CN105881530A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN105881530A CN105881530A CN201610409867.1A CN201610409867A CN105881530A CN 105881530 A CN105881530 A CN 105881530A CN 201610409867 A CN201610409867 A CN 201610409867A CN 105881530 A CN105881530 A CN 105881530A
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- driving motor
- finger
- palm
- control device
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator comprising an arm and a palm which is rotationally mounted at one end of the arm; the palm simulates the distribution of five fingers and joints of a person's hand; a plurality of driving motors are mounted in the arm, and are used for driving the palm to rotate and/or the fingers to bend or extend; each of the joints corresponds to at least one of the driving motors. According to the invention, at least one driving motor is arranged corresponding to each joint to realize the movement of each joint, so that the flexibility of the manipulator is effectively improved; the mounting of the driving motors in the arm neither affects the volume of the manipulator nor interferes with the action of the manipulator, so that the flexibility of the manipulator is ensured.
Description
Technical field
The present invention relates to field of mechanical technique, particularly to a kind of mechanical hand.
Background technology
In the industrial production, for very in the case of dangerous, needing to complete by mechanical hand.Existing
Mechanical hand is generally by hydraulic-driven connecting rod, to drive finger or by motor direct-drive finger,
The actions such as the crawl realizing finger.But, by hydraulic-driven connecting rod, to drive the mechanical hand of finger
Structure is the heaviest, and action is the most relatively easy.And pass through the mechanical hand of motor direct-drive finger, due to
Drive motor to be arranged on palm, due to the restriction of palm volume, cause the number of motors that can lay limited,
And then cause the motility of mechanical hand relatively low.
Summary of the invention
The main object of the present invention is to provide a kind of mechanical hand, it is intended to realize the flexible control of mechanical hand.
For achieving the above object, the mechanical hand that the present invention proposes, it is installed on described hands including arm and rotation
The palm of arm one end；Described palm is to imitate five fingers of human body and the palm of joint distribution；Described arm
Several driving motor is inside installed；Described driving motor is used for driving described palm to rotate and/or driving described
Digital flexion or stretching, extension；Each described joint at least one described driving motor corresponding.
Optionally, corresponding two the driving motors in each described joint；Motor is driven to be used for driving institute described in one
Stating digital flexion, another described driving motor is used for driving described finger extension.
Optionally, described driving motor is connected with described joint by rope.
Optionally, described mechanical hand also includes controlling device；Described control device and described driving motor electricity
Connect, be used for controlling described driving motor.
Optionally, described mechanical hand also includes sensing device；Described sensing device and described control device electricity
Connect, for detecting the grasp force of described finger, to realize the adjustment to described grasp force.
Optionally, described sensing device is the power level sensor being arranged on described finger.
Optionally, described mechanical hand also includes read-write equipment；Described read-write equipment and described control device electricity
Connect, be used for writing control program；Described control device reads the control program in described read-write equipment,
And according to driving motor described in described control programme-control.
Optionally, described mechanical hand also includes induction installation；Described induction installation and described control device electricity
Connect, for sensing the action of staff；Described control device, according to the action of the staff sensed, controls
Described driving motor, to realize staff simulating sports.
Optionally, it is provided with gum cover at the finger abdomen of described finger.
Optionally, described driving motor is servo drive motor.
Technical scheme, arranges at least one by corresponding each joint and drives motor, to realize
Control to the motion in each joint, is effectively improved the motility of mechanical hand；And owing to driving motor peace
It is contained in arm, does not interferes with the volume of mechanical hand, also the action of mechanical hand will not be caused interference, enter
One step ensure that the motility of mechanical hand.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other according to the structure shown in these accompanying drawings
Accompanying drawing.
Fig. 1 is originally for the perspective view of invention mechanical hand one embodiment.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, do referring to the drawings further
Explanation.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and
Embodiment, is further elaborated to the present invention.Should be appreciated that concrete reality described herein
Execute mode only in order to explain the present invention, be not intended to limit the present invention.
The present invention proposes a kind of mechanical hand.
With reference to Fig. 1, Fig. 1, this is the perspective view of invention mechanical hand one embodiment.
The mechanical hand of the present embodiment includes arm 100 and rotates the palm being installed on described arm 100 one end
200；Described palm 200 is five fingers and the palm 200 of joint distribution imitating human body；Described arm
Several driving motor (sign) is installed in 100；Described driving motor is used for driving described palm 200
Rotate and/or drive described finger 220 bend or stretch；Each described joint 240 at least one institute corresponding
State driving motor.
Concrete, in the present embodiment, described palm 200 includes five fingers 220, the most corresponding staff
Thumb, forefinger, middle finger, the third finger and little finger of toe, and joint 240 reference by location of described finger 220
Staff is arranged.The carpal joint of described palm 200 and the corresponding staff in junction of described arm 100.Described
Drive motor be preferably servomotor, by forward or reverse realize to finger 220 bending or stretch
Drive.
The technical scheme of the present embodiment, arranges at least one by corresponding each joint 240 and drives motor,
To realize the control of the motion to each joint 240, it is effectively improved the motility of mechanical hand；And due to
Drive motor to be arranged in arm 100, do not interfere with the volume of mechanical hand, also mechanical hand will not be moved
Cause interference, further ensure the motility of mechanical hand.
Further, in order to ensure the driving force to each joint 240, in the present embodiment, Mei Yisuo
State corresponding two the driving motors in joint 240；Motor is driven to be used for driving described finger 220 to bend described in one,
Another described driving motor is used for driving described finger 220 to stretch.In the present embodiment, by two drivings
Motor realizes the driving to a joint 240, driving force to this joint 240 can be effectively ensured, enter
One step improves the motility of mechanical hand.Concrete, in the present embodiment, described driving motor is 30
Two.Wherein, for drive described palm 200 relative to described arm 100 rotate for four；Drive
Dynamic described thumb bending with stretch for four；Drive described forefinger bending with stretch for six；Drive
Described middle clinodactyly and stretching, extension for six；Drive described nameless bending with stretch for six；Drive
Described streblomicrodactyly and stretching, extension for six.
Further, in the present embodiment, described driving motor is by rope 260 and described joint 240
Connect.Described driving electric machine rotation is to pull rope 260, and then drives described joint 240 to rotate, structure
Relatively simple, and do not interfere with the volume of mechanical hand.
Further, in the present embodiment, described mechanical hand also includes controlling device (such as, controller
Deng)；Described control device electrically connects with described driving motor, is used for controlling described driving motor.Described control
Device processed can be arranged on described arm 100, or it is peripheral to be arranged on described mechanical hand, and passes through cable
Electrically connect with described driving motor, to realize the control driving motor.Its concrete control mode can be
It is controlled by control program, or simulation staff action is controlled.When described control mode is logical
Crossing control program when being controlled, described mechanical hand also includes read-write equipment (such as, read-write bin
Deng), described read-write equipment electrically connects with described control device, is used for writing control program；Described control fills
Put the control program read in described read-write equipment, and according to driving motor described in described control programme-control.
Concrete, operator write control program as required, and are stored in read-write equipment.Work as mechanical hand
During operation, described control device reads described control program, and according to the content of described control program to often
One control driving motor, and then realize the control to described mechanical hand.When described control mode is simulation
When staff action is controlled, described mechanical hand also includes induction installation (such as, infrared inductor etc.)；
Described induction installation electrically connects with described control device, for sensing the action of staff；Described control device
According to the action of the staff sensed, control described driving motor, to realize staff simulating sports.Specifically
, operator make action which be to be with hands, and described induction installation senses and catches this action,
Described control device is according to the action captured, the control to each driving motor, and then realizes described
The control of mechanical hand.
Further, in the present embodiment, described mechanical hand also includes sensing device 280；Described sensing dress
Put 280 to electrically connect with described control device, for detecting the grasp force of described finger 220, right to realize
The adjustment of described grasp force.Concrete, in the present embodiment, described sensing device 280 is for being arranged at
State the power level sensor on finger 220.When described mechanical hand captures article, described sensing device 280
Sensing the grasp force of described mechanical hand, user can be according to the hardness of described crawled article to described crawl
Power is adjusted, to avoid owing to grasp force is excessive and cause the situation such as crawled article damage to occur.
Further, in the present embodiment, it is provided with gum cover 222 at the finger abdomen of described finger 220.Described glue
Set 222 is made up of flexible material (such as, elastomeric material etc.), grabs crawled article for realization
While the buffering of power taking, increase the frictional force between described finger abdomen and described crawled article, Jin Erbao
The Stability and dependability that card captures.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every
Utilize equivalent structure or equivalence flow process conversion that description of the invention and accompanying drawing content made, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. a mechanical hand, it is characterised in that include that arm and rotation are installed on the hands of described arm one end
The palm；Described palm is to imitate five fingers of human body and the palm of joint distribution；In described arm, number is installed
Individual driving motor；Described driving motor be used for driving described palm rotate and/or drive described digital flexion or
Stretch；Each described joint at least one described driving motor corresponding.
2. mechanical hand as claimed in claim 1, it is characterised in that corresponding two of each described joint is driven
Galvanic electricity machine；Driving motor to be used for driving described digital flexion described in one, another described driving motor is used for driving
Dynamic described finger extension.
3. mechanical hand as claimed in claim 1, it is characterised in that described driving motor by rope with
Described joint connects.
4. mechanical hand as claimed in claim 1, it is characterised in that also include controlling device；Described control
Device processed electrically connects with described driving motor, is used for controlling described driving motor.
5. mechanical hand as claimed in claim 4, it is characterised in that also include sensing device；Described biography
Induction device electrically connects with described control device, for detecting the grasp force of described finger, to realize described
The adjustment of grasp force.
6. mechanical hand as claimed in claim 5, it is characterised in that described sensing device is for being arranged at
State the power level sensor on finger.
7. mechanical hand as claimed in claim 4, it is characterised in that also include read-write equipment；Described reading
Write device electrically connects with described control device, is used for writing control program；Described control device reads described
Control program in read-write equipment, and according to driving motor described in described control programme-control.
8. mechanical hand as claimed in claim 4, it is characterised in that also include induction installation；Described sense
Device is answered to electrically connect with described control device, for sensing the action of staff；Described control device is according to sense
The action of the staff that should arrive, controls described driving motor, to realize staff simulating sports.
9. mechanical hand as claimed in claim 1, it is characterised in that be provided with glue at the finger abdomen of described finger
Set.
10. as in one of claimed in any of claims 1 to 9 mechanical hand, it is characterised in that described in drive
Galvanic electricity machine is servo drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409867.1A CN105881530A (en) | 2016-06-12 | 2016-06-12 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409867.1A CN105881530A (en) | 2016-06-12 | 2016-06-12 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105881530A true CN105881530A (en) | 2016-08-24 |
Family
ID=56729119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409867.1A Pending CN105881530A (en) | 2016-06-12 | 2016-06-12 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881530A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426233A (en) * | 2016-10-16 | 2017-02-22 | 福州幻科机电科技有限公司 | Palm joint assembly of simulated intelligent robot |
| CN107825452A (en) * | 2017-12-26 | 2018-03-23 | 陈宇昕 | Link bionic mechanical hand in a kind of joint |
| CN108381573A (en) * | 2018-05-17 | 2018-08-10 | 南京航空航天大学 | Vibrational feedback and force feedback combination human-computer interaction finger, gloves and method |
| CN109070358A (en) * | 2018-01-23 | 2018-12-21 | 深圳蓝胖子机器人有限公司 | A kind of mechanical finger and manipulator |
| CN109352641A (en) * | 2018-11-27 | 2019-02-19 | 吉林省众森永益科技有限公司 | Optical disk gripping device |
| CN109496179A (en) * | 2018-01-23 | 2019-03-19 | 深圳蓝胖子机器人有限公司 | A kind of mechanical finger and manipulator |
| CN110983640A (en) * | 2019-11-23 | 2020-04-10 | 复旦大学 | Shape following manipulator device suitable for three-dimensional automatic sewing |
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| US6896704B1 (en) * | 1999-05-19 | 2005-05-24 | Harada Electronics Co., Ltd. | Movable finger for prostheses, upper extremity prostheses using this movable finger, and movable finger controller |
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| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
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| CN205685335U (en) * | 2016-06-12 | 2016-11-16 | 深圳博美德机器人股份有限公司 | Mechanical hand |
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| US4980626A (en) * | 1989-08-10 | 1990-12-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method and apparatus for positioning a robotic end effector |
| US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
| US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
| US6896704B1 (en) * | 1999-05-19 | 2005-05-24 | Harada Electronics Co., Ltd. | Movable finger for prostheses, upper extremity prostheses using this movable finger, and movable finger controller |
| US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| US20100147098A1 (en) * | 2008-12-11 | 2010-06-17 | Samsung Electronics Co., Ltd. | Robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426233A (en) * | 2016-10-16 | 2017-02-22 | 福州幻科机电科技有限公司 | Palm joint assembly of simulated intelligent robot |
| CN107825452A (en) * | 2017-12-26 | 2018-03-23 | 陈宇昕 | Link bionic mechanical hand in a kind of joint |
| WO2019144268A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳蓝胖子机器人有限公司 | Mechanical finger and mechanical hand |
| CN109070358A (en) * | 2018-01-23 | 2018-12-21 | 深圳蓝胖子机器人有限公司 | A kind of mechanical finger and manipulator |
| CN109496179A (en) * | 2018-01-23 | 2019-03-19 | 深圳蓝胖子机器人有限公司 | A kind of mechanical finger and manipulator |
| WO2019144266A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳蓝胖子机器人有限公司 | Mechanical finger and manipulator |
| CN109070358B (en) * | 2018-01-23 | 2022-03-25 | 深圳蓝胖子机器人有限公司 | Mechanical finger and mechanical arm |
| CN109496179B (en) * | 2018-01-23 | 2022-07-15 | 深圳蓝胖子机器智能有限公司 | Mechanical finger and mechanical arm |
| CN108381573A (en) * | 2018-05-17 | 2018-08-10 | 南京航空航天大学 | Vibrational feedback and force feedback combination human-computer interaction finger, gloves and method |
| CN108381573B (en) * | 2018-05-17 | 2023-07-21 | 南京航空航天大学 | Human-computer interaction finger, glove and method combining vibration feedback and force feedback |
| CN109352641A (en) * | 2018-11-27 | 2019-02-19 | 吉林省众森永益科技有限公司 | Optical disk gripping device |
| CN109352641B (en) * | 2018-11-27 | 2023-08-25 | 吉林省众森永益科技有限公司 | Optical disk gripping device |
| CN110983640A (en) * | 2019-11-23 | 2020-04-10 | 复旦大学 | Shape following manipulator device suitable for three-dimensional automatic sewing |
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Application publication date: 20160824 |