CN105881530A - Manipulator - Google Patents

Abstract

The invention discloses a manipulator comprising an arm and a palm which is rotationally mounted at one end of the arm; the palm simulates the distribution of five fingers and joints of a person's hand; a plurality of driving motors are mounted in the arm, and are used for driving the palm to rotate and/or the fingers to bend or extend; each of the joints corresponds to at least one of the driving motors. According to the invention, at least one driving motor is arranged corresponding to each joint to realize the movement of each joint, so that the flexibility of the manipulator is effectively improved; the mounting of the driving motors in the arm neither affects the volume of the manipulator nor interferes with the action of the manipulator, so that the flexibility of the manipulator is ensured.

Description

Mechanical hand

Technical field

The present invention relates to field of mechanical technique, particularly to a kind of mechanical hand.

Background technology

In the industrial production, for very in the case of dangerous, needing to complete by mechanical hand.ExistingMechanical hand is generally by hydraulic-driven connecting rod, to drive finger or by motor direct-drive finger,The actions such as the crawl realizing finger.But, by hydraulic-driven connecting rod, to drive the mechanical hand of fingerStructure is the heaviest, and action is the most relatively easy.And pass through the mechanical hand of motor direct-drive finger, due toDrive motor to be arranged on palm, due to the restriction of palm volume, cause the number of motors that can lay limited,And then cause the motility of mechanical hand relatively low.

Summary of the invention

The main object of the present invention is to provide a kind of mechanical hand, it is intended to realize the flexible control of mechanical hand.

For achieving the above object, the mechanical hand that the present invention proposes, it is installed on described hands including arm and rotationThe palm of arm one end；Described palm is to imitate five fingers of human body and the palm of joint distribution；Described armSeveral driving motor is inside installed；Described driving motor is used for driving described palm to rotate and/or driving describedDigital flexion or stretching, extension；Each described joint at least one described driving motor corresponding.

Optionally, corresponding two the driving motors in each described joint；Motor is driven to be used for driving institute described in oneStating digital flexion, another described driving motor is used for driving described finger extension.

Optionally, described driving motor is connected with described joint by rope.

Optionally, described mechanical hand also includes controlling device；Described control device and described driving motor electricityConnect, be used for controlling described driving motor.

Optionally, described mechanical hand also includes sensing device；Described sensing device and described control device electricityConnect, for detecting the grasp force of described finger, to realize the adjustment to described grasp force.

Optionally, described sensing device is the power level sensor being arranged on described finger.

Optionally, described mechanical hand also includes read-write equipment；Described read-write equipment and described control device electricityConnect, be used for writing control program；Described control device reads the control program in described read-write equipment,And according to driving motor described in described control programme-control.

Optionally, described mechanical hand also includes induction installation；Described induction installation and described control device electricityConnect, for sensing the action of staff；Described control device, according to the action of the staff sensed, controlsDescribed driving motor, to realize staff simulating sports.

Optionally, it is provided with gum cover at the finger abdomen of described finger.

Optionally, described driving motor is servo drive motor.

Technical scheme, arranges at least one by corresponding each joint and drives motor, to realizeControl to the motion in each joint, is effectively improved the motility of mechanical hand；And owing to driving motor peaceIt is contained in arm, does not interferes with the volume of mechanical hand, also the action of mechanical hand will not be caused interference, enterOne step ensure that the motility of mechanical hand.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to realityExecute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,On the premise of not paying creative work, it is also possible to obtain other according to the structure shown in these accompanying drawingsAccompanying drawing.

Fig. 1 is originally for the perspective view of invention mechanical hand one embodiment.

The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, do referring to the drawings furtherExplanation.

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing andEmbodiment, is further elaborated to the present invention.Should be appreciated that concrete reality described hereinExecute mode only in order to explain the present invention, be not intended to limit the present invention.

The present invention proposes a kind of mechanical hand.

With reference to Fig. 1, Fig. 1, this is the perspective view of invention mechanical hand one embodiment.

The mechanical hand of the present embodiment includes arm 100 and rotates the palm being installed on described arm 100 one end200；Described palm 200 is five fingers and the palm 200 of joint distribution imitating human body；Described armSeveral driving motor (sign) is installed in 100；Described driving motor is used for driving described palm 200Rotate and/or drive described finger 220 bend or stretch；Each described joint 240 at least one institute correspondingState driving motor.

Concrete, in the present embodiment, described palm 200 includes five fingers 220, the most corresponding staffThumb, forefinger, middle finger, the third finger and little finger of toe, and joint 240 reference by location of described finger 220Staff is arranged.The carpal joint of described palm 200 and the corresponding staff in junction of described arm 100.DescribedDrive motor be preferably servomotor, by forward or reverse realize to finger 220 bending or stretchDrive.

The technical scheme of the present embodiment, arranges at least one by corresponding each joint 240 and drives motor,To realize the control of the motion to each joint 240, it is effectively improved the motility of mechanical hand；And due toDrive motor to be arranged in arm 100, do not interfere with the volume of mechanical hand, also mechanical hand will not be movedCause interference, further ensure the motility of mechanical hand.

Further, in order to ensure the driving force to each joint 240, in the present embodiment, Mei YisuoState corresponding two the driving motors in joint 240；Motor is driven to be used for driving described finger 220 to bend described in one,Another described driving motor is used for driving described finger 220 to stretch.In the present embodiment, by two drivingsMotor realizes the driving to a joint 240, driving force to this joint 240 can be effectively ensured, enterOne step improves the motility of mechanical hand.Concrete, in the present embodiment, described driving motor is 30Two.Wherein, for drive described palm 200 relative to described arm 100 rotate for four；DriveDynamic described thumb bending with stretch for four；Drive described forefinger bending with stretch for six；DriveDescribed middle clinodactyly and stretching, extension for six；Drive described nameless bending with stretch for six；DriveDescribed streblomicrodactyly and stretching, extension for six.

Further, in the present embodiment, described driving motor is by rope 260 and described joint 240Connect.Described driving electric machine rotation is to pull rope 260, and then drives described joint 240 to rotate, structureRelatively simple, and do not interfere with the volume of mechanical hand.

Further, in the present embodiment, described mechanical hand also includes controlling device (such as, controllerDeng)；Described control device electrically connects with described driving motor, is used for controlling described driving motor.Described controlDevice processed can be arranged on described arm 100, or it is peripheral to be arranged on described mechanical hand, and passes through cableElectrically connect with described driving motor, to realize the control driving motor.Its concrete control mode can beIt is controlled by control program, or simulation staff action is controlled.When described control mode is logicalCrossing control program when being controlled, described mechanical hand also includes read-write equipment (such as, read-write binDeng), described read-write equipment electrically connects with described control device, is used for writing control program；Described control fillsPut the control program read in described read-write equipment, and according to driving motor described in described control programme-control.Concrete, operator write control program as required, and are stored in read-write equipment.Work as mechanical handDuring operation, described control device reads described control program, and according to the content of described control program to oftenOne control driving motor, and then realize the control to described mechanical hand.When described control mode is simulationWhen staff action is controlled, described mechanical hand also includes induction installation (such as, infrared inductor etc.)；Described induction installation electrically connects with described control device, for sensing the action of staff；Described control deviceAccording to the action of the staff sensed, control described driving motor, to realize staff simulating sports.Specifically, operator make action which be to be with hands, and described induction installation senses and catches this action,Described control device is according to the action captured, the control to each driving motor, and then realizes describedThe control of mechanical hand.

Further, in the present embodiment, described mechanical hand also includes sensing device 280；Described sensing dressPut 280 to electrically connect with described control device, for detecting the grasp force of described finger 220, right to realizeThe adjustment of described grasp force.Concrete, in the present embodiment, described sensing device 280 is for being arranged atState the power level sensor on finger 220.When described mechanical hand captures article, described sensing device 280Sensing the grasp force of described mechanical hand, user can be according to the hardness of described crawled article to described crawlPower is adjusted, to avoid owing to grasp force is excessive and cause the situation such as crawled article damage to occur.

Further, in the present embodiment, it is provided with gum cover 222 at the finger abdomen of described finger 220.Described glueSet 222 is made up of flexible material (such as, elastomeric material etc.), grabs crawled article for realizationWhile the buffering of power taking, increase the frictional force between described finger abdomen and described crawled article, Jin ErbaoThe Stability and dependability that card captures.

These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, everyUtilize equivalent structure or equivalence flow process conversion that description of the invention and accompanying drawing content made, or directly orConnect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.

Claims (10)

1. a mechanical hand, it is characterised in that include that arm and rotation are installed on the hands of described arm one endThe palm；Described palm is to imitate five fingers of human body and the palm of joint distribution；In described arm, number is installedIndividual driving motor；Described driving motor be used for driving described palm rotate and/or drive described digital flexion orStretch；Each described joint at least one described driving motor corresponding.

2. mechanical hand as claimed in claim 1, it is characterised in that corresponding two of each described joint is drivenGalvanic electricity machine；Driving motor to be used for driving described digital flexion described in one, another described driving motor is used for drivingDynamic described finger extension.

3. mechanical hand as claimed in claim 1, it is characterised in that described driving motor by rope withDescribed joint connects.

4. mechanical hand as claimed in claim 1, it is characterised in that also include controlling device；Described controlDevice processed electrically connects with described driving motor, is used for controlling described driving motor.

5. mechanical hand as claimed in claim 4, it is characterised in that also include sensing device；Described biographyInduction device electrically connects with described control device, for detecting the grasp force of described finger, to realize describedThe adjustment of grasp force.

6. mechanical hand as claimed in claim 5, it is characterised in that described sensing device is for being arranged atState the power level sensor on finger.

7. mechanical hand as claimed in claim 4, it is characterised in that also include read-write equipment；Described readingWrite device electrically connects with described control device, is used for writing control program；Described control device reads describedControl program in read-write equipment, and according to driving motor described in described control programme-control.

8. mechanical hand as claimed in claim 4, it is characterised in that also include induction installation；Described senseDevice is answered to electrically connect with described control device, for sensing the action of staff；Described control device is according to senseThe action of the staff that should arrive, controls described driving motor, to realize staff simulating sports.

9. mechanical hand as claimed in claim 1, it is characterised in that be provided with glue at the finger abdomen of described fingerSet.

10. as in one of claimed in any of claims 1 to 9 mechanical hand, it is characterised in that described in driveGalvanic electricity machine is servo drive motor.