TW201308313A - Multi-degree freedom mechanical finger with play function - Google Patents
Multi-degree freedom mechanical finger with play function Download PDFInfo
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Abstract
Description
本發明是有關於一種多自由度機械手指，特別是有關於一種具演奏鍵盤樂器功能之多自由度機械手指。The present invention relates to a multi-degree of freedom mechanical finger, and more particularly to a multi-degree of freedom mechanical finger having the function of playing a keyboard instrument.
目前，鍵盤樂器包含大鍵琴、風琴、鋼琴與電子琴等，都是以手指壓按琴鍵，使其發出特定頻率的樂音。由於鍵盤樂器的旋律優美、音域寬廣，節奏與音色的變換靈活，既能演奏抒情的小曲，也可演奏令人振奮的華麗樂章，使得鍵盤樂器廣受大眾喜愛。伴隨著科技的不斷進步，利用機械手以及電路佈局而整合完成之機械人、機械手臂等精密裝置來取代各種人力作業之方式逐漸地受到重視，廣泛地受運用於工業領域中，亦被視為未來最重要的科技技術之ㄧ，然而實際上，現代人對娛樂生活的要求不斷提高，因此近年來娛樂型演奏機器人之研發亦逐漸地萌芽。At present, keyboard instruments include harpsichord, organ, piano and keyboard, etc., all of which are pressed by a finger to make a specific frequency of music. Due to the beautiful melody and wide range of keyboard instruments, the rhythm and tone are flexible, and it can play lyrical songs and exhilarating gorgeous music, making keyboard instruments popular. With the continuous advancement of technology, precision devices such as robots and robotic arms that have been integrated by robots and circuit layouts have gradually gained attention as a means of replacing various types of manual work, and are widely used in industrial fields. In the future, the most important technology and technology, but in fact, modern people's requirements for entertainment life continue to increase, so in recent years, the development of entertainment-type playing robots has gradually sprouted.
而現有技術中開發以獨奏之方式做演奏的機器人實際上為數極少，且目前可彈奏樂器(如電子琴等鍵盤樂器)之機器人皆只能夠彈奏簡單的單音，未達到實用娛樂與商品化的階段，例如欲達到模擬人體雙手掌來彈奏鍵盤樂器所需要之作動機構於實現上有其難度所在，例如於定位之精準以及移動以及彈奏動作自由度上之限制等等，而若要達到模擬人體雙手之靈活度之設計，則於機構的配合上尚有待克服之瓶頸所在，故綜觀前所述，本發明之發明人思索並設計一種雙機械手臂彈奏裝置，以期針對現有技術之缺失加以改善，進而增進產業上之實施利用。In the prior art, the number of robots developed to perform in a solo manner is actually very few, and the robots that can currently play instruments (such as keyboard instruments such as keyboards) can only play simple tones, and have not achieved practical entertainment and commercialization. Stages, such as the actuation mechanism required to simulate the human palms to play the keyboard instrument, are difficult to implement, such as the accuracy of positioning and the freedom of movement and the freedom of playing, etc. In order to achieve the flexibility of simulating the human hands, there is still a bottleneck to be overcome in the cooperation of the mechanism. Therefore, the inventor of the present invention contemplates and designs a dual-mechanical arm playing device, in view of the prior art. The lack of it is improved to enhance the implementation and utilization of the industry.
有鑑於上述習知技藝之問題，本發明之目的就是在提供一種具演奏功能之多自由度機械手指，以解決習知技藝的靈活性問題。In view of the above-mentioned problems of the prior art, it is an object of the present invention to provide a multi-degree-of-freedom mechanical finger with a performance function to solve the problem of flexibility of the prior art.
根據本發明之目的，提出一種具演奏功能之多自由度機械手指。具演奏功能之多自由度機械手指，其包含：一本體、一第一滑塊、一人造手指、一連接件、一第一驅動單元及一傳動件。本體具有一第一通孔並設有一第一滑軌於該本體之一端。第一滑塊係設置於第一滑軌。連接件樞接於本體之另一端並設有一第二通孔。人造手指樞接於連接件。第一驅動單元連接第一滑塊。傳動件之一端固設於第一滑塊，其穿過第一通孔及第二通孔，且其另一端固設於人造手指。In accordance with the purpose of the present invention, a multi-degree of freedom mechanical finger having a performance function is proposed. The utility model has a multi-degree-of-freedom mechanical finger with a playing function, comprising: a body, a first slider, an artificial finger, a connecting member, a first driving unit and a transmission member. The body has a first through hole and a first sliding rail is disposed at one end of the body. The first slider is disposed on the first slide rail. The connecting member is pivotally connected to the other end of the body and is provided with a second through hole. The artificial finger is pivotally connected to the connector. The first drive unit is coupled to the first slider. One end of the transmission member is fixed to the first slider, and passes through the first through hole and the second through hole, and the other end thereof is fixed to the artificial finger.
其中第一驅動單元驅動第一滑塊往一第一方向位移，使第一滑塊同步帶動傳動件使人造手指往下壓按一演奏裝置。第一驅動單元驅動第一滑塊往一第二方向位移，第一滑塊同步帶動傳動件使人造手指往上抬起。The first driving unit drives the first slider to be displaced in a first direction, so that the first slider synchronously drives the transmission member to press the artificial finger downward to press a performance device. The first driving unit drives the first slider to be displaced in a second direction, and the first slider synchronously drives the transmission member to lift the artificial finger upward.
其中，更可包含一第二驅動單元，其連結連接件。第二驅動單元，使連接件進行橫向角度位移。Wherein, a second driving unit may be further included, which is connected to the connecting member. The second driving unit causes the connecting member to perform lateral angular displacement.
其中，更可包含一第二滑軌與一第二滑塊。第二滑塊之一側固設於本體下方，其另一側設置於第二滑軌；第二滑軌設置於一基座上。Wherein, a second slide rail and a second slider may be further included. One side of the second slider is fixed under the body, and the other side is disposed on the second sliding rail; the second sliding rail is disposed on a base.
其中，更可包含一第三驅動單元，其連接本體。第三驅動單元驅動本體及第二滑塊往第一方向或第二方向位移。Wherein, a third driving unit may be further included, which is connected to the body. The third driving unit drives the body and the second slider to be displaced in the first direction or the second direction.
其中，更可包含一緩衝層，其設置於人造手指之一指尖部。Wherein, a buffer layer may be further included, which is disposed on one fingertip of the artificial finger.
其中，更可包含一彈性件，彈性件之一端固設於連接件，彈性件之另一端固設於人造手指。第一滑塊往第二方向位移時，透過彈性件之彈性回復力使人造手指往上抬起。Wherein, an elastic member may be further included, one end of the elastic member is fixed to the connecting member, and the other end of the elastic member is fixed to the artificial finger. When the first slider is displaced in the second direction, the artificial finger is lifted upward by the elastic restoring force of the elastic member.
根據本發明之另一目的，提出一種多自由度機械手指。多自由度機械手指包含：一本體、一第一滑塊、一連接件、一人造手指、一第一驅動單元、一第二驅動單元及一傳動件。本體具有一第一通孔並設有一第一滑軌於該本體之一端。第一滑塊設置於第一滑軌。連接件樞接於本體之另一端並設有一第二通孔。人造手指樞接於連接件。第一驅動單元連接第一滑塊。第二驅動單元連接連接件。傳動件之一端固設於第一滑塊，傳動件穿過第一通孔及第二通孔，且傳動件之另一端固設於人造手指。According to another object of the present invention, a multi-degree of freedom mechanical finger is proposed. The multi-degree-of-freedom mechanical finger comprises: a body, a first slider, a connecting member, an artificial finger, a first driving unit, a second driving unit and a transmission member. The body has a first through hole and a first sliding rail is disposed at one end of the body. The first slider is disposed on the first slide rail. The connecting member is pivotally connected to the other end of the body and is provided with a second through hole. The artificial finger is pivotally connected to the connector. The first drive unit is coupled to the first slider. The second drive unit is connected to the connector. One end of the transmission member is fixed to the first slider, the transmission member passes through the first through hole and the second through hole, and the other end of the transmission member is fixed to the artificial finger.
若第一驅動單元驅動第一滑塊往一第一方向位移時，則第一滑塊同步帶動傳動件，使人造手指往下壓按；第二驅動單元驅動連接件進行橫向角度位移。If the first driving unit drives the first slider to be displaced in a first direction, the first slider synchronously drives the transmission member to press the artificial finger downward; the second driving unit drives the connecting member to perform lateral angular displacement.
其中，更可包含一第二滑軌、一第二滑塊及一第三驅動單元。第二滑塊之一側固設於本體下方，第二滑塊之另一側設置於第二滑軌。第二滑軌可設置於一基座上。第三驅動單元連接本體。第三驅動單元驅動本體及第二滑塊往第一方向或第二方向位移。The second slide rail, a second slider and a third driving unit are further included. One side of the second slider is fixed under the body, and the other side of the second slider is disposed on the second slide rail. The second slide rail can be disposed on a base. The third driving unit is connected to the body. The third driving unit drives the body and the second slider to be displaced in the first direction or the second direction.
其中，更可包含一緩衝層，其設置於人造手指之一指尖部。Wherein, a buffer layer may be further included, which is disposed on one fingertip of the artificial finger.
其中，更可包含一彈性件，彈性件之一端固設於連接件，彈性件之另一端固設於人造手指。第一滑塊往第二方向位移，透過彈性件之彈性回復力使人造手指往上抬起。Wherein, an elastic member may be further included, one end of the elastic member is fixed to the connecting member, and the other end of the elastic member is fixed to the artificial finger. The first slider is displaced in the second direction, and the artificial finger is lifted upward by the elastic restoring force of the elastic member.
承上所述，依本發明之具演奏功能之多自由度機械手指，其可具有一或多個下述優點：
(1) 此具演奏功能之多自由度機械手指可藉由第一驅動單元驅動第一滑塊，並同步帶動傳動件使人造手指作動，藉此可達到具演奏功能。
(2) 此具演奏功能之多自由度機械手指可藉由第二驅動單元，第二驅動單元使連接件進行橫向角度位移，藉此可提高自由度及演奏的靈活度。
(3) 此具演奏功能之多自由度機械手指可藉由第三驅動單元驅動本體往第一方向或第二方向位移，藉此可提高自由度及演奏的靈活度。In view of the above, a multi-degree-of-freedom mechanical finger having a performance function according to the present invention may have one or more of the following advantages:
(1) The multi-degree-of-freedom mechanical finger with the performance function can drive the first slider by the first driving unit, and simultaneously drive the transmission member to activate the artificial finger, thereby achieving the performance function.
(2) The multi-degree-of-freedom mechanical finger with the performance function can be laterally angularly displaced by the second driving unit, and the second driving unit can increase the degree of freedom and flexibility of performance.
(3) The multi-degree-of-freedom mechanical finger with the performance function can drive the body to be displaced in the first direction or the second direction by the third driving unit, thereby improving the degree of freedom and flexibility of performance.
以下將參照相關圖式，說明依本創作之具演奏功能之多自由度機械手指之實施例，為使便於理解，下述實施例中之相同元件係以相同之符號標示來說明。The embodiments of the multi-degree-of-freedom mechanical finger having the performance function according to the present invention will be described below with reference to the related drawings. For the sake of understanding, the same components in the following embodiments are denoted by the same reference numerals.
請參閱第1圖，其係為本發明之具演奏功能之多自由度機械手指之示意圖。如圖所示，具演奏功能之多自由度機械手指10包含：一本體11、一第一滑塊12、連接件13、一人造手指14、一第一驅動單元15及一傳動件16。本體11具有一第一通孔111並設有一第一滑軌112於本體11之一端。第一滑塊12設置於第一滑軌111。連接件13樞接於本體11之另一端並設有一第二通孔131。人造手指14樞接於連接件13。第一驅動單元15連接第一滑塊12。傳動件16之一端固設於第一滑塊12，其穿過第一通孔111及第二通孔131，且其另一端固設於人造手指14。其中連接件13及人造手指14可透過鎖附或卡栓等方式固定，於本實施例係以鎖附方式示範，應不以此為限。其中傳動件16可為一線體或一塊體，並可利用夾持、鎖附或焊接等方式固定，於本實施例傳動件16以線體及夾持方式示範。Please refer to FIG. 1 , which is a schematic diagram of a multi-degree-of-freedom mechanical finger with a performance function of the present invention. As shown, the multi-degree-of-freedom mechanical finger 10 having a performance function includes a body 11, a first slider 12, a connector 13, an artificial finger 14, a first driving unit 15, and a transmission member 16. The body 11 has a first through hole 111 and a first sliding rail 112 at one end of the body 11. The first slider 12 is disposed on the first slide rail 111. The connecting member 13 is pivotally connected to the other end of the body 11 and is provided with a second through hole 131. The artificial finger 14 is pivotally connected to the connecting member 13. The first driving unit 15 is connected to the first slider 12. One end of the transmission member 16 is fixed to the first slider 12 , and passes through the first through hole 111 and the second through hole 131 , and the other end thereof is fixed to the artificial finger 14 . The connecting member 13 and the artificial finger 14 can be fixed by means of a lock or a latch. In this embodiment, the locking mode is exemplary, and should not be limited thereto. The transmission member 16 can be a wire body or a body, and can be fixed by clamping, locking or welding. In the embodiment, the transmission member 16 is demonstrated by a wire body and a clamping method.
進一步可設置一處理模組30電性連接第一驅動單元15。處理模組30可為一電子裝置之微處理機控制器（Microprocessor Control Unit）、中央處理器（Central Processing Unit，CPU）或微處理器（Micro-Processing Unit），底下係以中央處理器為實施例。處理模組30控制具演奏功能之多自由度機械手指10之第一驅動單元15驅動第一滑塊12往一第一方向40位移，使第一滑塊12同步帶動傳動件16使人造手指14往下壓按一演奏裝置60。處理模組30控制具演奏功能之多自由度機械手指10之第一驅動單元15驅動第一滑塊12往一第二方向50位移，並同步帶動傳動件16使人造手指14往上抬起。演奏裝置60可為風琴、鋼琴或電子琴等鍵盤樂器，底下係以電子琴作為示範。Further, a processing module 30 can be electrically connected to the first driving unit 15 . The processing module 30 can be an electronic device Microprocessor Control Unit, a Central Processing Unit (CPU) or a Micro-Processing Unit, and is implemented by a central processing unit. example. The processing module 30 controls the first driving unit 15 of the multi-degree-of-freedom mechanical finger 10 with the playing function to drive the first slider 12 to be displaced in a first direction 40, so that the first slider 12 synchronously drives the transmission member 16 to make the artificial finger 14 Press a performance device 60 down. The processing module 30 controls the first driving unit 15 of the multi-degree-of-freedom mechanical finger 10 with the playing function to drive the first slider 12 to be displaced in a second direction 50, and simultaneously drives the transmission member 16 to raise the artificial finger 14 upward. The performance device 60 may be a keyboard instrument such as an organ, a piano, or a keyboard, and the keyboard is exemplified below.
復請參閱第2圖，其係為本發明之具演奏功能之多自由度機械手指之第一動作態樣示意圖。如圖所示，當處理模組30控制第一驅動單元15驅動第一滑塊12往第一方向40位移時，由於傳動件16之一端固設於第一滑塊12且另一端固設於人造手指14之一特定位置，因此傳動件16同步與第一滑塊12往第一方向40位移，並拉動該人造手指14往下壓按演奏裝置60。其中傳動件16可為金屬或塑膠等材質，可示其設計需求而變化。Please refer to FIG. 2, which is a schematic diagram of the first action state of the multi-degree-of-freedom mechanical finger with the performance function of the present invention. As shown in the figure, when the processing module 30 controls the first driving unit 15 to drive the first slider 12 to be displaced in the first direction 40, one end of the transmission member 16 is fixed to the first slider 12 and the other end is fixed to One of the artificial fingers 14 is in a specific position, so that the transmission member 16 is synchronously displaced with the first slider 12 in the first direction 40, and the artificial finger 14 is pulled down to press the performance device 60 downward. The transmission member 16 can be made of metal or plastic, and can be changed according to its design requirements.
具演奏功能之多自由度機械手指10更可包含一彈性件17，彈性件17之一端固設於連接件13，彈性件17之另一端固設於人造手指14。當處理模組30控制第一驅動單元15驅動第一滑塊12往第二方向50位移時，可藉由彈性件17之彈性回復力頂抵人造手指14，使人造手指14往上抬起。其中，彈性件17可為彈簧或彈片等具彈性回復力之元件。The multi-degree-of-freedom mechanical finger 10 having a performance function may further include an elastic member 17, one end of the elastic member 17 is fixed to the connecting member 13, and the other end of the elastic member 17 is fixed to the artificial finger 14. When the processing module 30 controls the first driving unit 15 to drive the first slider 12 to be displaced in the second direction 50, the artificial finger 14 can be lifted up by the elastic restoring force of the elastic member 17 against the artificial finger 14. The elastic member 17 can be an elastic restoring component such as a spring or a spring.
具演奏功能之多自由度機械手指10另可包含一緩衝層18，其設置於人造手指14之指尖部141，以避免人造手指14壓按演奏裝置60時，造成其損壞。緩衝層18可為軟性塑膠(如橡膠或乳膠)、海綿或泡綿等，並可藉由黏膠之方式固定於指尖部141。The multi-degree-of-freedom mechanical finger 10 having a performance function may further include a buffer layer 18 disposed on the fingertip portion 141 of the artificial finger 14 to prevent the artificial finger 14 from being damaged when the performance device 60 is pressed. The buffer layer 18 can be a soft plastic (such as rubber or latex), a sponge or a foam, and can be fixed to the fingertip 141 by means of an adhesive.
復請參閱第3圖，其係為本發明之具演奏功能之多自由度機械手指之第二動作態樣示意圖。如圖所示，具演奏功能之多自由度機械手指10更可包含一第二驅動單元19，其連結連接件13並電性連接處理模組30。當處理模組30控制第二驅動單元19作動，第二驅動單元19則驅動連接件13進行橫向角度位移。連接件13之橫向角度位移方式，可由連接件13與本體11的固設處為軸心進行角度位移，以使人造手指14橫向角度位移並壓按演奏裝置60，可增進其演奏功能之靈活性與自由度。Please refer to FIG. 3, which is a schematic diagram of the second action mode of the multi-degree-of-freedom mechanical finger with the performance function of the present invention. As shown in the figure, the multi-degree-of-freedom mechanical finger 10 having a performance function may further include a second driving unit 19 that is coupled to the connecting member 13 and electrically connected to the processing module 30. When the processing module 30 controls the second driving unit 19 to operate, the second driving unit 19 drives the connecting member 13 to perform lateral angular displacement. The lateral angular displacement of the connecting member 13 can be angularly displaced by the connecting member 13 and the fixing portion of the body 11 so that the artificial finger 14 is laterally angularly displaced and pressed against the performance device 60, thereby enhancing the flexibility of the playing function. With degrees of freedom.
復請參閱第4圖，其係為本發明之具演奏功能之多自由度機械手指之第三動作態樣示意圖。如圖所示，機械手指更可包含一第二滑軌20、一第二滑塊21及一第三驅動單元22。第二滑塊21之一側固設於本體11下方，第二滑塊21之另一側設置於第二滑軌20。第二滑軌20可設置於一基座70上。第三驅動單元22連接本體11且電性連接處理模組30。處理模組30可控制第三驅動單元22驅動本體11及第二滑塊21往第二方向50位移，即可使具演奏功能之多自由度機械手指10整體往第二方向50位移，以使人造手指14得以壓按演奏裝置60之黑鍵61部份。當處理模組30控制第三驅動單元22驅動本體11及第二滑塊21往第一方向40位移，可使具演奏功能之多自由度機械手指10整體往第一方向40位移，即可使人造手指14回歸至可壓按白鍵62之位置。因此，可進一步可增進其演奏功能之靈活性與自由度。Please refer to FIG. 4, which is a schematic diagram of the third action state of the multi-degree-of-freedom mechanical finger with the playing function of the present invention. As shown, the mechanical finger can further include a second slide rail 20, a second slider 21, and a third drive unit 22. One side of the second slider 21 is fixed under the body 11 , and the other side of the second slider 21 is disposed on the second slide rail 20 . The second slide rail 20 can be disposed on a base 70. The third driving unit 22 is connected to the body 11 and electrically connected to the processing module 30. The processing module 30 can control the third driving unit 22 to drive the body 11 and the second slider 21 to be displaced in the second direction 50, so that the mechanical finger 10 having the multi-degree of freedom with the performance function is displaced in the second direction 50, so that The artificial finger 14 is pressed against the black key 61 portion of the performance device 60. When the processing module 30 controls the third driving unit 22 to drive the main body 11 and the second slider 21 to be displaced in the first direction 40, the mechanical finger 10 having the multi-degree of freedom function of the performance function can be displaced in the first direction 40, thereby The artificial finger 14 returns to the position where the white key 62 can be pressed. Therefore, the flexibility and freedom of the performance function can be further enhanced.
其中，第一驅動單元15、第二驅動單元19及第三驅動單元22可為線性馬逹、氣壓缸、油壓缸或伺服機等。The first driving unit 15, the second driving unit 19, and the third driving unit 22 may be a linear stirrup, a pneumatic cylinder, a hydraulic cylinder, a servo, or the like.
請參閱第5圖，其係為本發明之具演奏功能之多自由度機械手指之一實施例示意圖。如圖所示，具演奏功能之多自由度機械手指10可應實際需求而設定為五個具演奏功能之多自由度機械手指10結合為一組。其中使用者可利用預先儲存於電子裝置之程式碼或控制程式，以使處理模組30可分別控制具演奏功能之多自由度機械手指10之第一驅動單元15、第二驅動單元19及第三驅動單元22，進而使具演奏功能之多自由度機械手指10之人造手指14分別進行壓按白鍵62、橫向角度位移而壓按白鍵62或壓按黑鍵61等動作，以使具演奏功能之多自由度機械手指10得以演奏更複雜的曲目。Please refer to FIG. 5, which is a schematic diagram of an embodiment of a multi-degree-of-freedom mechanical finger with a performance function of the present invention. As shown in the figure, the multi-degree-of-freedom mechanical finger 10 with the performance function can be set as a set of five multi-degree-of-freedom mechanical fingers 10 with performance functions as a set. The user can use the code or control program stored in the electronic device in advance, so that the processing module 30 can respectively control the first driving unit 15, the second driving unit 19 and the first driving unit 10 of the multi-degree-of-freedom mechanical finger 10 having the playing function. The three driving unit 22 further causes the artificial finger 14 of the multi-degree-of-freedom mechanical finger 10 having the performance function to press the white key 62, the lateral angular displacement, press the white key 62 or press the black key 61 to make the device The multi-degree of freedom of the playing function mechanical finger 10 is able to play more complex tracks.
使於此實施例中，除上述說明部份外，其餘部份均與前述類似，於此不再贅述。In this embodiment, except for the above description, the rest is similar to the foregoing, and details are not described herein again.
以上所述僅為舉例性，而非為限制性者。任何未脫離本發明之精神與範疇，而對其進行之等效修改或變更，均應包含於後附之申請專利範圍中。The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.
10．．．具演奏功能之多自由度機械手指10. . . Multi-degree of freedom mechanical finger with performance function
11．．．本體11. . . Ontology
111．．．第一通孔111. . . First through hole
112．．．第一滑軌112. . . First rail
12．．．第一滑塊12. . . First slider
13．．．連接件13. . . Connector
131．．．第二通孔131. . . Second through hole
14．．．人造手指14. . . Artificial finger
141．．．指尖部141. . . Fingertip
15．．．第一驅動單元15. . . First drive unit
16．．．傳動件16. . . Transmission Parts
17．．．彈性件17. . . Elastic part
18．．．緩衝層18. . . The buffer layer
19．．．第二驅動單元19. . . Second drive unit
20．．．第二滑軌20. . . Second slide
21．．．第二滑塊twenty one. . . Second slider
22．．．第三驅動單元twenty two. . . Third drive unit
30．．．處理模組30. . . Processing module
40．．．第一方向40. . . First direction
50．．．第二方向50. . . Second direction
60．．．演奏裝置60. . . Performance device
61．．．黑鍵61. . . Black key
62．．．白鍵62. . . White key
70．．．基座70. . . Pedestal
第1圖係為本發明之具演奏功能之多自由度機械手指之示意圖；
第2圖係為本發明之具演奏功能之多自由度機械手指之第一動作態樣示意圖；
第3圖本發明之具演奏功能之多自由度機械手指之第二動作態樣示意圖；
第4圖本發明之具演奏功能之多自由度機械手指之第三動作態樣示意圖；以及
第5圖為本發明之具演奏功能之多自由度機械手指之一實施例示意圖。Figure 1 is a schematic view of a multi-degree-of-freedom mechanical finger having a performance function of the present invention;
Figure 2 is a schematic view showing the first action state of the multi-degree-of-freedom mechanical finger having the performance function of the present invention;
Figure 3 is a schematic view showing the second action state of the multi-degree-of-freedom mechanical finger having the performance function of the present invention;
4 is a schematic view showing a third operation mode of a multi-degree-of-freedom mechanical finger having a performance function according to the present invention; and FIG. 5 is a schematic view showing an embodiment of a multi-degree-of-freedom mechanical finger having a performance function according to the present invention.
10．．．具演奏功能之多自由度機械手指10. . . Multi-degree of freedom mechanical finger with performance function
11．．．本體11. . . Ontology
111．．．第一通孔111. . . First through hole
112．．．第一滑軌112. . . First rail
12．．．第一滑塊12. . . First slider
13．．．連接件13. . . Connector
131．．．第二通孔131. . . Second through hole
14．．．人造手指14. . . Artificial finger
15．．．第一驅動單元15. . . First drive unit
16．．．傳動件16. . . Transmission Parts
30．．．處理模組30. . . Processing module
40．．．第一方向40. . . First direction
50．．．第二方向50. . . Second direction
60．．．演奏裝置60. . . Performance device
Claims (10)
一本體，係具有一第一通孔，並設有一第一滑軌於該本體之一端；
一第一滑塊，係設置於該第一滑軌；
一連接件，係樞接於該本體之另一端，並設有一第二通孔；
一人造手指，係樞接於該連接件；
一第一驅動單元，係連接該第一滑塊；以及
一傳動件，該傳動件之一端固設於該第一滑塊，該傳動件穿過該第一通孔及該第二通孔，且該傳動件之另一端固設於該人造手指；以及
其中該第一驅動單元驅動該第一滑塊往一第一方向位移，使該第一滑塊同步帶動該傳動件使該人造手指壓按一演奏裝置；該第一驅動單元驅動該第一滑塊往一第二方向位移，並同步帶動該傳動件使該人造手指往上抬起。A multi-degree of freedom mechanical finger with a performance function, comprising:
a body having a first through hole and a first slide rail at one end of the body;
a first slider is disposed on the first slide rail;
a connecting member pivotally connected to the other end of the body and provided with a second through hole;
An artificial finger pivotally connected to the connecting member;
a first driving unit is connected to the first sliding block; and a transmission member, one end of the transmission member is fixed to the first sliding block, and the transmission member passes through the first through hole and the second through hole. And the other end of the transmission member is fixed to the artificial finger; and wherein the first driving unit drives the first slider to be displaced in a first direction, so that the first slider synchronously drives the transmission member to press the artificial finger Pressing a performance device; the first driving unit drives the first slider to be displaced in a second direction, and synchronously drives the transmission member to lift the artificial finger upward.
一本體，係具有一第一通孔，並設有一第一滑軌於該本體之一端；
一第一滑塊，係設置於該第一滑軌；
一連接件，係樞接於該本體之另一端，並設有一第二通孔；
一人造手指，係樞接於該連接件；
一第一驅動單元，係連接該第一滑塊；
一第二驅動單元，係連接該連接件；以及
一傳動件，該傳動件之一端固設於該第一滑塊，該傳動件穿過該第一通孔及該第二通孔，且該傳動件之另一端固設於該人造手指；以及
其中該第一驅動單元或該第二驅動單元；該第一驅動單元驅動該第一滑塊往一第一方向位移，則該第一滑塊同步帶動該傳動件使該人造手指往下壓按；該第二驅動單元驅動該連接件進行橫向角度位移。A multi-degree of freedom mechanical finger comprising:
a body having a first through hole and a first slide rail at one end of the body;
a first slider is disposed on the first slide rail;
a connecting member pivotally connected to the other end of the body and provided with a second through hole;
An artificial finger pivotally connected to the connecting member;
a first driving unit is connected to the first slider;
a second driving unit is connected to the connecting member; and a transmission member, one end of the transmission member is fixed to the first sliding block, the transmission member passes through the first through hole and the second through hole, and the driving member passes through the first through hole and the second through hole The other end of the transmission member is fixed to the artificial finger; and wherein the first driving unit or the second driving unit; the first driving unit drives the first slider to be displaced in a first direction, and the first slider Synchronously driving the transmission member to press the artificial finger downward; the second driving unit drives the connecting member to perform lateral angular displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100127322A TWI500022B (en) | 2011-08-02 | 2011-08-02 | Multi-degree freedom mechanical finger with play function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100127322A TWI500022B (en) | 2011-08-02 | 2011-08-02 | Multi-degree freedom mechanical finger with play function |
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| Publication Number | Publication Date |
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| TW201308313A true TW201308313A (en) | 2013-02-16 |
| TWI500022B TWI500022B (en) | 2015-09-11 |
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| TW100127322A TWI500022B (en) | 2011-08-02 | 2011-08-02 | Multi-degree freedom mechanical finger with play function |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI582752B (en) * | 2016-10-20 | 2017-05-11 | 明新科技大學 | Robot fingers apparatus of strum |
| TWI596599B (en) * | 2016-06-22 | 2017-08-21 | 明新科技大學 | Method for controlling playing force of robot fingers |
| CN109278058A (en) * | 2018-10-25 | 2019-01-29 | 希格斯动力科技（珠海）有限公司 | Mechanical bionic finger and robot is played using the finger |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI680451B (en) * | 2018-09-18 | 2019-12-21 | 中原大學 | Automatic performance apparatus |
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2011
- 2011-08-02 TW TW100127322A patent/TWI500022B/en not_active IP Right Cessation
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI596599B (en) * | 2016-06-22 | 2017-08-21 | 明新科技大學 | Method for controlling playing force of robot fingers |
| TWI582752B (en) * | 2016-10-20 | 2017-05-11 | 明新科技大學 | Robot fingers apparatus of strum |
| CN109278058A (en) * | 2018-10-25 | 2019-01-29 | 希格斯动力科技（珠海）有限公司 | Mechanical bionic finger and robot is played using the finger |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI500022B (en) | 2015-09-11 |
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