CN208914148U - A kind of manipulator of high flexibility - Google Patents
A kind of manipulator of high flexibility Download PDFInfo
- Publication number
- CN208914148U CN208914148U CN201821238942.3U CN201821238942U CN208914148U CN 208914148 U CN208914148 U CN 208914148U CN 201821238942 U CN201821238942 U CN 201821238942U CN 208914148 U CN208914148 U CN 208914148U
- Authority
- CN
- China
- Prior art keywords
- control
- joint
- manipulator
- palm member
- joint piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The utility model discloses a kind of manipulators of high flexibility, the multiple finger components being connected with including palm member and palm member, the finger component includes steering engine, root joint piece and crooked assembly, the steering engine is connected in the palm member and described joint piece is driven to do opening and closing campaign in the plane where palm member, described joint piece is connected with the bending actuator that driving crooked assembly does flexure operation, the crooked assembly includes two or three sequentially connected joint pieces, pass through bending actuator transmission connection in the crooked assembly at two neighboring joint piece.The effect when crooked assembly includes two joint pieces as the effect of thumb when the crooked assembly includes three joint pieces as index finger, middle finger, the third finger and little finger.Certain those skilled in the art are it is found that the crooked assembly may include four joint pieces or more.Finger can be bent incessantly, can expand the angle between finger with opening and closing, and flexibility is higher.
Description
Technical field
The utility model belongs to manipulator field, and in particular to a kind of manipulator of high flexibility.
Background technique
Manipulator is the certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object or behaviour
Make the automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it
The heavy labor of people can be replaced to realize the mechanization and automation of production, can operated under hostile environment to protect personal peace
Entirely, thus it is widely used in the industries such as machine-building, metallurgical light industry.Driving mechanism used in manipulator mainly has 4 kinds: hydraulic
Driving, air pressure driving, electrically driven and Mechanical Driven.It is electrically driven to be mostly used in the field of precision control, such as tele-medicine control
Manipulator arm art processed etc., but present mechanical arm and not flexible, and between finger can not opening and closing, limit manipulator
Application.
Utility model content
The purpose of this utility model is to provide a kind of manipulator of high flexibility, finger can be bent incessantly, may be used also
Expand the angle between finger with opening and closing, flexibility is higher.
In order to achieve the above object, the major technique solution of the utility model is to provide a kind of manipulator of high flexibility,
Including multiple finger components that palm member and palm member are connected with, the finger component includes steering engine, root joint piece and bending group
Part, the steering engine are connected in the palm member and described joint piece are driven to do opening and closing fortune in the plane where palm member
Dynamic, described joint piece is connected with the bending actuator that driving crooked assembly does flexure operation.
In some embodiments, the crooked assembly includes two or three sequentially connected joint pieces, the bending group
Pass through bending actuator transmission connection in part at two neighboring joint piece.When the crooked assembly includes two joint pieces
When effect as thumb, as index finger, middle finger, the third finger and small when the crooked assembly includes three joint pieces
The effect of thumb.Certain those skilled in the art are it is found that the crooked assembly may include four joint pieces or more.
In some embodiments, the bending actuator includes decelerating motor, driving wheel, shaft and driven wheel, described to subtract
Speed motor is located in two neighboring joint piece in the joint piece of palm member, and the driving wheel is connected to the decelerating motor
On transmission shaft, the shaft is connected on the joint piece far from palm member, and the joint of the shaft and the close palm member
Part pivot joint, the driven wheel are set in outside the shaft and engage with driving wheel, and driven wheel is driven shaft by the driving of driving wheel
Rotation, and then the joint piece far from palm member is driven to be bent.Similarly it is found that the bending actuator of root joint piece drives crooked assembly
Doing flexure operation is same catenation principle.
In some embodiments, the driving wheel and driven wheel are vertical.
In some embodiments, the driving wheel and driven wheel are angular wheel.
In some embodiments, the palm member is connected with arm component, and the arm component includes multiple sequentially movable
The movable part of connection, the multiple movable part are equipped with one for driving the motor for being attached thereto movable part movement, the machinery
The motor transmission shaft of arm end movable part is connect with palm member, and the motor is direct current generator or servo motor or stepping electricity
Machine, the arm component are equipped at least two cameras.
In some embodiments, the driving wheel is worm screw, and the driven wheel is worm gear.
In some embodiments, the palm member communication connection has control device, the control device and the arm group
Part communication connection, the control device are the phonetic controller or gesture control device or sensor for including a controller
Control device, the control device of the utility model are the prior art.
In some embodiments, the phonetic controller includes the phonetic incepting processing module connecting with its controller,
The gesture control device is can be according to acquisition, the motion sensing control device of identification gesture and movement or control gloves, the control
The back of the hand position of gloves is equipped at least one gyro sensor and at least one acceleration transducer, the control finger of glove
Joint is equipped with a curvature sensor, the gyro sensor, at least one acceleration transducer and curvature sensing
Device is connect with the controller in the gesture control device.
In some embodiments, the multiple movable part includes the support being sequentially arranged, the first joint, large arm, the second pass
Section, forearm and third joint.
In some embodiments, the sensor control includes multiple sequentially connected movable part controls and manipulator
Control, the multiple sequentially connected movable part control are equipped with the angular displacement that one records movable part control actions adjacent thereto and pass
Sensor, the angular displacement sensor of the sensor control end movable part control are connect with mechanical handling means, all angle positions
Displacement sensor is connect with the controller being equipped in the sensor control.Angular displacement sensor obtains movable part or palm
Then the movement of part passes to handle composite and palm member control movement by controller.
In some embodiments, the multiple movable part control includes sequentially connected pedestal, bracket, the control of the first joint
Part, large arm control, second joint control, forearm control and third joint control, the angular displacement sensor of third joint control with
Mechanical handling means connection.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an embodiment of the present invention,
Fig. 2 is the schematic diagram of the finger of Fig. 1 embodiment,
Fig. 3 is the structural schematic diagram of the arm component of Fig. 1 embodiment,
Fig. 4 is the structural schematic diagram of the sensor control of Fig. 1 embodiment,
In figure: chassis 1, camera 2, support 3, the first joint 4, large arm 5, second joint 6, forearm 7, third joint 8, from
Driving wheel 9, motor 10, pedestal 11, the first joint control 12, large arm control 13, second joint control 14, forearm control 15, third
Joint control 16, angular displacement sensor 18, palm member 19, steering engine 20, root joint piece 21, joint piece 22, subtracts mechanical handling means 17
Speed motor 23, driving wheel 24, shaft 25.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art's every other embodiment obtained, all belongs to
In the range of the utility model protection.
It will be understood by those skilled in the art that in the exposure of the utility model, term " longitudinal direction ", " transverse direction ", "upper",
The orientation of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" or position are closed
System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore on
Stating term should not be understood as limiting the present invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
As shown in Figs. 1-2, a kind of manipulator of high flexibility described in the present embodiment, including palm member 19 and palm member
The 19 multiple finger components being connected with, the finger component include steering engine 20, root joint piece 21 and crooked assembly, the steering engine 20
It is connected in the palm member 19 and described joint piece 21 is driven to do opening and closing campaign in the plane where palm member 19, it is described
Root joint piece 21 is connected with the bending actuator that driving crooked assembly does flexure operation.
In some embodiments, the crooked assembly includes two or three sequentially connected joint pieces 22, the bending
Pass through bending actuator transmission connection in component at two neighboring joint piece 22.When the crooked assembly includes two joints
As the effect of thumb when part 22, as index finger, middle finger, nothing when the crooked assembly includes three joint piece 22
Name refers to the effect with little finger.Certain those skilled in the art are it is found that the crooked assembly may include four joint pieces 22 or more.
In some embodiments, the bending actuator includes decelerating motor 23, driving wheel 24, shaft 25 and driven wheel 9,
The decelerating motor 23 is located in two neighboring joint piece 22 in the joint piece 22 of palm member 19, and the driving wheel 24 connects
On the transmission shaft of the decelerating motor 23, the shaft 25 is connected on the joint piece 22 far from palm member 19, and described turn
Axis 25 and the joint piece 22 of the close palm member 19 are pivotally connected, and the driven wheel 9 is set in outside the shaft 25 and and driving wheel
24 engagements, driven wheel 9 is driven shaft 25 to rotate by the driving of driving wheel 24, and then drives the joint piece 22 far from palm member 19 curved
It is bent.Similarly it is found that it is same catenation principle that the bending actuator driving crooked assembly of root joint piece 21, which does flexure operation,.
In some embodiments, the driving wheel 24 and driven wheel 9 are vertical.
In some embodiments, the driving wheel 24 and driven wheel 9 are angular wheel.
Such as Fig. 3, in some embodiments, the palm member 19 is connected with arm component, and the arm component includes multiple
The movable part being sequentially flexibly connected, the multiple movable part are equipped with one for driving the motor for being attached thereto movable part movement
10,10 transmission shaft of motor of mechanical arm end movable part is connect with palm member 19, the motor 10 be direct current generator or
Servo motor or stepper motor, the arm component are equipped at least two cameras 2.
In some embodiments, the driving wheel 24 is worm screw, and the driven wheel 9 is worm gear, and bending actuator is to include
The transmission mechanism of the existing drive technology of worm and wormwheel, decelerating motor 23 drive worm screw, and worm screw drives worm gear rotation, worm gear band turn
Axis drives joint piece rotation.
In some embodiments, 19 communication connection of palm member has control device, the control device and the arm
Component communication connection, the control device are the phonetic controller or gesture control device or sensing for including a controller
Device control device, the control device of the utility model are the prior art.
In some embodiments, the control device is with remote server in the prior art by connecting, so as to
Long-range control arm component and manipulator.
In some embodiments, the phonetic controller includes the phonetic incepting processing module connecting with its controller,
The gesture control device is can be according to acquisition, the Leap motion motion sensing control device of identification gesture and movement or control hand
The back of the hand position of set, the control gloves is equipped at least one gyro sensor and at least one acceleration transducer, described
Control finger of glove joint is equipped with a curvature sensor, the gyro sensor, at least one acceleration transducer
It is connect with the controller in the gesture control device with curvature sensor.
In some embodiments, the multiple movable part includes the support 3 being sequentially arranged, the first joint 4, large arm 5, second
Joint 6, forearm 7 and third joint 8.Support 3 is connected with chassis 1, is equipped in chassis 1 and connect with the controller in control device
Avoiding obstacles by supersonic wave sensor and IR evading obstacle sensors, be used for avoiding obstacles, chassis 1 set there are four universal wheel and driving four
The driving assembly connected to the controller of a universal wheel, driving assembly are in the prior art one or more for universal wheel
Driving motor.
Such as Fig. 4, in some embodiments, the sensor control include multiple sequentially connected movable part controls and
Mechanical handling means 17, the multiple sequentially connected movable part control are equipped with one and record movable part control actions adjacent thereto
Angular displacement sensor 18, the angular displacement sensor 18 of the sensor control end movable part control and mechanical handling means 17
Connection, all angular displacement sensors 18 are connect with the controller being equipped in the sensor control.Angular displacement sensor
18 obtain the movement of movable part or palm member 19, then pass to handle composite and the control movement of palm member 19 by controller.
In some embodiments, the multiple movable part control includes sequentially connected pedestal 11, bracket, the control of the first joint
Part 12, large arm control 13, second joint control 14, forearm control 15 and third joint control 16, the angle of third joint control 16
Displacement sensor 18 is connect with mechanical handling means 17.
The utility model can be used in tele-medicine, logistics, factory etc. and manipulator is needed to replace artificial place.
The utility model is not limited to above-mentioned preferred forms, anyone can obtain under the enlightenment of the utility model
Other various forms of products, however, make any variation in its shape or structure, it is all that there is same as the present application or phase
Approximate technical solution, all falls within the protection scope of the utility model.
Claims (10)
1. a kind of manipulator of high flexibility, the multiple finger components being connected with including palm member and palm member, which is characterized in that
The finger component includes steering engine, root joint piece and crooked assembly, and the steering engine is connected in the palm member and described in driving
Root joint piece does opening and closing campaign in the plane where palm member, and described joint piece is connected with driving crooked assembly, and to do bending dynamic
The bending actuator of work.
2. the manipulator of high flexibility according to claim 1, it is characterised in that the crooked assembly includes two or three
A sequentially connected joint piece passes through bending actuator transmission connection in the crooked assembly at two neighboring joint piece.
3. the manipulator of high flexibility according to claim 1, it is characterised in that the bending actuator includes the electricity that slows down
Machine, driving wheel, shaft and driven wheel, the decelerating motor are located in two neighboring joint piece in the joint piece of palm member,
The driving wheel is connected on the transmission shaft of the decelerating motor, and the shaft is connected on the joint piece far from palm member, and
The joint piece of the shaft and the close palm member is pivotally connected, and the driven wheel is set in outside the shaft and nibbles with driving wheel
It closes, driven wheel is driven shaft to rotate by the driving of driving wheel.
4. the manipulator of high flexibility according to claim 3, it is characterised in that the driving wheel and driven wheel are vertical, institute
It states driving wheel and driven wheel is angular wheel.
5. the manipulator of high flexibility according to claim 1, it is characterised in that the palm member is connected with arm component,
The arm component includes multiple movable parts being sequentially flexibly connected, the multiple movable part be equipped with one for drive phase therewith
Even the motor of movable part movement, the motor transmission shaft of the movable part of the arm component end are connect with palm member, the motor
It is direct current generator or servo motor or stepper motor, the arm component is equipped at least two cameras.
6. the manipulator of high flexibility according to claim 3, it is characterised in that the driving wheel is worm screw, described driven
Wheel is worm gear.
7. the manipulator of high flexibility according to claim 5, it is characterised in that the palm member communication connection has control
Device, the control device and the arm component communication connection, the control device are the voice for including a controller
Control device or gesture control device or sensor control.
8. the manipulator of high flexibility according to claim 7, it is characterised in that the phonetic controller include and its
The phonetic incepting processing module of controller connection, the gesture control device is can be according to acquisition, the body of identification gesture and movement
The back of the hand position of sense controller or control gloves, the control gloves is equipped at least one gyro sensor and at least one
Acceleration transducer, the control finger of glove joint are equipped with a curvature sensor, the gyro sensor, at least
One acceleration transducer and curvature sensor are connect with the controller in the gesture control device.
9. the manipulator of high flexibility according to claim 5, it is characterised in that the multiple movable part includes sequentially setting
Support, the first joint, large arm, second joint, forearm and the third joint set.
10. the manipulator of high flexibility according to claim 7, it is characterised in that the sensor control includes more
A sequentially connected movable part control and mechanical handling means, the multiple sequentially connected movable part control be equipped with a record with
Adjacent activities part control actions angular displacement sensor, the angular displacement of the sensor control end movable part control passes
Sensor is connect with mechanical handling means, and all angular displacement sensors connect with the controller being equipped in the sensor control
It connects, the multiple movable part control includes sequentially connected pedestal, bracket, the first joint control, large arm control, second joint control
Part, forearm control and third joint control, the angular displacement sensor of third joint control are connect with mechanical handling means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821238942.3U CN208914148U (en) | 2018-08-02 | 2018-08-02 | A kind of manipulator of high flexibility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821238942.3U CN208914148U (en) | 2018-08-02 | 2018-08-02 | A kind of manipulator of high flexibility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914148U true CN208914148U (en) | 2019-05-31 |
Family
ID=66701490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821238942.3U Active CN208914148U (en) | 2018-08-02 | 2018-08-02 | A kind of manipulator of high flexibility |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208914148U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
| CN111941426A (en) * | 2020-08-17 | 2020-11-17 | 常州工程职业技术学院 | Control system and method for remotely controlling mobile mechanical arm |
-
2018
- 2018-08-02 CN CN201821238942.3U patent/CN208914148U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
| CN111941426A (en) * | 2020-08-17 | 2020-11-17 | 常州工程职业技术学院 | Control system and method for remotely controlling mobile mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5447403A (en) | Dexterous programmable robot and control system | |
| CN106426174B (en) | A kind of robotic contact power detection method based on torque observation and Friction identification | |
| TWI805545B (en) | Method and computer program product for programming a robot by demonstration | |
| CN108582078A (en) | A kind of mechanical arm zero-force control method towards direct teaching | |
| US20050040664A1 (en) | Finger unit for robot hand | |
| Park et al. | Design and kinematics analysis of dual arm robot manipulator for precision assembly | |
| CN208914148U (en) | A kind of manipulator of high flexibility | |
| CN106842954B (en) | Control method of semi-flexible mechanical arm system | |
| Patidar et al. | Survey of robotic arm and parameters | |
| KR20100116545A (en) | Method and device to regulate a manipulator | |
| JP2010228028A (en) | Robot arm, contact detection method for robot arm, and device equipped with robot arm | |
| CN108582082A (en) | Robot, back to zero position method, system with accurate back to zero bit function and medium | |
| KR20180099623A (en) | Robot arm and robot wrist | |
| Oza et al. | Arduino robotic hand: Survey paper | |
| Xu et al. | Biomechtronic design of a supernumerary robotic limbs for industrial assembly | |
| Aparnathi et al. | The novel of six axes robotic arm for industrial applications | |
| CN108582081A (en) | Robot, back to zero position method, system with back to zero bit function and medium | |
| KR20130000496A (en) | Teaching apparatus of robot having acceleration sensor and gyro-sensor and teaching method for robot using the same | |
| CN105965485A (en) | Non-orthogonal six-shaft teaching rod | |
| US20230035296A1 (en) | Method of suppressing vibrations of a robot arm with external objects | |
| EP3448628B1 (en) | Control of a robot joint using two drives | |
| JPH02205489A (en) | Control method for impedance of manipulator | |
| CN106607862A (en) | Small-size scout-car-mounted mechanical arm and control system thereof | |
| CN207480637U (en) | Four axis joint manipulators | |
| Sekarsari et al. | Design of 2 dof arm robot control system using ultrasonic sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |