CN204160479U - A kind of Apery manipulator - Google Patents
A kind of Apery manipulator Download PDFInfo
- Publication number
- CN204160479U CN204160479U CN201420557934.0U CN201420557934U CN204160479U CN 204160479 U CN204160479 U CN 204160479U CN 201420557934 U CN201420557934 U CN 201420557934U CN 204160479 U CN204160479 U CN 204160479U
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- knuckle
- stepper motor
- metacarpus
- middle finger
- dactylus
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Abstract
The utility model provides a kind of Apery manipulator, comprise arm and metacarpus, and thumb, forefinger, middle finger, the third finger and little finger of toe, forefinger, middle finger, the third finger is arranged in order with little finger of toe and structure is identical, all comprise the first stay cord, nearly dactylus, middle finger joint, dactylus far away and the first stepper motor, described first stay cord one end is fixed in the rotating shaft of described first stepper motor, and can reel in the rotating shaft of described first stepper motor, the other end successively through described nearly dactylus and described in directly, and be fixed on one end that described dactylus far away is not connected with described middle finger joint, turning cylinder between described dactylus far away and described middle finger joint and the turning cylinder between described middle finger joint and described nearly dactylus are parallel to each other, described thumb structure and other point similar.Reeled by stepper motor and discharge stay cord and drive each dactylus, flexibility of joint is better; Because thumb can rotate relative to metacarpus, metacarpus also can rotate relative to arm, closer to the motor pattern of staff.
Description
Technical field
The utility model relates to a kind of bionic mechanical, especially a kind of Apery manipulator.
Background technology
Bionic mechanical arm is the study hotspot in mechanicnl manufacture and automation field robot direction.Have broad application prospects in applications such as rehabilitation auxiliary robot, service robot, bionic mechanicals.Current bionic mechanical arm is movable based on motor-driven gear, is all difficult to meet instructions for use in flexibility of joint, dynamic rate and energy density etc.
Chinese utility model patent ZL201320473490.8 discloses a kind of bionic mechanical arm, comprise output mechanism and driving mechanism, output mechanism comprises palm and finger, finger comprises the articulations digitorum manus far away of linkage, middle articulations digitorum manus and nearly articulations digitorum manus, driving mechanism is arm, comprise skeleton and SMA groups of springs, the corresponding one group of SMA groups of springs of every root finger, often each SMA spring organized in SMA groups of springs is connected by connecting line, one end and the skeleton of connecting line are affixed, other end connection arranges reset bar, reset bar is vertical wears finger interior and is close to corresponding hinge axis, the other end of reset bar is fixedly connected with finger tip.This bionic mechanical arm drives the motion of finger-joint by SMA groups of springs, crucial better flexible, but also because this bionic mechanical arm adopts spring to drive finger-joint, and its length is longer, may there is delay in the action of finger-joint, react sensitive not.In addition, can not mutually rotate between this bionic mechanical arm palm and arm, thumb and other four refer to that function is known each other, the action that can realize is relatively less, still has the space of improving further.
Utility model content
The purpose of this utility model is the bionic mechanical hand providing the action that is better, that can realize of a kind of flexibility of joint more.
To achieve these goals, the utility model adopts following technical scheme:
A kind of Apery manipulator, comprises arm and is arranged on the metacarpus on described arm, and be arranged on thumb, forefinger, middle finger, the third finger and the little finger of toe on described metacarpus;
Described forefinger, described middle finger, the described third finger is arranged in order with described little finger of toe and structure is identical, all comprise the first stay cord, be fixed on the nearly dactylus on described metacarpus, the middle finger joint be rotatably connected on described nearly dactylus, be rotatably connected the dactylus far away on described middle finger joint and be arranged on the first stepper motor of described metacarpus inside, described first stay cord one end is fixed in the rotating shaft of described first stepper motor, and can reel in the rotating shaft of described first stepper motor, the other end is successively through described nearly dactylus and described middle finger joint, and be fixed on one end that described dactylus far away is not connected with described middle finger joint, turning cylinder between described dactylus far away and described middle finger joint and the turning cylinder between described middle finger joint and described nearly dactylus are parallel to each other,
Described thumb comprises the second stay cord, be fixed on the first servomotor of described metacarpus, be arranged on the first knuckle in described first servomotor rotating shaft, the second knuckle be rotatably connected on described first knuckle, be rotatably connected the third knuckle on described second knuckle and be arranged on the second stepper motor of described metacarpus inside, described second stay cord one end is fixed in the rotating shaft of described second stepper motor, and can reel in the rotating shaft of described second stepper motor, the other end is successively through described first knuckle and described second knuckle, and be fixed on one end that described third knuckle is not connected with described second knuckle, turning cylinder between described first knuckle and described second knuckle and the turning cylinder between described second knuckle and described third knuckle are parallel to each other,
Also comprise control system, described control system controls the work schedule of described first servomotor, described first stepper motor and described second stepper motor.
Improve as one of the present utility model, described arm is provided with the second servomotor, described metacarpus is arranged in the rotating shaft of described second servomotor.
Improve as one of the present utility model, described third knuckle and/or described dactylus far away are provided with rubber case.
Improve as one of the present utility model, described stay cord is nylon rope or spring rope.
Adopt technique scheme, the utility model has following beneficial effect:
1, reeled by stepper motor and discharge stay cord and drive each dactylus, flexibility of joint of each finger is better; Meanwhile, because thumb can rotate relative to metacarpus, metacarpus also can rotate relative to arm, and whole Apery manipulator is comparatively flexible, and the action that can realize is more, closer to the motor pattern of staff, can meet various demand.
2, four fingers of Apery manipulator of the present utility model except thumb all adopt identical structure, and can carry out modularized production, manufacturing cost is lower.
3, each finger of Apery manipulator of the present utility model has independently drive motors, the rotation of the rotation of thumb and metacarpus and metacarpus and arm also has independently drive motors, each motor works alone or the work that cooperatively interacts under control of the control system, and the action that can realize is relatively many.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model Apery manipulator.
In figure, corresponding sign is as follows:
10-arm; 11-second servomotor;
20-metacarpus; 30-thumb;
31-second stay cord; 32-first servomotor;
33-first knuckle; 34-second knuckle;
35-third knuckle; 36-second stepper motor;
40-forefinger; 41-first stay cord;
The nearly dactylus of 42-; 43-middle finger joint;
44-dactylus far away; 45-first stepper motor;
50-middle finger; 60-is nameless;
70-little finger of toe.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
As shown in Figure 1, the Apery manipulator that the present embodiment provides, the metacarpus 20 comprising arm 10 and be arranged on arm 10, and the thumb 30, forefinger 40, middle finger 50, the third finger 60 and the little finger of toe 70 that are arranged on metacarpus 20, the position that thumb 30, forefinger 40, middle finger 50, the third finger 60 and little finger of toe 70 copy staff is placed on metacarpus 20, metacarpus 20 is also that the shape of copying people's palm carries out designing, and its inside has the cavity can placing various motor and electronic component.
Same between arm 10 with metacarpus 20 is copy the position relationship of human arm and palm to arrange, arm 10 is provided with the second servomotor 11, metacarpus 20 is arranged in the rotating shaft of the second servomotor 11, and such metacarpus 20 can rotate on arm 10, makes whole manipulator scope of activities wider.It should be noted that, servomotor, also referred to as steering wheel, uses brightness to contain 9G servomotor in the present embodiment.
Forefinger 40, middle finger 50, nameless 60 are arranged in order with little finger of toe 70 and structure is identical, in order to express easily, are described in the present embodiment for forefinger 40 at same structure, no longer carry out repeated description to the structure of middle finger 50, the third finger 60 and little finger of toe 70.Forefinger 40 comprises the first stay cord 41, be fixed on the nearly dactylus 42 on metacarpus 20, the middle finger joint 43 be rotatably connected on nearly dactylus 42, be rotatably connected the dactylus far away 44 on middle finger joint 43 and be arranged on the first stepper motor 45 of metacarpus 20 inside, stepper motor is opened loop control element electric impulse signal being changed into angular displacement or displacement of the lines, when non-overload, the rotating speed of motor, frequency and the umber of pulse of pulse signal are only depended in the position stopped, and not by the impact of load change, namely a pulse signal is added to motor, motor then turns over a step angle, the existence of this linear relationship, stepper motor is added to only have periodic error and without features such as accumulated errors, make in speed, the control field stepper motors such as position control very simple become.In addition, the first stay cord 41 is preferably nylon rope or elastic threads.The model of the first stepper motor 45 is adopted to be 28BYJ-48 in the present embodiment.
Due to forefinger 40, middle finger 50, nameless 60 identical with the structure of little finger of toe 70, modularized production can be carried out.
In forefinger 40, first stay cord 41 one end is fixed in the rotating shaft of the first stepper motor 45, and can reel in the rotating shaft of the first stepper motor 45, the other end is successively through nearly dactylus 42 and middle finger joint 43, and be fixed on one end that dactylus 44 far away is not connected with middle finger joint 43, the turning cylinder be rotatably connected between dactylus 44 far away and middle finger joint 43 and the turning cylinder be rotatably connected between middle finger joint 43 and nearly dactylus 42 are parallel to each other, like this, by the rotation of the first stepper motor 45, first stay cord 41 is wound in the rotating shaft of the first stepper motor 45, and then pull forefinger 40 to carry out flexure operation, same, when the first stepper motor 45 reverses, first stay cord 41 is released, dactylus 44 far away is not by pulling force, return to nature.
Thumb 30 comprises the second stay cord 31, is fixed on the first servomotor 32 of metacarpus 20, the first knuckle 33 be arranged in the first servomotor 32 rotating shaft, be rotatably connected second knuckle 34 on first knuckle 33, the be rotatably connected third knuckle 35 on second knuckle 34 and the second stepper motor 36, second stepper motor 36 of being arranged on metacarpus 20 inside can use the stepper motor identical with the first stepper motor 45.Certainly, the second stepper motor 36 also can be arranged on first knuckle 33 inside.First servomotor 32 can be the servomotor identical with the second servomotor 11, second stay cord 31 is preferably nylon rope or elastic threads, its one end is fixed in the rotating shaft of the second stepper motor 36, and can reel in the rotating shaft of the second stepper motor 36, the other end is successively through first knuckle 33 and second knuckle 34, and be fixed on one end that third knuckle 35 is not connected with second knuckle 34, the turning cylinder be rotatably connected between first knuckle 34 and second knuckle 35 and the turning cylinder be rotatably connected between second knuckle 35 and third knuckle 36 are parallel to each other.Like this, by the rotation of the second stepper motor 36, second stay cord 31 is wound in the rotating shaft of the second stepper motor 36, and then pull each joint of thumb 30 to carry out flexure operation, same, when the second stepper motor 36 reverses, the second stay cord 31 is released, dactylus 44 far away by pulling force, does not return to nature.Meanwhile, the first servomotor 32 can drive thumb 30 to rotate on metacarpus 20, thus makes thumb 30 can realize more action.
Put people's manipulator closer to staff to allow, the present embodiment is provided with rubber case on third knuckle 35 and/or dactylus 44 far away, the similar skin with human body of rubber case role.
The Apery manipulator of the present embodiment also comprises control system, and control system controls the work schedule of the first servomotor 32, second servomotor 11, first stepper motor 45 and the second stepper motor 36.
By reference to the accompanying drawings detailed description is done to the utility model above; but embodiment of the present utility model is not limited in above-mentioned embodiment; those skilled in the art can make various distortion to the utility model according to prior art; as all arranged rubber case etc. on all dactylus, these all belong to protection domain of the present utility model.
Claims (4)
1. an Apery manipulator, comprises arm and is arranged on the metacarpus on described arm, and be arranged on thumb, forefinger, middle finger, the third finger and the little finger of toe on described metacarpus, it is characterized in that,
Described forefinger, described middle finger, the described third finger is arranged in order with described little finger of toe and structure is identical, all comprise the first stay cord, be fixed on the nearly dactylus on described metacarpus, the middle finger joint be rotatably connected on described nearly dactylus, be rotatably connected the dactylus far away on described middle finger joint and be arranged on the first stepper motor of described metacarpus inside, described first stay cord one end is fixed in the rotating shaft of described first stepper motor, and can reel in the rotating shaft of described first stepper motor, the other end is successively through described nearly dactylus and described middle finger joint, and be fixed on one end that described dactylus far away is not connected with described middle finger joint, turning cylinder between described dactylus far away and described middle finger joint and the turning cylinder between described middle finger joint and described nearly dactylus are parallel to each other,
Described thumb comprises the second stay cord, be fixed on the first servomotor of described metacarpus, be arranged on the first knuckle in described first servomotor rotating shaft, the second knuckle be rotatably connected on described first knuckle, be rotatably connected the third knuckle on described second knuckle and be arranged on the second stepper motor of described metacarpus inside, described second stay cord one end is fixed in the rotating shaft of described second stepper motor, and can reel in the rotating shaft of described second stepper motor, the other end is successively through described first knuckle and described second knuckle, and be fixed on one end that described third knuckle is not connected with described second knuckle, turning cylinder between described first knuckle and described second knuckle and the turning cylinder between described second knuckle and described third knuckle are parallel to each other,
Also comprise control system, described control system controls the work schedule of described first servomotor, described first stepper motor and described second stepper motor.
2. Apery manipulator as claimed in claim 1, it is characterized in that, described arm is provided with the second servomotor, described metacarpus is arranged in the rotating shaft of described second servomotor.
3. Apery manipulator as claimed in claim 1 or 2, is characterized in that, described third knuckle and/or described dactylus far away are provided with rubber case.
4. Apery manipulator as claimed in claim 1 or 2, it is characterized in that, described stay cord is nylon rope or spring rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420557934.0U CN204160479U (en) | 2014-09-26 | 2014-09-26 | A kind of Apery manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420557934.0U CN204160479U (en) | 2014-09-26 | 2014-09-26 | A kind of Apery manipulator |
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| Publication Number | Publication Date |
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| CN204160479U true CN204160479U (en) | 2015-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420557934.0U Active CN204160479U (en) | 2014-09-26 | 2014-09-26 | A kind of Apery manipulator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214418A (en) * | 2016-07-01 | 2016-12-14 | 山东大学 | A kind of flexible wearable ectoskeleton drive lacking is all referring to training rehabilitation mechanical hand |
| CN106826902A (en) * | 2017-02-27 | 2017-06-13 | 中国石油大学(华东) | Bionic flexible manipulator |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN107901066A (en) * | 2017-12-29 | 2018-04-13 | 北京钢铁侠科技有限公司 | A kind of bionic hand |
| CN107953355A (en) * | 2017-12-29 | 2018-04-24 | 北京钢铁侠科技有限公司 | A kind of bionic finger |
| WO2019140929A1 (en) * | 2018-01-18 | 2019-07-25 | 南京阿凡达机器人科技有限公司 | Humanoid manipulator |
-
2014
- 2014-09-26 CN CN201420557934.0U patent/CN204160479U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214418A (en) * | 2016-07-01 | 2016-12-14 | 山东大学 | A kind of flexible wearable ectoskeleton drive lacking is all referring to training rehabilitation mechanical hand |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN106826902A (en) * | 2017-02-27 | 2017-06-13 | 中国石油大学(华东) | Bionic flexible manipulator |
| CN107901066A (en) * | 2017-12-29 | 2018-04-13 | 北京钢铁侠科技有限公司 | A kind of bionic hand |
| CN107953355A (en) * | 2017-12-29 | 2018-04-24 | 北京钢铁侠科技有限公司 | A kind of bionic finger |
| CN107953355B (en) * | 2017-12-29 | 2023-12-08 | 北京钢铁侠科技有限公司 | Bionic finger |
| CN107901066B (en) * | 2017-12-29 | 2023-12-08 | 北京钢铁侠科技有限公司 | Bionic hand |
| WO2019140929A1 (en) * | 2018-01-18 | 2019-07-25 | 南京阿凡达机器人科技有限公司 | Humanoid manipulator |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |