CN206855476U - A kind of flexible three-finger configuration manipulator - Google Patents
A kind of flexible three-finger configuration manipulator Download PDFInfo
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- CN206855476U CN206855476U CN201720756502.6U CN201720756502U CN206855476U CN 206855476 U CN206855476 U CN 206855476U CN 201720756502 U CN201720756502 U CN 201720756502U CN 206855476 U CN206855476 U CN 206855476U
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Abstract
The technical field of robotic gripping device, more particularly to a kind of flexible three-finger configuration manipulator are the utility model is related to, including three fingers and finger base, finger base are detachably arranged on palm shell, and drive device is provided with palm shell；Finger includes nearly finger joint, flexible finger joint and remote finger joint, and nearly finger joint is movably connected in finger base；Drive device includes steering wheel, pulley and bracing wire, and one end of bracing wire is fixed on pulley, and servos control pulley rotates forward or reversion；The other end of bracing wire passes palm shell and is flexibly connected nearly finger joint and remote finger joint successively；Finger realizes holding with a firm grip and opening for finger by one-to-one drive device, is provided with communication interface connection control device on palm shell, and communication interface is provided with power interface, power interface connection external power supply by connection steering wheel on palm shell.Realize the flexible crawl for grasping, completing complexity；Grasp force is adjusted by pressure sensor；Passage is set, reduces electrical equipment high temperature consumption.
Description
Technical field
The present invention relates to the technical field of robotic gripping device, more particularly to a kind of flexible three-finger configuration manipulator.
Background technology
With " iterative method of the national strategy of made in China 2025 ", industrial robot be widely used in 3C (computer,
Communication, consumer electronics), in the automated job such as the crawl of logistic industry and assembling.Manipulator is grabbed as industrial robot
Take, the execution instrument, its grippage, operational stability etc. of assembling work have to the efficiency and reliability of operation process it is important
Influence.The manipulator used at present mainly has two kinds：A kind of is the mechanical grip of the single degree of freedom, and action is simple, reliability
Height, but flexible and autgmentability is poor；Another kind is the flexible manipulator of class human hand, has very strong grippage and stable operation
Property, but its structure and control algolithm are complicated, price costly, so as to limit its extensive use.
In order to realize the function of crawl object, existing mechanical paw is grabbed generally directed to specific dimensions and given shape
Thing, it is designed as two fingers (two pawls) plane mechanism and uses linear drives.But this mechanical paw Shortcomings：(1) can not fit
Answer the thing of being grabbed of a wide range of size, such as size 5mm~200mm；(2) do not adapt to various shapes is grabbed thing, such as cylinder
Shape, prismatic, spherical, irregular shape.And in order to realize more complicated action, mechanical paw is often designed to structure and answered
It is miscellaneous, bulky, the various drive shaft of usage quantity.In the building ring of the working environment of robot, particularly service robot
Border, it is not the object for only needing processing fixed as in production line, but needs to capture all size, the thing of shape
Part, and it is desirable that paw itself is compact, it is simple to drive, existing mechanical paw can not often meet to require.
Based on this, the present invention devises a kind of flexible three-finger configuration manipulator, can realize to different shape, size objects
Grasping, have it is cheap, crawl process stability it is high the advantages of.
The content of the invention
The present invention, can be with order to provide a kind of flexible three-finger configuration manipulator the defects of overcoming above-mentioned prior art to exist
The grasping of different shape, size objects is realized, there is the advantages that cheap, grasping stability is high.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of flexible three-finger configuration manipulator, including three
Finger, palm shell and the finger base for installing three fingers, it is characterised in that：The finger base is dismountable
The top of the palm shell is arranged on, three drive devices are provided with the palm shell；
The finger includes nearly finger joint, flexible finger joint and remote finger joint, and nearly finger joint, flexible finger joint and the remote finger joint are lived successively
Dynamic connection, the nearly finger joint are movably connected in the finger base by bearing pin；
The drive device includes steering wheel, pulley and bracing wire, and one end of the bracing wire is fixedly installed on the pulley, institute
Pulley described in servos control is stated to rotate forward or invert；The other end of the bracing wire passes the palm shell and is flexibly connected institute successively
State nearly finger joint and remote finger joint；
The finger realizes holding with a firm grip and opening for finger by one-to-one drive device respectively, on the palm shell
Be provided with communication interface, the outer end of the communication interface by the external control device of connection, the communication interface it is interior
End passes through steering wheel described in connection, is provided with power interface on the palm shell, the outer end of the power interface passes through line
Road connects external power supply, and the inner of the power interface passes through steering wheel described in connection.By the structure design of drive device,
Crawl task of different shapes can be completed, it is not necessary to which thing the to be grabbed setting for solid shape is special in gripping tool, the machinery
The structure design scope of application of hand is wider.And three fingers of the manipulator can provide more clamping actions for grasping manipulation
Point and bigger chucking power, the stability of crawl can be ensured；Three pivoting fingers can ensure when capturing complex appearance object
It can fully be contacted with being crawled the surface of object, improve its Grasping skill and application.It can realize and more flexibly grab
Action is held, completes the crawl operation of complex task.
Further：One of them described finger is fixedly connected in the finger base, and two other described finger can revolve
What is turned is movably connected in the finger base.It is on the one hand increased by designing a fixed finger and two movable fingers
Grasping stability effect to capturing thing, on the other hand, increases crawl contact surface, can reduce crawl dynamics, and crawl is better.
Further：Two other described finger is movably arranged in the finger base by transfer.Pass through design
Transfer realizes the activity steering of finger, is easy to capture object of different shapes.
Further：The transfer includes a steering-engine and three gears, and three gears are an active
Wheel and two driven pulleys, two driven pulleys are engaged with driving wheel respectively, and the steering-engine is arranged in the palm shell, institute
The bottom for stating two movable fingers is fixedly installed on the central shaft of described two driven pulleys, and the steering-engine controls the master
Driving wheel rotates, the inner that the steering-engine passes through communication interface described in connection.Steering-engine control driving wheel rotate forward or
Person inverts the rotation for driving two driven pulleys, so as to realize the synchronous rotary of two fingers, original state, the bottom of three fingers
It is disposed in parallel relation to one another, two of which activity finger is located at summit, this state with fixed finger composition isosceles triangle, fixed finger
Mechanical finger can be used for crawl cylinder type or tetragonal body object, and the controllable two driven pulleys rotation of steering-engine, so as to
Angular range internal rotation of two movable fingers at 0 °~90 ° is realized, now, mechanical finger can capture spheroid or other are not advised
The then object of shape.
Further：The nearly finger joint and remote finger joint are bent and stretched on inside and outside direction and the remote finger joint is away from the flexibility
One end of finger joint is provided with bracing wire hole, and the other end of the bracing wire sequentially passes through bracing wire hole on the inside of the nearly finger joint, described remote
Bracing wire hole on the inside of finger joint, the bracing wire hole on the described remote one end of finger joint away from the flexible finger joint, on the outside of the remote finger joint
Bracing wire hole, and be finally fixed on the bracing wire hole on the outside of the nearly finger joint.Bracing wire hole is set in nearly finger joint and remote finger joint, is easy to
The regulation and control of bending and stretching situation of the bracing wire for nearly finger joint and remote finger joint.
Further：Passage is additionally provided with the palm shell, connects the internal and external environment of palm shell, in time radiating,
Circuit board and other electric device temperature are too high when preventing the steering wheel of palm enclosure from operating, caused electrical equipment loss.
Further：The curved interior of the nearly finger joint and remote finger joint sets pressure sensor, and the pressure sensor passes through
Communication interface described in connection.Set pressure sensor can immediately monitoring manipulator in the curved interior of nearly finger joint and remote finger joint
Crawl dynamics, and control device is fed back to by communication interface, grasp force can be adjusted immediately by control device, on the one hand may be used
Prevent the surface of power macrolesion thing to be grabbed, on the other hand slipped prevented also from power hour thing to be grabbed, make crawl thing and manipulator it
Between be constantly in optimal crawl dynamics.
Further：The material of the nearly finger joint and remote finger joint is photosensitive resin material.Photosensitive resin material, which should have, to be easy to
The characteristics of shaping, high intensity, is easy to make complicated nearly finger joint and remote finger joint, and surface has after photosensitive resin material shaping
Higher coefficient of friction, it is easy to the crawl of thing to be grabbed, is not easy to slip.
Further：The material of the flexible finger joint is the flexible PMC materials with memory recovery function, using with memory
The flexible polymer matrix of recovery function meets material, when flexible finger joint by the active force of bracing wire is bending, is returned automatically when not stressing
Spring-go position, PMC materials have higher pliability and memory recovery function, are the more excellent materials as flexible finger joint.
Further：The finger base is fixedly installed on the palm cover plate, and the palm cover plate is removably set
At the top of the palm shell, the bottom of the palm shell is provided with chassis flange.Realized by palm cover plate outside palm
The sealing of shell, the palm cover plate dismantled by the palm pedestal and do-it-yourself class of fixed setting, is easy to integral demounting to safeguard, and uses
The structure design of chassis flange, it is easy to be directly connected to mechanical arm, improves installation effectiveness.
Based on above-mentioned technical proposal, the beneficial effects of the invention are as follows：The present invention relates to the technology of robotic gripping device neck
Domain, more particularly to a kind of flexible three-finger configuration manipulator, including three fingers and finger base, finger base are removably set
Three drive devices are provided with the top of palm shell, palm shell；Finger includes nearly finger joint, flexible finger joint and far referred to
Section, nearly finger joint, flexible finger joint and remote finger joint are flexibly connected successively, and nearly finger joint is movably connected in finger base by bearing pin；Drive
Dynamic device includes steering wheel, pulley and bracing wire, and one end of bracing wire is fixedly installed on pulley, servos control pulley rotating forward or anti-
Turn；The other end of bracing wire passes palm shell and is flexibly connected nearly finger joint and remote finger joint successively；Finger is respectively by one-to-one
Drive device realizes holding with a firm grip and opening for finger, communication interface is provided with palm shell, the outer end of communication interface passes through circuit
External control device is connected, the inner of communication interface connects steering wheel one by one by circuit, and being provided with power supply on palm shell connects
Mouthful, the outer end of power interface passes through connection steering wheel by connection external power supply, the inner of power interface.Pass through driving
The structure design of device and transfer, crawl task of different shapes can be completed, it is not necessary to for the thing to be grabbed of solid shape
Set special wider in gripping tool, the structure design scope of application of the manipulator.And three fingers of the manipulator can be
Grasping manipulation provides more clamping action points and bigger chucking power, can ensure the stability of crawl；Three pivoting fingers
It can ensure that it can fully be contacted with being crawled the surface of object when capturing complex appearance object, improve its Grasping skill with answering
Use scope.More flexible grasp motion can be realized, completes the crawl operation of complex task.Can IMU by pressure sensor
Cross control device adjustment grasp force；Passage is set, reduces loss caused by the hot operation of palm enclosure electrical equipment,
Improve service life.
Brief description of the drawings
Fig. 1 is a kind of structural representation of flexible three-finger configuration manipulator of the present invention；
Fig. 2 is a kind of structural representation of the single finger of flexible three-finger configuration manipulator of the present invention；
In accompanying drawing, the list of parts representated by each label is as follows：
1st, finger base, 2, finger, 21, nearly finger joint, 22, flexible finger joint, 23, remote finger joint, 3, palm cover plate, 4, outside palm
Shell, 5, drive device, 51, steering wheel, 52, pulley, 53, bracing wire, 6, bearing pin, 7, communication interface, 8, power interface, 9, turn to dress
Put, 10, passage, 11, pressure sensor, 12, chassis flange.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figures 1 and 2, a kind of flexible three-finger configuration manipulator, including three fingers 2, palm shell 4 and for pacifying
The finger base 1 of three fingers 2 is filled, the finger base 1 is removably arranged on the top of the palm shell 4, institute
State and three drive devices 5 are provided with palm shell 4；
The finger 2 includes nearly finger joint 21, flexible finger joint 22 and remote finger joint 23, nearly finger joint 21, the and of flexible finger joint 22
Remote finger joint 23 is flexibly connected successively, and the nearly finger joint 21 is movably connected in the finger base 1 by bearing pin 6；
The drive device 5 includes steering wheel 51, pulley 52 and bracing wire 53, and one end of the bracing wire 53 is fixedly installed on described
On pulley 52, the steering wheel 51 controls the pulley 52 to rotate forward or invert；The other end of the bracing wire 53 passes the palm
Shell 4 is flexibly connected the nearly finger joint 21 and remote finger joint 23 successively；
The finger 2 realizes holding with a firm grip and opening, the palm shell for finger by one-to-one drive device 5 respectively
Communication interface 7 is provided with 4, the outer end of the communication interface 7 passes through the external control device of connection, the communication interface
7 it is inner by steering wheel 51 described in connection, be provided with power interface 8 on the palm shell 4, the power interface 8
Outer end passes through steering wheel 51 described in connection by connection external power supply, the inner of the power interface 8.
Further：One of them described finger 2 is fixedly connected in the finger base 1, and two other described finger 2 can
Rotation is movably connected in the finger base 1.
Further：Two other described finger 2 is movably arranged in the finger base 1 by transfer 9.
Further：The transfer 9 includes a steering-engine and three gears, and three gears are an active
Wheel and two driven pulleys, two driven pulleys are engaged with driving wheel respectively, and the steering-engine is arranged in the palm shell 4,
The bottom of described two movable fingers 2 is fixedly installed on the central shaft of described two driven pulleys, and the steering-engine controls institute
State driving wheel rotation, the inner that the steering-engine passes through communication interface described in connection 7.
Further：The nearly finger joint 21 and remote finger joint 23 are bent and stretched on inside and outside direction and the remote finger joint 23 is away from institute
State and bracing wire hole is provided with one end of flexible finger joint 22, the other end of the bracing wire 53 sequentially passes through the nearly inner side of finger joint 21
Bracing wire hole, the bracing wire hole of the remote inner side of finger joint 23, the bracing wire far on the one end of finger joint 23 away from the flexible finger joint 22
Hole, the bracing wire hole in the remote outside of finger joint 23, and be finally fixed on the bracing wire hole in the nearly outside of finger joint 21.Control device leads to
Three steering wheels 51 of control are crossed to drive the pulley 52 to pull bracing wire 53 to drive the curved of nearly finger joint 21 and remote finger joint 23 when rotating forward
The state of holding with a firm grip that Qu Shixian manipulators three refer to, complete the promptly process of thing to be grabbed；When controlling the pulley 52 to invert, on the one hand
Mitigate pulling force of the bracing wire to nearly finger joint 21 and remote finger joint 23 by discharging bracing wire 53, on the other hand, pass through flexible finger joint 22 itself
The memory resilience function having realizes stretching out for finger-joint, completes the release process of thing to be grabbed.
Further：Passage 10 is additionally provided with the palm shell 4.
Further：The curved interior of the nearly finger joint 21 and remote finger joint 23 sets pressure sensor 11, the pressure sensing
Device 11 passes through communication interface 7 described in connection.
Further：The material of the nearly finger joint 21 and remote finger joint 23 is photosensitive resin material.
Further：The material of the flexible finger joint 22 is the flexible PMC materials with memory recovery function.
Further：The finger base 1 is fixedly installed on the palm cover plate 3, and the palm cover plate 3 is dismountable
The top of the palm shell 4 is arranged on, the bottom of the palm shell 4 is provided with chassis flange 12.
The present invention relates to the technical field of robotic gripping device, more particularly to a kind of flexible three-finger configuration manipulator, bag
Three fingers and finger base are included, finger base is removably arranged on the top of palm shell, three are provided with palm shell
Individual drive device；Finger includes nearly finger joint, flexible finger joint and remote finger joint, and activity connects successively for nearly finger joint, flexible finger joint and remote finger joint
Connect, nearly finger joint is movably connected in finger base by bearing pin；Drive device includes steering wheel, pulley and bracing wire, one end of bracing wire
It is fixedly installed on pulley, servos control pulley rotates forward or reversion；The other end of bracing wire passes palm shell, and activity connects successively
Close to finger joint and remote finger joint；Finger realizes holding with a firm grip and opening, palm shell for finger by one-to-one drive device respectively
On be provided with communication interface, the outer end of communication interface is passed through by the external control device of connection, the inner of communication interface
Circuit connects steering wheel one by one, is provided with power interface on palm shell, the outer end of power interface by connection external power supply,
The inner of power interface passes through connection steering wheel.By drive device and the structure design of transfer, not similar shape can be completed
The crawl task of shape, it is not necessary to which thing the to be grabbed setting for solid shape is special in gripping tool, the structure design of the manipulator
The scope of application is wider.And three fingers of the manipulator can provide more clamping action points and bigger folder for grasping manipulation
Holding force, the stability of crawl can be ensured；Three pivoting fingers can ensure it with being crawled thing when capturing complex appearance object
The surface of body can fully contact, and improve its Grasping skill and application.More flexible grasp motion can be realized, is completed multiple
The crawl operation of miscellaneous task.Grasp force can be adjusted by control device by pressure sensor immediately；Passage is set, reduced
It is lost caused by the hot operation of palm enclosure electrical equipment, improves service life.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of flexible three-finger configuration manipulator, including three fingers (2), palm shell (4) and for installing three hands
Refer to the finger base (1) of (2), it is characterised in that：The finger base (1) is removably arranged on the palm shell (4)
Top, the palm shell (4) is interior to be provided with three drive devices (5)；
The finger (2) includes nearly finger joint (21), flexible finger joint (22) and remote finger joint (23), and the nearly finger joint (21), flexibility refer to
Section (22) and remote finger joint (23) are flexibly connected successively, and the nearly finger joint (21) is movably connected in the finger base by bearing pin (6)
On seat (1)；
The drive device (5) includes steering wheel (51), pulley (52) and bracing wire (53), one end fixed setting of the bracing wire (53)
On the pulley (52), the steering wheel (51) controls the pulley (52) to rotate forward or invert；The bracing wire (53) it is another
End passes the palm shell (4) and is flexibly connected the nearly finger joint (21) and remote finger joint (23) successively；
The finger (2) realizes holding with a firm grip and opening, the palm shell for finger by one-to-one drive device (5) respectively
(4) communication interface (7) is provided with, the outer end of the communication interface (7) is described logical by the external control device of connection
Communication interface (7) it is inner by steering wheel described in connection (51), be provided with power interface (8), institute on the palm shell (4)
The outer end of power interface (8) is stated by connection external power supply, the inner of the power interface (8) is by described in connection
Steering wheel (51).
A kind of 2. flexible three-finger configuration manipulator according to claim 1, it is characterised in that：One of them described finger
(2) it is fixedly connected in the finger base (1), finger (2) is rotatable is movably connected in the finger for two other
On pedestal (1).
A kind of 3. flexible three-finger configuration manipulator according to claim 2, it is characterised in that：Two other described finger
(2) it is movably arranged on by transfer (9) in the finger base (1).
A kind of 4. flexible three-finger configuration manipulator according to claim 3, it is characterised in that：Transfer (9) bag
A steering-engine and three gears are included, three gears are a driving wheel and two driven pulleys, and two driven pulleys are distinguished
Engaged with driving wheel, the steering-engine is arranged in the palm shell (4), and the bottom of described two movable fingers (2) is consolidated
Surely it is arranged on the central shaft of described two driven pulleys, the steering-engine controls the driving wheel rotation, the steering-engine
Pass through the inner of communication interface described in connection (7).
A kind of 5. flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The nearly finger joint (21) and far
Finger joint (23) is bent and stretched on inside and outside direction and the described remote one end of finger joint (23) away from the flexible finger joint (22) is provided with
Bracing wire hole, the other end of the bracing wire (53) sequentially pass through bracing wire hole, remote finger joint (23) inner side on the inside of the nearly finger joint (21)
Bracing wire hole, the bracing wire hole on the described one end of remote finger joint (23) away from the flexible finger joint (22), the remote finger joint (23) outside
The bracing wire hole of side, and be finally fixed on the bracing wire hole on the outside of the nearly finger joint (21).
A kind of 6. flexible three-finger configuration manipulator according to claim 1, it is characterised in that：On the palm shell (4)
It is additionally provided with passage (10).
A kind of 7. flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The nearly finger joint (21) and far
The curved interior of finger joint (23) sets pressure sensor (11), and the pressure sensor (11) is connect by being communicated described in connection
Mouth (7).
A kind of 8. flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The nearly finger joint (21) and far
The material of finger joint (23) is photosensitive resin material.
A kind of 9. flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The flexible finger joint (22)
Material is the flexible PMC materials with memory recovery function.
A kind of 10. flexible three-finger configuration manipulator according to claim 1-9 any one, it is characterised in that：The hand
Refer to pedestal (1) to be fixedly installed on the palm cover plate (3), the palm cover plate (3) is removably arranged on outside the palm
The top of shell (4), the bottom of the palm shell (4) are provided with chassis flange (12).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720756502.6U CN206855476U (en) | 2017-06-27 | 2017-06-27 | A kind of flexible three-finger configuration manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720756502.6U CN206855476U (en) | 2017-06-27 | 2017-06-27 | A kind of flexible three-finger configuration manipulator |
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| CN206855476U true CN206855476U (en) | 2018-01-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175681A (en) * | 2017-06-27 | 2017-09-19 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
| CN110985838A (en) * | 2019-12-31 | 2020-04-10 | 涟水县勘察测绘有限公司 | Surveying instrument adjusting device for engineering |
| CN111993453A (en) * | 2020-09-02 | 2020-11-27 | 达奇仿生科技(杭州)有限公司 | Multi-degree-of-freedom bionic dexterous hand based on separable modular design |
| CN117546900A (en) * | 2024-01-11 | 2024-02-13 | 河南科技学院 | Nondestructive grabbing and separating device and method for pig heart |
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2017
- 2017-06-27 CN CN201720756502.6U patent/CN206855476U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175681A (en) * | 2017-06-27 | 2017-09-19 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
| CN110985838A (en) * | 2019-12-31 | 2020-04-10 | 涟水县勘察测绘有限公司 | Surveying instrument adjusting device for engineering |
| CN110985838B (en) * | 2019-12-31 | 2021-05-28 | 涟水县勘察测绘有限公司 | Surveying instrument adjusting device for engineering |
| CN111993453A (en) * | 2020-09-02 | 2020-11-27 | 达奇仿生科技(杭州)有限公司 | Multi-degree-of-freedom bionic dexterous hand based on separable modular design |
| CN117546900A (en) * | 2024-01-11 | 2024-02-13 | 河南科技学院 | Nondestructive grabbing and separating device and method for pig heart |
| CN117546900B (en) * | 2024-01-11 | 2024-03-22 | 河南科技学院 | Nondestructive grabbing and separating device and method for pig heart |
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Effective date of registration: 20220705 Address after: 150029 Building 1, Kechuang headquarters, Shenzhen (Harbin) Industrial Park, No. 288, Zhigu street, Songbei District, Harbin, Heilongjiang Province Patentee after: Harbin Cooper Technology Co.,Ltd. Address before: 430074 Wuhan international student entrepreneurship Park, No. 73, Guanggu Chuangye street, Hongshan District, Wuhan City, Hubei Province c3116 Patentee before: WUHAN COBOT TECHNOLOGY Co.,Ltd. |
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