CN108705552B - Mechanical finger driven by paper folding structure - Google Patents
Mechanical finger driven by paper folding structure Download PDFInfo
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- CN108705552B CN108705552B CN201810569165.9A CN201810569165A CN108705552B CN 108705552 B CN108705552 B CN 108705552B CN 201810569165 A CN201810569165 A CN 201810569165A CN 108705552 B CN108705552 B CN 108705552B
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- knuckle
- paper folding
- hinged
- driving plate
- connecting plate
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the field of mechanical arms, in particular to a mechanical finger driven by a paper folding structure. Comprises a plurality of knuckles hinged in sequence and a knuckle driving device for controlling the flexion and extension of the knuckles; the knuckle driving device is of a paper folding linkage structure; the paper folding linkage structure is formed by a paper folding structure formed by a plurality of creases intersecting at one point, a paper folding page is formed between two adjacent creases, the two adjacent paper folding pages are hinged through the creases, and the paper folding pages are sequentially hinged and linked. According to the technical scheme, the driving plate and the connecting plate hinged with the driving plate are used for controlling the rotation of two adjacent knuckles to change the angle between the two adjacent knuckles. The structure is simple, and the response speed to the holding action is high.
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to a mechanical finger driven by a paper folding structure.
Background
Bionic machinery inherits the advantages of biological evolution by imitating characteristic structures of natural organisms. In recent years, human-simulated manipulators are the hot topic discussed in the field of robots, and research on manipulators has been conducted by research institutes in many countries around the world.
The manipulator comprises a base corresponding to the palm, and a near knuckle, a middle knuckle and a far knuckle which are sequentially hinged on the base. The existing manipulator usually adopts a mode that a rope is wound on a pulley block to control the flexion and extension of knuckles, and the pulley block is driven by the rope to form different rotating torques by utilizing the different radiuses of the pulley block arranged at the joints of the knuckles of all sections, so that the included angle between the knuckles is changed, the bending of human fingers is simulated, and the action of holding objects is completed.
Although the manipulator of the rope winding pulley block structure can finish the action of holding objects, when fixed pulling force is applied to the rope, the gripping force of the knuckle of the manipulator is always a constant value, and the holding requirements on objects with different sizes cannot be met. And the rope needs to be pulled to move for a long distance to drive the knuckle to bend through the pulley block, and the response speed of the rope to the holding action is low.
In order to solve the problems, the chinese invention patent with the patent number CN201210144555.4 discloses a coupling self-adaptive under-actuated human finger simulation device with a quick reflection and grabbing function, which comprises a primary motion mechanism and a secondary motion mechanism, wherein the primary motion mechanism comprises a base, a motor, a reducer, a small bevel gear, a large bevel gear, a near knuckle, a middle knuckle and a far knuckle; the secondary motion mechanism is formed by a transmission connecting rod and a micro driver. The technical scheme of the patent drives a near joint shaft to rotate through a motor, a speed reducer, a small bevel gear and a big bevel gear, and the near joint shaft drives a near joint connecting rod fixedly connected with the near joint shaft to rotate, so that anthropomorphic coupling motion among the front three knuckles of fingers is realized, and an object is held. Although the scheme can quickly respond to the holding instruction, the control unit has a complex structure, is difficult to control and requires a large space for installing the control unit.
Disclosure of Invention
The invention provides a mechanical finger driven by a paper folding structure, which can quickly respond to a holding instruction; simple structure and convenient control.
The scheme of the invention is as follows:
a mechanical finger adopting a paper folding structure for transmission comprises a plurality of knuckles hinged in sequence and a knuckle driving device for controlling the flexion and extension of the knuckles; the knuckle driving device is of a paper folding linkage structure; the paper folding linkage structure is formed by a paper folding structure formed by a plurality of creases intersecting at one point, a paper folding page is formed between two adjacent creases, the two adjacent paper folding pages are hinged through the creases, and the paper folding pages are sequentially hinged and linked.
The knuckle driving device with the paper folding linkage structure is adopted, the mutual linkage between paper folding pages is utilized to control the flexion and extension between knuckles, and the knuckle driving device is simple in structure and convenient to install. By driving one of the paper folding pages, the whole paper folding linkage structure can be driven to move so as to control the flexion and extension of the knuckle, the control is convenient, and the response speed to the holding action is high.
Further, the paper folding linkage structure comprises a driving plate and a connecting plate which form a power input end, and the driving plate is hinged to a knuckle through a first hinge axis; the connecting plate is hinged to the end part of the driving plate from one end through a second hinge axis, and the other end of the connecting plate is hinged to the other adjacent knuckle through a third hinge axis; the first hinge axis, the second hinge axis and the third hinge axis are spatially intersected at a hinge intersection point, and the hinge intersection point is positioned on the hinge axis of two adjacent knuckles; the driving plate, the connecting plate and the knuckle hinged with the connecting plate form a corresponding paper folding page of the paper folding structure.
The angle between two adjacent knuckles is changed by turning over the driving plate on the knuckle and controlling the rotation of the two adjacent knuckles through the connecting plate hinged with the driving plate. In the working process of the mechanical finger driven by the paper folding structure, the angle between two adjacent knuckles can be controlled by turning the driving plate by a small angle, and the response speed of the mechanical finger to the holding action is high. And the gripping force between the knuckles can be increased as the flip angle of the drive plate is increased to meet the requirement that objects of different sizes provide their desired gripping force. The moment arm between the finger joint and the held article is the distance from the contact point of the finger joint and the held article to the gravity center of the held article; the mechanical arm adopts a rope winding pulley block structure, and the force arm of the mechanical arm is the radius of a pulley between finger joints; considering the coordination of the whole manipulator of the rope winding pulley block structure, the pulleys arranged between the finger joints are smaller. Under the effect of providing the same driving force, the holding force provided by the scheme is larger than that of a manipulator adopting a rope winding pulley block structure.
Furthermore, one side of the driving plate is hinged with the corresponding knuckle, the other side of the driving plate is connected with a control pull rope, and a reset torsion spring is arranged between the driving plate and the corresponding knuckle; the paper folding linkage structure is reset into an extension state of adjacent knuckles through a reset torsion spring, and the adjacent knuckles are enabled to form a folding state through controlling the pulling of the pull rope.
Through the structural cooperation of stay cord and reset torsion spring, can realize the circulation action between the knuckle, and convenient operation.
Furthermore, the knuckle comprises a first knuckle forming the palm, and the front end of the first knuckle is sequentially hinged with a second knuckle, a third knuckle and a fourth knuckle; the four knuckles control the flexion and extension states of the other three knuckles except the first knuckle relative to the palm through the three paper folding linkage structures. The bionic effect on the motion of the human fingers is realized.
Further, a first paper folding linkage structure is arranged between the first knuckle and the second knuckle; and a second paper folding linkage joint and a third paper folding linkage structure are respectively arranged between the second knuckle and the third knuckle as well as between the third knuckle and the fourth knuckle, and the second paper folding linkage joint and the third paper folding linkage structure are linked by the same driving plate.
The driving plate is arranged on the third knuckle, so that the angles between the second knuckle and the third knuckle and between the third knuckle and the fourth knuckle can be controlled simultaneously, a power structure for driving the driving plate to turn can be saved, and the control is facilitated.
A first driving plate arranged on the first paper folding linkage structure is hinged to the first knuckle, the front end of the first driving plate is hinged to one end of a first connecting plate, and the other end of the first connecting plate is hinged to the second knuckle; the hinge joint point of the first paper folding linkage structure is positioned on the hinge axis of the first knuckle and the second knuckle. The bionic effect of the movement between the palm and the proximal knuckle of the human body is realized.
A second driving plate arranged on the second folded paper-shaped linkage structure is hinged to the third knuckle, the rear end of the second driving plate is hinged to one end of a second connecting plate, and the other end of the second connecting plate is hinged to the second knuckle; the hinge joint of the second folded paper-shaped linkage structure is positioned on a hinge axis of the second knuckle and the third knuckle; the second driving plate also forms an input end of a third paper-folded linkage structure, the front end of the second driving plate is hinged to one end of a third connecting plate, and the other end of the third connecting plate is hinged to the fourth knuckle; and the hinge joint of the third paper folding linkage structure is positioned on the hinge axis of the third knuckle and the fourth knuckle. The bionic effect of motion between the knuckle and the far knuckle in human is realized.
The section of the knuckle is of a three-side rectangular groove structure. The mutual hinge between the knuckle is convenient, and the material is saved.
The knuckle driving device is positioned in the three-edge rectangular groove structure on the back surface of the knuckle. The structure is compact.
The invention has the advantages that the drive plate is turned over, and the drive plate drives the knuckle to quickly respond to the holding action through the connecting plate; the device can provide different holding forces for objects with different sizes; the bionic motion of the human finger can be realized; simple structure, convenient installation and control.
Drawings
FIG. 1 is a schematic structural view of a mechanical finger in an unfolded state driven by a paper folding structure;
FIG. 2 is a schematic structural diagram of a paper folding linkage structure of a mechanical finger driven by a paper folding structure;
FIG. 3 is a schematic structural view of a paper folding linkage structure on a third knuckle;
FIG. 4 is a schematic structural view of a first knuckle and a second knuckle in a bent state;
FIG. 5 is a schematic structural view of a mechanical finger holding state driven by a paper folding structure;
fig. 6 is a schematic structural view of a paper folding linkage structure.
In the figure: the hinge comprises a knuckle 1, a first knuckle 1.1, a second knuckle 1.2, a third knuckle 1.3, a fourth knuckle 1.4, a driving plate 2, a first driving plate 2.1, a second driving plate 2.2, a connecting plate 3, a first connecting plate 3.1, a second connecting plate 3.2, a third connecting plate 3.3, a first hinge axis 4.1, a second hinge axis 4.2, hinge axes 4.3 of two adjacent knuckles, a third hinge axis 4.4, a pull rope 5 and a reset torsion spring 6.
Detailed Description
As shown in fig. 6, a mechanical finger driven by a paper folding structure includes a plurality of knuckles 1 hinged in sequence, and a knuckle driving device for controlling the flexion and extension of the knuckles 1; the knuckle driving device is of a paper folding linkage structure; the paper folding linkage structure is formed by a paper folding structure formed by a plurality of creases intersecting at one point, a paper folding page is formed between two adjacent creases, the two adjacent paper folding pages are hinged through the creases, and the paper folding pages are sequentially hinged and linked. As shown in fig. 2, the paper folding linkage structure comprises a driving plate 2 and a connecting plate 23 which form a power input end, wherein the driving plate 2 is hinged on a knuckle 1 through a first hinge axis 4.1; the connecting plate 3 is hinged to the end part of the driving plate 2 from one end through a second hinge axis 4.2, and the other end of the connecting plate 3 is hinged to the other adjacent knuckle 1 through a third hinge axis 4.3; the first hinge axis 4.1, the second hinge axis 4.2 and the third hinge axis 4.4 are spatially intersected at a hinge intersection point, and the hinge intersection point is positioned on the hinge axis 4.3 of two adjacent knuckles 1; the driving plate 2, the connecting plate 3 and the knuckle 1 hinged with the connecting plate 3 form a corresponding paper folding page of the paper folding structure.
The driving plate 2 is hinged with the corresponding knuckle 1 from one side, the other side of the driving plate 2 is connected with a control pull rope 5, and a reset torsion spring 6 is arranged between the driving plate 2 and the corresponding knuckle 1; the paper folding linkage structure is reset to be in an extension state of the adjacent knuckles 1 through the reset torsion springs 6, and the adjacent knuckles 1 are in a folding state through controlling the pulling of the pull ropes 5. Drivers such as a motor and an air cylinder can also be adopted to directly act on the driving plate 2 to drive the driving plate 2 to turn over; the driving plate 2 can also be driven to rotate by a motor through a gear or a worm gear or other transmission structures; and a structure that the air cylinder drives the gear and the rack is adopted to drive the driving plate 2 to rotate. A rope threading hole is formed in the side wall of the knuckle 1 corresponding to the pull rope 5; the pull rope 5 penetrates through the rope penetrating hole to extend to the outer side of the knuckle 1, and the pull rope 5 is prevented from being knotted inside a mechanical finger which is driven by a paper folding structure, so that the operation of each part is prevented from being interfered. A rubber gasket is arranged on one surface of the knuckle 1 for clamping an object; the clamping device is used for increasing the friction force for clamping articles, ensuring that the articles can be stably clamped, and simultaneously avoiding the articles from scratching the knuckle 1.
As shown in fig. 1, the knuckle includes a first knuckle 1.1 forming a palm, and a second knuckle 1.2, a third knuckle 1.3 and a fourth knuckle 1.4 are sequentially hinged at the front end of the first knuckle 1.1; the four knuckles control the flexion and extension states of the other three knuckles except the first knuckle 1.1 relative to the palm through the three paper folding linkage structures. The bionic effect on the motion of the human fingers is realized.
A first paper folding linkage structure is arranged between the first knuckle 1.1 and the second knuckle 1.2; and a second paper folding linkage joint and a third paper folding linkage structure are respectively arranged between the second knuckle 1.2 and the third knuckle 1.3 and between the third knuckle 1.3 and the fourth knuckle 1.4, and as shown in fig. 3, the second paper folding linkage joint and the third paper folding linkage structure are linked by the same driving plate 2. A first driving plate 2.1 arranged on the first paper folding linkage structure is hinged to the first knuckle 1.1, the front end of the first driving plate 2.1 is hinged to one end of a first connecting plate 3.1, and the other end of the first connecting plate 3.1 is hinged to the second knuckle 1.2; the hinge joint of the first paper folding linkage structure is positioned on the hinge axis of the first knuckle 1.1 and the second knuckle 1.2. A second driving plate 2.2 arranged on the second folded paper-shaped linkage structure is hinged to the third knuckle 1.3, the rear end of the second driving plate 2.2 is hinged to one end of a second connecting plate 3.2, and the other end of the second connecting plate 3.2 is hinged to the second knuckle 1.2; the hinge joint of the second folded paper-shaped linkage structure is positioned on a hinge axis of the second knuckle 1.2 and the third knuckle 1.3; the second driving plate 2.2 also forms an input end of a third folded paper-shaped linkage structure, the front end of the second driving plate 2.2 is hinged to one end of a third connecting plate 3.3, and the other end of the third connecting plate 3.3 is hinged to the fourth knuckle 1.4; the hinge joint of the third paper folding linkage structure is positioned on the hinge axis of the third knuckle 1.3 and the fourth knuckle 1.4.
A rotation limiting structure for limiting the rotation angle of the knuckles is formed between the adjacent knuckles, the rotation limiting structure comprises a limiting structure a for limiting the included angle between the first knuckle 1.1 and the second knuckle 1.2, and the limiting structure a can be a limiting block a which is arranged on the first knuckle 1.1 and used for limiting the rotation of the second knuckle 1.2; or a limiting block b arranged on the first knuckle 1.1 and used for limiting the first driving plate 2.1 to turn over; it is also possible to have a pull cord 5 of a certain length on the first drive plate 2.1. To ensure that the angle between the first knuckle 1.1 and the second knuckle 1.2 is in the range of 90 to 180. The same limiting principle is used to ensure that the included angle between the second knuckle 1.2 and the third knuckle 1.3 is in the range of 85 degrees to 180 degrees. The angle between the third knuckle 1.3 and the fourth knuckle 1.4 is in the range of 92 ° to 180 °. The section of the knuckle 1 is of a three-edge rectangular groove structure; the knuckle driving device is positioned in a rectangular groove structure on the back surface of the knuckle 1. Realizing the bionics of human fingers.
The working principle of the mechanical finger driven by the paper folding structure is that as shown in fig. 4, the pull rope 5 of the first driving plate 2.1 on the first knuckle 1.1 is pulled, and the first driving plate 2.1 is turned over along the side direction of the first knuckle 1.1; the first connecting plate 3.1 hinged to the first driving plate 2.1 is close to the first driving plate 2.1, and the first connecting plate 3.1 drives the second knuckle 1.2 to rotate towards the first knuckle 1.1 along the hinged position of the second knuckle 1.2 and the first knuckle 1.1, so that the angle between the first knuckle 1.1 and the second knuckle 1.2 is changed. As shown in fig. 5, when the pulling rope 5 on the second driving plate 2.2 on the third knuckle 1.3 is pulled, the second driving plate 2.2 changes the angle between the second knuckle 1.2 and the third knuckle 1.3 and the angle between the third knuckle 1.3 and the fourth knuckle 1.4 through the second connecting plate 3.2 and the third connecting plate 3.3 hinged to the second driving plate 2.2 during the turning process, respectively, so as to realize the holding action. After the pull rope 5 is loosened, the first driving plate 2.1 and the second driving plate 2.2 are reset through the reset torsion spring 6, and the stretching action is realized.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A mechanical finger adopting a paper folding structure for transmission comprises a plurality of knuckles (1) which are sequentially hinged, and a knuckle driving device for controlling the flexion and extension of the knuckles; the knuckle driving device is characterized in that the knuckle driving device is of a paper folding linkage structure; the paper folding linkage structure is formed by a paper folding structure formed by a plurality of folds meeting at one point, paper folding pages are formed between two adjacent folds, the two adjacent paper folding pages are hinged through the folds, the paper folding pages are sequentially hinged and linked, the paper folding linkage structure comprises a driving plate (2) and a connecting plate (3) which form a power input end, and the driving plate (2) is hinged on a knuckle (1) through a first hinge axis (4.1); the connecting plate (3) is hinged to the end part of the driving plate (2) from one end through a second hinge axis (4.2), and the other end of the connecting plate (3) is hinged to the other adjacent knuckle (1) through a third hinge axis (4.4); the first hinge axis (4.1), the second hinge axis (4.2) and the third hinge axis (4.4) are spatially intersected at a hinge intersection point, and the hinge intersection point is positioned on the hinge axis (4.3) of two adjacent knuckles; the driving plate (2), the connecting plate (3) and the knuckle (1) hinged with the connecting plate (3) form a corresponding paper folding page of the paper folding structure.
2. The mechanical finger adopting the paper folding structure for transmission as claimed in claim 1, wherein the driving plate (2) is hinged with the corresponding knuckle (1) from one side, the other side of the driving plate (2) is connected with a control pull rope (5), and a reset torsion spring (6) is arranged between the driving plate (2) and the corresponding knuckle (1); the paper folding linkage structure is reset into an extension state of the adjacent knuckles (1) through the reset torsion springs (6), and the adjacent knuckles (1) form a folding state through controlling the pulling of the pull ropes (5).
3. The mechanical finger adopting the paper folding structure for transmission according to claim 1, wherein the knuckle comprises a first knuckle (1.1) forming a palm, and a second knuckle (1.2), a third knuckle (1.3) and a fourth knuckle (1.4) are sequentially hinged at the front end of the first knuckle (1.1); the four knuckles control the flexion and extension states of the other three knuckles except the first knuckle (1.1) relative to the palm through the three paper folding linkage structures.
4. The mechanical finger adopting the paper folding structure for transmission as claimed in claim 3, wherein a first paper folding linkage structure is arranged between the first knuckle (1.1) and the second knuckle (1.2); and a second paper folding linkage structure and a third paper folding linkage structure are respectively arranged between the second knuckle (1.2) and the third knuckle (1.3) and between the third knuckle (1.3) and the fourth knuckle (1.4), and the second paper folding linkage structure and the third paper folding linkage structure are identical to each other through the drive plate (2) to form linkage.
5. The mechanical finger adopting the paper folding structure for transmission is characterized in that the first paper folding linkage structure is provided with a first driving plate (2.1) hinged on the first knuckle (1.1), the front end of the first driving plate (2.1) is hinged on one end of a first connecting plate (3.1), and the other end of the first connecting plate (3.1) is hinged with a second knuckle (1.2); the hinge joint of the first paper folding linkage structure is positioned on the hinge axis of the first knuckle (1.1) and the second knuckle (1.2).
6. The mechanical finger driven by a paper folding structure according to claim 5, wherein the second paper folding linkage structure is provided with a second driving plate (2.2) hinged on the third knuckle (1.3), the rear end of the second driving plate (2.2) is hinged on one end of a second connecting plate (3.2), and the other end of the second connecting plate (3.2) is hinged with the second knuckle (1.2); the hinge joint of the second folded paper-shaped linkage structure is positioned on a hinge axis of the second knuckle (1.2) and the third knuckle (1.3); the second driving plate (2.2) also forms an input end of a third paper-shaped linkage structure, the front end of the second driving plate (2.2) is hinged to one end of a third connecting plate (3.3), and the other end of the third connecting plate (3.3) is hinged to the fourth knuckle (1.4); the hinge joint of the third paper folding linkage structure is positioned on the hinge axis of the third knuckle (1.3) and the fourth knuckle (1.4).
7. The mechanical finger adopting the paper folding structure for transmission according to any one of claims 1 to 6, characterized in that the section of the knuckle (1) is in a three-side rectangular groove structure.
8. The mechanical finger adopting the paper folding structure for transmission according to any one of claims 1 to 6, characterized in that the knuckle driving device is positioned in a three-edge rectangular groove structure on the back surface of the knuckle (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810569165.9A CN108705552B (en) | 2018-06-05 | 2018-06-05 | Mechanical finger driven by paper folding structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810569165.9A CN108705552B (en) | 2018-06-05 | 2018-06-05 | Mechanical finger driven by paper folding structure |
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| CN108705552A CN108705552A (en) | 2018-10-26 |
| CN108705552B true CN108705552B (en) | 2021-04-13 |
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| CN201810569165.9A Active CN108705552B (en) | 2018-06-05 | 2018-06-05 | Mechanical finger driven by paper folding structure |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276982B (en) * | 2021-06-11 | 2022-03-25 | 北京理工大学 | Miniature lizard-imitated robot constructed based on carbon fiber paper folding technology |
| CN114044062B (en) * | 2021-11-18 | 2023-06-09 | 长春工业大学 | Paper folding crawling robot based on two-rod tensioning mechanism |
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| KR102044052B1 (en) * | 2012-02-28 | 2019-11-12 | 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 | Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators |
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