CN207807758U - The full degree of freedom bionic mechanical hand easily driven - Google Patents
The full degree of freedom bionic mechanical hand easily driven Download PDFInfo
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- CN207807758U CN207807758U CN201721454421.7U CN201721454421U CN207807758U CN 207807758 U CN207807758 U CN 207807758U CN 201721454421 U CN201721454421 U CN 201721454421U CN 207807758 U CN207807758 U CN 207807758U
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- knuckle
- miniature linear
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- joint
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Abstract
The utility model discloses a kind of full degree of freedom bionic mechanical hands easily driven, including the first knuckle set gradually, second knuckle, third knuckle and the 4th finger joint, the first miniature linear is provided on second knuckle, the second miniature linear is provided on third knuckle, 4th finger joint bottom end is arranged in bench top, it is respectively third miniature linear and the 4th miniature linear on 4th finger joint both sides workbench, third miniature linear and the 4th miniature linear are connected separately with the 4th flexible muscle and third flexibility muscle, the other end of third flexibility muscle and the 4th flexible muscle is connect with third knuckle, the second miniature linear is provided on third knuckle, second miniature linear is connected with the second flexible muscle, the other end of second flexible muscle is connect with second knuckle, the first miniature linear is provided on second knuckle.The new processing technology of this practicality is simple, be easily achieved miniaturization, lightweight, is convenient for driving.
Description
Technical field
The utility model belongs to manipulator technical field, and in particular to a kind of full degree of freedom bionic mechanical hand easily driven.
Background technology
Conventional robot generally uses the rotation realization action of electric rotating machine driving joint, interior in a limited space, electric rotating
Machine rotating speed is high, torque is small, manufacture difficulty is big, and to reach grip requirement, used electric rotating machine is also needed plus formed with retarder
Unit is to drive the joint slow-speed of revolution, large torque to deflect, and overall structure is extremely complex, in joint motor used by conventional robot
Also need loading position sensor to ensure motor commutation, drive system is also very complicated, and it is small to further limit manipulator realization
Type.For conventional robot when realizing the action of two degree-of-freedom joint, structure is increasingly complex.Therefore conventional robot is big in human hand
It cannot achieve the action all by spending in small space.In addition from the point of view of bionics angle, human hand in a free state can be
Change shape under outer force effect and adapts to contacted body form, and the self-locking in the power-off state of traditional manipulator, it can not
Realize this function.
Utility model content
The purpose of this utility model is to provide a kind of full degree of freedom bionic mechanical hand easily driven, solves conventional robot
Degree of freedom lacks the problem of drive system complexity.
The utility model is the technical scheme adopted is that the full degree of freedom bionic mechanical hand easily driven, including sets gradually
First knuckle, second knuckle, third knuckle and the 4th finger joint, be provided with the first miniature linear, third on second knuckle
The second miniature linear is provided in finger joint, the 4th finger joint bottom end is arranged in bench top, the 4th finger joint both sides workbench
Upper respectively third miniature linear and the 4th miniature linear, third miniature linear and the 4th miniature linear
It is connected separately with the 4th flexible muscle and third flexibility muscle, the other end of third flexibility muscle and the 4th flexible muscle connects with third knuckle
It connects, the second miniature linear is provided on third knuckle, the second miniature linear is connected with the second flexible muscle, and second is flexible
The other end of muscle is connect with second knuckle, is provided with the first miniature linear on second knuckle, on the first miniature linear
It is connected with the first flexible muscle, the first flexible muscle other end is connect with first knuckle.
The utility model is also characterized by
First knuckle and second knuckle junction, second knuckle and third knuckle junction, third knuckle and the 4th finger joint
Junction is respectively arranged with the first joint, second joint and third joint.
First joint and second joint are spindle-type joint, and third joint is ball joint.
First miniature linear, the second miniature linear, third miniature linear and the 4th miniature linear
It is made of back yoke plate, stator winding, permanent magnet mover and sliding rail, back yoke plate is arranged with stator winding bonding, stator winding one
Side setting there are two sliding rail, on two sliding rails sliding be cased with permanent magnet mover, the first miniature linear, the second miniature straight-line electric
The permanent magnet mover top of machine, third miniature linear and the 4th miniature linear respectively with the first flexible muscle, second soft
Property muscle, the 4th flexible muscle connected with third flexibility muscle.
Back yoke plate is magnetic conductive metal, and stator winding is by copper wire winding and encapsulates, the contact position plating of permanent magnet mover and sliding rail
Copper.
First flexible muscle, the second flexible muscle, the 4th flexible muscle and third flexibility muscle are elastic string.
The advantageous effect for the full degree of freedom bionic mechanical hand that the utility model easily drives is, logical using miniature linear
Electricity, to drive permanent magnet mover to move in a straight line, permanent magnet mover pulls flexible muscle that finger joint is affected to be deflected around joint, simulates human hand
Contraction of muscle acts, and making manipulator, target is acted as expected；Miniature linear processing technology is simple, it is small-sized to be easily achieved
Change, is convenient for driving at lightweight；The manipulator can complete structure arrangement in the volume of true man's palm same size, solve
The problem that conventional robot volume is big, of high cost, degree of freedom is few, drive system is complicated；Its cost is substantially compared to conventional robot
Degree reduces, and is conducive to large-scale popularization and popularizes.
Description of the drawings
Fig. 1 is the structural schematic diagram for the full degree of freedom bionic mechanical hand that the utility model easily drives；
Fig. 2 is the flexuosity figure for the full degree of freedom bionic mechanical hand that the utility model easily drives；
Fig. 3 is the working state figure for the full degree of freedom bionic mechanical hand that the utility model easily drives；
Fig. 4 is the backside structure figure for the full degree of freedom bionic mechanical hand that the utility model easily drives；
Fig. 5 is the miniature linear structural schematic diagram for the full degree of freedom bionic mechanical hand that the utility model easily drives；
Fig. 6 is the miniature linear side view for the full degree of freedom bionic mechanical hand that the utility model easily drives；
Fig. 7 is the miniature linear vertical view for the full degree of freedom bionic mechanical hand that the utility model easily drives.
In figure, 11. first miniature linears, 12. second miniature linears, 13. third miniature linears, 14.
4th miniature linear；
21. the first joint, 22. second joints, 23. third joints；
31. the first flexible muscle, 32. second flexible muscle, 33. third flexibility muscle, 34. the 4th flexible muscle；
41. first knuckle, 42. second knuckles, 43. third knuckles, 44. the 4th finger joints；
5. workbench；
101. back yoke plate, 102. stator winding, 103. permanent magnet movers, 104. sliding rails.
Specific implementation mode
The utility model is described in detail with reference to the accompanying drawings and detailed description.
The full degree of freedom bionic mechanical hand that the utility model easily drives, as shown in Figure 1, including the first knuckle set gradually
41, second knuckle 42, third knuckle 43 and the 4th finger joint 44 are provided with the first miniature linear 11 on second knuckle 42, and
The second miniature linear 12 is provided in three finger joints 43,44 bottom end of the 4th finger joint is arranged in 5 top surface of workbench, the 4th finger joint 44
It is respectively third miniature linear 13 and the 4th miniature linear 14, third miniature linear 13 on both sides workbench 5
It is connected separately with the 4th flexible muscle 34 with the 4th miniature linear 14 and third flexibility muscle 33, third flexibility muscle 33 and the 4th are soft
The other end of property muscle 34 is connect with third knuckle 43, the second miniature linear 12 is provided on third knuckle 43, second is micro-
Type linear motor 12 is connected with the second flexible muscle 32, and the other end of the second flexible muscle 32 is connect with second knuckle 42, second knuckle
It is provided with the first miniature linear 11 on 42, the first flexible muscle 31 is connected on the first miniature linear 11, first is flexible
31 other end of muscle is connect with first knuckle 41.
42 junction of first knuckle 41 and second knuckle, 43 junction of second knuckle 42 and third knuckle, third knuckle 43
It is respectively arranged with the first joint 21, second joint 22 and third joint 23 with 44 junction of the 4th finger joint.
First joint 21 and second joint 22 are spindle-type joint, and third joint 23 is ball joint.
As shown in Figure 5-Figure 7, the first miniature linear 11, the second miniature linear 12, third miniature linear
13 and the 4th miniature linear 14 be made of back yoke plate 101, stator winding 102, permanent magnet mover 103 and sliding rail 104, carry on the back
The bonding of yoke plate 101 and stator winding 102 is arranged, and the setting of 102 side of stator winding is there are two sliding rail 104, on two sliding rails 104
Sliding is cased with permanent magnet mover 103, the first miniature linear 11, the second miniature linear 12, third miniature linear
13 and the 4th miniature linear 14 103 top of permanent magnet mover respectively with first the 31, second flexible muscle 32 of flexible muscle, the
Four flexible muscle 34 and third flexibility muscle 33 connect.
Back yoke plate 101 is magnetic conductive metal, and stator winding 102 is by copper wire winding and encapsulates, permanent magnet mover 103 and sliding rail
104 contact position copper facing.
The 32, the 4th flexible muscle 34 of first the 31, second flexible muscle of flexible muscle and third flexibility muscle 33 are elastic string.
The full degree of freedom bionic mechanical hand that the utility model easily drives, as shown in figs 2-4, when work, first is miniature straight
Line motor 11, the second miniature linear 12, third miniature linear 13 and the 4th miniature linear 14 are powered, stator around
102 generation magnetic flux driving permanent magnet mover 103 of group is moved in a straight line along sliding rail 104 so that permanent magnet mover 103 is soft by first
Property muscle 31 affect first knuckle 41 to be deflected around the first joint 21, permanent magnet mover 103 affects the second finger by the second flexible muscle 32
Section 42 is deflected around second joint 22, and permanent magnet mover 103 affects third jointly by third flexibility muscle 33 and the 4th flexible muscle 34
Finger joint 43 is rotated around third joint 23, and simulation human hand contraction of muscle action, making manipulator, target is acted as expected.
First miniature linear 11, the second miniature linear 12, third miniature linear 13 and the 4th are miniature straight
Line motor 14 is not need position sensor, open loop operation, can keep the electricity of rotor position in entire active section any position
Machine, its main feature is that control is simple, mover range ability is long, being capable of long-term stall holding rotor position.
First joint 21, second joint 22 and third joint 23 are corresponding in turn to three finger passes that human hand is referred to root by finger joint
Section, human hand the first two articulations digitorum manus is single-DOF-joint, therefore the first joint 21 and second joint 22 are spindle-type joint, finger
Articulations digitorum manus at root is two degree-of-freedom joint, therefore third joint 23 is ball joint.
The 32, the 4th flexible muscle 34 of first the 31, second flexible muscle of flexible muscle and third flexibility muscle 33 are a kind of elastic strings, tool
Have the characteristics that wear-resisting, intensity is high, elasticity is suitable with human hand muscle.The 32, the 4th flexible muscle 34 of first the 31, second flexible muscle of flexible muscle
Related to manipulator grip to third flexibility muscle 33, the more strong then manipulator grip of elasticity is bigger, is replaced by being suitable for dangerous situation
The different fields such as field of operation, high stable field of operation are substituted for field of operation, space environment, can adjust elasticity to meet need
It wants.
According to actual needs, can outside the manipulator of the utility model jacketed one layer of Bionic flexible shell, so that it is more connect
It is bordering on human hand appearance, finger joint shape also can be changed, specific use occasion can be adapted to.
The full degree of freedom bionic mechanical hand easily driven of the utility model coordinates flexible muscle to lead with multiple miniature linears
Movable joint, perfection simulate the fine movement for all degree of freedom that human hand contraction of muscle affects tendon can be done, solve tradition
The problem that manipulator volume is big, of high cost, degree of freedom is few, drive system is complicated.The manipulator can be identical big in true man's palm
Structure arrangement is completed in small volume, used linear motor is mature technology, and cheap, drive system is simple.This reality
It is suitable for the fields such as medical artificial limb, the operation of dangerous situation replacement, the operation of space environment replacement, high stable operation with novel.
Claims (6)
1. the full degree of freedom bionic mechanical hand easily driven, which is characterized in that including first knuckle (41), the second finger set gradually
(42), third knuckle (43) and the 4th finger joint (44) are saved, the first miniature linear is provided on the second knuckle (42)
(11), the second miniature linear (12) is provided on the third knuckle (43), the 4th finger joint (44) the bottom end setting exists
Workbench (5) top surface is respectively third miniature linear (13) and the 4th on the 4th finger joint (44) the both sides workbench (5)
Miniature linear (14), the third miniature linear (13) and the 4th miniature linear (14) are connected separately with the 4th
The other end of flexible muscle (34) and third flexibility muscle (33), the third flexibility muscle (33) and the 4th flexible muscle (34) is and third
Finger joint (43) connects, and the second miniature linear (12), the second miniature straight-line electric are provided on the third knuckle (43)
Machine (12) is connected with the second flexible muscle (32), and the other end of the described second flexible muscle (32) is connect with second knuckle (42), described
It is provided with the first miniature linear (11) on second knuckle (42), first is connected on first miniature linear (11)
Flexible muscle (31), described first flexible muscle (31) other end are connect with first knuckle (41).
2. the full degree of freedom bionic mechanical hand according to claim 1 easily driven, which is characterized in that the first knuckle
(41) and second knuckle (42) junction, second knuckle (42) and third knuckle (43) junction, third knuckle (43) and the 4th
Finger joint (44) junction is respectively arranged with the first joint (21), second joint (22) and third joint (23).
3. the full degree of freedom bionic mechanical hand according to claim 2 easily driven, which is characterized in that first joint
(21) and second joint (22) is spindle-type joint, and the third joint (23) is ball joint.
4. the full degree of freedom bionic mechanical hand according to claim 1 easily driven, which is characterized in that described first is miniature straight
Line motor (11), the second miniature linear (12), third miniature linear (13) and the 4th miniature linear (14) are equal
Be made of back yoke plate (101), stator winding (102), permanent magnet mover (103) and sliding rail (104), the back yoke plate (101) with
Stator winding (102) bonding setting, there are two sliding rail (104), two sliding rails for stator winding (102) the side setting
(104) sliding is cased with permanent magnet mover (103) on, first miniature linear (11), the second miniature linear (12),
Permanent magnet mover (103) top of third miniature linear (13) and the 4th miniature linear (14) is flexible with first respectively
Muscle (31), the second flexible muscle (32), the 4th flexible muscle (34) and third flexibility muscle (33) connection.
5. the full degree of freedom bionic mechanical hand according to claim 4 easily driven, which is characterized in that the back yoke plate
(101) it is magnetic conductive metal, the stator winding (102) is by copper wire winding and encapsulates, the permanent magnet mover (103) and sliding rail
(104) contact position copper facing.
6. the full degree of freedom bionic mechanical hand according to claim 1 easily driven, which is characterized in that the described first flexible muscle
(31), the second flexible muscle (32), the 4th flexible muscle (34) and third flexibility muscle (33) are elastic string.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721454421.7U CN207807758U (en) | 2017-11-03 | 2017-11-03 | The full degree of freedom bionic mechanical hand easily driven |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721454421.7U CN207807758U (en) | 2017-11-03 | 2017-11-03 | The full degree of freedom bionic mechanical hand easily driven |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207807758U true CN207807758U (en) | 2018-09-04 |
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ID=63334360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721454421.7U Active CN207807758U (en) | 2017-11-03 | 2017-11-03 | The full degree of freedom bionic mechanical hand easily driven |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598960A (en) * | 2017-11-03 | 2018-01-19 | 西安广源机电技术有限公司 | The bionic mechanical hand that the full free degree easily drives |
-
2017
- 2017-11-03 CN CN201721454421.7U patent/CN207807758U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598960A (en) * | 2017-11-03 | 2018-01-19 | 西安广源机电技术有限公司 | The bionic mechanical hand that the full free degree easily drives |
| CN107598960B (en) * | 2017-11-03 | 2023-09-19 | 西安广源机电技术有限公司 | Bionic manipulator easy to drive in full freedom degree |
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