CN2652609Y - Multiple joint interactive multiple finger flexible holder - Google Patents
Multiple joint interactive multiple finger flexible holder Download PDFInfo
- Publication number
- CN2652609Y CN2652609Y CN 03267027 CN03267027U CN2652609Y CN 2652609 Y CN2652609 Y CN 2652609Y CN 03267027 CN03267027 CN 03267027 CN 03267027 U CN03267027 U CN 03267027U CN 2652609 Y CN2652609 Y CN 2652609Y
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- finger
- clamper
- joint
- transmission device
- base portion
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Abstract
The utility model discloses a multi-joint linkage multi-fingered dexterous clamp fastener, which comprises a base and a plurality of fingers for object grasping, and the end of every finger is in pin joint with the base. Every finger comprises a plurality of finger grips in sequent pin joint. A linked gearing arranged between the finger grips is linked with a drive set arranged inside the base. Either the clamp fastener can be driven only by a motor, or every finger can be driven by an independent motor. Thus, the control structure is relatively simple. Moreover, when in grasping, the clamp fastener can be in enveloping grasping to objects as human hands so that the grasping stability is enhanced.
Description
Technical field
The utility model relates to a kind of clamping device, more particularly, relates to a kind of multi-joint linked multi-finger dexterous clamper that can be used for a plurality of fields such as scientific experiment, Aero-Space, industry, amusement.
Background technology
Along with development of science and technology, robot has obtained application more and more widely, and clamper in the robot or robot delicate are the basic tools of robot complete operation.Although had various clampers or Dextrous Hand to occur at present, but usually clamper is that finger by rigidity combines, thereby causes clamper function singleness, bad adaptability, grasps different objects and need change different clampers, not only use inconvenience, and cost increases; Though robot delicate is made of the finger in a plurality of joints, adaptability is very strong, but each joint of finger all needs by a motor-driven, thereby cause whole clamper the control device complexity, cost an arm and a leg, the cost height, and the mode of general employing finger tip clamping when grasping operation, grasp instability, be difficult to be used widely.
For this reason, creator in the utility model relies on it to be engaged in the experience and the practice of relevant industries for many years, and through concentrating on studies and developing, create finally that a kind of control device is simple, simple in structure, cost is low and applicable to the multi-joint linked multi-finger dexterous clamper that grasps any object.
Summary of the invention
Main purpose of the present utility model is to solve existing clamping apparatus because the rigidity characteristics of finger causes grasping the problem of bad adaptability, and owing to needs a plurality of motor-driven exist to control complexity, problem that cost is high.
Multi-joint linked multi-finger dexterous clamper in the utility model includes a base portion, and a plurality of fingers that are used to grasp object, and an end of each finger and described base portion articulate; Described each finger has included a plurality of all-in-one-pieces that articulate in regular turn and has referred to bar, and refers to be provided with between the bar transmission device of interlock at each, and this transmission device connects with the drive unit that is located in the described base portion.
Preferably, described base portion includes a housing, and this enclosure interior is provided with a motor, this motor by transmission devices such as gear train respectively with described each finger in transmission device connect.
In addition, described base portion also can include a housing, and this enclosure interior is provided with a plurality of motors, this each motor by transmission devices such as gear train respectively with described each finger in transmission device connect.
Multi-joint linked multi-finger dexterous clamper in the utility model is by means of the transmission device between the finger and refer to linkage between bar, can reduce drive unit, thereby simplify control device, reduces cost.
Multi-joint linked multi-finger dexterous clamper in the utility model is further by means of the joint, finger and be the staggered finger that is arranged in the base portion both sides, make clamper can grasp difform object, as cylinder, cuboid, orbicule and elastomeric objects or the like.
Description of drawings
The specific embodiment of the utility model is described in further detail below in conjunction with accompanying drawing.
Fig. 1 is the three-dimensional appearance schematic diagram of multi-joint linked multi-finger dexterous clamper in the utility model;
Fig. 2 is the structural representation that has the finger in three joints in the utility model;
Fig. 3 is the three transmission schematic diagrames that refer between bar in the utility model;
Fig. 4 is drive unit and the transmission schematic diagram in the base portion in the utility model.
The specific embodiment
The utility model is embodiment with the multi-joint linked multi-finger dexterous clamper that is provided with three fingers and each finger and is provided with three joints, certainly, the finger can change according to different demands at any time with the quantity in joint, and both quantity is also not necessarily identical.The quantity that is the finger can be two, three, four or five, even more than five; And the quantity in joint also can two, three, four, five, more than six even six.And the finger in the utility model is the staggered both sides that are distributed in base portion, runs foul of each other to prevent clamper each finger when the clamping wisp.
As depicted in figs. 1 and 2, the multi-joint linked multi-finger dexterous clamper in the utility model include one can install with robot on base portion 1, three fingers 2 that are interlaced setting, be located at the drive unit in the base portion 1 and connect the transmission device of the finger 2 that is used to link with this drive unit.
As shown in Figures 2 and 3, three fingers 2 include three finger bars 20,21,22 that are hollow form, refer to that an end of bar 20,21,22 is provided with a lug 25 in the centre position, and this lug 25 is fixedlyed connected with pivot 24 by key.Refer to that the other end of bar 20,21 respectively is provided with the lug 23 of a symmetry in its both sides, respectively be provided with the circular hole of concentric on this two lug 23, bearing is housed with supporting pivot 24 in the circular hole, will refers to bar 20 and base portion 1, refer to bar 20 and 21, refer to that bar 21 and 22 articulates formation one finger 2 in regular turn by pivot 24 and lug 23.
As shown in Figure 3,2 inside, finger are provided with the transmission device of an interlock, the transmission device of this interlock includes a plurality of belt wheels 27 of fixedlying connected with pivot 24 by key and the cog belt 28 that meshes with this belt wheel 27, and on the pivot 24 that refers to bar 20 and housing pivot end, being coaxially arranged with a travelling gear 29, this travelling gear 29 is meshed with the drive unit that is located at enclosure interior.So, utilizing drive unit, transmission device can drive finger 2 does and grasps action.But need emphasize a bit that at this transmission device also can be replaced by other structures with identical function, as chain and sprocket wheel, steel wire and directive wheel etc., does not limit to the structure that present embodiment is lifted.
As shown in Figure 4, enclosure interior is provided with a motor, the output shaft of this motor by many cog belts 30 respectively with travelling gear 29 engagements, by this travelling gear the kinetic energy of motor is transferred to finger 2.
In addition, also a plurality of motors can be set in enclosure interior, the quantity of this motor is identical with the quantity of finger, and promptly a motor drives a finger respectively, improves the flexibility of finger.
From the above, the multi-joint linked multi-finger dexterous clamper in the utility model has following advantage:
1. the clamper in the utility model can be only with a motor-driven, also can make each finger by a motor-driven independently, makes control structure simple relatively.
2. joint, the finger interlock when grabbing object of the clamper in the utility model, can carry out envelope to object as staff grasps, so not only improve the stability that grasps but also have very strong adaptability, can grasp difform object, as cylinder, cuboid, spheroid and elastomeric objects etc.
Claims (8)
1. multi-joint linked multi-finger dexterous clamper, it is characterized in that: it includes a base portion, and a plurality of fingers that are used to grasp object, an end of each finger and the pivot joint of described base portion; Described each finger has included a plurality of all-in-one-pieces that articulate in regular turn and has referred to bar, and refers to be provided with between the bar transmission device of interlock at each, and this transmission device connects with the drive unit that is located in the described base portion.
2. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: described base portion includes a housing, this enclosure interior is provided with a motor, this motor by transmission devices such as gear train respectively with described each finger in transmission device connect.
3. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: describedly refer to that respectively the transmission device between bar is many groups the be meshing with each other cog belt and the belt wheels of transmission.
4. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: describedly refer to that respectively the transmission device between bar is many groups the be meshing with each other chain and the sprocket wheels of transmission.
5. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: describedly refer to that respectively the transmission device between bar is steel wire and directive wheel.
6. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: the quantity of described finger is two, three, four or five, and described finger is the staggered both sides of being located at base portion.
7. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: the quantity in described joint is two, three, four, five or six.
8. according to the multi-joint linked multi-finger dexterous clamper described in the claim 1, it is characterized in that: described base portion includes a housing, this enclosure interior is provided with a plurality of motors, each motor by transmission devices such as gear respectively with described each finger in transmission device connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03267027 CN2652609Y (en) | 2003-07-10 | 2003-07-10 | Multiple joint interactive multiple finger flexible holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03267027 CN2652609Y (en) | 2003-07-10 | 2003-07-10 | Multiple joint interactive multiple finger flexible holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2652609Y true CN2652609Y (en) | 2004-11-03 |
Family
ID=34329931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03267027 Expired - Fee Related CN2652609Y (en) | 2003-07-10 | 2003-07-10 | Multiple joint interactive multiple finger flexible holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2652609Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100340379C (en) * | 2005-11-14 | 2007-10-03 | 哈尔滨工业大学 | Space robot paw |
| CN101214649B (en) * | 2008-01-04 | 2010-06-16 | 清华大学 | Belt wheel multi-joint high under-driven robot finger device |
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
| CN104842192A (en) * | 2015-05-30 | 2015-08-19 | 柴德维 | Finish-machining fixture for workpieces |
| CN104924303A (en) * | 2015-07-12 | 2015-09-23 | 北京理工大学 | Power-shared multi-joint mechanical arm device |
-
2003
- 2003-07-10 CN CN 03267027 patent/CN2652609Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100340379C (en) * | 2005-11-14 | 2007-10-03 | 哈尔滨工业大学 | Space robot paw |
| CN101214649B (en) * | 2008-01-04 | 2010-06-16 | 清华大学 | Belt wheel multi-joint high under-driven robot finger device |
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
| CN104842192A (en) * | 2015-05-30 | 2015-08-19 | 柴德维 | Finish-machining fixture for workpieces |
| CN104924303A (en) * | 2015-07-12 | 2015-09-23 | 北京理工大学 | Power-shared multi-joint mechanical arm device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |