CN106182053A - Four refer to flexible manipulator - Google Patents
Four refer to flexible manipulator Download PDFInfo
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- CN106182053A CN106182053A CN201610690949.8A CN201610690949A CN106182053A CN 106182053 A CN106182053 A CN 106182053A CN 201610690949 A CN201610690949 A CN 201610690949A CN 106182053 A CN106182053 A CN 106182053A
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- finger
- palm
- thumb
- bend
- joint
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- 210000003811 finger Anatomy 0.000 claims abstract description 72
- 210000003813 thumb Anatomy 0.000 claims abstract description 29
- 230000009977 dual effect Effects 0.000 claims abstract description 12
- 238000005452 bending Methods 0.000 claims abstract description 9
- 229910000639 Spring steel Inorganic materials 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 244000060701 Kaempferia pandurata Species 0.000 claims description 5
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 210000001145 finger joint Anatomy 0.000 abstract description 4
- 210000005224 forefinger Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 239000002775 capsule Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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- Manipulator (AREA)
Abstract
nullThe four finger flexible manipulators a kind of four that a kind of air pressure drives refer to flexible manipulator，Including a palm and four fingers，Each finger is made up of a joint，Three fingers and palm in addition to thumb are distributed in the same plane，Angle between adjacent finger axis is 15 °，Thumb axis and 60 °, palm plane included angle，Free state thumb middle finger axial plane and 90 °, palm plane included angle，Four spindle lines extensions intersect at same point，Palm almost fan，One end, central angle direction arranges adpting flange，Mechanical arm can be connected，Thumb mounting flange is set in palm plane，One end, arc length direction arranges three finger mounted flanges，For installing three fingers in addition to thumb，Four fingers can just bend action to direction, the centre of the palm，Described thumb joint uses three driving bend in one direction joints，Just bending action maximum bend angle 218 °，The structure that its excess-three refers to is completely the same，Use Dual Drive type bend in one direction joint，Just bending action maximum bend angle 277 °，Combined by the controlled curvature movement of body of finger each Pneumatic flexible joint，Realize class people's grasped and the basic function such as pinch，Each finger-joint end is provided with finger tip.
Description
Technical field
The present invention relates to a kind of end effector of robot, more particularly, it relates to the four finger flexibilities that a kind of air pressure drives
Mechanical hand.
Background technology
Robot field, mechanical hand has a wide range of applications as end effector, appoints to adapt to different work
Business, produce can as staff flexibly flexible manipulator to replace the mankind to go work to have broad mass market prospect,
Flexible manipulator is precisely in order to the developing goal that adapts to these needs and propose.
At present, the mechanical hand with partially flexible function of exploitation both at home and abroad is a lot, drives element mainly to have two big classes, and one
Class driven by servomotor, is widely used in various machinery and robot, but its volume is relatively big, manipulator joint body is flexible
Not enough.Another kind of is to use fluid drives, and main driving element is Pneumatic artificial muscle, by steel wire rope tractive finger-joint,
Realize the basic function of hands, but joint body is still rigidity, the comprehensive flexible deficiency of mechanical hand, it is difficult to meet mechanical hand availability
With adaptability requirement, constrain mechanical hand and apply in home-services robot, medical robot and agricultural robot and develop.
Summary of the invention
It is an object of the invention to overcome the deficiency of prior art, it is provided that a kind of four refer to flexible manipulator, for not similar shape
The object of shape, can complete to grab, holds, pinches, the staff basic function such as folder.
A kind of four refer to flexible manipulator, it is characterised in that be provided with a palm and four fingers, palm and finger and staff
Size is suitable；Described four refer to that flexible manipulator has 4 joints, 4 degree of freedom, and each finger is made up of, except thumb a joint
Three fingers and palm in addition are distributed in the same plane, and described three spindle lines extensions meet at a bit, between adjacent finger axis
Angle is 15 °, and thumb axis extends and the extension of four spindle lines intersects at same point, described thumb axis and palm plane included angle
60 °, free state thumb-middle finger axial plane and 90 °, palm plane included angle；Palm almost fan, one end, central angle direction sets
Putting adpting flange, can connect mechanical arm, the described adpting flange centre of form extends intersection point with each finger axis and overlaps, in palm plane
Arranging thumb mounting flange, thumb mounting flange normal and 60 °, palm plane included angle, thumb mounting flange normal-middle finger is installed
Flange plane normal and 90 °, palm plane included angle, one end, arc length direction arranges three finger mounted flanges, for installing except thumb
Three outer fingers, flange normal and each finger dead in line, flange centroid point to each finger crossing point of axes apart from equal, described
Each finger mounted Flange Plane arranges installing hole and finger controls trachea fairlead；Four fingers just can bent dynamic to direction, the centre of the palm
Making, described thumb joint uses three driving bend in one direction joints, is just bending action maximum bend angle 218 °, described three driving
Dual Drive type bend in one direction joint described in bend in one direction joint is by three sebific ducts, a piece of Rectangular Spring steel plate and multi-disc confinement element
Composition, three sebific duct equilateral triangle distributions, axis is parallel, and Rectangular Spring steel plain is parallel to one limit of triangle, rectangle bullet
Spring plate centre line is parallel to three sebific duct axis, and every confinement element is provided with the sebific duct and Rectangular Spring arranged with isosceles triangle
The on all four through hole in plate profile position, the series connection of multi-disc confinement element is enclosed within sebific duct and steel spring plate, inflates in sebific duct,
Due to confinement element and the effect of contraction of steel spring plate, three driving bend in one direction joints to steel spring plate lateral bend, described three
The source of the gas pipeline in driving bend in one direction joint is drawn from finger root；The structure that its excess-three refers to is completely the same, uses Dual Drive
Type bend in one direction joint, is just bending action maximum bend angle 277 °, described Dual Drive type bend in one direction joint by two sebific ducts, one
Sheet Rectangular Spring steel plate and multi-disc constraint original paper composition, two sebific ducts and a piece of Rectangular Spring steel plate, isosceles triangle is distributed, and axis is put down
OK, every confinement element is provided with the on all four through hole of sebific duct and Rectangular Spring plate profile position arranged with isosceles triangle,
The series connection of multi-disc confinement element is enclosed within sebific duct and steel spring plate, inflates, due to confinement element and the pact of steel spring plate in sebific duct
Shu Zuoyong, Dual Drive type bend in one direction joint is to steel spring plate lateral bend, the control gas in described Dual Drive type bend in one direction joint
Source capsule road is drawn from finger root；By the controlled bending combination of finger each Pneumatic flexible joint, it is achieved class people's grasped such as pinches at the base
This function, each finger-joint end is provided with finger tip.
Accompanying drawing explanation
Fig. 1 is that four finger flexible manipulators constitute schematic diagram.
Fig. 2 is four finger flexible manipulator palm shape schematic diagrams.
Fig. 3 is that four finger flexible manipulator thumbs constitute schematic diagram.
Fig. 4 is four finger flexible manipulator forefingers, middle finger, nameless composition schematic diagram.
Detailed description of the invention
With instantiation the present invention made below in conjunction with the accompanying drawings and describing in detail further.
As it can be seen, a kind of four refer to flexible manipulator, it is provided with a palm 1 and thumb 2, forefinger 3, middle finger 4, the third finger 5
Four fingers, palm and finger are suitable with human hand dimensions；Four finger extension lines meet at a bit, palm 1, forefinger 3, middle finger 4, nothing
Name refers to that 5 are generally aligned in the same plane in palm 1, and in forefinger 3, middle finger 4, the third finger 5, the angle between adjacent finger axis is 15 °, greatly
Thumb 2 axis and 75 °, palm plane included angle, free state, thumb 2-middle finger 4 axial plane and 90 °, palm 1 plane included angle；Hands
Slapping 1 almost fan, one end, central angle direction arranges adpting flange 11, can connect mechanical arm, and arc length direction arranges three fingers
Mounting flange, flange 13 is used for installing forefinger 3, flange 14 for installing middle finger 4, flange 15 for installing the third finger 5, palm 1
Arranging thumb 2 mounting flange 12, flange 12 normal and 75 °, palm plane included angle in plane, flange 12 normals-flange 14 normal is put down
Face and 90 °, palm plane included angle, flange 12,13,14,15 plane arranges installing hole and gas source pipe pass portals, flange 11,12,
13,14,15 normals are parallel with palm plane, and flange 12,13,14,15 normal meets at flange 11 centroid point, flange 13,14,15 shape
Heart point is to intersection point apart from equal, and described each finger mounted Flange Plane arranges installing hole and finger controls trachea fairlead；Finger
2,3,4,5 can just bend action to direction, the centre of the palm, described thumb joint uses three driving bend in one direction joints, is just bending action
Macrobending angle 218 °, Dual Drive type bend in one direction joint 22 described in described three driving bend in one direction joints is by three sebific ducts
222, a piece of Rectangular Spring steel plate 223 and multi-disc constraint original paper 221 form, and three sebific duct 222 equilateral triangle distributions, axis is put down
OK, Rectangular Spring steel plate 223 plane is parallel to one limit of triangle, and Rectangular Spring steel plate 223 centerline parallel is in three sebific ducts
Axis, every confinement element 221 is provided with complete with the sebific duct 222 of isosceles triangle setting and Rectangular Spring steel plate 223 shaped position
Consistent through hole, multi-disc confinement element 221 series connection is enclosed within sebific duct 222 and Rectangular Spring steel plate 223, inflates in sebific duct 222,
Due to confinement element 221 and the effect of contraction of Rectangular Spring steel plate 223, three driving bend in one direction joints 22 are to steel spring plate
223 lateral bends；Described forefinger 3, middle finger 4, nameless 5 structure completely the same, use Dual Drive type bend in one direction joint 31,
41,51, described Dual Drive type bend in one direction joint 31 is retrained former by two sebific ducts 312, a piece of Rectangular Spring steel plate 313 and multi-disc
Part 311 forms, two sebific ducts 312 and a piece of Rectangular Spring steel plate 313, and isosceles triangle is distributed, and axis is parallel, every confinement element
311 are provided with the sebific duct 312 and the on all four through hole of Rectangular Spring steel plate 313 shaped position, many agreements that contracts a film or TV play to an actor or actress arranged with isosceles triangle
Bundle element 311 series connection is enclosed within sebific duct 312 and Rectangular Spring steel plate 313, inflates, due to confinement element 311 He in sebific duct 312
The effect of contraction of Rectangular Spring steel plate 313, Dual Drive type bend in one direction joint 31 is to steel spring plate 313 lateral bend, and described pair is driven
The control source of the gas pipeline in ejector half bend in one direction joint is drawn from finger root；By the controlled bending in finger each Pneumatic flexible joint group
Close, it is achieved class people's grasped such as pinches at the basic function, and each finger-joint end is provided with finger tip 23,33,43,53.
Claims (3)
1. one kind four refers to flexible manipulator, it is characterised in that be provided with a palm and four fingers, palm and finger and staff chi
Very little quite；Described four refer to flexible manipulators have 4 joints, 4 degree of freedom, each finger is made up of a joint, except thumb with
Three outer fingers and palm are distributed in the same plane, and described three spindle lines extensions meet at a bit, the folder between adjacent finger axis
Angle is 15 °, and thumb axis extends and the extension of three spindle lines intersects at same point, described thumb axis and 60 °, palm plane included angle,
Free state thumb-middle finger axial plane and 90 °, palm plane included angle；Four fingers can just bend action, institute to direction, the centre of the palm
State thumb joint and use three driving bend in one direction joints, just bend action maximum bend angle 218 °, described three driving unidirectional
The source of the gas pipeline of bending joint is drawn from finger root；The structure that its excess-three refers to is completely the same, uses Dual Drive type bend in one direction
Joint, is just bending action maximum bend angle 277 °, and the control source of the gas pipeline in described Dual Drive type bend in one direction joint is from finger root
Portion draws, and is combined by the controlled curvature movement of body of finger each Pneumatic flexible joint, it is achieved class people's grasped such as pinches at the basic function,
Each finger remote joint end is provided with finger tip.
2. refer to flexible manipulator according to described in claim 1 four, it is characterised in that palm almost fan, one end, central angle direction
Arranging adpting flange, can connect mechanical arm, the described adpting flange centre of form extends intersection point with each finger axis and overlaps, palm plane
On thumb mounting flange is set, thumb mounting flange normal and 60 °, palm plane included angle, thumb mounting flange normal-middle finger peace
Dress flange plane normal and 90 °, palm plane included angle, one end, arc length direction arranges three finger mounted flanges, for installing except thumb
Three fingers outside finger, flange normal and each finger dead in line, flange centroid point to each finger crossing point of axes apart from equal, institute
State each finger mounted Flange Plane and installing hole is set and finger gas source pipe pass portals.
3. refer to flexible manipulator according to described in claim 1 four, it is characterised in that thumb joint uses three driving bend in one direction
Joint, described three driving bend in one direction joints are made up of three sebific ducts, a piece of Rectangular Spring steel plate and multi-disc confinement element, and three
Root sebific duct equilateral triangle is distributed, and axis is parallel, and Rectangular Spring steel plain is parallel to one limit of triangle, in Rectangular Spring steel plate
Heart line is parallel to three sebific duct axis, and every confinement element is provided with the sebific duct and Rectangular Spring plate profile arranged with isosceles triangle
The on all four through hole in position, the series connection of multi-disc confinement element is enclosed within sebific duct and steel spring plate, inflates in sebific duct, due to constraint
Element and the effect of contraction of steel spring plate, three driving bend in one direction joints are to steel spring plate lateral bend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610690949.8A CN106182053B (en) | 2016-08-20 | 2016-08-20 | Four refer to flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610690949.8A CN106182053B (en) | 2016-08-20 | 2016-08-20 | Four refer to flexible manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106182053A true CN106182053A (en) | 2016-12-07 |
| CN106182053B CN106182053B (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610690949.8A Active CN106182053B (en) | 2016-08-20 | 2016-08-20 | Four refer to flexible manipulator |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976100A (en) * | 2017-04-11 | 2017-07-25 | 浙江工业大学 | Bionic soft multi-finger clever hand with pose feedback function |
| CN108080500A (en) * | 2018-01-10 | 2018-05-29 | 安徽省巢湖铸造厂有限责任公司 | Track traffic e type spring automatic production lines |
| CN108189059A (en) * | 2018-01-31 | 2018-06-22 | 哈尔滨工业大学 | A kind of apery refers to inflatable software three and refers to clamper |
| CN108326175A (en) * | 2018-01-10 | 2018-07-27 | 安徽省巢湖铸造厂有限责任公司 | Robot gripper for spring production line |
| CN113119155A (en) * | 2021-04-06 | 2021-07-16 | 江苏科技大学 | Flexible mechanical gripper and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5568957A (en) * | 1992-02-12 | 1996-10-29 | Haugs; Audun | Pressure actuated gripping apparatus and method |
| JPH11167419A (en) * | 1997-12-02 | 1999-06-22 | Nippon Telegr & Teleph Corp <Ntt> | Tactile force showing method and its device |
| CN105128026A (en) * | 2015-09-18 | 2015-12-09 | 百度在线网络技术（北京）有限公司 | Robot hand |
| CN205343163U (en) * | 2015-12-01 | 2016-06-29 | 北华大学 | Pneumatic bend in one direction flexible joint of dual drive |
| CN105856270A (en) * | 2016-06-17 | 2016-08-17 | 重庆科技学院 | Multi-purpose pneumatic flexible hand capable of being freely combined |
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2016
- 2016-08-20 CN CN201610690949.8A patent/CN106182053B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5568957A (en) * | 1992-02-12 | 1996-10-29 | Haugs; Audun | Pressure actuated gripping apparatus and method |
| JPH11167419A (en) * | 1997-12-02 | 1999-06-22 | Nippon Telegr & Teleph Corp <Ntt> | Tactile force showing method and its device |
| CN105128026A (en) * | 2015-09-18 | 2015-12-09 | 百度在线网络技术（北京）有限公司 | Robot hand |
| CN205343163U (en) * | 2015-12-01 | 2016-06-29 | 北华大学 | Pneumatic bend in one direction flexible joint of dual drive |
| CN105856270A (en) * | 2016-06-17 | 2016-08-17 | 重庆科技学院 | Multi-purpose pneumatic flexible hand capable of being freely combined |
Non-Patent Citations (2)
| Title |
|---|
| 刘晓敏 等: "气动柔性机械手手指运动学研究", 《机械设计》 * |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976100A (en) * | 2017-04-11 | 2017-07-25 | 浙江工业大学 | Bionic soft multi-finger clever hand with pose feedback function |
| CN106976100B (en) * | 2017-04-11 | 2023-10-20 | 浙江工业大学 | Bionic soft multi-finger smart hand with pose feedback function |
| CN108080500A (en) * | 2018-01-10 | 2018-05-29 | 安徽省巢湖铸造厂有限责任公司 | Track traffic e type spring automatic production lines |
| CN108326175A (en) * | 2018-01-10 | 2018-07-27 | 安徽省巢湖铸造厂有限责任公司 | Robot gripper for spring production line |
| CN108189059A (en) * | 2018-01-31 | 2018-06-22 | 哈尔滨工业大学 | A kind of apery refers to inflatable software three and refers to clamper |
| CN113119155A (en) * | 2021-04-06 | 2021-07-16 | 江苏科技大学 | Flexible mechanical gripper and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106182053B (en) | 2019-01-18 |
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