CN218285552U

CN218285552U - Bionic manipulator with high simulation degree

Info

Publication number: CN218285552U
Application number: CN202221614045.4U
Authority: CN
Inventors: 麦骞誉
Original assignee: Lubang Technology Licensing Co ltd
Current assignee: Lubang Technology Licensing Co ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2023-01-13
Anticipated expiration: 2032-06-24

Abstract

The utility model relates to a bionic manipulator with high simulation degree, which comprises a palm module, a finger module and a driving module used for driving the finger module to complete the designated action; the driving module comprises a linear motor and a traction wire, and the power output end of the linear motor is connected with one end of the traction wire so as to pull the traction wire; the finger module comprises more than two knuckle units which are sequentially hinged, the knuckle unit of the first knuckle is hinged with the palm module, the traction line penetrates through more than one knuckle unit, and the other end of the traction line is connected with the knuckle unit of the last knuckle; when the linear motor pulls the traction wire, the finger module finishes the bending action. The bionic manipulator with high simulation degree has simple and reasonable structure, reliable performance and low manufacturing cost, and can well complete various formulation actions.

Description

Bionic manipulator with high simulation degree

Technical Field

The utility model relates to a robot specifically is a bionic machinery hand of high fidelity.

Background

The application and research and development of the bionic robot are gradually paid attention, wherein a high-simulation-degree bionic manipulator which can be used for finishing various operations is a key research and development object; for example, chinese patent CN102896637B discloses a coupling self-adaptive under-actuated humanoid hand device with a quick reflection grabbing function, and specifically discloses: the device comprises a main motion mechanism and a secondary motion mechanism, wherein the main motion mechanism comprises a base, a motor, a speed reducer, a small bevel gear, a large bevel gear, a near knuckle, a middle knuckle and a far knuckle; the secondary motion mechanism consists of a first transmission connecting rod, a second transmission connecting rod and a micro-driver embedded in the two connecting rods; the main motion mechanism further comprises a first transmission connecting rod, a near joint connecting rod, a first connecting rod shaft, a first coupling elastic connecting rod shaft, a second transmission connecting rod, a middle joint connecting rod, a second coupling elastic connecting rod shaft, a third connecting rod shaft, a near joint torsion spring and a middle joint torsion spring; according to the patent, the near knuckle and the middle knuckle are connected with each other through the first coupling elastic connecting rod and the second coupling elastic connecting rod, so that the anthropomorphic coupling motion among the three front knuckles of a finger contacting an object can be realized. The humanoid hand device that this patent relates to structure is more complicated, receives complicated structure influence, and its control degree of difficulty is great, and the fault rate is higher. Therefore, further improvements are needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the not enough of above-mentioned prior art existence, and provide a bionic manipulator of high fidelity, this bionic manipulator simple structure is reasonable, the dependable performance, low in manufacturing cost, the various movements of formulating of completion that can be fine.

The purpose of the utility model is realized like this:

a bionic manipulator with high simulation degree comprises a palm module, a finger module and a driving module for driving the finger module to complete appointed actions; the driving module comprises a linear motor and a traction wire, and the power output end of the linear motor is connected with one end of the traction wire so as to pull the traction wire; the finger module comprises more than two knuckle units which are sequentially hinged, the knuckle unit of the first knuckle is hinged with the palm module, the traction line penetrates through more than one knuckle unit, and the other end of the traction line is connected with the knuckle unit of the last knuckle; when the linear motor pulls the traction wire, the finger module finishes the bending action.

As a specific scheme, a resetting elastic piece for driving the knuckle unit to reset and rotate outwards is arranged on the knuckle unit; one end of the reset elastic piece acts on the knuckle unit, and the other end of the reset elastic piece acts on the hinge body hinged with the knuckle unit.

As another specific scheme, a limiting structure is arranged between the palm module and the knuckle units and/or between the two knuckle units which are hinged with each other; the limiting structure comprises a first limiting part arranged on one hinge body and a second limiting part arranged on the other hinge body; when the finger module outwards resets to the set position, the first limiting part and the second limiting part are mutually abutted.

As a further specific aspect, the traction wire passes through inside the hinge point of the knuckle unit.

As another specific scheme, a thread passing hole for passing through the traction line is formed in the palm module and/or the knuckle unit, and the thread passing hole is located on the inner side of a hinge point; the other end of the traction wire penetrates through a wire passing hole in the knuckle unit of the tail section, and an anti-falling component with a larger volume than the wire passing hole is arranged.

As another specific scheme, the finger module comprises a finger tip part arranged on a knuckle unit of a tail section; and an accommodating cavity for accommodating the anti-falling part is arranged between the fingertip part and the knuckle unit.

As a further specific scheme, a bending notch allowing the knuckle units to rotate inwards is arranged between the palm module and the knuckle units and/or between the two knuckle units hinged to each other.

As another specific solution, the palm module includes a palm body and a back cover that are fitted to each other, and the driving module is disposed between the palm body and the back cover; the finger module is hinged on the palm body or the hand back cover body.

As another specific solution, the palm module further includes a back guard plate fitted on the back cover, and a control module disposed between the back cover and the back guard plate; the control module is in control connection with the driving module.

As another specific scheme, at least one group of finger modules comprises two knuckle units to simulate a human thumb; the at least four groups of finger modules comprise three knuckle units for respectively simulating a human index finger, a human middle finger, a human ring finger and a human tail finger; the palm module is provided with and is used for articulated the articulated seat of finger module, articulated seat is toward outer protrusion.

The utility model has the advantages as follows:

the finger module comprises a plurality of knuckle units, and the knuckle units are sequentially hinged; the driving module comprises a linear motor and a traction wire, the traction wire penetrates through each knuckle unit, and the linear motor is connected with the traction wire to pull the traction wire; when the linear motor is electrified to pull the traction wire, each knuckle unit rotates under the pulling action of the traction wire, so that the finger module integrally completes bending action, the simulation degree of the bending action is high, the human finger movement can be well simulated, and various complex actions can be completed.

Drawings

Fig. 1 is a schematic view of a bionic manipulator in an embodiment of the present invention.

Fig. 2 is an exploded view of a bionic manipulator according to an embodiment of the present invention.

Fig. 3 is a partial cross-sectional view of the bionic manipulator in a straightened state according to an embodiment of the present invention.

Fig. 4 is a partial cross-sectional view of the bionic manipulator in a state of being straightened and in another direction in an embodiment of the present invention.

Fig. 5 is a partial sectional view of a bionic manipulator in a bending state according to an embodiment of the present invention.

Fig. 6 is a partial cutaway perspective view of a knuckle unit in an embodiment of the present invention.

Fig. 7 is an orthographic view of the elastic restoring member according to an embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

Referring to fig. 1 to 7, the high-simulation bionic manipulator according to the present embodiment includes a palm module 100, a finger module 200, and a driving module 300 for driving the finger module 200 to complete a designated motion; the driving module 300 comprises a linear motor 31 and a pull wire 32, wherein the power output end of the linear motor 31 is connected with one end of the pull wire 32 to pull the pull wire 32; specifically, a linear motor 31 is provided with a linearly telescopic movable telescopic rod, and one end of a traction wire 32 is connected with the telescopic rod; the finger module 200 comprises more than two knuckle units 21, the more than two knuckle units 21 are sequentially hinged, the knuckle unit 21 at the first knuckle is hinged with the palm module 100, the traction line 32 penetrates through each knuckle unit 21, and the other end of the traction line 32 is connected with the knuckle unit 21 at the last knuckle; when the linear motor 31 pulls the pulling wire 32, the finger module 200 completes the bending action. In the bionic manipulator in the embodiment, the finger module 200 includes a plurality of knuckle units 21, and each knuckle unit 21 is hinged in sequence; the driving module 300 comprises a linear motor 31 and a pull wire 32, wherein the pull wire 32 passes through each knuckle unit 21, and the linear motor 31 is connected with the pull wire 32 to pull the same; when the linear motor 31 is electrified to pull the pull wire 32, each knuckle unit 21 rotates under the pulling action of the pull wire 32, so that the finger module 200 integrally completes the bending action, the simulation degree of the bending action is high, the human finger movement can be well simulated, and various complex actions can be further completed.

Furthermore, a resetting elastic piece 22 for driving the knuckle unit 21 to reset and rotate outwards is arranged on the knuckle unit 21; one end of the elastic restoring element 22 acts on the finger joint unit 21 and the other end acts on the hinge body hinged thereto. Specifically, referring to fig. 7, the elastic return member 22 in this embodiment is preferably a torsion spring, the threaded sleeve 2201 on the elastic return member 22 is sleeved on the hinge shaft (the knuckle units 21 and the palm module 100 are hinged to each other through the hinge shaft, and the adjacent knuckle units 21 are hinged to each other through the hinge shaft), the first force-bearing end 2202 on the elastic return member 22 abuts against the knuckle unit 21, and the second force-bearing end 2203 abuts against the hinge body hinged thereto; the hinge means a member hinged with the knuckle unit 21: the hinge means refers to the palm module 100 when the knuckle unit 21 is hinged to the palm module 100, and the hinge means refers to the adjacent knuckle unit 21 when the knuckle unit 21 is hinged to the adjacent knuckle unit 21. By arranging the elastic restoring member 22, when the pulling force of the linear motor 31 on the pulling wire 32 disappears, each knuckle unit 22 can be automatically restored to the initial position under the action of the elastic restoring force of the elastic restoring member 22, so that the finger module 200 can achieve the effect of automatically straightening.

Furthermore, a limiting structure 20 is arranged between the palm module 100 and the knuckle unit 21 and between the two knuckle units 21 hinged to each other (according to actual conditions, the limiting structure 20 can be arranged between the palm module 100 and the knuckle unit 21 or between the two knuckle units 21 hinged to each other); the limiting structure 20 comprises a first limiting portion 201 arranged on one hinge body and a second limiting portion 202 arranged on the other hinge body; when the finger module 200 is outwardly reset to the set position, the first position-limiting portion 201 and the second position-limiting portion 202 are abutted against each other. Specifically, the above articulations may refer to the knuckle unit 21 and the palm module 100, i.e.: in the limiting structure 20 between the palm module 100 and the knuckle unit 21, the first limiting part 201 is arranged on the palm module 100, the second limiting part 202 is arranged on the knuckle unit 21, when the knuckle unit 21 is reset and rotated outwards relative to the palm module 100 to a set position, the first limiting part 201 and the second limiting part 202 in the same group are abutted against each other, and thus the knuckle unit 21 is prevented from being reset and rotated excessively; in the limiting structure 20 between two knuckle units 21 hinged to each other, a first limiting part 201 is arranged on one knuckle unit 21, a second limiting part 202 is arranged on the other knuckle unit 21, when the two knuckle units 21 are reset and rotated outwards relatively to a set position, the first limiting part 201 and the second limiting part 202 in the same group are abutted, and thus the knuckle units 21 are prevented from being reset and rotated excessively; it can be seen that the knuckle unit 21 in this embodiment is provided with different sets of the first limiting portion 201 and the second limiting portion 202.

Further, the pulling wire 32 passes inside the hinge point of the knuckle unit 21 so that when the pulling wire 32 is pulled, each knuckle unit 21 can be rotated inward to perform the finger bending action.

Furthermore, the palm module 100 and the knuckle unit 21 are respectively provided with a wire passing hole 10 for passing through the traction wire 32, the wire passing hole 10 is located at the inner side of the hinge point, and the wire passing hole 10 is a through hole structure with two ends respectively opened; the other end of the traction wire 32 penetrates through the wire passing hole 10 on the knuckle unit 21 of the tail section, and is provided with an anti-dropping component 33 with the volume larger than that of the wire passing hole 10, and the anti-dropping component 33 can effectively prevent the traction wire 32 from dropping out of the wire passing hole 10, so that the integrity of the whole structure of the finger module 200 and the effectiveness of functions are guaranteed.

Further, the finger module 200 includes a fingertip member 23 disposed on the distal knuckle unit 21; an accommodating cavity 2301 for accommodating the retaining member 33 is provided between the fingertip member 23 and the knuckle unit 21.

Further, a bending notch 2101 for allowing the knuckle unit 21 to rotate inwards is arranged between the palm module 100 and the knuckle unit 21 and between the two knuckle units 21 hinged with each other; specifically, the bevel notch on the knuckle unit 21 at the 2101 position of the bending notch in this embodiment can ensure that there is enough space between the two hinge bodies to realize inward rotation by providing the bevel notch, thereby ensuring that the bending action can be smoothly realized.

Further, the palm module 100 includes a palm body 14 and a back cover 13 that are fitted to each other, and the driving module 300 is disposed between the palm body 14 and the back cover 13; the finger module 200 is hinged to the palm body 14 (or the back cover 13). Specifically, a cavity 1401 for accommodating the linear motor 31 is arranged on the palm body 14, and the back of the hand cover 13 closes the top opening of the cavity 1401.

Further, the palm module 100 further includes a back guard plate 11 fitted on the back cover 13, and a control module 12 disposed between the back cover 13 and the back guard plate 11; the control module 12 is connected with the driving module 300 in a control way; the control module 12 is arranged at a reasonable position, so that the whole volume of the manipulator is minimized.

Further, in the present embodiment, five sets of finger modules 200 are provided, and five sets of driving modules 300 are provided corresponding to the finger modules 200 one to one; in the five groups of finger modules 200, one group of finger module 200 comprises two knuckle units 21 to simulate a human thumb; the four-group finger module 200 comprises three knuckle units 21 for respectively simulating a human index finger, a human middle finger, a human ring finger and a human tail finger; the side of the palm body 14 in the palm module 100 is provided with an articulated seat 1402 for articulating the finger module 200, the articulated seat 1402 protrudes outwards, the number of the articulated seats 1402 and the finger module 200 are 5, and the articulated seats 1402 are distributed according to the positions of a human thumb, a human index finger, a human middle finger, a human ring finger and a human tail finger.

Referring to fig. 3 and 4, the finger module 200 is in a straight state as shown in the figure, in this state, the linear motor 31 does not apply a pulling force to the traction wire 32, the restoring elastic member 22 acts on each knuckle unit 21 to keep at a set position, and the first position-limiting part 201 and the second position-limiting part 202 in the same group of position-limiting structures 20 are abutted against each other;

referring to fig. 5, the finger module 200 is in a bending state as shown in the figure, in this state, the linear motor 31 is powered on and applies a pulling force to the pull wire 32, and the pulling force is greater than the elastic force of the return elastic member 22, so that each finger joint unit 21 rotates inwards under the action of the pulling force to complete the bending action; the bending degree of the finger module 200 can be controlled by setting the pulling force output by the linear motor 31.

The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a bionic manipulator of high fidelity which characterized in that: comprises a palm module (100), a finger module (200) and a driving module (300) for driving the finger module (200) to complete the designated action; the driving module (300) comprises a linear motor (31) and a traction wire (32), wherein the power output end of the linear motor (31) is connected with one end of the traction wire (32) so as to pull the traction wire (32); the finger module (200) comprises more than two knuckle units (21), the more than two knuckle units (21) are sequentially hinged, the knuckle unit (21) at the first section is hinged with the palm module (100), the traction line (32) penetrates through the knuckle unit (21) at more than one section, and the other end of the traction line (32) is connected with the knuckle unit (21) at the last section; when the linear motor (31) pulls the traction wire (32), the finger module (200) completes the bending action.

2. The high-simulation-degree bionic manipulator according to claim 1, characterized in that: the knuckle unit (21) is provided with a resetting elastic piece (22) for driving the knuckle unit (21) to outwards reset and rotate; one end of the reset elastic piece (22) acts on the knuckle unit (21) and the other end acts on the hinge body hinged with the knuckle unit.

3. The high-simulation-degree bionic manipulator according to claim 2, characterized in that: a limiting structure (20) is arranged between the palm module (100) and the knuckle units (21) and/or between the two knuckle units (21) which are hinged with each other; the limiting structure (20) comprises a first limiting part (201) arranged on one hinge body and a second limiting part (202) arranged on the other hinge body; when the finger module (200) is reset to a set position, the first limiting part (201) and the second limiting part (202) are mutually abutted.

4. The high-simulation-degree bionic manipulator according to claim 1, characterized in that: the traction wire (32) passes through the inner side of the hinge point of the knuckle unit (21).

5. The high-simulation-degree bionic manipulator according to claim 4, characterized in that: the palm module (100) and/or the knuckle unit (21) are/is provided with a thread passing hole (10) for penetrating through the traction wire (32), and the thread passing hole (10) is positioned on the inner side of a hinge point; the other end of the traction wire (32) penetrates through the wire passing hole (10) in the knuckle unit (21) of the tail section, and is provided with an anti-falling part (33) with a larger volume than the wire passing hole (10).

6. The high-simulation-degree bionic manipulator according to claim 5, characterized in that: the finger module (200) comprises a finger tip part (23) arranged on a knuckle unit (21) of the tail section; an accommodating cavity (2301) for accommodating the anti-falling component (33) is arranged between the fingertip component (23) and the knuckle unit (21).

7. The high-simulation-degree bionic manipulator according to claim 1, characterized in that: and a bending notch (2101) allowing the knuckle units (21) to rotate inwards is arranged between the palm module (100) and the knuckle units (21) and/or between the two knuckle units (21) hinged with each other.

8. The high-simulation-degree bionic manipulator according to claim 1, characterized in that: the palm module (100) comprises a palm body (14) and a hand back cover body (13) which are matched and assembled with each other, and the driving module (300) is arranged between the palm body (14) and the hand back cover body (13); the finger module (200) is hinged on the palm body (14) or the back of the hand cover body (13).

9. The high-simulation-degree bionic manipulator according to claim 8, characterized in that: the palm module (100) further comprises a hand back guard plate (11) assembled on the hand back cover body (13) in a matching mode, and a control module (12) arranged between the hand back cover body (13) and the hand back guard plate (11); the control module (12) is connected with the driving module (300) in a control mode.

10. The high-simulation-degree bionic manipulator according to any one of claims 1-9, characterized in that: at least one group of the finger modules (200) comprises two knuckle units (21) to simulate human thumbs; the at least four groups of finger modules (200) comprise three knuckle units (21) for respectively simulating a human index finger, a human middle finger, a human ring finger and a human tail finger; the palm module (100) is provided with an articulated seat (1402) for articulating the finger module (200), and the articulated seat (1402) protrudes outwards.