CN111376290B - Pull wire adjustment mechanism and finger - Google Patents
Pull wire adjustment mechanism and finger Download PDFInfo
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- CN111376290B CN111376290B CN201811642999.4A CN201811642999A CN111376290B CN 111376290 B CN111376290 B CN 111376290B CN 201811642999 A CN201811642999 A CN 201811642999A CN 111376290 B CN111376290 B CN 111376290B
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- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention provides a traction wire adjusting mechanism and fingers, wherein the traction wire adjusting mechanism comprises a first rotating shaft; the fixing structure is arranged at intervals with the rotating shaft; the first traction rope sleeve is sleeved on the first rotating shaft and provided with a first notch with adjustable inner diameter; the first fastening piece penetrates through two side walls of the first gap and is used for fastening the first traction rope sleeve to the first rotating shaft; the pull wire is fixed in first traction rope sling around the one end of locating first traction rope sling and pull wire, and the other end of pull wire is fixed in fixed knot and constructs. According to the traction line adjusting mechanism and the fingers provided by the invention, the tension degree can be adjusted by rotating the first traction rope sleeve, and the tension degree is convenient to adjust.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a traction wire adjusting mechanism and fingers.
Background
With the rapid development of the industry in China and the continuous improvement of labor cost, the common manual mode cannot meet the requirement of productivity, and the development of the industry is not separated from the application of robots. With the push of robotics, the variety of robots is more and more diversified. The robot used for services such as restaurants, shopping malls and the like has higher requirements on the flexibility of the hand, and certainly, the requirements on the manufacturing precision and the assembling precision of the hand are correspondingly improved. At present, the finger of some robots adopts the mode drive finger motion of actuating mechanism pulling pull wire, and the rate of tension of pull wire is difficult to guarantee to reach the design demand through an installation, needs dismouting pull wire length with the adjustment pull wire many times according to the demand after the installation, and the adjustment is wasted time and energy, leads to the installation effectiveness lower.
Disclosure of Invention
The invention aims to provide a traction wire adjusting mechanism to solve the technical problems that in the prior art, the tension degree of a traction wire needs to be adjusted through repeated disassembly and assembly, and the adjustment is inconvenient.
In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a pull-wire adjustment mechanism comprising:
a first rotating shaft;
the fixing structure is arranged at a distance from the first rotating shaft;
the first traction rope sleeve is sleeved on the first rotating shaft and provided with a first notch with adjustable inner diameter;
the first fastening piece penetrates through two side walls of the first gap and is used for fastening the first traction rope sleeve to the first rotating shaft;
the traction line is wound on the first traction rope sling, one end of the traction line is fixed on the first traction rope sling, and the other end of the traction line is fixed on the fixing structure.
Further, the first traction rope sleeve comprises an inner ring portion with a first notch, an outer ring portion arranged on the periphery of the inner ring portion, and a thin plate portion formed by extending from the first notch of the inner ring portion, the thin plate portion is provided with a first connecting hole communicated with the first notch, the outer ring portion is provided with a second connecting hole communicated with the first notch, and the first fastener is arranged in the first connecting hole and the second connecting hole in a penetrating mode.
Furthermore, the periphery of the outer ring part is also provided with an arc-shaped groove for positioning the traction wire.
Furthermore, the fixing structure comprises a second rotating shaft, a second traction rope sleeve sleeved on the second rotating shaft, and a second fastener for fastening the second traction rope sleeve to the second rotating shaft, the second traction rope sleeve is provided with a second notch with an adjustable inner diameter, and the second fastener is arranged on two sides of the second notch in a penetrating manner.
Further, fixed knot constructs including the fastener, the fastener include the base, with base fixed connection's apron, set up on the base and be used for the holding the wire casing of pull wire.
Further, be equipped with circular positioning disk on the base, the both sides of circular positioning disk all are equipped with the bellying, circular positioning disk with the bellying forms jointly the wire casing, the pull wire is around locating the periphery of circular positioning disk, and the card is located circular positioning disk with between the bellying.
Furthermore, the cover plate is provided with a groove part for accommodating the protruding part.
Further, fixed knot constructs including finger shell and ply-yarn drill, the finger shell inner wall is equipped with the double-layered line portion that two intervals set up, two form the confession between the double-layered line portion the trough that the pull wire passes through, the tip of pull wire is fixed in the ply-yarn drill, just the ply-yarn drill butt in the lateral wall of double-layered line portion.
Furthermore, the inner wall of the finger shell is provided with an annular winding portion, the circle center of the annular winding portion is overlapped with the rotation axis of the finger shell, and the traction wire is wound on the annular winding portion.
Another object of the present invention is to provide a finger including the above pull wire adjustment mechanism.
The pull wire adjusting mechanism and the fingers provided by the invention have the beneficial effects that: compared with the prior art, the traction line adjusting mechanism comprises a first rotating shaft, a first traction rope sleeve sleeved on the first rotating shaft, a first fastener and the like for fixing the first traction rope sleeve on the first rotating shaft, wherein one end of a traction line is fixed in a fixing structure, and the other end of the traction line is fixed in the first traction rope sleeve; when the tension degree of the traction line needs to be adjusted, the first fastener can be loosened, the first traction rope sleeve is rotated relative to the first rotating shaft, the length of the traction rope is shortened or extended, and then the first traction rope sleeve is locked, so that the purpose of adjusting the tension degree of the traction line is achieved; this pull wire adjustment mechanism's simple structure, rotatory first traction rope cover can adjust the rate of tension, and the rate of tension is adjusted conveniently.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a block diagram of a first pull wire adjustment mechanism provided in accordance with an embodiment of the present invention;
FIG. 2 is a partial block diagram of a pull-wire adjustment mechanism provided in accordance with an embodiment of the present invention;
FIG. 3 is a first block diagram of a first traction roping loop according to an embodiment of the present invention;
FIG. 4 is a second drawing rope sling configuration according to an embodiment of the present invention;
FIG. 5 is a block diagram of a second pull wire adjustment mechanism provided in accordance with an embodiment of the present invention;
FIG. 6 is a perspective view of a first fixing structure according to an embodiment of the present invention;
FIG. 7 is a perspective view of a second fastening structure provided in accordance with an embodiment of the present invention;
fig. 8 is an exploded view of a second fastening structure according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
21-a first rotating shaft; 22-a first traction socket; 220-first gap; 221-an inner ring portion; 222-an outer ring portion; 2221-an arc-shaped slot; 2222-a pull wire fixing hole; 2223 — second connection hole; 223-a sheet portion; 2230-a first connection aperture; 23-a first fastener; 24-a pull wire; 251-a second rotating shaft; 252-a second traction socket; 253-a second fastener; 254-finger case; 2541-a wire grip portion; 2542-annular winding part; 25420-shaft hole; 255-line cards; 256-base; 2561-raised section; 2562-circular guide disc; 257 — a cover plate; 2570-grooved section; 258-screws; 26-winding block.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 4 together, a traction wire adjusting mechanism according to the present invention will now be described. The pull wire adjusting mechanism is used for adjusting the tension of a pull wire 24 in a finger of a robot, and comprises a first rotating shaft 21, a first pull rope sleeve 22, a first fastener 23 and the pull wire 24. The first rotation axis 21 may be a rotation center between knuckles of the finger. The first traction rope sling 22 is sleeved on the first rotating shaft 21, the first traction rope sling 22 is circular, a first gap 220 is formed in the first traction rope sling 22, the first traction rope sling 22 is made to be an unsealed circular ring, two side walls of the first gap 220 can be close to each other by pressing the first traction rope sling 22, and the inner diameter of the first traction rope sling 22 is reduced so as to be fixedly connected with the first rotating shaft 21. The first fastening member 23 is disposed through two side walls of the first gap 220, and the first fastening member 23 can make the two side walls of the first gap 220 close to each other, so as to fix the first traction rope sling 22 on the first rotating shaft 21. A space is arranged between the first rotating shaft 21 and the fixing structure, one end of the traction wire 24 is fixed with the fixing structure, and the other end of the traction wire 24 is fixed with the first traction rope sling 22 after being wound on the first traction rope sling 22. The working length of the pull wire 24 is adjusted by adjusting the tension of the pull wire 24, when the first fastening member 23 does not fasten the first pull rope sleeve 22, the first pull rope sleeve 22 is rotated, the length of the pull wire 24 wound on the first pull rope sleeve 22 is lengthened/shortened, so that the working length of the pull wire 24 is shortened/lengthened, and after the adjustment is completed, the first fastening member 23 is locked, so that the first pull rope sleeve 22 and the first rotating shaft 21 are mutually fixed. The first fastener 23 may be selected from a screw, a bolt, and the like.
Compared with the prior art, the pull wire adjusting mechanism comprises a first rotating shaft 21, a first pull rope sleeve 22 sleeved on the first rotating shaft 21, a first fastener 23 used for fixing the first pull rope sleeve 22 on the first rotating shaft 21 and the like, wherein one end of a pull wire 24 is fixed in a fixing structure, and the other end of the pull wire 24 is fixed in the first pull rope sleeve 22; when the tension degree of the traction line 24 needs to be adjusted, the first fastener 23 can be loosened, the first traction rope sling 22 is rotated relative to the first rotating shaft 21, the length of the traction rope is shortened or lengthened, and then the first traction rope sling 22 is locked, so that the purpose of adjusting the tension degree of the traction line 24 is achieved; the traction line adjusting mechanism is simple in structure, the tension degree can be adjusted by rotating the first traction rope sleeve 22, and the tension degree is convenient to adjust.
Referring to fig. 2 to 4, as an embodiment of the pull wire adjusting mechanism provided by the present invention, the first pull rope sleeve 22 includes an inner ring portion 221 having a first notch 220, an outer ring portion 222 disposed on the outer periphery of the inner ring portion 221, and a thin plate portion 223 extending from the first notch 220 of the inner ring portion 221, the thin plate portion 223 is provided with a first connecting hole 2230 communicating with the first notch 220, the outer ring portion 222 is provided with a second connecting hole 2223 communicating with the first notch 220, and the first fastening member 23 is disposed in the first connecting hole 2230 and the second connecting hole 2223. Alternatively, the inner ring portion 221, the outer ring portion 222, and the thin plate portion 223 are integrally formed. The outer ring portion 222 and the thin plate portion 223 are both disposed on the outer periphery of the inner ring portion 221, and a space is formed between the end portion of the outer ring portion 222 and the thin plate portion 223, so that the first fastening member 23 and the outer ring portion 222 are prevented from interfering with each other when the first fastening member 23 is gradually fastened to the first traction rope sleeve 22. When the first fastening member 23 is a screw fastener such as a screw or a bolt, the first connection hole 2230 may be a smooth hole, the second connection hole 2223 may be a threaded hole, and the first fastening member 23 sequentially passes through the first connection hole 2230 and the second connection hole 2223; in other embodiments, the first connection hole 2230 may be a threaded hole, the second connection hole 2223 may be a light hole, and the first fastening member 23 may sequentially pass through the second connection hole 2223 and the first connection hole 2230.
With reference to fig. 2 to 4, as an embodiment of the pull line adjusting mechanism provided by the present invention, an arc-shaped groove 2221 for positioning the pull line 24 is further formed on the outer circumference of the outer ring portion 222, and the arrangement of the arc-shaped groove 2221 can prevent the pull line 24 from sliding out of the first pull rope sleeve 22. More specifically, one end of the outer ring 222 near the first notch 220 is provided with a pull wire fixing hole 2222, the pull wire fixing hole 2222 penetrates from the side wall of the first notch 220 to the bottom wall of the arc-shaped groove 2221, the end of the pull wire 24 is fixed in the pull wire fixing hole 2222, and then is wound along the extending direction of the arc-shaped groove 2221, and the other end of the pull wire 24 is fixed in the fixing structure. In other embodiments, the ends of the pull wires 24 are secured in the line cards 255 through the pull wire securement holes 2222.
The first embodiment is as follows:
referring to fig. 1 and 5, as an embodiment of the pull-wire adjusting mechanism provided by the present invention, the fixing structure 25a includes a second rotating shaft 251, a second pull rope loop 252 sleeved on the second rotating shaft 251, and a second fastening piece 253 for fastening the second pull rope loop 252 to the second rotating shaft 251, the second pull rope loop 252 is provided with a second notch having an adjustable inner diameter, and the second fastening piece 253 is disposed on two sides of the second notch in a penetrating manner. The one end of pull wire 24 is fixed in first traction rope sling 22, rotatory first traction rope sling 22 adjustable traction rope's rate of tension, the other end of pull wire 24 is fixed in second traction rope sling 252, second traction rope sling 252 ring shape, and the second has seted up the second breach on the second traction rope sling 252, make the second traction rope sling 252 become non-closed ring, it is close to each other to compress tightly this second traction rope sling 252 both sides wall that can make the second breach, the internal diameter that the second traction rope sling 252 reduces, thereby with second pivot 251 fixed connection. Alternatively, the first rotating shaft 21 and the second rotating shaft 251 are parallel. The second fastener 253 penetrates through two side walls of the second gap, and the second fastener 253 can enable the two side walls of the second gap to approach each other, so that the second traction rope sleeve 252 is fixed on the second rotating shaft 251. Thus, both ends of the traction wire 24 can be rotatably adjusted, so that the adjustment of the traction wire 24 is more convenient, and the adjustment can be selected from one end which is easier to operate.
Alternatively, the first traction rope sling 22 and the second traction rope sling 252 have the same structure, the first fastener 23 and the second fastener 253 have the same structure, and the first rotating shaft 21 and the second rotating shaft 251 have the same structure.
Example two:
referring to fig. 7 and 8, as an embodiment of the pull wire adjusting mechanism of the present invention, the fixing structure 25c includes a wire clip, the wire clip includes a base 256 and a cover plate 257 fixedly connected to the base 256, and the base 256 is provided with a wire slot for accommodating the pull wire 24. The difference from the first embodiment is that: one end of the traction wire 24 is fixed on the first traction rope sling 22, the tension degree of the traction rope can be adjusted by rotating the first traction rope sling 22, and the other end of the traction wire 24 is fixed on the wire clamping clip. The function of the clamp is to fix the end of the traction wire 24, the tension of the traction wire 24 being adjustable only by the first traction rope socket 22. Optionally, the base 256 and the cover plate 257 are fixed to each other by screw 258 connection or interference fit. Specifically, the base 256 is equipped with at least one bellying 2561 in the side of wire casing, correspondingly, apron 257 offers the concave groove portion 2570 that is used for holding bellying 2561, make base 256 and apron 257 mutual joint, at this moment, the diapire of apron 257 and the pull wire 24 looks butt in the wire casing, apron 257 and base 256 are screwed up to rethread screw 258, make apron 257, pull wire 24 and base 256 compress tightly each other, increase pull wire 24 and apron 257, the frictional force of base 256, thereby be fixed in the fastener with the one end of pull wire 24.
Optionally, the wire slot is curved such that the pull wire 24 is also curved in the shape of an arc, further increasing its friction with the cover 257 and the base 256. In one embodiment, the base 256 is provided with a circular guide plate 2562, the number of the protrusions 2561 is two, the protrusions 2561 are respectively disposed on two sides of the circular guide plate 2562, the pull wire 24 is wound around the outer circumference of the circular guide plate 2562, and the pull wire 24 is clamped between the circular guide plate 2562 and the protrusions 2561. The projection 2561 serves to guide the traction wire 24 and is also matched with the groove portion 2570 of the cover plate 257, and the projection 2561 and the circular guide disc 2562 jointly form an arc-shaped wire slot to position the traction wire 24 in the arc-shaped wire slot.
Example three:
referring to fig. 6, as a specific embodiment of the pull wire adjusting mechanism provided by the present invention, the fixing structure 25b includes a finger housing 254 and a wire clip 255, two wire clamping portions 2541 are disposed on an inner wall of the finger housing 254 at intervals, a wire trough for the pull wire 24 to pass through is formed between the two wire clamping portions 2541, an end portion of the pull wire 24 is fixed in the wire clip 255, and the wire clip 255 abuts against a side wall of the wire clamping portion 2541. The difference from the first embodiment is that: one end of the pulling wire 24 is fixed on the first pulling rope socket 22, the tension of the pulling wire can be adjusted by rotating the first pulling rope socket 22, and the other end of the pulling wire 24 passes through the wiring groove of the finger shell 254 and is fixed in the wire clamp 255. More specifically, the width of the line clip 255 is greater than the width of the cabling channel such that when the pull wire 24 is pulled from the other end, the line clip 255 abuts against the sidewall of the wire grip portion 2541, thereby securing the end of the pull wire 24 in the finger housing 254. The pull wire 24, when moved, also moves the finger housing 254, thereby driving the finger housing 254 to rotate. Optionally, the line card 255 and the line card holder are identical in structure.
Referring to fig. 6, as an embodiment of the pull wire adjusting mechanism provided by the present invention, the inner wall of the finger housing 254 further has an annular winding portion 2542, a center of the annular winding portion 2542 coincides with a rotation axis of the finger housing 254, and the pull wire 24 is wound around the annular winding portion 2542. Optionally, the two wire clamping portions 2541 are disposed on one side of the annular wire winding portion 2542, and the length direction of the wire routing groove is parallel to a tangent of the annular wire winding portion 2542, so that the pull wire 24 is S-shaped from the annular wire winding portion 2542 to the wire clip 255, and the fixing structure 25b at the end of the pull wire 24 is more stable. The annular winding portion 2542 has a shaft hole 25420 for passing a rotating shaft, so that the finger case 254 can rotate relative to the rotating shaft. When the center of the circular winding portion 2542 coincides with the rotation axis of the finger shell 254, the pull wire 24 is pulled, so that the finger shell 254 is more easily driven to rotate, and the power conversion efficiency is higher.
Referring to fig. 5, the present invention further provides a finger including the pull wire adjusting mechanism in any of the above embodiments.
The finger provided by the invention adopts the traction line adjusting mechanism in any embodiment, the traction line adjusting mechanism comprises a first rotating shaft 21, a first traction rope sleeve 22 sleeved on the first rotating shaft 21, and a first fastener 23 used for fixing the first traction rope sleeve 22 on the first rotating shaft 21, one end of a traction line 24 is fixed in a fixing structure, and the other end of the traction line 24 is fixed in the first traction rope sleeve 22; when the tension degree of the traction line 24 needs to be adjusted, the first fastener 23 can be loosened, the first traction rope sling 22 is rotated relative to the first rotating shaft 21, the length of the traction rope is shortened or lengthened, and then the first traction rope sling 22 is locked, so that the purpose of adjusting the tension degree of the traction line 24 is achieved; the traction line adjusting mechanism is simple in structure, the tension degree can be adjusted by rotating the first traction rope sleeve 22, and the tension degree is convenient to adjust.
In one embodiment, the finger includes two knuckles and a pull line adjusting mechanism, the two knuckles are a first knuckle and a second knuckle respectively, the first knuckle is connected with the palm, the rotating shafts of the first knuckle and the second knuckle are the first rotating shaft 21, one end of the pull line 24 is driven by the driving part, the one end of the pull line 24 is fixed in the clip clamp, the other end of the pull line 24 extends into the first knuckle and is fixed on the first pull rope sleeve 22 of the first rotating shaft 21, and the tension of the pull line 24 can be adjusted by rotating the first pull rope sleeve 22. More specifically, the first knuckle further has a winding block 26 at an end thereof near the palm for adjusting the direction of the traction wire 24 such that the traction wire 24 extends in the first knuckle in the same direction as the length direction of the first knuckle. The winding block 26 may be secured within the palm of the hand.
In another embodiment, the difference from the previous embodiment is that: the finger comprises three knuckles and two traction line adjusting mechanisms, wherein the three knuckles are a first knuckle, a second knuckle and a third knuckle respectively, and the two traction line adjusting mechanisms are a first traction line adjusting mechanism and a second traction line adjusting mechanism respectively. The first rotating shaft 21 is provided with two first traction rope sockets 22, the rotating shaft of the second knuckle and the third knuckle is the second rotating shaft 251, one end of the traction line 24 connecting the second knuckle and the third rotating shaft is fixed in one of the first traction rope sockets 22, and the other end is fixed in the second traction rope socket 252. More specifically, the finger embodiment comprises a pull wire adjustment mechanism provided in the first embodiment and further comprises a pull wire adjustment structure provided in the second embodiment. In other embodiments, the finger embodiment can include a pull wire adjustment mechanism provided in the first embodiment and further include a pull wire adjustment structure provided in the third embodiment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. Pull wire adjustment mechanism, its characterized in that includes:
a first rotating shaft;
the fixing structure is arranged at a distance from the first rotating shaft;
the first traction rope sleeve is sleeved on the first rotating shaft and provided with a first notch with adjustable inner diameter; the first traction rope sleeve comprises an inner ring part with a first notch, an outer ring part arranged on the periphery of the inner ring part and a thin plate part formed by extending from the first notch of the inner ring part, the thin plate part is provided with a first connecting hole communicated with the first notch, the outer ring part is provided with a second connecting hole communicated with the first notch, and a first fastener is arranged in the first connecting hole and the second connecting hole in a penetrating manner;
the first fastening piece penetrates through two side walls of the first gap and is used for fastening the first traction rope sleeve to the first rotating shaft; and
the traction line is wound on the first traction rope sling, one end of the traction line is fixed on the first traction rope sling, and the other end of the traction line is fixed on the fixing structure, so that the first traction rope sling is opposite to the first rotating shaft, and the tension degree of the traction line can be adjusted during rotation.
2. The pull-wire adjustment mechanism of claim 1, wherein: the periphery of the outer ring part is also provided with an arc-shaped groove used for positioning the traction line.
3. The pull-wire adjustment mechanism of claim 1, wherein: the fixing structure comprises a second rotating shaft, a second traction rope sleeve sleeved on the second rotating shaft, and a second fastener used for fastening the second traction rope sleeve to the second rotating shaft, wherein a second notch enabling the inner diameter of the second traction rope sleeve to be adjustable is formed in the second traction rope sleeve, and the second fastener penetrates through two sides of the second notch.
4. The pull-wire adjustment mechanism of claim 1, wherein: the fixing structure comprises a wire clamping clamp, the wire clamping clamp comprises a base and a cover plate fixedly connected with the base, and a wire groove used for containing the traction wire is formed in the base.
5. The pull-wire adjustment mechanism of claim 4, wherein: be equipped with circular positioning disk on the base, the both sides of circular positioning disk all are equipped with the bellying, circular positioning disk with the bellying forms jointly the wire casing, the pull wire is around locating the periphery of circular positioning disk, and the card is located circular positioning disk with between the bellying.
6. The pull-wire adjustment mechanism of claim 5, wherein: the cover plate is provided with a groove part for accommodating the protruding part.
7. The pull-wire adjustment mechanism of claim 1, wherein: the fixed knot constructs including finger shell and ply-yarn drill, finger shell inner wall is equipped with the double-layered line portion that two intervals set up, two form the confession between the double-layered line portion the routing groove that the pull wire passes through, the tip of pull wire is fixed in the ply-yarn drill, just the ply-yarn drill butt in the lateral wall of double-layered line portion.
8. The pull-wire adjustment mechanism of claim 7, wherein: the inner wall department of finger shell still has annular wire winding portion, the centre of a circle of annular wire winding portion with the axis of rotation coincidence of finger shell, just the pull wire is around locating annular wire winding portion.
9. Finger, its characterized in that: comprising a pull-wire adjustment mechanism according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811642999.4A CN111376290B (en) | 2018-12-29 | 2018-12-29 | Pull wire adjustment mechanism and finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811642999.4A CN111376290B (en) | 2018-12-29 | 2018-12-29 | Pull wire adjustment mechanism and finger |
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| Publication Number | Publication Date |
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| CN111376290A CN111376290A (en) | 2020-07-07 |
| CN111376290B true CN111376290B (en) | 2022-04-15 |
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| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN203544284U (en) * | 2013-09-30 | 2014-04-16 | 浙江长江机械有限公司 | Chain tension adjusting mechanism for motorcycle |
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| CN208135639U (en) * | 2018-05-08 | 2018-11-23 | 浙江田中精机股份有限公司 | Coiling doubling mechanism |
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| CN111376290A (en) | 2020-07-07 |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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Effective date of registration: 20231201 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |