CN204546548U - Flexible manipulator refers to - Google Patents
Flexible manipulator refers to Download PDFInfo
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- CN204546548U CN204546548U CN201520114944.1U CN201520114944U CN204546548U CN 204546548 U CN204546548 U CN 204546548U CN 201520114944 U CN201520114944 U CN 201520114944U CN 204546548 U CN204546548 U CN 204546548U
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- bar
- bone bar
- dolichophalangia
- driving lever
- refers
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Abstract
The utility model provides a kind of flexible manipulator and refers to.Comprise metacarpal bone bar, the first driving lever, the first drive link, dolichophalangia bar, the second drive link, first refer in bone bar, second refer in bone bar, finger tip quarter butt, the second driving lever, mechanical finger front portion is tandem double rocker mechanism, and during one of them double rocker mechanism is referred to by the second driving lever, the second drive link, second, the front portion of bone bar and dolichophalangia bar connects and composes; During another double rocker mechanism refers to by second, in bone bar, the first finger, the front portion of bone bar, finger tip quarter butt and dolichophalangia bar connects to form.Mechanical finger rear portion is also double rocker mechanism, is connected to form by the front portion of the first driving lever, the first drive link, metacarpal bone bar and the rear portion of dolichophalangia bar.The utility model compact conformation, significantly reduces mechanical clearance rate, improves transmission efficiency, improves the conduction of power and the efficiency of utilization, effectively the power that mechanical finger is subject to can be dispersed to each endplay device, makes its bearing capacity become large and uniform force.
Description
Technical field
The utility model relates to a kind of mechanical finger structure, say it is a kind ofly can imitate the mechanical finger that human finger carries out work accurately.
Background technology
The dexterous quick characteristic of mankind's hand, becomes the focus of robot field's research.Apery multi-finger clever manipulator has broad application prospects, and is embodied in following two aspects: first, and flexible manipulator can be used for human motion systemic-function and rebuilds, significant to raising disabled person quality of life; Secondly, flexible manipulator contributes to the activity space expanding the mankind, in the occasion that some even cannot arrive for human hazard, utilizes the adaptivity that flexible manipulator is good, can complete meticulous operation task at complex condition.
Exploitation apery multi-finger clever manipulator needs solution to comprise the multiple key technologies such as under-actuated finger structure, driving control system and principal and subordinate's hand-control device, wherein under-actuated finger structure refers to that controlled finger-joint number is more than the quantity driving prime mover, and use passive damping element without the finger-joint driven when designing or carry out constrained motion by mechanical position limitation pin, have frame for movement and control strategy simple, save the plurality of advantages such as space and cost.
Summary of the invention
The purpose of this utility model is to provide low, that transmission efficiency the is high flexible manipulator of a kind of mechanical clearance rate to refer to.
The purpose of this utility model is achieved in that
Comprise metacarpal bone bar 1, first driving lever 2, first drive link 3, dolichophalangia bar 4, second drive link 5, bone bar 6 in first finger, bone bar 7 in second finger, finger tip quarter butt 8, second driving lever 9, one end of metacarpal bone bar 1 and one end of dolichophalangia bar 4 hinged, during the other end of dolichophalangia bar 4 and first refers to, one end of bone bar 6 is hinged, first drive link 3, during second driving lever 9 and second refers to, one end of bone bar 7 is hinged with dolichophalangia bar 4 successively, the other end of the first drive link 3 and one end of the first driving lever 2 hinged, hinged in the middle part of the other end of the first driving lever 2 and metacarpal bone bar 1, the other end of the second driving lever 9 and one end of the second drive link 5 hinged, during the other end of the second drive link 5 and second refers to, the middle part of bone bar 7 is hinged, second refer in one end of the other end of bone bar 7 and finger tip quarter butt 8 hinged, first refer in the middle part of the other end of bone bar 6 and finger tip quarter butt 8 hinged.
The utility model can also comprise:
1, second refer in bone bar 7 and first refer in bone bar 6 isometric.
2, dolichophalangia bar 4 and second refer in the junction of bone bar 7 refer to dolichophalangia bar 4 and first in the distance of junction of bone bar 6 equal finger tip quarter butt 8 and second refer in the junction of bone bar 7 refer to finger tip quarter butt 8 and first in the distance of junction of bone bar 6.
3, each subsidiary gear on the first driving lever 2 and the second driving lever 9, and tooth radius is equal.
4, install the gear 12 of band fixed frame in the junction of dolichophalangia bar 4 and metacarpal bone bar 1 additional, and determine the radiuses such as gear subsidiary on the gear 12 of frame and the second and second driving lever.
Mechanical finger front portion of the present utility model is tandem double rocker mechanism, and during one of them double rocker mechanism is referred to by the second driving lever 9, second drive link 5, second, the front portion of bone bar 7 and dolichophalangia bar 4 connects and composes; During another double rocker mechanism refers to by second, in bone bar 7, first finger, the front portion of bone bar 6, finger tip quarter butt 8 and dolichophalangia bar 4 connects to form.Mechanical finger rear portion is also double rocker mechanism, is connected to form by the first driving lever 2, first drive link 3, the front portion of metacarpal bone bar 1 and the rear portion of dolichophalangia bar 4.
The utility model provides a kind of novel activation lacking mechanical finger structure, be specially adapted to develop humanoid multifingered hand, compared with existing belt wheel drawing-type mechanical finger structure, the utility model compact conformation, three endplay device link transmissions according to the design of human finger's movement characteristic substitute belt wheel transmission, significantly reduce mechanical clearance rate, improve transmission efficiency; Utilize the geometrical constraint of frame for movement, by the control to pressure angle scope, effectively optimize the relation between the arm of force, improve the conduction of power and the efficiency of utilization, effectively the power that mechanical finger is subject to can be dispersed to each endplay device, make its bearing capacity become large and uniform force.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 a is driving lever schematic diagram of the present utility model.
Fig. 2 b is the A-A sectional view of Fig. 2 a.
Fig. 3 a is the gear schematic diagram of band fixed frame of the present utility model.
Fig. 3 b is the B-B sectional view of Fig. 3 a.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the utility model is described in more detail:
Composition graphs 1, the composition that flexible manipulator of the present utility model refers to comprises the gear 12 of bone bar 7, finger tip quarter butt 8, second driving lever 9, first potentiometer 10, second potentiometer 11 and band fixed frame in bone bar 6, first finger in metacarpal bone bar 1, first driving lever 2, first drive link 3, dolichophalangia bar 4, second drive link 5, first finger.One end of metacarpal bone bar 1 and one end of dolichophalangia bar 4 hinged, during the other end of dolichophalangia bar 4 and first refers to, one end of bone bar 6 is hinged, first drive link 3, during second driving lever 9 and second refers to, one end of bone bar 7 is hinged with dolichophalangia bar 4 successively, the other end of the first drive link 3 and one end of the first driving lever 2 hinged, hinged in the middle part of the other end of the first driving lever 2 and metacarpal bone bar 1, the other end of the second driving lever 9 and one end of the second drive link 5 hinged, during the other end of the second drive link 5 and second refers to, the middle part of bone bar 7 is hinged, second refer in one end of the other end of bone bar 7 and finger tip quarter butt 8 hinged, first refer in the middle part of the other end of bone bar 6 and finger tip quarter butt 8 hinged.
Figure is composition graphs 2a, Fig. 2 b, Fig. 3 a and Fig. 3 b, each subsidiary gear on driving lever 2,9, gear on second driving lever 9 is coaxially connected with the potentiometer 10 on dolichophalangia bar 4, gear on first driving lever 2 is coaxially connected with the potentiometer 11 on metacarpal bone bar 1, and moment of torsion to be passed to the gear on first and second driving lever 2,9 by two stepper motors respectively by Timing Belt.Point the inner all embedded bearings in other junction, to ensure stable transmission to greatest extent.The gear 12 of band fixed frame is installed additional as Timing Belt fixture in the junction of dolichophalangia bar 4 and metacarpal bone bar 1, and the radiuses such as gear subsidiary on gear 12 and the first driving lever 2,9.
The operation principle of the utility model patent is: based on connecting rod mechanism movement mechanism, when stepper motor drives the first driving lever 2 to rotate by Timing Belt, because the junction of the first drive link 3 and dolichophalangia bar 4 to equal the length of the first driving lever 2 to the distance of the junction of dolichophalangia bar 4 and metacarpal bone bar 1, and dolichophalangia bar 4 and the first driving lever 2 perfect parallelism, meet the geometrical-restriction relation of parallelogram, dolichophalangia bar 4 and the first driving lever 2 are angularly rotated, thus make dolichophalangia bar 4 can imitate human palm bone relative to rotating of metacarpal bone bar 1 and point the motion being connected joint.
When stepper motor drives the second driving lever 9 to rotate by Timing Belt, due to the second drive link 5 and second refer in the junction of bone bar 7 refer to dolichophalangia bar 4 and second in the distance of junction of bone bar 7 equal the length of the second driving lever 9, and second refer in bone bar 7 and the second driving lever 9 perfect parallelism, meet the geometrical-restriction relation of parallelogram, bone bar 7 and the second driving lever 9 in the second finger are angularly rotated; Due to dolichophalangia bar 4 and second refer in the junction of bone bar 7 refer to dolichophalangia bar 4 and first in the distance of junction of bone bar 6 equal finger tip quarter butt 8 and first refer in the junction of bone bar 7 refer to finger tip quarter butt 8 and second in the distance of junction of bone bar 6, and second refer in bone bar 6 and first refer in bone bar 7 isometric, meet the geometrical-restriction relation of isosceles trapezoid, during finger tip quarter butt 8 and second is referred to, the angle of bone bar 7 equals the angle of bone bar 6 and dolichophalangia bar 4 in the first finger.In sum, during finger tip quarter butt 8 refers to relative to second, the rotational angle of bone bar 7 equals the rotational angle of dolichophalangia bar 4 relative to bone bar 6 in the first finger, and above-mentioned to relatively rotate angle identical with the rotational angle of the second driving lever 9, thus during finger tip quarter butt 8, first is referred to bone bar 6 and second refer in the joint that forms of bone bar 7 and dolichophalangia bar 4, first refer in bone bar 6 and second refer in the joint that forms of bone bar 7 can imitate the motion of mankind's hand from downward two joints of finger tip.
When mechanical finger bends, for ensureing that the Timing Belt of connection second driving lever 9 does not loosen, Timing Belt being connected with stepper motor through after the fixed frame of gear 12 again, thus making the Timing Belt length on the second driving lever 9 both sides constant.
Two stepper motors driving first, second driving lever 2,9 to rotate receive clock signal from controller, so that stepper motor determination rotational angle; When first, second driving lever 2,9 rotates, first, second potentiometer 11,10 connected is driven angularly to rotate respectively, the rotational angle signal collected is fed back to controller by first, second potentiometer 11,10 in real time, so that the motion state of mechanical finger analyzed by controller.
Claims (9)
1. a flexible manipulator refers to, it is characterized in that: comprise metacarpal bone bar (1), first driving lever (2), first drive link (3), dolichophalangia bar (4), second drive link (5), bone bar (6) in first finger, bone bar (7) in second finger, finger tip quarter butt (8), second driving lever (9), one end of metacarpal bone bar (1) and one end of dolichophalangia bar (4) hinged, during the other end of dolichophalangia bar (4) and first refers to, one end of bone bar (6) is hinged, first drive link (3), during second driving lever (9) and second refers to, one end of bone bar (7) is hinged with dolichophalangia bar (4) successively, the other end of the first drive link (3) and one end of the first driving lever (2) hinged, the other end of the first driving lever (2) and metacarpal bone bar (1) middle part hinged, the other end of the second driving lever (9) and one end of the second drive link (5) hinged, during the other end of the second drive link (5) and second refers to, the middle part of bone bar (7) is hinged, second refer in one end of the other end of bone bar (7) and finger tip quarter butt (8) hinged, first refer in the middle part of the other end of bone bar (6) and finger tip quarter butt (8) hinged.
2. flexible manipulator according to claim 1 refers to, it is characterized in that: second refer in bone bar (7) and first finger in bone bar (6) isometric.
3. flexible manipulator according to claim 1 and 2 refers to, it is characterized in that: during dolichophalangia bar (4) and second refers to the junction of bone bar (7) refer to dolichophalangia bar (4) and first in the distance of junction of bone bar (6) equal finger tip quarter butt (8) and second refer in the junction of bone bar (7) refer to finger tip quarter butt (8) and first in the distance of junction of bone bar (6).
4. flexible manipulator according to claim 1 and 2 refers to, it is characterized in that: the first driving lever (2) and the upper each subsidiary gear of the second driving lever (9), and tooth radius is equal.
5. flexible manipulator according to claim 3 refers to, it is characterized in that: the first driving lever (2) and the upper each subsidiary gear of the second driving lever (9), and tooth radius is equal.
6. flexible manipulator according to claim 1 and 2 refers to, it is characterized in that: install in the junction of dolichophalangia bar (4) and metacarpal bone bar (1) gear (12) being with fixed frame additional, and be with the radiuses such as gear subsidiary on the gear (12) of fixed frame and the first and second driving levers.
7. flexible manipulator according to claim 3 refers to, it is characterized in that: install in the junction of dolichophalangia bar (4) and metacarpal bone bar (1) gear (12) being with fixed frame additional, and be with the radiuses such as gear subsidiary on the gear (12) of fixed frame and the first and second driving levers.
8. flexible manipulator according to claim 4 refers to, it is characterized in that: install in the junction of dolichophalangia bar (4) and metacarpal bone bar (1) gear (12) being with fixed frame additional, and be with the radiuses such as gear subsidiary on the gear (12) of fixed frame and the first and second driving levers.
9. flexible manipulator according to claim 5 refers to, it is characterized in that: install in the junction of dolichophalangia bar (4) and metacarpal bone bar (1) gear (12) being with fixed frame additional, and be with the radiuses such as gear subsidiary on the gear (12) of fixed frame and the first and second driving levers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520114944.1U CN204546548U (en) | 2015-02-17 | 2015-02-17 | Flexible manipulator refers to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520114944.1U CN204546548U (en) | 2015-02-17 | 2015-02-17 | Flexible manipulator refers to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204546548U true CN204546548U (en) | 2015-08-12 |
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ID=53821710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520114944.1U Withdrawn - After Issue CN204546548U (en) | 2015-02-17 | 2015-02-17 | Flexible manipulator refers to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204546548U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626183A (en) * | 2015-02-17 | 2015-05-20 | 哈尔滨工程大学 | Flexible mechanical finger |
-
2015
- 2015-02-17 CN CN201520114944.1U patent/CN204546548U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626183A (en) * | 2015-02-17 | 2015-05-20 | 哈尔滨工程大学 | Flexible mechanical finger |
| CN104626183B (en) * | 2015-02-17 | 2016-03-09 | 哈尔滨工程大学 | Flexible manipulator refers to |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150812 Effective date of abandoning: 20160309 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |