CN107856030A - A kind of finger of controllable multi-directional bending - Google Patents
A kind of finger of controllable multi-directional bending Download PDFInfo
- Publication number
- CN107856030A CN107856030A CN201711419894.8A CN201711419894A CN107856030A CN 107856030 A CN107856030 A CN 107856030A CN 201711419894 A CN201711419894 A CN 201711419894A CN 107856030 A CN107856030 A CN 107856030A
- Authority
- CN
- China
- Prior art keywords
- unit section
- gyro unit
- section
- adapter sleeve
- arc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005452 bending Methods 0.000 title abstract description 9
- 239000000741 silica gel Substances 0.000 claims description 5
- 229910002027 silica gel Inorganic materials 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000008429 bread Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of finger of controllable multi-directional bending.Include one group of gyro unit section, spherical connection is provided with the axle center of gyro unit section lower end to save, the other end is provided with arc adapter sleeve, spherical connection section between adjacent gyro unit section is in arc adapter sleeve, the spherical connection section of the gyro unit section lower end of bottommost is in arc adapter sleeve, arc adapter sleeve is connected in fixing end, and the gyro unit section upper surface of top is arc, and lower end is provided with described spherical connection section；It is evenly distributed with four towing pads in the surrounding of described gyro unit section, is respectively equipped with drawstring in the towing pad in one group of gyro unit section same direction, the lower end of four drawstrings is connected to micromachine.The present invention, which has, to be made simply, and cost is low, and service life length, maintenance is simple, can realize that the controllable song on 4 directions is stretched, the good beneficial effect of practicality.
Description
Technical field
The present invention relates to a kind of controllable finger, particularly a kind of finger of controllable multi-directional bending.
Background technology
At present, the finger of people or existing mechanical finger can only bend and stretch, and realize some traditional apery body functions
Finger, in continuous evolution, existing technology no longer practicality, it is necessary to the hand to break traditions in people's traditional concept
Refer to, particularly intelligentized fast development needs the more fingers of function, and song that can be arbitrarily in multiple directions is stretched, while complete
Into the function of different directions；And also there is manufacture craft method complexity for existing machinery finger, cost is high, and service life is short, dimension
It is complicated to repair maintenance, the characteristics of poor practicability, a kind of finger of controllable multi-directional bending is developed for problem above.
In summary, prior art, which has mechanical finger, also has manufacture craft method complicated, and cost height, service life is short,
Maintenance is complicated, and the finger of people or existing mechanical finger can only bend and stretch, the technical problem of poor practicability.
The content of the invention
It is an object of the present invention to provide a kind of finger of controllable multi-directional bending.The present invention, which has, makes simple, cost
Low, service life length, maintenance is simple, can realize the characteristics of controllable song on 4 directions is stretched, and practicality is good.
Technical scheme：A kind of finger of controllable multi-directional bending, include one group of gyro unit section, gyro list
Spherical connection is provided with member section lower end axle center to save, the other end is provided with arc adapter sleeve, spherical between adjacent gyro unit section
Connection section is in arc adapter sleeve, and the spherical connection section of the gyro unit section lower end of bottommost is in arc adapter sleeve, arc
Shape adapter sleeve is connected in fixing end, and the gyro unit section upper surface of top is arc, and lower end is provided with described spherical connection
Section；It is evenly distributed with four towing pads in the surrounding of described gyro unit section, leading in one group of gyro unit section same direction
Draw and drawstring is respectively equipped with hole, the lower end of four drawstrings is connected to micromachine.
In the finger in foregoing controlled deflection direction, the outside of described one group of gyro unit section is provided with silica gel sheath.
In the finger in foregoing controlled deflection direction, described micromachine is uniformly fixed on the fixing end surrounding.
Compared with prior art, the present invention is saved by being provided with spherical connection at the axle center of gyro unit section lower end, and the other end is set
There is an arc adapter sleeve, the spherical connection section between adjacent gyro unit section is in arc adapter sleeve, one group of gyro unit section
The spherical connection section in lower end of the gyro unit section of bottom is in arc adapter sleeve, and arc adapter sleeve is connected in fixing end, institute
The gyro unit section upper surface on the one group of gyro unit section top stated is arc, and lower end is provided with described spherical connection section, is realized
Adjacent gyro unit section upper can be rotated in any direction, and song is stretched on any direction of one group of gyro unit section planar,
Service life is grown, and maintenance is simple；Four towing pads, one group of gyro list are evenly distributed with surrounding by gyro unit section
Drawstring is respectively equipped with towing pad in member section same direction, the lower end of four drawstrings is connected to micromachine, realizes system
The characteristics of work is simple, and cost is low；By two micromachine pulling drawstrings wherein relative in four micromachines, 4 are realized
Controllable song on direction is stretched, and practicality is good.
In summary, the present invention, which has, makes simply, and cost is low, and service life length, maintenance is simple, can realize 4
Controllable song on direction is stretched, the good beneficial effect of practicality.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the upward view of gyro unit section of the present invention；
Fig. 3 is the top view of gyro unit section of the present invention；
Fig. 4 is operating diagram of the present invention.
Mark in accompanying drawing for：1- fixing ends, 2- micromachines, 3- silica gel sheaths, 4- drawstrings, 5- arc adapter sleeves, 6- tops
Spiral shell unit section, the spherical connection sections of 7-, 8- towing pads, 9- mobile phones, 10- bread, 11- supports, 12- cups,.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but be not intended as to the present invention limit according to
According to.
Embodiment.A kind of finger in controlled deflection direction, form as Figure 1-4, include one group of gyro unit section 6,
Spherical connection is provided with the lower end axle center of gyro unit section 6 and saves 7, the other end is provided with arc adapter sleeve 5, adjacent gyro unit section 6
Between spherical connection section 7 in the arc adapter sleeve 5, the spherical connection section 7 of the lower end of gyro unit section 6 of bottommost is located at arc
In shape adapter sleeve 5, arc adapter sleeve 5 is connected in fixing end 1, and the upper surface of gyro unit section 6 of top is arc, and lower end is set
There is described spherical connection section 7；Four towing pads 8, one group of gyro list are evenly distributed with the surrounding of described gyro unit section 6
Drawstring 4 is respectively equipped with towing pad 8 in member 6 same directions of section, the lower end of four drawstrings 4 is connected to micromachine 2.
The outside of one group of described gyro unit section 6 is provided with silica gel sheath 3.
Described micromachine 2 is uniformly fixed on the surrounding of fixing end 1.
The operation principle of the present invention, by saving 7 by being provided with spherical connection at the lower end axle center of gyro unit section 6, the other end
Provided with arc adapter sleeve 5, the spherical connection section 7 between adjacent gyro unit section 6 is realized adjacent in arc adapter sleeve 5
Gyro unit section 6 upper in any direction can rotate, song is stretched on one group of gyro unit 6 any direction planar of section, makes
It is simple with long lifespan, maintenance；By controlling the micromachine 2 in four micromachines 2 in fixing end 1 with respect to two,
One of micromachine 2 pulls drawstring 4, and relative micromachine 2 synchronously loosens drawstring 4, realizes the controllable song on 4 directions
Stretch, practicality is good；Four towing pads 8 are evenly distributed with surrounding by gyro unit section 6, one group of gyro unit section 6 is same
Drawstring 4 is respectively equipped with towing pad 8 on direction, the lower end of four drawstrings 4 is connected to micromachine 2, realizes and make letter
Singly, the characteristics of cost is low；The upper surface of gyro unit section 6 by one group of top of gyro unit section 6 is arc, and lower end is provided with described
Spherical connection section 7, the outside of one group of gyro unit section 6 is provided with silica gel sheath 3, reaches effect attractive in appearance while realizing bending.
The present invention can be connected to during use on support 11 according to the demand of people, pass through not Tongfang of the invention
Upward bending, the article that different directions are taken on different directions is realized, and can synchronously realized, side as shown in Figure 4 grips face
Bag 10, centre gripping mobile phone 9, opposite side gripping cup 12.
Claims (3)
- A kind of 1. finger in controlled deflection direction, it is characterised in that：Include one group of gyro unit section（6）, gyro unit section（6） Spherical connection is provided with the axle center of lower end to save（7）, the other end is provided with arc adapter sleeve（5）, adjacent gyro unit section（6）Between Spherical connection section（7）Located at arc adapter sleeve（5）It is interior, the gyro unit section of bottommost（6）The spherical connection section of lower end（7）It is located at Arc adapter sleeve（5）It is interior, arc adapter sleeve（5）It is connected to fixing end（1）On, the gyro unit section of top（6）Upper surface is Arc, lower end are provided with described spherical connection section（7）；Described gyro unit section（6）Surrounding on be evenly distributed with four and lead Draw hole（8）, one group of gyro unit section（6）Towing pad in same direction（8）Inside it is respectively equipped with drawstring（4）, four drawstrings（4）'s Lower end is connected to micromachine（2）.
- 2. the finger in controlled deflection direction according to claim 1, it is characterised in that：One group of described gyro unit section （6）Outside be provided with silica gel sheath（3）.
- 3. the finger in controlled deflection direction according to claim 1, it is characterised in that：Described micromachine（2）Uniformly It is fixed on the fixing end（1）Surrounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419894.8A CN107856030A (en) | 2017-12-25 | 2017-12-25 | A kind of finger of controllable multi-directional bending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419894.8A CN107856030A (en) | 2017-12-25 | 2017-12-25 | A kind of finger of controllable multi-directional bending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107856030A true CN107856030A (en) | 2018-03-30 |
Family
ID=61707236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711419894.8A Pending CN107856030A (en) | 2017-12-25 | 2017-12-25 | A kind of finger of controllable multi-directional bending |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107856030A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110060813A (en) * | 2019-05-22 | 2019-07-26 | 安徽凌宇电缆科技有限公司 | A kind of naval vessel antiultraviolet, corrosion-resistant middle pressure rubber flexible cable |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4751821A (en) * | 1985-03-29 | 1988-06-21 | Birchard William G | Digital linear actuator |
| CN205219114U (en) * | 2015-12-25 | 2016-05-11 | 中国航空工业集团公司北京航空制造工程研究所 | Snakelike arm robot |
| CN105666519A (en) * | 2016-01-29 | 2016-06-15 | 中山市博奥控制技术有限公司 | Manipulator and realization method of snake-shaped machine arm system device |
| CN105729458A (en) * | 2016-03-24 | 2016-07-06 | 天津理工大学 | Rigid-flexible coupled trunk-shaped continuous robot |
-
2017
- 2017-12-25 CN CN201711419894.8A patent/CN107856030A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4751821A (en) * | 1985-03-29 | 1988-06-21 | Birchard William G | Digital linear actuator |
| CN205219114U (en) * | 2015-12-25 | 2016-05-11 | 中国航空工业集团公司北京航空制造工程研究所 | Snakelike arm robot |
| CN105666519A (en) * | 2016-01-29 | 2016-06-15 | 中山市博奥控制技术有限公司 | Manipulator and realization method of snake-shaped machine arm system device |
| CN105729458A (en) * | 2016-03-24 | 2016-07-06 | 天津理工大学 | Rigid-flexible coupled trunk-shaped continuous robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110060813A (en) * | 2019-05-22 | 2019-07-26 | 安徽凌宇电缆科技有限公司 | A kind of naval vessel antiultraviolet, corrosion-resistant middle pressure rubber flexible cable |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180330 |
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| RJ01 | Rejection of invention patent application after publication |