Multi-finger dexterous manipulator

A manipulator and dexterous technology, applied in the field of manipulators, can solve the problems of inconvenient multi-directional operation in space, poor dexterity, and rigid structure of the manipulator, and achieve the effect of convenient multi-directional manipulator operation in space, easy to grasp, and convenient and flexible application.

Inactive Publication Date: 2019-11-05
NANJING YUSHENG ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the current manipulator has a rigid structure and poor dexterity, especially inconvenient when operating in multiple directions in space; the inventor proposed a multi-finger dexterous manipulator based on various factors

Method used

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  • Multi-finger dexterous manipulator
  • Multi-finger dexterous manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Embodiment one, with reference to Figure 1~5 , a multi-finger dexterous manipulator, comprising a palm assembly 3, a connecting plate 1 is provided at the bottom of the palm assembly 3, and a fixing hole 2 is provided on the connecting plate 1 to facilitate the installation of the palm assembly 3; the palm assembly 3 is provided with A plurality of finger assemblies, the finger assembly includes a plurality of knuckles, and the knuckles are connected to and rotated by the joint assembly. The corresponding finger assembly on the palm assembly 3 is provided with a finger base 4, and the finger assembly and the finger base 4 Axial swivel connection.

[0034]Wherein, the joint assembly includes a chute 10, the chute 10 is arranged on the top of the knuckle 6 near the palm assembly side, and two chute 10 are arranged symmetrically along the top of the knuckle, and the knuckle 10 on the side away from the palm assembly The bottom of joint 8 is correspondingly fixed with sli...

Embodiment 2

[0040] Embodiment two, refer to Figure 6 , this embodiment adds the following technical features on the basis of Embodiment 1:

[0041] Described palm assembly 3 is provided with main board 26, and main board 26 is provided with MCU27, and main board 26 is provided with joint motor interface 29 and root motor interface 30 connected with MCU27, and joint motor 15 in the finger assembly is connected to joint motor interface respectively. 29; the root motor 22 in the palm assembly 3 is respectively connected to the knuckle motor interface, and the main board 26 is also provided with a control signal interface 31 and a network module 28; the main board 26 receives the control signal through the control signal interface 31 to control the joint The motor 15 and the root motor 22 rotate to flexibly control the finger assembly.

Embodiment 3

[0042] Embodiment three, refer to Figure 7 , this embodiment adds the following technical features on the basis of Embodiment 2:

[0043] The top knuckle of the finger assembly is provided with an installation hole 8-1, which is convenient for installing hardware on the finger assembly and further facilitates use.

[0044] Working principle: the present invention provides a multi-finger dexterous manipulator with ingenious structure and reasonable arrangement. The present invention holds and rotates the knuckles to make the finger assembly similar to the human finger grip and dexterous operation. Further, the present invention combines the finger assembly with the The axial rotation connection of the palm assembly enables the finger assembly to rotate, which further greatly facilitates the flexible application of the finger assembly. The rotation of a single or multiple finger assemblies breaks through the disadvantages of human fingers and existing manipulators that cannot b...

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Abstract

The invention discloses a multi-finger dexterous manipulator. The multi-finger dexterous manipulator comprises a palm assembly, wherein a plurality of finger assemblies are arranged on the palm assembly, each finger assembly comprises a plurality of finger joints, and the finger joints are in rotation connection in a held direction through a joint assembly; the palm assembly is provided with finger root bases corresponding to the finger assemblies, and the finger assemblies are in rotation connection with the finger root bases in axial direction; the joint assembly comprises sliding grooves, wherein the sliding grooves are formed in the tops, close to one side of the palm assembly, of the finger joints, and two sliding grooves are arranged symmetrically in the top of each finger joint; when working, the finger joints are in rotation connection in the held direction, so that the finger assemblies hold, bend and dexterity operate similar to human fingers; furthermore, according to the multi-finger dexterous manipulator, the finger assemblies is in rotation connection with the palm assembly in the axial direction, so that the finger assemblies can rotate, and the flexible applicationof the finger assemblies is further greatly facilitated; and the rotation of the single or the plurality of finger assemblies break through the disadvantage that the human fingers and single finger ofan existing manipulator can not twist, so that the space multi-directional operation of the manipulator is facilitated.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a multi-finger dexterous manipulator. Background technique [0002] An automatic operating device that can imitate certain movement functions of the human hand and arm to grasp, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy; [0003] With the development of network technology, the problem of network operation of manipulator is also the direction of future development. Industrial robot is a kind of high-tech automatic production equipment developed in recent decades. Industrial manipulator ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/00B25J13/00
CPCB25J13/00B25J15/0009B25J17/00
Inventor 李雲孙玲曹丹峰
Owner NANJING YUSHENG ROBOT CO LTD
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