CN108673537B - Manipulator and mechanical finger - Google Patents
Manipulator and mechanical finger Download PDFInfo
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- CN108673537B CN108673537B CN201810863088.8A CN201810863088A CN108673537B CN 108673537 B CN108673537 B CN 108673537B CN 201810863088 A CN201810863088 A CN 201810863088A CN 108673537 B CN108673537 B CN 108673537B
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- finger
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- finger part
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- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 26
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 26
- 230000009471 action Effects 0.000 claims description 30
- 210000003811 finger Anatomy 0.000 description 288
- 238000010586 diagram Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mechanical finger, a driving finger rod provides a swinging fulcrum of a far-end finger part, a swinging connecting rod supports and assists swinging of the far-end finger part, a first end of the swinging connecting rod is hinged to the bottom of a finger root base, and a second end of the swinging connecting rod is hinged to the swinging middle part of the far-end finger part. The middle part of the driving finger rod is hinged to the top of the finger root base, and the first driving end of the driving finger rod is hinged to the inner side of the swing of the far-end finger part. The swing of the distal finger part controls the palm retraction through the driving device, and the distal finger part swings towards Zhang Zhang direction through the elastic resetting device. When the far-end finger part is impacted in the palm receiving direction, the deformation of the far-end finger part drives the elastic resetting device to act at first, so that the impact is prevented from being directly transmitted to the driving device from the outer side of the swing of the far-end finger part, and the reliability of the working structure of the device is improved. The invention further provides a manipulator with the manipulator structure.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator and a manipulator finger.
Background
The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of the human hand and the manipulator in terms of structure and performance.
In the finger mechanical structure of the humanoid dexterous hand in the prior art, each finger of the finger mechanical structure uses a linear driver to realize the actions similar to the grasping and releasing of human fingers, and the robot hand can be combined to form the multi-finger dexterous hand by arranging a plurality of fingers.
However, the robot hand structure in the prior art has the defects of complex structure, high failure rate and difficult maintenance when driving the finger to act or using a rope driving structure; or a linear driver structure is adopted, and the linear driver is arranged on the palm part of the manipulator, so that the clamping action of fingers can be interfered; meanwhile, when the driver is locked, the fingers of the manipulator are in a locking state, and the fingers are easy to damage under the action of larger external force in an extending state.
Therefore, how to improve the structural reliability of the manipulator is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a mechanical finger to improve the structural reliability of the mechanical arm; the invention further provides a manipulator.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the mechanical finger comprises a finger root base and a proximal finger part extending out of the finger root base, wherein a distal finger part is arranged at the swinging end of the proximal finger part;
the proximal finger part comprises a driving finger rod for driving the distal finger part to retract and expand and a swinging connecting rod for driving the distal finger part to swing up and down;
the first end of the swinging connecting rod is hinged to the bottom of the finger root base, and the second end of the swinging connecting rod is hinged to the swinging middle part of the far-end finger part;
The middle part of the driving finger rod is hinged to the top of the finger root base, and the first driving end of the driving finger rod is hinged to the inner side of the swing of the far-end finger part;
the device also comprises a driving device which is connected with the swinging outer side of the distal finger part and drives the distal finger part to perform palm retracting action.
Preferably, the mechanical finger further comprises an elastic reset device for driving the distal finger to elastically reset when the distal finger performs palm stretching action.
Preferably, in the above mechanical finger, the driving device is a linear driver, and two ends of the driving direction of the linear driver are respectively connected to the swing outer side connection of the distal end finger portion and the second driving end of the driving finger rod.
Preferably, in the above mechanical finger, the telescopic rod of the linear driver is connected to the swing outer side of the distal end finger portion, and the driver body of the linear driver is hinged to the second driving end of the driving finger portion.
Preferably, in the above mechanical finger, the driver body of the linear driver is connected to the swing outer side of the distal end finger portion, and the telescopic rod of the linear driver is hinged to the second driving end of the driving finger rod.
Preferably, in the mechanical finger, an arc-shaped guide groove is arranged on the outer side of the swing of the distal finger part and is arranged around a first pivot shaft at the hinged position of the driving finger rod and the distal finger part, and a driving sliding block in sliding fit with the arc-shaped guide groove is arranged at the first extending end of the driving device;
The mechanical finger also comprises an elastic reset device for driving the distal finger part to elastically reset when the distal finger part performs palm stretching action; and two ends of the elastic resetting device in the resetting direction are respectively connected with the swinging outer side of the distal finger part and the driving sliding block.
Preferably, in the above-mentioned mechanical finger, the elastic restoring means includes an elastic restoring spring that pulls the distal end finger part Zhang Zhang to act.
Preferably, in the above mechanical finger, a second driving end of the driving finger rod is provided with a strip-shaped buffer slot arranged along an extending direction of the driving device, a second extending end of the driving device is provided with a buffer slide block slidingly matched with the strip-shaped buffer slot, and one side of the second driving end away from the second extending end of the driving device is provided with an elastic limiting device for dragging the buffer slide block to elastically prop against the strip-shaped buffer slot.
Preferably, in the above mechanical finger, the elastic limiting device includes a limiting tension spring dragging the buffer slider to abut against the root of the strip-shaped buffer slot.
Preferably, in the above mechanical finger, a first protruding end of the driving device is hinged with a shift lever in abutting fit with the swinging outer side of the distal end finger part, and a free end hinge bracket of the shift lever is supported at the hinge ends of the driving finger lever and the distal end finger part;
the mechanical finger also comprises an elastic reset device for driving the distal finger part to elastically reset when the distal finger part performs palm stretching action; and two ends of the elastic resetting device in the resetting direction are respectively connected with the swinging outer side of the distal finger part and the abutting end of the deflector rod.
Preferably, in the mechanical finger, a free end of the distal finger part is provided with a fingertip, and an inner swinging side of the fingertip is hinged on the distal finger part;
the finger tip driving seat is hinged to the front connecting rod for driving the finger tip to swing, and the free end of the front connecting rod is hinged to the outer side of the swing of the finger tip.
Preferably, in the mechanical finger, a fingertip arc-shaped guide groove which is arranged around a third pivot shaft hinged with the distal end finger part is arranged on the swing outer side of the fingertip, and a fingertip driving sliding block which is in sliding fit with the fingertip arc-shaped guide groove is arranged at the free end of the front connecting rod;
And a fingertip elastic reset device which is elastically reset when dragging the fingertip to stretch the palm is also supported between the fingertip and the front connecting rod.
A manipulator, includes palm portion and set up in the manipulator on the palm portion, the manipulator is the manipulator of above arbitrary one.
The invention provides a mechanical finger, which comprises a finger root base and a proximal finger part extending out of the finger root base, wherein a distal finger part is arranged at the swinging end of the proximal finger part, the finger root base supports the proximal finger part, and the proximal finger part drives the distal finger part to perform palm retracting and palm expanding actions by the swinging end of the proximal finger part.
The proximal finger part comprises a driving finger rod for driving the distal finger part to retract and open and a swinging connecting rod for driving the distal finger part to swing up and down, the proximal finger part comprises a driving finger rod and a swinging connecting rod, the driving finger rod provides a swinging fulcrum of the distal finger part, and the swinging connecting rod supports and assists swinging of the distal finger part, so that the stability of a driving structure of the driving device is ensured.
The first end of the swinging connecting rod is hinged to the bottom of the finger root base, and the second end of the swinging connecting rod is hinged to the swinging middle part of the far-end finger part. The middle part of the driving finger rod is hinged to the top of the finger root base, and the first driving end of the driving finger rod is hinged to the inner side of the swing of the far-end finger part. The swing connecting rod and the driving finger rod are in crossed quadrilateral supporting structures to jointly support the distal finger part, the occupied space of the swing connecting rod and the driving finger rod is reduced through the crossed structures, and the supporting stability is high.
The device also comprises a driving device which is connected with the swinging outer side of the distal finger part and drives the distal finger part to perform palm retraction, and an elastic reset device which drives the distal finger part to elastically reset when the distal finger part performs palm extension. The swing of the far-end finger part is controlled to retract through the driving device, when the driving device acts, the swing outer side box of the far-end finger part swings in the retracting direction, the far-end finger part and the near-end finger part are in the retracting state, and when the driving device retracts, the far-end finger part and the far-end finger part swing in the Zhang Zhang direction through the elastic reset device. Due to the arrangement of the elastic resetting device, when the far-end finger part is impacted in the palm receiving direction, the deformation of the far-end finger part drives the elastic resetting device to act at first, so that the impact is prevented from being directly transmitted to the driving device from the outer side of the swing of the far-end finger part, the impact resistance of the whole mechanical finger is improved, and the reliability of the working structure of the mechanical arm is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a mechanical finger in a palm-stretched state;
Fig. 2 is a schematic structural diagram of a finger in a palm-receiving state according to the present invention;
FIG. 3 is a schematic diagram of an inverted structure of a driving device in a mechanical finger according to the present invention;
FIG. 4 is a schematic diagram of a buffer slot structure of a second driving end of a driving finger in a mechanical finger according to the present invention;
FIG. 5 is a schematic view of the mechanical finger in the retracted state of FIG. 4;
FIG. 6 is a schematic diagram of a mechanical finger driven by a shift lever;
FIG. 7 is a schematic diagram of the mechanical finger in FIG. 6 in a state of being subjected to external force;
FIG. 8 is a schematic view of a mechanical finger Zhang Zhang with a fingertip according to the present invention;
Fig. 9 is a schematic structural diagram of the mechanical finger in the palm-receiving state in fig. 8.
Detailed Description
The invention discloses a mechanical finger, which improves the structural reliability of the mechanical finger; the invention further provides a manipulator.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
When the mechanical finger is marked with the drawing paper, the technical proposal before different drawings is different and the same structure or component is marked with the same mark.
As shown in fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a palm-stretching state of a mechanical finger according to the present invention; fig. 2 is a schematic structural diagram of the mechanical finger according to the present invention in a palm-receiving state.
The scheme provides a mechanical finger, which comprises a finger root base 1 and a proximal finger part extending out of the finger root base 1, wherein a distal finger part 6 is arranged at the swinging end of the proximal finger part, the finger root base 1 supports the proximal finger part, and the proximal finger part drives the distal finger part 6 to carry out palm retracting and palm expanding actions by the swinging end of the proximal finger part.
The proximal finger part comprises a driving finger rod 4 for driving the distal finger part 6 to retract and expand and a swinging connecting rod 5 for driving the distal finger part 6 to swing up and down, the proximal finger part comprises two parts of the driving finger rod 4 and the swinging connecting rod 5, the driving finger rod 4 provides a swinging fulcrum of the distal finger part 6, the swinging connecting rod 5 limits the swinging track of the distal finger part 6, and the stability of a driving structure is ensured.
The first end of the swinging connecting rod 5 is hinged to the bottom of the finger root base 1, and the first end and the second end are hinged through a pivot E; the second end of the swing link 5 is hinged to the swing middle of the distal finger 6, and is hinged through a pivot axis F. The middle part of the driving finger rod 4 is hinged with the top of the finger root base 1, a pivot shaft D is arranged between the driving finger rod and the top of the finger root base, the first driving end of the driving finger rod 4 is hinged with the inner side of the swing of the far-end finger part 6, and a pivot shaft B is arranged between the driving finger rod and the top of the finger root base. The swing connecting rod 5 and the driving finger rod 4 are in crossed quadrilateral supporting structures to jointly support the far-end finger part, the crossed structures realize linkage between the finger root base 1 and the near-end finger part and between the near-end finger part and the far-end finger part 6, and the supporting stability is high. The side which is tightly held by the manipulator is set as the inner side, and then the swinging inner side of the manipulator is the side which is tightly held by the manipulator, meanwhile, the bottom finger root base 1 of the finger root base 1 is close to one end of the swinging inner side of the manipulator, and the top finger of the finger root base 1 is close to one end of the swinging outer side of the manipulator.
The device also comprises a driving device 2 which is connected with the swinging outer side of the distal finger part 6 and drives the distal finger part 6 to perform the palm retracting action, and an elastic resetting device 8 which drives the distal finger part 6 to elastically reset when performing the palm stretching action. The swing of the distal finger part 6 is controlled to retract through the driving device 2, when the driving device 2 stretches, the swing outer side of the distal finger part 6 swings towards the retracting direction, the distal finger part 6 and the proximal finger part are in the retracting state, and when the driving device 2 stretches, the distal finger part 6 and the distal finger part 6 swing towards the direction Zhang Zhang through the elastic reset device 8. Due to the arrangement of the elastic resetting device 8, when the distal finger part 6 is impacted in the palm collecting direction, the deformation of the distal finger part 6 drives the elastic resetting device 8 to act at first, so that the impact is prevented from being directly transmitted to the driving device 2 from the swinging outer side of the distal finger part 6, the impact resistance of the whole mechanical finger is improved, and the reliability of the working structure of the mechanical arm is improved.
In this embodiment, the driving device 2 is a linear driver, and two ends of the driving direction of the linear driver are respectively connected to the swing outer side of the distal finger portion 6 and the second driving end of the driving finger 4. The distal finger part 6 is pushed to swing to perform the palm retracting action through the extension of the linear driver, and when the linear driver retracts, the elastic resetting device 8 pulls the distal finger part 6 to retract, so that the palm stretching action of the distal finger part 6 and the proximal finger part is realized. The proximal finger part is formed into a quadrilateral driving structure by a driving finger rod 4 and a swinging connecting rod 5 which are in an intersecting structure, and when the mechanical finger is in palm folding or palm expanding action, the proximal finger part swings at a certain angle along with the distal finger part 6, so that the holding or expanding function of the mechanical finger such as a thumb can be realized.
The structure that the adaptation near-end finger portion swings together along with the far-end finger portion 6, the second driving end of the driving finger rod 4 is used as the initiative driving end, the initiative driving end is connected with the driving device 2 through the pivot A, the driving device 2 adopts the linear driver, one end of the driving direction of the linear driver is connected with the second driving end (through the pivot A), the other end of the driving direction of the linear driver is connected with the swinging outer side of the far-end finger portion 6, when the palm is retracted or expanded, the linear driver drags the driving finger rod 4 and the far-end finger portion 6 to act simultaneously, and for the supporting structure of the far-end finger portion 6, the swinging inner side and the swinging outer side of the far-end finger portion 6 are acted by forces in opposite directions, so that the action of the far-end finger portion is easier to realize.
Fig. 3 is a schematic diagram of an inverted structure of a driving device in a mechanical finger according to the present invention, as shown in fig. 3.
In an embodiment, the telescopic rod 3 of the linear driver is connected to the swinging outer side of the distal finger 6, and the driver body of the linear driver is hinged to the second driving end of the driving finger 4 (specifically via the pivot a). The linear actuator comprises two parts, namely a body 2 and a telescopic rod 3, and when the linear actuator is arranged, the arrangement mode can be designed into a positive installation structure which is connected with the outer side of the swing of the distal finger part 6 through the telescopic rod 3.
The device can also be designed into a reverse installation structure that the driver body of the linear driver is connected with the swinging outer side of the far-end finger part 6, and the telescopic rod 3 of the linear driver is hinged with the second driving end of the driving finger rod.
In this embodiment, an arc-shaped guide groove 601 is disposed around the driving finger 4 and the first pivot axis B of the distal finger 6 outside the swing of the distal finger 6, and a driving slider C slidably engaged with the arc-shaped guide groove 601 is disposed at the first protruding end of the driving device 2. When the distal finger part 6 is in palm retracting action, the outer side of the swing of the distal finger part 6 is propped against by a linear driver, and the extending end of the linear driver pushes the distal finger part 6 to rotate around the hinged end of the distal finger part and the driving finger rod 4.
When the distal finger portion 6 performs the palm stretching operation, the linear actuator is contracted, and the operation of the linear actuator is separated from the swinging outer side operation of the distal finger portion 6 during the contraction, that is, the contraction of the linear actuator does not have the function of pulling and resetting the distal finger portion 6. And the distal finger 6 is pulled back to the open position by the resilient return means 8 by its resilient return function.
Because the linear driver sets up certain clearance that restores with the swing outside of distal end finger portion 6 when opening the palm action, through setting up an arc guide slot 601 in the swing outside of distal end finger portion 6 to set up at the end that stretches out of linear driver and slide complex drive slider C with arc guide slot 601, realize the spacing to distal end finger portion 6's open position and restoring position by arc guide slot 601 and drive slider C structure, and improved distal end finger portion 6 and received the location accuracy of stretching structure, guarantee that distal end finger portion 6's working structure is stable. Specifically, two ends of the elastic reset device 8 in the reset direction are respectively connected to the swing outer side of the distal finger part 6 and the driving sliding block C, and the elastic reset device 8 synchronously moves along with the driving sliding block C, namely the extending end of the linear driver, so that the extending action of the linear driver and the reset action structure of the elastic reset device 8 are prevented from interfering, the connection transition stability of the two is ensured, and the clamping stagnation is avoided.
In particular, the elastic return means 8 comprise a return spring dragging the distal finger Zhang Zhang into action. The driving slide block C and the outer side of the swing of the far-end finger part 6 are respectively provided with a mounting support for supporting the elastic reset device 8, and elastic reset power is provided by the reset spring by supporting the reset spring between the mounting supports. Of course, the reset structure of the elastic reset device 8 can adopt a pressure spring, a torsion spring, a leaf spring or a rubber elastic belt, correspondingly, a fixing structure of a corresponding structure needs to be arranged between the linear driver and the distal finger part 6, and the adjustment stability of the distal finger part reset structure is ensured.
As shown in fig. 4 and fig. 5, fig. 4 is a schematic diagram of a buffer slot structure of a second driving end of a driving finger in the mechanical finger provided by the invention; fig. 5 is a schematic structural diagram of the mechanical finger in the palm-receiving state in fig. 4.
In this case, in a specific embodiment, the second driving end of the driving finger 4 is provided with a strip-shaped buffer slot 401 arranged along the extending direction of the driving device, the second extending end of the driving device 2 is provided with a buffer slide block a-1 slidingly matched with the strip-shaped buffer slot, and one side of the second driving end away from the second extending end of the driving device 2 is provided with an elastic limiting device 9 for dragging the buffer slide block a-1 to elastically prop against the strip-shaped buffer slot 401.
When the mechanical finger is impacted in a palm-stretching state or palm state, the far-end finger part 6 is subjected to instant impact rotation, the swing outer side of the mechanical finger is subjected to instant stretching impact on the linear driver, the linear driver transmits impact acting force to the second driving end connected with the driving finger rod 4, in order to avoid hard impact between the far-end finger part 6 and the first extending end of the linear driver and between the second extending end of the linear driver and the second driving end of the driving finger rod 4, a strip-shaped buffer groove 401 is formed in the second driving end of the driving finger rod 4, a buffer slide block A-1 is arranged at the second extending end of the driving device 2 and is in sliding fit with the strip-shaped buffer groove 401, meanwhile, in order to ensure structural stability in the folding process of the far-end finger part 6, the buffer slide block A-1 is respectively pulled through the elastic limiting device 9, and one end of the second driving end far away from the buffer slide block A-1 is pulled by the elastic limiting device 9, namely, the buffer slide block A-1 is propped against the root of the strip-shaped buffer groove 401, and one end of the driving device 2 is always propped against one side opposite to the strip-shaped buffer groove 401 in the extending direction in the normal extending process.
When the impact is transmitted to the second driving end of the driving finger rod 4 through the linear driver through the distal finger part 6, the driving device 2 cannot compensate the tensile force generated by the impact through instantaneous expansion, so that the driving device 2 drives the buffer slide block A-1 to slide in the strip-shaped buffer groove, the buffer slide block A-1 is pulled by the elastic limiting device, and part of the impact force is absorbed, thereby improving the working safety of the whole mechanical finger.
Specifically, the elastic limiting device 9 includes a limiting tension spring dragging the buffer slider a-1 to abut against the root of the strip-shaped buffer slot 401. Of course, the elastic limiting device can be provided with a torsion spring, an elastic telescopic belt and other structures.
The buffer groove structure can be arranged between the distal end finger part 6 and the first extending end of the linear driver and between the driving finger rod 4 and the second extending end of the linear driver, and the buffer groove structure can also be arranged to absorb impact according to the use environment of the mechanical finger, so that the safety performance of the mechanical finger is ensured.
As shown in fig. 6 and 7, fig. 6 is a schematic structural diagram of a mechanical finger driven by a driving lever according to the present invention; fig. 7 is a schematic structural diagram of the mechanical finger in fig. 6 in a state of being subjected to external force.
In this embodiment, the first protruding end of the driving device 2 is hinged with a shift lever 7 in abutting fit with the swinging outer side of the distal finger portion 6, and the free end hinge bracket of the shift lever 7 is supported at the hinge end B of the driving finger 4 and the distal finger portion 6. The distal finger 6 is connected to the middle of the swing outer side thereof by the swing link 5, and is hinged to the inner side of the distal finger 6 by the driving finger 4, and the driving device drives the swing outer side of the distal finger 6 so that the distal finger 6 rotates around a first pivot axis B of the hinge end of the distal finger 6 and the driving finger 4 (the hinge end of the driving finger 4 and the distal finger 6 adopts a pivot axis structure, and the same reference numeral is used for this position), so that the first pivot axis B is the rotation center of the distal finger 6 and the proximal finger. The first extending end of the driving device 2 is provided with a deflector rod 7, the deflector rod 7 is hinged with the driving device 2 and the first pivot shaft B, and when the driving device 2 stretches, the deflector rod 7 is abutted against the hinged end of the driving device 2 and the swinging outer side of the far-end finger part 6. Through driving structure of driving lever 7 to distal end finger portion 6 for driving finger portion 4 and swing connecting rod 5 only bear the rotation support function to distal end finger portion 6, drive arrangement 2 and distal end finger portion 6's cooperation structure be independent driving structure, easily improve each part work structure stability.
Similarly, the lever 7 is only responsible for the palm-retracting operation of the distal finger portion 6, and drives the distal finger portion 6 to swing, and during the palm-expanding operation, both ends in the restoring direction of the elastic restoring device 8 are connected to the outside of the swing of the distal finger portion 6 and the abutting end of the lever 7, respectively. The elastic return means 8 continue to assume the rotational return and impact dampening function of the distal finger 6.
In this embodiment, a plurality of hinge connection points are formed between the distal finger portion 6 and the proximal finger portion and between the distal finger portion and the shift lever 7, and the arrangement positions of the shift lever 7 and the proximal finger portion can be respectively arranged at two sides of the mechanical finger in the folding and unfolding direction, so that the situations that the number of hinge points at one side of the distal finger portion 6 is large and the structure is complex are avoided. Meanwhile, in order to facilitate the abutting action of the shift lever 7 on the distal finger part, an abutting contact shaft G may be disposed at the position where the distal finger part 6 and the shift lever 7 are in abutting fit, and the form of the contact shaft G may be a boss, a ratchet, or other structures protruding from the distal finger part 6, and of course, other forms of unidirectional contact and separation mechanisms may be employed.
As shown in fig. 8 and 9, fig. 8 is a schematic structural view of the state of the mechanical finger Zhang Zhang with a fingertip according to the present invention; fig. 9 is a schematic structural diagram of the mechanical finger in the palm-receiving state in fig. 8.
In this embodiment, the free end of the distal finger 6 is provided with a fingertip 10, and the swinging inner side of the fingertip 10 is hinged to the distal finger 6. In order to further achieve the simulation of a mechanical finger, a fingertip 10 can be arranged at the free end of the distal finger 6, the inner side of the swing of the fingertip 10 being connected to the distal finger 6 in a hinged manner. The swinging inner side refers to one side of the palm which is tightly held by the mechanical hand, and the swinging outer side refers to one side of the palm which is opened by the mechanical hand.
The inner side of the swing of the driving finger rod 4 is extended with a fingertip driving seat 41, the fingertip driving seat 41 is hinged with a front connecting rod 11 for driving the fingertip 10 to swing, and the free end of the front connecting rod 11 is hinged with the outer side of the swing of the fingertip 10. When the manipulator performs palm stretching or palm retracting, the fingertip 10 moves inward along with the palm retracting action, and swings outward along with Zhang Zhang action. The fingertip driving seat 41 is extended from the inner side of the swing of the driving finger 4, and the fingertip driving seat 41 and the outer side of the swing of the fingertip 10 are connected by the front connecting rod 11. When the distal finger part 6 performs the palm retracting action, the distal finger part 6 drives the fingertip 10 to synchronously swing, and as the distal finger part 6 and the fingertip driving seat 41 are arranged at intervals, the swing of the distal finger part 6 drives the fingertip 10 and the fingertip driving seat 41 to shorten, and the swing outside of the fingertip 10 is pushed by the front connecting rod 11 to rotate around the hinged end of the fingertip 10 and the distal finger part 6, so that the synchronous action is realized.
In a specific embodiment, a fingertip arc-shaped guide groove which is arranged around a third pivot shaft E hinged with the distal finger part 6 is arranged on the outer side of the swing of the fingertip 10, and a fingertip driving sliding block which is in sliding fit with the fingertip arc-shaped guide groove is arranged at the free end of the front connecting rod 11; a fingertip elastic reset device which is elastically reset when dragging the fingertip to stretch the palm is also supported between the fingertip 10 and the front connecting rod 11. For the manipulator structure of multisection structure, the impact that it receives probably comes from arbitrary finger portion, in order to avoid the fingertip to receive when striking, produces hard impact between its and the distal end finger portion, can set up a fingertip arc guide slot in the swing outside of fingertip, drive the slider between the free end setting of preceding connecting rod, realize the automatic re-setting to the fingertip in-process of opening the palm through fingertip elasticity resetting means, through above-mentioned structure, further improve mechanical finger's shock resistance.
Based on the mechanical finger provided in the above embodiment, the invention further provides a mechanical hand, which comprises a palm portion and a mechanical finger arranged on the palm portion, wherein the mechanical finger arranged on the mechanical hand is the mechanical finger provided in the above embodiment.
The manipulator adopts the mechanical finger in the embodiment, so that the manipulator has the beneficial effects brought by the mechanical finger.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. The mechanical finger is characterized by comprising a finger root base and a proximal finger part extending out of the finger root base, wherein a distal finger part is arranged at the swinging end of the proximal finger part;
the proximal finger part comprises a driving finger rod for driving the distal finger part to retract and expand and a swinging connecting rod for driving the distal finger part to swing up and down;
the first end of the swinging connecting rod is hinged to the bottom of the finger root base, and the second end of the swinging connecting rod is hinged to the swinging middle part of the far-end finger part;
The middle part of the driving finger rod is hinged to the top of the finger root base, and the first driving end of the driving finger rod is hinged to the inner side of the swing of the far-end finger part;
The mechanical finger also comprises a driving device which is connected with the swinging outer side of the far-end finger part and drives the far-end finger part to perform palm retracting action;
The driving device is a linear driver, and two ends of the driving direction of the linear driver are respectively connected with the swing outer side of the distal finger part and the second driving end of the driving finger rod;
the linear driver is positioned between the second driving end of the driving finger and the distal finger; the linear driver is located at one side of the driving finger in a thickness direction of the driving finger.
2. The mechanical finger of claim 1, further comprising a resilient return means for driving the distal finger to resiliently return upon a palm-stretching action.
3. The mechanical finger of claim 1, wherein the telescoping rod of the linear actuator is connected to the outside of the swing of the distal finger, and the actuator body of the linear actuator is hingedly connected to the second drive end of the drive finger.
4. The mechanical finger of claim 1, wherein the driver body of the linear driver is connected to the swing outer side of the distal finger, and the telescopic rod of the linear driver is hingedly connected to the second driving end of the driving finger.
5. The mechanical finger according to claim 1, wherein an arc-shaped guide groove is arranged around a first pivot shaft of the hinged position of the driving finger and the distal finger on the outer side of the swing of the distal finger, and a driving sliding block in sliding fit with the arc-shaped guide groove is arranged at a first extending end of the driving device;
The mechanical finger also comprises an elastic reset device for driving the distal finger part to elastically reset when the distal finger part performs palm stretching action; and two ends of the elastic resetting device in the resetting direction are respectively connected with the swinging outer side of the distal finger part and the driving sliding block.
6. The mechanical finger according to claim 5, wherein the resilient return means comprises a resilient return spring that pulls the distal finger Zhang Zhang.
7. The mechanical finger according to claim 5, wherein the second driving end of the driving finger is provided with a strip-shaped buffer slot arranged along the extending direction of the driving device, the second extending end of the driving device is provided with a buffer slide block in sliding fit with the strip-shaped buffer slot, and one side of the second driving end away from the second extending end of the driving device is provided with an elastic limiting device for dragging the buffer slide block to elastically prop against the strip-shaped buffer slot.
8. The mechanical finger according to claim 7, wherein the elastic limiting device comprises a limiting tension spring dragging the buffer slider to abut against the root of the strip-shaped buffer groove.
9. The mechanical finger according to claim 1, wherein a first extending end of the driving device is hinged with a deflector rod in abutting fit with the swinging outer side of the distal finger part, and a free end hinge bracket of the deflector rod is supported on the hinge ends of the driving finger rod and the distal finger part;
the mechanical finger also comprises an elastic reset device for driving the distal finger part to elastically reset when the distal finger part performs palm stretching action; and two ends of the elastic resetting device in the resetting direction are respectively connected with the swinging outer side of the distal finger part and the abutting end of the deflector rod.
10. The mechanical finger according to claim 1, wherein the free end of the distal finger portion is provided with a fingertip, the swinging inner side of which is hinged to the distal finger portion;
the finger tip driving seat is hinged to the front connecting rod for driving the finger tip to swing, and the free end of the front connecting rod is hinged to the outer side of the swing of the finger tip.
11. The mechanical finger according to claim 10, wherein a fingertip arc-shaped guide groove which is arranged around a third pivot shaft hinged with the distal finger part is arranged on the swinging outer side of the fingertip, and a fingertip driving sliding block which is in sliding fit with the fingertip arc-shaped guide groove is arranged at the free end of the front connecting rod;
And a fingertip elastic reset device which is elastically reset when dragging the fingertip to stretch the palm is also supported between the fingertip and the front connecting rod.
12. A manipulator comprising a palm portion and a manipulator finger arranged on the palm portion, wherein the manipulator finger is the manipulator finger according to any one of claims 1-11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863088.8A CN108673537B (en) | 2018-08-01 | 2018-08-01 | Manipulator and mechanical finger |
| PCT/CN2019/092249 WO2020024728A1 (en) | 2018-08-01 | 2019-06-21 | Manipulator and manipulator finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863088.8A CN108673537B (en) | 2018-08-01 | 2018-08-01 | Manipulator and mechanical finger |
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| Publication Number | Publication Date |
|---|---|
| CN108673537A CN108673537A (en) | 2018-10-19 |
| CN108673537B true CN108673537B (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810863088.8A Active CN108673537B (en) | 2018-08-01 | 2018-08-01 | Manipulator and mechanical finger |
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| Country | Link |
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| CN (1) | CN108673537B (en) |
| WO (1) | WO2020024728A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673537B (en) * | 2018-08-01 | 2024-05-31 | 北京因时机器人科技有限公司 | Manipulator and mechanical finger |
| CN110370305B (en) * | 2019-07-22 | 2021-04-09 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
| CN113290570B (en) * | 2020-07-20 | 2024-04-19 | 阿里巴巴集团控股有限公司 | Clamping device, data center operation and maintenance robot and assembly robot |
| CN113576832B (en) * | 2021-07-27 | 2022-11-01 | 华中科技大学 | Line drive modularization software rehabilitation gloves |
| CN116038678A (en) * | 2022-12-08 | 2023-05-02 | 上海清芸机器人有限公司 | Mechanical finger linear driving mechanism capable of avoiding lateral stress |
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| CN208529127U (en) * | 2018-08-01 | 2019-02-22 | 北京因时机器人科技有限公司 | Manipulator and mechanical finger |
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| CN100526026C (en) * | 2007-09-18 | 2009-08-12 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| WO2012039479A1 (en) * | 2010-09-24 | 2012-03-29 | 国立大学法人岐阜大学 | Humanoid electric hand |
| CN103917338B (en) * | 2011-11-09 | 2016-01-20 | 株式会社安川电机 | Robot and robot |
| CN108115712A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of finger mechanism |
| CN108673537B (en) * | 2018-08-01 | 2024-05-31 | 北京因时机器人科技有限公司 | Manipulator and mechanical finger |
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- 2018-08-01 CN CN201810863088.8A patent/CN108673537B/en active Active
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2019
- 2019-06-21 WO PCT/CN2019/092249 patent/WO2020024728A1/en active Application Filing
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|---|---|---|---|---|
| CN106618813A (en) * | 2015-11-04 | 2017-05-10 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| CN107053224A (en) * | 2017-03-16 | 2017-08-18 | 杭州若比邻机器人科技有限公司 | Bilayer turns back the finger mechanism of driving |
| CN107511837A (en) * | 2017-08-10 | 2017-12-26 | 北京因时机器人科技有限公司 | A kind of bionic mechanical hand of whole line driver driving |
| CN208529127U (en) * | 2018-08-01 | 2019-02-22 | 北京因时机器人科技有限公司 | Manipulator and mechanical finger |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108673537A (en) | 2018-10-19 |
| WO2020024728A1 (en) | 2020-02-06 |
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