CN210061169U

CN210061169U - Degree of freedom directly drives manipulator

Info

Publication number: CN210061169U
Application number: CN201920894007.0U
Authority: CN
Inventors: 朱林海; 何通
Original assignee: Guangdong Shenlan Information Engineering Co Ltd
Current assignee: Guangdong Shenlan Information Engineering Co Ltd
Priority date: 2019-06-14
Filing date: 2019-06-14
Publication date: 2020-02-14
Anticipated expiration: 2029-06-14

Abstract

The utility model relates to a manipulator, in particular to a freedom degree direct-drive manipulator, which comprises a small arm and a palm plate, wherein a wrist steering engine is arranged between the small arm and the palm plate; four bionic fingers which are distributed side by side are installed at the front end of the palm plate, a thumb is installed at the rear end of the palm plate, the bionic fingers are composed of knuckle groups, a knuckle steering unit is arranged between the knuckle groups, the thumb is composed of thumb joint groups, and a thumb joint steering unit is arranged between the thumb joint groups. The utility model directly controls the knuckle steering engine set to control the bionic finger to swing and controls the thumb to swing, so as to finish various desired actions, directly controls each steering engine when clamping an object, and directly cooperates the bionic thumb and the bionic finger to finish the clamping action; the manipulator completes 16-degree-of-freedom direct drive, controls the actions of fingers on each knuckle, achieves convenient control, has the capability of clamping heavy objects, and has high clamping stability.

Description

Degree of freedom directly drives manipulator

Technical Field

The utility model relates to a manipulator specifically is a degree of freedom directly drives manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

At present, people have great success in developing and researching humanoid robots, can meet practical requirements of most of physically disabled people, and help the people to complete functions lacking in bodies.

However, the existing mechanical hands are generally relatively complex and inconvenient to control, the supporting force of fingers is relatively small, and only the following simple picking-up action can be completed.

In order to solve the problems, the degree-of-freedom direct-drive manipulator is specially provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a degree of freedom directly drives manipulator to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a freedom degree direct-drive manipulator comprises a small arm and a palm plate, wherein a wrist steering engine is arranged between the small arm and the palm plate;

four bionic fingers which are distributed side by side are installed at the front end of the palm plate, a thumb is installed at the rear end of the palm plate, the bionic fingers are composed of knuckle groups, a knuckle rudder unit is arranged between the knuckle groups, the thumb is composed of thumb knuckle groups, and a thumb knuckle rudder unit is arranged between the thumb knuckle groups.

Further scheme: the palm plate comprises preceding palm board and back palm board, installs rotatory steering wheel between preceding palm board and the back palm board, is connected with rotatory backup pad on the output shaft of rotatory steering wheel, fixes on the rudder casing in the rotatory backup pad, rudder casing and wrist steering wheel fixed connection, and the output shaft of wrist steering wheel is connected in the wrist rudder frame, and the wrist rudder frame other end is fixed on the forearm.

A further scheme is as follows: the front palm plate and the back palm plate are distributed in parallel.

A further scheme is as follows: the knuckle group comprises a large knuckle, a middle knuckle and a small knuckle; the knuckle steering engine group comprises a large knuckle steering engine, a middle knuckle steering engine and a small knuckle steering engine.

A further scheme is as follows: the large knuckle steering engine is fixed on the palm plate, an output shaft of the large knuckle steering engine is connected to the large knuckle, the other end of the large knuckle is fixed to the middle knuckle steering engine, an output shaft of the middle knuckle steering engine is connected to the middle knuckle, the other end of the middle knuckle is fixed to the small knuckle steering engine, and an output shaft of the small knuckle steering engine is connected to the small knuckle.

A further scheme is as follows: the thumb joint group comprises a thumb big knuckle and a thumb small knuckle; the thumb joint steering unit comprises a thumb joint steering engine and a thumb little joint steering engine.

A further scheme is as follows: the thumb knuckle steering engine is fixed on the palm plate, an output shaft of the thumb knuckle steering engine is connected to a thumb knuckle, the other end of the thumb knuckle is fixed on the thumb knuckle steering engine, and an output shaft of the thumb knuckle steering engine is connected to a thumb knuckle.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model directly controls the knuckle steering engine set to control the bionic finger to swing and controls the thumb to swing, so as to finish various desired actions, directly controls each steering engine when clamping an object, and directly cooperates the bionic thumb and the bionic finger to finish the clamping action; the manipulator completes 16-degree-of-freedom direct drive, controls the actions of fingers on each knuckle, achieves convenient control, has the capability of clamping heavy objects, and has high clamping stability.

Drawings

Fig. 1 is the structure schematic diagram of the degree of freedom direct-drive manipulator of the utility model.

In the figure: 1-small arm; 2-front palm plate; 3-back palm plate; 4-wrist rudder frame; 5-wrist steering engine; 6-rudder machine shell; 7-rotating the support plate; 8-rotating a steering engine; 20-a bionic finger; 21-big knuckle steering engine; 22-greater knuckle; 23-middle knuckle steering engine; 24-middle knuckle; 25-a small knuckle steering engine; 26-little knuckle; 30-thumb; 31-thumb knuckle steering engine; 32-thumb knuckle; 33-thumb knuckle steering engine; 34-the little knuckle of the thumb.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example 1

The embodiment of the utility model provides a degree of freedom directly drives manipulator, specifically as shown in figure 1, including forearm 1 and palm board, forearm 1 with install wrist steering wheel 5 between the palm board, and then the activity of palm board can be controlled to the wrist steering wheel.

Simultaneously, in order to press from both sides the thing, four bionical fingers 20 that are side by side distribution are installed to palm board front end, and thumb 30 is installed to the rear end of palm board, and meanwhile, bionical finger 20 comprises the knuckle group, is equipped with the knuckle rudder unit between the knuckle group to and thumb 30 comprises the thumb knuckle group, is equipped with the thumb knuckle rudder unit between the thumb knuckle group.

And then through the swing of external controller direct control knuckle steering gear set control bionical finger 20 to and control the swing of thumb knuckle steering gear set control thumb 30, accomplish various actions of wanting, each steering gear of direct control when pressing from both sides and getting the object, bionical thumb 30 and bionical finger 20 direct cooperation, accomplish and press from both sides and get the action. The manipulator completes 16-degree-of-freedom direct drive, controls the motion of fingers on each knuckle, achieves convenient control of the manipulator and has the capability of clamping heavy objects.

Example 2

A degree of freedom directly drives manipulator, as shown in fig. 1 specifically, the embodiment of the present invention is a further definition that is carried out on the basis of embodiment 1.

Particularly, the palm board comprises preceding palm board 2 and back palm board 3, and preceding palm board 2 and back palm board 3 are parallel distribution, install rotatory steering wheel 8 between preceding palm board 2 and the back palm board 3, are connected with rotatory backup pad 7 on the output shaft of rotatory steering wheel 8, fix on rudder casing 6 in rotatory backup pad 7,

steering wheel casing

6 and 5 fixed connection of wrist steering wheel, the output shaft of wrist steering wheel 5 is connected on wrist rudder frame 4, the 4 other ends of wrist rudder frame are fixed on forearm 1.

And further realize that rotatory steering wheel 8 controls the rotation of rotatory backup pad 7 and control the rotation of palm board.

Example 3

Further, the set of knuckles includes a large knuckle 22, a middle knuckle 24, and a small knuckle 26; meanwhile, the knuckle steering engine group comprises a large knuckle steering engine 21, a middle knuckle steering engine 23 and a small knuckle steering engine 25. Furthermore, the large knuckle steering engine 21 is fixed on the palm plate, the output shaft of the large knuckle steering engine 21 is connected to the large knuckle 22, the other end of the large knuckle 22 is fixed on the middle knuckle steering engine 23, the output shaft of the middle knuckle steering engine 23 is connected to the middle knuckle 24, the other end of the middle knuckle 24 is fixed on the small knuckle steering engine 25, and the output shaft of the small knuckle steering engine 25 is connected to the small knuckle 26.

Therefore, the large knuckle steering engine 21 controls the swing of the large knuckle 22, the middle knuckle steering engine 23 controls the swing of the middle knuckle 24, and the small knuckle steering engine 25 controls the swing of the small knuckle 26.

Example 4

Further, the thumb joint group comprises a thumb joint 32 and a thumb joint 34; meanwhile, the thumb joint steering unit comprises a thumb joint steering engine 31 and a thumb little joint steering engine 33. Furthermore, the thumb knuckle steering engine 31 is fixed on the palm plate, an output shaft of the thumb knuckle steering engine 31 is connected to the thumb knuckle 32, the other end of the thumb knuckle 32 is fixed on the thumb knuckle steering engine 33, and an output shaft of the thumb knuckle steering engine 33 is connected to the thumb knuckle 34.

Therefore, the thumb knuckle steering engine 31 controls the swing of the thumb knuckle 32, and the thumb knuckle steering engine 33 controls the swing of the thumb knuckle 34.

It is to be specifically noted that the steering engines are all controlled through the electrical connection of the existing controller.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A freedom degree direct-drive manipulator comprises a small arm (1) and a palm plate, and is characterized in that a wrist steering engine (5) is arranged between the small arm (1) and the palm plate;

four bionic fingers (20) that are side by side and distribute are installed to palm board front end, and thumb (30) are installed to the rear end of palm board, and bionic finger (20) comprise knuckle group, are equipped with knuckle rudder unit between the knuckle group, and thumb (30) comprise thumb knuckle group, are equipped with thumb knuckle rudder unit between the thumb knuckle group.

2. The freedom direct-drive manipulator as claimed in claim 1, wherein the palm plate is composed of a front palm plate (2) and a rear palm plate (3), a rotary steering engine (8) is installed between the front palm plate (2) and the rear palm plate (3), a rotary supporting plate (7) is connected to an output shaft of the rotary steering engine (8), the rotary supporting plate (7) is fixed to a rudder casing (6), the rudder casing (6) is fixedly connected with a wrist steering engine (5), an output shaft of the wrist steering engine (5) is connected to a wrist rudder frame (4), and the other end of the wrist rudder frame (4) is fixed to a small arm (1).

3. The degree of freedom direct drive manipulator according to claim 2, characterized in that the front palm plate (2) and the back palm plate (3) are distributed in parallel.

4. A degree of freedom direct drive manipulator according to claim 1, characterized in that said set of knuckles includes a large knuckle (22), a middle knuckle (24) and a small knuckle (26); the knuckle steering engine group comprises a large knuckle steering engine (21), a middle knuckle steering engine (23) and a small knuckle steering engine (25).

5. The freedom direct-drive manipulator as claimed in claim 4, wherein the large knuckle steering engine (21) is fixed on a palm plate, an output shaft of the large knuckle steering engine (21) is connected to the large knuckle (22), the other end of the large knuckle (22) is fixed on the middle knuckle steering engine (23), an output shaft of the middle knuckle steering engine (23) is connected to the middle knuckle (24), the other end of the middle knuckle (24) is fixed on the small knuckle steering engine (25), and an output shaft of the small knuckle steering engine (25) is connected to the small knuckle (26).

6. The one degree of freedom direct drive manipulator of claim 1, wherein the thumb joint set includes a thumb major knuckle (32) and a thumb minor knuckle (34); the thumb joint steering unit comprises a thumb joint steering engine (31) and a thumb joint steering engine (33).

7. The freedom direct-drive manipulator as claimed in claim 6, wherein the thumb knuckle steering engine (31) is fixed on the palm plate, an output shaft of the thumb knuckle steering engine (31) is connected to the thumb knuckle (32), the other end of the thumb knuckle (32) is fixed on the thumb knuckle steering engine (33), and an output shaft of the thumb knuckle steering engine (33) is connected to the thumb knuckle (34).