CN209737630U - Manipulator module and robot applying same - Google Patents
Manipulator module and robot applying same Download PDFInfo
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- CN209737630U CN209737630U CN201822073796.XU CN201822073796U CN209737630U CN 209737630 U CN209737630 U CN 209737630U CN 201822073796 U CN201822073796 U CN 201822073796U CN 209737630 U CN209737630 U CN 209737630U
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Abstract
a robot of manipulator module and applied this manipulator module, manipulator module includes: the palm framework, the finger structure, the power structure and the control system; the tail end of the palm frame is connected with an arm or other fixing devices of the performer model, the finger structure is arranged at the front section of the palm frame, the tail end of the power structure is connected with the tail end of the palm frame, and the front section of the power structure is connected with the tail end of the finger structure to drive the fingers to move; the control system controls the movement of the finger structure and the power structure. The bionic manipulator module has the advantages of being compact in structure, flexible in movement, wide in application, simple and convenient to maintain and replace and the like, can do more complicated hand actions according to the requirements of stage drama scripts, can be combined with other bionic robot platforms, and can be independently installed as a product.
Description
The technical field is as follows:
the utility model relates to a manipulator module and robot specifically are a bionic robot manipulator module and robot for robot performance.
Background art:
With the development of science and technology, the technology of robots is continuously improved, the related application fields are continuously expanded and deepened, people are in the cultural entertainment life, and various humanoid and bionic robots and various performance mobile devices giving still life actions appear in various cultural entertainment places, such as theme parks, scientific and technological entertainment exhibitions, various publicity sites and the like. By means of the cooperation of the automatic control technology and the multimedia technology, the robot can also possibly perform when climbing onto a stage simulation actor, the curiosity of people can be met, the freshness of people is brought to the people, common people can know the mechanical and electronic technologies, meanwhile, some limitations of real performance are broken through, the scene special effect is matched, and the brand new experience is brought to audiences.
However, the robot technology is not easy to implement and is not economical in entertainment projects of the general public, and the simulation robot has high production, research and development and maintenance costs, so that a robot special for performing a specific action flow in a specific script is created in the industry, namely a machine model, the action principle and the mechanical structure of the robot are specially customized for the background and the atmosphere of a certain story, program control aims at realizing a plurality of specific action flows, and a task of performing one role in a specific theme range is completed by matching with a fine simulation external package. Meanwhile, the modularized concept is applied to a robot performance theater, and a model machine serving as one module can be matched with model machines with different functions according to story backgrounds. The bionic robot manipulator is a modular tool which is matched with a machine model to realize different detailed actions.
the invention content is as follows:
an object of the utility model is to provide a bionic robot manipulator module and robot for robot performance, thereby thumb in the finger structure in this bionic robot manipulator, finger power structure adopt violently, indulge arrange and each structural component's reasonable structural design make its simple structure, reduce the cost, simultaneously through can change activity finger quantity, or adopt the mode of linkage finger to make different manipulator modules, with the different robots of collocation, be used for the robot to perform the demand of the different dramas in theatre.
Based on the above object, the utility model provides a manipulator module, include: the palm framework, the finger structure, the power structure and the control system; the tail end of the palm frame is connected with an arm or other fixing devices of the performer model, the finger structure is arranged at the front section of the palm frame, the tail end of the power structure is connected with the tail end of the palm frame, and the front section of the power structure is connected with the tail end of the finger structure to drive the fingers to move; the control system controls the motion of the finger structure and the power structure, and is characterized in that: the finger structure comprises finger knuckles and action connecting rods; the finger knuckle is of a special-shaped structure and is convenient to connect and fix, and the middle of the finger knuckle is provided with a groove for inserting the action connecting rod; the finger knuckle is divided into a front section, a middle section and a tail section, the tail section is connected with the palm framework, and the action connecting rod is connected with the front section and the middle section, the middle section and the tail section, the tail section and the palm framework to form a four-bar linkage; the number of the power structures connected with the finger structures is 5, wherein 1 is a thumb power structure and is transversely arranged, and the rest 4 are finger power structures and are longitudinally arranged.
Preferably: the palm frame is an installation hinge point for providing a finger structure and a power structure; the palm frame is arranged on an installation point of a hand module at the tail end of an arm of a stage play machine model, a finger is fixed at the front section of the palm frame, a power structure is fixed in the middle of the frame, the front end of the power structure is connected with the finger structure, the tail end of the power structure is connected with the frame, and the tail end of the frame is fixed at a fixed hinge point of the hand module at the front section of the arm; the fingers are connected with the power structure through the joint connecting rods, and the fingers can be bent and straightened; according to the action requirement, the fingers can be controlled individually, integrally or in a mixed way.
Preferably: the palm frame is made of stainless steel or low-carbon steel through welding, and is of a hollow frame structure, so that a finger structure can be conveniently mounted on the front section, and meanwhile, the strength is ensured and the weight is effectively controlled; the finger knuckle material can be made of metal or nonmetal materials which have certain mechanical strength, small density and convenient processing; the action connecting rod is made of steel or alloy metal wires with high hardness through manual bending, and the action connecting rod is not easy to deform after being formed.
Preferably: the power device adopted by the power structure is a single-rod cylinder, and the control system controls the single-rod cylinder to perform actions with different amplitudes through time delay.
Preferably: the control system comprises a speed regulating valve, an electromagnetic valve plate, a PLC (programmable logic controller), an air source pipe, an air source and air source processing equipment; the air source is an air pump or an air pipe led out from an air station, the air source is connected with air source processing equipment, compressed air processed by the air source processing equipment is conveyed into the electromagnetic valve raft and the electromagnetic valve through the air source pipe, the electromagnetic valve is controlled to be opened and closed by the PLC, and the speed regulating valve is installed at the position of the air cylinder or the position of the outlet of the electromagnetic valve and used for regulating the flow of the compressed air, further controlling the action speed of the air cylinder and controlling the action speed of the hand; the PLC controls the action form of the bionic manipulator by controlling the opening and closing sequence and the opening and closing time of the electromagnetic valve.
preferably: a hinge point on the thumb power structure is connected with the end of a piston rod on the single-rod cylinder through an adjusting screw rod; the frame hinge point is arranged at the cylinder end of the single-rod cylinder and is connected with the mounting point of the power mechanism on the palm frame.
Preferably: the palm frame can be processed and manufactured in a casting mode, a 3D printing mode or a stamping mode and the like.
The invention also discloses a robot adopting the manipulator module, which is a bionic robot for robot performance.
Has the advantages that: the manipulator module can be integrally disassembled and assembled during maintenance and replacement, the maintenance time is greatly shortened, the manipulator module can be independently used and is flexible in use modes of certain scenes, and under the premise of not changing the structural principle, the size and the driving mode are changed, so that a plurality of use scenes can be widely used.
Description of the drawings:
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of a bionic robot manipulator provided by the present invention;
FIG. 2 is a schematic view of the finger structure of the present invention;
FIG. 3 is a schematic power configuration of the present example;
FIG. 4 is a schematic view of a palm frame;
fig. 5 is a control schematic diagram of the present example.
Reference numerals:
1-finger structure; 2-a power configuration; 3-palm frame.
111-anterior finger segment; 112-middle finger section; 113-end of finger; 121-front section action pull rod; 122-rear section action pull rod.
21-finger hinge point, 22-adjusting screw, 23-cylinder, 24-air source pipe joint and 25-frame hinge point
31-finger mount hinge point; 32-palm rim; 33-power structure mounting point
41-speed regulating valve; 42-a gas source pipe; 43-three-position five-way electromagnetic valve; 44-a control cable; 45-control cabinet.
the specific implementation mode is as follows:
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, which illustrate some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
A robot module comprising: the palm framework, the finger structure, the power structure and the control system; the tail end of the palm frame is connected with an arm or other fixing devices of the performer model, the finger structure is arranged at the front section of the palm frame, the tail end of the power structure is connected with the tail end of the palm frame, and the front section of the power structure is connected with the tail end of the finger structure to drive the fingers to move; the control system controls the motion of the finger structure and the power structure, and is characterized in that: the finger structure comprises finger knuckles and action connecting rods; the finger knuckle is of a special-shaped structure and is convenient to connect and fix, and a groove is formed in the middle of the finger knuckle and is used for inserting the action connecting rod; the finger knuckle is divided into a front section, a middle section and a tail section, the tail section is connected with the palm framework, and the action connecting rod is connected with the front section and the middle section, the middle section and the tail section, the tail section and the palm framework to form a four-bar linkage; the number of the power structures connected with the finger structures is 5, wherein 1 is a thumb power structure and is transversely arranged, and the rest 4 are finger power structures and are longitudinally arranged. The palm frame is an installation hinge point for providing a finger structure and a power structure; the palm frame is arranged on an installation point of a hand module at the tail end of an arm of a stage play machine model, a finger is fixed at the front section of the palm frame, a power structure is fixed in the middle of the frame, the front end of the power structure is connected with the finger structure, the tail end of the power structure is connected with the frame, and the tail end of the frame is fixed at a fixed hinge point of the hand module at the front section of the arm; the fingers are connected with the power structure through the joint connecting rods, and the fingers can be bent and straightened; according to the action requirement, the fingers can be controlled singly, and can be controlled integrally or in a mixed manner. The control system comprises a speed regulating valve, an electromagnetic valve plate, a PLC (programmable logic controller), an air source pipe, an air source and air source processing equipment; the air source is an air pump or an air pipe led out from an air station, the air source is connected with air source processing equipment, compressed air processed by the air source processing equipment is conveyed into a valve plate and an electromagnetic valve of the electromagnetic valve through an air source pipe, the electromagnetic valve is controlled to be opened and closed by a PLC (programmable logic controller), and a speed regulating valve is arranged at the outlet of a single-rod air cylinder or the electromagnetic valve and used for regulating the flow of the compressed air, so that the action speed of the air cylinder is controlled, and the action; the PLC controls the action form of the bionic manipulator by controlling the opening and closing sequence and the opening and closing time of the electromagnetic valve.
example 1
see fig. 1-5.
Fig. 1 is a schematic diagram of an overall structure of a manipulator module of a bionic robot, in which the number of finger structures 1 is 5, wherein 1 is a thumb, and 4 are fingers; 2 quantity of power structure with finger structure connection are 5, and 1 is thumb power structure, holds transverse arrangement, and 4 are finger power structure, hold longitudinal arrangement, and this kind of transverse, longitudinal arrangement's power structure is according to mechanical design principle analysis, and its structural advantage is: the layout is simple and reasonable, the application of materials is reduced, and the control structure is relatively simple; the number of palm frames 3 is 1. The tail end of the finger structure 1 is connected with the hinge point at the front end of the palm frame 3, the tail end of the finger structure 1 is connected with the front end of the power structure 2, and the tail end of the power structure 2 is connected with the hinge point at the tail end of the palm frame 3; the tail-segment finger 113 and the rear-segment pull rod 122 are respectively connected with corresponding mounting holes on the finger mounting hinge point 31; the hinge point of the frame at the tail end 25 of the power structure 2 is connected with the power structure mounting point 33 at the rear end of the palm frame 3, the hinge point of the finger mounting at the front end 21 is connected with the tail end of the tail end finger 113, and the palm frame can be manufactured in a casting and 3D printing mode. Referring to fig. 2, the finger structure diagram includes a front finger section 111, a middle finger section 112, a rear finger section 123, a front section action rod 121, and a rear section action rod 122. The fingers are made of metal or nonmetal materials with certain mechanical strength, and the structural shape of the fingers is a special-shaped structure, so that the fingers can be conveniently connected with the action connecting rod; the finger connecting rod is made by bending a metal round bar with excellent mechanical strength and ductility; furthermore, the tail end of the finger front section 111 is connected with the front end of the finger middle section 112, the tail end of the finger middle section 112 is connected with the front end of the finger end section 113, and the tail end of the finger end section 113 is connected with the finger mounting point 31 of the palm frame 3; the front end of the front section action pull rod 121 is connected with the tail end of the finger front section 111, the tail end of the front section action pull rod 121 is connected with the front end of the finger tail section 113, the front end of the rear section action pull rod 122 is connected with the tail end of the finger middle section 112, and the tail end of the rear section action pull rod 122 is connected with the finger mounting point 31 of the palm frame 3. The adjusting screw 22 is connected with the piston rod end of the cylinder 23 through a hinge point 21 on the thumb power structure, and the total length of the power mechanism is adjusted; the frame hinge point 24 is arranged at the cylinder end of the cylinder 23 and is connected with the power mechanism mounting point 33 on the palm frame 3. The structural schematic diagram of the palm frame is characterized in that the outline size of the palm frame is similar to that of a real person; the material is formed by welding stainless steel or low-carbon steel; the structure is a hollow frame structure, the finger structure is convenient to mount on the front section, the tail end is connected with the arm, and the quality is small when the strength meets the requirement. The control system inputs a pre-programmed action flow into the control cabinet 45, and when the control cabinet 45 operates, the control cabinet 45 controls the action of the three-position five-way electromagnetic valve 43 through the control cable 44, so as to control the stretching and the contraction of the air cylinder 23 and further control the stretching and the contraction of fingers; the speed regulating valve 41 can regulate the action speed of the air cylinder 23, and further control the action speed of the fingers.
Example 2
The invention also discloses a robot adopting the manipulator module, which is characterized in that: the robot is a bionic robot for robot performance.
Because story backgrounds are different, required model movement details are also different, and the bionic robot manipulator designed and researched by engineering technicians can be manufactured into modules with different numbers of movable fingers according to plot requirements, so that the requirements of exquisite and vivid model movement can be met, the cost of a purchasing party can be effectively controlled, the bionic robot manipulator can be integrally disassembled and assembled during maintenance and replacement, the maintenance time is greatly shortened, and the loss of the aspect is reduced for owners. Meanwhile, the manipulator module can be used independently in certain scenes, such as movable and independent claws and the like, the use mode is flexible, and a plurality of use scenes can be widely used by changing the size and the driving mode on the premise of not changing the structural principle.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A robot module comprising: the palm framework, the finger structure, the power structure and the control system; the tail end of the palm frame is connected with the arm of the performer model, the finger structure is arranged at the front section of the palm frame, the tail end of the power structure is connected with the tail end of the palm frame, and the front section of the power structure is connected with the tail end of the finger structure to drive the fingers to move; the control system controls the motion of the finger structure and the power structure, and is characterized in that: the finger structure comprises finger knuckles and action connecting rods, wherein the middle of each finger knuckle is provided with a groove for inserting the action connecting rods, each finger knuckle is divided into a front section, a middle section and a tail section, the tail section is connected with the palm framework, and the action connecting rods are connected with the front sections and the middle sections, the middle sections and the tail sections, the tail sections and the palm framework to form a four-bar mechanism; the number of the power structures connected with the finger structures is 5, wherein 1 is a thumb power structure and is transversely arranged, and the rest 4 are finger power structures and are longitudinally arranged.
2. The robot module of claim 1, wherein: the palm frame is an installation hinge point for providing a finger structure and a power structure; the palm frame is arranged on an installation point of a hand module at the tail end of an arm of a stage play machine model, a finger is fixed at the front section of the palm frame, a power structure is fixed in the middle of the frame, the front end of the power structure is connected with the finger structure, the tail end of the power structure is connected with the frame, and the tail end of the frame is fixed at a fixed hinge point of the hand module at the front section of the arm; the fingers are connected with the power structure through the joint connecting rods, and the fingers can be bent and straightened; according to the action requirement, the fingers can be controlled singly, and can be controlled integrally or in a mixed manner.
3. The robot module of claim 1, wherein: the palm frame is made of stainless steel or low-carbon steel through welding, and is of a hollow frame structure, so that a finger structure can be conveniently mounted on the front section, and meanwhile, the strength is ensured and the weight is effectively controlled; the finger knuckle material is made of metal or nonmetal materials which have certain mechanical strength, small density and convenient processing; the action connecting rod is made of steel or alloy metal wires with high hardness through manual bending, and the action connecting rod is not easy to deform after being formed.
4. The robot module of claim 1, wherein: the power device adopted by the power structure is a single-rod cylinder, and the control system controls the single-rod cylinder to perform actions with different amplitudes through time delay.
5. The robot module of claim 4, wherein: the control system comprises a speed regulating valve, an electromagnetic valve plate, a PLC (programmable logic controller), an air source pipe, an air source and air source processing equipment; the air source is an air pump or an air pipe led out from an air station, the air source is connected with air source processing equipment, compressed air processed by the air source processing equipment is conveyed into a valve plate and an electromagnetic valve of the electromagnetic valve through an air source pipe, the electromagnetic valve is controlled to be opened and closed by a PLC (programmable logic controller), and a speed regulating valve is arranged at the outlet of a single-rod air cylinder or the electromagnetic valve and used for regulating the flow of the compressed air, so that the action speed of the air cylinder is controlled, and the action; the PLC controls the action form of the bionic manipulator by controlling the opening and closing sequence and the opening and closing time of the electromagnetic valve.
6. The robot module of claim 4, wherein: a hinge point on the thumb power structure is connected with the end of a piston rod on the single-rod cylinder through an adjusting screw rod; the frame hinge point is arranged at the cylinder end of the single-rod cylinder and is connected with the mounting point of the power mechanism on the palm frame.
7. The robot module of claim 1, wherein: the palm frame may be manufactured by casting or 3D printing.
8. A robot, characterized by: the robot employs a manipulator module according to any of claims 1-7, while the robot is a biomimetic robot for robotic performances.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822073796.XU CN209737630U (en) | 2018-12-11 | 2018-12-11 | Manipulator module and robot applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822073796.XU CN209737630U (en) | 2018-12-11 | 2018-12-11 | Manipulator module and robot applying same |
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| Publication Number | Publication Date |
|---|---|
| CN209737630U true CN209737630U (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822073796.XU Expired - Fee Related CN209737630U (en) | 2018-12-11 | 2018-12-11 | Manipulator module and robot applying same |
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| Country | Link |
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| CN (1) | CN209737630U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
| CN115890717A (en) * | 2023-01-09 | 2023-04-04 | 浙江京烁科技有限公司 | Mechanical arm |
-
2018
- 2018-12-11 CN CN201822073796.XU patent/CN209737630U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| CN111844090B (en) * | 2020-07-10 | 2022-02-15 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| CN115890717A (en) * | 2023-01-09 | 2023-04-04 | 浙江京烁科技有限公司 | Mechanical arm |
| CN115890717B (en) * | 2023-01-09 | 2023-05-23 | 浙江京烁科技有限公司 | Mechanical arm |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191206 Termination date: 20211211 |