CN204566136U - Novel bionic hand finger controlled system with self-regulation - Google Patents
Novel bionic hand finger controlled system with self-regulation Download PDFInfo
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- CN204566136U CN204566136U CN201520266575.8U CN201520266575U CN204566136U CN 204566136 U CN204566136 U CN 204566136U CN 201520266575 U CN201520266575 U CN 201520266575U CN 204566136 U CN204566136 U CN 204566136U
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- digitorum manus
- articulations digitorum
- range sensor
- finger
- articulations
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Abstract
The utility model discloses a kind of Novel bionic hand finger controlled system with self-regulation, it control structure possessing very high flexibility ratio and can control in real time.The utility model comprises finger unit, and finger unit root is arranged on palm, also comprises Control Component; Described finger unit comprises the first articulations digitorum manus be hinged and connected successively from front to back, the second articulations digitorum manus, the 3rd articulations digitorum manus and the 4th articulations digitorum manus; First articulations digitorum manus and the second articulations digitorum manus adopt underactuatuated drive transmission, the second articulations digitorum manus and the 3rd articulations digitorum manus, are driven by independently motor between the 3rd articulations digitorum manus and the 4th articulations digitorum manus; 4th articulations digitorum manus root is also driven by motor, drives whole finger to rotate to side; Described Control Component comprises the angular transducer be connected with motor by gear, be arranged on the range sensor on palm, be arranged on pressure sensor on the first articulations digitorum manus and the second articulations digitorum manus and with described angular transducer, the controller of range sensor and pressure sensor control connection.
Description
Technical field
The utility model relates to a kind of Apery manipulator finger structure, particularly relates to the control structure that finger regulates.
Background technology
In prior art, the single nylon rope that is driven through of the many employings of current bionic hand controls finger rotation, and each finger-joint can not independently rotate separately, causes bionic hand sensitivity decrease.Dynamics during snatch thing can not be controlled in addition in real time; Concrete existing machinery hand finger adopts multiple articulations digitorum manus, and multiple articulations digitorum manus generally makes a motor drive plural articulations digitorum manus to move by the mode of interlock, and this structure is the form of front driving structure; The all joints pointed due to every root can only synchronous axial system, and single joint can not be rotated separately.
Utility model content
For above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of Novel bionic hand finger controlled system with self-regulation, it control structure possessing very high flexibility ratio and can control in real time.
In order to achieve the above object, the utility model is achieved by the following technical solutions.
A kind of Novel bionic hand finger controlled system with self-regulation, comprise finger unit, finger unit root is arranged on palm, also comprises Control Component; Described finger unit comprises the first articulations digitorum manus be hinged and connected successively from front to back, the second articulations digitorum manus, the 3rd articulations digitorum manus and the 4th articulations digitorum manus; First articulations digitorum manus and the second articulations digitorum manus adopt underactuatuated drive transmission, the second articulations digitorum manus and the 3rd articulations digitorum manus, are driven by independently motor between the 3rd articulations digitorum manus and the 4th articulations digitorum manus; 4th articulations digitorum manus root is also driven by motor, drives whole finger to rotate to side;
Described Control Component comprises the angular transducer be connected with motor by gear, be arranged on the range sensor on palm, be arranged on pressure sensor on the first articulations digitorum manus and the second articulations digitorum manus and with described angular transducer, the controller of range sensor and pressure sensor control connection.
As a kind of preferred embodiment of the present utility model, described each articulations digitorum manus all comprises the rotating shaft completing flexure operation after this articulations digitorum manus of driving rotates, and the roller end of the first articulations digitorum manus and the second articulations digitorum manus is set with nylon wire simultaneously; Also include the bending electric machine carrying out rotating respectively of driving second articulations digitorum manus and the 3rd articulations digitorum manus; The root of described 4th articulations digitorum manus is provided with the overall side rotating motor rotated to side of driving four articulations digitorum manus.
As a kind of preferred embodiment of the present utility model, described finger unit is five; Angular transducer comprises potentiometer, Hall element and grating sensor; Described range sensor comprises induction type range sensor, capacitance-type range sensor, ultrasonic type range sensor, photoelectric type range sensor and magnet type range sensor; Described controller is MCU.
The utility model has the following advantages compared to existing technology:
1, the utility model finger unit comprises the first articulations digitorum manus be hinged and connected successively from front to back on the whole, the second articulations digitorum manus, the 3rd articulations digitorum manus and the 4th articulations digitorum manus; The structure of four articulations digitorum manus can ensure its motion process more close to human finger structure, can realize higher degree of flexibility; First articulations digitorum manus of the present utility model and the second articulations digitorum manus adopt underactuatuated drive transmission, the second articulations digitorum manus and the 3rd articulations digitorum manus, have independently motor to drive between the 3rd articulations digitorum manus and the 4th articulations digitorum manus; 4th articulations digitorum manus root also has motor to drive, and ensures that whole finger can rotate to side; Specific according to finger-joint of above-mentioned motor, considerably increase the second articulations digitorum manus, 3rd articulations digitorum manus compares the flexibility of conventional ADS driving form with the 4th articulations digitorum manus, in 4 joints that whole can both be driven separately to point 3 joints have its independently motor drive, finger flexibility ratio and finger flexibility ratio very close;
2, in finger unit of the present utility model, joint 1,2 adopts nylon rope control connection, and there are independently motor and corresponding sensor in joint 2,3,4; In joint 1,2, there is pressure sensor at place, Real-Time Monitoring finger pressure; Whether the sensor on palm can detect has object near bionic hand, to make corresponding action; Bionic hand finger-joint 1,2 adopts nylon rope control connection, and when joint 2 is rotated, joint 1 is and then rotated, and joint 2,3,4 is adopted individual motor and is connected with angular transducer by gear, can return finger-joint institute gyration by Real-Time Monitoring; Single-chip microcomputer (controller) adopts the data of returning by monitoring pressure sensor institute's return data and 15 tunnels (five finger units) control port and corresponding data compares, regulate electric machine rotation by control algolithm, make corresponding action to make bionic hand; Whether the range sensor on the utility model palm can detect has object close, and when an object is put in bionic hand palm, bionic hand can control the motion pointed automatically, holds object; The utility model can also design a set of optimal control algorithm in the specific implementation, to control priority during automatic finger motion;
In a word, the utility model finger-joint can independently moving; The concrete angle of turning round and stretching out the hand and referring to rotate can be adopted, improve dexterity and the degree of accuracy of bionic hand; Pressure can be detected when capturing object effectively to control motor institute gyration, with prevent bionic hand firmly excessive damage product or firmly too small snatch less than article; The utility model when object near time, bionic hand can hold object, and according to return from pressure sensor come data automatically control point motion.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further details.
Fig. 1 is the structural representation of a kind of detailed description of the invention of the present utility model;
Fig. 2 is bionic hand overall structure schematic diagram of the present utility model;
Fig. 3 is control principle schematic diagram of the present utility model.
Description of reference numerals:
1-first articulations digitorum manus, 2-second articulations digitorum manus, 3-the 3rd articulations digitorum manus, 4-the 4th articulations digitorum manus, 5-potentiometer, 6-bending electric machine, 7-side rotating motor, 8-nylon wire, 9-pressure sensor, 10-range sensor.
Detailed description of the invention
The utility model is described using a kind of concrete structure as embodiment.
As shown in Figures 1 to 3, a kind of Novel bionic hand finger of the utility model controlled system with self-regulation, comprise finger unit, finger unit root is arranged on palm, also comprises Control Component; Described finger unit comprises the first articulations digitorum manus 1, second articulations digitorum manus the 2, three articulations digitorum manus 3 and the 4th articulations digitorum manus 4 be hinged and connected successively from front to back; First articulations digitorum manus and the second articulations digitorum manus adopt underactuatuated drive transmission, the second articulations digitorum manus and the 3rd articulations digitorum manus, are driven by independently motor between the 3rd articulations digitorum manus and the 4th articulations digitorum manus; 4th articulations digitorum manus root is also driven by motor, drives whole finger to rotate to side;
Described Control Component comprises the angular transducer be connected with motor by gear, be arranged on the range sensor 10 on palm, be arranged on pressure sensor 9 on the first articulations digitorum manus and the second articulations digitorum manus and with described angular transducer, the controller of range sensor and pressure sensor control connection.
Preferably, as shown in the figure, each articulations digitorum manus all comprises the rotating shaft completing flexure operation after this articulations digitorum manus of driving rotates, and the roller end of the first articulations digitorum manus and the second articulations digitorum manus is set with nylon wire 8 simultaneously; Also include the bending electric machine 6 carrying out rotating respectively of driving second articulations digitorum manus and the 3rd articulations digitorum manus; The root of described 4th articulations digitorum manus is provided with the overall side rotating motor 7 rotated to side of driving four articulations digitorum manus.
Preferably, as shown in the figure, described finger unit is five; Angular transducer comprises potentiometer, Hall element and grating sensor; Described range sensor comprises induction type range sensor, capacitance-type range sensor, ultrasonic type range sensor, photoelectric type range sensor and magnet type range sensor; Described controller is MCU.
In the utility model, underactuatuated drive refers to that two joints only adopt a motor to drive the structure that two joints just can be made to move, and common version is realized by two nylon ropes intersected.
By reference to the accompanying drawings the utility model preferred embodiment is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from the utility model aim;
Those of ordinary skill in the art do not depart from design of the present utility model and scope can make other changes many and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.
Claims (3)
1. a Novel bionic hand finger controlled system with self-regulation, is characterized in that: comprise finger unit, finger unit root is arranged on palm, also comprises Control Component; Described finger unit comprises the first articulations digitorum manus be hinged and connected successively from front to back, the second articulations digitorum manus, the 3rd articulations digitorum manus and the 4th articulations digitorum manus; First articulations digitorum manus and the second articulations digitorum manus adopt underactuatuated drive transmission, the second articulations digitorum manus and the 3rd articulations digitorum manus, are driven by independently motor between the 3rd articulations digitorum manus and the 4th articulations digitorum manus; 4th articulations digitorum manus root is also driven by motor, drives whole finger to rotate to side;
Described Control Component comprises the angular transducer be connected with motor by gear, be arranged on the range sensor on palm, be arranged on pressure sensor on the first articulations digitorum manus and the second articulations digitorum manus and with described angular transducer, the controller of range sensor and pressure sensor control connection.
2. a kind of Novel bionic hand finger controlled system with self-regulation as claimed in claim 1, it is characterized in that: each articulations digitorum manus all comprises the rotating shaft completing flexure operation after this articulations digitorum manus of driving rotates, and the roller end of the first articulations digitorum manus and the second articulations digitorum manus is set with nylon wire simultaneously; Also include the bending electric machine carrying out rotating respectively of driving second articulations digitorum manus and the 3rd articulations digitorum manus; The root of described 4th articulations digitorum manus is provided with the overall side rotating motor rotated to side of driving four articulations digitorum manus.
3. a kind of Novel bionic hand finger controlled system with self-regulation as claimed in claim 1, is characterized in that: described finger unit is five; Angular transducer comprises potentiometer, Hall element and grating sensor; Described range sensor comprises induction type range sensor, capacitance-type range sensor, ultrasonic type range sensor, photoelectric type range sensor and magnet type range sensor; Described controller is MCU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520266575.8U CN204566136U (en) | 2015-04-28 | 2015-04-28 | Novel bionic hand finger controlled system with self-regulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520266575.8U CN204566136U (en) | 2015-04-28 | 2015-04-28 | Novel bionic hand finger controlled system with self-regulation |
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| Publication Number | Publication Date |
|---|---|
| CN204566136U true CN204566136U (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520266575.8U Expired - Fee Related CN204566136U (en) | 2015-04-28 | 2015-04-28 | Novel bionic hand finger controlled system with self-regulation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363655A (en) * | 2016-11-28 | 2017-02-01 | 成都炬石科技有限公司 | Bionic mechanical arm and bionic robot |
| CN107139192A (en) * | 2017-06-16 | 2017-09-08 | 北京理工大学 | A kind of tactile and slip sense Sensor Network for five-needle pines blister rust self-adapting grasping |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
| CN108098825A (en) * | 2018-02-08 | 2018-06-01 | 西北农林科技大学 | A kind of nine-degree of freedom picking mechanical arm |
| WO2019140929A1 (en) * | 2018-01-18 | 2019-07-25 | 南京阿凡达机器人科技有限公司 | Humanoid manipulator |
| CN110900639A (en) * | 2019-12-27 | 2020-03-24 | 米召礼 | Control device of bionic hand |
| CN113675780A (en) * | 2021-08-17 | 2021-11-19 | 国网河北省电力有限公司邢台供电分公司 | Hand-shaped key device and power distribution live working system |
-
2015
- 2015-04-28 CN CN201520266575.8U patent/CN204566136U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363655A (en) * | 2016-11-28 | 2017-02-01 | 成都炬石科技有限公司 | Bionic mechanical arm and bionic robot |
| CN107139192A (en) * | 2017-06-16 | 2017-09-08 | 北京理工大学 | A kind of tactile and slip sense Sensor Network for five-needle pines blister rust self-adapting grasping |
| WO2019140929A1 (en) * | 2018-01-18 | 2019-07-25 | 南京阿凡达机器人科技有限公司 | Humanoid manipulator |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
| CN108098825A (en) * | 2018-02-08 | 2018-06-01 | 西北农林科技大学 | A kind of nine-degree of freedom picking mechanical arm |
| CN110900639A (en) * | 2019-12-27 | 2020-03-24 | 米召礼 | Control device of bionic hand |
| CN113675780A (en) * | 2021-08-17 | 2021-11-19 | 国网河北省电力有限公司邢台供电分公司 | Hand-shaped key device and power distribution live working system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20180428 |
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| CF01 | Termination of patent right due to non-payment of annual fee |