CN211639954U

CN211639954U - Robot palm with bendable motion fingers

Info

Publication number: CN211639954U
Application number: CN201922437594.3U
Authority: CN
Inventors: 郭志坚; 李正
Original assignee: Shenzhen Cityeasy Technology Co ltd
Current assignee: Shenzhen Cityeasy Technology Co ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-10-09
Anticipated expiration: 2029-12-30

Abstract

The utility model relates to a robot palm with flexible motion finger, include the motor, establish pull rod on the motor, fix wire rope on the pull rod, fix palm portion on the motor and fixing finger on the palm portion, the finger is including fixing five metals support in the palm portion, fixing plastic inner cup on the five metals support and fixing plastic enclosing cover on the five metals support, the finger has two at least joints, wire rope is fixed in the free end of finger, the motor passes through the seesaw pulling of pull rod wire rope seesaw, wire rope's seesaw drives the finger winds the joint is crooked, have the messenger on the finger the structure that blocks of bending towards the unilateral, the utility model discloses a robot palm with flexible motion finger's simple structure, the finger that has flexible motion, The weight is lighter, the transmission efficiency is high, and the manufacturing cost is low.

Description

Robot palm with bendable motion fingers

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot palm with flexible motion finger.

Background

The traditional robot fingers are mostly directly driven by the motors, the power density ratio of the traditional motors is reduced rapidly along with the reduction of the volume of the motors, and therefore the transmission error and the friction force of the robot fingers applying the traditional motors are increased. Meanwhile, the multi-degree-of-freedom movement of the robot finger is realized by adopting the direct drive of the motor, and multi-motor linkage is required, so that the weight of the robot finger is greatly increased, the safety is reduced to a certain degree, in addition, the transmission mechanism is also complicated, the light and flexible performance requirements cannot be met, and the manufacturing and using cost of the robot finger driven by the transmission motor is greatly increased due to the complicated structure and devices. The robot fingers sold in the market at present are basically directly driven by motors, and the robot fingers directly driven by the motors have larger defects in weight, volume, flexibility and flexibility.

SUMMERY OF THE UTILITY MODEL

To the not enough of existence on the prior art, the utility model provides a simple structure, quality are lighter and the transmission efficiency is high, low in manufacturing cost's robot finger of flexible motion.

In order to achieve the above object, the present invention can be realized by the following technical solutions: the utility model provides a robot palm with flexible motion finger, includes the motor, establishes pull rod on the motor, fix wire rope on the pull rod, fix palm portion on the motor and fixing finger in the palm portion, the finger is including fixing five metals support in the palm portion, fix plastic inner shell on the five metals support and fixing plastic shell on the five metals support, the finger has two at least joints, wire rope is fixed in the free end of finger, the motor passes through the seesaw pulling of pull rod wire rope seesaw, wire rope's seesaw drives the finger winds the joint is crooked, it makes to have on the finger the crooked structure that blocks of finger orientation unilateral.

Further: the fingers comprise a thumb and four fingers, the four fingers comprise an index finger, a middle finger, a ring finger and a little finger, the four fingers are provided with three joints, and the thumb is provided with two joints.

Further: the four fingers include a first joint, a second joint, and a third joint, the first joint being pivotable relative to the palm portion, the second joint being pivotable relative to the first joint, the third joint being pivotable relative to the second joint, the first joint being proximate to the palm portion and the third joint being distal from the palm portion.

Further: the plastic inner shell is arranged at the mutual pin joint positions of the first joint, the second joint and the third joint, the plastic inner shell is arranged at intervals, and the plastic outer shell is positioned at the intervals of the plastic inner shell.

Further: hardware support is including fixing the first support of palm portion, with the second support of first support pin joint, with the third support of second support pin joint and with the fourth support of third support pin joint, wire rope fixes on the fourth support.

Further: the pin joint department of five metals support has the pin joint hole, the plastic inner shell through first fastener with the cooperation in pin joint hole is installed on the five metals support.

Further: the pin joint department of five metals support has platform portion, the plastic inner shell with the position department that corresponds of platform be equipped with platform portion complex plane portion, the backward pulling wire rope, five metals support orientation is kept away from the plastic inner shell plane portion is crooked, platform portion with plane portion constitutes block the structure.

Further: the utility model provides a robot palm has relative dorsal part and the palm side that sets up with flexible motion finger, the pin joint department of five metals support is close to the dorsal part and is equipped with platform portion, the plastic inner shell with platform portion's corresponding position department be equipped with platform portion complex plane portion stimulates backward wire rope, five metals support orientation palm side bending, platform portion with plane portion constitutes block the structure.

Further: be equipped with on the five metals support fixedly the boss of plastic shell, the boss pass through the second fastener with plastic shell installation cooperation.

Further: the robot palm with the bendable moving fingers further comprises a cover body buckled on the buckling part, and the plastic shell is fixed with the cover body through screws.

Compared with the prior art, the utility model discloses a robot palm with flexible motion finger has following advantage at least:

(1) the robot palm with flexible motion finger is provided with pull rod and wire rope, and wire rope fixes at the free end of finger, and motor drive pull rod seesaw, and then drives the wire rope seesaw of fixing on the pull rod, and the finger has two at least joints, can realize the crooked and the extension motion of finger through the drive of pull rod, and transmission efficiency is high.

(2) The motor drives the steel wire rope to move back and forth, so that the fingers are driven to bend around the joints, the blocking structures are arranged on the fingers, when the pull rod pulls the steel wire rope, the fingers bend towards one side and cannot bend towards the other side, so that unilateral bending is realized, the fingers can be bent flexibly and conveniently, the structure is simple, and the manufacturing cost is reduced.

(3) The finger includes five metals support, plastic inner shell and plastic shell, through the use of five metals support and plastic casing, has simplified loaded down with trivial details transmission structure, simple structure, and drives the finger through simple mechanism and crooked, and transmission efficiency is high to through the cladding of plastic material in the outside of five metals support, make the whole quality of palm lighter.

Drawings

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments;

fig. 1 is a schematic diagram of a robot palm with bendable fingers according to the present invention;

fig. 2 is another schematic view of a robot palm with bendable fingers according to the present invention;

FIG. 3 is a schematic view of the hardware bracket of the present invention;

FIG. 4 is a schematic cross-sectional view of the hardware bracket of the present invention;

FIG. 5 is a schematic view of the plastic inner shell mounted on the hardware bracket of the present invention;

FIG. 6 is a partial schematic view of a finger according to the present invention;

FIG. 7 is a schematic view of a partial cross-section of a finger according to the present invention;

fig. 8 is a schematic sectional view of the finger according to the present invention.

Description of reference numerals: 1. a motor; 2. a pull rod; 21. a rotating part; 22. a connecting portion; 23. fixing grooves; 3. a wire rope; 31. a first wire rope; 311. a head portion; 32. a second wire rope; 4. a palm portion; 40. A main body portion; 41. an installation part; 42. a thumb portion; 43. four fingers; 5. a finger; 51. a hardware support; 511. a first bracket; 512. a second bracket; 5121. a first boss; 5122. a first perforation; 5123. a first platform section; 513. a third support; 5131. a second boss; 5132. a second perforation; 5133. a second platform section; 514. a fourth bracket; 5141. a snap-in hole; 515. a fastening part; 52. a first plastic housing; 521. A first knuckle; 522. a second knuckle; 5221. a first retaining part; 5222. a second chucking part; 5223. a third holding section; 5224. a fourth chucking part; 523. a third knuckle; 53. a first plastic inner shell; 531. a first curved housing; 532. a second curved housing; 5321. a planar portion; 5322. a bending space; 533. a third curved housing; 54. a second plastic housing; 541. a first thumb joint; 542. a second thumb joint; 55. a second plastic inner shell; 551. a proximal curved housing; 552. a distal curved housing; 56. a cover body; 561. screw holes; 562. a boss portion; 57. a first pivot hole; 58. a second pivot hole; 59. a third pivot hole; 6. A first fastener; 7. a second fastener.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

As shown in fig. 1 to 8, it shows the utility model discloses a robot palm with flexible motion finger, including motor 1, establish pull rod 2 on motor 1, fix wire rope 3 on pull rod 2, fix palm 4 on motor 1 and fix finger 5 on palm 4, finger 5 is including fixing five metals support 51 on palm 4, fix the plastic inner cup on five metals support 51 and fix the plastic enclosing cover on five metals support 51, finger 5 has two at least joints, wire rope 3 is fixed in the free end of finger 5, motor 1 passes through pull rod 2's seesaw and stimulates wire rope 3 seesaw, wire rope 3's seesaw drives finger 5 and is crooked around the joint, have on the finger 5 and make finger 5 towards the crooked structure that blocks of unilateral.

The robot palm with flexible motion finger is provided with pull rod 2 and wire rope 3, and wire rope 3 is fixed at the free end of finger 5, and motor 1 drive pull rod 2 seesaw, and then drives the wire rope 3 seesaw of fixing on pull rod 2, and finger 5 has two at least joints, can realize the crooked and the extension motion of finger 5 through the drive of pull rod 2, and transmission efficiency is high. Motor 1 drive wire rope 3's seesaw, and then drive finger 5 around the joint bending, have the structure that blocks on the finger 5, can be so that pull rod 2 when drawing wire rope 3, finger 5 is towards one side bending, and can not be towards the opposite side bending, and then realize the unilateral bending, can make the finger nimble convenient and simple structure, reduced manufacturing cost. Finger 5 includes five metals support 51, plastic inner shell and plastic shell, through the use of five metals support 51 and plastic casing, has simplified loaded down with trivial details transmission structure, simple structure, and drives finger 5 crooked through simple mechanism, and transmission efficiency is high to through the plastic material cladding in the outside of five metals support 51, make the whole quality of palm lighter.

Referring to fig. 1-2, the pull rod 2 includes a connecting portion 22 fixed on the motor 1 and capable of rotating around the rotating portion 21, a fixing groove 23 for fixing the steel wire rope 3 is formed in the connecting portion 22, the motor 1 drives the connecting portion 22 to move back and forth, the steel wire rope 3 is fixed on the fixing groove 23 of the connecting portion 22, the steel wire rope 3 is driven to move back and forth, the back and forth movement of the steel wire rope 3 drives the finger 5 to bend and straighten, and the structure is simple and the transmission efficiency is high.

The palm portion 4 is connected between the fingers 5 and the motor 1, and the palm portion 4 includes a main body portion 40 in a flat plate shape, a mounting portion 41 extending rearward from the main body portion 40 and fixed to the motor 1, a thumb portion 42 extending forward and outward from the main body portion 40, and four finger portions 43 extending forward from the main body portion 40 and spaced apart from the thumb portion 42. The fingers 5 comprise a thumb and four fingers, the four fingers comprise an index finger, a middle finger, a ring finger and a little finger, the four fingers are provided with three joints, and the thumb is provided with two joints. The thumb is fixedly connected to thumb portion 42 and the four fingers are fixedly connected to four finger portion 43. The steel wire rope 3 comprises a first steel wire rope 31 connected with the four fingers and a second steel wire rope 32 connected with the thumb, and the free ends of the first steel wire rope 31 and the second steel wire rope 32 are provided with heads 311. The diameter of the head 311 is larger than the diameters of the first wire rope 31 and the second wire rope 32, so that the wire rope 3 can be fixed on the hardware bracket 51 more easily. The inner plastic thumb shell comprises a proximal curved shell 551 and a distal curved shell 552, and the outer plastic thumb shell comprises a first thumb joint 541 and a second thumb joint 542, the first thumb joint 541 being located between the proximal curved shell 551 and the distal curved shell 552.

The utility model provides a robot palm has the dorsal part and the palm side of relative setting with flexible motion finger, and the pin joint department of five metals support 51 is close to the dorsal part side and is equipped with platform portion, and the plastic inner shell is equipped with platform portion complex plane portion with platform portion's the position department that corresponds, backward pulling wire rope 3, and five metals support 51 is crooked towards palm portion, and platform portion and plane portion constitute and block the structure.

The four fingers include a first joint, a second joint, and a third joint, the first joint being pivotable relative to the palm portion 4, the second joint being pivotable relative to the first joint, the third joint being pivotable relative to the second joint, the first joint being proximate to the palm portion 4 and the third joint being distal from the palm portion 4. The plastic inner shell is arranged at the pivoting positions of the first joint, the second joint and the third joint, the plastic inner shell is arranged at intervals, and the plastic outer shell is positioned at the intervals of the plastic inner shell.

Referring to fig. 3-8, the hardware support 51 includes a first support 511 fixed to the palm portion 4, a second support 512 pivoted to the first support 511, a third support 513 pivoted to the second support 512, and a fourth support 514 pivoted to the third support 513, and the wire rope 3 is fixed to the fourth support 514. The hardware support 51 is provided with a boss for fixing the plastic shell, the boss is provided with a through hole, the boss is matched with the plastic shell through the second fastener 7, in this embodiment, for example, the back side of the hand of the second support 512 is provided with a first boss 5121 extending outwards, the first boss 5121 is provided with a first through hole 5122, the back side of the hand of the second support 512 is provided with a second boss 5131 extending outwards, the second boss 5131 is provided with a second through hole 5132, the first boss 5121 and the second boss 5131 are both arranged to be matched with the plastic shell in an aligned connection manner, the first boss 5121 and the second boss 5131 are matched with the first through hole 5131, the second through hole 5132 and the second fastener 7 arranged thereon, so that the plastic shell is fixedly connected to the hardware support 51, which is beneficial to simplifying the structure and improving the connection stability. The pivot joint of the hardware support 51 is provided with a pivot joint hole, and the plastic inner shell is mounted on the hardware support 51 through the matching of the first fastener 6 and the pivot joint hole. The first support 511 is fixed on the palm portion 4 by screws, specifically, a first pivot hole 57 is provided between the first support 511 and the second support 512, a second pivot hole 58 is provided between the second support 512 and the third support 513, and a third pivot hole 59 is provided between the third support 513 and the fourth support 514.

The plastic inner housing includes a first curved housing 531 fixed to the first and

second brackets

511 and 512, a second curved housing 532 fixed to the second and

third brackets

512 and 513, and a third curved housing 533 fixed to the third and

fourth brackets

513 and 514. The plastic inner shell is matched with the first pivot hole 57 through a screw or a bolt to fixedly connect the first bent shell 531 to the first support 511 and the second support 512, is matched with the second pivot hole 58 through a screw or a bolt to fixedly connect the second bent shell 532 to the second support 512 and the third support 513, and is matched with the third pivot hole 59 through a screw or a bolt to fixedly connect the third bent shell 533 to the third support 513 and the fourth support 514.

The plastic housing includes a first knuckle 521 fixed on the second bracket 512, a second knuckle 522 fixed on the third bracket 513, and a third knuckle 523 fixed on the fourth bracket 514. The first knuckle 521 is mounted to the second bracket 512 through the structure of the first boss 5121 and the first through hole 5122, and the second knuckle 522 is mounted to the third bracket 513 through the structure of the second boss 5131 and the second through hole 5132. The cover 56 is disposed on the outer side of the fourth bracket 514 and is snap-fitted to the fourth bracket 514, the projection of the fourth bracket 514 from front to back is substantially U-shaped, the walls of the U-shaped left, right and lower directions are all provided with a snap hole 5141, and the inner side of the cover 56 is provided with a protrusion 562 fitted to the snap hole 5141, so as to fix the cover 56 to the fourth bracket 514. The upper side of the cover 56 is provided with a screw hole 561 fixedly engaged with the third knuckle 523. The fourth bracket 514 is provided with a buckling part 515, the end part of the steel wire rope 3 is clamped and matched with the buckling part 515, the robot palm with bendable moving fingers further comprises a cover body 56 clamped on the buckling part 515, and the plastic shell is fixed with the cover body 56 through screws. Specifically, the upper side of the fourth bracket 514 is provided with a buckling part 515 capable of being opened and closed, that is, the buckling part 515 can rotate relative to the bottom wall of the fourth bracket 514, an accommodating space for accommodating the head 311 of the first steel wire rope 31 is formed between the buckling part 515 and the bottom wall, the steel wire rope 3 can be firmly fixed in the hardware bracket 51, and the stability and reliability of transmission are improved.

Five metals support 51's pin joint department has platform portion, the position department that corresponds of plastic inner shell and platform is equipped with the plane portion with platform portion complex, pulling wire rope 3 backward, five metals support 51 is towards keeping away from the plane portion bending of plastic inner shell, platform portion and plane portion constitute and block the structure, the structure has not only been simplified and manufacturing cost has been reduced, and is concrete, the pin joint department of first support 511 and second support 512, the pin joint department of second support 512 and third support 513 and the pin joint department of third support 513 and fourth support 514 all have platform portion. In the present embodiment, for example, the second bracket 512 is provided with the first platform portion 5123 on the back hand side, the third bracket 513 is provided with the second platform portion 5133 on the back hand side, and the upper surfaces of the first platform portion 5123 and the second platform portion 5133 are flat and have the same height in the horizontal direction. The mating portion of the plastic housing and the platform portion has a flat portion, and in this embodiment, for example, at the corresponding position of the first platform portion 5123 and the second platform portion 5133, the second bending shell 532 includes a flat portion 5321 disposed on one side of the first platform portion 5123 and the second platform portion 5133 and a bending space 5322 disposed on the other side of the first platform portion 5123 and the second platform portion 5133. Because the head 311 of the steel wire rope 3 is fixedly connected with the fourth bracket 514, and the interconnected brackets are provided with pivot structures, when the steel wire rope 3 is tensioned, the interconnected brackets can rotate, the platform part is abutted against the plane part through the matching of the platform part and the plane part, and the interconnected brackets can only bend towards the palm side by utilizing the bending space 5322, and by utilizing the structure, the finger 5 can only bend towards the palm side and the single side by pulling the steel wire rope 3, so that the structure is simple and the transmission efficiency is high.

The plastic housing comprises an upper shell and a lower shell which are matched with each other, the upper shell and the lower shell surround the hardware support 51, the upper shell and the lower shell are connected in a snap fit manner, the side wall of the lower shell is provided with two first clamping parts 5221 and a second clamping part 5222 which is positioned in the middle of the two first clamping parts 5221 and above the first clamping parts 5221, the upper shell is provided with a third clamping part 5223 which is in snap fit with the first clamping part 5221 and a fourth clamping part 5224 which is in snap fit with the second clamping part 5222, and the structure and the assembly and the disassembly are simplified through the snap fit.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A robot palm with bendable fingers, characterized in that: including the motor, establish pull rod on the motor, fix wire rope on the pull rod, fix palm portion on the motor and fixing finger in the palm portion, the finger is including fixing hardware support in the palm portion, fixing plastic inner shell on the hardware support and fixing plastic shell on the hardware support, the finger has two at least joints, wire rope is fixed in the free end of finger, the motor passes through the seesaw pulling of pull rod the wire rope seesaw, wire rope's seesaw drives the finger winds the joint is crooked, it makes to have on the finger the crooked structure that blocks of finger orientation unilateral.

2. A robot palm with bendable fingers according to claim 1, wherein: the fingers comprise a thumb and four fingers, the four fingers comprise an index finger, a middle finger, a ring finger and a little finger, the four fingers are provided with three joints, and the thumb is provided with two joints.

3. A robot palm with bendable fingers according to claim 2, wherein: the four fingers include a first joint, a second joint, and a third joint, the first joint being pivotable relative to the palm portion, the second joint being pivotable relative to the first joint, the third joint being pivotable relative to the second joint, the first joint being proximate to the palm portion and the third joint being distal from the palm portion.

4. A robot palm with bendable fingers according to claim 3, wherein: the plastic inner shell is arranged at the mutual pin joint positions of the first joint, the second joint and the third joint, the plastic inner shell is arranged at intervals, and the plastic outer shell is positioned at the intervals of the plastic inner shell.

5. A robot palm with bendable fingers according to claim 1, wherein: hardware support is including fixing the first support of palm portion, with the second support of first support pin joint, with the third support of second support pin joint and with the fourth support of third support pin joint, wire rope fixes on the fourth support.

6. A robot palm with bendable fingers according to claim 5, wherein: the pin joint department of five metals support has the pin joint hole, the plastic inner shell through first fastener with the cooperation in pin joint hole is installed on the five metals support.

7. A robot palm with bendable fingers according to claim 6, wherein: the pin joint department of five metals support has platform portion, the plastic inner shell with the position department that corresponds of platform be equipped with platform portion complex plane portion, the backward pulling wire rope, five metals support orientation is kept away from the plastic inner shell plane portion is crooked, platform portion with plane portion constitutes block the structure.

8. A robot palm with bendable fingers according to claim 6, wherein: the utility model provides a robot palm has relative dorsal part and the palm side that sets up with flexible motion finger, the pin joint department of five metals support is close to the dorsal part and is equipped with platform portion, the plastic inner shell with platform portion's corresponding position department be equipped with platform portion complex plane portion stimulates backward wire rope, five metals support orientation palm side bending, platform portion with plane portion constitutes block the structure.

9. A robot palm with bendable fingers according to claim 7 or 8, characterized in that: be equipped with on the five metals support fixedly the boss of plastic shell, the boss pass through the second fastener with plastic shell installation cooperation.

10. A robot palm with bendable fingers according to claim 5, wherein: the robot palm with the bendable moving fingers further comprises a cover body buckled on the buckling part, and the plastic shell is fixed with the cover body through screws.