CN205238069U - Mechanical finger and manipulator - Google Patents
Mechanical finger and manipulator Download PDFInfo
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- CN205238069U CN205238069U CN201521030348.1U CN201521030348U CN205238069U CN 205238069 U CN205238069 U CN 205238069U CN 201521030348 U CN201521030348 U CN 201521030348U CN 205238069 U CN205238069 U CN 205238069U
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Abstract
The utility model discloses a mechanical finger, including middle finger section, the base section of finger, the end section of finger, becoming rigidity connecting rod and drive arrangement, middle finger section both ends are rotated with base section of finger and the end section of finger respectively and are connected, and change rigidity connecting rod both ends are rotated with base section of finger and the end section of finger respectively and are connected, and middle finger section, the base section of finger, the end section of finger and connecting rod constitute four -bar linkage, and drive arrangement is used for driving the middle finger section and rotates for the middle finger section in order to utilize four -bar linkage to drive the end section of finger for the rotation of the base section of finger. The flexonics between the mechanical finger is realized by becoming the rigidity connecting rod to the mechanical finger, but owing to become rigidity connecting rod in certain extent flexible length passively, has the effect that similar people pointed the tendon to make the mechanical finger have flexible self -adaptation characteristic. Additionally, the utility model also discloses a manipulator, the manipulator includes foretell mechanical finger.
Description
Technical field
The utility model relates to robot field, is specifically related to a kind of mechanical finger for robot and manipulator.
Background technology
Between two joints of the mechanical finger of existing imitation three segments, be rigidly connected, compare staff and lack flexible self adaptationFeature, easily causes breakage while capturing breakables.
Utility model content
The utility model is intended to solve at least to a certain extent one of technical problem in correlation technique. For this reason, this realityWith a kind of mechanical finger of novel proposition and manipulator.
The mechanical finger of the utility model embodiment comprises:
Middle segment; And
The base segment being rotationally connected with described middle segment two ends respectively and end segment; And
Become rigidity connecting rod, described change rigidity connecting rod two ends are rotationally connected with described base segment and described end segment respectively, instituteState middle segment, described base segment, described end segment and described change rigidity connecting rod and form quadric chain; And
Drive unit, described drive unit is used for driving described in described segment rotates to utilize with respect to described base segmentQuadric chain drives described end segment to rotate with respect to described middle segment.
The mechanical finger of the utility model embodiment is realized flexibly connecting between mechanical finger by becoming rigidity connecting rod,And utilize quadric chain to drive described end segment and the bending interlock of described middle segment, can be at certain model owing to becoming rigidity connecting rodEnclose interior passive collapsing length, make mechanical finger there is stressed rotating space, there is the effect of similar finger tendon, therebyMake mechanical finger there is flexible self-adaptive features.
In some embodiments, the number of described change rigidity connecting rod is two, and described change rigidity connecting rod is respectively with describedBase segment and described end segment are rotationally connected and are arranged in the left and right sides of described segment.
In some embodiments, the number of described change rigidity connecting rod is one, and described change rigidity connecting rod is U-shaped, described inBecome rigidity connecting rod and be placed in described middle finger intersegmental part.
In some embodiments, the number of described change rigidity connecting rod is one, and described change rigidity connecting rod is I type, described inBecome rigidity connecting rod and be placed in described segment middle part.
In some embodiments, outside, the top of described base segment is rotationally connected shape with the outside, bottom of described middle segmentBecome the first rotating shaft, inner side, top and the bottom inside of described end segment of described middle segment are rotationally connected and form the second rotating shaft, instituteState and become one end of rigidity connecting rod and inner side, the top of described base segment is rotationally connected formation the 3rd rotating shaft, described change rigidity connecting rodThe outside, bottom of the other end and described end segment is rotationally connected and forms the 4th rotating shaft, described the first rotating shaft, described the second rotating shaft, instituteState the 3rd rotating shaft and described the 4th shaft parallel.
In some embodiments, described drive unit comprises wire drawing, and described wire drawing is connected with described middle segment, by instituteStating segment in wire drawing driving rotates.
In some embodiments, described base segment is formed with and is arranged in outside, top and the rotation of outside, described segment bottomBe connected to form the first rotating shaft, between described the first rotating shaft, be provided with return spring. In some embodiments, described return springCan be torsion spring or line spring.
The manipulator of the utility model embodiment comprises mechanical finger described above.
In some embodiments, the number of described mechanical finger is at least two, and establish relatively described mechanical finger inner sidePut.
In some embodiments, described manipulator includes pedestal, the described base segment root of described mechanical finger withDescribed pedestal is rotationally connected and forms the 5th rotating shaft, and described drive unit includes wire drawing, by described wire drawing drive base segment aroundDescribed the 5th rotating shaft rotates.
Additional aspect of the present utility model and advantage in the following description part provide, and part is by the description from belowIn become obviously, or recognize by practice of the present utility model.
Brief description of the drawings
Above-mentioned and/or additional aspect of the present utility model and advantage from conjunction with below accompanying drawing to the description of embodimentTo become obviously and easily and understand, wherein:
Fig. 1 is the schematic perspective view of the mechanical finger of the utility model embodiment.
Fig. 2 is the schematic perspective view at another visual angle of mechanical finger of Fig. 1.
Fig. 3 is the change rigidity connecting rod force analysis schematic diagram of the utility model embodiment.
Fig. 4 is the generalized section of mechanical finger.
Fig. 5 is the schematic diagram of quadric chain.
Fig. 6 is the operation principle schematic diagram of quadric chain.
Fig. 7 is the base segment schematic perspective view of mechanical finger.
Fig. 8 is the middle segment schematic perspective view of mechanical finger.
Fig. 9 is the end segment schematic perspective view of mechanical finger.
Figure 10 is that the middle segment of mechanical finger is connected schematic perspective view with change rigidity compression connecting rod.
Figure 11 is the change rigidity compression connecting rod force analysis schematic diagram of the utility model embodiment.
Figure 12 is the change rigidity stretching connecting rod force analysis schematic diagram of the utility model embodiment.
Figure 13 is the change rigidity compression connecting rod schematic perspective view of the utility model embodiment.
Figure 14 is the second connector schematic perspective view of the change rigidity compression connecting rod of Figure 13.
Figure 15 is the change rigidity stretching connecting rod schematic perspective view of the utility model embodiment.
Figure 16 is the wire drawing connection diagram of the mechanical finger of the utility model embodiment.
Figure 17 is the manipulator schematic perspective view of the utility model embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further. Same or similar label in accompanying drawingRepresent from start to finish same or similar element or there is the element of identical or similar functions.
In addition, the embodiment of the present utility model of describing below in conjunction with accompanying drawing is exemplary, only for explaining this realityWith novel embodiment, and can not be interpreted as restriction of the present utility model.
Refer to Fig. 1 and Fig. 2, the mechanical finger 100 of the utility model embodiment comprise middle segment 10, base segment 20,End segment 30, change rigidity connecting rod 40 and drive unit 50. Rotate with base segment 20 and end segment 30 respectively at middle segment 10 two endsConnect. Becoming rigidity connecting rod 40 two ends is rotationally connected with base segment 20 and end segment 30 respectively. Middle segment 10, base segment 20, end refer toSection 30 and change rigidity connecting rod 40 form quadric chain 60. Drive unit 50 is for driving segment 10 to turn with respect to base segment 20Moving to utilize quadric chain 60 to be with moved end segment 30 to rotate with respect to middle segment 10.
The mechanical finger 100 of the utility model embodiment is realized between mechanical finger 100 by becoming rigidity connecting rod 40Flexibly connect, and utilize quadric chain 60 to be with moved end segment 30 and the bending interlock of middle segment 10, owing to becoming rigidity connecting rod 40Passive collapsing length within the specific limits, makes mechanical finger 100 have stressed rotating space, has similar finger fleshThe effect of tendon, thus make mechanical finger 100 there is flexible self-adaptive features.
In present embodiment, middle segment 10, base segment 20 and the basic ovalize of end segment 30, certainly, real at otherExecute in mode, middle segment 10, base segment 20 and end segment 30 can be rounded.
So, mechanical finger 100 imitates the shape of finger.
Refer to Fig. 3, curve L1 represents to become the relation between X (stressed) and the Y (deflection) of rigidity connecting rod 40, straight line L2Relation between X (stressed) and the Y (deflection) of expression rigidity connecting rod.
As shown in curve L1, in the time that X (stressed) is 0, the Y (deflection) that becomes rigidity connecting rod 40 is 0, keeps former length; Work as X(stressed) is greater than at 0 o'clock, when X (stressed) is pulling force, becomes the Y (deflection) of rigidity connecting rod 40 along with the increase of X (stressed) is bentLine rises, and in the time that X (stressed) increases to certain value, the Y (deflection) that becomes rigidity connecting rod 40 no longer increases, and is horizontal linear;In the time that X (stressed) is less than 0, when X (stressed) is pressure, the value of the Y (deflection) of change rigidity connecting rod 40 is along with the value of X (stressed)The curved increase of increase, and in the time that the value of X (stressed) increases to certain value, become rigidity connecting rod 40 Y (deflection) value notIncrease again, be horizontal linear.
As shown in straight line L2, in the time that X (stressed) changes, the Y (deflection) of rigidity connecting rod remains unchanged.
So, become rigidity connecting rod 40 and there is stressed flexible performance.
Refer to Fig. 1 and Fig. 4, in present embodiment, the number that becomes rigidity connecting rod 40 is two. Become rigidity connecting rod 40 respectivelyBe rotationally connected and be arranged in the left and right sides of segment 10 with base segment 20 and end segment 30.
So, improved the adaptivity of mechanical finger 100.
Be appreciated that in other embodiments, the number that becomes rigidity connecting rod 40 can be one, is U-shaped or I type,Can be arranged at inside or the middle part of middle segment 10, so can save the space of mechanical finger 100 own, improve design freelyDegree, and can increase the stiffness variation scope that becomes rigidity connecting rod 40. Therefore, it should be noted that, become rigidity connecting rod 40 also not onlyThe number being limited in present embodiment is two, is U-shaped and is arranged in the left and right sides of segment 10.
Refer to Fig. 5, quadric chain 60a comprises connecting rod 61a, connecting rod 62a, connecting rod 63a and connecting rod 64a.Wherein, connecting rod 61a and connecting rod 62a are rotationally connected and form the first rotating shaft 612a, and connecting rod 62a and connecting rod 64a rotate and connectConnect and form the second rotating shaft 624a, connecting rod 61a and connecting rod 63a are rotationally connected and form the 3rd rotating shaft 613a, connecting rod 63a and companyExtension bar 64a is rotationally connected and forms the 4th rotating shaft 634a. The first rotating shaft 612a, the second rotating shaft 624a, the 3rd rotating shaft 613a andFour rotating shaft 634a are substantially parallel.
Refer to Fig. 6, as fixed connecting rod 61a, and drive connecting rod 62a to rotate by rotation direction as shown in Figure 6Time, the continuous rotation of connecting rod 62a can drive connecting rod 64a to rotate, and connecting rod 63a is along connecting rod 62a rotation side simultaneouslyTo rotating.
So, quadric chain 60a has the characteristic of transmission.
Refer to Fig. 1, in present embodiment, middle segment 10, base segment 20, end segment 30 and change rigidity connecting rod 40 form fourLinkage 60. Wherein, outside, the top of base segment 20 is rotationally connected and forms the first rotating shaft 61 with the end outside at 10 ends of middle segment.The inner side, top of middle segment 10 is rotationally connected and forms the second rotating shaft 62 with the bottom inside of end segment 30. Become one of rigidity connecting rod 40End is rotationally connected and forms the 3rd rotating shaft 63 with the inner side, top of base segment 20. Become the other end of rigidity connecting rod and the end of end segment 30End outside is rotationally connected and forms the 4th rotating shaft 64. The first rotating shaft 61, the second rotating shaft 62, the 3rd rotating shaft 63 and the 4th rotating shaft 64 are flatOK.
So, when in driving, segment 10 is rotated, the continuous rotation of middle segment 10 can be with moved end segment 30 to rotate, fromAnd segment 10 links with end segment 30 is bending in forming. Meanwhile, the direction that becomes segment 10 rotation directions in rigidity connecting rod 40 edges is enteredRow rotates, and has stressed flexible performance, thereby make mechanical finger 100 have stressed rotating sky owing to becoming rigidity connecting rod 40Between, thereby the adaptivity ability of raising mechanical finger 100.
Refer to Fig. 1, Fig. 2, Fig. 7, Fig. 8, Fig. 9 and Figure 10, in present embodiment, middle segment 10, base segment 20 and endSegment 30 comprise medial surface b, the lateral surface c opposing with medial surface b, the left and right side d being connected with medial surface b and lateral surface c andThe bottom surface e, the end face f that are connected with medial surface b, lateral surface c and left and right side d.
Base segment 20 is formed with the first pivot connected slot 21 that runs through medial surface b and lateral surface c and be positioned at end face f junction. TheTwo madial walls of one pivot connected slot 21 are formed with the first pivoted hole 22. Middle segment 10 comprises from bottom surface e near lateral surface c place to downwardThe first pivot joint block 11 of stretching and coordinating with the first pivot connected slot 21. The first pivot joint block 11 include coordinate with the first pivoted hole 22One drive-connecting shaft 12. Middle segment 10 was rotationally connected by the first drive-connecting shaft 12 and coordinating with base segment 20 of the first pivoted hole 22. EndSegment 30 is formed with the second pivot connected slot 31 that is positioned at medial surface b and e junction, bottom surface. Two madial walls of the second pivot connected slot 31 formThere is the second pivoted hole 32. The second pivot that middle segment 10 end face f upwards extend near medial surface b place and coordinate with the second pivot connected slot 31Connect piece 13. The second pivot joint block 13 includes the second drive-connecting shaft 14 coordinating with the second pivoted hole 32. End segment 30 is by the second pivotSpindle 14 was rotationally connected with coordinating with middle segment 10 of the second pivoted hole 32.
So, the connection between middle segment 10, base segment 20 and end segment 30 has the spy that similar finger joint connectsProperty, and simple in structure, low cost of manufacture.
In present embodiment, become rigidity connecting rod 40 and comprise that becoming rigidity compresses connecting rod 40a and become rigidity stretching connecting rod 40b.
Refer to Figure 11, curve L3 represents to become rigidity and compresses the relation between X (stressed) and the Y (deflection) of connecting rod 40a.As shown in curve L3, in the time that X (stressed) is more than or equal to 0, the Y (deflection) that becomes rigidity compression connecting rod 40a is 0, keeps former length,Do not change with the variation of X (stressed), become rigidity compression connecting rod 40a and be not subject to the impact of pulling force; In the time that X (stressed) is less than 0,When X (stressed) is pressure, the value of the Y (deflection) of change rigidity compression connecting rod 40a is along with the curved increasing of increase of the value of X (stressed)Greatly, and in the time that the value of X (stressed) increases to certain value, the value that becomes the Y (deflection) of rigidity compression connecting rod 40a no longer increases, and isHorizontal linear.
So, become rigidity compression connecting rod 40a and can be used for replacing the rigidity connecting rod that only bears pressure.
Refer to Figure 12, curve L4 represents to become the relation between X (stressed) and the Y (deflection) of rigidity stretching connecting rod 40b.As shown in curve L4, in the time that X (stressed) is less than or equal to 0, the Y (deflection) that becomes rigidity stretching connecting rod 40b is 0, keeps former length,Do not change with the variation of X (stressed), become the impact that rigidity stretching connecting rod 40b is not stressed; In the time that X (stressed) is greater than 0,When X (stressed) is pulling force, becomes the Y (deflection) of rigidity stretching connecting rod 40b along with the curved rising of increase of X (stressed), and work as XWhen (stressed) increases to certain value, the Y (deflection) that becomes rigidity stretching connecting rod 40b no longer increases, and is horizontal linear.
So, become the rigidity connecting rod that rigidity stretching connecting rod 40b can be used for replacing a bearing tension.
Refer to Figure 13 and Figure 14, in present embodiment, become rigidity compression connecting rod 40a and comprise the first connector 41a, secondConnector 42a, elastic mechanism 43a, two latch 44a and position-limit mechanism 45a. The first connector 41a is formed with for connectingThe 3rd outside pivoted hole 411a; The second connector 42a is formed with for connecting the 4th outside pivoted hole 421a. Second connectsPart 42a is formed with chute 422a. Elastic mechanism 43a two ends are affixed with the first connector 41a, the second connector 42a respectively. TwoLatch 44a is fixedly connected with the first connector 41a, coordinates, and can enter along chute 422a with the chute 422a of the second connector 42aRow rectilinear motion.
In the time that change rigidity compression connecting rod 40a is not subject to external force, elastic mechanism 43a keeps former length; When becoming rigidity compression connecting rod 40aWhen the external force being subject to is pulling force, the elongation of position-limit mechanism 45a restriction elastic mechanism 43a; Compress when becoming rigidity the external force that connecting rod 40a is subject toDuring for pressure, become the deflection of rigidity compression connecting rod 40a along with the curved increase of increase of pressure, until position-limit mechanism 45a limitSystem becomes the distortion of rigidity compression connecting rod 40a, and now deflection no longer changes with the increase of pressure.
So, become rigidity compression connecting rod 40a and there is the stressed effect of buffering, thereby improve the self adaptation of mechanical finger 100Performance.
Refer to Figure 15, in present embodiment, become rigidity stretching connecting rod 40b and comprise the 3rd connector 41b, the 4th connector42b, elastic mechanism 43b, two latch 44b, position-limit mechanism 45b, linear slide block 46b and wire drawing 47b. The 3rd connector 41bAffixed by two latch 44b with the 4th connector 42b. Elastic mechanism 43b two ends are slided with the 4th connector 42b, linearity respectivelyPiece 46b is affixed. It is upper that linear slide block 46b is arranged in two latch 44b, and can move along the axial direction of two latch 44b. Wire drawing47b comprises the first wire drawing 471b and the second wire drawing 472b. The first wire drawing 471b directly with the 3rd connector 41b outside affixed; TheTwo wire drawing 472b are affixed through the 4th connector 42b and linear slide block 46b.
In the time that change rigidity stretching connecting rod 40b is not subject to external force, elastic mechanism 43b keeps former length; When becoming rigidity stretching connecting rod 40bWhen the external force being subject to is pressure, due to the 3rd connector 41b and the 4th connector 42b affixed, thereby limited elastic mechanism 43b'sCompression; When the external force being subject to as rigidity stretching connecting rod 40b is pulling force, linear slide block 46b moves along the axial direction of two latch 44bAnd the 43b of elasticity of compression mechanism makes to become the deflection of rigidity stretching connecting rod 40b along with the curved increase of increase of pulling force, untilPosition-limit mechanism 45b restriction becomes the distortion of rigidity stretching connecting rod 40b, and now deflection no longer changes with the increase of pulling force.
So, simple in structure, and become rigidity stretching connecting rod 40b and there is the effect of similar staff tendon, thereby increase machineryThe flexibility of finger 100.
In present embodiment, the number that becomes rigidity compression connecting rod 40a is two. Become rigidity compression connecting rod 40a respectively with baseSegment 20 and end segment 30 are rotationally connected and are arranged on the left and right side d of segment 10.
Be appreciated that in other embodiments, the number that becomes rigidity compression connecting rod 40 can be one, is U-shaped or IType, can be arranged at inside or the middle part of middle segment 10, so can save the space of mechanical finger 100 itself, improves designThe free degree, and can increase the stiffness variation scope that becomes rigidity compression connecting rod 40a. Therefore, it should be noted that, become rigidity compressionConnecting rod 40 is not limited in number in present embodiment to be two and to be arranged in the left and right sides of segment 10.
In present embodiment, become rigidity compression connecting rod 40a one end by the 3rd pivoted hole 411a and the base segment 20 that formCoordinate near medial surface b and end face f place the 3rd drive-connecting shaft 23 forming that stretches out from left and right side d; The other end is by formingThe 4th pivoted hole 421a with end segment 30 go out to be outward extended with and the 4th pivot joint near lateral surface c and bottom surface e from left and right side dThe 4th drive-connecting shaft 33 that hole 412a coordinates. Change rigidity compression connecting rod 40a passes through the 3rd drive-connecting shaft 23 and the 3rd pivoted hole 411a'sCooperation and the 4th drive-connecting shaft 33 were rotationally connected and position with base segment 20 and end segment 30 with coordinating respectively of the 4th pivoted hole 412aIn d both sides, left and right side in middle segment 10.
Refer to Figure 16, in present embodiment, drive unit 50 comprises wire drawing 51. First of middle segment 10 is walked around in wire drawing 51Rotating shaft 61 is also locked with middle segment 10 tops, and in driving by wire drawing 51, segment 10 is rotated around the first rotating shaft 61.
So, drive unit 50 is by wire drawing 51 driving device fingers 100, thus the action of segment 10 in imitation bending,And middle segment 10 is also inwardly rotated under the drive of quadric chain 60, thereby imitate the action that whole finger is bending, utilization is drawnSilk 51 is realized, and simple in structure, cost is lower.
In present embodiment, between the first rotating shaft 61 of middle segment 10 and base segment 20, be provided with return spring 70.
So, in the time that wire drawing 51 does not force in middle segment 10, return spring 70 makes middle segment 10 refer to 20 sections of maintenance bases with baseThis is parallel, now becomes rigidity connecting rod 40 in natural straight configuration; In the time that wire drawing 51 applies pulling force and contacts object, do not overcomeBecome the elastic force of rigidity connecting rod 40, but mainly overcome the elastic force of return spring 70, thereby it is larger that mechanical finger 100 is hadTurn round stressed space, improved adaptivity.
In present embodiment, return spring 70 is line spring. Be appreciated that in other embodiments, return spring 70 canThink torsion spring. Therefore, it should be noted that, return spring 70 is not limited in the line spring in present embodiment.
So, can arrange as the case may be.
Refer to Figure 17, the manipulator 200 of the utility model embodiment comprises mechanical finger described above 100.
So, manipulator 200 has possessed the adaptive characteristic that staff has, and effectively reduces conventional robot stressConcentrated risk.
In present embodiment, manipulator 200 comprises three mechanical fingers 100. Mechanical finger 100 inner sides are oppositely arranged. CanTo understand, in other embodiments, manipulator 200 can comprise 2,4,5 or 200 mechanical fingers of 6 manipulators100, thus the adaptive characteristic of imitation staff. Therefore, it should be noted that, manipulator 200 comprises the number of mechanical finger 100Be not limited in 3 in present embodiment.
So, can arrange as the case may be.
In present embodiment, manipulator 200 includes pedestal 210. Base segment 20 roots and the pedestal of mechanical finger 100210 are rotationally connected formation the 5th rotating shaft 211.
So, the rotational freedom of the 5th rotating shaft 211 of ligand segment 20 roots, in the time capturing larger object, machineTool finger 100 opens and forms a larger subtended angle. Wire drawing 51 applies active force in the time of described middle segment 10, first overcomes returnThe elastic force of spring 70 turns an angle the relative base segment 20 of middle segment 10, the interlock bending with moved end segment 30 simultaneously. ThisTime manipulator 200 form the pawl type structure of similar staff, facilitate envelope and capture object. After contact object, wire drawing 51 is doneFirmly continue to overcome the elastic force that becomes rigidity connecting rod 40, and then allow end segment 30 adapt to the shape of object, possess certain adaptivity.
And in the time capturing less object, first rotation base segment 20 roots, make the less subtended angle of formation between each finger, thisTime the space that can stretch for return spring 70 less, in the time that mechanical finger 100 closes up contact object, wire drawing 51 active forces overcome changeThe elastic force of rigidity connecting rod 40, so allow end segment 30 relative in segment 10 outwards rotate, form the knot that similar staff finger tip closes upStructure, contact-making surface increases like this, facilitates gripping small-sized object.
In description of the present utility model, it will be appreciated that term " " center ", " longitudinally ", " laterally ", " length ", " wideDegree ", " thickness ", " on ", D score, 'fornt', 'back', " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " suitableHour hands ", orientation or the position relationship of the instruction such as " counterclockwise ", " axially ", " radially ", " circumferentially " be based on orientation shown in the drawingsOr position relationship, be only the utility model and simplified characterization for convenience of description, instead of the device of instruction or hint indication orElement must have specific orientation, construct and operation with specific orientation, therefore can not be interpreted as limit of the present utility modelSystem.
In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint relative importanceOr the implicit quantity that indicates indicated technical characterictic. Thus, the feature that is limited with " first ", " second " can express orImpliedly comprise one or more these features. In description of the present utility model, the implication of " multiple " is more than two, removesNon-separately have a clearly concrete restriction.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " GuFixed " etc. term should be interpreted broadly, for example, can be to be fixedly connected with, can be also to removably connect, or integral; Can beMechanical connection can be also electrical connection; Can be to be directly connected, also can indirectly be connected by intermediary, can be twoThe interaction relationship of the connection of element internal or two elements. For the ordinary skill in the art, can basisConcrete condition is understood the concrete meaning of above-mentioned term in the utility model.
In the utility model, unless otherwise clearly defined and limited, First Characteristic Second Characteristic " on " or D scoreCan be that the first and second features directly contact, or the first and second features be by intermediary mediate contact. And, the first spyLevy Second Characteristic " on ", " top " and " above " but First Characteristic directly over Second Characteristic or oblique upper, or onlyRepresent that First Characteristic level height is higher than Second Characteristic. First Characteristic Second Characteristic " under ", " below " and " below " canBe First Characteristic under Second Characteristic or tiltedly, or only represent that First Characteristic level height is less than Second Characteristic.
In the description of this description, reference term " embodiment ", " some embodiment ", " example ", " specifically showExample " or the description of " some examples " etc. mean the specific features, structure, material or the spy that describe in conjunction with this embodiment or examplePoint is contained at least one embodiment of the present utility model or example. In this manual, the schematic table to above-mentioned termState not must for be identical embodiment or example. And specific features, structure, material or the feature of description canIn one or more embodiment in office or example with suitable mode combination. In addition, not conflicting in the situation that, this areaTechnical staff the feature of the different embodiment that describe in this description or example and different embodiment or example can be enteredRow combination and combination.
Although illustrated above and described embodiment of the present utility model, be understandable that, above-described embodiment isExemplary, can not be interpreted as that, to restriction of the present utility model, those of ordinary skill in the art is in scope of the present utility modelIn can change above-described embodiment, amendment, replacement and modification.
Claims (11)
1. a mechanical finger, is characterized in that, described mechanical finger comprises:
Middle segment; And
The base segment being rotationally connected with described middle segment two ends respectively and end segment; And
Become rigidity connecting rod, described change rigidity connecting rod two ends are rotationally connected with described base segment and described end segment respectively, described inSegment, described base segment, described end segment and described change rigidity connecting rod form quadric chain; And
Drive unit, described drive unit is used for driving described segment to rotate to utilize described four to connect with respect to described base segmentLinkage drives described end segment to rotate with respect to described middle segment.
2. mechanical finger as claimed in claim 1, is characterized in that, the number of described change rigidity connecting rod is two, described changeRigidity connecting rod is rotationally connected and is arranged in respectively the left and right sides of described segment with described base segment and described end segment.
3. mechanical finger as claimed in claim 1, is characterized in that, the number of described change rigidity connecting rod is one, described changeRigidity connecting rod is U-shaped, and described change rigidity connecting rod is placed in described middle finger intersegmental part.
4. mechanical finger as claimed in claim 1, is characterized in that, the number of described change rigidity connecting rod is one, described changeRigidity connecting rod is I type, and described change rigidity connecting rod is placed in described segment middle part.
5. mechanical finger as claimed in claim 1, is characterized in that, the outside, top of described base segment and described middle segmentOutside, bottom is rotationally connected and forms the first rotating shaft; And
Inner side, top and the bottom inside of described end segment of described middle segment are rotationally connected and form the second rotating shaft; And
One end of described change rigidity connecting rod and inner side, the top of described base segment are rotationally connected and form the 3rd rotating shaft; And
The other end of described change rigidity connecting rod and outside, the bottom of described end segment are rotationally connected and form the 4th rotating shaft; And
Described the first rotating shaft, described the second rotating shaft, described the 3rd rotating shaft and described the 4th shaft parallel.
6. mechanical finger as claimed in claim 1, is characterized in that, described drive unit comprises wire drawing, described wire drawing and instituteState middle segment and connect, in driving by described wire drawing, segment is rotated.
7. mechanical finger as claimed in claim 1, is characterized in that, described base segment be formed be positioned at top outside with described inOutside, middle segment bottom is rotationally connected and forms the first rotating shaft, between described the first rotating shaft, is provided with return spring.
8. mechanical finger as claimed in claim 7, is characterized in that, described return spring can be torsion spring or line spring.
9. a manipulator, is characterized in that comprising the mechanical finger as described in claim 1-8 any one.
10. manipulator as claimed in claim 9, is characterized in that, the number of described mechanical finger is at least two, described machineTool finger inner side is oppositely arranged.
11. manipulators as claimed in claim 9, is characterized in that, described manipulator includes pedestal, described mechanical fingerDescribed base segment root and described pedestal are rotationally connected and form the 5th rotating shaft, and described drive unit includes wire drawing, by describedWire drawing drives base segment to rotate around described the 5th rotating shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521030348.1U CN205238069U (en) | 2015-12-10 | 2015-12-10 | Mechanical finger and manipulator |
| PCT/CN2016/079205 WO2017096746A1 (en) | 2015-12-10 | 2016-04-13 | Robotic finger and robotic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521030348.1U CN205238069U (en) | 2015-12-10 | 2015-12-10 | Mechanical finger and manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN205238069U true CN205238069U (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521030348.1U Expired - Fee Related CN205238069U (en) | 2015-12-10 | 2015-12-10 | Mechanical finger and manipulator |
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| CN (1) | CN205238069U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345838A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical finger and mechanical arm |
| CN105751232A (en) * | 2016-05-20 | 2016-07-13 | 哈尔滨工业大学 | Human-simulated finger with base joint and interphalangeal joint respectively and independently driven |
| CN106903709A (en) * | 2017-05-08 | 2017-06-30 | 重庆大学 | Length and rigidity adjustable flexibility finger |
-
2015
- 2015-12-10 CN CN201521030348.1U patent/CN205238069U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345838A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical finger and mechanical arm |
| CN105751232A (en) * | 2016-05-20 | 2016-07-13 | 哈尔滨工业大学 | Human-simulated finger with base joint and interphalangeal joint respectively and independently driven |
| CN106903709A (en) * | 2017-05-08 | 2017-06-30 | 重庆大学 | Length and rigidity adjustable flexibility finger |
| CN106903709B (en) * | 2017-05-08 | 2019-05-07 | 重庆大学 | Length and rigidity adjustable flexibility finger |
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