists of three connecting rods and a second slider rocker mechanism arranged at the tail ends of the three connecting rods and used for driving the three connecting rods to curve and stretch, and the structures of the first slider rocker mechanism and the second slider rocker mechanism are identical. The simulated robot hand has the advantages of low cost, simple structure, flexibility in mechanism, light weight and high simulation degree.
Description
Technical field
The utility model relates to technical field of automation, more specifically to a kind of emulation hand that is used for robot.
Background technology
The traditional simulation hand all is to be used in industrial aspect, and its motion mode is single, precision height, control system complexity, cost height; Motor-driven emulation hand with high degree of flexibility is then owing to cost height, complex structure are difficult to be applied to entertainment field.In view of the wilderness demand of present amusement market to performance usefulness emulation hand, it is extremely urgent to develop cost emulation hand low, that control is simple, mechanism is flexible, weight is little, fidelity is high.
The utility model content
Problem to be solved in the utility model is, the defective at cost height in the prior art, control is complicated, weight is big emulation hand provides a kind of emulation hand.
The utility model addresses the above problem the scheme of being taked, a kind of emulation hand is provided, comprise the palm assembly, and be arranged on thumb assembly on the described palm assembly, the forefinger assembly, middle finger assembly, nameless assembly and little finger assembly, described forefinger assembly, middle finger assembly, nameless assembly is identical with the little finger of toe modular construction, include four connecting rods and be arranged on described four connecting rod ends and be used to drive the first slide block endplay device that described four connecting rod bendings stretch, described thumb assembly comprises three connecting rods and is arranged on described three connecting rod ends and is used to drive the second slide block endplay device that described three connecting rod bendings stretch that the described first slide block endplay device is identical with the second slide block endplay device structure.
In emulation hand described in the utility model, the described first slide block endplay device comprises first chute and first slide block, slides in described first chute by driving described first slide block, drives four connecting rod bendings and stretches.
In emulation hand described in the utility model, described four connecting rods are the articulated structure of three degree of freedom, and described three connecting rods are the articulated structure of two frees degree.
In emulation hand described in the utility model, the angle of bend of hinge arrangement is 0 ° to 62 ° in described four connecting rods and three connecting rods.
In emulation hand described in the utility model, also comprise the arm assembly, and the wrist assembly that connects described arm assembly and palm assembly, described wrist assembly is rotating shaft, described palm assembly can rotate around the axis of described wrist assembly.
In emulation hand described in the utility model, also comprise being arranged on the four-bar mechanism that links to each other with described palm assembly on the described arm assembly, move up and down and drive described palm assembly and rotate by driving described four-bar mechanism.
In emulation hand described in the utility model, described palm assembly is+45 ° to-45 ° around the axis rotational angle of described wrist assembly, and rotational angle was 0 ° when described palm assembly was parallel with the arm assembly.
In emulation hand described in the utility model, also comprise actuator, described actuator comprises thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element, is respectively applied for the slide block that drives in described thumb assembly, forefinger assembly, middle finger assembly, nameless assembly, the little finger assembly and slides in respective slide slots.
In emulation hand described in the utility model, described actuator also comprises the palm performance element, is used to drive described four-bar mechanism and moves up and down.
In emulation hand described in the utility model, also comprise controller, described controller comprises thumb control module, forefinger control module, middle finger control module, nameless control module, little finger of toe control module and palm control module, is respectively applied for the action of controlling thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element and palm performance element according to user's instruction.
Implement the emulation hand that the utility model provides, have following beneficial effect: cost is low, control is simple, mechanism is flexible, weight is little and fidelity is high.
Description of drawings
Fig. 1 is the utility model emulation hand overall structure schematic diagram;
Fig. 2 is the forefinger modular construction schematic diagram of the utility model emulation hand;
Fig. 3 is the forefinger assembly range of movement schematic diagram of the utility model emulation hand;
Fig. 4 is the palm assembly range of movement schematic diagram of the utility model emulation hand;
Fig. 5 is the operating system configuration schematic diagram of the utility model emulation hand.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further details.
See also Fig. 1, be the utility model emulation hand overall structure schematic diagram.As shown in Figure 1, the utility model emulation hand comprises thumb assembly 1, forefinger assembly 2, middle finger assembly 3, nameless assembly 4 and little finger of toe assembly 5 these five finger assemblies, and palm assembly 6, wrist assembly 7, arm assembly 8 and four-bar mechanism 9.
Thumb assembly 1 comprises three connecting rods and is arranged on the second slide block endplay device of three connecting rod ends, and hinge connects between three connecting rods, and two hinged structures are arranged, so thumb assembly 1 has two frees degree, can be crooked and stretch.
The structure of forefinger assembly 2, middle finger assembly 3, nameless assembly 4, little finger of toe assembly 5 is identical, include four connecting rods and the first slide block endplay device that is arranged on four connecting rod ends, hinge connects between four connecting rods, three hinged structures are arranged, therefore these four finger assemblies all have three degree of freedom, all can be crooked and stretch.
Fix above-mentioned five finger assemblies on the palm assembly 6.
Four-bar mechanism 9 one ends are fixed on the arm assembly 8, and the other end connects palm assembly 6, and driving four-bar mechanism 9 moves up and down and can drive palm assembly 6 around 7 rotations of wrist assembly.When upwards carrying four-bar mechanism 9, palm assembly 6 just rotates; When to pressing down four-bar mechanism 9, palm assembly 6 just upwards rotates.This motion process can be the palm assembly 6 range of movement schematic diagrames of the utility model emulation hand in conjunction with consulting Fig. 4.
See also Fig. 2, be the forefinger modular construction schematic diagram of the utility model emulation hand.As shown in Figure 2, the forefinger assembly of the utility model emulation hand comprises four connecting rods and the first slide block endplay device.
Four connecting rods comprise first distal phalanx 21, first middle phalanx 23, first proximal phalanx 25 and the first metacarpal bone 27 that links to each other successively, and wherein, first metacarpal bone 27 is fixed on the palm assembly 6.Connect for hinge between first distal phalanx 21, first middle phalanx 23, first proximal phalanx 25 and the first metacarpal bone 27, four connecting rods always have three so hinged structures, respectively as the joint 24 and the first nearly joint 26 in first joint far away 22, first, therefore four connecting rods have three degree of freedom, that is to say that forefinger assembly 2 has three degree of freedom.
The first slide block endplay device is arranged on the end of four connecting rods, also both be arranged on the first metacarpal bone 27, the first slide block endplay device comprises first chute and first slide block, and the slip of first slide block in first chute drives four connecting rod bendings and stretch, and also just drives 2 bendings of forefinger assembly and stretches.When first slide block during by the end that slides near an end of palm assembly 6 away from palm assembly 6, forefinger assembly 2 gradually becomes crooked by stretching; When first slide block slided to an end of close palm assembly 6 by the end away from palm assembly 6, forefinger assembly 2 was gradually become by bending and stretches.This motion process can be the forefinger assembly 2 range of movement schematic diagrames of the utility model emulation hand in conjunction with consulting Fig. 3.
Because middle finger assembly 3, nameless assembly 4, little finger of toe assembly 5 are all formed with forefinger assembly 2 structures and motion mode is all identical, therefore structure composition and the motion mode for middle finger assembly 3, nameless assembly 4, little finger of toe assembly 5 just repeats no more.
The structure of thumb assembly 1 and forefinger assembly 2 is formed basic identical, and thumb assembly 1 comprises three connecting rods and slide block tobacco rod mechanism.
Three connecting rods comprise second distal phalanx, second proximal phalanx and the second metacarpal bone that links to each other successively, and wherein, second metacarpal bone is fixed on the palm assembly 6.Connect for hinge between second distal phalanx, second proximal phalanx and the second metacarpal bone, three connecting rods always have two so hinged structures, as second joint far away and the second nearly joint, therefore four connecting rods have two frees degree, that is to say that thumb assembly 1 has two frees degree respectively.
The second slide block endplay device is arranged on the end of three connecting rods, also promptly is arranged on the second metacarpal bone, and the second slide block endplay device comprises second chute and second slide block, and the slip of second slide block in second chute drives three connecting rod bendings and stretch.Also just drive 1 bending of thumb assembly and stretch.When second slide block during by the end that slides near an end of palm assembly 6 away from palm assembly 6, thumb assembly 1 gradually becomes crooked by stretching; When second slide block slided to an end of close palm assembly 6 by the end away from palm assembly 6, thumb assembly 1 was gradually become by bending and stretches.
The above second distal phalanx, second proximal phalanx and second metacarpal bone are identical with first metacarpal bone 27 structures with first distal phalanx 21, first proximal phalanx 25 respectively, and the second slide block endplay device is also identical with the first slide block tobacco rod mechanism.Generally speaking, the difference of thumb assembly 1 and other four finger assemblies just is that thumb assembly 1 lacks joint in second middle phalanx and second.Therefore, thumb assembly 1 has only two frees degree, and Russia's day, other qualification finger assemblies had three degree of freedom.
More than design meets the structure composition of normal human subject finger.
See also Fig. 3, be the forefinger assembly range of movement schematic diagram of the utility model emulation hand.As shown in Figure 3, the forefinger assembly of the utility model emulation hand stretch with bending range in move.When forefinger assembly 2 stretched, four connecting rods were on the straight line mountain; During 2 bendings of forefinger assembly, each phalanges and adjacent phalanges shape have a certain degree in four connecting rods.With first proximal phalanx 25 is example, the camber line of band arrow is represented the rotary motion trace of first proximal phalanx 25 among Fig. 3, and first proximal phalanx 25 rotates around first nearly joint 26 rotations and satisfies functional relation A=arcsin (B/C), and wherein B is displacement, A is an angle, and C is default constant.When forefinger assembly 2 stretched, first proximal phalanx, 25 rotational angles were 0 °, and angulation is 180 ° between first proximal phalanx 25 and the first metacarpal bone 27; When forefinger assembly 2 bent at utmost, first proximal phalanx, 25 rotational angles were 62 °, and angulation is 118 ° between first proximal phalanx 25 and the first metacarpal bone 27.Therefore, the scope of first proximal phalanx, 25 rotational angles is 0 ° to 62 °.Because first metacarpal bone 27 is fixed on the palm assembly 6, so first metacarpal bone 27 does not rotate.The rotating manner of first middle phalanx 23 and first distal phalanx 21 is identical with the rotating manner of first proximal phalanx 25, repeats no more herein.
Second metacarpal bone is fixed on the palm assembly 6 in the thumb assembly 1, so second metacarpal bone does not rotate.The rotating manner of second proximal phalanx and second distal phalanx is identical with the rotating manner of first proximal phalanx 25, also repeats no more herein.
More than design meets the motion mode of normal human subject finger.
See also Fig. 4, be the palm assembly range of movement schematic diagram of the utility model emulation hand.As shown in Figure 4, the palm assembly 6 thorny wrist unitses 7 of the utility model emulation hand rotate.Palm assembly 6 rotates and satisfies functional relation D=arcsin (E/F), and wherein E is displacement, and D is an angle, and F is default constant.Palm assembly 6 and arm assembly 8 are parallel constantly, and rotational angle is 0 °; When palm assembly 6 upwards turned to greatest extent, rotational angle was+45 °, and when palm assembly 6 rotated to the limit, rotational angle was-45 °.Therefore, the scope of palm assembly 6 rotational angles is+45 ° to-45 °.
More than design meets the motion mode of normal human subject palm.
See also Fig. 5, be the operating system configuration schematic diagram of the utility model emulation hand.As shown in Figure 5, the operating system of the utility model emulation hand comprises actuator and controller.
Actuator comprises thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element, be respectively applied for the slide block that drives on thumb assembly 1, forefinger assembly 2, middle finger assembly 3, nameless assembly 4, the little finger of toe assembly 5 and in chute, slide, thereby it is crooked and stretch to drive thumb assembly 1, forefinger assembly 2, middle finger assembly 3, nameless assembly 4, little finger of toe assembly 5.Actuator also comprises the palm performance element, is used for upwards carrying and to pressing down four-bar mechanism 9, thereby drives palm assembly 6 rotation of rotating up and down and make progress.
Controller comprises thumb control module, forefinger control module, middle finger control module, nameless control module, little finger of toe control module and palm control module, link to each other with thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element and palm performance element respectively, be respectively applied for the motion of control thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element and palm performance element.
Actuator can be six independently cylinders, and six cylinders link to each other with a four-bar mechanism 9 with five slide blocks respectively, and the motion by steam-cylinder piston drives slide block and four-bar mechanism 9.Controller can be a computer, adds man-machine interface control by the PLC program.Require to write according to different sequential, revise the motion conditions that the PLC program is controlled the respective cylinder piston, thereby realize the control function.
Utilize operating system, the emulation hand can be simulated the various gestures of normal human subject, carries out various performance.For example, the finger-guessing game of performance " Cycles " recreation, the emulation hand can be made the gesture of representative " stone ", " scissors ", " cloth " respectively: five finger assemblies are all crooked, then expression " stone "; Forefinger assembly 2 and middle finger assembly 3 stretch, the finger assembly bending of its excess-three, then expression " scissors "; When five finger assemblies all stretch, then expression " cloth ".Again for example, performance bounces the ball, and five finger assemblies all stretch, and palm assembly 6 does not stop to rotate up and down to and fro, amplitude of rotating and frequency need determine that the amplitude of rotation and the calculating of frequency can be finished by computer according to the elasticity of ball and the factors such as distance of ball spring.
The following describes design main points of the present utility model.
Except that thumb assembly 1 was two frees degree, all the other four finger assemblies all had three degree of freedom in five finger assemblies, each free actuator drive, and realization has the bending of certain functional relation and stretches angle.The finger assembly combines with actuator by four connecting rods or three connecting rods, has increased the finger assembly and has been in the antigravity square performance of horizontal initial position, and rationally utilized the finger interior space; Wrist assembly 7 has one degree of freedom, can realize the scope of activities of wide-angle by four-bar mechanism 9, also has certain functional relation simultaneously.Angular relationship when these two kinds of functional relations all are hands movements with normal human subject is complementary.
Adopt the coupling of slide block endplay device and four connecting rods or three connecting rods by each finger assembly, each finger can be accomplished enough little, exempts from the excessive restriction to moulding of root joint, realizes the uniformity with the finger height behind covering, simple in structure, cost is low, and can realize various microminiatures finger.
Each is pointed assembly and can drive separately, also can be driven simultaneously by a controller, interference can not occur.
The emulation hand that the utility model provides, simple in structure, cost is low, but have and the corresponding to high emulation of staff, performance is got up as true hand.Its high emulation is embodied in length ratio, rotational angle and matching relationship, each finger distribution etc. on palm of each finger-joint.
The above only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure transformation that utilizes the utility model specification and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (10)
1. emulation hand, comprise palm assembly (6), and be arranged on thumb assembly (1) on the described palm assembly (6), forefinger assembly (2), middle finger assembly (3), nameless assembly (4) and little finger assembly (5), it is characterized in that, described forefinger assembly (2), middle finger assembly (3), nameless assembly (4) is identical with little finger assembly (5) structure, include four connecting rods and be arranged on described four connecting rod ends and be used to drive the first slide block endplay device that described four connecting rod bendings stretch, described thumb assembly (1) comprises three connecting rods and is arranged on described three connecting rod ends and is used to drive the second slide block endplay device that described three connecting rod bendings stretch that the described first slide block endplay device is identical with the second slide block endplay device structure.
2. emulation hand according to claim 1, it is characterized in that, the described first slide block endplay device comprises first chute (28) and first slide block (29), slides in described first chute (28) lining by driving described first slide block (29), drives four connecting rod bendings and stretches.
3. emulation hand according to claim 2 is characterized in that, described four connecting rods are the articulated structure of three degree of freedom, and described three connecting rods are the articulated structure of two frees degree.
4. emulation hand according to claim 3 is characterized in that, the angle of bend of hinge arrangement is 0 ° to 62 ° in described four connecting rods and three connecting rods.
5. emulation hand according to claim 1, it is characterized in that, also comprise arm assembly (8), and the wrist assembly (7) that connects described arm assembly (8) and palm assembly (6), described wrist assembly (7) is rotating shaft, and described palm assembly (6) can rotate around the axis of described wrist assembly (7).
6. emulation hand according to claim 5, it is characterized in that, comprise that also being arranged on described arm assembly (8) goes up the four-bar mechanism (9) link to each other with described palm assembly (6), move up and down and drive described palm assembly (6) rotation by driving described four-bar mechanism (9).
7. emulation hand according to claim 6 is characterized in that, described palm assembly (6) is+45 ° to-45 ° around the axis rotational angle of described wrist assembly (7), and rotational angle was 0 ° when described palm assembly (6) was parallel with arm assembly (8).
8. according to claim 2 or 7 described emulation hands, it is characterized in that, also comprise actuator, described actuator comprises thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element, is respectively applied for the slide block that drives in described thumb assembly (1), forefinger assembly (2), middle finger assembly (3), nameless assembly (4), the little finger assembly (5) and slides in respective slide slots.
9. emulation hand according to claim 8 is characterized in that described actuator also comprises the palm performance element, is used to drive described four-bar mechanism (9) and moves up and down.
10. emulation hand according to claim 9, it is characterized in that, also comprise controller, described controller comprises thumb control module, forefinger control module, middle finger control module, nameless control module, little finger of toe control module and palm control module, is respectively applied for the action of controlling thumb performance element, forefinger performance element, middle finger performance element, nameless performance element, little finger of toe performance element and palm performance element according to user's instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206848223U CN201941002U (en) | 2010-12-28 | 2010-12-28 | Simulated robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206848223U CN201941002U (en) | 2010-12-28 | 2010-12-28 | Simulated robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201941002U true CN201941002U (en) | 2011-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206848223U Expired - Lifetime CN201941002U (en) | 2010-12-28 | 2010-12-28 | Simulated robot hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN201941002U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419204A (en) * | 2012-05-22 | 2013-12-04 | 林其禹 | Finger guessing game robot system |
| CN104369192A (en) * | 2014-11-05 | 2015-02-25 | 深圳市普乐方文化科技有限公司 | Recreation simulation robot |
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
-
2010
- 2010-12-28 CN CN2010206848223U patent/CN201941002U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419204A (en) * | 2012-05-22 | 2013-12-04 | 林其禹 | Finger guessing game robot system |
| CN104369192A (en) * | 2014-11-05 | 2015-02-25 | 深圳市普乐方文化科技有限公司 | Recreation simulation robot |
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518057 13 floor Patentee after: Huaqiang infante (Shenzhen) Intelligent Technology Co. Address before: 518057, Guangdong, Shenzhen province Nanshan District science and technology in the way Huaqiang new and high-tech development building, 13 floor Patentee before: Shenzhen Huaqiang Intelligent Technology Co., Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110824 |