CN103112005A - Gesture type mechanical arm - Google Patents
Gesture type mechanical arm Download PDFInfo
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- CN103112005A CN103112005A CN2011103649369A CN201110364936A CN103112005A CN 103112005 A CN103112005 A CN 103112005A CN 2011103649369 A CN2011103649369 A CN 2011103649369A CN 201110364936 A CN201110364936 A CN 201110364936A CN 103112005 A CN103112005 A CN 103112005A
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- knuckle
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Abstract
The invention discloses a gesture type mechanical arm which comprises a base seat unit, at least three dactylus units, at least two electromagnetic valves and at least three linkage units. Each dactylus unit comprises a finger base part arranged on the base seat unit, a finger pulp part connected with and capable of relatively rotating around the finger base part, a first elastic part connected between the finger base part and the finger pulp part, a finger tip part connected with and capable of relatively rotating around the finger pulp part and a second elastic part connected between the finger pump part and the finger tip part. Each electromagnetic valve comprises a movable part capable of moving, and each linkage unit comprises a connection line arranged in a corresponding dactylus unit. One end of each connection line is arranged in the corresponding finger tip part, and the other end of the connection line is connected with one of the movable parts. Thus, the connection lines pull the dactylus units to move so that a gesture can be easily produced.
Description
Technical field
The present invention relates to a kind of manipulator, particularly relate to a kind of gesture type manipulator.
Background technology
Existing a kind of manipulator, comprise that link rope that a mechanical palm, five difference can connect bendingly the mechanical finger of this machinery palm, five and connect described mechanical finger and stepper motor, five drive respectively described link rope to drive the stepper motor of described mechanical finger bending, and five sensors that measure respectively the amount of spin of described stepper motor, when described stepper motor running, along with the rotation direction of described stepper motor, just can grip inwardly and stretch outwardly to control described mechanical finger by the measurement of described sensor.
Yet, in general spacial flex, the gesture that sometimes just will represent hand changes, and do not need really to produce actual grip, therefore the mode of using aforementioned stepper motor to make mechanical finger produce action can be a kind of surdimensionnement, not only control complexity, cost of manufacture can't be reduced.
Summary of the invention
The object of the present invention is to provide a kind of can simple operations and save the gesture type manipulator of cost of manufacture.
Gesture type manipulator of the present invention comprises a base unit, at least three dactylus unit, at least two magnetic valves, and at least three linkage units.
described dactylus unit comprises respectively a finger root spare that is installed on this base unit, one connects and can refer to the finger abdomen spare that root spare rotates relative to this, one is connected in this and refers to that root spare and this refer to the first elastic component between abdomen spare, one is connected in this and refers to that this refers to a side of root spare and can refer to the finger tip spare that abdomen spare rotates relative to this abdomen spare on the contrary, and one be connected in this and refer to the second elastic component between abdomen spare and this finger tip spare, described magnetic valve comprises respectively an electromagnetism body that is connected in this base unit, and moving member that connects this electromagnetism body and can move relative to this electromagnetism body with the whether excitatory of this electromagnetism body, described linkage unit comprises respectively a connecting line that is arranged at corresponding dactylus unit, a wherein end of each connecting line is positioned at corresponding finger tip spare, the other end is connected in one of them of described moving member.
gesture type manipulator of the present invention, each refers to that abdomen spare has one and connects and refer to relative to this first knuckle that root spare rotates, reach one and be connected in the second knuckle that also rotates relative to this first knuckle between this first knuckle and this finger tip spare, this first elastic component is connected in this and refers between root spare and this first knuckle, this second elastic component is connected between this second knuckle and this finger tip spare, each dactylus unit also comprises the 3rd elastic component that is connected between this first knuckle and this second knuckle, one is connected in this and refers to the first pivot joint module between root spare and this first knuckle, a second pivot joint module that is connected between this second knuckle and this finger tip spare, and the 3rd pivot joint module that is connected between this first knuckle and this second knuckle.
Gesture type manipulator of the present invention, each connecting line pass this first knuckle, this second knuckle and this refers to root spare.
Gesture type manipulator of the present invention, each finger tip spare have an accommodating hole, and each linkage unit also comprises a fixture that connects corresponding connecting line and be arranged at this accommodating hole.
gesture type manipulator of the present invention, each first pivot joint module has a pair of the first outer pivot ear that this refers to root spare or this first knuckle that is arranged at, a pair ofly be arranged at this first knuckle or this refers to root spare and is positioned at this to the first pivot ear between the first outer pivot ear, reach one and be arranged in this to the first outer pivot ear and this first pivot to the first interior pivot ear, each second pivot joint module has a pair of the second outer pivot ear that is arranged at this second knuckle or this finger tip spare, a pair ofly be arranged at this finger tip spare or this second knuckle and be positioned at this to the second pivot ear between the second outer pivot ear, reach one and be arranged in this to the second outer pivot ear and this second pivot to the second interior pivot ear, each the 3rd pivot joint module has a pair of the 3rd outer pivot ear that is arranged at this first knuckle or this second knuckle, a pair ofly be arranged at this second knuckle or this first knuckle and be positioned at this to the 3rd pivot ear between the 3rd outer pivot ear, reach one and be arranged in this to the 3rd outer pivot ear and this 3rd pivot to the 3rd interior pivot ear.
gesture type manipulator of the present invention, each refers to that root spare has the first surface of adjacent this first knuckle, each finger tip spare has the second surface of adjacent this second knuckle, each first knuckle have one adjacent and relatively this first surface open the first entire inclined-plane, and the second inclined-plane of opposite this first inclined-plane setting and adjacent this second knuckle, each second knuckle has adjacent this second inclined-plane and can split mutually the 3rd entire inclined-plane with this second inclined-plane, and adjacent this second surface also can be split the 4th entire inclined-plane mutually with this second surface.
Gesture type manipulator of the present invention, the quantity of described dactylus unit is five, and the quantity of described magnetic valve is two, and the quantity of described linkage unit is five, wherein two connecting lines are connected in one of them moving member, and other three connecting lines are connected in another moving member.
Beneficial effect of the present invention is: by described refrigerator valve excitation running, and pull the unit action of described dactylus by described connecting line, and can produce gesture in easy mode, and then reduce cost of manufacture in a large number.
Description of drawings
Fig. 1 is the schematic perspective view of a preferred embodiment of gesture type manipulator of the present invention, illustrates that this manipulator presents the state that the five fingers stretch;
Fig. 2 is the sectional perspective schematic diagram of this preferred embodiment;
Fig. 3 is the sectional perspective schematic diagram of this preferred embodiment, illustrates that a dactylus unit is in an extended configuration;
Fig. 4 is the three-dimensional exploded view of this dactylus unit of this preferred embodiment;
Fig. 5 is a view that is similar to Fig. 3, illustrates that this dactylus unit is in a case of bending;
Fig. 6 is a view that is similar to Fig. 1, illustrates that this manipulator presents the state of the five fingers bending;
Fig. 7 is a view that is similar to Fig. 1, illustrates that this manipulator presents the state of the scissors-type of two fingers stretching, extensions.
The specific embodiment
The present invention is described in detail below in conjunction with drawings and Examples.
Gesture type manipulator of the present invention has at least three dactylus unit 3, at least two magnetic valves 4, and at least three linkage units 5.Fig. 1,2,3 is depicted as the preferred embodiment of gesture type manipulator of the present invention, comprises a base unit 2, five dactylus unit 3, two magnetic valves 4, and five linkage units 5.
This base unit 2 comprises a base 21, and a metacarpus 22 of erectting up from this base 21.
consult Fig. 2, 3, 4, each dactylus unit 3 comprises respectively a finger root spare 31 that is installed on this base unit 2, one connects and can refer to the finger abdomen spare 32 that root spare 31 rotates relative to this, one is connected in this and refers to that root spare 31 and this refer to the first elastic component 33 of 32 of abdomen spares, one is connected in this and refers to that opposite this of abdomen spare 32 refers to a side of root spare 31 and can refer to the finger tip spare 34 that abdomen spare 32 rotates relative to this, one is connected in the second elastic component 35 that this refers to 34 of abdomen spare 32 and this finger tip spares, one is connected in the 3rd elastic component 36 that this refers to abdomen spare 32, one is connected in this and refers to that root spare 31 and this refer to the first pivot joint module 37 of 32 of abdomen spares, one is connected in the second pivot joint module 38 that this refers to 34 of abdomen spare 32 and this finger tip spares, reach one and be connected in the 3rd pivot joint module 39 that this refers to that abdomen spare 32 is interior.
Each refers to that root spare 31 has adjacent this and refers to the first surface 311 of abdomen spare 32, each refers to that abdomen spare 32 has one and connects and refer to relative to this first knuckle 321 that root spare 31 rotates, reach one and be connected in this first knuckle 321 and 34 second knuckles 322 that also rotate relative to this first knuckle 321 of this finger tip spare, each finger tip spare 34 has the second surface 342 of an accommodating hole 341 and adjacent this second knuckle 322, and each refers to that the first surface 311 of root spare 31 is adjacent to this first knuckle 321.
Each first knuckle 321 have one adjacent and relatively this first surface 311 open the first entire inclined-plane 323, and the second inclined-plane 324 of opposite these first inclined-plane, 323 settings and adjacent this second knuckle 322, each second knuckle 322 has adjacent this second inclined-plane 324 and can split mutually the 3rd entire inclined-plane 325 with this second inclined-plane 324, and the second surface 342 of adjacent this finger tip spare 34 also can be split the 4th entire inclined-plane 326 mutually with this second surface 342.
In each dactylus unit 3, this first elastic component 33 is connected in this and refers to 321 of root spare 31 and this first knuckles, this second elastic component 35 is connected in 34 of this second knuckle 322 and this finger tip spares, and the 3rd elastic component 36 is connected in 322 of this first knuckle 321 and this second knuckles.In the present embodiment, this first elastic component 33, this second elastic component 35, and the 3rd elastic component 36 is respectively torsionspring.
In each dactylus unit 3, this the first pivot joint module 37 is connected in this and refers to 321 of root spare 31 and this first knuckles, the second pivot joint module 38 is connected in 34 of this second knuckle 322 and this finger tip spares, and the 3rd pivot joint module 39 is connected in 322 of this first knuckle 321 and this second knuckles.
Each first pivot joint module 37 have a pair of be arranged at this refer to root spare 31 and this first knuckle 321 one of them the first outer pivot ear 371, a pair of be arranged at this refer to root spare 31 and this first knuckle 321 wherein another and be positioned at this to the first pivot ear 372 of 371, the first outer pivot ear, and one be arranged in this to the first outer pivot ear 371 and this first pivot 373 to the first interior pivot ear 372.In the present embodiment, the described first outer pivot ear 371 is arranged at this and refers to root spare 31, and the described first interior pivot ear 372 is arranged at this first knuckle 321.
Each second pivot joint module 38 have a pair of be arranged at this second knuckle 322 and this finger tip spare 34 one of them the second outer pivot ear 381, a pair of be arranged at this second knuckle 322 and this finger tip spare 34 wherein another and be positioned at this to the second pivot ear 382 of 381, the second outer pivot ear, and one be arranged in this to the second outer pivot ear 381 and this second pivot 383 to the second interior pivot ear 382.In the present embodiment, the described second outer pivot ear 381 is arranged at this second knuckle 322, and the described second interior pivot ear 382 is arranged at this finger tip spare 34.
Each the 3rd pivot joint module 39 have a pair of be arranged at this first knuckle 321 and this second knuckle 322 one of them the 3rd outer pivot ear 391, a pair of be arranged at this first knuckle 321 and this second knuckle 322 wherein another and be positioned at this to the 3rd pivot ear 392 of 391, the 3rd outer pivot ear, and one be arranged in this to the 3rd outer pivot ear 391 and this 3rd pivot 393 to the 3rd interior pivot ear 392.In the present embodiment, the described the 3rd outer pivot ear 391 is arranged at this first knuckle 321, and the described the 3rd interior pivot ear 392 is arranged at this second knuckle 322.
Each magnetic valve 4 comprises respectively an electromagnetism body 41 that is connected in the metacarpus 22 of this base unit 2, and a moving member 42 that connects and can move relative to this electromagnetism body 41 with the excitatory of this electromagnetism body 41.
Each linkage unit 5 comprises respectively a connecting line 51 that is arranged at corresponding dactylus unit 3, and a fixture 52 that connects this connecting line 51 and be arranged at corresponding accommodating hole 341.
Each connecting line 51 passes this first knuckle 321, this second knuckle 322 and this refers to root spare 31, and an end that connects this fixture 52 is positioned at corresponding finger tip spare 34, and the other end is connected in one of them of described moving member 42.In the present embodiment, wherein two connecting lines 51 of described connecting line 51 are connected in one of them moving member 42, and other three connecting lines 51 are connected in another moving member 42.
each dactylus unit 3 can be with the running of corresponding magnetic valve 4 conversion between an extended configuration and case of bending, when this extended configuration (seeing Fig. 3), this electromagnetism body 41 is not subject to excitatory and makes corresponding moving member 42 away from this electromagnetism body 41, and then make corresponding connecting line 51 can not strain corresponding fixture 52, this first elastic component 33 no longer was compressed and the first inclined-plane 323 of this first knuckle 321 was pushed away this first surface that refers to root spare 31 311 this moment, the 3rd elastic component 36 no longer is compressed and the 3rd inclined-plane 325 of this second knuckle 322 is pushed away the second inclined-plane 324 of this first knuckle 321, this second elastic component 35 no longer is compressed and the second surface 342 of this finger tip spare 34 is pushed away the 4th inclined-plane 326 of this second knuckle 322.
consult Fig. 4, 5, when this case of bending (seeing Fig. 5), this corresponding electromagnetism body 41 is subject to excitatory and moving member 42 that Adsorption Phase is corresponding, and then pull this connecting line 51 and this fixture 52, and make this finger tip spare 34 suppress these second elastic components 35, these second knuckle 322 compacting the 3rd elastic components 36, and these first knuckle 321 these first elastic components 33 of compacting, the second surface 342 of this finger tip spare 34 is by being located at the 4th inclined-plane 326 of this second knuckle 322 at this moment, the 3rd inclined-plane 325 of this second knuckle 322 is by being located at the second inclined-plane 324 of this first knuckle 321, the first inclined-plane 323 of this first knuckle 321 is by being located at this first surface that refers to root spare 31 311.
Consult Fig. 1,2,6,7, in the present embodiment, the present invention is the hand-type that is respectively used to simulate in the finger-guessing game game, it is the scissors-type state that the five fingers extended configuration (cloth type) shown in Figure 1, the five fingers case of bending (stone type) shown in Figure 6 and two fingers shown in Figure 7 stretch, therefore forefinger and middle finger and a magnetic valve 4 are done link, and after its excess-three is referred to do link with another magnetic valve 4, just can produce three kinds of hand-types by operating respectively described magnetic valve 4.
In sum, excitatory running by described magnetic valve 4, and pull unit 3 actions of described dactylus by described connecting line 51, and can produce gesture in easy mode, compared to existing manipulator, the present invention does not need the configuration of sensor and can reach the gesture variation, therefore can avoid surdimensionnement, and then reduce in a large number cost of manufacture, so really can reach purpose of the present invention.
Claims (7)
1. gesture type manipulator, it is characterized in that: this gesture type manipulator comprises a base unit, at least three dactylus unit, at least two magnetic valves, and at least three linkage units, described three dactylus unit comprise respectively a finger root spare that is installed on this base unit, one connects and can refer to the finger abdomen spare that root spare rotates relative to this, one is connected in this and refers to that root spare and this refer to the first elastic component between abdomen spare, one is connected in this and refers to that this refers to a side of root spare and can refer to the finger tip spare that abdomen spare rotates relative to this abdomen spare on the contrary, and one be connected in this and refer to the second elastic component between abdomen spare and this finger tip spare, described magnetic valve comprises respectively an electromagnetism body that is connected in this base unit, and moving member that connects this electromagnetism body and can move relative to this electromagnetism body with the whether excitatory of this electromagnetism body, described linkage unit comprises respectively a connecting line that is arranged at corresponding dactylus unit, a wherein end of each connecting line is positioned at corresponding finger tip spare, the other end is connected in one of them of described moving member.
2. gesture type manipulator according to claim 1, it is characterized in that: each refers to that abdomen spare has one and connects and refer to relative to this first knuckle that root spare rotates, reach one and be connected in the second knuckle that also rotates relative to this first knuckle between this first knuckle and this finger tip spare, this first elastic component is connected in this and refers between root spare and this first knuckle, this second elastic component is connected between this second knuckle and this finger tip spare, each dactylus unit also comprises the 3rd elastic component that is connected between this first knuckle and this second knuckle, one is connected in this and refers to the first pivot joint module between root spare and this first knuckle, a second pivot joint module that is connected between this second knuckle and this finger tip spare, and the 3rd pivot joint module that is connected between this first knuckle and this second knuckle.
3. gesture type manipulator according to claim 2 is characterized in that: each connecting line passes this first knuckle, this second knuckle and this refers to root spare.
4. gesture type manipulator according to claim 3, it is characterized in that: each finger tip spare has an accommodating hole, and each linkage unit also comprises a fixture that connects corresponding connecting line and be arranged at this accommodating hole.
5. gesture type manipulator according to claim 2, it is characterized in that: each first pivot joint module has a pair of the first outer pivot ear that this refers to root spare or this first knuckle that is arranged at, a pair ofly be arranged at this first knuckle or this refers to root spare and is positioned at this to the first pivot ear between the first outer pivot ear, reach one and be arranged in this to the first outer pivot ear and this first pivot to the first interior pivot ear, each second pivot joint module has a pair of the second outer pivot ear that is arranged at this second knuckle or this finger tip spare, a pair ofly be arranged at this finger tip spare or this second knuckle and be positioned at this to the second pivot ear between the second outer pivot ear, reach one and be arranged in this to the second outer pivot ear and this second pivot to the second interior pivot ear, each the 3rd pivot joint module has a pair of the 3rd outer pivot ear that is arranged at this first knuckle or this second knuckle, a pair ofly be arranged at this second knuckle or this first knuckle and be positioned at this to the 3rd pivot ear between the 3rd outer pivot ear, reach one and be arranged in this to the 3rd outer pivot ear and this 3rd pivot to the 3rd interior pivot ear.
6. gesture type manipulator according to claim 2, it is characterized in that: each refers to that root spare has the first surface of adjacent this first knuckle, each finger tip spare has the second surface of adjacent this second knuckle, each first knuckle have one adjacent and relatively this first surface open the first entire inclined-plane, and the second inclined-plane of opposite this first inclined-plane setting and adjacent this second knuckle, each second knuckle has adjacent this second inclined-plane and can split mutually the 3rd entire inclined-plane with this second inclined-plane, and adjacent this second surface also can be split the 4th entire inclined-plane mutually with this second surface.
7. gesture type manipulator according to claim 2, it is characterized in that: the quantity of described dactylus unit is five, the quantity of described magnetic valve is two, the quantity of described linkage unit is five, wherein two connecting lines are connected in one of them moving member, and other three connecting lines are connected in another moving member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103649369A CN103112005A (en) | 2011-11-17 | 2011-11-17 | Gesture type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103649369A CN103112005A (en) | 2011-11-17 | 2011-11-17 | Gesture type mechanical arm |
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|---|---|
| CN103112005A true CN103112005A (en) | 2013-05-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103649369A Pending CN103112005A (en) | 2011-11-17 | 2011-11-17 | Gesture type mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| CN107175681A (en) * | 2017-06-27 | 2017-09-19 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
| CN108858272A (en) * | 2017-05-09 | 2018-11-23 | 上海岭先机器人科技股份有限公司 | A kind of robot joint structure |
| CN109278061A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Robot and its finger drive mechanism |
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| US3631542A (en) * | 1969-08-11 | 1972-01-04 | Univ Iowa State Res Found | Myoelectric brace |
| US3694021A (en) * | 1970-07-31 | 1972-09-26 | James F Mullen | Mechanical hand |
| JPH06143179A (en) * | 1992-10-28 | 1994-05-24 | Mitsubishi Electric Corp | Robot hand |
| KR20100008687A (en) * | 2008-07-16 | 2010-01-26 | 삼성전자주식회사 | Humanoid robot |
| CN201659561U (en) * | 2010-04-26 | 2010-12-01 | 深圳市昭营科技有限公司 | Multi-finger manipulator |
| CN101940522A (en) * | 2010-09-28 | 2011-01-12 | 陈招富 | Microcomputer controlled finger movement device |
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2011
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3631542A (en) * | 1969-08-11 | 1972-01-04 | Univ Iowa State Res Found | Myoelectric brace |
| US3694021A (en) * | 1970-07-31 | 1972-09-26 | James F Mullen | Mechanical hand |
| JPH06143179A (en) * | 1992-10-28 | 1994-05-24 | Mitsubishi Electric Corp | Robot hand |
| KR20100008687A (en) * | 2008-07-16 | 2010-01-26 | 삼성전자주식회사 | Humanoid robot |
| CN201659561U (en) * | 2010-04-26 | 2010-12-01 | 深圳市昭营科技有限公司 | Multi-finger manipulator |
| CN101940522A (en) * | 2010-09-28 | 2011-01-12 | 陈招富 | Microcomputer controlled finger movement device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| CN108858272A (en) * | 2017-05-09 | 2018-11-23 | 上海岭先机器人科技股份有限公司 | A kind of robot joint structure |
| CN107175681A (en) * | 2017-06-27 | 2017-09-19 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
| CN109278061A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Robot and its finger drive mechanism |
| CN109278061B (en) * | 2018-10-31 | 2020-09-29 | 深圳市优必选科技有限公司 | Robot and finger transmission structure thereof |
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Application publication date: 20130522 |