CN106003132A - Flexible finger of robot - Google Patents
Flexible finger of robot Download PDFInfo
- Publication number
- CN106003132A CN106003132A CN201610599241.1A CN201610599241A CN106003132A CN 106003132 A CN106003132 A CN 106003132A CN 201610599241 A CN201610599241 A CN 201610599241A CN 106003132 A CN106003132 A CN 106003132A
- Authority
- CN
- China
- Prior art keywords
- finger
- mentioned
- flexible
- robot
- assembly
- 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.)
- Pending
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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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
The invention discloses a flexible finger of a robot. The flexible finger comprises a finger assembly, a flexible connecting assembly and a drive device. The flexible connecting assembly penetrates through the finger assembly and drives the finger assembly to move, and the drive device drives the flexible connecting assembly to move. The flexible finger of the robot is stable in performance and simulates motion of the human finger, motion is gentle, noise generated when all joints move is lowered, the motion form tends to the motion of the finger of a real person, and therefore the ornamental value of the flexible finger is improved.
Description
Technical field
Relate to automated machine field, the flexible finger of a kind of robot.
Background technology
The mechanism of robot finger's Flexible Transmission combines with popular life, is played finger-guessing game or do the entertainment interactive forms such as gesture by spectators and robot, being active in one's movements and lightweight flexible of show robot finger.Currently, during most robot finger's action, the form of expression is the most stiff, stiff, adds the parts that its action can be made soft and structure the most in its design, such as torsion spring, rack-and-pinion linkage structure.There is preferably amusement, interaction effect.
Summary of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide the flexible finger of the robot of a kind of stable performance and simulating human finger motion, not only action softly makes the noise produced during each joint motions reduce but also action form trends towards true man's finger movement thus improves its sight.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that:
The flexible finger of robot, including finger assembly, through finger assembly the assembly that flexibly connects that drives finger component movement, drives the actuating device flexibly connecting component movement.
The flexible finger of aforesaid robot, finger assembly composition has: finger fixed plate, the finger finger being fixed in finger fixed plate, and Fingers saves, and is connected to finger fixed plate and finger finger, the spring element being connected between finger finger and Fingers joint.
The flexible finger of aforesaid robot, spring element is torsion spring, and torsion spring is installed between finger finger and finger fixed plate, finger finger and Fingers joint by pin.
The flexible finger of aforesaid robot, flexibly connecting assembly composition has: be fixed on the guide plate of finger fixed plate, runs through finger finger, Fingers joint and the flexible rope of guide plate.
The flexible finger of aforesaid robot, guide plate is provided with the pilot hole connecting flexible rope.
The flexible finger of aforesaid robot, actuating device includes: cylinder, is connected to the transmission component of cylinder and flexible rope.
The flexible finger of aforesaid robot, transmission component composition has: is connected to the guide rail of cylinder and flexible rope, is connected to the gear of guide rail, is connected in the tooth bar of gear.
The flexible finger of aforesaid robot, guide rail is provided with the fixed block being connected in cylinder and flexible rope.
The flexible finger of aforesaid robot, cylinder is provided with flow speed control valve.
The flexible finger of aforesaid robot, tooth bar and guide rail are fixed in transmission fixed plate, and tooth bar is parallel to guide rail.
The invention have benefit that: the present invention provides the flexible finger of the robot of a kind of stable performance and simulating human finger motion, the present invention connects finger assembly and actuating device by flexibly connecting assembly, and not only action softly makes the noise produced during each joint motions reduce but also action form trends towards true man's finger movement thus improves its sight.
Accompanying drawing explanation
Fig. 1 is the front view of a kind of embodiment of the present invention；
Fig. 2 is the side view of a kind of embodiment of the present invention；
The implication of reference in figure:
20 finger assemblies, 30 flexibly connect assembly, 40 actuating devices, 1 finger finger, 2 Fingers joints, 3 torsion springs, 4 finger fixed plates, 5 flexible ropes, 6 transmission fixed plates, 7 tooth bars, 8 gears, 9 guide rails, 10 fixed blocks, 11 cylinders, 12 flow speed control valves, 13 guide plates.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention made concrete introduction.
The flexible finger of robot, including finger assembly, through finger assembly the assembly that flexibly connects that drives finger component movement, drives the actuating device flexibly connecting component movement.
Finger assembly composition has: finger fixed plate, the finger finger being fixed in finger fixed plate, and Fingers saves, and is connected to finger fixed plate and finger finger, the spring element being connected between finger finger and Fingers joint.Preferred as one, spring element is torsion spring, and torsion spring is installed between finger finger and finger fixed plate, finger finger and Fingers joint by pin.
Flexibly connect assembly composition to have: be fixed on the guide plate of finger fixed plate, run through finger finger, Fingers joint and the flexible rope of guide plate.Guide plate is provided with the pilot hole connecting flexible rope.It should be noted that finger finger is fastenedly connected with flexible rope, flexible rope is through at finger finger and refers to the centre position of joint.
Actuating device includes: cylinder, is connected to the transmission component of cylinder and flexible rope.Transmission component composition has: is connected to the guide rail of cylinder and flexible rope, is connected to the gear of guide rail, is connected in the tooth bar of gear.Guide rail is provided with the fixed block being connected in cylinder and flexible rope.In order to the movement velocity of regulation finger, cylinder is provided with flow speed control valve.Tooth bar and guide rail are fixed in transmission fixed plate, and tooth bar is parallel to guide rail.
Whole system runs and is described as follows:
Finger grips--cylinder contractive action, sliding guides is equipped with the fixed component of flexible strand；Pull finger by flexible strand, complete finger grips action.Flexible strand is retrained by each flexible strand guide plate in the process, and its impulsive force is weakened by deceleration valve and gear, rackwork at cylinder, reaches the effect that action is soft.
Digital extension--cylinder extending action, by the strength of torsion spring on finger, complete finger stretchs out action.The impulsive force of torsion spring is weakened by gear, tooth bar in the process, reaches the effect that action is soft.
The present invention provides the flexible finger of the robot of a kind of stable performance and simulating human finger motion, the present invention connects finger assembly and actuating device by flexibly connecting assembly, and not only action softly makes the noise produced during each joint motions reduce but also action form trends towards true man's finger movement thus improves its sight.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry, above-described embodiment limits the present invention, the technical scheme that the mode of all employing equivalents or equivalent transformation is obtained the most in any form, all falls within protection scope of the present invention.
Claims (10)
1. the flexible finger of robot, it is characterised in that including: finger assembly, through above-mentioned finger assembly and drive finger component movement flexibly connect assembly, drive the above-mentioned actuating device flexibly connecting component movement.
The flexible finger of robot the most according to claim 1, it is characterized in that, above-mentioned finger assembly composition has: finger fixed plate, it is fixed on the finger finger in above-mentioned finger fixed plate, Fingers saves, and is connected to above-mentioned finger fixed plate and finger finger, the spring element being connected between above-mentioned finger finger and Fingers joint.
The flexible finger of robot the most according to claim 2, it is characterised in that above-mentioned spring element is torsion spring, above-mentioned torsion spring is installed between above-mentioned finger finger and finger fixed plate, finger finger and Fingers joint by pin.
The flexible finger of robot the most according to claim 2, it is characterised in that the above-mentioned assembly composition that flexibly connects has: be fixed on the guide plate of above-mentioned finger fixed plate, runs through above-mentioned finger finger, Fingers joint and the flexible rope of guide plate.
The flexible finger of robot the most according to claim 4, it is characterised in that above-mentioned guide plate is provided with the pilot hole connecting above-mentioned flexible rope.
The flexible finger of robot the most according to claim 4, it is characterised in that above-mentioned actuating device includes: cylinder, is connected to the transmission component of above-mentioned cylinder and flexible rope.
The flexible finger of robot the most according to claim 6, it is characterised in that above-mentioned transmission component composition has: is connected to the guide rail of above-mentioned cylinder and flexible rope, is connected to the gear of above-mentioned guide rail, is connected in the tooth bar of said gear.
The flexible finger of robot the most according to claim 6, it is characterised in that above-mentioned guide rail is provided with the fixed block being connected in cylinder and flexible rope.
The flexible finger of robot the most according to claim 6, it is characterised in that above-mentioned cylinder is provided with flow speed control valve.
The flexible finger of robot the most according to claim 6, it is characterised in that above-mentioned tooth bar and guide rail are fixed in transmission fixed plate, and above-mentioned tooth bar is parallel to guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599241.1A CN106003132A (en) | 2016-07-27 | 2016-07-27 | Flexible finger of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599241.1A CN106003132A (en) | 2016-07-27 | 2016-07-27 | Flexible finger of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106003132A true CN106003132A (en) | 2016-10-12 |
Family
ID=57115415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610599241.1A Pending CN106003132A (en) | 2016-07-27 | 2016-07-27 | Flexible finger of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106003132A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| CN102114631A (en) * | 2010-01-06 | 2011-07-06 | 深圳华强智能技术有限公司 | Simulated hand |
| CN103690280A (en) * | 2013-12-13 | 2014-04-02 | 上海交通大学 | Continuum transmission mechanism-based under-actuated prosthetic hand |
| CN104382675A (en) * | 2014-12-17 | 2015-03-04 | 徐贵升 | Rapid forming based self-power driven artificial limb and manufacturing method thereof |
| CN105500399A (en) * | 2014-09-22 | 2016-04-20 | 长春工业大学 | Manipulator driven by pneumatic brake cables and having human hand characteristics |
| CN205928708U (en) * | 2016-07-27 | 2017-02-08 | 昆山塔米机器人有限公司 | Flexible finger of robot |
-
2016
- 2016-07-27 CN CN201610599241.1A patent/CN106003132A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| CN102114631A (en) * | 2010-01-06 | 2011-07-06 | 深圳华强智能技术有限公司 | Simulated hand |
| CN103690280A (en) * | 2013-12-13 | 2014-04-02 | 上海交通大学 | Continuum transmission mechanism-based under-actuated prosthetic hand |
| CN105500399A (en) * | 2014-09-22 | 2016-04-20 | 长春工业大学 | Manipulator driven by pneumatic brake cables and having human hand characteristics |
| CN104382675A (en) * | 2014-12-17 | 2015-03-04 | 徐贵升 | Rapid forming based self-power driven artificial limb and manufacturing method thereof |
| CN205928708U (en) * | 2016-07-27 | 2017-02-08 | 昆山塔米机器人有限公司 | Flexible finger of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161012 |