CN205129886U - Imitative people underactuated manipulator based on 3D printing technique - Google Patents
Imitative people underactuated manipulator based on 3D printing technique Download PDFInfo
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- CN205129886U CN205129886U CN201520996639.XU CN201520996639U CN205129886U CN 205129886 U CN205129886 U CN 205129886U CN 201520996639 U CN201520996639 U CN 201520996639U CN 205129886 U CN205129886 U CN 205129886U
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- palm
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- stepper motor
- connecting rod
- printing technique
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Abstract
The utility model discloses an imitative people underactuated manipulator based on 3D printing technique, its compact structure, easily the equipment is durable. The utility model discloses contain the palm, set up the imitative people finger that corresponds human finger position on the palm, imitative people's finger is four, is thumb, forefinger, middle finger and the third finger respectively, imitative people's finger contains the fingertip, connects many link assembly on the fingertip, many link assembly contain two connecting rods at least, and all connecting rods are articulated each other, the connecting rod of bottommost is through step motor telescopic shaft drive along the direction swing of being close to or keeping away from palm centre of the palm position, forefinger, middle finger and the nameless step motor who corresponds install inside the palm, the connecting rod and the rotation of the bottommost among pollical many link assembly indicate that the root is connected, the rotation indicates that the root rotates at the inside steering engine driving of palm through installing, the step motor that the thumb corresponds installs in indicating the root.
Description
Technical field
The utility model relates to a kind of manipulator, is specifically related to a kind of apery type and can carries out the manipulator of 3D printing shaping.
Background technology
The existing scheme of current Apery manipulator has following several:
1. stay-supported apery hand: servo control mechanism is connected with finger structure by bracing wire, is flexed one's fingers by traction bracing wire.
The shortcoming of the type apery hand is: bracing wire takes up room comparatively large, and sequence is mixed and disorderly, and hand cannot separate with arm and uses or repair.
2. gear transferring structure: point and bent by gear transmission.
The shortcoming of the type apery hand is: gear structure Long-Time Service is easy to wear, and metal gear weight is large, and diastema is difficult to again avoid.
Utility model content
For above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of apery underactuated manipulator based on 3D printing technique, its compact conformation, is easy to assembling, durable.
In order to achieve the above object, the utility model is achieved by the following technical solutions.
Based on the apery underactuated manipulator of 3D printing technique, comprise palm, be arranged on the imitation human finger of corresponding human finger position on palm; Described imitation human finger is four, is respectively thumb, forefinger, middle finger and the third finger;
Described imitation human finger comprises finger tip, finger tip connects multi link assembly; Described multi link assembly at least comprises two connecting rods, and all connecting rods are hinged; The connecting rod of bottommost is driven by stepper motor telescopic shaft and swings along close or away from position, the palm centre of the palm direction; The stepper motor of forefinger, middle finger and third finger correspondence is arranged on palm inside;
With rotation, the connecting rod of the bottommost in the multi link assembly of described thumb refers to that root is connected, described rotation refers to that root passes through to be arranged on the servo driving rotation of palm inside; The stepper motor that thumb is corresponding is arranged on and refers in root.
Further: the finger tip of described forefinger, middle finger and the third finger is that the direction bending towards the palm centre of the palm is arranged.
Further: described finger tip is provided with pressure sensor towards the surface in the palm centre of the palm.
Further: described multi-connecting-rod mechanism comprises mounting seat, described mounting seat installs first connecting rod by axis of rotation; Described first connecting rod is near side projection two hinged boss in the palm centre of the palm, and hinged installation hinged block between two hinged boss, is connected with stepper motor driven stepper motor telescopic shaft bottom described hinged block; On described first connecting rod, hinged installation second connecting rod, described second connecting rod installs described finger tip.
Further: described stepper motor is electronic screw mandrel, stepper motor body and the worm-and-wheel gear by stepper motor ontology-driven is comprised; Described worm gear is connected with the output revolving shaft of stepper motor body, and described worm and wheel engagement, described worm screw is described stepper motor telescopic shaft.
Further: the upper surface of described palm offers the stepper motor telescopic shaft perforating be communicated with palm inside.
Further: the rotating shaft position that described first connecting rod is installed is provided with the potentiometer for monitoring the anglec of rotation.
The utility model, owing to have employed above structure, therefore possesses following advantage:
The disclosed apery underactuated manipulator based on 3D printing technique of the utility model, comprises palm, is arranged on the imitation human finger of corresponding human finger position on palm; Described imitation human finger is four, is respectively thumb, forefinger, middle finger and the third finger; The utility model adopts four fingers, makes compact conformation, and the action of each finger is very effective, can realize grasp motion reliably;
Imitation human finger in the utility model comprises finger tip, finger tip connects multi link assembly; Described multi link assembly at least comprises two connecting rods, and all connecting rods are hinged; The connecting rod of bottommost is driven by stepper motor telescopic shaft and swings along close or away from position, the palm centre of the palm direction; The stepper motor of forefinger, middle finger and third finger correspondence is arranged on palm inside; The utility model adopts multi-connecting-rod mechanism to drive, and be easy to the assembly worn and torn without the need to gear etc., multi link can realize multivariant articulation structure, is easy to realize;
With rotation, the connecting rod of the bottommost in the multi link assembly of thumb of the present utility model refers to that root is connected, described rotation refers to that root passes through to be arranged on the servo driving rotation of palm inside; The stepper motor that thumb is corresponding is arranged on and refers in root.Thumb of the present utility model can not only realize articulated structure by multi-connecting-rod mechanism, can also realize rotating by steering wheel, can adjust grip angle very flexibly.
3D printing technique described in the utility model refers to that all parts directly adopts the manufacture of existing 3D printing technique, does not need die sinking to make.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further details.
Fig. 1 is the perspective view of a kind of detailed description of the invention of the present utility model;
Fig. 2 is the palm internal structure schematic diagram of Fig. 1;
Fig. 3 is the structural representation of a kind of detailed description of the invention of finger of the present utility model.
Description of reference numerals:
1-is nameless, 2-middle finger, 3-forefinger, 4-multi link assembly, 5-thumb, 6-multi link assembly, 7-rotates and refers to root, 8-palm, 9-stepper motor assembling grove, 10-steering wheel assembling grove, 11-rotating shaft, 12-stepper motor telescopic shaft perforating, 13-hinged block, 14-mounting seat, the hinged boss of 15-, 16-first connecting rod, 17-second connecting rod, 18-potentiometer mounting groove, 19-finger tip.
Detailed description of the invention
The technical solution of the utility model is described using following concrete structure as embodiment.
As shown in Figures 1 to 3, it illustrates detailed description of the invention of the present utility model, as shown in the figure:
The utility model, based on the apery underactuated manipulator of 3D printing technique, comprises palm, is arranged on the imitation human finger of corresponding human finger position on palm; Described imitation human finger is four, is respectively thumb 5, forefinger 3, middle finger 2 and nameless 1; Corresponding each finger position of human body of title of each imitation human finger, also corresponding with human body finger ratio and consistent size simultaneously.
As shown in the figure, described imitation human finger comprises finger tip 19, finger tip connects multi link assembly 4; Described multi link assembly at least comprises two connecting rods, and all connecting rods are hinged; The connecting rod of bottommost is driven by stepper motor telescopic shaft and swings along close or away from position, the palm centre of the palm direction; The stepper motor of forefinger, middle finger and third finger correspondence is arranged on palm inside;
As shown in the figure, connecting rod and the rotation of the bottommost in the multi link assembly of described thumb refer to that root 7 is connected, and described rotation refers to that root passes through to be arranged on the servo driving rotation of palm inside; The stepper motor that thumb is corresponding is arranged on and refers in root.
Preferably, as shown in the figure: the finger tip of described forefinger, middle finger and the third finger is that the direction bending towards the palm centre of the palm is arranged.
Preferably, as shown in the figure: described finger tip is provided with pressure sensor towards the surface in the palm centre of the palm.Pressure sensor can provide feedback signal, realizes the real-time control of grasping process.
Preferably, as shown in the figure: described multi-connecting-rod mechanism comprises mounting seat, described mounting seat installs first connecting rod 16 by axis of rotation; Described first connecting rod hinged installation hinged block 13 between the hinged boss of side projection two 15, two hinged boss in the palm centre of the palm, is connected with stepper motor driven stepper motor telescopic shaft 12 bottom described hinged block; On described first connecting rod, hinged installation second connecting rod, described second connecting rod installs described finger tip.First connecting rod is rotating basis, realizes first connecting rod swing around the shaft by the pulling of hinged block to first connecting rod, and final linkage driving second connecting rod and finger tip swing.
Preferably, as shown in the figure: described stepper motor is electronic screw mandrel, stepper motor body and the worm-and-wheel gear by stepper motor ontology-driven is comprised; Described worm gear is connected with the output revolving shaft of stepper motor body, and described worm and wheel engagement, described worm screw is described stepper motor telescopic shaft.Electronic screw mandrel is be the rectilinear movement of telescopic shaft by the convert rotational motion of stepper motor, and its model specification is very comprehensive, and the electronic screw mandrel of small size of the prior art can be adopted to complete the function of the present embodiment.
Preferably, as shown in the figure: the upper surface of described palm offers the stepper motor telescopic shaft perforating 12 be communicated with palm inside.
Preferably, as shown in the figure: the rotating shaft position that described first connecting rod is installed is provided with the potentiometer for monitoring the anglec of rotation.
In sum: this patent manipulator possesses four fingers, and finger-joint is driven by connecting rod, multi-link structure is simple, and reliability is high.Thumb lateral angles of the present utility model adopts servo driving, and four refer to that multi-link structure adopts push-down driving stepper motor.Finger is connected with adopting modularization between palm, is convenient to install.The utility model adopts drive lacking design, omits the unnecessary free degree of palm.Concrete,
As figure, whole apery hand refers to form by four, and eliminate little finger, it is close that finger size and adult point average-size.Palm is except reserved stepper motor and steering wheel installation position.The finger tip of every root finger is equipped with feedback device, and allow finger when catching object, motor realizes stall, respectively potentiometer is housed on the right side of each finger root, and effect allows finger motor when sky is held realize real-time stall.
As figure, middle three refer to, each finger respectively has one degree of freedom, and the anglec of rotation is 0 ° ~ 90 °.Thumb possesses two frees degree, and the anglec of rotation is+40 ° ~-40 °.
As Fig. 3: stepper motor and control panel are installed on palm inside, and integrated level is high, manipulator functional independence.
In a word, above-mentioned detailed description of the invention possesses following advantage:
1. this apery activation lacking mechanical hand finger adopts bar linkage structure, easy-maintaining simple and reliable for structure, adopts stepper motor and potentiometer feedback, with low cost.
2. hand realizes modularization, and connection between arm is simple and reliable, can arbitrarily laid-up, and the connection pointed between palm also adopts modularized processing mode, facilitates the regular maintenance in later stage.
3. adopt the manufacture of 3D printing technique, avoid the expensive expense that die sinking produces.
By reference to the accompanying drawings the utility model preferred embodiment is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from the utility model aim;
Those of ordinary skill in the art do not depart from design of the present utility model and scope can make other changes many and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.
Claims (7)
1. based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: comprise palm, be arranged on the imitation human finger of corresponding human finger position on palm; Described imitation human finger is four, is respectively thumb, forefinger, middle finger and the third finger;
Described imitation human finger comprises finger tip, finger tip connects multi link assembly; Described multi link assembly at least comprises two connecting rods, and all connecting rods are hinged; The connecting rod of bottommost is driven by stepper motor telescopic shaft and swings along close or away from position, the palm centre of the palm direction; The stepper motor of forefinger, middle finger and third finger correspondence is arranged on palm inside;
With rotation, the connecting rod of the bottommost in the multi link assembly of described thumb refers to that root is connected, described rotation refers to that root passes through to be arranged on the servo driving rotation of palm inside; The stepper motor that thumb is corresponding is arranged on and refers in root.
2. as claimed in claim 1 based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: the finger tip of described forefinger, middle finger and the third finger is that the direction bending towards the palm centre of the palm is arranged.
3., as claimed in claim 1 based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: described finger tip is provided with pressure sensor towards the surface in the palm centre of the palm.
4., as claimed in claim 1 based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: described multi-connecting-rod mechanism comprises mounting seat, described mounting seat installs first connecting rod by axis of rotation; Described first connecting rod is near side projection two hinged boss in the palm centre of the palm, and hinged installation hinged block between two hinged boss, is connected with stepper motor driven stepper motor telescopic shaft bottom described hinged block; On described first connecting rod, hinged installation second connecting rod, described second connecting rod installs described finger tip.
5., as claimed in claim 4 based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: described stepper motor is electronic screw mandrel, comprise stepper motor body and the worm-and-wheel gear by stepper motor ontology-driven; Described worm gear is connected with the output revolving shaft of stepper motor body, and described worm and wheel engagement, described worm screw is described stepper motor telescopic shaft.
6. as claimed in claim 4 based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: the upper surface of described palm offers the stepper motor telescopic shaft perforating be communicated with palm inside.
7. as claimed in claim 4 based on the apery underactuated manipulator of 3D printing technique, it is characterized in that: the rotating shaft position that described first connecting rod is installed is provided with the potentiometer for monitoring the anglec of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520996639.XU CN205129886U (en) | 2015-12-03 | 2015-12-03 | Imitative people underactuated manipulator based on 3D printing technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520996639.XU CN205129886U (en) | 2015-12-03 | 2015-12-03 | Imitative people underactuated manipulator based on 3D printing technique |
Publications (1)
| Publication Number | Publication Date |
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| CN205129886U true CN205129886U (en) | 2016-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201520996639.XU Active CN205129886U (en) | 2015-12-03 | 2015-12-03 | Imitative people underactuated manipulator based on 3D printing technique |
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| CN (1) | CN205129886U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891438A (en) * | 2017-12-26 | 2018-04-10 | 上海哲谦应用科技有限公司 | One kind drives built-in multi-finger clever hand |
| CN113878603A (en) * | 2021-10-20 | 2022-01-04 | 上海清芸机器人有限公司 | Palm structure of humanoid robot |
-
2015
- 2015-12-03 CN CN201520996639.XU patent/CN205129886U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891438A (en) * | 2017-12-26 | 2018-04-10 | 上海哲谦应用科技有限公司 | One kind drives built-in multi-finger clever hand |
| CN107891438B (en) * | 2017-12-26 | 2024-01-26 | 上海哲谦应用科技有限公司 | Driving built-in multi-finger smart hand |
| CN113878603A (en) * | 2021-10-20 | 2022-01-04 | 上海清芸机器人有限公司 | Palm structure of humanoid robot |
| CN113878603B (en) * | 2021-10-20 | 2022-07-19 | 上海清芸机器人有限公司 | Palm structure of humanoid robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 710018 No. 99, No. 10 Fengcheng Road, Xi'an Economic and Technological Development Zone, Shaanxi Province Patentee after: Xi'an Weiplastic Intelligent Technology Co.,Ltd. Address before: 710018 No. 99, 10 Fengcheng Road, Weiyang District, Xi'an City, Shaanxi Province Patentee before: XI'AN SUANIER ELECTRONIC TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190509 Address after: 710018 Hairong Group Hospital, No. 99 Fengcheng 10 Road, Xi'an Economic and Technological Development Zone, Shaanxi Province Patentee after: Xi'an Garlic Paste Creator Information Technology Co.,Ltd. Address before: 710018 No. 99, No. 10 Fengcheng Road, Xi'an Economic and Technological Development Zone, Shaanxi Province Patentee before: Xi'an Weiplastic Intelligent Technology Co.,Ltd. |