CN105881571A - Flexible coupling single-drive human-simulated finger - Google Patents
Flexible coupling single-drive human-simulated finger Download PDFInfo
- Publication number
- CN105881571A CN105881571A CN201610362115.4A CN201610362115A CN105881571A CN 105881571 A CN105881571 A CN 105881571A CN 201610362115 A CN201610362115 A CN 201610362115A CN 105881571 A CN105881571 A CN 105881571A
- Authority
- CN
- China
- Prior art keywords
- rod
- shaft
- screw
- elastic plate
- lower beam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
Abstract
The invention discloses a flexible coupling single-drive human-simulated finger. The flexible coupling single-drive human-simulated finger comprises a machine base, a motor, an upper rod, a middle rod, a lower rod, an elastic shaft, a screw rod, a nut, an inner elastic plate, an outer elastic plate, an upper shaft, a middle shaft, a lower shaft and a sliding pin, wherein the lower shaft is rotatably connected with the machine base and the lower rod; the middle shaft is rotatably connected with the lower rod and the middle rod; the upper shaft is rotatably connected with the middle rod and the upper rod; the sliding pin is fixedly connected with the upper end of the middle rod; the sliding pin is in sliding contact with a long hole of the upper rod; the two ends of a long groove of the lower rod are rotatably connected with the screw rod; the screw rod is in threaded connection with the nut; the nut is in sliding contact with the long groove; the inner elastic plate is connected with the machine base and the nut; the outer elastic plate is connected with the nut and the middle rod; a motor fixed to the machine base drives the screw rod to rotate and the nut to move in the long groove through the elastic shaft; the lower rod is driven to rotate relative to the machine base and the middle rod is driven to rotate relative to the lower rod through the inner elastic plate and the outer elastic plate; and the upper rod is driven to rotate relative to the middle rod in a coupling manner through the sliding pin and the long hole in the upper rod. The flexible coupling single-drive human-simulated finger has the advantages that drives are less, the structure is simple and compact, the flexible coupling is achieved, the driving force is high, the control is easy, and the like.
Description
Technical field
The present invention relates to robot field, particularly to a kind of human-imitated finger.
Background technology
The hand of robot refers to be installed on robot arm end, directly acts on the device of target.
The various operations that industrial robot is to be done, the most all must be achieved by hand；Hand simultaneously
Structure, weight, size for the overall kinesiology of robot and dynamic performance, have again directly,
Significant impact.Finger design is an important link in robot hand design, along with robotics
Development, occur in that the robot finger of various ways.Finger is typically frequently with rigidity, and gripping surface presses thing
Body profile envelope forms depression or v shape groove.Most robot arm only has two fingers, the most also uses
As three finger structures of scroll chuck formula, linkage is the most also utilized to make finger shape with finger on-off action
The hand changed a lot.In terms of finger mechanism, the patent of Publication No. CN102922532B discloses
Link-type coordinated drive robot finger apparatus.The patent of Publication No. CN103358315B discloses full rotation
Joint link lever formula under-driving robot finger mechanism.The patent of Publication No. CN102935642B discloses connecting rod
Key slot type coupling drive lacking doublejointed robot finger apparatus.The patent of Publication No. CN102717394B is open
Bevel gear coupling type dexterous robot finger device.The patent of Publication No. CN102717393B discloses even
Bar coupling type dexterous robot finger device.Above-mentioned finger apparatus mainly simulates 5 finger motion spies of people
Property be configured to, structure is relative complex, drives number more, and driving force is less, controls difficulty big.
Summary of the invention
It is an object of the invention to provide and a kind of drive that number is few, simple and compact for structure, flexible couplings, driving force
Greatly, manageable flexible couplings list drives human-imitated finger.
The present invention includes support, motor, upper, middle and lower bar, elastic shaft, leading screw, screw, inside and outside bullet
Property plate, upper, middle and lower axle and sliding pin.Wherein, motor is connected with support, and support, lower beam and middle bar are all
Rectangular column, and end is equipped with rectangular slot thereon；One end of lower beam is positioned at support rectangular slot, passes through
Lower axle rotates with support and couples；One end of middle bar is positioned at the rectangular slot of the lower beam other end, by axis with
Lower beam rotates and couples；One end of upper boom is positioned at the rectangular slot of the middle bar other end, by upper shaft and middle bar
Portion rotates and couples；One end that upper boom couples with middle bar is provided with elongated hole, and the sliding pin being connected with middle bar is located at upper boom
In elongated hole, this sliding pin can slide in elongated hole；Lower beam bottom is provided with the rectangle elongated slot parallel with rectangular slot,
Leading screw is located in the rectangle elongated slot of lower beam, and the two ends of this leading screw rotate with the two ends of lower beam rectangle elongated slot and couple,
Leading screw is provided with screw, and screw can slide in rectangle elongated slot；One end of elastic shaft is coaxially connected with motor shaft,
The other end of this elastic shaft is coaxially connected with one end of leading screw；One end of interior elastic plate is connected with support, and this is interior
The other end of elastic plate is connected with screw；One end of outer elastic plate is connected with screw, another of this outer elastic plate
End is connected with middle bar.
The motor being connected with support drives screw turns and screw movement in elongated slot by elastic shaft, passes through
Inside and outside elastic plate forces lower beam to rotate relative to support and rotates relative to lower beam with middle bar, long by sliding pin and upper boom
Hole forces upper boom phase centering rod coupling rotational.
The present invention compared with prior art has the advantage that
Number is few, simple and compact for structure, flexible couplings, driving force are big, easy to control in driving.
Accompanying drawing explanation
The section view simplified schematic diagram of Fig. 1 present invention.
Fig. 2 is the left view of Fig. 1.
In figure: axle, 4-elastic shaft, 5-leading screw, 6-screw, 7-lower beam, 8-under 1-motor, 2-support, 3-
Axis, 9-sliding pin, elastic plate in bar, 11-upper shaft, 12-upper boom, 13-outer elastic plate, 14-in 10-.
Detailed description of the invention
In the flexible couplings list shown in Fig. 1 and Fig. 2 drives human-imitated finger schematic diagram, motor 1 and support 2
Connecting, support, middle bar 10 and lower beam 7 are all rectangular columns, and end is equipped with rectangular slot thereon；Lower beam
One end be positioned at support rectangular slot, rotated by lower axle 3 and support and couple；Under one end of middle bar is positioned at
In the rectangular slot of the bar other end, coupled with lower beam rotation by axis 8；It is another that one end of upper boom is positioned at middle bar
In the rectangular slot of one end, coupled with rotating in the middle part of middle bar by upper shaft 11；One end that upper boom couples with middle bar
Being provided with elongated hole, the sliding pin 9 being connected with middle bar is located in the elongated slot of upper boom, and this sliding pin can slide in elongated hole；
Lower beam bottom is provided with the rectangle elongated slot parallel with rectangular slot, and leading screw 5 is located in the rectangle elongated slot of lower beam, should
The two ends of leading screw rotate with the two ends of lower beam rectangle elongated slot and couple, and leading screw is provided with screw 6, and screw can be at rectangle
Slide in elongated slot；One end of elastic shaft 4 is coaxially connected with motor shaft, the other end of this elastic shaft and leading screw
One end is coaxially connected；One end of interior elastic plate 14 is connected with support, and the other end of this interior elastic plate is with screw even
Connect；One end of outer elastic plate 13 is connected with screw, and the other end of this outer elastic plate is connected with middle bar.
Motor drives screw turns by elastic shaft, drives screw to move in the rectangular through-hole of lower beam, passes through
Interior elastic plate forces lower beam to rotate relative to support, forces middle bar to rotate relative to lower beam by outer elastic plate, passes through
Sliding pin forces upper boom phase centering rod coupling rotational with being slidably matched of long through-hole of upper boom.
Claims (1)
1. flexible couplings list drives a human-imitated finger, and it includes support, motor, upper, middle and lower bar, bullet
Property axle, leading screw, screw, inside and outside elastic plate, upper, middle and lower axle and sliding pin, it is characterised in that: motor
Being connected with support, support, lower beam and middle bar are all rectangular columns, and end is equipped with rectangular slot thereon；Under
One end of bar is positioned at support rectangular slot, is coupled with support rotation by lower axle；Under one end of middle bar is positioned at
In the rectangular slot of the bar other end, coupled with lower beam rotation by axis；One end of upper boom be positioned at middle bar another
In the rectangular slot of end, coupled with rotating in the middle part of middle bar by upper shaft；One end that upper boom couples with middle bar is provided with
Elongated hole, the sliding pin being connected with middle bar is located in the elongated hole of upper boom, and this sliding pin can slide in elongated hole；Under lower beam
Portion is provided with the rectangle elongated slot parallel with rectangular slot, and leading screw is located in the rectangle elongated slot of lower beam, the two of this leading screw
Holding the two ends with lower beam rectangle elongated slot to rotate to couple, leading screw is provided with screw, and screw can be at lower beam rectangle elongated slot
Interior slip；One end of elastic shaft is coaxially connected with motor shaft, and the other end of this elastic shaft is same with one end of leading screw
Axle connects；One end of interior elastic plate is connected with support, and the other end of this interior elastic plate is connected with screw；Outer bullet
One end of property plate is connected with screw, and the other end of this outer elastic plate is connected with middle bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362115.4A CN105881571B (en) | 2016-05-27 | 2016-05-27 | Flexible couplings list drives human-imitated finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362115.4A CN105881571B (en) | 2016-05-27 | 2016-05-27 | Flexible couplings list drives human-imitated finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881571A true CN105881571A (en) | 2016-08-24 |
| CN105881571B CN105881571B (en) | 2018-01-23 |
Family
ID=56717993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610362115.4A Active CN105881571B (en) | 2016-05-27 | 2016-05-27 | Flexible couplings list drives human-imitated finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881571B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344356A (en) * | 2017-05-27 | 2017-11-14 | 燕山大学 | A kind of anthropomorphic wrist refers to hybrid mechanism |
| CN107745389A (en) * | 2017-09-08 | 2018-03-02 | 燕山大学 | Hard and soft software arm wrestling robot operates finger mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514016A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Soft piece coupling type handyman finger device |
| CN102935642A (en) * | 2012-11-09 | 2013-02-20 | 清华大学 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
| CN103934829A (en) * | 2014-04-21 | 2014-07-23 | 哈尔滨工业大学 | Underactuation self-adaptive capturing device capable of being folded and unfolded |
| KR20140126562A (en) * | 2013-04-23 | 2014-10-31 | 주식회사 로보멕 | Robot finger module |
| US20160052143A1 (en) * | 2014-08-25 | 2016-02-25 | Paul Ekas | Concave bearing outer race for tendon based robotic joints |
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
-
2016
- 2016-05-27 CN CN201610362115.4A patent/CN105881571B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514016A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Soft piece coupling type handyman finger device |
| CN102935642A (en) * | 2012-11-09 | 2013-02-20 | 清华大学 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
| KR20140126562A (en) * | 2013-04-23 | 2014-10-31 | 주식회사 로보멕 | Robot finger module |
| CN103934829A (en) * | 2014-04-21 | 2014-07-23 | 哈尔滨工业大学 | Underactuation self-adaptive capturing device capable of being folded and unfolded |
| US20160052143A1 (en) * | 2014-08-25 | 2016-02-25 | Paul Ekas | Concave bearing outer race for tendon based robotic joints |
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344356A (en) * | 2017-05-27 | 2017-11-14 | 燕山大学 | A kind of anthropomorphic wrist refers to hybrid mechanism |
| CN107745389A (en) * | 2017-09-08 | 2018-03-02 | 燕山大学 | Hard and soft software arm wrestling robot operates finger mechanism |
| CN107745389B (en) * | 2017-09-08 | 2020-09-11 | 燕山大学 | Finger operating mechanism for rigid-flexible-soft force measuring robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881571B (en) | 2018-01-23 |
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