CN206123687U - Machinery finger structure - Google Patents
Machinery finger structure Download PDFInfo
- Publication number
- CN206123687U CN206123687U CN201621199955.5U CN201621199955U CN206123687U CN 206123687 U CN206123687 U CN 206123687U CN 201621199955 U CN201621199955 U CN 201621199955U CN 206123687 U CN206123687 U CN 206123687U
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- connecting plate
- afterbody
- rotating shaft
- afterbody connecting
- head
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Abstract
The utility model is suitable for a mechanical structure field, the utility model provides a machinery finger structure, its one end through in the dactylus sets up the head connecting portion, the other end sets up connection of after section portion, and this connection of after section portion includes a connection of after section board and the 2nd connection of after section board, it has still set up one and has passed through the pivot of inlaying in the 2nd connection of after section board of locating a back dactylus behind the head connecting portion of previous dactylus and connect in order to realize two rotations between the dactylus, the spacing of countershaft one end tip has meanwhile also been realized, the other end of pivot is then set up first apron through the side in the dactylus and carry on spacingly, thereby when realizing making two dactylus rotation connect, the setting that the countershaft carries out the special structural component of spacing and location has still been reduced, furthermore, when needs are changed middle dactylus, only need first apron of dismantlement and pivot to change fast, it dismantles simple swiftly, the follow -up maintenance who gives the mechanical finger provides great facility with the maintenance.
Description
Technical field
This utility model belongs to mechanical structure field, more particularly to a kind of mechanical finger structure.
Background technology
The transmission of mechanical finger structure needs the assemblings of various parts such as axle, bearing (pulley), transmission drawstring and coordinates,
The parts such as axle, bearing also need to consider axially position problem, thus also need to arrange other parts such as axially position part, existing skill
Art is unreasonable due to its structure design, causes mechanical finger structure complex structure, and transmission is dumb, and dismounting is relatively complicated,
The quick-replaceable of middle finger joint cannot be realized, follow-up care and maintenance is not easy to.
Utility model content
The purpose of this utility model is to provide a kind of mechanical finger structure, it is intended to solve the mechanical finger knot of prior art
Structure is complicated, it is dumb to be driven and cannot realize quick-replaceable problem.
What this utility model was realized in：A kind of mechanical finger structure, it includes multiple end to end finger joints, described
One end of finger joint has head connecting portion, and the other end has tail connector, is connected by a rotating shaft between finger joint described in adjacent two
Connect, the side of the finger joint is provided with the first cover plate for carrying out axial limiting to the rotating shaft, the tail connector bag
Include the first afterbody connecting plate arranged with the first cover plate homonymy and arrange with the first afterbody connecting plate offside second
Afterbody connecting plate, the rotating shaft is passed through to be embedded at after the head connecting portion of the previous finger joint and connect with previous finger joint head and the tail this described
In second afterbody connecting plate of the continuous latter described finger joint for arranging.
Specifically, the rotating shaft is passed through and the head connecting portion is passed through after the first afterbody connecting plate, and the rotating shaft
Positioned at the side of the first afterbody connecting plate end end face opposing recesses in the outside wall surface of the first afterbody connecting plate
The plane at place.
Specifically, the rotating shaft is connected with the first afterbody connecting plate, the head connecting portion and second afterbody
Plate is gap cooperation.
Further, the head connecting portion includes at least two spaced head connecting plates, and each head
Connecting plate is located between the first afterbody connecting plate and the second afterbody connecting plate.
Specifically, the second afterbody connecting plate inner side is provided with the shaft hole for being embedded the rotating shaft, and described second
Afterbody connecting plate outside is additionally provided with the through hole being oppositely arranged with the rotating shaft, and the through hole is connected with the shaft hole.
Specifically, the opposite side of the finger joint is embedded with the second cover plate set with first cover plate pair.
Specifically, the quantity of the finger joint is four.
Further, the head connecting plate includes rectangular portion and the curved portions being extended in the rectangular portion, institute
Rectangular portion is stated with the first afterbody connecting plate and the second afterbody connecting plate to be oppositely arranged.
Further, pulley is provided between described two head connecting plates, the pulley sleeve is in the rotating shaft.
Further, the first afterbody connecting plate and the second afterbody connecting plate are arc.
The mechanical finger structure that this utility model is provided, it in one end of finger joint by arranging head connecting portion, the other end
Tail connector is set, and the tail connector includes the first afterbody connecting plate and the second afterbody connecting plate, it is also provided with one
It is embedded at the rotating shaft in the second afterbody connecting plate of latter finger joint after the head connecting portion for passing through previous finger joint to realize two fingers
Rotation connection between section, at the same time also achieves the spacing of countershaft one end end, and the other end of rotating shaft then by
The side of finger joint arrange the first cover plate carry out it is spacing, so as to while realizing making two finger joints mutually rotate connection, also reduce
Countershaft carries out the setting of spacing and positioning application specific architecture part, further, when needing to change middle finger joint,
Only the first cover plate and rotating shaft need to be dismantled can quickly be changed, its dismounting simple and fast, to mechanical finger follow-up maintenance with
Maintenance provides larger facility.
Description of the drawings
Fig. 1 is the axonometric chart of the mechanical finger structure that this utility model embodiment is provided；
Fig. 2 is another schematic perspective view of the mechanical finger structure that this utility model embodiment is provided；
Fig. 3 is the exploded perspective view of the mechanical finger structure that this utility model embodiment is provided；
Fig. 4 is the adjacent two finger joints connection diagram that this utility model embodiment is provided；
Fig. 5 is the cross-sectional schematic of the end to end part of adjacent two finger joint that this utility model embodiment is provided.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or may be simultaneously present centering elements.When an element is referred to as " being connected to " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.
Also, it should be noted that the orientation term such as left and right, upper and lower in the present embodiment, be only each other relative concept or
Normal operating condition with product is reference, and be should not be regarded as restrictive.
As shown in Figures 1 to 5, each accompanying drawings of the mechanical finger structure for providing for this utility model embodiment, its
Including multiple end to end finger joints 1, specifically, one end of finger joint 1 has head connecting portion 11, and there is the other end afterbody to connect
Portion 12, i.e., the previous head connecting portion 11 of finger joint 1 and the tail connector 12 of latter finger joint 1 are connected to each other to form head and the tail phase
Connect, also, between adjacent two finger joint 1 be attached by a rotating shaft 2, so as to relatively rotate between each finger joint 1, to meet machine
Action during tool finger grip article needs.Used as a better embodiment, the side of finger joint 1 is provided with the first cover plate 3, so as to
Can be not only used for countershaft 2 carries out axial limiting and positioning, prevents the axial slip of rotating shaft 2, can play certain protection to finger joint 1 again
Effect.Used as a specific embodiment, tail connector 12 includes the first afterbody connecting plate arranged with the homonymy of the first cover plate 3
121 and the second afterbody connecting plate 122 for arranging with the offside of the first afterbody connecting plate 121, rotating shaft 2 passes through the head of previous finger joint 1
Be embedded at after connecting portion 11 with the head and the tail of previous finger joint 1 continue setting latter finger joint 1 the first afterbody connecting plate 121 and second
Between afterbody connecting plate 122, so, the other end of rotating shaft 2 can carry out spacing and positioning by the second afterbody connecting plate 122,
So as to both realize the connection of the rotation between adjacent finger joint 1, can carry out spacing by finger joint 1 countershaft 2 itself again and position, and nothing
Special location structure need to be set, so as to simplify the structure of mechanical finger.
The mechanical finger structure that this utility model is provided, it is another by arranging head connecting portion 11 in one end of finger joint 1
End arranges tail connector 12, and the tail connector 12 includes the first afterbody connecting plate 121 and the second afterbody connecting plate 122,
It is also provided with being embedded in the second afterbody connecting plate 122 of latter finger joint 1 after a head connecting portion 11 for passing through previous finger joint 1
Rotating shaft 2 with realize the rotation between two finger joints 1 connect, at the same time also achieve the spacing of one end end of countershaft 2, and
The other end of rotating shaft 2 then by side in finger joint 1 arrange the first cover plate 3 carry out it is spacing, so as to realize making two finger joints 1 mutual
While rotating connection, also reducing countershaft 2 carries out the setting of spacing and positioning application specific architecture part, further, when
When needs are changed to middle finger joint 1, quickly changed by only need to dismantling the first cover plate 3 and rotating shaft 2, its dismounting is simple
Fast, to mechanical finger follow-up maintenance and maintenance provides larger facility.
Used as a specific embodiment, referring also to Fig. 3 and Fig. 5, in the present embodiment, the connection of the first afterbody is passed through in rotating shaft 2
Head connecting portion 11 is passed through after plate 121, during the second afterbody connecting plate 122 is embedded at then, and rotating shaft 2 connects positioned at the first afterbody
The plane that the end face opposing recesses of the end of the side of plate 121 are located in the outside wall surface of the first afterbody connecting plate 121, so, when
When first cover plate 3 is fitted with the outer side surface of the first afterbody connecting plate 121, can avoid being interfered with rotating shaft 2, so as to can to turn
Axle 2 plays spacing and positioning action.
Certainly, it is to realize the axially position of rotating shaft 2, when rotating shaft 2 protrudes from the outside wall surface of the first afterbody connecting plate 121,
Position that can be relative with rotating shaft 2 in the inner side of the first cover plate 3 opens up positioning shrinkage pool to carry out spacing and positions, and this kind of mode can be equally real
The positioning of existing countershaft 2, here is not carefully stated.
Used as a better embodiment, for ease of the fast quick-detach of rotating shaft 2, in the present embodiment, the afterbody of rotating shaft 2 and first connects
Fishplate bar 121, the afterbody connecting plate 122 of head connecting portion 11 and second are gap cooperation, it is preferred that coordinate for small―gap suture,
So as to the dismounting of rotating shaft 2 can be facilitated, the operation precision of mechanical finger is ensured that.
Used as a specific embodiment, referring also to Fig. 3 and Fig. 4, head connecting portion 11 includes at least two interval settings
Head connecting plate 111, in the present embodiment, head connecting plate 111 is provided with two, and each head connecting plate 111 is respectively positioned on first
Between the afterbody connecting plate 122 of afterbody connecting plate 121 and second, so, can help to the torque between adjacent two finger joint 1 reach it is flat
Weighing apparatus, so that the transmission of finger joint 1 is more smoothly, it is to avoid stuck, clamping situation occurs.
Used as a specific embodiment, the inner side of the second afterbody connecting plate 122 is provided with the shaft hole for being embedded rotating shaft 2
1221, the outside of the second afterbody connecting plate 122 is additionally provided with the through hole 1222 being oppositely arranged with rotating shaft 2, the diameter of the through hole 1222
Less than the diameter of shaft hole 1221, and the through hole 1222 is connected with shaft hole 1221, so, when rotating shaft 2 is dismantled, can pass through
The through hole 1222 supports rotating shaft 2 so as to can rapidly split out rotating shaft 2, convenient and swift.
Used as a specific embodiment, referring also to Fig. 3, the opposite side of finger joint 1 is embedded with set with the first cover plate 3 pairs
Two cover plates 4, so as to protective action can be played to the opposite side of finger joint 1.
Used as a specific embodiment, in the present embodiment, the quantity that finger joint 1 is arranged is four, certainly, the setting of finger joint 1
Number can as needed make appropriate increase and decrease, and it arranges number does not regard it as and be limited.
Used as a specific embodiment, referring also to Fig. 4, head connecting plate 111 includes rectangular portion 1111 and in rectangular portion
The curved portions 1112 being extended on 1111, rectangular portion 1111 is with the first afterbody connecting plate 121 and the second afterbody connecting plate 122
It is oppositely arranged.It is preferred that the center of circle that rotating shaft 2 is arranged in curved portions 1112 is advisable, consequently facilitating processing and manufacturing and calibration.
Used as a specific embodiment, the first afterbody connecting plate 121 and the second afterbody connecting plate 122 are arc, so as to
When finger joint 1 is rotated, can as far as possible avoid the interference between finger joint 1 and other parts or clamped thing, facilitate finger joint 1 rotation and
Clamping.
As a specific embodiment, referring also to Fig. 3, Fig. 4 and Fig. 5, between two head connecting plates 111 cunning is provided with
Wheel 5, pulley 5 is sheathed in rotating shaft 2, by pulley 5, can carry out coiling setting, in order to control the accurate action of finger joint 1.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit this utility model
Any modification, equivalent or improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (10)
1. a kind of mechanical finger structure, it is characterised in that：Including multiple end to end finger joints, one end of the finger joint has head
Portion's connecting portion, the other end has tail connector, is connected by a rotating shaft between finger joint described in adjacent two, the side of the finger joint
The first cover plate for carrying out axial limiting to the rotating shaft is provided with, the tail connector includes same with first cover plate
The first afterbody connecting plate and the second afterbody connecting plate with the first afterbody connecting plate offside setting that side is arranged, the rotating shaft
The latter described finger of the setting that continues with previous finger joint head and the tail this described is embedded at after the head connecting portion for passing through the previous finger joint
In second afterbody connecting plate of section.
2. mechanical finger structure as claimed in claim 1, it is characterised in that：The first afterbody connecting plate is passed through in the rotating shaft
After pass through the head connecting portion, and the rotating shaft be located at the end of the side of the first afterbody connecting plate end face it is relatively recessed
Sink into the plane that the outside wall surface of the first afterbody connecting plate is located.
3. mechanical finger structure as claimed in claim 1, it is characterised in that：The rotating shaft and the first afterbody connecting plate,
The head connecting portion and the second afterbody connecting plate are gap cooperation.
4. mechanical finger structure as claimed in claim 1, it is characterised in that：The head connecting portion includes at least two intervals
The head connecting plate of setting, and each head connecting plate is located at the first afterbody connecting plate and the second afterbody connecting plate
Between.
5. mechanical finger structure as claimed in claim 1, it is characterised in that：The second afterbody connecting plate inner side is provided with use
In the shaft hole for being embedded the rotating shaft, the second afterbody connecting plate outside is additionally provided with logical with what the rotating shaft was oppositely arranged
Hole, the through hole is connected with the shaft hole.
6. mechanical finger structure as claimed in claim 1, it is characterised in that：The opposite side of the finger joint is provided with and described first
The second cover plate that cover plate pair sets.
7. mechanical finger structure as claimed in claim 1, it is characterised in that：The quantity of the finger joint is four.
8. mechanical finger structure as claimed in claim 4, it is characterised in that：The head connecting plate includes rectangular portion and in institute
State the curved portions being extended in rectangular portion, the rectangular portion and the first afterbody connecting plate and the second afterbody connecting plate
To be oppositely arranged.
9. mechanical finger structure as claimed in claim 4, it is characterised in that：Cunning is provided between described two head connecting plates
Wheel, the pulley sleeve is in the rotating shaft.
10. the mechanical finger structure as described in any one of claim 1 to 9, it is characterised in that：The first afterbody connecting plate and
The second afterbody connecting plate is arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621199955.5U CN206123687U (en) | 2016-10-28 | 2016-10-28 | Machinery finger structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621199955.5U CN206123687U (en) | 2016-10-28 | 2016-10-28 | Machinery finger structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123687U true CN206123687U (en) | 2017-04-26 |
Family
ID=58578337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621199955.5U Active CN206123687U (en) | 2016-10-28 | 2016-10-28 | Machinery finger structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123687U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019183908A1 (en) * | 2018-03-30 | 2019-10-03 | 深圳蓝胖子机器人有限公司 | Mechanical finger and manipulator |
-
2016
- 2016-10-28 CN CN201621199955.5U patent/CN206123687U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019183908A1 (en) * | 2018-03-30 | 2019-10-03 | 深圳蓝胖子机器人有限公司 | Mechanical finger and manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: B701-702, college industrialization complex building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen City, Guangdong Province, 518057 Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, Chiwan left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Lan pangzi machine intelligence Co., Ltd |