CN112659167B - Palm folding structure of simulation manipulator - Google Patents
Palm folding structure of simulation manipulator Download PDFInfo
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- CN112659167B CN112659167B CN202110103837.9A CN202110103837A CN112659167B CN 112659167 B CN112659167 B CN 112659167B CN 202110103837 A CN202110103837 A CN 202110103837A CN 112659167 B CN112659167 B CN 112659167B
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Abstract
The invention discloses a palm folding structure of an artificial manipulator, which comprises a support, a palm block, a thumb support block and a motor, wherein the thumb support block is rotationally arranged on the support, the palm block is vertically rotationally arranged on the support through a rotating shaft, the motor is arranged on the support and is in transmission connection with the thumb support block, and a linkage structure for driving the palm block and the thumb support block to reversely rotate is arranged between the thumb support block and the palm block. The motor is used for driving the thumb support block to rotate on the support, the linkage structure arranged between the thumb support block and the palm block drives the palm block to rotate reversely on the support and the thumb support block, so that the folding between the thumb and the palm block is realized, and the thumb of the simulation manipulator and the rest four fingers are conveniently combined to perform various operations; meanwhile, the linkage is strong, the control is convenient, the structure is simple and compact, and the device can be installed and used in a small space of the simulation manipulator.
Description
Technical Field
The invention relates to the technical field of simulation manipulators, in particular to a palm folding structure of a simulation manipulator.
Background
The simulation manipulator is a manipulator manufactured according to the structure of a human hand, and can replace a human hand to realize various operations. With the development of science and technology, the functions of the simulation manipulator begin to be diversified, and various actions of human hands can be simulated through the matching of the thumb and the other four fingers. When the mother finger performs the actions of grabbing, twisting, rubbing and the like, the mother finger and the palm block can be folded. The existing manipulator is folded between a master finger and a palm block generally by hinging the root end of the master finger to one side of the palm block and driving the master finger by an air cylinder. Although the folding structure between the thumb and the palm can realize the folding action of the palm, the folding structure has the following defects: the linkage between the thumb and the palm is poor and the structure is complex.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a palm folding structure of an artificial manipulator.
The technical scheme of the invention is as follows:
the utility model provides a palm of emulation manipulator folds structure, includes support, palm piece, female finger support block and motor, female finger support block rotates to be set up on the support, the palm piece is vertically rotated through the pivot and is set up on the support, the motor is installed on the support and with female finger support block transmission is connected, female finger support block with be equipped with the drive between the palm piece last palm piece with female finger support block antiport's interlock structure.
Preferably, the linkage structure comprises a stay cable and a torsion spring, a ring is arranged on the support, one end of the stay cable is fixed on the left side of the master finger supporting block, the other end of the stay cable penetrates through the ring to fix the right side of the palm block, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the support, and the other end of the torsion spring is connected to the palm block.
Preferably, the linkage structure comprises a rigid pull rod, and two ends of the rigid pull rod are respectively buckled on the left side of the primary finger supporting block and the right side of the palm block.
Preferably, the rotating shaft is vertically and rotatably arranged on the support, and the left side of the palm block is fixed on the rotating shaft.
Preferably, the motor is mounted at the bottom of the support, an output shaft of the motor penetrates through the support, and the thumb support block is fixed on the output shaft of the motor.
Compared with the prior art, the invention has the beneficial effects that: the motor is used for driving the thumb support block to rotate on the support, the linkage structure arranged between the thumb support block and the palm block drives the palm block to rotate reversely on the support and the thumb support block, so that the folding between the thumb and the palm block is realized, and the thumb of the simulation manipulator and the rest four fingers are conveniently combined to perform various operations; meanwhile, the linkage structure is utilized to realize the reverse rotation of the supporting block of the female finger and the palm block, the rotation of the female finger drives the folding of the palm block, the linkage is strong, the control is convenient, the structure is simple and compact, and the device can be installed and used in a small space of a simulation manipulator.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for 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 without creative efforts.
Fig. 1 is a schematic structural view of a palm folding structure of an artificial manipulator according to the present invention;
FIG. 2 is a schematic structural view of the rotating shaft and the torsion spring according to the present invention;
fig. 3 is another structural schematic diagram of the palm folding structure of the simulation manipulator of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail 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.
In order to illustrate the technical means of the present invention, the following description is given by way of specific examples.
Example 1
As shown in fig. 1 to 3, the palm folding structure of the simulated manipulator of this embodiment includes a support 1, a palm block 2, a finger support block 3 and a motor 4, the finger support block 3 is rotatably disposed on the support 1, the palm block 2 is vertically rotatably disposed on the support 1 through a rotating shaft 5, the motor 4 is mounted on the support 1 and is in transmission connection with the finger support block 3, and a linkage structure 6 for driving the palm block 2 and the finger support block 3 to rotate reversely is disposed between the finger support block 3 and the palm block 2. In order to make the whole structure more compact and convenient to install, the motor 4 is fixed at the bottom of the support 1, and the output shaft of the motor penetrates through the support 1. The rotating shaft 5 is vertically and rotatably arranged on the support 1, the left side of the palm block 2 is fixed on the rotating shaft 5, and the palm block 2 rotates on the support 1 around the rotating shaft 5. The motor 4 rotates to drive the thumb support block 3 to rotate, when the thumb support block 3 rotates anticlockwise, the linkage structure 6 pulls the palm block 2 to rotate clockwise on the support 1 around the rotating shaft 5, the thumb support block 3 and the palm block 2 slowly approach to finish folding action; when the thumb support block 3 rotates clockwise, the linkage structure 6 enables the palm block 2 to rotate anticlockwise on the support 1 around the rotating shaft 5, and the thumb support block 3 and the palm block 2 are slowly separated to complete the unfolding action. The palm folding structure of the simulation manipulator of the embodiment drives the palm block 2 to rotate reversely with the thumb block 3 on the support 1 by the linkage structure 6 arranged between the thumb block 3 and the palm block 2, so that the folding between the thumb and the palm block is realized, and the thumb and the rest four fingers of the simulation manipulator are convenient to combine to make various operations; meanwhile, the reverse rotation of the primary finger supporting block 3 and the palm block 2 is realized by utilizing the linkage 6 structure, the rotation of the primary finger drives the folding of the palm block 2, the linkage is strong, the control is convenient, the structure is simple and compact, and the device can be installed and used in a small space of a simulation manipulator.
In this embodiment, as shown in fig. 1 and fig. 2, the linkage structure 6 includes a cable 61 and a torsion spring 62, the support 1 is provided with a circular ring 11, one end of the cable 61 is fixed on the left side of the thumb support block 3, the other end of the cable passes through the circular ring 11 to fix the right side of the palm block 2, the torsion spring 62 is sleeved on the rotating shaft 5, one end of the torsion spring is connected to the support 1, and the other end of the torsion spring is connected to the palm block 2. The motor 4 rotates to drive the thumb support block 3 to rotate on the support 1, when the thumb support block 3 rotates anticlockwise, the pull rope 61 pulls the palm block 2 to rotate clockwise on the support 1 around the rotating shaft 5, the thumb support block 3 and the palm block 2 slowly approach to finish folding action, and the circular ring 11 plays a role of a support point in the process; when the thumb support block 3 rotates clockwise, the cable 61 is loosened, the palm block 2 is reset under the elasticity of the torsion spring 62, and the thumb support block 3 and the palm block 2 are slowly separated to complete the unfolding action.
In the present embodiment, as shown in fig. 3, the linkage structure 6 includes a rigid pull rod 63, and two ends of the rigid pull rod 63 are respectively buckled on the left side of the thumb support block 3 and the right side of the palm block 2. In order to facilitate the connection of the rigid pull rod 63, a ring or a through hole can be arranged on the thumb support block 3 and the palm block 2, two ends of the rigid pull rod 63 are connected with snap rings which are buckled on the ring or the through hole, so that the rigid pull rod 63 can rotate for a certain angle when rotating along with the thumb support block 3, and the palm block 2 is driven to rotate on the support 1. The motor 4 rotates to drive the thumb support block 3 to rotate on the support 1, when the thumb support block 3 rotates anticlockwise, the rigid pull rod 63 pulls the palm block 2 to rotate clockwise on the support 1 around the rotating shaft 5, the thumb support block 3 and the palm block 2 slowly approach to finish folding action; when the supporting shoe 3 rotates clockwise, the rigid pull rod 63 makes the palm block 2 rotate counterclockwise on the support 1 around the rotating shaft 5, and the supporting shoe 3 and the palm block 2 are slowly separated to complete the unfolding action.
The linkage structure 6 can also adopt other structural forms as long as the reverse rotation of the thumb supporting block and the palm block on the support can be realized.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a palm of emulation manipulator folds structure which characterized in that: the palm-pressing device comprises a support, a palm block, a thumb support block and a motor, wherein the thumb support block is rotatably arranged on the support, the palm block is vertically rotatably arranged on the support through a rotating shaft, the motor is arranged on the support and is in transmission connection with the thumb support block, and a linkage structure for driving the palm block and the thumb support block to rotate reversely is arranged between the thumb support block and the palm block.
2. The palm folding structure of the artificial manipulator according to claim 1, characterized in that: the linkage structure comprises a stay cable and a torsion spring, a circular ring is arranged on the support, one end of the stay cable is fixed on the left side of the master finger supporting block, the other end of the stay cable penetrates through the circular ring to fix the right side of the palm block, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the support, and the other end of the torsion spring is connected to the palm block.
3. The palm folding structure of the simulated manipulator according to claim 1, characterized in that: the linkage structure comprises a rigid pull rod, and two ends of the rigid pull rod are respectively buckled on the left side of the finger support block and the right side of the palm block.
4. The palm folding structure of an artificial manipulator according to any one of claims 1 to 3, characterized in that: the rotating shaft is vertically and rotatably arranged on the support, and the left side of the palm block is fixed on the rotating shaft.
5. The palm folding structure of an artificial manipulator according to any one of claims 1 to 3, characterized in that: the motor is arranged at the bottom of the support, an output shaft of the motor penetrates through the support, and the finger support block is fixed on the output shaft of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110103837.9A CN112659167B (en) | 2021-01-26 | 2021-01-26 | Palm folding structure of simulation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110103837.9A CN112659167B (en) | 2021-01-26 | 2021-01-26 | Palm folding structure of simulation manipulator |
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| Publication Number | Publication Date |
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| CN112659167A CN112659167A (en) | 2021-04-16 |
| CN112659167B true CN112659167B (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110103837.9A Active CN112659167B (en) | 2021-01-26 | 2021-01-26 | Palm folding structure of simulation manipulator |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| WO2016005871A1 (en) * | 2014-07-07 | 2016-01-14 | University Of Cape Town | Underactuated prosthetic hand |
| CN206475201U (en) * | 2017-02-21 | 2017-09-08 | 深圳诺欧博智能科技有限公司 | A kind of ball-joint connecting rod driving multi-joint anthropomorphic manipulator and robot |
| CN107225588A (en) * | 2017-08-09 | 2017-10-03 | 北京进化者机器人科技有限公司 | Robot delicate and robot |
| CN107756426A (en) * | 2017-11-13 | 2018-03-06 | 北京进化者机器人科技有限公司 | Robot delicate, robot arm and robot |
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
-
2021
- 2021-01-26 CN CN202110103837.9A patent/CN112659167B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| WO2016005871A1 (en) * | 2014-07-07 | 2016-01-14 | University Of Cape Town | Underactuated prosthetic hand |
| CN206475201U (en) * | 2017-02-21 | 2017-09-08 | 深圳诺欧博智能科技有限公司 | A kind of ball-joint connecting rod driving multi-joint anthropomorphic manipulator and robot |
| CN107225588A (en) * | 2017-08-09 | 2017-10-03 | 北京进化者机器人科技有限公司 | Robot delicate and robot |
| CN107756426A (en) * | 2017-11-13 | 2018-03-06 | 北京进化者机器人科技有限公司 | Robot delicate, robot arm and robot |
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
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| CN112659167A (en) | 2021-04-16 |
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