CN202572399U - Synchronous smart mechanical arm of robot - Google Patents

Synchronous smart mechanical arm of robot Download PDF

Info

Publication number
CN202572399U
CN202572399U CN 201220217407 CN201220217407U CN202572399U CN 202572399 U CN202572399 U CN 202572399U CN 201220217407 CN201220217407 CN 201220217407 CN 201220217407 U CN201220217407 U CN 201220217407U CN 202572399 U CN202572399 U CN 202572399U
Authority
CN
China
Prior art keywords
finger
manipulator
ring gear
robot
synchronous
Prior art date
Application number
CN 201220217407
Other languages
Chinese (zh)
Inventor
石九龙
赵新灿
袁帅
何清叶
李航宇
潘世豪
孙嘉琪
Original Assignee
郑州大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 郑州大学 filed Critical 郑州大学
Priority to CN 201220217407 priority Critical patent/CN202572399U/en
Application granted granted Critical
Publication of CN202572399U publication Critical patent/CN202572399U/en

Links

Abstract

The utility model discloses a synchronous smart mechanical arm of a robot, which comprises a mechanical arm, a control glove and a signal transmission device, wherein the mechanical arm comprises a palm and fingers, the palm comprises a connecting plate, a palm shell and a swinging device arranged in the palm shell and connected with the fingers, each finger comprises at least two digital joints and a bending machine arranged between adjacent digital joints, a bending sensor is arranged on the control glove, and the single transmission device comprises a signal emitter arranged on the control glove and a signal receiver arranged on the mechanical arm. The synchronous smart mechanical arm can realize a synchronous movement through sensing an action of the hand of a user, is convenient for control, and integrates multiple advantages of high simulation, high touch perceptibility, high flexibility and the like.

Description

The synchronous dexterous manipulator of a kind of robot
Technical field
The utility model relates to a kind of localized design of intelligent robot, relates in particular to a kind of dexterous manipulator of Synchronization Control that is used for intelligent robot.
Background technology
The manipulator profile is similar to staff, and diverse in function can be carried out various conventional actions, can steadily grasp the object of different shape again.With respect to simple end-effector, robot delicate has highly versatile, perception enriches, can realize meeting geometric sealing and force-closed advantages such as accurate, firm extracting.Dextrous Hand more and more near staff, but still is weak in the design aspect degree of flexibility and the tactilely-perceptible degree on kinematic structure.
Therefore, provide that a kind of to have high tactilely-perceptible degree, high emulation, light-fingered manipulator be a problem of needing solution badly.
The utility model content
The technical problem that the utility model will solve provides the synchronous dexterous manipulator of a kind of robot, can realize through the action of perception user hand being synchronized with the movement, and is convenient to control, integrates multiple advantages such as high emulation, high tactilely-perceptible degree and high flexibility ratio.
To achieve these goals; The technical scheme that the utility model is taked is: the synchronous dexterous manipulator of a kind of robot; Comprise manipulator, control gloves and signal transmitting apparatus; Said manipulator comprises palm and finger, and said palm comprises connecting plate, palm shell and be installed in the rocking equipment that palm shell is interior and link to each other with said finger that said finger comprises at least two articulations digitorum manus and is arranged on the bending device between the adjacent articulations digitorum manus; Said control gloves are provided with bend sensor, and said signal transmitting apparatus comprises the signal projector that is arranged on the said control gloves and is arranged on the signal receiver on the said manipulator.
A kind of optimal technical scheme as the utility model; Said finger comprises thumb, forefinger, middle finger, the third finger and little finger; Said thumb comprises finger root and two articulations digitorum manus, and said forefinger, middle finger, the third finger and little finger include and refer to root and three articulations digitorum manus.
A kind of optimal technical scheme as the utility model; The gear I that said rocking equipment comprises the fixed mount of the reducing motor I that is used for controlling said forefinger, middle finger, the third finger and little finger, reducing motor I, be coupling with the reducing motor I, with the ring gear I of gear I engagement, with the coaxial coding disk I that is connected of ring gear I, the rocking bar that links to each other with the ring gear I, be arranged on thrust bearing between said finger and the said palm shell and the steering wheel that is used for controlling thumb, said rocking bar is connected through the crank block structure with the finger root of said forefinger, middle finger, the third finger and little finger.
A kind of optimal technical scheme as the utility model; The gear II that said bending device comprises rotating shaft, reducing motor II, be coupling with the reducing motor II, with the engagement of gear II and with coaxial ring gear II of said rotating shaft and the coding disk II that is coupling with the ring gear II, said ring gear II is fixedly connected with the inwall of said articulations digitorum manus.
As a kind of optimal technical scheme of the utility model, said connecting plate is offered through wires hole.
Adopt the beneficial effect that technique scheme produced to be: the utility model can detect user's hand motion through the bend sensor on the control gloves; And detection signal is sent to manipulator through signal transmitting apparatus; Manipulator is according to the detection signal that receives and bending, stretching, extension through rocking equipment on the palm and the bending device on the finger waving of realizing respectively pointing and articulations digitorum manus; The action that realizes user and manipulator is synchronous; Simple to operate, integrate multiple advantages such as high emulation, high tactilely-perceptible degree and high flexibility ratio.
Description of drawings
Fig. 1 is the overall structure sketch map of the utility model.
Fig. 2 is the finger part structural representation of the utility model.
Fig. 3 is the palm portion structural representation of the utility model.
Among the figure: 1, connecting plate 2, reducing motor I 3, fixed mount 4, gear I 5, ring gear I 6, rocking bar 7, refer to root 8, the palm shell 9, reducing motor II 10, gear II 11, rotating shaft 12, ring gear II 13, steering wheel 14, thumb 15, forefinger 16, middle finger 17, nameless 18, little finger 19, articulations digitorum manus 20, through wires hole.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the utility model is done further detailed explanation.
Referring to accompanying drawing; Comprise manipulator, control gloves and signal transmitting apparatus in the structure of a specific embodiment of the utility model; Manipulator comprises palm and finger; Palm comprises connecting plate 1, the palm shell 8 that offers through wires hole 20 and is installed in palm shell 8 rocking equipments interior and that link to each other with finger; Finger comprises at least two articulations digitorum manus 19 and is arranged on the bending device between the adjacent articulations digitorum manus 19, controls gloves and is provided with bend sensor, and signal transmitting apparatus comprises being arranged on to be controlled the signal projector on the gloves and be arranged on the signal receiver on the manipulator.
Finger comprises thumb 14, forefinger 15, middle finger 16, the third finger 17 and little finger 18, and thumb 14 comprises finger root 7 and two articulations digitorum manus 19, and forefinger 15, middle finger 16, the third finger 17 and little finger 18 include and refer to root 7 and three articulations digitorum manus 19.
Rocking equipment comprise be used for controlling forefinger 15, middle finger 16, nameless 17 and the fixed mount 3 of the reducing motor I 2 of little finger 18, reducing motor I 2, the gear I 104 that is coupling with reducing motor I 2, with the ring gear I 5 of gear I 4 engagements, with the ring gear I 5 coaxial coding disk I that are connected, the rocking bar 6 that links to each other with ring gear I 5, be arranged on finger and slap thrust bearing between the shell 8 and the steering wheel 13 that is used for controlling thumb 14, rocking bar 6 and forefinger 15, middle finger 16, the third finger 17 all are connected through the crank block structure with the finger root 7 of little finger 18.
The gear II 10 that bending device comprises rotating shaft 11, reducing motor II 9, be coupling with reducing motor II 9, with 10 engagements of gear II and with coaxial ring gear II 12 of rotating shaft 11 and the coding disk II that is coupling with ring gear II 12, ring gear II 12 is fixedly connected with the inwall of articulations digitorum manus 19.
During use; The user puts on the control gloves and carries out exercises, and the bend sensor on the control gloves detects the action of user's hand, and through signal transmitting apparatus detection signal is sent to manipulator; Manipulator is according to the detection signal that receives and bending, stretching, extension through rocking equipment on the palm and the bending device on the finger waving of realizing respectively pointing and articulations digitorum manus; Specifically, reducing motor I 2 driven gear I 4, ring gear I 5 and rocking bar 6 is successively moved, and forefinger 15, middle finger 16, the third finger 17 and little thumb 18 are carried out rocking action by 6 drives of corresponding rocking bar; Steering wheel 13 can be controlled bending and stretching of thumb 14; Reducing motor II 9 driven gear II 10 is successively moved with ring gear II 12, and ring gear II 12 can drive articulations digitorum manus 19 and relatively rotate around rotating shaft 11, and then shows as the bending action of articulations digitorum manus 19; Coding disk I and coding disk II can be measured the amount of spin of ring gear I 5 and ring gear II 12 respectively and carry out feedback information; The action that realizes user and manipulator is synchronous, simple to operate, integrates multiple advantages such as high emulation, high tactilely-perceptible degree and high flexibility ratio.
In addition, thrust bearing can reduce the friction between finger and the palm shell 8, strengthens the flexibility of finger movement; Through wires hole 20 is used to penetrate lead to realize manipulator and outside information transmission, and connecting plate 1 is used to connect the mechanical connection of manipulator and exterior part.
Foregoing description only proposes as the enforceable technical scheme of the utility model, not as the single restrictive condition to its technical scheme itself.

Claims (5)

1. synchronous dexterous manipulator of robot; It is characterized in that: comprise manipulator, control gloves and signal transmitting apparatus; Said manipulator comprises palm and finger; Said palm comprises connecting plate, palm shell and is installed in the rocking equipment that palm shell is interior and link to each other with said finger; Said finger comprises at least two articulations digitorum manus and is arranged on the bending device between the adjacent articulations digitorum manus, and said control gloves are provided with bend sensor, and said signal transmitting apparatus comprises the signal projector that is arranged on the said control gloves and is arranged on the signal receiver on the said manipulator.
2. the synchronous dexterous manipulator of robot according to claim 1; It is characterized in that: said finger comprises thumb, forefinger, middle finger, the third finger and little finger; Said thumb comprises finger root and two articulations digitorum manus, and said forefinger, middle finger, the third finger and little finger include and refer to root and three articulations digitorum manus.
3. the synchronous dexterous manipulator of robot according to claim 2; It is characterized in that: the gear I that said rocking equipment comprises the fixed mount of the reducing motor I that is used for controlling said forefinger, middle finger, the third finger and little finger, reducing motor I, be coupling with the reducing motor I, with the ring gear I of gear I engagement, with the coaxial coding disk I that is connected of ring gear I, the rocking bar that links to each other with the ring gear I, be arranged on thrust bearing between said finger and the said palm shell and the steering wheel that is used for controlling said thumb, said rocking bar is connected through the crank block structure with the finger root of said forefinger, middle finger, the third finger and little finger.
4. the synchronous dexterous manipulator of robot according to claim 1; It is characterized in that: the gear II that said bending device comprises rotating shaft, reducing motor II, be coupling with the reducing motor II, with the engagement of gear II and with coaxial ring gear II of said rotating shaft and the coding disk II that is coupling with the ring gear II, said ring gear II is fixedly connected with the inwall of said articulations digitorum manus.
5. the synchronous dexterous manipulator of robot according to claim 1, it is characterized in that: said connecting plate is offered through wires hole.
CN 201220217407 2012-05-15 2012-05-15 Synchronous smart mechanical arm of robot CN202572399U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220217407 CN202572399U (en) 2012-05-15 2012-05-15 Synchronous smart mechanical arm of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220217407 CN202572399U (en) 2012-05-15 2012-05-15 Synchronous smart mechanical arm of robot

Publications (1)

Publication Number Publication Date
CN202572399U true CN202572399U (en) 2012-12-05

Family

ID=47241850

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220217407 CN202572399U (en) 2012-05-15 2012-05-15 Synchronous smart mechanical arm of robot

Country Status (1)

Country Link
CN (1) CN202572399U (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103009398A (en) * 2012-12-18 2013-04-03 北京理工大学 Humanoid hand in underactuation exquisite transmission structure
CN103170960A (en) * 2013-03-14 2013-06-26 吉林大学 Human-imitation synchronous wireless control mechanical arm system
CN103240746A (en) * 2013-04-18 2013-08-14 塔米智能科技(北京)有限公司 Finger-guessing robot with image recognition system, and gesture recognition method
CN104942818A (en) * 2015-06-08 2015-09-30 清华大学 Seven-freedom-degree five-finger mechanical arm
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
CN105171760A (en) * 2015-06-01 2015-12-23 刘学勇 Robot
CN105643643A (en) * 2016-04-02 2016-06-08 西北农林科技大学 Five-finger end effector
CN105881566A (en) * 2016-05-30 2016-08-24 北京理工大学 Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism
CN105945977A (en) * 2016-07-05 2016-09-21 旗瀚科技股份有限公司 Manipulator with motion controlled by torsion spring and steering engines
CN106041967A (en) * 2016-07-19 2016-10-26 彭爽 Control device of bionic manipulator
CN106113069A (en) * 2016-07-19 2016-11-16 彭爽 A kind of bionic mechanical hand
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
CN109514521A (en) * 2018-12-18 2019-03-26 合肥工业大学 The servo operation and its method of manpower collaboration Dextrous Hand based on multi-information fusion
CN109716927A (en) * 2019-01-25 2019-05-07 徐州盛斗士生物科技有限公司 Protection vehicle is packed in a kind of lossless full deburring of picking of prickly pear automatically
CN110253634A (en) * 2019-07-08 2019-09-20 杭州高烯科技有限公司 A kind of remote sensing manipulator
CN110370305A (en) * 2019-07-22 2019-10-25 珠海格力智能装备有限公司 Mechanical finger and manipulator

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103009398B (en) * 2012-12-18 2015-02-11 北京理工大学 Humanoid hand of underactuated exquisite transmission structure
CN103009398A (en) * 2012-12-18 2013-04-03 北京理工大学 Humanoid hand in underactuation exquisite transmission structure
CN103170960A (en) * 2013-03-14 2013-06-26 吉林大学 Human-imitation synchronous wireless control mechanical arm system
CN103240746A (en) * 2013-04-18 2013-08-14 塔米智能科技(北京)有限公司 Finger-guessing robot with image recognition system, and gesture recognition method
CN103240746B (en) * 2013-04-18 2015-09-09 塔米智能科技(北京)有限公司 A kind of finger-guessing game robot and finger-guessing game gesture identification method with image identification system
CN105014680A (en) * 2014-05-02 2015-11-04 赵德朝 Robot finger driven by swing oil cylinders
CN105171760A (en) * 2015-06-01 2015-12-23 刘学勇 Robot
CN105171760B (en) * 2015-06-01 2017-10-20 刘学勇 Robot
CN104942818A (en) * 2015-06-08 2015-09-30 清华大学 Seven-freedom-degree five-finger mechanical arm
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
CN105881566A (en) * 2016-05-30 2016-08-24 北京理工大学 Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism
CN105881566B (en) * 2016-05-30 2018-11-20 北京理工大学 A kind of five-needle pines blister rust finger side-sway based on lead screw link mechanism with to the palm mechanism
CN105945977A (en) * 2016-07-05 2016-09-21 旗瀚科技股份有限公司 Manipulator with motion controlled by torsion spring and steering engines
CN106113069A (en) * 2016-07-19 2016-11-16 彭爽 A kind of bionic mechanical hand
CN106113069B (en) * 2016-07-19 2018-07-27 彭爽 A kind of bionic mechanical hand
CN106041967A (en) * 2016-07-19 2016-10-26 彭爽 Control device of bionic manipulator
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
CN109514521A (en) * 2018-12-18 2019-03-26 合肥工业大学 The servo operation and its method of manpower collaboration Dextrous Hand based on multi-information fusion
CN109716927A (en) * 2019-01-25 2019-05-07 徐州盛斗士生物科技有限公司 Protection vehicle is packed in a kind of lossless full deburring of picking of prickly pear automatically
CN110253634A (en) * 2019-07-08 2019-09-20 杭州高烯科技有限公司 A kind of remote sensing manipulator
CN110370305A (en) * 2019-07-22 2019-10-25 珠海格力智能装备有限公司 Mechanical finger and manipulator

Similar Documents

Publication Publication Date Title
CN107106251B (en) Manipulator
US10423227B2 (en) Hand exoskeleton force feedback system
CN103767856B (en) A kind of Wearable five finger gymnastic mechanical hand
CN103398702B (en) A kind of mobile robot's remote operation controller and manipulation technology thereof
CN107073720B (en) Manipulator Hand and manipulator
CN102058466B (en) Chinese massage robot
JP3178530U (en) Fitness equipment including electronic device content control
CN102699914B (en) Robot
CN102873689B (en) Multimode under-actuated human finger simulation device with quick reflex grabbing function
KR101978740B1 (en) Tele-operation system and control method thereof
CN102419588B (en) Method and device for controlling target based on brain electrical signal and motion signal
CN105457236B (en) Rehabilitation training hand and recovery training method
CN102026782B (en) Motorized articulation with two pivot joints, and humanoid robot employing the articulation
CN101797753B (en) Smart under-actuated bionic robot finger device with parallel-connected tendon ropes
JP6598401B2 (en) Position / force control device, position / force control method and program
CN105677036B (en) A kind of interactive data gloves
CN101204815B (en) Seven freedom-degree artificial man arm driven by air-powered artificial muscle
JP2016539017A (en) Control device with multidirectional force feedback
CN104546144B (en) A kind of seven freedom force feedback remote operating hands of switchable type
WO2016008109A1 (en) Rehabilitation robot system of upper limb
CN101474794B (en) Bionic robot under-actuated delicacy hand device
CN103830025B (en) The two-freedom modularity with power position and tactilely-perceptible function is done evil through another person thumb
CN102205542B (en) Multipath flexible piece two-joint compound robot finger device
CN102773861B (en) Outer frame type data glove
CN104908056B (en) A kind of three finger mechanical paws of variable configuration

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20121205

Termination date: 20130515

C17 Cessation of patent right