CN208697453U - Mechanical finger and manipulator - Google Patents
Mechanical finger and manipulator Download PDFInfo
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- CN208697453U CN208697453U CN201821233875.6U CN201821233875U CN208697453U CN 208697453 U CN208697453 U CN 208697453U CN 201821233875 U CN201821233875 U CN 201821233875U CN 208697453 U CN208697453 U CN 208697453U
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- 210000001145 finger joint Anatomy 0.000 claims abstract description 253
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 42
- 210000001037 metacarpus Anatomy 0.000 claims abstract description 35
- 238000013016 damping Methods 0.000 claims description 16
- 210000000707 wrist Anatomy 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000011176 pooling Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000002910 structure generation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of mechanical fingers, including metacarpus, the intermediate finger joint connecting with metacarpus and the distal end finger joint positioned at intermediate finger joint end, metacarpus include actuating the fixed pedestal of inside positioned at it and actuating outside positioned at it and drive the driving device of intermediate finger joint rotation；The first pivotal axis of pivot joint is provided between the inside and fixed pedestal of intermediate finger joint；Driving device is connected to the outside of intermediate finger joint, when being included in receipts palm movement, the receipts palm structure for driving intermediate finger joint to swing around the first pivotal axis, and when opening palm movement, opening for intermediate finger joint elastic reset is driven to slap structure.Structure and palm structure are slapped by the receipts being arranged in driving device, it is convenient to realize actuating for manipulator, reduce structural complexity, the palm structure of the elastic reset of intermediate finger joint is utilized simultaneously, when manipulator is impacted, by the palm structure of elastic reset, impact is buffered, the reliability of its work structuring is improved.The invention also discloses a kind of manipulators.
Description
Technical field
The utility model relates to robotic technology fields, more specifically to a kind of mechanical finger and manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument, the characteristics of manipulator are that various expected operations can be completed by programming, it can also
It is automatically performed part operation in conjunction with vision system, has the advantage of people and mechanical grip respectively concurrently in construction and performance.
The finger mechanical structure of humanoid dextrous hand in the prior art, each of which finger use one or more drivers,
It realizes the movement that similar finger is grasped and unclamped, can combine to form multi-finger clever by the way that multiple fingers are arranged on manipulator
Hand.
However, Apery manipulator structure in the prior art, when driving finger movement, or using rope driving structure, leads
Structure is complicated for cause, high failure rate, and more difficult maintenance；Or linear actuator structure is used, linear actuator is placed in manipulator
On the inside of palm, the space for occupying palm is larger, can interfere the holding action of finger；Meanwhile existing robot manipulator structure, work as driving
When device locks, the finger of manipulator is in the lock state, and if any biggish external force under finger extension state, finger is easy damage
It is bad.
Therefore, how to design manipulator, to improve the structural reliability of manipulator, be current those skilled in the art urgently
It solves the problems, such as.
Utility model content
In view of this, the present invention provides a kind of mechanical fingers, to improve the structural reliability of manipulator；This is practical
It is novel to additionally provide a kind of manipulator with above-mentioned mechanical finger.
In order to achieve the above object, the utility model provides the following technical solutions:
A kind of mechanical finger, including metacarpus, the intermediate finger joint being connect with the metacarpus, and it is located at the intermediate finger joint end
Distal end finger joint, the metacarpus include positioned at its actuate inside fixed pedestal and positioned at its actuate outside and drive the centre
The driving device of finger joint rotation；
The first pivotal axis of pivot joint is provided between the inside and the fixed pedestal of the intermediate finger joint；The driving dress
The outside for being connected to the intermediate finger joint is set, when being included in receipts palm movement, drives the intermediate finger joint around first pivotal axis
The receipts of swing slap structure.
Preferably, in above-mentioned mechanical finger, the driving device further includes driving the centre to refer to when the palm acts
Save the palm structure of elastic reset.
Preferably, in above-mentioned mechanical finger, the palm structure of receiving includes being set on the outside of the swing of the intermediate finger joint,
And around the arc guide groove of first pivotal axis arrangement；It is extended with and is fallen in the arc guide groove in the driving device
Drive sliding block.
Preferably, in above-mentioned mechanical finger, receipts palm structure include be set to the driving end of the driving device, and
Around the arc limit slot of first pivotal axis arrangement, it is provided on the outside of the intermediate finger joint and is slid with the arc limit slot
The receipts of cooperation slap sliding block, and the arc limit slot is set as driving the receipts for receiving palm sliding block movement on the inside of its arcuate directions
Slap initial point.
Preferably, in above-mentioned mechanical finger, the palm structure of receiving includes the drive that first end is articulated in the driving device
The second end pivot joint of the driving lever of moved end, the driving lever is connected to first pivotal axis；Described palm structure is connected to described dial
On bar and on the outside of the swing of the intermediate finger joint.
Preferably, it in above-mentioned mechanical finger, is provided on the outside of the swing of the intermediate finger joint, when receiving palm movement and institute
The first end for stating driving lever contacts, and the contact component separated when the palm is acted with the first end of the driving lever.
Preferably, in above-mentioned mechanical finger, described palm structure includes on the outside of the swing of the intermediate finger joint
First return block, the second return block in the driving device, and it is separately connected the first return block and described
Two return blocks simultaneously drag the two elasticity reset device close to each other.
Preferably, in above-mentioned mechanical finger, the elasticity reset device includes being set up in the first return block and institute
State the reset spring between the second return block.
Preferably, in above-mentioned mechanical finger, the driving device is the linear drives being set up on the fixed pedestal
Device；The fixed pedestal is provided with the fixing seat that frame supports the telescopic rod of the linear actuator, institute close to the wrist of the metacarpus
State being arranged on the fixed pedestal for the actuator body slip of linear actuator；The driving sliding block and second time described
Position block is installed in the extension end of the actuator body.
Preferably, in above-mentioned mechanical finger, the driving device is the linear drives being set up on the fixed pedestal
Device；The fixed pedestal is provided with the fixation that frame supports the actuator body of the linear actuator close to the wrist of the metacarpus
Seat, the telescopic rod slip of the linear actuator are arranged on the fixed pedestal；The driving sliding block and described second
Return block is installed in the extension end of the telescopic rod.
Preferably, it in above-mentioned mechanical finger, can offer in the fixing seat along the stretching side of the linear actuator
To the guide slide of arrangement, the end of the telescopic rod is provided with the sliding block with guide slide sliding cooperation, the fixation
It is provided on seat and is connect with the damping sliding block, the resilient supporting unit that the telescopic rod is flexibly supported.
Preferably, it in above-mentioned mechanical finger, is provided between the distal end finger joint and the intermediate finger joint described in being located at
The second pivotal axis of inside is actuated, the driving distal end finger joint is provided on the metacarpus around the remote of second pivot axis
End finger joint actuates structure.
Preferably, in above-mentioned mechanical finger, it includes driving the distal end finger joint around institute that the distal end finger joint, which actuates structure,
State the swing of the second pivotal axis first actuates connecting rod, and the described first first end for actuating connecting rod is provided with and the fixed pedestal pivot
The third pivotal axis connect, the described first second end for actuating connecting rod be provided with be pivotally connected on the outside of the swing of the distal end finger joint the
Four pivotal axis.
Preferably, it in above-mentioned mechanical finger, is provided on the outside of the swing of the distal end finger joint around second pivotal axis
Second arc guide groove of arrangement, the 4th pivotal axis slip are set in second arc guide groove；Described
One actuates and is provided with the dragging distal end finger joint elastic reset between on the outside of the swing of the second end of connecting rod and the distal end finger joint
Second palm structure.
Preferably, in above-mentioned mechanical finger, the third pivotal axis is set to the fixed pedestal close to described first
The inside of pivotal axis.
Preferably, in above-mentioned mechanical finger, the swinging end of the distal end finger joint is provided with tail end finger joint, and the tail end refers to
It is provided between section and the distal end finger joint and is located at the 5th pivotal axis for actuating inside, be provided with drive in the intermediate finger joint
The tail end finger joint that the tail end finger joint is moved around the 5th pivot axis actuates structure.
Preferably, in above-mentioned mechanical finger, it includes driving the tail end finger joint around institute that the tail end finger joint, which actuates structure,
It states the second of Wushu shaft swing and actuates connecting rod, the described second first end for actuating connecting rod is provided with and the intermediate finger joint
Actuate inside be pivotally connected the 6th pivotal axis, the described second second end for actuating connecting rod be provided with outside the swing of the tail end finger joint
7th pivotal axis of side pivot joint.
It preferably, further include being passed for detecting the power for the active force that the driving device is subject in above-mentioned mechanical finger
Sensor.
A kind of manipulator, including manipulator metacarpus and the mechanical finger for being set to the manipulator metacarpus, the manipulator
Refer to be mechanical finger described in upper any one.
Mechanical finger provided by the utility model, driving device are driven through intermediate finger joint first pivot on pedestal of driving
The receipts palm movement of finger is realized in the rotation of shaft, and when the palm acts, driving device is withdrawn, and the end and centre of driving device refer to
The palm structure of the outside setting elastic reset of section, drives intermediate finger joint elasticity to open.It is slapped by the receipts being arranged in driving device
Structure and palm structure, it is convenient to realize actuating for manipulator, structural complexity is reduced, while multiple using the elasticity of intermediate finger joint
The palm structure of position, by the palm structure of elastic reset, is delayed impact when manipulator is by the impact for receiving palm direction
Punching, improves the reliability of its work structuring.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of mechanical finger provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram that mechanical finger receives after the palm in Fig. 1；
Fig. 3 is that mechanical finger is received the structural schematic diagram after palm movement by external force in Fig. 1；
Fig. 4 is the deflector rod structure schematic diagram of mechanical finger provided by the embodiment of the utility model；
Fig. 5 is the structural schematic diagram that mechanical finger is to be resetted after by the external force receipts palm in Fig. 4；
Fig. 6 is the inverted structural schematic diagram of linear actuator of mechanical finger in Fig. 1；
Fig. 7 is distal end finger joint aduncate knot after by external impacts of mechanical finger provided by the embodiment of the utility model
Structure schematic diagram；
Fig. 8 is intermediate finger joint driver elongation end after by external impacts of mechanical finger provided by the embodiment of the utility model
The structural schematic diagram that sliding block A is slided；
Fig. 9 is the structural representation of the manipulator in mechanical finger provided by the embodiment of the utility model with three section finger joints
Figure；
Figure 10 is the structural schematic diagram that mechanical finger receives after the palm in Fig. 9；
Figure 11 is the structural schematic diagram that mechanical finger is received after the palm by external force in Figure 10.
Specific embodiment
The utility model embodiment discloses a kind of mechanical finger, improves the structural reliability of manipulator；This is practical new
Type embodiment additionally provides a kind of manipulator with above-mentioned mechanical finger.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clear, complete description, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1-Figure 3, Fig. 1 is the structural schematic diagram of mechanical finger provided by the embodiment of the utility model；Fig. 2 is figure
Mechanical finger receives the structural schematic diagram after the palm in 1；Fig. 3 is moved to receipts palm position by external force for mechanical finger in Fig. 1 and is shown
It is intended to.
It should be noted that the difference master due in mechanical finger drawing provided in this embodiment, between different drawings
It is different from the connection structure of metacarpus to be embodied in different finger joints, is consequently belonging to identical component, and there is identical linkage function
Component be indicated using identical serial number, illustrate hereby.
The utility model embodiment provides a kind of mechanical finger, the mechanical finger: including metacarpus 101, connecting with metacarpus 101
The intermediate finger joint 3 connect and the distal end finger joint 4 positioned at intermediate 3 end of finger joint, metacarpus 101 include the fixation base that inside is actuated positioned at it
Seat 1 and the driving device 2 for actuating outside positioned at it and intermediate finger joint 3 being driven to rotate；The inside of intermediate finger joint 3 and fixed pedestal 1
Between be provided with the first pivotal axis B of pivot joint；Driving device 2 is connected to the outside of intermediate finger joint 3, when being included in receipts palm movement,
The receipts for driving intermediate finger joint 3 to swing around the first pivotal axis B slap structure, and when the palm acts, and drive intermediate 3 elasticity of finger joint multiple
The palm structure of position.
Manipulator stretches out intermediate finger joint 3 on its metacarpus 101 and distal end finger joint 4, intermediate finger joint 3 are articulated in metacarpus pedestal 1
On, driving device 2 is arranged in the outside that actuates of pedestal 1, and driving device 2 is driven through the intermediate finger joint 3 of driving first on pedestal 1
The receipts palm movement of finger joint is realized in the rotation of pivotal axis B, and when the palm acts, driving device 2 is withdrawn, and the end of driving device 2 is in
Between finger joint 3 outside setting elastic reset palm structure, drive intermediate 3 elasticity of finger joint to open.By being arranged in driving device 2
Receipts palm structure and a palm structure, it is convenient to realize actuating for manipulator, reduce structural complexity, while utilizing intermediate finger joint 3
Elastic reset the palm structure, when manipulator by receive the palm direction impact when, by elastic reset the palm structure, liquidate
It hits and is buffered, improve the reliability of its work structuring.
In one specific embodiment of this case, receiving palm structure includes being set on the outside of the swing of intermediate finger joint 3, and around the first pivot
The arc guide groove 301 of shaft B arrangement；The driving sliding block D fallen in arc guide groove 301 is extended in driving device 2.Receive the palm
In the process, intermediate finger joint 3 drives distal end finger joint 4 to rotate centered on the first pivotal axis B around metacarpus 101, at this time intermediate finger joint 3
Swing on the outside of rotated centered on the first pivotal axis B, swinging track be around the first pivotal axis B circular arc, driving device 2
It offsets on the outside of the swing of intermediate finger joint 3, the swing power of intermediate finger joint 3 is provided.
The arc guide groove 301 around the first pivotal axis B is opened up on the outside of the swing of intermediate finger joint 3, is stretched out in driving device 2
Sliding block D is driven, driving sliding block D and arc guide groove 301 cooperate.The both ends of the guide direction of arc guide groove 301 are respectively set
To offset with driving sliding block D with the first stop for pushing intermediate finger joint 3 to swing, and the stowed position of intermediate finger joint 3 is limited
Second stop of position.
Arc guide groove 301 is respectively set to the first stop of driving sliding block D sliding along the both ends of its radian extending direction
With the second stop, when manipulator is open configuration, driving device 2 is retracted state, driving sliding block D and arc guide groove 301
The first stop offset, driving device 2 movement stretch out, driving sliding block D offset with the first stop, push among finger joint 3 around first
Pivotal axis B is swung, when being rocked to preset receipts palm position, 2 stopping of driving device movement；When manipulator opens, driving device 2
Movement is withdrawn, and driving sliding block D is free to slide in arc guide groove 301, and extreme position is second with arc guide groove 301
Stop offsets, and intermediate finger joint 3 is in the state that freely swings at this time, drives sliding of the sliding block D in arc guide groove 301 will not be right
The swing of intermediate finger joint 3 has an impact.Palm structure is opened at this time to start to intervene work, and intermediate finger joint is dragged by its flexible restoring organ
3 swing opening.It is understood that due to driving sliding block D and arc guide groove 301 only when manipulator is received and is slapped with intermediate finger joint
3 offset, and when manipulator is impacted, intermediate finger joint 3 or distal end finger joint 4 actuate deformation, will not be to the sliding of driving sliding block D
Structure, and the elastic reset structure generation hardness destruction of palm structure is received, improve the stability of manipulator.
In one specific embodiment of this case, receiving palm structure includes being set to the driving end of driving device 2, and pivot around first
The arc limit slot of axis B arrangement, the outside of intermediate finger joint 3, which is provided with, slaps sliding block, arc with the receipts of arc limit slot sliding cooperation
Limiting slot is set as the receipts palm initial point that palm sliding block movement is received in driving on the inside of its arcuate directions.Drive sliding block D and arc-shaped limit
The structure of slot when swinging for intermediate finger joint 3 around pedestal 1, provides the connection structure of intermediate finger joint 3 and pedestal 1 and removes the first pivot
The second of shaft B swings limit, due to being separable driving structure, setting on the outside of the swing of driving device 2 and intermediate finger joint 3
Arc limit slot, it is possible to provide the second supporting point in 3 swing process of pedestal 1 and intermediate finger joint improves the structural stability of swing.
Simultaneously as intermediate 3 swinging track of finger joint is the circular arc around the first pivotal axis B, guide frame, which may be configured as being arranged in centre, to be referred to
Arc guide groove on the outside of the swing of section 3, or it is set to the arc limit slot at the driving end of driving device 2, pass through cunning on the whole
The structure of block and arc guide groove provides the support limit that intermediate finger joint 3 is swung.
More than, the structure of arc limit slot and driving sliding block D is that the driving between driving device 2 and intermediate finger joint 3 slides
Structure, arc limit slot may be disposed at the extension end of driving device 2, also can be set on the outside of the swing of intermediate finger joint 3, the two
Difference be, by driving sliding block D push arc limit slot swing, or by arc limit slot drive driving sliding block D swing,
The exchange of the two swing position is in the range of the application protects.
As shown in Figure 4 and Figure 5, Fig. 4 is the deflector rod structure schematic diagram of mechanical finger provided by the embodiment of the utility model；Figure
5 structural schematic diagrams to be resetted after by the external force receipts palm for mechanical finger in Fig. 4.
In one specific embodiment of this case, receiving palm structure includes the driving lever that first end is articulated in the driving end of driving device 2
The second end pivot joint of 2-3, driving lever 2-3 are connected to the first pivotal axis B；Open the pendulum that palm structure is connected to driving lever 2-3 and intermediate finger joint 3
Dynamic outside.Driving device 2 is when driving intermediate finger joint 3 to act, around the first pivotal axis on the outside of the swing by driving intermediate finger joint 3
B rotation realizes the receipts palm movement to manipulator.Since swinging track is fixation locus on the outside of the swing of intermediate finger joint 3, drive
For dynamic device 2 when driving intermediate finger joint 3 to swing, the track route at driving end is the arc of fixation locus, and driving device is only
Drive actions are carried out when intermediate finger joint 3 rotates and receives the palm, and when the palm acts, intermediate finger joint 3 is carried out by receiving palm structure
It stretches and resets.
Palm structure is elastic reset structure, will a palm structure setting have on the outside of the swing of intermediate finger joint 3 and driving dress
It sets between 2, realizes that the stretching to intermediate finger joint resets automatically by its elastic reset structure.
Use driving lever 2-3 in the structure to offset on the outside of swing arm and the swing of intermediate finger joint 3, the first end of driving lever 2-3 with
The pin-jointed structure of driving device 2, original driving sliding block D cooperated with arc guide groove 301 are converted to swing in the position and pivot
The function of axis (D), the two equally play the function of swinging to the driving of intermediate finger joint 3.
In one specific embodiment of this case, be provided on the outside of the swing of intermediate finger joint 3, when receiving palm movement with driving lever 2-3
First end contact, and the contact component 302 separated in the movement of the palm with the first end of driving lever 2-3.The of driving lever 2-3
One end and driving device 2 are pivotally connected, while the swing outside of itself and intermediate finger joint 3 offsets, and pushes intermediate finger joint 3 around the first pivotal axis
B rotation, the swinging track of intermediate finger joint 3 and the swinging track of driving lever 2-3 are overlapped, in order to improve robot manipulator structure compactedness,
One contact component 302 is set on the outside of the swing of intermediate finger joint 3, and the settable contact component 302 of the first end of driving lever 2-3 is in
Between finger joint 3 cooperate, driving fulcrum is provided, improves driving device to the stability of intermediate 3 driving structure of finger joint.
Specifically, driving device 2 pushes driving lever 2-3 to rotate clockwise during receiving the palm, and driving lever 2-3 pushes contact
Component 302, contact component 302 drive rotating clockwise for intermediate finger joint 3, by the way that driving lever 2-3 is arranged, it is only necessary to driving device 2
Driving route be defined, the wobble drive to intermediate finger joint 3 can be completed.Driving lever 2-3 connection the first pivotal axis B and driving
The driving end of device 2 when driving device acts, constitutes brace and connecting rod framework with driving lever 2-3, intermediate finger joint 3 is pushed to act.
In one specific embodiment of this case, palm structure includes the first return block on the outside of the swing of intermediate finger joint 3,
The second return block in driving device, and be separately connected the first return block and the second return block and drag the two and mutually lean on
Close elasticity reset device 6.When opening palm structure offer manipulator opening, intermediate finger joint 3 swings the reset power of opening.It is driving
The second return block is arranged in the driving end of device 2, and the first return block for swinging outside with intermediate finger joint 3 matches, logical therebetween
Elasticity reset device connection is crossed, pulls intermediate finger joint 3 to swing and resets.
First return block and the second return block are the stretching fulcrum that frame supports elasticity reset device 6.First return block is set as
On the outside of the swing of intermediate finger joint 3, it is preferably arranged to the swing outer rim of intermediate finger joint 3, the second return block can be used driving sliding block D's
Installation site, guarantee elasticity reset device 6 when stretching with the full swing radius for dragging intermediate 3 return of finger joint, in reduction
Between finger joint 3 reset difficulty.
Preferably, elasticity reset device 6 includes the reset spring being set up between the first return block and the second return block.It is multiple
Position spring can be directly connected to the first return block and the second return block, and intermediate finger joint 3 is pulled to be reset to and drive when the palm acts
The extension end of device 2 offsets, and reset spring may be set to be the first back-moving spring individually connecting with the first return block, with
The second back-moving spring of two return blocks connection is arranged independent by the outside of the swing of the intermediate finger joint 3 and extension end of driving device 2
Reset fulcrum, elasticity reset device 6 may be alternatively provided as elastic telescopic band, when manipulator is impacted, intermediate finger joint 3 it is excessive
Swinging can provide damping of shocks energy-absorbing by elasticity reset device, to improve its impact resistance.
In one specific embodiment of this case, driving device 2 is the linear actuator being set up on fixed pedestal；Fixed pedestal
1 close to metacarpus wrist be provided with frame support linear actuator 2 telescopic rod 2-2 fixing seat 1-1, the driving of linear actuator 2
Device ontology 2-1 slip is arranged on fixed pedestal 1；Driving sliding block D and the second return block are installed in actuator body 2-1
Extension end.Driving device is set as linear actuator 2, and fixing seat 1-1 is arranged close to the wrist position of metacarpus in fixed pedestal 1,
Actuator body 2-1 sliding be arranged on fixed pedestal 1, the extension end of actuator body 2-1, by curved slot arrangement (including
Arc limit slot and arc guide groove in above structure) carry out swing limit, can also by the structure hinged with driving lever, with
Intermediate finger joint 3 constitutes crank block slider structure, guarantees in driving device telescopic process, and the swinging end for meeting intermediate finger joint 3 forms circle
Arc drives track.
As shown in fig. 6, Fig. 6 is the linear actuator inverted structure schematic diagram of mechanical finger in Fig. 1.
In one specific embodiment of this case, driving device 2 is the linear actuator being set up on fixed pedestal 1；Fixed base
Seat 1 is provided with the fixing seat 1-1 of the actuator body 2-1 of frame support linear actuator 2, linear drives close to the wrist of metacarpus 101
The telescopic rod 2-2 slip of device 2 is arranged on fixed pedestal 1；Driving sliding block D and the second return block are installed in telescopic rod 2-
2 extension end.Linear actuator may be configured as the positive mounting structure for driving intermediate finger joint 3 to rotate by actuator body 2-1,
The reversed mounting structure to drive intermediate finger joint 3 to rotate by telescopic rod 2-2 can be set, forward or backwards arragement construction, with
The rotation difficulty for not increasing intermediate finger joint 3 is preferred.
In one specific embodiment of this case, leading along the stretching direction of linear actuator 2 arrangement is offered on fixing seat 1-1
To slideway 1-2, the end of telescopic rod 2-2 is provided with to be set on damping the sliding block A, fixing seat 1-1 of guide slide 1-2 sliding cooperation
It is equipped with and is connect with damping sliding block A, the resilient supporting unit 10 that telescopic rod 2-2 is supported.Manipulator is preceding when being impacted
End finger joint structure is force side, and finger joint is hit to the movement of palm direction is received, and impact force is transferred to linear drives by intermediate finger joint 3
Device 2, the impact of moment can be transferred to it by the driving end of linear actuator 2 and be fixedly mounted with end.
By opening up the guide slide 1-2 for stretching out direction arrangement along linear actuator 2, telescopic rod on fixing seat 1-1
The end of 2-2 slides cooperation by damping sliding block A in guide slide 1-2, so that the fixing end of linear actuator 2 is slideably
It is connect with firm banking 1, meanwhile, it avoids in 2 course of normal operation of linear actuator, linear actuator 2 is in guide slide 1-2
Swing cause the stability of linear actuator 2 low, the end of telescopic rod 2-2 is carried out by elastic branch by resilient supporting unit 10
Support, the sliding when being impacted, by resilient supporting unit 10 to telescopic rod 2-2 end damping sliding block A on guide slide 1-2
Carry out elastic buffer.Specifically, resilient supporting unit 10 is to draw in fixing seat 1-1 far from one end setting elasticity of telescopic rod 2-2
Device is stretched, is connect, specifically be may be connected directly on damping sliding block A with the end of telescopic rod 2-2 by elastic stretching device, elasticity is drawn
Device is stretched to offset to damping sliding block A dragging and one end of guide slide 1-2, when manipulator is impacted, linear actuator 2 by
Intermediate finger joint 3 drags, and then the telescopic end of linear actuator 2 is driven to slide reduction impact in guide slide 1-2, and normal
When receiving the palm and opening palm movement, the end of telescopic rod 2-2 and the distal end of guide slide 1-2 offset, and guarantee that supporting structure of telescopic rod is steady
It is qualitative.
Certainly, resilient supporting unit 10 may be set to be the elastic compression device close to telescopic rod one end, be pressed by elasticity
Damping sliding block A is pushed to the one end of guide slide 1-2 far from telescopic rod 2-2 and passes through telescopic rod when being impacted by compression apparatus
2-2 drives damping sliding block A to squeeze elastic compression device, provides the support in impact to manipulator.
Damping sliding block A effect with driving sliding block D effect be equal, can be arranged simultaneously on mechanical finger damping sliding block A with
The driving structure for driving sliding block D can also be independently arranged driving sliding block D structure, to improve the cushioning ability of mechanical finger.
Guide slide 1-2 includes two column guide slides being arranged in juxtaposition, telescopic rod 2-2 be located at two column guide slide 1-2 it
Between, damping sliding block A includes two cooperated respectively with two column guide slide 1-2 sliding, to improve telescopic rod 2-2 securing structure
Stability.Elastic stretching device is extension spring, and end and the telescopic rod 2-2 of fixing seat 1-1 are separately connected by extension spring
Fixing end, and damping sliding block A on telescopic rod 2-2 and guide slide 1-2 is pulled to stretch out the one of direction far from linear actuator 2
The end of side offsets.
As shown in Figure 7 and Figure 8, Fig. 7 is that the distal end finger joint of mechanical finger provided by the embodiment of the utility model is rushed by external force
Hit rear aduncate structural schematic diagram；Fig. 8 is the intermediate finger joint of mechanical finger provided by the embodiment of the utility model by external force
The structural schematic diagram that damping sliding block A slides after impact.
In Fig. 7, manipulator is opened hand under state normally, and distal end finger joint 4 is unfolded state, opposite palm when being hit
Portion 101 bends inwards, and the moment that the impact of distal end finger joint 4 is swung drags the extension spring instantaneous deformation in second palm structure 7,
Deformation to metacarpus is caused by the impact that the second Zhang Zhang mechanism 7 reduces distal end finger joint 4, to improve to intermediate finger joint 3 and metacarpus
The protective capacities of linear actuator on 101.
When the impact of manipulator acts on intermediate finger joint 3, the elasticity of 3 swing position of linear actuator and intermediate finger joint is multiple
When the deformation of position 6 inner tensile spring of device is not enough to be completely counterbalanced by the impact that it is subject to, in order to avoid to linear actuator
Tensile failure acts on the temporary impact on fixed pedestal 1 by linear actuator, can be slided by elastic stretching device and guiding
The sliding fit structure of slot 1-2 reduces impact and impacts to the hardness of linear actuator, and then improves the shock resistance energy of manipulator
Power.
Certainly, the weaker occasion of shock environment is applied to for manipulator, can be driven by change fixing seat 1-1 and straight line
The structure of dynamic device improves the structural stability of manipulator, can pass through elastic stretching device between fixing seat 1-1 and telescopic rod 2-2
Elastic connection way is installed, and can also be supported by the fixed mounting structure in position.
In mechanical finger as shown in Figure 4 and Figure 5, pass through fixed pivotal axis A- between fixing seat 1-1 and telescopic rod 2-2
1 is supported, at this time pivotal axis A-1 only to telescopic rod 2-2 be supported and linear actuator telescopic process in act on pivot
The driving torque of the position shaft A-1, pivotal axis A-1 will not play pooling feature, so when finger joint receives impact to impact at this time
And the pivotal axis A-1 of position is fixed, mounting structure is more stable, can avoid the bullet of elastic stretching device after prolonged use
Property failure cause the finger joint of manipulator to occur shaking or the problem of restoration unfulfillment.
As Figure 9-Figure 11, Fig. 9 is the machine in mechanical finger provided by the embodiment of the utility model with three section finger joints
The structural schematic diagram of tool hand；Figure 10 is the structural schematic diagram that mechanical finger receives after the palm in Fig. 9；Figure 11 be Figure 10 in mechanical finger by
External force receives the structural schematic diagram after the palm.
Mechanical finger shown in Fig. 9-Figure 11, the location arrangements structure and above-mentioned implementation of intermediate finger joint 3 and distal end finger joint 4
The finger joint arrangement of mechanism structure provided in example is identical, therefore no longer carries out table with the drawing of the rigid connection structure between finger joint
Show, the component with identical set position and function is indicated with identical serial number, is illustrated hereby.
In one specific embodiment of this case, it is provided between distal end finger joint 4 and intermediate finger joint 3 and is located at second on the inside of actuating
Pivotal axis C is provided with driving distal end finger joint 4 on metacarpus 101 around the distal end finger joint that the second pivotal axis C is rotated and actuates structure.Distally
Finger joint 4 and intermediate finger joint 3 are pivotally connected by the second pivotal axis C, the second pivotal axis C is located at distal end finger joint 4 and centre finger joint 3 connects position
The inside set, during actuating, the outside of distal end finger joint 4 is swung manipulator around the second pivotal axis C.It is arranged on metacarpus 101 remote
End finger joint actuates structure, when intermediate finger joint 3 carries out actuating movement, actuates structure, synchronous driving distal end finger joint 4 by distal end finger joint
It is rotated around the second pivotal axis C.
In one specific embodiment of this case, it includes that driving distal end finger joint 4 is put around the second pivotal axis C that distal end finger joint, which actuates structure,
Dynamic first actuates connecting rod 5, and the first first end for actuating connecting rod 5 is provided with the third pivotal axis E being pivotally connected with fixed pedestal 2, the
One second end for actuating connecting rod 5 is provided with the 4th pivotal axis F with pivot joint on the outside of the swing of distal end finger joint 4.Distal end finger joint 4 passes through
First actuates the driving of connecting rod 5, and first actuates the first end of connecting rod 5 and the pivot joint of fixed pedestal 1, second end and distal end finger joint 4
Outside pivot joint is swung, since the inside that actuates of intermediate finger joint 3 is installed on fixed pedestal 1 by the first pivotal axis B, first is pivoted
Distance among axis B and the second pivotal axis C is fixed, and third pivotal axis E and the position of the first pivotal axis B are relatively fixed, therefore in
Between finger joint 3 swing dragging first actuate connecting rod 5 swing when, can through the 4th pivotal axis F drive distal end finger joint 4 outside actuate it is dynamic
Make.
Preferably, third pivotal axis E is set to fixed pedestal 1 close to the inside of the first pivotal axis B.By being pivoted to first
The adjustment of axis B and the second pivotal axis location of C is arranged, the swing of intermediate finger joint 3, and dragging first is actuated the driving of connecting rod 5 and is distally referred to
The amplitude of fluctuation of section 4, by third pivotal axis E setting fixed pedestal 1 close to the inside of the first pivotal axis B so that distal end finger joint 4 with
The movement of intermediate finger joint 3 is servo-actuated, and is easily achieved the control of amplitude of fluctuation.
In one specific embodiment of this case, the around the second pivotal axis C arrangement is provided on the outside of the swing of distal end finger joint 4
Two arc guide grooves 401, the 4th pivotal axis F slip are set in the second arc guide groove 401；First actuates connecting rod 5
Second palm structure 7 of dragging 4 elastic reset of distal end finger joint is provided between on the outside of the swing of second end and distal end finger joint 4.It is logical
Cross the distal end finger joint in distal end finger joint 4 and the intermediate setting of finger joint 3 with the second arc guide groove 401 and second palm structure 7
Structure is actuated, the second arc guide groove 401 is set on the outside of the swing of distal end finger joint 4, first actuates connecting rod 5 pivots by the 4th
Axis F slides in the second arc guide groove 401, and the second arc guide groove 401 includes actuating connecting rod 5 by first to abut promotion distal end
The first stop that finger joint 4 is rotated around the second pivotal axis C is arranged on the second arc guide groove 401 and keeps away when distal end finger joint 4 is opened
Exempt from the 4th pivotal axis F by the second stop skidded off in it, the swing outside of the 4th pivotal axis F and distal end finger joint 4 passes through second
Structure connection is slapped, when the 4th pivotal axis F slides in the second arc guide groove 401, distal end finger joint 4 is pulled by second palm structure
Distally the opening direction of finger joint 4, which is swung, resets.Specifically, second palm structure 7 is the 4th pivotal axis F of connection and distally refers to
Extension spring or elastic stretching band on the outside of the swing of section 4.
In one specific embodiment of this case, the swinging end of distal end finger joint 4 is provided with tail end finger joint 9, tail end finger joint 9 and distal end
It is provided with the 5th pivotal axis G for being located at and actuating inside between finger joint 4, driving tail end finger joint 9 is provided in intermediate finger joint 3 around the 5th
The tail end finger joint of pivotal axis G rotation actuates structure.For the simulation capacity for further increasing manipulator, the end of finger joint 4 in distal end
Tail end finger joint 9 is set, and with the swing of distal end finger joint 4, tail end finger joint 9, which synchronizes, to be actuated.Tail end finger joint 9 and distal end finger joint 4 are in machinery
Hand actuate inside by the 5th pivotal axis G it is hinged.Pass through tail end finger joint actuating mechanism, during finger joint 4 actuates in distal end, band
Dynamic tail end finger joint actuates structure and is acted, so that tail end finger joint 9 has independent swinging structure.
Specifically, it includes second company of actuating for driving tail end finger joint 9 to swing around the 5th pivotal axis G that tail end finger joint, which actuates structure,
Bar 8, the second first end for actuating connecting rod 8 are provided with the 6th pivotal axis I for actuating inside and being pivotally connected with intermediate finger joint 3, and second receives
The second end for opening connecting rod 8 is provided with the 7th pivotal axis H being pivotally connected with the swing of tail end finger joint 9 outside.Actuating for tail end finger joint 9 is logical
It crosses second and actuates the driving of connecting rod 8, the second first end for actuating connecting rod 8 is articulated in actuating for intermediate finger joint 3 by the 6th pivotal axis I
Inside, the inside that is located proximate to intermediate finger joint 3 of the position compared with the second pivotal axis C, for the ease of the installation of the 6th pivotal axis I,
The erecting bed that frame support second actuates connecting rod 8 can be set in intermediate finger joint 3.Second second end for actuating connecting rod 8 passes through the 7th pivot
It is connect on the outside of shaft H and the swing of distal end finger joint 9, since the position of the second pivotal axis C and the 6th pivotal axis I is relatively fixed, the
The position of two pivotal axis C and the 5th pivotal axis G is relatively fixed, therefore when the swing of distal end finger joint 4, and second, which will actuate connecting rod 8, to push
It withdraws or opens on the outside of the swing of distal end finger joint 9.
The swing driving mechanism of intermediate finger joint 3 and distal end finger joint 4, the wobble drive with fixed pedestal 1 and intermediate finger joint 3
Structure is close, is to constitute double leval jib driving structure by actuating connecting rod, realizes and actuate drive to tail end finger joint or tail end finger joint
It is dynamic.
Similarly, the structure that the driving of connecting rod 8 actuates swing is actuated by second between distal end finger joint 4 and tail end finger joint 9, together
Sample can be set to cooperate with aforementioned arc guide groove and drive block, and flexible resetting apparatus stretches the structure to automatically reset,
To further increase the impact resistance of tail end finger joint, details are not described herein again.
It further include the force snesor for detecting the active force that driving device is subject in one specific embodiment of this case.When
When tail end finger joint 9, distal end finger joint 4 or intermediate finger joint 3 are by external impacts, impact force is transmitted to driving device 2, is sensed by power
Device inspecting manipuator refers to the impact force being subject to, and detects to the stress condition of mechanical finger.Driving device 2 is linear drives
Device, force snesor may be disposed on the actuator body 2-1 of linear actuator, and the telescopic rod in linear actuator also can be set
The extension end of 2-2.
The mechanical finger provided in based on the above embodiment, the utility model embodiment additionally provide a kind of manipulator, should
Manipulator includes manipulator metacarpus and the mechanical finger for being set to manipulator metacarpus, which is to provide in above-described embodiment
Mechanical finger.
Since the manipulator uses the mechanical finger of above-described embodiment, so the manipulator is had by mechanical finger bring
Beneficial effect please refers to above-described embodiment.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (19)
1. a kind of mechanical finger, including metacarpus, the intermediate finger joint being connect with the metacarpus, and positioned at the intermediate finger joint end
Distal end finger joint, which is characterized in that the metacarpus includes actuating the fixed pedestal of inside positioned at it and actuating outside positioned at it and drive
Move the driving device of the intermediate finger joint rotation；
The first pivotal axis of pivot joint is provided between the inside and the fixed pedestal of the intermediate finger joint；The driving device connects
It is connected to the outside of the intermediate finger joint, when being included in receipts palm movement, the intermediate finger joint is driven to swing around first pivotal axis
Receipts slap structure.
2. mechanical finger according to claim 1, which is characterized in that the driving device further include in the movement of the palm,
Drive the palm structure of the intermediate finger joint elastic reset.
3. mechanical finger according to claim 2, which is characterized in that the receipts palm structure includes being set to the centre to refer to
On the outside of the swing of section, and around the arc guide groove of first pivotal axis arrangement；It is extended in the driving device described in falling within
Driving sliding block in arc guide groove.
4. mechanical finger according to claim 2, which is characterized in that the receipts palm structure includes being set to the driving dress
The driving end set, and be provided with around the arc limit slot of first pivotal axis arrangement, on the outside of the intermediate finger joint with it is described
The receipts of arc limit slot sliding cooperation slap sliding block, and the arc limit slot is set as driving the receipts on the inside of its arcuate directions
The receipts for slapping sliding block movement slap initial point.
5. mechanical finger according to claim 2, which is characterized in that the receipts palm structure includes described in first end is articulated in
The second end pivot joint of the driving lever at the driving end of driving device, the driving lever is connected to first pivotal axis；Described palm structure
It is connected on the outside of the swing of the driving lever and the intermediate finger joint.
6. mechanical finger according to claim 5, which is characterized in that it is provided on the outside of the swing of the intermediate finger joint,
It contacts when receiving palm movement with the first end of the driving lever, and is connect when the palm is acted with what the first end of the driving lever separated
Contact portion part.
7. mechanical finger according to claim 3, which is characterized in that described palm structure includes being located at the intermediate finger joint
Swing on the outside of the first return block, the second return block in the driving device, and being separately connected described first time
Position block and the second return block simultaneously drag the two elasticity reset device close to each other.
8. mechanical finger according to claim 7, which is characterized in that the elasticity reset device includes being set up in described the
Reset spring between one return block and the second return block.
9. mechanical finger according to claim 7, which is characterized in that the driving device is to be set up in the fixed pedestal
On linear actuator；The fixed pedestal is provided with the telescopic rod that frame supports the linear actuator close to the wrist of the metacarpus
Fixing seat, the actuator body slip of the linear actuator is arranged on the fixed pedestal；The driving sliding block
The extension end of the actuator body is installed in the second return block.
10. mechanical finger according to claim 7, which is characterized in that the driving device is to be set up in the fixed base
Linear actuator on seat；The fixed pedestal is provided with the driving that frame supports the linear actuator close to the wrist of the metacarpus
The fixing seat of device ontology, the telescopic rod slip of the linear actuator are arranged on the fixed pedestal；The driving is slided
Block and the second return block are installed in the extension end of the telescopic rod.
11. mechanical finger according to claim 9, which is characterized in that offer in the fixing seat and driven along the straight line
The guide slide for stretching out direction arrangement of dynamic device, the end of the telescopic rod is provided with to be subtracted with what guide slide sliding cooperated
Sliding block is shaken, is provided in the fixing seat and is connect with the damping sliding block, the elasticity flexibly supported to the telescopic rod is propped up
Support arrangement.
12. mechanical finger according to claim 4, which is characterized in that between the distal end finger joint and the intermediate finger joint
It is provided with and is located at second pivotal axis for actuating inside, the driving distal end finger joint is provided on the metacarpus around described second
The distal end finger joint of pivot axis actuates structure.
13. mechanical finger according to claim 12, which is characterized in that it includes driving institute that the distal end finger joint, which actuates structure,
State distal end finger joint and first actuate connecting rod around what second pivotal axis was swung, the described first first end for actuating connecting rod be provided with
The third pivotal axis of the fixed pedestal pivot joint, the described first second end for actuating connecting rod are provided with the pendulum with the distal end finger joint
The 4th pivotal axis that dynamic outside is pivotally connected.
14. mechanical finger according to claim 13, which is characterized in that be provided on the outside of the swing of the distal end finger joint around
Second arc guide groove of the second pivotal axis arrangement, second arc that is set to of the 4th pivotal axis slip are led
Into slot；Described first actuates and is provided with the dragging distal end between on the outside of the swing of the second end of connecting rod and the distal end finger joint
Second palm structure of finger joint elastic reset.
15. mechanical finger according to claim 13, which is characterized in that the third pivotal axis is set to the fixed base
Seat against the inside of nearly first pivotal axis.
16. mechanical finger according to claim 13, which is characterized in that the swinging end of the distal end finger joint is provided with tail end
Finger joint is provided between the tail end finger joint and the distal end finger joint and is located at the 5th pivotal axis for actuating inside, it is described in
Between be provided with the driving tail end finger joint in finger joint and actuate structure around the tail end finger joint of the 5th pivot axis.
17. mechanical finger according to claim 16, which is characterized in that it includes driving institute that the tail end finger joint, which actuates structure,
State tail end finger joint and actuate connecting rod around the second of the Wushu shaft swing, the described second first end for actuating connecting rod be provided with
The 6th pivotal axis for actuating inside and being pivotally connected of the intermediate finger joint, the described second second end for actuating connecting rod are provided with and the tail
Hold the 7th pivotal axis being pivotally connected on the outside of the swing of finger joint.
18. mechanical finger described in any one of -17 according to claim 1, which is characterized in that further include for detecting the drive
The force snesor for the active force that dynamic device is subject to.
19. a kind of manipulator, including manipulator metacarpus and the mechanical finger for being set to the manipulator metacarpus, which is characterized in that
The mechanical finger is the mechanical finger as described in any one of claim 1-18.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821233875.6U CN208697453U (en) | 2018-08-01 | 2018-08-01 | Mechanical finger and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821233875.6U CN208697453U (en) | 2018-08-01 | 2018-08-01 | Mechanical finger and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208697453U true CN208697453U (en) | 2019-04-05 |
Family
ID=65940285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821233875.6U Withdrawn - After Issue CN208697453U (en) | 2018-08-01 | 2018-08-01 | Mechanical finger and manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN208697453U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673540A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
-
2018
- 2018-08-01 CN CN201821233875.6U patent/CN208697453U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673540A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
| WO2020024729A1 (en) * | 2018-08-01 | 2020-02-06 | 北京因时机器人科技有限公司 | Mechanical finger and mechanical hand |
| CN108673540B (en) * | 2018-08-01 | 2024-07-02 | 北京因时机器人科技有限公司 | Mechanical finger and mechanical arm |
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