CN105196304B - A kind of telescopic mechanical palms - Google Patents
A kind of telescopic mechanical palms Download PDFInfo
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- CN105196304B CN105196304B CN201510766715.2A CN201510766715A CN105196304B CN 105196304 B CN105196304 B CN 105196304B CN 201510766715 A CN201510766715 A CN 201510766715A CN 105196304 B CN105196304 B CN 105196304B
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Abstract
A kind of telescopic mechanical palms, it is related to a kind of mechanical palms.The present invention solves existing robot hand because structurally and electrically system aspects are restricted by paw, and robot palm has that shortage is adjusted flexibly ability.First little palm plate, second little palm plate, the first big palm plate mechanical hand volar plate complete relative to composition two-by-two with second largest palm plate, palm linkage is flexibly connected with the rod boss of every block of palm plate, first turbine is installed with one end of the first turbine wheel shaft, second turbine is installed with one end of the second turbine wheel shaft, dual-axle motor is fixed on the upper end of fixed cylinder by Fixing clamp-seat, first leading screw and the second leading screw are symmetrically mounted on the output shaft of dual-axle motor, first screw mandrel sleeve is connected with the first threads of lead screw, second leading screw sleeve is connected with the second threads of lead screw, first screw mandrel sleeve is connected with one end of palm linkage, second leading screw sleeve is connected with the other end of palm linkage.The present invention is used for robot palm field.
Description
Technical field
The present invention relates to a kind of telescopic palm, and in particular to a kind of telescopic mechanical palms, belongs to robot application neck
Domain.
Background technology
The shape of mechanical palms and structure carry out stable crawl for mechanical paw and have important impact.Mechanical paw
Finger structure and the work space of distributing position decision paw.The palm shape of mechanical paw is related to institute's shape when contacting with object
The contact point distribution situation becoming, and then have influence on the active force to object.Mechanical palms are the important component parts of mechanical paw,
Contribute to realizing the versatility of mechanical paw and motility, be conducive to mechanical paw to help the mankind to complete task.
Mechanical paw is the machinery of the analoglike human hand function in end effector of robot, has multiple
Different frame for movement, can possess multiple different crawl configurations.Its mechanism's complexity, volume size and weight are all machines
Significant consideration in tool paw design process.When the amount of articulation of machinery increases, need to select joint drive
The number of dynamic device and size.It can be made to constitute one by minimizing number of drives in this case and there is coupling joint
Mechanism, thus reducing the complexity of control system, also contributes to reducing mechanism complexity simultaneously.The motility of mechanical paw
It is embodied in it and can capture the object of multiple different shapes and size.By designing deformable mechanical palm, machine can be strengthened
The motility of tool paw and grasp stability.
Disclose a kind of robot hand with extensible palm in United States Patent (USP) US20060012197, it is maximum
Feature be that there is a single-degree-of-freedom palm moving up and down, adjust finger tip by the opening and closing of finger and palm rise and fall
The distance between with palm, various sizes of object can be captured.Two worm gears in its lifting structure pass through a worm screw coupling
Close, so that the leading screw coaxial with worm gear is rotated and be converted into straight-line displacement by worm-drive, provide lifting drive for palm.But
This palm is the hoistable platform of one piece of single-degree-of-freedom, and its fixing platform plane shape can not well adapt to thing of different shapes
Body.
A kind of palm of reconstruction robot multi-finger clever hand, its palm is disclosed in Chinese patent CN100528494C
There is in structure the mounting interface of fixing palm connecting plate, connected by separable palm is fixed on different mounting interfaces
Plate and mechanical finger, thus configuring the Dextrous Hand with different finger number and configuration, show robot multi-finger clever
The good reconfigurability of handss.But this palm belongs to the base construction of fixed finger, palm itself does not possess during crawl
Adjustment capability.
To sum up, existing robot hand is because by paw, structurally and electrically system aspects are restricted, with robot
The palm shortage that ZHUANLIAN connects is adjusted flexibly ability.
Content of the invention
The present invention is to solve existing robot hand because structurally and electrically system aspects are restricted by paw, machine
People's palm has that shortage is adjusted flexibly ability, and then provides a kind of telescopic mechanical palms.
The present invention is to solve above-mentioned technical problem to adopt the technical scheme that：
The telescopic mechanical palms of the present invention include the first little palm plate, the second little palm plate, the first big palm plate, second
Big palm plate, palm linkage, dual-axle motor, base electrical machinery, worm screw, the first turbine, the second turbine, the first turbine wheel shaft, the
Two turbine wheel shafts, the first leading screw, the second leading screw, the first screw mandrel sleeve, the second leading screw sleeve, Fixing clamp-seat and fixed cylinder, first
Little palm plate and the second little palm plate are symmetrical arranged along the length direction of mechanical palms, the first big palm plate and second largest palm plate
Length direction along mechanical palms is symmetrical arranged, the first little palm plate, the second little palm plate, the first big palm plate and second largest handss
Two-by-two relative to constituting complete mechanical hand volar plate, on the lower surface of every block of palm plate, the length direction along palm is provided with bar to volar plate
Shape boss, palm linkage is flexibly connected with the rod boss of every block of palm plate, and base electrical machinery is arranged on the upper of fixed cylinder
In portion, the lower end of worm screw is affixed with the output shaft of base electrical machinery, and the first turbine wheel shaft and the second turbine wheel shaft are horizontally arranged at fixing circle
The upper end of post, one end of the first turbine wheel shaft is installed with the first turbine, one end of the second turbine wheel shaft is installed with the second turbine, the
One turbine and the second turbine are all engaged each other with worm screw, and the other end of the first turbine wheel shaft is connected with the first transmission of palm linkage
Bar is affixed, and the other end of the second turbine wheel shaft is affixed with the second kinematic link of palm linkage；Dual-axle motor passes through fixing card
Seat is fixed on the upper end of fixed cylinder, and the first leading screw and the second leading screw are symmetrically mounted on the output shaft of dual-axle motor, first
Rod sleeve is connected with the first threads of lead screw, and the second leading screw sleeve is connected with the second threads of lead screw, and the first screw mandrel sleeve is with palm even
One end of linkage connects, and the second leading screw sleeve is connected with the other end of palm linkage.
The present invention compared with prior art has the advantages that：
A kind of telescopic mechanical palms of the present invention are passed through to control the output shaft anglec of rotation of dual-axle motor and base electrical machinery
The angle between plane on each palm plate can be adjusted, make between palm plate, to do the doubling campaign of certain angle, eliminate machine
Easily produce the problem slided when tool palm is contacted with the object with smooth curve feature, have to different shape and size thing
The good conformity ability of body；The mechanical palms of the present invention adopt connecting rod coupling mechanism simultaneously, and power transmission is reliable, control mode letter
Single, compact overall structure.
Brief description
Fig. 1 is the overall structure axonometric chart of the telescopic mechanical palms of the present invention；
Fig. 2 is the sectional view of the specific embodiment of the invention one middle and lower part cylindrical support structure；
Fig. 3 is the upward view of four blocks of palm plates in the specific embodiment of the invention one；
Fig. 4 is palm linkage and lower cylindrical supporting construction axonometric chart in the specific embodiment of the invention two；
Fig. 5 is the state that reclinates between two pieces of little palms of the telescopic mechanical palms of the present invention and two pieces of big palms
Figure；
Fig. 6 is doubled state figure about the telescopic mechanical palms of the present invention；
Fig. 7 is telescopic mechanical palms and the relatively large radius pole contact condition figure of the present invention；
Fig. 8 is telescopic mechanical palms and the small radii pole contact condition figure of the present invention；
Fig. 9 is the telescopic mechanical palms of the present invention and oblate object contact condition figure；
Figure 10 is that the telescopic mechanical palms of the present invention are arranged on the state diagram in three finger mechanical paws.
Specific embodiment
Specific embodiment one：As shown in figures 1-4, the telescopic mechanical palms of present embodiment include the first little palm
Plate 7, the second little palm plate 8, the first big palm plate 5, second largest palm plate 6, palm linkage, dual-axle motor 18, base electricity
Machine 13, worm screw 25, the first turbine 24, the second turbine 14, the first turbine wheel shaft 23, the second turbine wheel shaft 15, the first leading screw 17, second
Thick stick 20, the first screw mandrel sleeve 16, the second leading screw sleeve 21, Fixing clamp-seat 19 and fixed cylinder 1, the first little palm plate 7 and second
Little palm plate 8 is symmetrical arranged along the length direction of mechanical palms, and the first big palm plate 5 and second largest palm plate 6 are along mechanical palms
Length direction be symmetrical arranged, the first little palm plate 7, the second little palm plate 8, the first big palm plate 5 and 6 liang of second largest palm plate
Two relatively constitute complete mechanical hand volar plate, and on the lower surface of every block of palm plate, along the length direction of palm, to be provided with rod convex
Platform, palm linkage is flexibly connected with the rod boss of every block of palm plate, and base electrical machinery 13 is arranged on the top of fixed cylinder 1
Interior, the lower end of worm screw 25 is affixed with the output shaft of base electrical machinery 13, and the first turbine wheel shaft 23 and the second turbine wheel shaft 15 are horizontally arranged at
The upper end of fixed cylinder 1, one end of the first turbine wheel shaft 23 is installed with the first turbine 24, solid set on one end of the second turbine wheel shaft 15
Have the second turbine 14, the first turbine 24 and the second turbine 14 all to engage each other with worm screw 25, the other end of the first turbine wheel shaft 23 with
First kinematic link 12 of palm linkage is affixed, and the other end of the second turbine wheel shaft 15 is driven with the second of palm linkage
Connecting rod 49 is affixed；Dual-axle motor 18 is fixed on the upper end of fixed cylinder 1, the first leading screw 17 and the second leading screw by Fixing clamp-seat 19
On 20 output shafts being symmetrically mounted on dual-axle motor 18, the first screw mandrel sleeve 16 is threadeded with the first leading screw 17, the second leading screw
Sleeve 21 is threadeded with the second leading screw 20, and the first screw mandrel sleeve 16 is connected with one end of palm linkage, the second screw set
Cylinder 21 is connected with the other end of palm linkage.
Specific embodiment two：As shown in figures 1-4, present embodiment palm linkage include the first kinematic link 12,
Second kinematic link 49, the first little palm plate connecting rod 36, the second little palm plate connecting rod 37, the 3rd little palm plate connecting rod the 9, the 4th are little
Palm plate connecting rod 10, the first big palm plate connecting rod 11, second largest palm plate connecting rod 2, the third-largest palm plate connecting rod 32, the fourth-largest handss
Volar plate connecting rod 34, the laterally attached bar of the first little palm plate 40, the laterally attached bar 41 of the second little palm plate, the 3rd little palm plate are lateral
Connecting rod 44, the laterally attached bar of the 4th little palm plate 43, the laterally attached bar 4 of the first big palm plate, second largest palm plate laterally connect
Extension bar 26, the laterally attached bar 28 of the third-largest palm plate, the laterally attached bar of the fourth-largest palm plate 27, the first little palm plate are directly to connecting rod
39th, the second little palm plate directly to connecting rod 45, the first big palm plate directly to connecting rod 3, second largest palm plate directly to connecting rod 30, little palm
Plate coupled links 42, big palm plate coupled links 29；
The upper end of the 3rd little palm plate connecting rod 9 and the 4th little palm plate connecting rod 10 is all convex with the rod of the second little palm plate 8
Platform rotates and connects, and the lower end of the 3rd little palm plate connecting rod 9 and the 4th little palm plate connecting rod 10 is all rotated with the first kinematic link 12
Connect, the upper end of the first big palm plate connecting rod 11 and second largest palm connecting rod 2 is all rotated with the rod boss of the first big palm plate 5
Connect, the lower end of the first big palm plate connecting rod 11 and second largest palm connecting rod 2 is all rotated with the first kinematic link 12 and is connected, the 3rd
Little palm plate connecting rod 9 and second largest palm connecting rod 2 are located on the two ends of the first kinematic link 12；First little palm plate connecting rod 36 He
The upper end of the second little palm plate connecting rod 37 is all rotated with the rod boss of the first little palm plate 7 and is connected, the first little palm plate connecting rod
36 and second the lower end of little palm plate connecting rod 37 all rotate with the second kinematic link 49 and be connected, the third-largest palm plate connecting rod 32 and the
The upper end of four big palm plate connecting rods 34 is rotated with the rod boss of second largest palm plate 6 and is connected, the third-largest palm plate connecting rod 32 He
The lower end of the fourth-largest palm plate connecting rod 34 is all rotated with the second kinematic link 49 and is connected, the second little palm plate connecting rod 37 and the third-largest
Palm plate connecting rod 32 is located on the two ends of the second kinematic link 49；First little palm plate is directly to one end and the second little handss of connecting rod 39
Volar plate connecting rod 37 middle part rotates and connects, and the first little palm plate is directly to the other end of connecting rod 39 and the laterally attached bar of the first little palm plate
40 upper end connects, and the laterally attached bar 41 of the second little palm plate and little handss are passed through in the lower end of the laterally attached bar 40 of the first little palm plate
One end of volar plate coupled links 42 connects；
The other end of little palm plate coupled links 42 passes through the laterally attached bar 43 of the 4th little palm plate and the 3rd little palm plate
The upper end of laterally attached bar 44 connects, and the lower end of the laterally attached bar 44 of the 3rd little palm plate is with the second little palm plate directly to connecting rod 45
One end connect, the second little palm plate is directly connected to the other end of connecting rod 45 with the middle part of the 3rd little palm plate connecting rod 9, second
Thick stick sleeve 21 is connected with the middle part of little palm plate coupled links 42；
First big palm plate is directly passed through connecting shaft to one end of connecting rod 3 and is connected with the middle part rotation of second largest palm connecting rod 2,
First big palm plate is directly passed through the laterally attached bar 4 of the first big palm plate to the other end of connecting rod 3 and is laterally connected with second largest palm plate
The lower end of extension bar 26 connects, and the upper end of the laterally attached bar 26 of second largest palm plate is connected with big palm plate coupled links 29 one end,
The other end of big palm plate coupled links 29 is connected with the upper end of the laterally attached bar 27 of the fourth-largest palm plate, the fourth-largest
The laterally attached bar of the third-largest palm plate 28 is passed through with second largest palm plate directly to connecting rod 30 in the lower end of the laterally attached bar of palm plate 27
One end connect, second largest palm plate is directly connected to the other end of connecting rod 30 with the third-largest palm plate connecting rod 32 middle part rotation, the
One leading screw sleeve 16 is connected with the middle part of big palm plate coupled links 29.It is so designed that, it is possible to achieve the first little palm plate 7 and
Being synchronized with the movement of two little palm plates 8, and being synchronized with the movement of the first big palm plate 5 and second largest palm plate 6, structure is simple, passes
Dynamic reliable.Other compositions and annexation are identical with specific embodiment one.
Specific embodiment three：As shown in figure 4, palm linkage described in present embodiment also includes the first little palm plate
Axle 35 and the second little palm board shaft 38, the first little palm plate connecting rod 36 passes through the first little palm board shaft 35 and the first little palm plate 7
Rod boss rotate and connect, the second little palm plate connecting rod 37 passes through the bar of the second little palm board shaft 38 and the first little palm plate 7
Shape boss rotates and connects.It is so designed that, can adjust between the upper plane of the first little palm plate 7 and other palm plate place planes
Corner dimension, structure simple it is ensured that the contact of motion submember and the preferable rigidity of structure.Other compositions and annexation and tool
Body embodiment two is identical.
Specific embodiment four：As shown in figure 4, palm linkage described in present embodiment also includes the 3rd little palm plate
Axle 46 and the 4th little palm board shaft 47, the 3rd little palm plate connecting rod 9 passes through the 3rd little palm board shaft 46 and the second little palm plate 8
Rod boss rotates and connects, and the 4th little palm plate connecting rod 10 passes through the rod of the 4th little palm board shaft 47 and the second little palm plate 8
Boss rotates and connects.It is so designed that, can adjust between the upper plane of the second little palm plate 8 and other palm plate place planes
Corner dimension, structure is simple it is ensured that motion submember contacts and the preferable rigidity of structure.Other compositions and annexation with concrete
Embodiment two or three is identical.
Specific embodiment five：As shown in figure 4, palm linkage described in present embodiment also includes the first big palm plate
Axle 48 and second largest palm board shaft 51, the first big palm plate connecting rod 11 passes through the first big palm board shaft 48 and the first big palm plate 5
Rod boss rotate and connect, second largest palm connecting rod 2 is convex with the rod of the first big palm plate 5 by second largest palm board shaft 51
Platform rotates and connects.It is so designed that, the folder between the upper plane of the first big palm plate 5 and other palm plate place planes can be adjusted
Angle size, structure is simple it is ensured that motion submember contacts and the preferable rigidity of structure.Other compositions and annexation and specifically reality
Apply mode four identical.
Specific embodiment six：As shown in figure 4, palm linkage described in present embodiment also includes the third-largest palm plate
Axle 31 and the fourth-largest palm board shaft 33, the third-largest palm plate connecting rod 32 is by the third-largest palm board shaft 31 and second largest palm plate 6
Rod boss rotate and connect, the fourth-largest palm plate connecting rod 34 passes through the bar of the fourth-largest palm board shaft 33 and second largest palm plate 6
Shape boss rotates and connects.It is so designed that, can adjust between the upper plane of second largest palm plate 6 and other palm plate place planes
Corner dimension, structure simple it is ensured that the contact of motion submember and the preferable rigidity of structure.Other compositions and annexation and tool
Body embodiment two, three or five are identical.
Specific embodiment seven：As shown in figure 4, telescopic mechanical palms described in present embodiment also include the first guide rail 50
With the second guide rail 22, the first guide rail 50 and the second guide rail 22 be symmetrically packed on the side wall of fixed cylinder 1, the first guide rail 50 outstanding
Arm end is installed on the bottom of the first screw mandrel sleeve 16；The cantilever end of the second guide rail 22 is installed on the bottom of the second leading screw sleeve 21.
It is so designed that, the first screw mandrel sleeve 16 and the second leading screw sleeve 21 can be made respectively along the first guide rail 50 and the second guide rail 22 straight line
Slide it is ensured that power transmission and motion transform are reliable.Other compositions and annexation are identical with specific embodiment six.
Operation principle：
As shown in Fig. 1～10, the palm plate part of the telescopic mechanical palms of the present invention is by two pieces little palm plates and two pieces
There is a rod boss big palm plate composition, every piece little palm plate and big palm plate bottom belongs to the activity of respective link mechanism
Component；Base electrical machinery 13 output shaft drives the first worm gear 24 and the second worm gear 14 rotation by worm screw 25 and can realize self-locking,
The first worm gear rotary shaft 23 that first worm gear 24 passes through to be connected makes to be socketed in first transmission at the first worm gear rotary shaft 23 two ends even
Bar 12 rotates, thus producing being synchronized with the movement of the second little palm plate 8 and the first big palm plate 5, the rotary motion of the second worm gear 14
The second kinematic link 49 being socketed in the second worm gear rotary shaft 15 two ends is made to rotate by the second worm gear rotary shaft 15 being connected, from
And produce being synchronized with the movement of the first little palm plate 7 and second largest palm plate 6, and then make the second little palm plate 8 and the first big palm
The doubling campaign of certain angle is produced between plate 5 and the first little palm plate 7 and second largest palm plate 6；
Dual-axle motor 18 one end being fixed on fixed cylinder 1 top is ordered about by the first leading screw 17 and the first leading screw sleeve 16
Little palm plate coupled links 42 produce linear motion, thus producing the synchronization fortune of the first little palm plate 7 and the second little palm plate 8
Dynamic, the other end of dual-axle motor 18 passes through the second leading screw 20 and the second leading screw sleeve 21 orders about big palm plate coupled links 29 and produces
Linear motion, thus producing being synchronized with the movement of the third-largest palm plate 5 and the fourth-largest palm plate 6, and then makes the first little palm plate 7 He
The doubling campaign of generation certain angle between second little palm plate 8 and the third-largest palm plate 5 and the fourth-largest palm plate 6, first
Self-locking can also be realized between thick stick 17 and the first leading screw sleeve 16 and between the second leading screw 20 and the second leading screw sleeve 21.
Claims (7)
1. a kind of telescopic mechanical palms it is characterised in that：Described telescopic mechanical palms include the first little palm plate (7),
Two little palm plates (8), the first big palm plate (5), second largest palm plate (6), palm linkage, dual-axle motor (18), base
Motor (13), worm screw (25), the first turbine (24), the second turbine (14), the first turbine wheel shaft (23), the second turbine wheel shaft (15),
One leading screw (17), the second leading screw (20), the first screw mandrel sleeve (16), the second leading screw sleeve (21), Fixing clamp-seat (19) and fixation
Cylinder (1), the first little palm plate (7) and the second little palm plate (8) are symmetrical arranged along the length direction of mechanical palms, the first big handss
Volar plate (5) and second largest palm plate (6) are symmetrical arranged along the length direction of mechanical palms, the first little palm plate (7), the second little handss
Volar plate (8), the first big palm plate (5) and second largest palm plate (6) mechanical hand volar plate complete relative to composition two-by-two, every piece of palm
On the lower surface of plate, the length direction along palm is provided with rod boss, the rod boss of palm linkage and every block of palm plate
It is flexibly connected, base electrical machinery (13) is arranged in the top of fixed cylinder (1), the lower end of worm screw (25) and base electrical machinery (13)
Output shaft is affixed, and the first turbine wheel shaft (23) and the second turbine wheel shaft (15) are horizontally arranged at the upper end of fixed cylinder (1), the first turbine
First turbine (24) is installed with one end of axle (23), one end of the second turbine wheel shaft (15) is installed with the second turbine (14), the
One turbine (24) and the second turbine (14) are all engaged each other with worm screw (25), the other end of the first turbine wheel shaft (23) and palm connecting rod
First kinematic link (12) of mechanism is affixed, the other end of the second turbine wheel shaft (15) and the second kinematic link of palm linkage
(49) affixed；Dual-axle motor (18) is fixed on the upper end of fixed cylinder (1), the first leading screw (17) and by Fixing clamp-seat (19)
Two leading screws (20) are symmetrically mounted on the output shaft of dual-axle motor (18), the first screw mandrel sleeve (16) and the first leading screw (17) screw thread
Connect, the second leading screw sleeve (21) threadeds with the second leading screw (20), the first screw mandrel sleeve (16) and palm linkage
One end connects, and the second leading screw sleeve (21) is connected with the other end of palm linkage, and the first worm gear 24 passes through first being connected
Worm gear rotary shaft 23 makes the first kinematic link 12 being socketed in the first worm gear rotary shaft 23 two ends rotate, thus producing the second little handss
Being synchronized with the movement of volar plate 8 and the first big palm plate 5, the second worm gear rotary shaft 15 being connected is passed through in the rotary motion of the second worm gear 14
The second kinematic link 49 being socketed in the second worm gear rotary shaft 15 two ends is made to rotate, thus producing the first little palm plate 7 and second
Being synchronized with the movement of big palm plate 6, and then make the second little palm plate 8 and the first big palm plate 5 and the first little palm plate 7 and second largest
The doubling campaign of certain angle is produced between palm plate 6；The first leading screw 17 and the first leading screw sleeve are passed through in dual-axle motor 18 one end
The 16 little palm plate coupled links ordering about palm linkage produce linear motion, thus producing the first little palm plate 7 and second
Being synchronized with the movement of little palm plate 8, the other end of dual-axle motor 18 passes through the second leading screw 20 and the second leading screw sleeve 21 orders about palm
The big palm plate coupled links of linkage produce linear motion, thus producing the third-largest palm plate 5 and the fourth-largest palm plate 6
It is synchronized with the movement, and then make between the first little palm plate 7 and the second little palm plate 8 and the third-largest palm plate 5 and the fourth-largest palm plate 6
Produce the doubling campaign of certain angle.
2. a kind of telescopic mechanical palms according to claim 1 it is characterised in that：Palm linkage includes the first biography
Dynamic connecting rod (12), the second kinematic link (49), the first little palm plate connecting rod (36), the second little palm plate connecting rod (37), the 3rd little
Palm plate connecting rod (9), the 4th little palm plate connecting rod (10), the first big palm plate connecting rod (11), second largest palm plate connecting rod (2),
The third-largest palm plate connecting rod (32), the fourth-largest palm plate connecting rod (34), the laterally attached bar (40) of the first little palm plate, the second little handss
The laterally attached bar of volar plate (41), the laterally attached bar (44) of the 3rd little palm plate, the laterally attached bar (43) of the 4th little palm plate, first
The big laterally attached bar of palm plate (4), the laterally attached bar of second largest palm plate (26), the laterally attached bar of the third-largest palm plate (28),
The laterally attached bar (27) of the fourth-largest palm plate, the first little palm plate directly to connecting rod (39), the second little palm plate directly to connecting rod (45),
First big palm plate directly to connecting rod (3), second largest palm plate directly to connecting rod (30), little palm plate coupled links (42), big palm
Plate coupled links (29)；
The rod all with the second little palm plate (8) for the upper end of the 3rd little palm plate connecting rod (9) and the 4th little palm plate connecting rod (10)
Boss rotates and connects, the lower end of the 3rd little palm plate connecting rod (9) and the 4th little palm plate connecting rod (10) all with the first kinematic link
(12) rotate and connect, the upper end of the first big palm plate connecting rod (11) and second largest palm connecting rod (2) all with the first big palm plate (5)
Rod boss rotate and connect, the lower end of the first big palm plate connecting rod (11) and second largest palm connecting rod (2) is all driven with first
Connecting rod (12) rotates and connects, and the 3rd little palm plate connecting rod (9) and second largest palm connecting rod (2) are located at the first kinematic link (12)
On two ends；The upper end of the first little palm plate connecting rod (36) and the second little palm plate connecting rod (37) all with the first little palm plate (7)
Rod boss rotates and connects, and the lower end of the first little palm plate connecting rod (36) and the second little palm plate connecting rod (37) is all driven with second
Connecting rod (49) rotates connection, the upper end of the third-largest palm plate connecting rod (32) and the fourth-largest palm plate connecting rod (34) and second largest palm
The rod boss of plate (6) rotates and connects, the lower end of the third-largest palm plate connecting rod (32) and the fourth-largest palm plate connecting rod (34) all with
Second kinematic link (49) rotates and connects, and the second little palm plate connecting rod (37) and the third-largest palm plate connecting rod (32) are located at the second biography
On the two ends of dynamic connecting rod (49)；First little palm plate directly turns in the middle part of one end of connecting rod (39) and the second little palm plate connecting rod (37)
Be dynamically connected, the first little palm plate directly to the other end of connecting rod (39) and the laterally attached bar (40) of the first little palm plate upper end even
Connect, the laterally attached bar (41) of the second little palm plate and little palm plate coupling are passed through in the lower end of the laterally attached bar (40) of the first little palm plate
The one end closing connecting rod (42) connects；
The other end of little palm plate coupled links (42) passes through the laterally attached bar (43) of the 4th little palm plate and the 3rd little palm plate
The upper end of laterally attached bar (44) connects, and the lower end of the laterally attached bar (44) of the 3rd little palm plate is with the second little palm plate directly to even
One end of bar (45) connects, and the second little palm plate is directly to the other end of connecting rod (45) and the middle part of the 3rd little palm plate connecting rod (9)
Connect, the second leading screw sleeve (21) is connected with the middle part of little palm plate coupled links (42)；
First big palm plate is directly passed through connecting shaft to one end of connecting rod (3) and is connected with the middle part rotation of second largest palm connecting rod (2),
First big palm plate directly passes through the first big laterally attached bar (4) of palm plate and second largest palm plate side to the other end of connecting rod (3)
Connect to the lower end of connecting rod (26), the upper end of the laterally attached bar (26) of second largest palm plate and big palm plate coupled links (29)
One end connects, and the other end of big palm plate coupled links (29) is connected with the upper end of the laterally attached bar of the fourth-largest palm plate (27),
The laterally attached bar of the third-largest palm plate (28) and second largest palm plate are passed through in the lower end of the laterally attached bar (27) of the fourth-largest palm plate
Straight one end to connecting rod (30) connects, and second largest palm plate is directly to the other end and the third-largest palm plate connecting rod (32) of connecting rod (30)
Middle part rotates and connects, and the first leading screw sleeve (16) is connected with the middle part of big palm plate coupled links (29).
3. a kind of telescopic mechanical palms according to claim 2 it is characterised in that：Described palm linkage also includes
First little palm board shaft (35) and the second little palm board shaft (38), the first little palm plate connecting rod (36) passes through the first little palm board shaft
(35) rotate with the rod boss of the first little palm plate (7) and be connected, the second little palm plate connecting rod (37) passes through the second little palm plate
Axle (38) is rotated with the rod boss of the first little palm plate (7) and is connected.
4. a kind of telescopic mechanical palms according to Claims 2 or 3 it is characterised in that：Described palm linkage is also
Including the 3rd little palm board shaft (46) and the 4th little palm board shaft (47), the 3rd little palm plate connecting rod (9) passes through the 3rd little palm
Board shaft (46) is rotated with the rod boss of the second little palm plate (8) and is connected, and the 4th little palm plate connecting rod (10) passes through the 4th little handss
Volar plate axle (47) is rotated with the rod boss of the second little palm plate (8) and is connected.
5. a kind of telescopic mechanical palms according to claim 4 it is characterised in that：Described palm linkage also includes
First big palm board shaft (48) and second largest palm board shaft (51), the first big palm plate connecting rod (11) passes through the first big palm board shaft
(48) rotate with the rod boss of the first big palm plate (5) and be connected, second largest palm connecting rod (2) is by second largest palm board shaft
(51) rotate with the rod boss of the first big palm plate (5) and be connected.
6. a kind of telescopic mechanical palms according to claim 2,3 or 5 it is characterised in that：Described palm linkage
Also include the third-largest palm board shaft (31) and the fourth-largest palm board shaft (33), the third-largest palm plate connecting rod (32) passes through the third-largest handss
Volar plate axle (31) is rotated with the rod boss of second largest palm plate (6) and is connected, and the fourth-largest palm plate connecting rod (34) is passed through the fourth-largest
Palm board shaft (33) is rotated with the rod boss of second largest palm plate (6) and is connected.
7. a kind of telescopic mechanical palms according to claim 6 it is characterised in that：Described telescopic mechanical palms are also wrapped
Include the first guide rail (50) and the second guide rail (22), the first guide rail (50) and the second guide rail (22) are symmetrically packed in fixed cylinder (1)
Side wall on, the cantilever end of the first guide rail (50) is installed on the bottom of the first screw mandrel sleeve (16)；The cantilever of the second guide rail (22)
End is installed on the bottom of the second leading screw sleeve (21).
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