CN201950672U - Full-driving type flexible manipulator - Google Patents
Full-driving type flexible manipulator Download PDFInfo
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- CN201950672U CN201950672U CN2010206665059U CN201020666505U CN201950672U CN 201950672 U CN201950672 U CN 201950672U CN 2010206665059 U CN2010206665059 U CN 2010206665059U CN 201020666505 U CN201020666505 U CN 201020666505U CN 201950672 U CN201950672 U CN 201950672U
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Abstract
The utility model discloses a full-driving type flexible manipulator, which comprises a slide groove type palm, four fingers and a thumb. The thumb and the four fingers successively comprise upper finger joints, middle finger joints, lower finger joints and base joints, the base joints of the four fingers are respectively parallelly mounted in the slide groove type palm in the same direction via respective rectangular fixing blocks, the base joint of the thumb is perpendicularly mounted on the slide groove type palm via a circular fixing block on a thumb mounting adjusting structure, the thumb mounting adjusting structure is mounted in a slide groove on the lower portion of the slide groove type palm, the thumb is fixed after the mounting position and the orientation of the thumb are manually adjusted, and each of the five fingers respectively forms three active bending degrees of freedom and an active side sway degree of freedom so as to realize twenty active degrees of freedom. The full-driving type flexible manipulator is driven by an internal stepping motor, joint rotation is realized by spiral bevel gears, and movement precision is high. Due to the mechanical structure including that the orientation and the mounting position of the thumb can be adjusted, flexibility and grabbing stability of the manipulator are improved, and the grabbing space of the manipulator is enlarged.
Description
Technical field
The utility model relates to a kind of robot mechanical arm, specifically relates to have 20 initiatively frees degree, thumb towards with the dexterous manipulator of the adjustable full drive-type in installation site.
Background technology
Along with the continuous expansion in rapid development of modern science and technology and robot application field, original robot end's operator can not satisfy current production demand.Common end-effector method of clamping is single, activity space is little in order to overcome, lack flexibility, be difficult to shortcoming such as accurately control, and dexterous type manipulator (abbreviation Dextrous Hand) arises at the historic moment.Dextrous Hand has a plurality of frees degree, can grasp the object of multiple shape, unlike material, can also carry out accurate operation to the object that is grasped.Replace special-purpose clamper with it, be installed to the robotic manipulator end, can not only enlarge the job area of robot, can also improve the operation quality of robot.
Earlier 1860s, Yugoslavia Tomovic and Boni have been developed first manipulator, and it has five fingers and five frees degree.The seventies has been invented multiple universal gripper, has developed one three as Japanese Hanafusa and has referred to the mobile phone structure, and each finger has one degree of freedom; U.S. Crossley has developed three and has referred to eight degrees of freedom mechanism, and one of them finger has two frees degree, and two fingers have three degree of freedom respectively in addition.The eighties, Salisbury, people such as Jacobsen propose to simulate the research idea that staff designs universal gripper, have developed many fingers, multi-joint, multivariant JPL Dextrous Hand mechanism; Japan scholar T.Okada has developed three and has referred to ten one degree of freedom Dextrous Hand; U.S. Utah university has developed the MIT hand.Late nineteen nineties earlier 2000s, the research and development of Dextrous Hand have entered a new stage, close joint number, the finger number is close to staff gradually, wherein more representational have: the NASA Dextrous Hand of succeeding in developing in 1999, form with a relative thumb in position by four fingers, have 14 frees degree, by 14 driven by Brush-Less DC motor, it is very similar in staff appearance and size, has good flexibility; The Haruhisa of Gifu, Japan university in 2003, people such as Kawasaki have researched and developed Gifu III Dextrous Hand.Gifu III hand is anthropomorphic electronic Dextrous Hand, and size is slightly larger than staff, and profile has five finger ten six-freedom degrees more near staff, has higher dexterity and accurately controlled.The BH-3 hand that BJ University of Aeronautics ﹠ Astronautics's robot research is developed has three fingers, and each finger has three joints, totally 9 frees degree.Harbin Institute of Technology had developed HIT/DLR II multi-finger clever hand in 2008, and each finger has 3DOF, had 15 frees degree.
Summary of the invention
The purpose of this utility model is to provide a kind of full drive-type dexterous manipulator, has multiple degrees of freedom, multi-joint, can grasp the Dextrous Hand of difformity, unlike material object.It can substitute staff, the mankind can't come to personally or rugged environment in work.
The technical scheme that its technical problem that solves the utility model adopts is:
The utility model comprises chute-type palm, four finger and thumbs; Thumb and four fingers all comprise articulations digitorum manus, middle articulations digitorum manus, articulations digitorum manus and basic joint down successively, and the basic joint of four fingers same direction of rectangle fixed block by separately respectively is installed in parallel in the chute-type palm; The basic joint of thumb is installed the structural circular fixed block of adjustment through thumb and is vertically mounted on the chute-type palm, and thumb is installed the adjustment structure and is installed in the chute of chute-type palm bottom, the installation site of thumb and fixing towards manual adjustment back; Five fingers constitute three crooked frees degree of active and an active side-sway free degree respectively; The dexterous manipulator of full drive-type has 20 initiatively frees degree.
The described articulations digitorum manus of going up comprises the dactylus body, goes up driven spiral bevel gear, goes up power transmission shaft, goes up the active spiral bevel gear, goes up stepper motor and middle finger joint body; The last stepper motor that is installed in the middle finger joint body drives upward initiatively spiral bevel gear, and through last driven spiral bevel gear and last power transmission shaft, the dactylus body rotates in the drive, articulations digitorum manus crooked free degree of active in the formation; Last power transmission shaft and last dactylus body and last driven spiral bevel gear connect firmly, and are slidingly connected with the middle finger joint body.
In described articulations digitorum manus comprise the middle finger joint body, in driven spiral bevel gear, middle power transmission shaft, middle active spiral bevel gear, middle stepper motor and following dactylus body; Be installed in down active spiral bevel gear in the middle stepper motor driving in the dactylus body, driven spiral bevel gear and middle power transmission shaft in the warp drive the middle finger joint body and rotate articulations digitorum manus crooked free degree of active in the formation; In power transmission shaft and middle finger joint body with in driven spiral bevel gear connect firmly, be slidingly connected with following dactylus body.
Articulations digitorum manus comprises dactylus body, lower drive shaft, connecting shaft piece, following stepper motor, following initiatively spiral bevel gear and following driven spiral bevel gear down under described; Be installed in down active spiral bevel gear under the following stepper motor driving in the dactylus body, warp is driven spiral bevel gear and lower drive shaft down, and dactylus body rotation under the drive, formation be an active side-sway free degree of articulations digitorum manus down; Lower drive shaft connects firmly with following dactylus body and following driven spiral bevel gear, is slidingly connected with the connecting shaft piece.
Described basic joint comprises connecting shaft piece, basic power transmission shaft, base initiatively spiral bevel gear, basic driven spiral bevel gear, basic stepper motor and rectangle fixed block; The basic stepper motor that is installed in the rectangle fixed block drives initiatively spiral bevel gear of base, through driven spiral bevel gear of base and basic power transmission shaft, drives the connecting shaft piece and rotates, and forms the crooked free degree of active of basic articulations digitorum manus; Base power transmission shaft and connecting shaft piece and basic driven spiral bevel gear connect firmly, and are slidingly connected with the rectangle fixed block.
Described thumb is installed the adjustment structure and is comprised circular fixed block, left side retaining thick stick and right retaining thick stick; The basic joint of thumb is installed in the circular fixed block, side arc groove rotation thumb base power transmission shaft along circular fixed block, the installation of adjusting thumb towards, circular fixed block is installed in the chute of chute-type palm, chute along the chute-type palm moves circular fixed block, adjust the installation site of thumb, and keep off thick stick through being bolted on the chute-type palm by the left side retaining thick stick and the right side.
The utility model is compared with background technology, and the beneficial effect that has is:
1. the utility model adopts built-in stepper motor to drive, and realizes the joint rotation by spiral bevel gear, and motion is steady, the transmission accuracy height.
The utility model designed thumb towards with the adjustable frame for movement in installation site, improved the dexterity and the grasp stability of manipulator, the extracting space that has increased manipulator.
3. the utility model has 20 initiatively frees degree, has strengthened the ability that grasps of dexterous manipulator, and it can substitute staff, the mankind can't come to personally or rugged environment in work.。
Therefore, the utility model can satisfy the performance of dexterous robot manipulator.
Description of drawings
Fig. 1 is an overall structure principle schematic of the present utility model;
Fig. 2 is a finger structure principle schematic of the present utility model;
Fig. 3 is the articulations digitorum manus schematic diagram of going up of the present utility model;
Fig. 4 is a middle articulations digitorum manus schematic diagram of the present utility model;
Fig. 5 is an articulations digitorum manus schematic diagram down of the present utility model;
Fig. 6 is a basic joint of the present utility model schematic diagram;
Fig. 7 is that thumb of the present utility model is installed the adjustment structural representation.
Among the figure: 1. chute-type palm, 2. four fingers, 3. thumbs, 4. thumb install to be adjusted structure, 5. goes up articulations digitorum manus, 6. in articulations digitorum manus, 7. descend articulations digitorum manus, 8. basic joint, 9. rectangle fixed block, 10. circular fixed block, dactylus body on 11., driven spiral bevel gear on 12., 13. last power transmission shaft, spiral bevel gear initiatively on 14., stepper motor on 15., 16. the middle finger joint body, driven spiral bevel gear in 17., power transmission shaft in 18., 19. middle active spiral bevel gear, stepper motor in 20., 21. times dactylus bodies, 22. lower drive shaft, 23. the connecting shaft piece, 24. times stepper motors, 25. times active spiral bevel gears, 26. following driven spiral bevel gear, 27. basic stepper motor, 28. left side retaining thick sticks, 29. right retaining thick sticks, 30. bolt, 31. thumb base power transmission shafts.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and example
As Fig. 1, Fig. 2, shown in Figure 7, the utility model comprises chute-type palm 1, four fingers 2 and thumb 3; The basic joint that thumb 3 and four finger 2 all comprises articulations digitorum manus 5, middle articulations digitorum manus 6, time articulations digitorum manus 7 and 8, four fingers in the basic joint successively rectangle fixed block 9 same directions by separately respectively is installed in parallel in the chute-type palm 1; The basic joint of thumb 3 is installed the circular fixed block of adjusting on the structure 4 10 through thumb and is vertically mounted on the chute-type palm 1, and thumb is installed adjustment structure 4 and is installed in the chute of chute-type palm 1 bottom, the installation site of thumb 3 and fixing towards manual adjustment back; Five fingers constitute three crooked frees degree of active and an active side-sway free degree respectively; The dexterous manipulator of full drive-type has 20 initiatively frees degree.
As Fig. 2, shown in Figure 3, the described articulations digitorum manus of going up comprises dactylus body 11, goes up driven spiral bevel gear 12, goes up power transmission shaft 13, goes up active spiral bevel gear 14, goes up stepper motor 15 and middle finger joint body 16.The last stepper motor 15 that is installed in the middle finger joint body 16 drives upward initiatively spiral bevel gear 14, and through last driven spiral bevel gear 12 and last power transmission shaft 13, dactylus body 11 rotates the crooked free degree of articulations digitorum manus in the formation in the drive; Last power transmission shaft 13 connects firmly with last dactylus body 11 and last driven spiral bevel gear 12, is slidingly connected with middle finger joint body 16.
As Fig. 2, shown in Figure 4, described in articulations digitorum manus comprise middle finger joint body 16, in driven spiral bevel gear 17, middle power transmission shaft 18, middle active spiral bevel gear 19, middle stepper motor 20 and following dactylus body 21.Be installed in down active spiral bevel gear 19 in middle stepper motor 20 drivings in the dactylus body 21, driven spiral bevel gear 17 and middle power transmission shaft 18 in the warp drive middle finger joint body 16 and rotate the crooked free degree of articulations digitorum manus in the formation; In power transmission shaft 18 and middle finger joint body 16 and in driven spiral bevel gear 17 connect firmly, be slidingly connected with following dactylus body 21.
As Fig. 2, shown in Figure 5, described down articulations digitorum manus comprises down dactylus body 21, lower drive shaft 22, connecting shaft piece 23, stepper motor 24, initiatively spiral bevel gear 25 and driven spiral bevel gear 26 down down down; The following stepper motor 24 that is installed in down in the dactylus body 21 drives active spiral bevel gear 25 down, and warp is driven spiral bevel gear 26 and lower drive shaft 22 down, drives dactylus body 21 rotations down, and formation is the side-sway free degree of articulations digitorum manus down; Lower drive shaft 22 connects firmly with following dactylus body 21 and following driven spiral bevel gear 26, is slidingly connected with connecting shaft piece 23.
As Fig. 2, shown in Figure 6, described basic joint comprises connecting shaft piece 23, basic power transmission shaft 24, base initiatively spiral bevel gear 25, basic driven spiral bevel gear 26, basic stepper motor 27 and rectangle fixed block 9; The basic stepper motor 27 that is installed in the rectangle fixed block 9 drives initiatively spiral bevel gear 25 of base, through driven spiral bevel gear 26 of base and basic power transmission shaft 24, drives connecting shaft piece 23 and rotates, and forms the crooked free degree of basic articulations digitorum manus; Base power transmission shaft 24 connects firmly with connecting shaft piece 23 and basic driven spiral bevel gear 26, is slidingly connected with rectangle fixed block 9.
As Fig. 2, shown in Figure 7, described thumb is installed the adjustment structure and is comprised circular fixed block 10, left side retaining thick stick 28 and right retaining thick stick 29; The basic joint of thumb 3 is installed in the circular fixed block 10, side arc groove rotation thumb base power transmission shaft 31 along circular fixed block 10, the installation of adjusting thumb 3 towards, circular fixed block 10 is installed in the chute of chute-type palm 1, chute along chute-type palm 1 moves circular fixed block 10, adjust the installation site of thumb 3, and be fixed on the chute-type palm 1 through bolt 30 by left side retaining thick stick 28 and right retaining thick stick 29.
Claims (6)
1. the dexterous manipulator of full drive-type is characterized in that: comprise chute-type palm (1), four finger and thumbs (3); Thumb (3) and four fingers all comprise articulations digitorum manus, middle articulations digitorum manus, articulations digitorum manus and basic joint down successively, and the basic joint of four fingers same direction of rectangle fixed block by separately respectively is installed in parallel in the chute-type palm (1); The basic joint of thumb (3) is installed the circular fixed block of adjusting on the structure (4) (10) through thumb and is vertically mounted on the chute-type palm (1), thumb is installed adjustment structure (4) and is installed in the chute of chute-type palm (1) bottom, the installation site of thumb (3) and fixing towards manual adjustment back; Five fingers constitute three crooked frees degree of active and an active side-sway free degree respectively; The dexterous manipulator of full drive-type has 20 initiatively frees degree.
2. a kind of full drive-type dexterity manipulator according to claim 1 is characterized in that: the described articulations digitorum manus of going up comprises dactylus body (11), goes up driven spiral bevel gear (12), goes up power transmission shaft (13), goes up active spiral bevel gear (14), goes up stepper motor (15) and middle finger joint body (16); Be installed in active spiral bevel gear (14) in last stepper motor (15) driving in the middle finger joint body (16), through last driven spiral bevel gear (12) and last power transmission shaft (13), dactylus body (11) rotates in the drive, articulations digitorum manus crooked free degree of active in the formation; Last power transmission shaft (13) connects firmly with last dactylus body (11) and last driven spiral bevel gear (12), is slidingly connected with middle finger joint body (16).
3. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: in described articulations digitorum manus comprise middle finger joint body (16), in driven spiral bevel gear (17), middle power transmission shaft (18), middle active spiral bevel gear (19), middle stepper motor (20) and following dactylus body (21); Be installed in down active spiral bevel gear (19) in middle stepper motor (20) driving in the dactylus body (21), driven spiral bevel gear (17) and middle power transmission shaft (18) in the warp drive middle finger joint body (16) and rotate articulations digitorum manus crooked free degree of active in the formation; In power transmission shaft (18) and middle finger joint body (16) and in driven spiral bevel gear (17) connect firmly, be slidingly connected with following dactylus body (21).
4. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: articulations digitorum manus comprises dactylus body (21), lower drive shaft (22), connecting shaft piece (23), following stepper motor (24), following initiatively spiral bevel gear (25) and following driven spiral bevel gear (26) down under described; Be installed in down active spiral bevel gear (25) under following stepper motor (24) driving in the dactylus body (21), warp is driven spiral bevel gear (26) and lower drive shaft (22) down, and dactylus body (21) rotation under the drive, formation be an active side-sway free degree of articulations digitorum manus down; Lower drive shaft (22) connects firmly with following dactylus body (21) and following driven spiral bevel gear (26), is slidingly connected with connecting shaft piece (23).
5. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: described basic joint comprises connecting shaft piece (23), basic power transmission shaft (24), base initiatively spiral bevel gear (25), basic driven spiral bevel gear (26), basic stepper motor (27) and rectangle fixed block (9); The basic stepper motor (27) that is installed in the rectangle fixed block (9) drives initiatively spiral bevel gear (25) of base, through driven spiral bevel gear of base (26) and basic power transmission shaft (24), drives connecting shaft piece (23) and rotates, and forms the crooked free degree of active of basic articulations digitorum manus; Base power transmission shaft (24) connects firmly with connecting shaft piece (23) and basic driven spiral bevel gear (26), is slidingly connected with rectangle fixed block (9).
6. the dexterous manipulator of a kind of full drive-type according to claim 1 is characterized in that: described thumb is installed the adjustment structure and is comprised circular fixed block (10), left side retaining thick stick (28) and right retaining thick stick (29); The basic joint of thumb (3) is installed in the circular fixed block (10), side arc groove rotation thumb base power transmission shaft (31) along circular fixed block (10), the installation of adjusting thumb (3) towards, circular fixed block (10) is installed in the chute of chute-type palm (1), chute along chute-type palm (1) moves circular fixed block (10), adjust the installation site of thumb (3), and be fixed on the chute-type palm (1) through bolt (30) by left side retaining thick stick (28) and right retaining thick stick (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206665059U CN201950672U (en) | 2010-12-18 | 2010-12-18 | Full-driving type flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206665059U CN201950672U (en) | 2010-12-18 | 2010-12-18 | Full-driving type flexible manipulator |
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| CN201950672U true CN201950672U (en) | 2011-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206665059U Expired - Lifetime CN201950672U (en) | 2010-12-18 | 2010-12-18 | Full-driving type flexible manipulator |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN103406910A (en) * | 2013-08-17 | 2013-11-27 | 刘发永 | Self-vision bionic-robot |
| CN105014680A (en) * | 2014-05-02 | 2015-11-04 | 赵德朝 | Robot finger driven by swing oil cylinders |
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| CN105643643A (en) * | 2016-04-02 | 2016-06-08 | 西北农林科技大学 | Five-finger end effector |
| CN107598960A (en) * | 2017-11-03 | 2018-01-19 | 西安广源机电技术有限公司 | The bionic mechanical hand that the full free degree easily drives |
| CN111844091A (en) * | 2020-05-01 | 2020-10-30 | 刘军 | Machine tool panel operation manipulator based on circumferential motion |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN112518779A (en) * | 2020-11-08 | 2021-03-19 | 刘军 | Manipulator device for operating universal measuring tool |
-
2010
- 2010-12-18 CN CN2010206665059U patent/CN201950672U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085661A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | All-drive type smart manipulator |
| CN102085661B (en) * | 2010-12-18 | 2012-05-09 | 浙江理工大学 | All-drive type smart manipulator |
| CN103406910A (en) * | 2013-08-17 | 2013-11-27 | 刘发永 | Self-vision bionic-robot |
| CN105014680A (en) * | 2014-05-02 | 2015-11-04 | 赵德朝 | Robot finger driven by swing oil cylinders |
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| CN105643643A (en) * | 2016-04-02 | 2016-06-08 | 西北农林科技大学 | Five-finger end effector |
| CN107598960A (en) * | 2017-11-03 | 2018-01-19 | 西安广源机电技术有限公司 | The bionic mechanical hand that the full free degree easily drives |
| CN107598960B (en) * | 2017-11-03 | 2023-09-19 | 西安广源机电技术有限公司 | Bionic manipulator easy to drive in full freedom degree |
| CN111844091A (en) * | 2020-05-01 | 2020-10-30 | 刘军 | Machine tool panel operation manipulator based on circumferential motion |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN112518779A (en) * | 2020-11-08 | 2021-03-19 | 刘军 | Manipulator device for operating universal measuring tool |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110831 Effective date of abandoning: 20120509 |