CN211491585U - Flexible bionic manipulator - Google Patents
Flexible bionic manipulator Download PDFInfo
- Publication number
- CN211491585U CN211491585U CN201922466475.0U CN201922466475U CN211491585U CN 211491585 U CN211491585 U CN 211491585U CN 201922466475 U CN201922466475 U CN 201922466475U CN 211491585 U CN211491585 U CN 211491585U
- Authority
- CN
- China
- Prior art keywords
- unit
- knuckle
- finger
- shaft
- hole
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a flexible bionic manipulator, which comprises a palm, a plurality of fingers which are rotatably connected with the palm and a driving device; a plurality of fingers are in a parallel structure, and each finger is formed by connecting a finger root unit, a plurality of knuckle units and a fingertip unit in series through a rotating shaft; in each finger, the finger root unit and the knuckle unit, the knuckle unit and the finger tip unit are driven by the driving device, so that the finger root unit and the knuckle unit move mutually, the knuckle unit moves mutually and the knuckle unit and the finger tip unit move mutually, and the finger is bent or straightened. The utility model discloses the bionical manipulator of flexibility is strong and the commonality is strong, applicable in the centre gripping of various shape article, can satisfy great load moreover, is applicable to the transport occasion of the great article of quality.
Description
Technical Field
The utility model relates to the technical field of robots, more specifically say, relate to a nimble type bionic manipulator.
Background
Along with the continuous development of robot technique, humanoid robot constantly arouses people's concern and attention, and humanoid robot is applied to industry field, medical field etc. more, and wherein, humanoid robot's bionic manipulator has the palm structure that can simulate people's hand action usually, and the motion of imitative people hand replaces people's work in order to realize some centre gripping, transport actions.
Bionic manipulator technique is occupying important position in the robotechnology field, and wherein, the shape and the structure of bionic manipulator palm stably snatch to bionic manipulator has important influence, and bionic manipulator's finger structure and distribution position determine bionic manipulator's workspace, and bionic manipulator's palm shape is related to the contact point distribution condition that forms when contacting with the object, and then influences the effort to the object.
The bionic manipulator in the prior art usually has four direct finger mechanisms capable of freely bending or straightening and a thumb mechanism capable of independently working, but due to the restriction on the aspects of structures and electrical systems, the defects of poor load capacity, low flexibility and single control mode exist, and the bionic manipulator cannot be suitable for grabbing and carrying of large-quality articles or grabbing and carrying of irregular-shaped articles, so that the application range of the bionic manipulator is limited, the existing bionic manipulator does not have the personification characteristic, and the universality and the practicability are greatly reduced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome shortcoming and not enough among the prior art, provide a nimble type bionic manipulator, this bionic manipulator flexibility is strong and the commonality is strong, applicable in the centre gripping of various shape article, can satisfy great load moreover, is applicable to the transport occasion of the great article of quality.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a flexible bionic manipulator is characterized in that: comprises a palm, a plurality of fingers which are rotatably connected with the palm and a driving device; a plurality of fingers are in a parallel structure, and each finger is formed by connecting a finger root unit, a plurality of knuckle units and a fingertip unit in series through a rotating shaft; in each finger, the finger root unit and the knuckle unit, the knuckle unit and the finger tip unit are driven by the driving device, so that the finger root unit and the knuckle unit move mutually, the knuckle unit moves mutually and the knuckle unit and the finger tip unit move mutually, and the finger is bent or straightened.
In the above technical scheme, the utility model discloses a bionic mechanical hand not only the finger can rotate around the palm, the constitutional unit of finger moreover: indicate root unit, knuckle unit and fingertip unit all can be through drive arrangement independent control, for the mechanical gripper of traditional single control mode, the utility model discloses manipulator's structural flexibility is strong, and the crookedness of pointing every unit can all reach, applicable in the centre gripping of various shape article to improve manipulator's commonality. In addition, the fingers are connected in parallel, and the manipulator is driven by a plurality of driving devices, so that the manipulator can meet the requirement of large load and is suitable for carrying occasions of articles with large mass. The utility model discloses a bionic manipulator has compromise the two aspects performance of flexibility and load, can be applicable to multiple range of application, not only has anthropomorphic characteristics, improves its practicality moreover greatly.
Specifically, each of the knuckle units includes a knuckle housing; one end of the knuckle shell is provided with a first hole connected with the adjacent finger root unit, the knuckle unit or the fingertip unit, and the other end of the knuckle shell is provided with a first shaft connected with the adjacent finger root unit, the knuckle unit or the fingertip unit; the knuckle shell is also provided with a second hole and a third hole which are connected with the driving device.
The finger root unit comprises a finger root shell; and one end of the finger root shell is provided with a hole IV for connecting with the knuckle unit and a hole V for connecting with the driving device.
The fingertip unit includes a fingertip housing; one end of the fingertip shell is provided with a shaft IV used for being connected with the knuckle unit and a hole VI connected with the driving device. The fingertip unit of the utility model can be designed into different shapes as required to adapt to the requirements of different occasions, and can also bear certain load.
Each finger is formed by connecting a finger root unit, a plurality of knuckle units and a finger tip unit in series through a rotating shaft: the finger root shell, the finger joint shells and the finger tip shell of each finger are sequentially connected with the first shaft through the fourth hole, connected with the first shaft through the first hole and connected with the fourth shaft through the first hole to realize mutual series connection. The utility model discloses finger series connection structure's design can be through carrying out the mutual transmission under drive arrangement's drive, can simplify the structure of manipulator greatly.
The driving device comprises a piezoelectric driver, a telescopic rod, a second shaft for connecting with the finger root unit or the knuckle unit and a third shaft for connecting with the knuckle unit or the fingertip unit; the second shaft is arranged on the side part of the piezoelectric actuator; the telescopic rod is arranged on the piezoelectric driver and connected with the third shaft, and the piezoelectric driver drives the telescopic rod to stretch and contract so as to drive the third shaft to move. The utility model discloses a piezoelectric actuator itself has the characteristics that moment is big, adopts piezoelectric actuator can further improve the load performance of manipulator.
And a second shaft of the driving device is connected with a fifth hole of the finger root shell, and a third shaft of the driving device is connected with a third hole of the finger node shell, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative motion between the finger root unit and the finger node unit is controlled.
And a second shaft of the driving device arranged between the knuckle units is connected with a second hole of the previous knuckle shell, and a third shaft of the driving device is connected with a third hole of the next knuckle unit, so that the piezoelectric driver drives the telescopic rod to stretch and contract to drive the third shaft to move, and the relative motion between the knuckle units is controlled.
And a second shaft of the driving device is connected with a second hole of the knuckle shell, and a third shaft of the driving device is connected with a sixth hole of the fingertip unit, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative movement between the knuckle unit and the fingertip unit is controlled.
The utility model also comprises a driving part for driving a plurality of fingers to rotate around the palm; the driving part comprises a motor arranged in the palm, a driving gear connected with the motor and a driven gear connected with the finger root unit through a rotating shaft; the number of the motors is equal to that of the fingers, the driving gear is meshed with the driven gear, the motors drive the driving gear to drive the fingers to rotate around the palm, and the rotating shaft of the fingers rotating around the palm is orthogonal to the rotating shaft of the two adjacent units when the fingers are bent; wherein, two adjacent units mean: between the finger root unit and the knuckle unit, between two knuckle units, or between a knuckle unit and a fingertip unit.
The utility model discloses the every finger of bionic mechanical hand then can realize pointing crooked through the form of each unit series connection and drive arrangement's effect: two adjacent units are connected respectively with the axle third, and the telescopic link is flexible will lead to the distance change between two axles and the axle third, and two adjacent units are connected through a revolute pair, will lead to the joint bending in the middle of two adjacent units when two adjacent unit below distance changes to realize that the finger is crooked. Wherein, two adjacent units are: between the finger root unit and the knuckle unit, between two knuckle units, or between a knuckle unit and a fingertip unit.
The utility model discloses bionic mechanical hand simple structure, a plurality of fingers adopt the parallel mode, and every finger adopts the series connection connected mode, and the connected mode has been operated moreover, consequently, at the in-process of the actual application, the finger is in the position of palm, the quantity of finger, the quantity of every finger in the unit series connection and the fingertip unit of various different shapes all can be according to the demand independent assortment for this bionic mechanical hand function is various, can satisfy the demand of various use occasions.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect: the utility model discloses the bionical manipulator of flexibility is strong and the commonality is strong, applicable in the centre gripping of various shape article, can satisfy great load moreover, is applicable to the transport occasion of the great article of quality.
Drawings
Fig. 1 is a first schematic view of the bionic manipulator of the present invention;
fig. 2 is a schematic view two of the bionic manipulator of the present invention;
FIG. 3 is a cross-sectional view of a knuckle housing in the bionic manipulator of the present invention;
FIG. 4 is a cross-sectional view of the finger root housing of the bionic manipulator of the present invention;
FIG. 5 is a cross-sectional view of the finger tip housing of the bionic manipulator of the present invention;
FIG. 6 is a cross-sectional view of a finger of the bionic manipulator of the present invention;
fig. 7 is a schematic view of a driving device in the bionic manipulator of the utility model;
fig. 8 is a schematic view of a driving part in the bionic manipulator of the utility model;
wherein, 1 is palm, 2 is finger, 3 is finger root unit, 4 is knuckle unit, 5 is finger tip unit, 6 is hole one, 7 is axle one, 8 is hole two, 9 is hole three, 10 is hole four, 11 is hole five, 12 is axle four, 13 is hole six, 14 is piezoelectric driver, 15 is telescopic link, 16 is axle two, 17 is axle three, 18 is motor, 19 is driving gear, 20 is driven gear.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1 to 8, the flexible bionic manipulator of the present invention comprises a palm 1, 5 fingers 2 rotatably connected with the palm 1, and a driving device, wherein the 5 fingers 2 are connected in parallel, and each finger 2 is composed of a finger root unit 3, 2 knuckle units 4, and a finger tip unit 5 which are connected in series through a rotating shaft; in each finger 2, the base finger unit 3 and the knuckle unit 4, the knuckle unit 4 and the fingertip unit 5 are driven by a driving device, so that the base finger unit 3 and the knuckle unit 4 move mutually, the knuckle unit 4 moves mutually and the knuckle unit 4 and the fingertip unit 5 move mutually, and the finger 2 is bent or straightened.
Specifically, each knuckle unit 4 includes a knuckle housing, one end of the knuckle housing is provided with a first hole 6 connected to the adjacent knuckle unit 3, 4 or 5, the other end is provided with a first shaft 7 connected to the adjacent knuckle unit 3, 4 or 5, and the knuckle housing is further provided with a second hole 8 and a third hole 9 connected to the driving device. The finger root unit 3 comprises a finger root shell, one end of the finger root shell is provided with a hole four 10 used for being connected with the knuckle unit 4 and a hole five 11 connected with a driving device. And the fingertip unit 5 comprises a fingertip shell, one end of the fingertip shell is provided with a shaft four 12 used for being connected with the knuckle unit 4 and a hole six 13 connected with the driving device. The fingertip unit 5 can be designed into different shapes according to requirements to meet the requirements of different occasions, and can also bear certain load.
In this embodiment, the base housing, 2 knuckle housings and fingertip housing of each finger are sequentially connected to the first shaft 7 through the fourth hole 10, the first shaft 7 through the first hole 6, and the fourth shaft 12 through the first hole 6. The utility model discloses finger series connection structure's design can be through carrying out the mutual transmission under drive arrangement's drive, can simplify the structure of manipulator greatly.
The utility model discloses drive arrangement includes piezoelectric actuator 14, telescopic link 15, is used for with indicate two 16 of the axle of root unit 3 or knuckle unit connection 4 and be used for with the axle three 17 of knuckle unit or fingertip unit connection, wherein, two 16 settings of axle are at piezoelectric actuator 14 lateral parts, and telescopic link 15 sets up on piezoelectric actuator 14 and is connected with axle three 17, realizes that piezoelectric actuator 14 drives telescopic link 15 and stretches out and draws back in order to drive the motion of axle three 17. The utility model discloses a piezoelectric actuator 14 itself has the big characteristics of moment, adopts piezoelectric actuator 14 can further improve the load performance of manipulator.
The utility model discloses drive arrangement is like with 2 concrete connections of finger: and a second shaft 16 of the driving device arranged between the finger root unit 3 and the knuckle unit 4 is connected with a fifth hole 11 of the finger root shell, and a third shaft 17 of the driving device is connected with a third hole 9 of the knuckle shell, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move, and the relative movement between the finger root unit 3 and the knuckle unit 4 is controlled.
And a second shaft 16 of the driving device arranged between the knuckle units 4 is connected with a second hole 8 of the previous knuckle shell, and a third shaft 17 of the driving device is connected with a third hole 9 of the next knuckle unit, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move, and the relative movement between the knuckle units 4 is controlled.
And a second shaft 16 of the driving device arranged between the knuckle unit 4 and the fingertip unit 5 is connected with a second hole 8 of the knuckle shell, and a third shaft 17 of the driving device is connected with a sixth hole 13 of the fingertip unit 5, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move, and the relative movement between the knuckle unit 4 and the fingertip unit 5 is controlled.
The utility model discloses still including being used for driving 5 fingers 2 around palm 1 pivoted driver part, this driver part is including setting up at the inside motor 18 of palm 1, the driving gear 19 of being connected with motor 18 and through the pivot with indicate root unit 3 to be connected driven gear 20. The number of the motors 18 of the utility model is equal to that of the fingers 2, the driving gear 19 is meshed with the driven gear 20, so that the motors 18 drive the driving gear 19 to drive the fingers 2 to rotate around the palm 1, and the rotating shaft of the fingers 2 rotating around the palm 1 is orthogonal to the rotating shaft between two adjacent units when the fingers 2 are bent; wherein, two adjacent units mean: between the base element 3 and the knuckle element 4, between two knuckle elements 4 or between a knuckle element 4 and a fingertip element 5.
The utility model discloses a bionic mechanical hand not only indicates 2 can rotate around palm 1, and the constitutional unit of finger 2 moreover: indicate root unit 3, knuckle unit 4 and fingertip unit 5 all can be through drive arrangement independent control, for the mechanical gripper of traditional single control mode, the utility model discloses manipulator's structural flexibility is strong, and the crookedness of pointing every unit can all reach, applicable in the centre gripping of various shape article to improve manipulator's commonality. In addition, the fingers 2 are connected in parallel, and are driven by a plurality of piezoelectric drivers 14, so that the manipulator can meet the requirement of large load and is suitable for the transportation occasion of articles with large mass. The utility model discloses a bionic manipulator has compromise the two aspects performance of flexibility and load, can be applicable to multiple range of application, not only has anthropomorphic characteristics, improves its practicality moreover greatly.
Example two
The present embodiment is different from the first embodiment only in that: in the actual application process, the positions of the fingers on the palm, the number of the fingers, the number of the units connected in series in each finger and the finger tip units in different shapes can be freely combined according to requirements, so that the bionic manipulator has various functions and can meet the requirements of various use occasions.
Other structures of the present embodiment are consistent with the present embodiment.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A flexible bionic manipulator is characterized in that: comprises a palm, a plurality of fingers which are rotatably connected with the palm and a driving device; a plurality of fingers are in a parallel structure, and each finger is formed by connecting a finger root unit, a plurality of knuckle units and a fingertip unit in series through a rotating shaft; in each finger, the finger root unit and the knuckle unit, the knuckle unit and the finger tip unit are driven by the driving device, so that the finger root unit and the knuckle unit move mutually, the knuckle unit moves mutually and the knuckle unit and the finger tip unit move mutually, and the finger is bent or straightened.
2. The flexible biomimetic manipulator according to claim 1, wherein: each of the knuckle units comprises a knuckle housing; one end of the knuckle shell is provided with a first hole connected with the adjacent finger root unit, the knuckle unit or the fingertip unit, and the other end of the knuckle shell is provided with a first shaft connected with the adjacent finger root unit, the knuckle unit or the fingertip unit; the knuckle shell is also provided with a second hole and a third hole which are connected with the driving device.
3. The flexible biomimetic manipulator according to claim 2, wherein: the finger root unit comprises a finger root shell; and one end of the finger root shell is provided with a hole IV for connecting with the knuckle unit and a hole V for connecting with the driving device.
4. The flexible biomimetic manipulator according to claim 3, wherein: the fingertip unit includes a fingertip housing; one end of the fingertip shell is provided with a shaft IV used for being connected with the knuckle unit and a hole VI connected with the driving device.
5. The flexible biomimetic manipulator according to claim 4, wherein: each finger is formed by connecting a finger root unit, a plurality of knuckle units and a finger tip unit in series through a rotating shaft: the finger root shell, the finger joint shells and the finger tip shell of each finger are sequentially connected with the first shaft through the fourth hole, connected with the first shaft through the first hole and connected with the fourth shaft through the first hole to realize mutual series connection.
6. The flexible biomimetic manipulator according to claim 4, wherein: the driving device comprises a piezoelectric driver, a telescopic rod, a second shaft for connecting with the finger root unit or the knuckle unit and a third shaft for connecting with the knuckle unit or the fingertip unit; the second shaft is arranged on the side part of the piezoelectric actuator; the telescopic rod is arranged on the piezoelectric driver and connected with the third shaft, and the piezoelectric driver drives the telescopic rod to stretch and contract so as to drive the third shaft to move.
7. The flexible biomimetic manipulator according to claim 6, wherein: and a second shaft of the driving device is connected with a fifth hole of the finger root shell, and a third shaft of the driving device is connected with a third hole of the finger node shell, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative motion between the finger root unit and the finger node unit is controlled.
8. The flexible biomimetic manipulator according to claim 6, wherein: and a second shaft of the driving device arranged between the knuckle units is connected with a second hole of the previous knuckle shell, and a third shaft of the driving device is connected with a third hole of the next knuckle unit, so that the piezoelectric driver drives the telescopic rod to stretch and contract to drive the third shaft to move, and the relative motion between the knuckle units is controlled.
9. The flexible biomimetic manipulator according to claim 6, wherein: and a second shaft of the driving device is connected with a second hole of the knuckle shell, and a third shaft of the driving device is connected with a sixth hole of the fingertip unit, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative movement between the knuckle unit and the fingertip unit is controlled.
10. The flexible biomimetic manipulator according to claim 1, wherein: the hand-held electric hand cleaner also comprises a driving part for driving a plurality of fingers to rotate around the palm; the driving part comprises a motor arranged in the palm, a driving gear connected with the motor and a driven gear connected with the finger root unit through a rotating shaft; the number of the motors is equal to that of the fingers, the driving gear is meshed with the driven gear, the motors drive the driving gear to drive the fingers to rotate around the palm, and the rotating shaft of the fingers rotating around the palm is orthogonal to the rotating shaft of the two adjacent units when the fingers are bent; wherein, two adjacent units mean: between the finger root unit and the knuckle unit, between two knuckle units, or between a knuckle unit and a fingertip unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922466475.0U CN211491585U (en) | 2019-12-31 | 2019-12-31 | Flexible bionic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922466475.0U CN211491585U (en) | 2019-12-31 | 2019-12-31 | Flexible bionic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211491585U true CN211491585U (en) | 2020-09-15 |
Family
ID=72396397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922466475.0U Active CN211491585U (en) | 2019-12-31 | 2019-12-31 | Flexible bionic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211491585U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037592A (en) * | 2019-12-31 | 2020-04-21 | 广东省智行机器人科技有限公司 | Flexible bionic manipulator |
-
2019
- 2019-12-31 CN CN201922466475.0U patent/CN211491585U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037592A (en) * | 2019-12-31 | 2020-04-21 | 广东省智行机器人科技有限公司 | Flexible bionic manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN102085662B (en) | Prosthetic electric smart manipulator | |
| CN107309887B (en) | Coupling and self-adaptive under-actuated bionic dexterous finger | |
| CN110171011B (en) | Three-finger robot dexterous hand driven in coordination | |
| CN109648589B (en) | Robot dexterous manipulator finger device based on cylinder driving | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN202241307U (en) | Connecting rod slider type under-actuated bionic robot hand device | |
| CN107414880A (en) | Based on the activation lacking mechanical finger for becoming born of the same parents' principle | |
| CN107756426B (en) | Dexterous robot hand, robot arm and robot | |
| CN110900641B (en) | Parallel-clamping self-adaptive three-finger under-actuated robot hand | |
| CN109227583B (en) | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN109129530B (en) | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device | |
| CN110328678A (en) | A kind of underactuated manipulator with manpower synchronization control function | |
| CN106826885B (en) | Variable-rigidity underactuated robot dexterous hand finger | |
| CN111037592A (en) | Flexible bionic manipulator | |
| CN101367209A (en) | Five-finger type human simulating manipulator mechanism | |
| CN211491585U (en) | Flexible bionic manipulator | |
| CN108453768B (en) | Rod wheel parallel racing envelope self-adaptive robot finger device | |
| CN107433607B (en) | Robot finger device suitable for grabbing desktop objects | |
| CN111761599B (en) | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN201913642U (en) | Electric-mechanical humanoid dexterous hand | |
| CN202572400U (en) | Robot hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |