CN206048231U - A kind of robot finger apparatus of positive drive - Google Patents
A kind of robot finger apparatus of positive drive Download PDFInfo
- Publication number
- CN206048231U CN206048231U CN201621073033.XU CN201621073033U CN206048231U CN 206048231 U CN206048231 U CN 206048231U CN 201621073033 U CN201621073033 U CN 201621073033U CN 206048231 U CN206048231 U CN 206048231U
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- China
- Prior art keywords
- driven pulley
- digitorum manus
- articulations digitorum
- driving wheel
- existing
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Abstract
This utility model belongs to robot field, is related to a kind of robot finger apparatus of positive drive.Including the first articulations digitorum manus, the second articulations digitorum manus, the 3rd articulations digitorum manus, driving wheel, driven pulley one, driven pulley two, driven pulley three and driven pulley four.As this utility model increased driving wheel, driven pulley one, driven pulley two, driven pulley three and driven pulley four.First articulations digitorum manus, second articulations digitorum manus, the 3rd articulations digitorum manus are made to fit completely object.There is no idle running when robot finger's bending is controlled and stretch action in motor.As this utility model adopts the driving wheel, the driven pulley one, the driven pulley two, the driven pulley three and the driven pulley four, the gear that rigid material makes to be driven, there is no fatigue failure.
Description
Technical field
This utility model belongs to robot field, is related to a kind of robot finger apparatus of positive drive.
Background technology
With increasingly improving for people's living standard and being continuously increased for demand, various intelligent equipments engender.Machine
The summit product of the so-called intelligent equipment of device people, helps butcher,baker,and the candlestick maker group, solves many problems.Robot hand,
So-called robot captures the vitals of article, and its structure is even more the problem that many structural engineers need to capture.Such as Fig. 1 institutes
Show, existing robot hand structure includes, it is existing first articulations digitorum manus 1, existing second articulations digitorum manus 2, existing 3rd articulations digitorum manus 3, existing
There are back-moving spring 1, existing back-moving spring 25, existing resilience rope 6, existing tension rope 7 and existing motor output panel 8.Its principle
It is that existing tension rope 7 is reclaimed when existing motor output panel 8 is rotated counterclockwise, while existing resilience rope 6 discharges.It is described existing
First articulations digitorum manus 1, existing second articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 bend.When existing motor output panel 8 is rotated clockwise
When, existing tension rope 7 discharges, while existing resilience rope 6 is reclaimed.Existing first articulations digitorum manus 1, existing second articulations digitorum manus, 2 and
Existing 3rd articulations digitorum manus 3 are stretched.To reach the purpose for allowing robot clinodactyly to stretch.
The above-mentioned prior art for referring to of analysis has the following disadvantages, i.e. technical problem to be solved in the utility model:
1st, as shown in figure 1, due to existing resilience rope 6 and existing tension rope 7 existing first articulations digitorum manus 1, existing
In two articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 and by Complete Bind, and the direction of pull of existing back-moving spring 1 with it is existing
The direction of motion of resilience rope 6 is not conllinear.Above-mentioned both cause existing resilience rope 6 after being released, and there is loosening.Motor is caused to exist
Control robot finger bends and there is idle running when stretching action;
2nd, as existing resilience rope 6 and existing tension rope 7 are flexible material, flexible material can be with the increase of use time
And there is the problem of fatigue failure.
Utility model content
The purpose of this utility model is to overcome defect present in prior art, designs a kind of robot of positive drive
Finger apparatus.The device is mainly used in robot industry.Efficiently solve in Conventional robotic's finger structure, motor is in control
Robot clinodactyly processed and there is idle running, fatigue failure when stretching action.
To achieve these goals, the technical solution of the utility model is to design a kind of robot finger's dress of positive drive
Put, including the first articulations digitorum manus, the second articulations digitorum manus, the 3rd articulations digitorum manus, driving wheel, driven pulley one, driven pulley two, driven pulley three and from
Driving wheel four.
Its annexation is：First articulations digitorum manus and the second articulations digitorum manus are hinged；Second articulations digitorum manus and the 3rd refer to
Joint is hinged；The driving wheel is hinged on above the 3rd articulations digitorum manus；The driven pulley one, driven pulley two and driven pulley three cut with scissors
It is connected on above second articulations digitorum manus；The driven pulley four is fixed on above first articulations digitorum manus；The driving wheel, driven pulley
First, driven pulley two, driven pulley three and driven pulley four are intermeshed.
Advantage of the present utility model and beneficial effect are：Due to this utility model increased driving wheel, driven pulley one, from
Driving wheel two, driven pulley three and driven pulley four.When the driving wheel is rotated, first articulations digitorum manus are fixed thereon the institute in face
State four drive of driven pulley.When the first articulations digitorum manus touch screen is to object, the driven pulley four above first articulations digitorum manus
Stop operating, so that the driving wheel one, driven pulley two and driven pulley three above second articulations digitorum manus stops operating.Institute
State the driving wheel above the 3rd articulations digitorum manus to be rotated further.Make first articulations digitorum manus, second articulations digitorum manus, the described 3rd
Articulations digitorum manus are fitted object completely.There is no idle running when robot finger's bending is controlled and stretch action in this principle motor.
As this utility model adopts the driving wheel, the driven pulley one, the driven pulley two, three and of the driven pulley
The driven pulley four, the gear that rigid material makes are driven, and there is no fatigue failure.
Description of the drawings
Fig. 1 is existing robot finger's principle schematic diagram.；
Fig. 2 is this utility model robot finger's principle schematic diagram.；
Wherein, existing first articulations digitorum manus of 1-；Existing second articulations digitorum manus of 2-；Existing 3rd articulations digitorum manus of 3-；The existing reset bullets of 4-
Spring one；The existing back-moving springs of 5- two；The existing resilience ropes of 6-；The existing tension ropes of 7-；The existing motor output panels of 8-；21- first refers to pass
Section；The second articulations digitorum manus of 22-；The 3rd articulations digitorum manus of 23-；24- driving wheels；25- driven pulleys one；26- driven pulleys two；27- driven pulleys three；
28- driven pulleys four.
Specific embodiment
With reference to the accompanying drawings and examples specific embodiment of the present utility model is further described, following examples
It is only used for clearly illustrating the technical solution of the utility model, and protection model of the present utility model can not be limited with this
Enclose.
As shown in Fig. 2 the technical solution of the utility model is to design a kind of robot finger apparatus of positive drive, including
First articulations digitorum manus 21, the second articulations digitorum manus 22, the 3rd articulations digitorum manus 23, driving wheel 24, driven pulley 1, driven pulley 2 26, driven pulley
3 27 and driven pulley 4 28.
Its annexation is：First articulations digitorum manus 21 and the second articulations digitorum manus 22 are hinged；Second articulations digitorum manus, 22 He
3rd articulations digitorum manus 23 are hinged；The driving wheel 24 is hinged on above the 3rd articulations digitorum manus 23；The driven pulley one 25, driven pulley
2 26 and driven pulley 3 27 be hinged on above second articulations digitorum manus 22；The driven pulley 4 28 is fixed on first articulations digitorum manus
Above 21；The driving wheel 24 is intermeshed with driven pulley 1；The driven pulley 1 is intermeshed with driven pulley 2 26；Institute
State driven pulley 2 26 to be intermeshed with driven pulley 3 27；The driven pulley 3 27 is intermeshed with driven pulley 4 28.
When the driving wheel 24 is rotated, the driven pulley 1, the driven pulley 2 26, the driven pulley 3 27 and institute
State driven pulley 4 28 driven.First articulations digitorum manus 21 are fixed thereon the driven pulley 4 28 in face and drive.When described
When one articulations digitorum manus, 21 touch screen is to object, the driven pulley 4 28 above first articulations digitorum manus 21 stops operating, so that
The driving wheel 1, driven pulley 2 26 and driven pulley 3 27 above second articulations digitorum manus 22 stops operating.Described 3rd refers to
The driving wheel 24 above joint 23 is rotated further, and drives by second articulations digitorum manus 22, the 3rd articulations digitorum manus 23, described
The entirety constituted by driven pulley 1, the driven pulley 2 26, the driven pulley 3 27 and the driven pulley 4 28 is rotated together.
First articulations digitorum manus 21, second articulations digitorum manus 22, the 3rd articulations digitorum manus 23 are made to fit completely object.This principle motor exists
Control robot finger bends and there is no idle running when stretching action.
The driving wheel 24, the driven pulley 1, the driven pulley 2 26, the driven pulley 3 27 and the driven pulley
4 28, it is the gear of rigid material making, there is no fatigue failure.
The above is only preferred embodiments of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of without departing from this utility model know-why, some improvements and modifications can also be made, these change
Enter and retouch also to should be regarded as protection domain of the present utility model.
Claims (3)
1. a kind of robot finger apparatus of positive drive, it is characterised in that：Including the first articulations digitorum manus（21）, the second articulations digitorum manus
（22）, the 3rd articulations digitorum manus（23）, driving wheel（24）, driven pulley one（25）, driven pulley two（26）, driven pulley three（27）And driven pulley
Four（28）；
Its annexation is：First articulations digitorum manus（21）With the second articulations digitorum manus（22）It is hinged；Second articulations digitorum manus（22）
With the 3rd articulations digitorum manus（23）It is hinged；The driving wheel（24）It is hinged on the 3rd articulations digitorum manus（23）Above；The driven pulley one
（25）, driven pulley two（26）With driven pulley three（27）It is hinged on second articulations digitorum manus（22）Above；The driven pulley four（28）
It is fixed on first articulations digitorum manus（21）Above；The driving wheel（24）With driven pulley one（25）Intermeshing；The driven pulley
One（25）With driven pulley two（26）Intermeshing；The driven pulley two（26）With driven pulley three（27）Intermeshing；It is described driven
Wheel three（27）With driven pulley four（28）Intermeshing.
2. robot finger apparatus of a kind of positive drive according to claim 1, it is characterised in that：When the driving wheel
（24）During rotation, the driven pulley one（25）, the driven pulley two（26）, the driven pulley three（27）With the driven pulley four
（28）It is driven；First articulations digitorum manus（21）It is fixed thereon the driven pulley four in face（28）Drive；
When first articulations digitorum manus（21）When touch screen is to object, first articulations digitorum manus（21）The driven pulley four above（28）
Stop operating, so that second articulations digitorum manus（22）The driving wheel one above（25）, driven pulley two（26）And driven pulley
Three（27）Stop operating；
3rd articulations digitorum manus（23）The driving wheel above（24）It is rotated further, drives by second articulations digitorum manus（22）、
3rd articulations digitorum manus（23）, the driven pulley one（25）, the driven pulley two（26）, the driven pulley three（27）With it is described from
Driving wheel four（28）The entirety for being constituted is rotated together；Make first articulations digitorum manus（21）, second articulations digitorum manus（22）, described
Three articulations digitorum manus（23）Fit completely object.
3. robot finger apparatus of a kind of positive drive according to claim 1, it is characterised in that：The driving wheel
（24）, the driven pulley one（25）, the driven pulley two（26）, the driven pulley three（27）With the driven pulley four（28）, it is
The gear that rigid material makes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621073033.XU CN206048231U (en) | 2016-09-23 | 2016-09-23 | A kind of robot finger apparatus of positive drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621073033.XU CN206048231U (en) | 2016-09-23 | 2016-09-23 | A kind of robot finger apparatus of positive drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206048231U true CN206048231U (en) | 2017-03-29 |
Family
ID=58366105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621073033.XU Expired - Fee Related CN206048231U (en) | 2016-09-23 | 2016-09-23 | A kind of robot finger apparatus of positive drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206048231U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239542A (en) * | 2016-09-23 | 2016-12-21 | 北京灵铱科技有限公司 | A kind of robot finger apparatus of positive drive |
-
2016
- 2016-09-23 CN CN201621073033.XU patent/CN206048231U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239542A (en) * | 2016-09-23 | 2016-12-21 | 北京灵铱科技有限公司 | A kind of robot finger apparatus of positive drive |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20180923 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |