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Mechanical finger adopting paper folding structure for transmission

A technology of origami structure and mechanical fingers, which is applied in the field of manipulators, can solve the problems of difficult control, large space to install control units, complex structure of control units, etc., and achieve the effect of fast response, convenient control and simple structure

Active Publication Date: 2018-10-26
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this solution can quickly respond to the command of the grip, the structure of the control unit is complex, the control is difficult, and a large space is required to install the control unit

Method used

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  • Mechanical finger adopting paper folding structure for transmission
  • Mechanical finger adopting paper folding structure for transmission
  • Mechanical finger adopting paper folding structure for transmission

Examples

Experimental program
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Embodiment Construction

[0029] Such as Figure 6 As shown, a mechanical finger adopting origami structure transmission includes several knuckles 1 hinged in turn, and a knuckle driving device that controls the flexion and extension of the knuckles 1; the knuckle driving device is an origami-shaped linkage structure; the origami-shaped The linkage structure is composed of an origami structure formed by a plurality of creases converging at one point, an origami page is formed between two adjacent creases, two adjacent origami pages are hinged through creases, and multiple origami pages are hinged and linked in turn. Such as figure 2 As shown, the origami-shaped linkage structure includes a drive plate 2 and a connecting plate 23 that constitute a power input end. The driving plate 2 is hinged on a knuckle 1 through a first hinge axis 4.1; Hinged at the end of the drive plate 2, the other end of the connecting plate 3 is hinged on the adjacent knuckle 1 through the third hinge axis 4.3; the first hing...

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PUM

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Abstract

The invention relates to the field of mechanical arms, in particular to a mechanical finger adopting a paper folding structure for transmission. The mechanical finger comprises a plurality of knuckleswhich are sequentially hinged to one another, and a knuckle driving device for controlling the knuckles to bend and stretch. The knuckle driving device is of a paper folding type linkage structure which is composed of a paper folding structure provided with multiple folding marks joining in one point, a paper folding page is formed between every adjacent folding marks, every two adjacent paper folding pages are hinged through folding marks, and the multiple paper folding pages are sequentially hinged and linked. According to the technical scheme, the angle between two adjacent knuckles is changed by controlling the rotating of the two adjacent knuckles through a driving plate and a connecting plate hinged to the driving plate. The mechanical finger is simple in structure, and quick to torespond to holding actions.

Description

technical field [0001] The invention belongs to the field of manipulators, and in particular relates to a manipulator finger driven by an origami structure. Background technique [0002] Bionic machinery inherits the advantages of biological evolution by imitating the characteristic structure of natural organisms. In recent years, human-like manipulators have been a hot topic in the field of robotics, and research institutions in many countries in the world have launched research on manipulators. [0003] The manipulator includes a base corresponding to the palm, and a proximal knuckle, a middle knuckle and a far knuckle hinged in sequence on the base. Existing manipulators usually control the flexion and extension of the knuckles by winding the pulleys with ropes. It utilizes the different radii of the pulleys set at the joints of the knuckles to drive the pulleys through the ropes to form different rotational torques, thereby changing the knuckles. The angle between them...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/00
CPCB25J15/00B25J15/0009B25J17/00
Inventor 彭定强邵毅敏熊辉董明成
Owner CHONGQING UNIV
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