CN214418850U

CN214418850U - Mechanical arm

Info

Publication number: CN214418850U
Application number: CN202121804201.9U
Authority: CN
Inventors: 陈敬翔; 鹿振宇
Original assignee: Foshan Newhinken Intelligent Technology Co ltd
Current assignee: Foshan Newhinken Intelligent Technology Co ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2021-10-19
Anticipated expiration: 2031-08-04

Abstract

The utility model discloses a manipulator relates to manipulator technical field, including palm, thumb, forefinger, middle finger, ring finger, little finger, rope drive structure and connecting rod drive structure, the forefinger the middle finger the ring finger the little finger with connecting rod drive structure all with the palm is articulated, the forefinger the middle finger the ring finger with the little finger is respectively through one rope drive structure realizes crooked, the thumb passes through connecting rod drive structure realizes crooked. The utility model discloses a manipulator has rope drive structure and connecting rod drive structure simultaneously, has that control mode is simple, response speed is fast, the structure is clear succinct, advantage such as construction cost low.

Description

Mechanical arm

Technical Field

The utility model relates to a manipulator technical field especially relates to a manipulator.

Background

In recent years, with the rapid development of robotics, the attention on manipulators with interactive capability is increasing, which is one of the current research hotspots. However, most of the existing manipulators widely used are driven by adopting a link transmission mode, and the existing link transmission type manipulators generally have complex structures.

Chinese patent publication No. CN102528815A discloses a multi-degree-of-freedom underactuated manipulator, which is designed. The thumb, index finger, middle finger, ring finger, little finger and the like of the manipulator comprise 3 knuckles, and each knuckle is driven by only one motor and is driven by a tendon and a rope guide wheel to be directly bent. However, the manipulator connects the joint with the motor only through the rope guide wheel.

Chinese patent publication No. CN106697361A discloses a parallel five-link manipulator gripping device, which includes parallel manipulators, two rotating mechanisms and two telescopic grippers. The manipulator is a connecting rod driving type manipulator, the structure is complex, and more parts are needed for assembly.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator to solve the problem that above-mentioned prior art exists, have that control mode is simple, response speed is fast, the structure is clear succinct, the advantage that the cost of construction is low.

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

the utility model provides a manipulator, including palm, thumb, forefinger, middle finger, third finger, little finger, rope drive structure and connecting rod drive structure, the forefinger the middle finger the third finger the little finger with connecting rod drive structure all with the palm is articulated, the forefinger the middle finger the third finger with the little finger is respectively through one rope drive structure realizes crooked, the thumb passes through connecting rod drive structure realizes crooked.

Preferably, the structures of the index finger, the middle finger, the ring finger and the little finger are the same, the index finger, the middle finger, the ring finger or the little finger each comprise a fingertip, a first knuckle and a second knuckle, the fingertip is hinged to the first knuckle through a first joint, the first knuckle is hinged to the second knuckle through a second joint, and the second knuckle is hinged to the palm through a third joint.

Preferably, each of the first joints, each of the second joints, and each of the third joints is provided with a torsion spring.

Preferably, each of the first knuckles includes a first link, one end of which is hinged to the corresponding first joint, and the other end of which is hinged to the corresponding second joint.

Preferably, each of the second knuckles includes a second link, one end of which is hinged to the corresponding second joint, and the other end of which is hinged to the corresponding third joint.

Preferably, a wire casing is arranged in each fingertip, each first knuckle and each second knuckle.

Preferably, the rope driving structure comprises a first motor and a driving rope, one end of the driving rope is connected with a power output end of the first motor, and the other end of the driving rope sequentially penetrates through the wire grooves and is connected with the fingertips.

Preferably, the routing path formed by each line groove in the index finger, the middle finger, the ring finger or the little finger is bent.

Preferably, the connecting rod drive structure is arranged in the palm, the connecting rod drive structure comprises a second motor and a third connecting rod, one end of the third connecting rod is hinged to the palm, the other end of the third connecting rod is hinged to the thumb, the power output end of the second motor is in transmission connection with the thumb, and the second motor drives the thumb to rotate relative to the third connecting rod.

Preferably, the manipulator further comprises a base support, the base support is connected with the palm, and a mounting hole for placing the rope driving structure is formed in the base support.

The utility model discloses for prior art gain following technological effect:

the utility model discloses a manipulator possesses rope drive structure and connecting rod drive structure simultaneously, and the structure is retrencied reliably, spare part quantity is less relatively, realizes that the cost of complete preparation is lower to have advantages such as control mode is simple, response speed is fast.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only 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 a manipulator of the present invention;

FIG. 2 is a schematic view of the connection of thumb, index finger, middle finger, ring finger and little finger according to the present invention;

fig. 3 is a schematic view of a palm of the present invention;

FIG. 4 is a schematic view of the thumb, index finger, middle finger, ring finger or little finger of the present invention;

FIG. 5 is a schematic diagram of the routing path of the present invention;

fig. 6 is a schematic view of the rope driving structure of the present invention;

fig. 7 is a schematic view of a driving rope opening on a palm of the utility model;

fig. 8 is a schematic view of the inner structure of the palm of the present invention;

fig. 9 is a schematic view of the connection relationship between the connecting rod driving structure and the thumb of the present invention;

fig. 10 is a schematic structural view of a thumb of the present invention;

fig. 11 is a schematic view of a base bracket of the present invention;

wherein: 100-manipulator, 1-palm, 2-thumb, 3-index finger, 4-middle finger, 5-ring finger, 6-little finger, 7-rope driving structure, 8-connecting rod driving structure, 9-fingertip, 10-first knuckle, 11-second knuckle, 12-first joint, 13-second joint, 14-third joint, 15-first connecting rod, 16-second connecting rod, 17-wire groove, 18-first motor, 19-driving rope, 20-second motor, 21-third connecting rod, 22-base support, 23-mounting hole, 24-driving rope port, 25-power line and signal line, 26-first fixing hole, 27-second fixing hole, 28-third fixing hole, 29-fourth fixing hole, 30-round hole, 31-shell.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

As shown in fig. 1-11: the embodiment provides a manipulator 100, which comprises a palm 1, a thumb 2, an index finger 3, a middle finger 4, a ring finger 5, a little finger 6, a rope driving structure 7 and a connecting rod driving structure 8, wherein the index finger 3, the middle finger 4, the ring finger 5, the little finger 6 and the connecting rod driving structure 8 are all hinged with the palm 1, the index finger 3, the middle finger 4, the ring finger 5 and the little finger 6 are respectively bent through the rope driving structure 7, and the thumb 2 is bent through the connecting rod driving structure 8. The manipulator 100 of the embodiment has the rope driving structure 7 and the connecting rod driving structure 8 at the same time, has a simplified and reliable structure, relatively fewer parts, lower cost for realizing complete manufacturing, and has the advantages of simple control mode, high response speed and the like

In this embodiment, the index finger 3, the middle finger 4, the ring finger 5, and the little finger 6 are all three joints and under-actuated fingers with 1 degree of freedom, and the structures of the index finger 3, the middle finger 4, the ring finger 5, and the little finger 6 are the same, the index finger 3, the middle finger 4, the ring finger 5, or the little finger 6 all include a fingertip 9, a first knuckle 10, and a second knuckle 11, the fingertip 9 is hinged to the first knuckle 10 through a first joint 12, the first knuckle 10 is hinged to the second knuckle 11 through a second joint 13, the second knuckle 11 is hinged to the palm 1 through a third joint 14, and the third joint 14 is connected to the palm 1 through a pin passing through a fourth fixing hole 29.

In this embodiment, first joint 12, second joint 13, and third joint 14 are formed by pins passing through first fixing holes 26.

In this embodiment, each of the first joints 12, each of the second joints 13, and each of the third joints 14 are provided with a torsion spring, the torsion springs are disposed on the pins of the first joints 12, the second joints 13, and the third joints 14 in a penetrating manner, and the torsion springs are used for the manipulator 100 to perform the extending movement of the return stroke.

In this embodiment, each first knuckle 10 includes a first link 15, one end of the first link 15 is hinged to the corresponding first joint 12, and the other end of the first link 15 is hinged to the corresponding second joint 13.

In this embodiment, each second knuckle 11 includes a second link 16, one end of the second link 16 is hinged to the corresponding second joint 13, and the other end of the second link 16 is hinged to the corresponding third joint 14.

In this embodiment, each fingertip 9, each first knuckle 10, and each second knuckle 11 are provided with a wire slot 17 therein, and the bottom of the palm 1 is provided with a corresponding driving rope opening 24. The driving rope 19 sequentially passes through the driving rope opening 24, the interior of the palm 1 and the corresponding wire groove 17 and is finally fixed at the tail end of each fingertip 9.

In this embodiment, the rope driving structure 7 includes a first motor 18 and a driving rope 19, and the driving rope 19 has a certain flexibility, such as an elastic rope, a steel wire rope, and the like. One end of a driving rope 19 is connected with the power output end of the first motor 18, the other end of the driving rope 19 sequentially penetrates through the wire slot 17 and is connected with the fingertip 9, the first motor 18 is connected with the upper computer through a power line and a signal line 25, and the rotation of the first motor 18 is controlled according to a control signal sent by the upper computer, so that the effect of tensioning or loosening the driving rope 19 is achieved.

In this embodiment, the routing path formed by the wire grooves 17 in the index finger 3, the middle finger 4, the ring finger 5 or the little finger 6 is bent.

In this embodiment, the thumb 2 has 1 degree of freedom, and the thumb 2 can be rotated toward or away from the palm 1. The thumb 2 comprises three pieces of shells 31 hinged one after the other, in particular, adjacent shells 31 are connected by means of a pin passing through the second fixing hole 27.

In this embodiment, the connecting rod driving structure 8 is disposed inside the palm 1, the connecting rod driving structure 8 includes a second motor 20 and a third connecting rod 21, one end of the third connecting rod 21 is hinged to the palm 1, the other end of the third connecting rod 21 is hinged to the casing 31 at the lowest end of the thumb 2, the power output end of the second motor 20 is in transmission connection with the thumb 2, and the second motor 20 drives the thumb 2 to rotate relative to the third connecting rod 21. Specifically, one end of the third link 21 is connected to the inside of the palm 1 through a pin passing through the circular hole 30, and the other end of the third link 21 is connected to the casing 31 at the lowermost end of the thumb 2 through a pin passing through the third fixing hole 28. The power output end of the second motor 20 drives the casing 31 at the lowest end of the thumb 2 to rotate, so that the thumb 2 rotates integrally.

In this embodiment, the manipulator 100 further includes a base support 22, the base support 22 is connected with the palm 1, a mounting hole 23 for placing the rope driving structure 7 is formed in the base support 22, the first motor 18 is disposed in the mounting hole 23, and each driving rope 19 sequentially passes through the corresponding driving rope opening 24 and the corresponding wire chase 17 to be connected with the fingertip 9.

When the manipulator 100 of this embodiment is in operation, after the rope driving structure 7 receives a control signal from the host computer, the first motor 18 rotates forward or backward to drive the tightening or loosening of the driving rope 19. When the first motor 18 rotates forward, the driving rope 19 is pulled down, so that the first joint 12, the second joint 13 and the third joint 14 of the corresponding index finger 3, middle finger 4, ring finger 5 or small finger 6 are passively bent, and the first connecting rod 15 and the second connecting rod 16 are driven to move. The thumb 2 is driven by the second motor 20 to rotate forwards and backwards to realize the rotation movement of the thumb 2 towards or away from the palm 1.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.

Claims

1. A manipulator, its characterized in that: the palm bending device comprises a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger, a rope driving structure and a connecting rod driving structure, wherein the index finger, the middle finger, the ring finger, the little finger and the connecting rod driving structure are hinged with the palm, the index finger, the middle finger, the ring finger, the little finger and the little finger are respectively bent through one rope driving structure, and the thumb is bent through the connecting rod driving structure.

2. The robot hand according to claim 1, wherein: the structures of the index finger, the middle finger, the ring finger and the little finger are the same, the index finger, the middle finger, the ring finger or the little finger comprises finger tips, a first knuckle and a second knuckle, the finger tips are hinged with the first knuckle through a first joint, the first knuckle is hinged with the second knuckle through a second joint, and the second knuckle is hinged with the palm through a third joint.

3. The robot hand according to claim 2, wherein: each first joint, each second joint and each third joint are provided with a torsion spring.

4. The robot hand according to claim 2, wherein: each first knuckle comprises a first connecting rod, one end of each first connecting rod is hinged to the corresponding first joint, and the other end of each first connecting rod is hinged to the corresponding second joint.

5. The robot hand according to claim 2, wherein: each second knuckle comprises a second connecting rod, one end of each second connecting rod is hinged to the corresponding second joint, and the other end of each second connecting rod is hinged to the corresponding third joint.

6. The robot hand according to claim 2, wherein: a wire casing is arranged in each fingertip, each first knuckle and each second knuckle.

7. The robot hand of claim 6, wherein: the rope driving structure comprises a first motor and a driving rope, one end of the driving rope is connected with the power output end of the first motor, and the other end of the driving rope sequentially penetrates through the wire grooves and is connected with the finger tips.

8. The robot hand of claim 6, wherein: the routing path formed by the line grooves in the index finger, the middle finger, the ring finger or the little finger is bent.

9. The robot hand according to claim 1, wherein: the connecting rod drive structure sets up the inside of palm, the connecting rod drive structure includes second motor and third connecting rod, the one end of third connecting rod with the palm is articulated, the other end of third connecting rod with the thumb is articulated, the power take off of second motor with the thumb transmission is connected, second motor drive the thumb with the third connecting rod rotates relatively.

10. The robot hand according to claim 1, wherein: the manipulator further comprises a base support, the base support is connected with the palm, and a mounting hole used for placing the rope driving structure is formed in the base support.