CN205415678U - Bionical three indicate manipulator - Google Patents
Bionical three indicate manipulator Download PDFInfo
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- CN205415678U CN205415678U CN201620108398.5U CN201620108398U CN205415678U CN 205415678 U CN205415678 U CN 205415678U CN 201620108398 U CN201620108398 U CN 201620108398U CN 205415678 U CN205415678 U CN 205415678U
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- 238000010168 coupling process Methods 0.000 claims description 9
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- 230000009467 reduction Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract 1
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- 230000000694 effects Effects 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 210000004905 finger nail Anatomy 0.000 description 2
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Abstract
The utility model provides a bionical three indicate manipulator, in indicate the root, indicating, the three joint of fingertip forms the finger, the finger is provided with three, the fingertip through first pivot with indicate in articulated, in indicating through the second pivot with indicate that the root is articulated, finger drive arrangement through driven pushing rod actuating mechanism make indicate in and the fingertip link, still include for the cylindrical skeleton of installation finger is used for the control finger to carry out rotatory palm controlling means at the horizontal direction, install and indicating the palm between root and the cylindrical skeleton. This patent adopts finger drive arrangement, palm controlling means's novel kind of drive, realizes the low -cost demand for control of designing and completing the high accuracy with the production domesticization motor, the utility model discloses a during fingertip control is realized indicating by parallelogram pusher mechanism, the fixed proportion of fingertip sways, transmission efficiency is high in this design, transmission precision is high, the driving error because of the production of skidding can not appear.
Description
Technical field
This utility model relates to bionic machine hands technical field, especially relates to a kind of bionical three and refers to mechanical hand.
Background technology
Robot develops rapidly, have become as one of core technology of industry 4.0, mechanical hand is robot and one of extraneous Main Means interacting and operating, and plays irreplaceable effect, and the Dextrous Hand particularly as the hands of the mankind with versatility and motility is extremely the most urgent.
Currently, the research in terms of mechanical hand put forth effort on by a lot of documents, has the special manipulator for particular problem, also has 5 finger mechanical hands of apery hands；Such as: the bh series hands of Beijing Institute of Aeronautics, the th series hands of Tsing-Hua University.But the former is the specificity mechanical hand designed for concrete operations object, cannot use after departing from objectives, it is impossible to serve as the parts that the such a height of robot is bionical；The latter's performance can not meet the actual demands such as general, dexterous.Certainly, some researchs are had to put forth effort on the research of bionic mechanical hand, the most external barretthand mechanical hand.But the problems such as this mechanical hand exists, and structure is complicated, motility is low, poor universality, dynamics control ability, especially require problem higher, have higher restriction to service life to the wearability of processing technique, material.
Utility model content
The purpose of this utility model is the defect in order to overcome prior art, profile based on barrettband mechanical hand, in order to solve the problems such as low, poor universality, the dynamics control ability of robot motility, proposes a kind of bionical three finger-types and closes mechanical hands.
For reaching above-mentioned purpose, the technical solution of the utility model is achieved in that
The bionical three finger mechanical hands that this utility model provides, including:
Finger, including in referring to root, referring to, finger tip, push rod drive mechanism and finger actuation device, described finger tip is hinged with finger by the first rotating shaft, in described finger by the second rotating shaft with refer to that root is hinged, described push rod drive mechanism include driven gear that the passive swing arm being connected with described first rotating shaft being arranged on finger tip, engaging with described driving structure of being arranged in the second rotating shaft be connected, be arranged in finger engage the active swing arm that is connected and two connecting rods being connected respectively with passive swing arm and active swing arm with described driven gear；Finger actuation device is arranged on inside finger root, and finger actuation device is by driving driven gear to rotate and then ordering about the linkage referring to neutralize finger tip；
Cylindrical framework, is used for installing described finger；
Palm controls device, is installed in described cylindrical framework, and described palm controls device and is connected with described finger root；Described palm control device is used for controlling described finger and rotates in the horizontal direction；
Palm, is arranged between finger root and cylindrical framework.
Further, described finger actuation device includes motor, torque guard, clutch, train of reduction gears, leading screw, slide block and for engaging, with driven gear, the active tooth bar that is connected；Described motor passes sequentially through clutch, train of reduction gears drives leading screw to rotate, and described slide block is arranged on leading screw, and described active tooth bar is arranged on slide block.
Further, described palm is rectangular housing.
Further, at described palm center location, the high-definition camera for shooting image is installed.
Further, it is separately provided for anticipation at one group of diagonal angle of described palm and captures target or the depth transducer of environment depth information.
Further, described finger tip surface is provided with touch sensor.
Further, described finger includes a fixed finger being arranged on cylindrical framework and is separately mounted in cylindrical framework and controls, with palm, two movable fingers that device is connected.
Further, described palm control device include chassis and be arranged on the worm screw in described chassis, the first gear that worm gear engage with worm gear and pass through the second gear that gear train engages with worm gear；Described worm drive worm gear rotates, and the first gear described in described worm-gear driven and the second gear rotate.
Further, described first gear and the second gear are connected with movable hand fingering row axle respectively.
Further, also include that the screw thread coupling for being connected with outside robotic arm, described screw thread coupling are installed on bottom described cylindrical framework.
Relative to prior art, this utility model has the advantage that
1, use finger actuation device, palm to control the novel transmission mode of device, realize low-cost design with production domesticization motor and complete high-precision demand for control；
2, during finger tip of the present utility model controls to be realized referring to by parallelogram push rod drive mechanism, the fixed proportion of finger tip wave, this design transmission efficiency is high, and transmission accuracy is high, does not haves because of the driving error produced of skidding；
3, this utility model uses gear drive, lead screw transmission, rack-and-pinion combination to realize power-off protection function and mechanical hand cost is reduced further, and efficiency promotes further.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model detailed description of the invention or technical scheme of the prior art, the accompanying drawing used required in detailed description of the invention or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model；
The structural representation of the finger that Fig. 2 provides for this utility model；
Fig. 3 controls the structural representation of device for the palm that this utility model provides；
Wherein: 1, finger, 2, cylindrical framework, 3, palm controls device；4, palm；5, the first rotating shaft, the 6, second rotating shaft, 7, high-definition camera; 8, depth transducer, 9, touch sensor, 10, screw thread coupling; 11, root is referred to, 12, refer to, 13, finger tip; 14, push rod drive mechanism, 15, finger actuation device, 31, chassis; 32, worm screw, 33, worm gear, the 34, first gear; 35, the second gear, 141, passive swing arm, 142, driven gear; 143, actively swing arm; 144, connecting rod, 151, motor, 152, torque guard; 153, clutch; 154, train of reduction gears, 155, leading screw, 156, slide block.
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely described, it is clear that described embodiment is a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
In description of the present utility model, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be for only for ease of description this utility model and simplifying and describe; rather than instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
Refer to Fig. 1-Fig. 3, the bionical three finger mechanical hands that this utility model provides, including: finger 1, cylindrical framework 2, palm control device 3 and palm 4；
Described finger 1 is provided with three fingers with three joints, including a fixed finger being arranged in cylindrical framework 2 and be separately mounted in cylindrical framework 2 and control two movable fingers being flexibly connected of device 3 with palm, described two movable fingers can rotate under palm controls device 3 driving；Described palm 4 is arranged between finger root 11 and cylindrical framework 2.
Refer to Fig. 2, the finger 1 of the present embodiment includes referring to root 11, refer in 12, finger tip 13, push rod drive mechanism 14 and finger actuation device 15.
During described finger tip 13 passes through the first rotating shaft 5 and refers to, 12 is hinged, and in described finger, 12 by the second rotating shaft 6 and refer to that root 11 is hinged, and described push rod drive mechanism 14 includes passive swing arm 141, driven gear 142, actively swing arm 143 and two connecting rods 144；
Described passive swing arm 141 is arranged on finger tip 13, and passive swing arm 141 is connected with the first rotating shaft 5；
Described driven gear 142 is arranged in the second rotating shaft 6, and driven gear 142 is connected with finger actuation device 15 engagement；
Described active swing arm 143 is arranged in finger on 12, and actively swing arm 143 is connected with the engagement of described driven gear 142；
Described two connecting rods 144 are connected with passive swing arm 141 and active swing arm 143 respectively；Preferably, two connecting rods 144 are separately positioned on passive swing arm 141 and actively swing arm 143 left and right sides, the formation parallel-crank mechanism realization oscillating motion to finger tip 13 joint stable drive ratio；
It is internal that described finger actuation device 15 is arranged on finger root 11, and finger actuation device 15 includes motor 151, torque guard 152, clutch 153, train of reduction gears 154, leading screw 155, slide block 156 and for engaging, with driven gear 142, the active tooth bar being connected；Described motor 151 uses servomotor; servomotor 151 passes sequentially through torque guard 152, clutch 153, train of reduction gears 154 drive leading screw 155 to rotate; clutch 153 is used between servomotor 151 and train of reduction gears 154; during to ensure finger grips and pressure transducer not yet action, motor 151 will not stall.Described slide block 156 is arranged on leading screw 155, slide block 156 is moving horizontally in the drive of leading screw 155, described active tooth bar is arranged on slide block 156, actively tooth bar is connected with driven gear 142 engagement being arranged in finger on 12, horizontal movement is transformed into the rotational oscillating motion of 12 in finger by driven gear 142 by this tooth bar, and in described finger, 12 drive finger tip 13 to link by connecting rod 144；Realize the grasping movement of finger.
In the present embodiment, in referring to 12, the motion of finger tip 13 be to be completed by same motor 151, therefore finger transmission belongs to underactuated control.Due to the effect of torque guard 152, finger will not damage object or motor 151 because of continuing to run with.Meanwhile, after torque guard 152 starts, due to system self-locking, mechanical hand also will not return because of the retractable handle thrum of object, it is achieved thereby that Shape closed grabs the function of steady object.
In this enforcement, in realizing referring to 12 and the different motion in finger tip 13 the two joint, then there is mechanical couplings between 12 and finger tip 13 the two joint in needing to refer to.This is coupled as angle coupling, is the relatively fixed part of 12 in finger and refers to when root 11 rotates 140 degree, and end joint finger tip 13 rotates 45 degree, and angle ratio is 28/9, about 3.1 times.
As a preferred embodiment, also including fingernail in the present embodiment, described fingernail is separately mounted on the finger tip of three fingers.
The palm of the present embodiment controls device 3 and is installed in described cylindrical framework 2, and described palm controls device 3 and is connected with the finger root of described two movable fingers；Described palm control device 3 is used for controlling described two movable fingers and rotates in the horizontal direction.
Refer to Fig. 3；Concrete, described palm control device 3 include chassis 31 and be arranged on the worm screw 32 in described chassis 31, the first gear 34 that worm gear 33 engage with worm gear 33 and pass through the second gear 35 that gear train engages with worm gear 33；Described worm screw 32 drives worm gear 33 to rotate, and described worm gear 33 drives described first gear 34 and the second gear 35 to rotate, and described first gear 34 and the second gear 35 are connected with movable hand fingering row axle respectively.The carrying out of described first gear 34 and the second gear 35 drive activity finger respectively swings, and is the change of the putting position of three fingers, it is achieved different target captures the transformation of strategy on apparent.
As a preferred embodiment; described palm 4 is set to rectangular housing, and those skilled in the art all know, this palm 4 is not limited to rectangle; other shapes such as can also be provided in round, oval, trapezoidal according to practical situations, ought to be within the protection domain of this patent.
As a preferred embodiment, described the high-definition camera 7 for shooting image is installed in palm 4 center；High-definition camera 7 can strengthen the crawl function of finger, utilizes it to realize complexity and captures strategy, designs Multi-information acquisition based on image information and capture strategy；
As a preferred embodiment, it is separately provided for anticipation at one group of diagonal angle of described palm 4 and captures target or the depth transducer 8 of environment depth information.Described depth transducer 8 can capture target or the depth information of environment with anticipation, combines with image information, it is possible to achieve target is relative to the space coordinates of machinery palm 4.
As a preferred embodiment, described finger tip 13 surface is provided with touch sensor 9.When described touch sensor 9 can gather crawl object, finger makes size firmly, to realize the crawl to fragility object, embodies the compliance of Dextrous Hand.
High-definition camera 7, depth transducer 8 and the touch sensor 9 mentioned in the present embodiment, the combination of this three makes mechanical hand the most exquisite, can preferably control and design crawl strategy.
As a preferred embodiment, also include that the screw thread coupling 10 for being connected with outside robotic arm, described screw thread coupling 10 are installed on bottom described cylindrical framework 2.
As a preferred embodiment, in order to preferably seal, preventing the portion inside and outside to mechanical hand such as corrosive liquids, dust to constitute damage, the heating element of the electric part being integrated in inside uses mechanical hand shell to dispel the heat.
Relative to prior art, this utility model has the advantage that
1, use finger actuation device, palm to control the novel transmission mode of device, realize low-cost design with production domesticization motor and complete high-precision demand for control；
2, during finger tip of the present utility model controls to be realized referring to by parallelogram push rod drive mechanism, the fixed proportion of finger tip wave, this design transmission efficiency is high, and transmission accuracy is high, does not haves because of the driving error produced of skidding；
3, utilizing Worm Wheel System to realize this function in barretthand mechanical hand, but worm and gear 32 mechanical efficiency is low, particularly possess the worm and gear of self-locking, forward mechanical efficiency η is less than 50%；The hand of helix sliding speed of the worm-drive flank of tooth is very big, the most easily causes abrasion and heating, conventional valuable high-abrasive material (such as bell metal) to make worm gear, but also to have good lubrication and radiating condition；The lead angle of worm screw is little, therefore its helical angle is big, and therefore suffered axial force is big, therefore its bearing arrangement is the most complicated；This utility model uses gear drive, lead screw transmission, rack-and-pinion combination to realize power-off protection function and avoid above problems.Dextrous Hand cost is forced down further, and efficiency promotes further.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be detachably connected, or be integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in this utility model can be understood with concrete condition.
Last it is noted that various embodiments above is only in order to illustrate the technical solution of the utility model, it is not intended to limit；Although this utility model being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of this utility model each embodiment technical scheme.
Claims (10)
1. one kind bionical three refers to mechanical hand, it is characterised in that including:
Finger, including in referring to root, referring to, finger tip, push rod drive mechanism and finger actuation device；Described finger tip is hinged with finger by the first rotating shaft, in described finger by the second rotating shaft with refer to that root is hinged, described push rod drive mechanism include driven gear that the passive swing arm being connected with described first rotating shaft being arranged on finger tip, engaging with described driving structure of being arranged in the second rotating shaft be connected, be arranged in finger engage the active swing arm that is connected and two connecting rods being connected respectively with passive swing arm and active swing arm with described driven gear；Described finger actuation device is arranged on inside finger root, and finger actuation device is by driving driven gear to rotate and then ordering about the linkage referring to neutralize finger tip；
Cylindrical framework, is used for installing described finger；
Palm controls device, is installed in described cylindrical framework, and described palm controls device and is connected with described finger root；Described palm control device is used for controlling described finger and rotates in the horizontal direction；
Palm, is arranged between finger root and cylindrical framework.
The most according to claim 1 bionical three refer to mechanical hands, it is characterised in that described finger actuation device includes motor, torque guard, clutch, train of reduction gears, leading screw, slide block and for engaging, with driven gear, the active tooth bar that is connected；Described motor passes sequentially through torque guard, clutch, train of reduction gears driving leading screw rotation, and described slide block is arranged on leading screw, and described active tooth bar is arranged on slide block.
The most according to claim 2 bionical three refer to mechanical hand, it is characterised in that described palm is rectangular housing.
The most according to claim 3 bionical three refer to mechanical hand, it is characterised in that be provided with the high-definition camera for shooting image at described palm center location.
The most according to claim 4 bionical three refer to mechanical hand, it is characterised in that be separately provided for anticipation at one group of diagonal angle of described palm and capture target or the depth transducer of environment depth information.
The most according to claim 5 bionical three refer to mechanical hand, it is characterised in that described finger tip surface is provided with touch sensor.
The most according to claim 6 bionical three refer to mechanical hand, it is characterised in that described finger includes a fixed finger being arranged on cylindrical framework and is separately mounted in cylindrical framework and controls, with palm, two movable fingers that device is connected.
The most according to claim 7 bionical three refer to mechanical hands, it is characterised in that described palm control device include chassis and be arranged on the worm screw in described chassis, the first gear that worm gear engage with worm gear and pass through the second gear that gear train engages with worm gear；Described worm drive worm gear rotates, and the first gear described in described worm-gear driven and the second gear rotate.
The most according to claim 8 bionical three refer to mechanical hand, it is characterised in that described first gear and the second gear are connected with movable hand fingering row axle respectively.
10. refer to mechanical hand according to bionical three described in any one of claim 1-9, it is characterised in that also include that the screw thread coupling for being connected with outside robotic arm, described screw thread coupling are installed on bottom described cylindrical framework.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620108398.5U CN205415678U (en) | 2016-02-03 | 2016-02-03 | Bionical three indicate manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620108398.5U CN205415678U (en) | 2016-02-03 | 2016-02-03 | Bionical three indicate manipulator |
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| CN205415678U true CN205415678U (en) | 2016-08-03 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522587A (en) * | 2016-02-03 | 2016-04-27 | 中国科学院自动化研究所 | Bionic three-finger manipulator |
| WO2018076303A1 (en) * | 2016-10-28 | 2018-05-03 | 深圳蓝胖子机器人有限公司 | Robotic arm and robot |
| CN109692061A (en) * | 2019-01-07 | 2019-04-30 | 北京理工大学 | A kind of Gear Planet Transmission type prosthetic hand |
| CN110451150A (en) * | 2019-08-28 | 2019-11-15 | 成都侠客颂科技有限公司 | It a kind of automated storage and retrieval system and its gets in stocks and picking working method |
| CN110802622A (en) * | 2019-11-15 | 2020-02-18 | 北京邮电大学 | Paw capable of operating in hand |
-
2016
- 2016-02-03 CN CN201620108398.5U patent/CN205415678U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522587A (en) * | 2016-02-03 | 2016-04-27 | 中国科学院自动化研究所 | Bionic three-finger manipulator |
| CN105522587B (en) * | 2016-02-03 | 2017-06-13 | 中国科学院自动化研究所 | Bionical three refer to manipulator |
| WO2018076303A1 (en) * | 2016-10-28 | 2018-05-03 | 深圳蓝胖子机器人有限公司 | Robotic arm and robot |
| CN108602192A (en) * | 2016-10-28 | 2018-09-28 | 深圳蓝胖子机器人有限公司 | Manipulator and robot |
| CN108602192B (en) * | 2016-10-28 | 2020-02-04 | 深圳蓝胖子机器人有限公司 | Manipulator and robot |
| CN109692061A (en) * | 2019-01-07 | 2019-04-30 | 北京理工大学 | A kind of Gear Planet Transmission type prosthetic hand |
| CN109692061B (en) * | 2019-01-07 | 2024-02-06 | 北京理工大学 | Planetary transmission type artificial limb hand |
| CN110451150A (en) * | 2019-08-28 | 2019-11-15 | 成都侠客颂科技有限公司 | It a kind of automated storage and retrieval system and its gets in stocks and picking working method |
| CN110802622A (en) * | 2019-11-15 | 2020-02-18 | 北京邮电大学 | Paw capable of operating in hand |
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